version: 66.04
glider: 108
mission: 11
dive: 373
start: 11 26 108 7 26 31
data:
$ID,108
$MISSION,11
$DIVE,373
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,162640,6549.961,-5953.022,0,2106.0,0,-37.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.33
$_SM_ANGLEo,1.3
$GPS2,162640,6549.961,-5953.022,0,2106.0,0,-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,-0.046,0.229
$KALMAN_X,170863.5,-384.8,-1089.6,-268512.4,1433.1
$KALMAN_Y,-338615.0,1651.9,-2123.7,220214.6,-2777.9
$MHEAD_RNG_PITCHd_Wd,26.0,190132,-13.0,-7.021
$D_GRID,539
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-40.55,0.000,6,0.000,0.000,2700,1748,3247
$GC,65,-0.99,-146.0,3.3,-2.2,8,71,0.65,0.00,0.00,0.000,6,0.075,0.000,2459,1747,3248
$GC,409,-0.81,-146.0,37.7,-10.4,69,416,0.17,3.05,0.00,0.000,4,0.144,0.079,2496,3599,3251
$GC,670,-0.81,-146.0,62.1,-9.4,115,676,0.00,2.17,0.00,0.000,6,0.000,0.054,2500,2214,3251
$GC,1014,-0.81,-146.0,92.7,-8.6,176,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2215,3251
$GC,1352,-0.81,-146.0,121.4,-8.6,204,1356,0.00,2.30,0.00,0.000,4,0.000,0.080,2493,3599,3250
$GC,1437,-0.81,-146.0,128.2,-8.2,207,1444,0.00,2.17,0.00,0.000,6,0.000,0.054,2493,2215,3250
$GC,1753,-0.81,-146.0,151.5,-7.9,223,1757,0.00,2.22,0.00,0.000,4,0.000,0.067,2493,816,3250
$GC,1884,-0.76,-146.0,162.0,-7.5,228,1890,0.12,2.33,0.00,0.000,6,0.141,0.070,2516,2231,3249
$GC,2200,-0.85,-146.0,180.2,-5.4,244,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2230,3249
$GC,2510,-0.95,-146.0,198.8,-6.1,259,2512,0.15,0.00,0.00,0.000,6,0.082,0.000,2456,2230,3249
$GC,2818,-0.84,-146.0,224.1,-7.8,274,2822,0.17,2.25,0.00,0.000,4,0.156,0.082,2496,3602,3249
$GC,2891,-0.91,-146.0,228.8,-6.2,277,2895,0.00,2.17,0.00,0.000,6,0.000,0.054,2496,2217,3249
$GC,3221,-0.91,-146.0,246.0,-5.2,293,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2217,3249
$GC,3528,-0.96,-146.0,263.4,-5.8,308,3530,0.10,0.00,0.00,0.000,6,0.096,0.000,2453,2217,3248
$GC,3839,-0.86,-146.0,286.9,-7.8,323,3841,0.15,0.00,0.00,0.000,6,0.156,0.000,2493,2217,3247
$GC,4147,-0.92,-146.0,307.3,-6.4,338,4150,0.00,2.22,0.00,0.000,4,0.000,0.067,2493,817,3248
$GC,4299,-0.92,-146.0,317.3,-6.5,344,4305,0.00,2.33,0.00,0.000,6,0.000,0.068,2486,2233,3248
$GC,4616,-0.92,-146.0,335.3,-5.7,360,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2232,3248
$GC,4924,-0.92,-146.0,354.9,-6.5,375,4928,0.00,2.22,0.00,0.000,4,0.000,0.081,2475,3605,3248
$GC,4997,-0.92,-146.0,360.0,-7.5,378,5000,0.00,2.17,0.00,0.000,6,0.000,0.053,2475,2219,3248
$GC,5323,-0.92,-146.0,383.4,-7.2,394,5327,0.00,2.22,0.00,0.000,4,0.000,0.066,2475,820,3249
$GC,5453,-0.87,-146.0,392.9,-6.8,399,5460,0.10,2.33,0.00,0.000,6,0.140,0.067,2491,2241,3248
$GC,5787,-0.95,-146.0,413.0,-5.9,411,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2241,3249
