version: 66.04
glider: 108
mission: 11
dive: 355
start: 11 23 108 18 58 17
data:
$ID,108
$MISSION,11
$DIVE,355
$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,-119219.47
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,154059,6613.136,-6022.036,8,3.3,27,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,6.06
$_SM_ANGLEo,-7.6
$GPS2,154059,6613.136,-6022.036,8,3.3,27,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.232,0.029
$KALMAN_X,222141.9,-19592.5,-20643.4,-300164.5,34091.0
$KALMAN_Y,-269944.6,-530.2,-13343.1,209221.4,21467.5
$MHEAD_RNG_PITCHd_Wd,120.2,180052,-13.0,-7.021
$D_GRID,411
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,25,0.00,0.00,-5.38,0.000,2,0.000,0.000,2701,332,2483
$GC,28,-0.99,-146.0,3.9,-0.0,1,68,0.62,0.82,-32.70,0.000,4,0.052,0.101,2439,826,3247
$GC,173,-0.61,-146.0,18.1,-13.1,26,180,0.40,2.28,0.00,0.000,6,0.148,0.071,2544,2231,3252
$GC,519,-0.69,-146.0,45.1,-5.3,87,525,0.00,2.33,0.00,0.000,4,0.000,0.067,2544,808,3253
$GC,600,-0.77,-146.0,51.3,-8.2,101,607,0.10,2.35,0.00,0.000,6,0.087,0.069,2493,2236,3253
$GC,945,-0.77,-146.0,85.3,-8.4,162,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2236,3253
$GC,1292,-0.77,-146.0,113.0,-9.2,205,1296,0.00,2.25,0.00,0.000,4,0.000,0.084,2482,3607,3252
$GC,1369,-0.77,-146.0,121.0,-10.2,208,1374,0.10,2.20,0.00,0.000,6,0.156,0.058,2510,2211,3253
$GC,1690,-0.77,-146.0,148.3,-8.5,224,1694,0.00,2.25,0.00,0.000,4,0.000,0.071,2511,815,3252
$GC,1701,-0.77,-146.0,149.5,-8.8,224,1706,0.00,2.35,0.00,0.000,6,0.000,0.070,2503,2239,3252
$GC,2017,-0.77,-146.0,178.6,-8.7,239,2021,0.00,2.25,0.00,0.000,4,0.000,0.084,2492,3610,3252
$GC,2095,-0.77,-146.0,185.7,-9.3,242,2099,0.00,2.20,0.00,0.000,6,0.000,0.058,2492,2224,3252
$GC,2416,-0.77,-146.0,211.7,-8.2,258,2420,0.00,2.30,0.00,0.000,4,0.000,0.084,2482,3595,3252
$GC,2427,-0.77,-146.0,212.7,-8.2,258,2431,0.12,2.17,0.00,0.000,6,0.156,0.056,2517,2220,3252
$GC,2749,-0.86,-146.0,235.8,-6.5,274,2751,0.10,0.00,0.00,0.000,6,0.098,0.000,2475,2220,3252
$GC,3058,-0.80,-146.0,258.3,-6.7,289,3062,0.12,2.35,0.00,0.000,4,0.154,0.082,2500,3595,3252
$GC,3080,-0.80,-146.0,259.8,-6.4,290,3084,0.00,2.17,0.00,0.000,6,0.000,0.056,2500,2228,3252
$GC,3409,-0.80,-146.0,278.8,-6.7,306,3412,0.00,2.28,0.00,0.000,4,0.000,0.070,2500,817,3252
$GC,3425,-0.80,-146.0,280.1,-7.0,306,3431,0.00,2.35,0.00,0.000,6,0.000,0.071,2490,2236,3252
$GC,3741,-0.80,-146.0,302.1,-6.5,322,3745,0.00,2.33,0.00,0.000,4,0.000,0.071,2490,822,3252
$GC,3802,-0.80,-146.0,306.9,-7.3,324,3809,0.10,2.35,0.00,0.000,6,0.147,0.071,2506,2236,3252
$GC,4118,-0.88,-146.0,328.3,-7.1,340,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2236,3252
$GC,4429,-0.98,-146.0,349.1,-6.2,355,4433,0.15,2.25,0.00,0.000,4,0.082,0.084,2437,3595,3252
$GC,4540,-0.83,-146.0,358.0,-7.6,360,4546,0.22,2.17,0.00,0.000,6,0.150,0.058,2501,2228,3251
$GC,4869,-0.92,-146.0,375.3,-5.6,376,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2229,3252
$GC,5178,-1.01,-146.0,392.4,-4.9,391,5180,0.15,0.00,0.00,0.000,6,0.085,0.000,2442,2228,3251
$STATE,5460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5468,-0.31,0.0,413.5,7.6,401,5595,0.55,0.00,124.03,1.178,6,0.133,0.000,2614,1738,2650
$STATE,5595,end apogee,CONTROL_FINISHED_OK
$STATE,5595,begin climb
$GC,5599,0.99,146.0,415.6,0.0,404,5733,0.88,0.00,130.40,1.078,6,0.099,0.000,2893,1738,2054
$GC,6031,0.82,146.0,377.8,8.8,420,6036,0.15,2.50,0.00,0.000,4,0.130,0.076,2853,3160,2047
