version: 66.04
glider: 108
mission: 11
dive: 384
start: 11 28 108 6 27 50
data:
$ID,108
$MISSION,11
$DIVE,384
$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,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,70
$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,-119599.05
$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,21
$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
$GPS1,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.95
$_SM_ANGLEo,-3.8
$GPS2,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6552.930,-5904.592
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.175
$KALMAN_X,170654.5,-869.2,266.8,-260885.9,-589.8
$KALMAN_Y,-355053.3,2216.7,1768.4,233643.6,-9091.2
$MHEAD_RNG_PITCHd_Wd,106.5,20000,-13.0,-7.021
$D_GRID,573
$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,13,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,2692,1749,2556
$GC,27,-0.99,-146.0,4.3,-0.0,1,63,0.62,3.08,-26.40,0.000,4,0.055,0.087,2429,3604,3249
$GC,81,-0.62,-146.0,7.3,-6.5,10,88,0.38,2.20,0.00,0.000,6,0.160,0.054,2544,2218,3252
$GC,427,-0.76,-146.0,30.7,-6.3,71,434,0.12,2.25,0.00,0.000,4,0.084,0.066,2492,816,3254
$GC,453,-0.81,-146.0,32.6,-7.0,75,459,0.00,2.35,0.00,0.000,6,0.000,0.067,2482,2242,3253
$GC,797,-0.72,-146.0,63.3,-8.4,136,804,0.15,2.22,0.00,0.000,4,0.151,0.081,2515,3598,3253
$GC,834,-0.72,-146.0,66.0,-7.4,142,840,0.00,2.17,0.00,0.000,6,0.000,0.054,2515,2218,3254
$GC,1178,-0.72,-146.0,90.5,-7.3,203,1184,0.00,2.25,0.00,0.000,4,0.000,0.067,2515,812,3253
$GC,1231,-0.72,-146.0,94.7,-8.4,212,1237,0.00,2.35,0.00,0.000,6,0.000,0.068,2505,2238,3253
$GC,1553,-0.72,-146.0,118.3,-7.2,237,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2238,3253
$GC,1863,-0.77,-146.0,139.7,-7.1,252,1867,0.00,2.33,0.00,0.000,4,0.000,0.068,2505,811,3252
$GC,1896,-0.77,-146.0,142.3,-7.5,253,1899,0.00,2.35,0.00,0.000,6,0.000,0.068,2496,2241,3252
$GC,2217,-0.77,-146.0,165.2,-7.2,269,2221,0.00,2.22,0.00,0.000,4,0.000,0.083,2485,3601,3252
$GC,2256,-0.77,-146.0,168.3,-8.0,270,2262,0.12,2.17,0.00,0.000,6,0.150,0.055,2517,2224,3253
$GC,2572,-0.88,-146.0,187.6,-6.2,286,2577,0.12,2.30,0.00,0.000,4,0.090,0.081,2456,3607,3252
$GC,2583,-0.96,-146.0,188.4,-6.3,286,2587,0.00,2.20,0.00,0.000,6,0.000,0.055,2456,2217,3252
$GC,2905,-0.85,-146.0,214.5,-7.8,302,2909,0.15,2.25,0.00,0.000,4,0.149,0.067,2500,816,3252
$GC,3017,-0.85,-146.0,222.7,-7.5,307,3021,0.00,2.35,0.00,0.000,6,0.000,0.069,2492,2242,3252
$GC,3350,-0.85,-146.0,245.1,-6.5,323,3354,0.00,2.22,0.00,0.000,4,0.000,0.083,2482,3601,3251
$GC,3361,-0.85,-146.0,245.8,-6.1,323,3365,0.00,2.17,0.00,0.000,6,0.000,0.054,2482,2224,3252
$GC,3683,-0.85,-146.0,266.4,-6.3,339,3687,0.00,2.33,0.00,0.000,4,0.000,0.084,2472,3608,3251
$GC,3700,-0.85,-146.0,267.5,-6.2,339,3706,0.10,2.20,0.00,0.000,6,0.156,0.055,2496,2216,3251
$GC,4017,-0.91,-146.0,285.3,-5.6,355,4020,0.00,2.25,0.00,0.000,4,0.000,0.067,2497,811,3251
$GC,4067,-0.91,-146.0,288.5,-6.3,357,4071,0.00,2.35,0.00,0.000,6,0.000,0.067,2489,2239,3251
$GC,4394,-0.96,-146.0,306.8,-5.5,373,4398,0.00,2.33,0.00,0.000,4,0.000,0.068,2489,818,3251
$GC,4462,-0.96,-146.0,311.0,-6.0,376,4467,0.00,2.35,0.00,0.000,6,0.000,0.068,2479,2245,3251
$GC,4795,-0.96,-146.0,330.8,-5.9,392,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2245,3251
$GC,5106,-0.96,-146.0,350.3,-6.3,407,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2244,3252
$GC,5414,-0.96,-146.0,369.0,-5.8,422,5418,0.00,2.33,0.00,0.000,4,0.000,0.066,2480,818,3252