$GC,6112,-1.04,-146.0,429.3,-4.7,419,6117,0.15,2.30,0.00,0.000,4,0.080,0.063,2431,821,3249
$GC,6168,-0.86,-146.0,433.2,-7.9,420,6173,0.25,2.33,0.00,0.000,6,0.138,0.066,2495,2241,3249
$GC,6517,-0.95,-146.0,451.7,-5.4,429,6521,0.10,2.22,0.00,0.000,4,0.091,0.081,2442,3604,3250
$GC,6566,-0.88,-146.0,455.5,-8.0,430,6571,0.17,2.17,0.00,0.000,6,0.147,0.051,2493,2210,3251
$GC,6891,-0.97,-146.0,474.8,-5.8,438,6896,0.10,2.20,0.00,0.000,4,0.094,0.062,2450,815,3251
$GC,7003,-0.85,-146.0,483.4,-8.0,440,7008,0.20,2.33,0.00,0.000,6,0.134,0.064,2497,2242,3251
$GC,7352,-0.96,-146.0,501.9,-4.9,449,7354,0.10,0.00,0.00,0.000,6,0.088,0.000,2455,2242,3251
$GC,7676,-0.96,-146.0,520.8,-5.9,457,7680,0.00,2.20,0.00,0.000,4,0.000,0.077,2445,3594,3251
$GC,7754,-0.90,-146.0,526.1,-6.7,458,7759,0.15,2.15,0.00,0.000,6,0.149,0.049,2485,2211,3251
$STATE,8047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8047,begin apogee
$GC,8055,-0.31,0.0,540.5,4.5,466,8183,0.40,0.00,125.97,1.199,6,0.119,0.000,2615,1741,2651
$STATE,8184,end apogee,CONTROL_FINISHED_OK
$STATE,8184,begin climb
$GC,8187,0.99,146.0,541.3,0.0,469,8323,0.90,0.00,132.40,1.120,6,0.090,0.000,2902,1741,2054
$GC,8615,0.74,146.0,495.6,11.4,480,8620,0.20,2.45,0.00,0.000,4,0.130,0.071,2842,3156,2047
$GC,8672,0.58,146.0,489.8,9.6,481,8677,0.17,2.35,0.00,0.000,6,0.128,0.052,2802,1730,2046
$GC,9020,0.73,158.1,466.3,6.6,490,9033,0.12,0.00,10.38,1.013,6,0.074,0.000,2859,1730,2005
$GC,9345,0.65,158.1,435.5,9.7,498,9350,0.15,2.35,0.00,0.000,4,0.123,0.069,2816,3153,2004
$GC,9367,0.65,158.1,433.3,9.6,498,9371,0.00,2.25,0.00,0.000,6,0.000,0.052,2822,1733,2004
$GC,9710,0.71,158.1,406.4,7.7,507,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1733,2003
$GC,10018,0.80,159.5,384.0,7.0,519,10023,0.10,2.30,0.00,0.000,4,0.083,0.068,2870,3153,2004
$GC,10046,0.65,159.5,381.4,9.8,520,10050,0.20,2.25,0.00,0.000,6,0.133,0.052,2822,1725,2003
$GC,10362,0.78,185.4,361.4,6.2,535,10389,0.10,0.00,24.73,1.077,6,0.081,0.000,2870,1725,1894
$GC,10691,0.71,185.4,333.3,8.6,551,10693,0.15,0.00,0.00,0.000,6,0.122,0.000,2826,1724,1891
$GC,11000,0.86,208.9,312.9,6.3,566,11024,0.15,0.00,20.88,1.034,6,0.071,0.000,2890,1724,1798
$GC,11330,0.75,208.9,282.3,9.2,582,11335,0.17,2.38,0.00,0.000,4,0.121,0.069,2838,3163,1794
$GC,11380,0.75,208.9,278.1,7.7,584,11383,0.00,2.28,0.00,0.000,6,0.000,0.053,2845,1729,1793
$GC,11703,0.84,217.8,256.4,6.7,600,11717,0.00,2.38,8.40,0.914,4,0.000,0.070,2845,3151,1762
$GC,11731,0.91,223.3,254.3,6.8,601,11747,0.08,2.25,6.70,0.851,6,0.096,0.052,2894,1728,1739
$GC,12056,0.83,223.3,226.4,8.1,617,12058,0.12,0.00,0.00,0.000,6,0.134,0.000,2859,1728,1738
$GC,12366,0.92,228.6,205.7,6.8,632,12374,0.00,0.00,6.18,0.838,6,0.000,0.000,2859,1728,1717
$GC,12676,1.03,231.7,184.0,6.9,647,12683,0.15,0.00,4.18,0.703,6,0.074,0.000,2922,1728,1705
