version: 66.04
glider: 108
mission: 11
dive: 365
start: 11 25 108 2 8 8
data:
$ID,108
$MISSION,11
$DIVE,365
$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,4.07
$_SM_ANGLEo,-4.2
$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,0.231,0.033
$KALMAN_X,166433.9,-30.1,-30.1,-286571.1,-2534.6
$KALMAN_Y,-284983.6,-17.8,-17.8,209072.0,-284.4
$MHEAD_RNG_PITCHd_Wd,119.2,180052,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,52,0.00,0.00,-33.42,0.000,2,0.000,0.000,2687,3159,3087
$GC,55,-0.99,-146.0,3.1,-1.2,6,69,0.62,3.90,-6.93,0.000,4,0.069,0.071,2464,810,3249
$GC,202,-0.77,-146.0,17.6,-11.1,31,209,0.20,2.35,0.00,0.000,6,0.144,0.070,2511,2238,3253
$GC,547,-0.77,-146.0,49.5,-9.5,92,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2238,3253
$GC,891,-0.77,-146.0,77.2,-6.3,153,897,0.00,2.33,0.00,0.000,4,0.000,0.070,2514,817,3253
$GC,904,-0.77,-146.0,78.1,-6.0,155,910,0.00,2.35,0.00,0.000,6,0.000,0.071,2506,2243,3253
$GC,1248,-0.77,-146.0,105.3,-8.4,208,1251,0.00,2.22,0.00,0.000,4,0.000,0.084,2495,3602,3253
$GC,1258,-0.77,-146.0,106.3,-8.9,208,1262,0.00,2.20,0.00,0.000,6,0.000,0.056,2496,2210,3253
$GC,1579,-0.77,-146.0,131.4,-7.6,224,1583,0.00,2.33,0.00,0.000,4,0.000,0.083,2488,3598,3253
$GC,1652,-0.77,-146.0,137.8,-8.7,227,1656,0.10,2.17,0.00,0.000,6,0.155,0.057,2513,2223,3253
$GC,1978,-0.83,-146.0,160.6,-7.1,243,1982,0.00,2.28,0.00,0.000,4,0.000,0.071,2513,810,3252
$GC,2018,-0.83,-146.0,163.8,-7.5,244,2024,0.00,2.35,0.00,0.000,6,0.000,0.070,2505,2236,3252
$GC,2335,-0.83,-146.0,188.1,-7.3,260,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2236,3252
$GC,2643,-0.88,-146.0,209.2,-6.8,275,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2236,3252
$GC,2953,-0.94,-146.0,230.6,-6.7,290,2957,0.10,2.33,0.00,0.000,4,0.094,0.070,2459,821,3252
$GC,3031,-0.80,-146.0,237.3,-8.9,293,3038,0.20,2.35,0.00,0.000,6,0.139,0.071,2506,2243,3252
$GC,3349,-0.89,-146.0,256.8,-6.1,309,3353,0.00,2.35,0.00,0.000,4,0.000,0.071,2507,810,3252
$GC,3373,-0.95,-146.0,258.5,-6.6,310,3378,0.10,2.35,0.00,0.000,6,0.087,0.070,2457,2244,3252
$GC,3705,-0.87,-146.0,286.1,-8.7,326,3710,0.12,2.22,0.00,0.000,4,0.154,0.084,2481,3597,3252
$GC,3733,-0.87,-146.0,288.6,-9.0,327,3737,0.00,2.17,0.00,0.000,6,0.000,0.057,2481,2224,3252
$GC,4060,-0.87,-146.0,312.3,-6.9,343,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2223,3251
$GC,4370,-0.87,-146.0,331.2,-5.6,358,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2223,3252
$GC,4680,-0.87,-146.0,345.8,-4.5,373,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2223,3252
$GC,4988,-0.87,-146.0,359.7,-4.7,388,4992,0.00,2.25,0.00,0.000,4,0.000,0.070,2481,819,3251
$GC,5005,-0.87,-146.0,360.6,-4.7,388,5011,0.00,2.35,0.00,0.000,6,0.000,0.069,2471,2245,3251
$GC,5321,-0.87,-146.0,377.4,-5.4,404,5325,0.00,2.33,0.00,0.000,4,0.000,0.067,2471,818,3252
$GC,5377,-0.87,-146.0,380.9,-6.6,406,5382,0.12,2.35,0.00,0.000,6,0.136,0.069,2494,2243,3252
$GC,5695,-0.96,-146.0,396.8,-4.8,421,5699,0.10,2.33,0.00,0.000,4,0.091,0.067,2453,820,3252
$GC,5707,-1.01,-146.0,397.5,-4.7,421,5711,0.00,2.33,0.00,0.000,6,0.000,0.067,2443,2234,3252
$STATE,5919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5920,begin apogee
$GC,5926,-0.31,0.0,411.1,6.2,428,6054,0.55,0.00,124.50,1.139,6,0.131,0.000,2615,1735,2650
$STATE,6055,end apogee,CONTROL_FINISHED_OK
$STATE,6055,begin climb
$GC,6057,0.99,146.0,412.7,0.0,431,6195,0.85,2.70,129.50,1.056,4,0.094,0.072,2891,3144,2053
