version: 66.04
glider: 108
mission: 11
dive: 346
start: 11 22 108 13 5 2
data:
$ID,108
$MISSION,11
$DIVE,346
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-119189.44
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,122224,6619.368,-6023.639,0,2081.0,0,-37.7
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-7.9
$GPS2,122224,6619.368,-6023.639,0,2081.0,0,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.232,-0.022
$KALMAN_X,270031.9,3946.9,404.6,-274294.0,-1756.8
$KALMAN_Y,-223495.7,-10267.3,-1980.9,225131.1,30492.4
$MHEAD_RNG_PITCHd_Wd,133.1,175440,-13.0,-7.021
$D_GRID,441
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,67,0.00,0.00,-49.30,0.000,6,0.000,0.000,2690,3157,3247
$GC,71,-0.99,-146.0,2.9,-3.2,9,78,0.65,3.85,0.00,0.000,4,0.091,0.064,2459,808,3249
$GC,332,-0.73,-146.0,32.5,-11.7,55,339,0.28,2.38,0.00,0.000,6,0.160,0.072,2524,2239,3252
$GC,677,-0.73,-146.0,61.5,-8.3,116,683,0.00,2.35,0.00,0.000,4,0.000,0.070,2527,804,3252
$GC,689,-0.73,-146.0,62.7,-8.3,118,695,0.00,2.38,0.00,0.000,6,0.000,0.070,2519,2245,3252
$GC,1034,-0.73,-146.0,91.9,-8.6,179,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2245,3252
$GC,1358,-0.73,-146.0,117.2,-6.9,207,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2244,3252
$GC,1667,-0.79,-146.0,145.5,-8.2,222,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,3252
$GC,1978,-0.86,-146.0,172.3,-8.9,237,1983,0.10,2.25,0.00,0.000,4,0.094,0.085,2463,3608,3251
$GC,1989,-0.86,-146.0,173.6,-8.8,237,1994,0.12,2.22,0.00,0.000,6,0.157,0.058,2495,2209,3251
$GC,2310,-0.86,-146.0,201.6,-8.2,253,2313,0.00,2.25,0.00,0.000,4,0.000,0.071,2501,811,3252
$GC,2382,-0.86,-146.0,208.0,-8.9,256,2387,0.00,2.35,0.00,0.000,6,0.000,0.071,2492,2243,3251
$GC,2709,-0.86,-146.0,234.2,-7.7,272,2713,0.00,2.22,0.00,0.000,4,0.000,0.085,2482,3596,3252
$GC,2720,-0.86,-146.0,235.0,-7.4,272,2724,0.00,2.17,0.00,0.000,6,0.000,0.058,2482,2227,3251
$GC,3041,-0.86,-146.0,259.5,-7.6,288,3045,0.00,2.28,0.00,0.000,4,0.000,0.072,2482,817,3251
$GC,3080,-0.78,-146.0,262.7,-8.4,289,3087,0.15,2.35,0.00,0.000,6,0.143,0.071,2513,2238,3251
$GC,3397,-0.88,-146.0,281.6,-5.8,305,3401,0.10,2.25,0.00,0.000,4,0.097,0.084,2462,3604,3251
$GC,3408,-0.93,-146.0,282.3,-5.6,305,3414,0.00,2.20,0.00,0.000,6,0.000,0.058,2462,2218,3251
$GC,3724,-0.84,-146.0,308.6,-9.0,321,3728,0.15,2.33,0.00,0.000,4,0.150,0.083,2496,3602,3251
$GC,3824,-0.92,-146.0,316.8,-7.9,325,3830,0.00,2.20,0.00,0.000,6,0.000,0.058,2496,2218,3251
$GC,4141,-0.97,-146.0,339.9,-6.6,341,4145,0.10,2.25,0.00,0.000,4,0.097,0.070,2454,817,3251
$GC,4151,-0.97,-146.0,340.6,-6.2,341,4156,0.10,2.35,0.00,0.000,6,0.153,0.071,2468,2237,3251
$GC,4469,-0.97,-146.0,361.7,-6.9,356,4472,0.00,2.33,0.00,0.000,4,0.000,0.071,2468,820,3251
$GC,4525,-0.89,-146.0,366.0,-7.5,358,4529,0.12,2.35,0.00,0.000,6,0.146,0.071,2493,2240,3251
$GC,4841,-0.96,-146.0,386.5,-6.6,373,4845,0.00,2.35,0.00,0.000,4,0.000,0.071,2494,810,3251
$GC,4853,-1.02,-146.0,387.4,-6.6,373,4858,0.10,2.38,0.00,0.000,6,0.090,0.071,2445,2246,3251
$GC,5166,-0.91,-146.0,413.1,-8.1,384,5170,0.15,2.25,0.00,0.000,4,0.153,0.083,2477,3610,3251
$GC,5304,-0.97,-146.0,422.6,-7.0,387,5308,0.00,2.20,0.00,0.000,6,0.000,0.058,2477,2225,3251
$GC,5634,-1.15,-146.0,440.0,-4.5,395,5639,0.15,2.28,0.00,0.000,4,0.079,0.070,2414,814,3252
$STATE,5773,end dive,NO_VERTICAL_VELOCITY
$STATE,5773,begin apogee
$GC,5782,-0.31,0.0,440.1,0.0,398,5909,0.57,0.00,124.35,1.177,6,0.091,0.000,2619,1751,2651
$STATE,5910,end apogee,CONTROL_FINISHED_OK
$STATE,5910,begin climb