$GC,12984,0.90,231.7,151.5,10.4,662,12989,0.17,2.35,0.00,0.000,4,0.130,0.071,2870,3159,1705
$GC,13012,0.85,231.7,148.9,8.0,663,13016,0.00,2.25,0.00,0.000,6,0.000,0.054,2877,1731,1704
$GC,13333,0.92,231.7,126.3,7.2,679,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1732,1704
$GC,13643,1.03,245.6,105.0,6.6,694,13665,0.10,2.33,13.70,0.934,4,0.086,0.071,2934,329,1648
$GC,13689,0.96,245.6,100.9,9.0,696,13694,0.17,2.33,0.00,0.000,6,0.131,0.060,2884,1752,1648
$GC,14033,1.06,245.6,77.6,7.1,755,14039,0.10,2.28,0.00,0.000,4,0.084,0.075,2929,3152,1645
$GC,14057,1.06,245.6,75.5,7.6,759,14064,0.12,2.25,0.00,0.000,6,0.147,0.056,2906,1738,1645
$GC,14402,1.08,264.3,49.3,6.4,820,14426,0.00,0.00,17.58,0.927,6,0.000,0.000,2906,1738,1572
$GC,14764,1.08,264.3,21.5,7.3,884,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1738,1567
$FREEZE,6.41,-1.807,-1.804
$FREEZE,5.94,-1.807,-1.804
$FREEZE,5.41,-1.807,-1.804
$FREEZE,4.94,-1.807,-1.803
$FREEZE,4.53,-1.807,-1.803
$FREEZE,4.02,-1.809,-1.803
$FREEZE,3.59,-1.809,-1.802
$FREEZE,3.25,-1.809,-1.802
$FREEZE,2.69,-1.809,-1.802
$STATE,15015,end climb,SURFACE_DEPTH_REACHED
$STATE,15016,begin surface coast
$FREEZE,2.47,-1.803,-1.797
$FREEZE,2.47,-1.809,-1.797
$FREEZE,2.25,-1.808,-1.797
$FREEZE,2.15,-1.801,-1.796
$FREEZE,2.19,-1.803,-1.797
$FREEZE,2.18,-1.806,-1.797
$FREEZE,2.20,-1.808,-1.797
$FINISH,2.2,1.026374
$STATE,15056,end surface coast,CONTROL_FINISHED_OK
$STATE,15056,begin surface
$SM_CCo,15256,0.00,0.000,0,0,1565,266.15
$SM_GC,3.38,8.02,0.00,0.00,0.128,0.000,0.000,340,2236,1565,-10.69,0.17,266.15
$RAFOS_CLK,696
$RAFOS,4,1227689044,8.750000,8.734445,67,61,57,56,54,51,216,184,231,196,138,154
$RAFOS,3,1227688452,8.583333,8.570000,91,59,57,56,52,51,727,217,157,119,192,175
$RAFOS,2,1227687854,8.416667,8.403889,68,67,59,55,52,51,222,1075,158,203,173,186
$RAFOS,1,1227687246,8.250000,8.235000,62,58,58,57,55,52,202,188,146,137,215,165
$RAFOS,0,1227686649,8.083333,8.069167,64,63,61,59,56,55,1622,217,203,185,163,137
$RAFOS_FIX,48417.492188,-99720.539062,261108,000036,2,72,2605.71
$IRIDIUM_FIX,6548.42,-6024.58,170298,151529
$TT8_MAMPS,0.026845
$HUMID,1825
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,14.90
$XPDR_PINGS,40
$24V_AH,22.1,63.181
$10V_AH,10.5,28.688
$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,14.725,88.600,371.075,0.000,0.000,0.000,0.000,0.000,10.000,0.000,0.000,0.000,1719.973,11243.690,482.944,1660.679,211.954,33.074,1352.801,0.000,1658.853,1800.000,0.528,0.000
$DEVICE_MAMPS,156.468,82.069,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28475,936
$CAP_FILE_SIZE,114820,0
$CFSIZE,260165632,226795520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.4
$GPS,251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3