$GC,6238,0.69,146.0,397.9,11.2,435,6243,0.28,2.47,0.00,0.000,6,0.134,0.054,2829,1741,2049
$GC,6553,0.72,174.0,377.7,6.1,450,6583,0.00,2.50,24.48,1.023,4,0.000,0.071,2833,329,1940
$GC,6620,0.87,202.8,373.5,6.1,453,6653,0.12,2.45,26.85,1.016,6,0.076,0.059,2886,1750,1823
$GC,6973,0.75,202.8,339.9,9.9,470,6977,0.17,2.38,0.00,0.000,4,0.128,0.074,2836,3160,1818
$GC,7057,0.75,202.8,332.4,8.7,473,7063,0.00,2.35,0.00,0.000,6,0.000,0.055,2843,1723,1816
$GC,7373,0.81,204.7,309.6,7.0,489,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1723,1816
$GC,7683,0.91,224.1,289.3,6.4,504,7704,0.12,0.00,18.58,1.012,6,0.080,0.000,2899,1723,1736
$GC,8011,0.81,224.1,257.5,9.2,520,8016,0.17,2.40,0.00,0.000,4,0.128,0.071,2846,3160,1734
$GC,8061,0.81,224.1,253.5,7.3,522,8065,0.00,2.30,0.00,0.000,6,0.000,0.055,2854,1724,1733
$GC,8383,0.96,278.7,235.9,5.3,538,8439,0.12,2.40,49.28,1.019,4,0.081,0.070,2922,327,1513
$GC,8473,0.90,278.7,228.0,9.3,542,8478,0.17,2.38,0.00,0.000,6,0.133,0.059,2873,1748,1511
$GC,8795,0.97,278.7,202.8,7.9,558,8799,0.00,2.30,0.00,0.000,4,0.000,0.075,2873,3150,1504
$GC,8864,0.97,278.7,196.8,8.8,561,8869,0.00,2.28,0.00,0.000,6,0.000,0.056,2881,1731,1503
$GC,9192,1.02,278.7,169.0,8.4,577,9196,0.00,2.30,0.00,0.000,4,0.000,0.074,2890,323,1502
$GC,9226,1.11,278.7,165.9,9.0,578,9231,0.12,2.33,0.00,0.000,6,0.080,0.060,2945,1747,1502
$GC,9542,0.95,278.7,128.4,12.3,593,9546,0.20,2.30,0.00,0.000,4,0.137,0.074,2881,3162,1501
$GC,9586,0.95,278.7,123.6,9.9,595,9590,0.00,2.30,0.00,0.000,6,0.000,0.060,2888,1728,1500
$GC,9907,1.05,278.7,96.7,7.6,616,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1728,1499
$GC,10251,1.17,278.7,67.8,7.9,677,10257,0.15,2.30,0.00,0.000,4,0.073,0.074,2963,325,1498
$GC,10281,1.17,278.7,64.7,9.2,682,10288,0.12,2.33,0.00,0.000,6,0.140,0.063,2929,1747,1498
$GC,10626,1.17,278.7,33.7,8.4,743,10633,0.00,2.30,0.00,0.000,4,0.000,0.077,2929,3159,1498
$GC,10696,1.03,278.7,27.9,7.9,755,10703,0.15,2.30,0.00,0.000,6,0.137,0.061,2894,1728,1497
$FREEZE,6.74,-1.814,-1.794
$STATE,10983,end climb,FINISH_DEPTH_REACHED
$STATE,10983,begin subsurface finish
$FINISH1,6.7,1.026284,67
$GC,10990,0.08,67.1,6.7,-7.5,806,11026,0.57,2.30,-28.02,0.000,4,0.110,0.087,2698,330,2380
$FINISH2,5.8
$STATE,11027,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11027,begin surface
$RAFOS_CLK,516
$RAFOS,4,1227588241,4.750000,4.733611,58,54,54,53,52,51,119,133,152,215,187,198
$RAFOS,3,1227587659,4.583333,4.571944,91,65,59,59,57,56,701,185,229,215,147,198
$RAFOS,2,1227587061,4.416667,4.405833,67,60,58,56,54,51,211,1055,194,141,168,155
$RAFOS,1,1227586443,4.250000,4.234167,68,64,56,56,56,55,217,199,180,120,163,137
$RAFOS,0,1227585854,4.083333,4.070556,71,68,56,53,50,50,209,196,162,134,151,175
$RAFOS_FIX,52821.421875,887851.312500,251108,040416,2,81,7383.19
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.80
$XPDR_PINGS,28
$24V_AH,22.1,62.217
$10V_AH,10.5,28.273
$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,5.575,102.625,373.175,0.000,0.000,0.000,0.000,0.000,7.000,0.000,0.000,0.000,1476.230,7586.275,445.191,1422.091,187.304,32.366,1230.184,0.000,1420.063,1800.000,0.528,0.000
$DEVICE_MAMPS,154.934,87.438,1138.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25322,812
$CAP_FILE_SIZE,93711,0
$CFSIZE,260165632,227250176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.2
$GPS,231108,154059,6613.136,-6022.036,8,3.3,27,-37.3