$GC,5913,0.99,146.0,440.0,0.0,401,6050,0.85,2.62,129.95,1.090,4,0.090,0.075,2896,3158,2054
$GC,6115,0.67,146.0,421.3,11.4,405,6120,0.32,2.50,0.00,0.000,6,0.138,0.058,2820,1737,2049
$GC,6446,0.81,184.3,401.3,5.8,413,6486,0.12,0.00,34.03,1.070,6,0.076,0.000,2872,1737,1898
$GC,6795,0.81,184.3,372.3,8.3,429,6799,0.00,2.42,0.00,0.000,4,0.000,0.075,2872,3161,1893
$GC,6823,0.68,184.3,369.8,9.0,430,6828,0.20,2.35,0.00,0.000,6,0.130,0.058,2825,1732,1892
$GC,7144,0.84,191.9,348.1,6.8,446,7159,0.12,2.40,7.05,0.917,4,0.077,0.072,2891,319,1868
$GC,7188,0.78,191.9,344.4,9.5,448,7193,0.15,2.38,0.00,0.000,6,0.134,0.061,2848,1752,1867
$GC,7515,0.87,191.9,319.0,8.4,464,7518,0.00,2.30,0.00,0.000,4,0.000,0.076,2848,3160,1867
$GC,7605,0.87,191.9,310.3,9.9,468,7609,0.00,2.30,0.00,0.000,6,0.000,0.058,2856,1727,1867
$GC,7939,0.93,191.9,281.9,7.9,484,7944,0.10,2.38,0.00,0.000,4,0.088,0.074,2902,3162,1866
$GC,8001,0.70,191.9,275.4,11.3,487,8006,0.28,2.30,0.00,0.000,6,0.133,0.059,2831,1729,1866
$GC,8328,1.11,217.8,253.8,6.2,503,8359,0.25,2.42,23.27,1.046,4,0.075,0.074,2932,3152,1762
$GC,8516,0.80,217.8,234.4,12.3,511,8521,0.30,2.30,0.00,0.000,6,0.138,0.060,2854,1734,1757
$GC,8833,0.97,240.6,213.7,6.3,526,8856,0.12,0.00,20.75,1.018,6,0.079,0.000,2909,1734,1669
$GC,9161,0.90,240.6,184.5,8.8,542,9166,0.15,2.33,0.00,0.000,4,0.132,0.074,2875,331,1665
$GC,9206,1.06,260.1,181.4,6.4,544,9231,0.12,2.35,18.10,0.991,6,0.081,0.064,2930,1754,1590
$GC,9555,0.97,260.1,148.0,10.4,561,9560,0.15,2.33,0.00,0.000,4,0.139,0.077,2887,3165,1585
$GC,9594,0.97,260.1,143.8,9.5,563,9598,0.00,2.33,0.00,0.000,6,0.000,0.061,2895,1730,1584
$GC,9928,1.03,260.1,115.8,9.6,579,9931,0.00,2.30,0.00,0.000,4,0.000,0.076,2905,331,1583
$GC,9967,1.09,260.1,111.6,10.3,580,9973,0.00,2.33,0.00,0.000,6,0.000,0.064,2905,1744,1583
$GC,10298,1.09,260.1,85.5,8.4,620,10304,0.00,2.30,0.00,0.000,4,0.000,0.078,2905,3156,1582
$GC,10367,1.03,260.1,80.5,7.1,632,10374,0.00,2.30,0.00,0.000,6,0.000,0.062,2915,1730,1581
$GC,10712,1.03,260.1,55.0,7.3,693,10718,0.00,2.30,0.00,0.000,4,0.000,0.075,2926,330,1581
$GC,10775,1.03,260.1,49.1,9.6,704,10781,0.00,2.33,0.00,0.000,6,0.000,0.065,2925,1742,1581
$GC,11120,0.98,271.3,20.3,6.7,765,11138,0.12,2.40,10.05,0.888,4,0.135,0.076,2897,332,1543
$GC,11163,1.06,271.3,17.1,7.5,772,11169,0.00,2.33,0.00,0.000,6,0.000,0.064,2897,1745,1543
$FREEZE,6.70,-1.750,-1.784
$STATE,11292,end climb,FINISH_DEPTH_REACHED
$STATE,11292,begin subsurface finish
$FINISH1,6.7,1.026138,74
$GC,11301,0.09,74.2,6.7,-8.2,795,11337,0.60,2.35,-26.55,0.000,4,0.111,0.092,2686,3149,2351
$FINISH2,5.5
$STATE,11338,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11338,begin surface
$RAFOS_CLK,536
$RAFOS,0,1227369841,16.083334,16.066944,74,59,55,52,51,49,747,206,160,219,133,192
$RAFOS_FIX,6619.368164,-6023.639160,221108,121224,2,81,0.28
$IRIDIUM_FIX,6548.42,-6029.22,160298,060607
$TT8_MAMPS,0.026845
$HUMID,1804
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.80
$XPDR_PINGS,68
$24V_AH,22.0,59.894
$10V_AH,10.5,27.348
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,6.825,119.250,367.550,0.000,0.000,0.000,0.000,0.000,17.000,0.000,0.000,0.000,1439.596,7787.938,464.186,1522.969,179.005,33.369,1297.505,0.000,1509.064,360.000,0.529,0.000
$DEVICE_MAMPS,159.536,92.040,1176.578,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25231,801
$CAP_FILE_SIZE,100739,0
$CFSIZE,260165632,228220928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.6
$GPS,221108,122224,6619.368,-6023.639,0,2081.0,0,-37.7