$GC,6121,0.68,151.3,371.0,6.9,424,6131,0.12,2.38,4.28,0.723,6,0.141,0.058,2823,1741,2033
$GC,6449,0.86,215.3,355.5,5.0,440,6514,0.15,2.47,56.78,1.081,4,0.072,0.074,2885,3156,1771
$GC,6548,0.66,215.3,347.8,9.7,444,6553,0.28,2.40,0.00,0.000,6,0.130,0.057,2818,1729,1767
$GC,6864,1.12,215.3,326.2,8.3,459,6869,0.30,2.35,0.00,0.000,4,0.075,0.071,2932,316,1762
$GC,6960,0.94,215.3,315.5,12.8,463,6965,0.20,2.38,0.00,0.000,6,0.138,0.061,2876,1744,1762
$GC,7276,0.95,224.4,288.3,6.7,478,7290,0.00,2.38,7.22,0.911,4,0.000,0.075,2876,3161,1735
$GC,7354,0.83,224.4,282.6,8.1,481,7359,0.10,2.30,0.00,0.000,6,0.143,0.058,2857,1734,1735
$GC,7670,0.97,250.2,264.2,6.2,496,7700,0.12,2.38,24.23,1.039,4,0.080,0.073,2922,335,1630
$GC,7758,0.90,250.2,256.1,9.8,500,7762,0.17,2.35,0.00,0.000,6,0.134,0.061,2873,1751,1628
$GC,8091,0.99,250.2,231.9,7.5,516,8094,0.00,2.30,0.00,0.000,4,0.000,0.077,2873,3159,1625
$GC,8146,0.99,250.2,226.3,10.6,518,8150,0.00,2.30,0.00,0.000,6,0.000,0.058,2880,1728,1624
$GC,8468,1.04,250.2,198.2,8.3,534,8473,0.10,2.30,0.00,0.000,4,0.087,0.073,2937,327,1623
$GC,8512,0.95,250.2,193.6,10.7,536,8517,0.20,2.35,0.00,0.000,6,0.135,0.064,2878,1754,1623
$GC,8833,1.03,250.2,168.1,7.6,552,8838,0.10,2.30,0.00,0.000,4,0.086,0.078,2923,3161,1623
$GC,8878,0.80,250.2,163.4,12.2,554,8883,0.28,2.30,0.00,0.000,6,0.136,0.060,2853,1730,1622
$GC,9199,1.22,250.2,137.7,8.8,570,9204,0.25,2.30,0.00,0.000,4,0.078,0.074,2951,329,1621
$GC,9323,1.10,250.2,124.1,11.5,575,9330,0.12,2.33,0.00,0.000,6,0.144,0.065,2918,1743,1621
$GC,9641,1.04,250.2,96.8,8.8,594,9647,0.00,2.33,0.00,0.000,4,0.000,0.079,2918,3165,1621
$GC,9715,0.85,250.2,88.7,10.8,607,9722,0.22,2.30,0.00,0.000,6,0.133,0.061,2860,1734,1620
$GC,10060,1.18,250.2,69.1,7.3,668,10067,0.22,2.38,0.00,0.000,4,0.079,0.078,2949,3160,1620
$GC,10137,0.92,250.2,61.7,11.8,681,10143,0.28,2.30,0.00,0.000,6,0.133,0.062,2877,1730,1619
$GC,10483,1.09,288.7,37.6,5.8,742,10524,0.15,2.35,34.10,0.950,4,0.073,0.074,2955,317,1472
$GC,10623,1.09,288.7,24.3,7.1,766,10630,0.15,2.40,0.00,0.000,6,0.140,0.065,2914,1755,1468
$FREEZE,6.87,-1.763,-1.781
$STATE,10795,end climb,FINISH_DEPTH_REACHED
$STATE,10795,begin subsurface finish
$FINISH1,6.9,1.026098,76
$GC,10802,0.09,76.2,6.9,-9.9,796,10838,0.65,2.33,-28.52,0.000,4,0.122,0.094,2696,3151,2342
$FINISH2,5.8
$STATE,10839,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10839,begin surface
$RAFOS_CLK,514
$RAFOS,4,1227473059,20.750000,20.738611,66,65,65,62,56,53,125,184,220,209,196,64
$RAFOS,3,1227472455,20.583334,20.570833,75,70,59,56,52,50,646,213,189,169,201,114
$RAFOS,2,1227471851,20.416666,20.403055,59,59,54,52,48,48,195,207,163,222,121,140
$RAFOS,1,1227471242,20.250000,20.233889,72,65,59,54,53,52,199,214,147,181,163,228
$RAFOS,0,1227470647,20.083334,20.068611,152,65,61,58,57,53,742,181,205,127,163,223
$RAFOS_FIX,81944.054688,-2374344.750000,231108,202050,3,100,27164.20
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.027612
$HUMID,1815
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,14.90
$XPDR_PINGS,53
$24V_AH,22.1,61.021
$10V_AH,10.5,27.797
$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,7.950,103.475,381.025,0.000,0.000,0.000,0.000,0.000,13.250,0.000,0.000,0.000,1454.541,7391.961,470.568,1436.717,187.410,33.351,1251.054,0.000,1433.287,1800.000,0.528,0.000
$DEVICE_MAMPS,156.468,101.244,1178.112,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25273,802
$CAP_FILE_SIZE,96081,0
$CFSIZE,260165632,227770368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3