$GC,5476,-0.96,-146.0,372.8,-6.1,424,5483,0.00,2.35,0.00,0.000,6,0.000,0.067,2469,2244,3252
$GC,5795,-0.96,-146.0,390.4,-5.4,440,5799,0.00,2.22,0.00,0.000,4,0.000,0.080,2459,3610,3253
$GC,5835,-0.96,-146.0,392.9,-6.4,441,5841,0.00,2.17,0.00,0.000,6,0.000,0.052,2459,2227,3252
$GC,6169,-0.96,-146.0,411.8,-5.7,453,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2228,3252
$GC,6493,-0.96,-146.0,431.1,-6.1,461,6497,0.00,2.25,0.00,0.000,4,0.000,0.066,2458,814,3253
$GC,6518,-0.88,-146.0,432.6,-6.4,461,6523,0.15,2.33,0.00,0.000,6,0.133,0.064,2490,2234,3253
$GC,6861,-0.97,-146.0,450.0,-5.0,470,6865,0.00,2.30,0.00,0.000,4,0.000,0.064,2490,818,3253
$GC,6923,-0.97,-146.0,453.5,-5.7,471,6927,0.00,2.33,0.00,0.000,6,0.000,0.065,2483,2237,3253
$GC,7237,-1.02,-146.0,470.9,-5.5,479,7239,0.10,0.00,0.00,0.000,6,0.087,0.000,2437,2237,3253
$GC,7561,-1.22,-146.0,484.2,-1.5,487,7566,0.00,2.30,0.00,0.000,4,0.000,0.064,2437,810,3254
$STATE,7688,end dive,NO_VERTICAL_VELOCITY
$STATE,7688,begin apogee
$GC,7697,-0.31,0.0,484.2,0.0,489,7825,0.52,0.00,125.82,1.167,6,0.097,0.000,2616,1740,2650
$STATE,7826,end apogee,CONTROL_FINISHED_OK
$STATE,7826,begin climb
$GC,7829,0.99,146.0,483.7,0.0,493,7967,0.85,2.60,130.23,1.085,4,0.094,0.068,2891,3159,2054
$GC,8076,0.67,146.0,460.0,12.3,498,8082,0.28,2.45,0.00,0.000,6,0.132,0.052,2827,1733,2047
$GC,8408,0.68,155.3,436.2,6.7,506,8422,0.00,2.40,7.88,0.927,4,0.000,0.069,2835,334,2018
$GC,8462,0.77,168.1,432.5,6.6,507,8481,0.00,2.35,13.07,1.006,6,0.000,0.055,2835,1747,1964
$GC,8821,0.77,171.0,407.8,6.9,516,8830,0.00,2.33,3.95,0.703,4,0.000,0.069,2834,3154,1952
$GC,8893,0.67,171.0,402.1,8.5,517,8897,0.00,2.28,0.00,0.000,6,0.000,0.054,2844,1723,1952
$GC,9219,0.67,171.0,378.4,7.3,532,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1723,1952
$GC,9527,0.67,171.0,355.1,8.0,547,9532,0.00,2.33,0.00,0.000,4,0.000,0.068,2844,3156,1952
$GC,9567,0.55,171.0,351.5,9.7,548,9575,0.20,2.25,0.00,0.000,6,0.129,0.054,2795,1731,1951
$GC,9883,0.95,171.0,330.4,7.0,564,9888,0.25,2.33,0.00,0.000,4,0.071,0.068,2896,3154,1951
$GC,10059,0.65,171.0,311.8,11.4,572,10064,0.30,2.25,0.00,0.000,6,0.133,0.054,2817,1727,1950
$GC,10392,0.84,210.4,292.1,5.8,588,10435,0.15,2.35,34.50,1.045,4,0.068,0.068,2896,311,1792
$GC,10459,0.74,210.4,286.2,9.5,591,10464,0.20,2.38,0.00,0.000,6,0.127,0.055,2838,1754,1791
$GC,10787,0.86,210.4,262.4,7.5,607,10791,0.12,2.28,0.00,0.000,4,0.074,0.069,2893,3161,1786
$GC,10837,0.61,210.4,256.6,12.2,609,10842,0.30,2.28,0.00,0.000,6,0.131,0.054,2814,1732,1784
$GC,11154,1.08,210.4,234.1,7.5,624,11159,0.28,2.28,0.00,0.000,4,0.079,0.067,2919,333,1784
$GC,11205,1.08,210.4,229.7,9.2,626,11209,0.00,2.30,0.00,0.000,6,0.000,0.057,2919,1752,1784
$GC,11528,0.90,210.4,196.3,10.6,642,11530,0.17,0.00,0.00,0.000,6,0.135,0.000,2868,1752,1784
$GC,11836,0.90,210.4,171.8,7.8,657,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1751,1784
$GC,12145,0.95,210.4,148.3,7.2,672,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1752,1784
$GC,12456,1.05,234.0,127.5,6.3,687,12483,0.15,2.30,21.00,0.958,4,0.074,0.074,2930,3161,1695
$GC,12512,0.79,234.0,121.9,12.5,689,12519,0.30,2.30,0.00,0.000,6,0.133,0.057,2851,1733,1693
$GC,12828,1.02,279.8,103.7,5.6,705,12875,0.17,2.38,40.80,0.950,4,0.067,0.071,2938,319,1509
$GC,12900,0.92,279.8,97.6,9.0,709,12907,0.22,2.38,0.00,0.000,6,0.131,0.060,2873,1740,1507
$GC,13246,1.15,322.3,76.4,5.7,770,13293,0.20,2.42,37.38,0.923,4,0.065,0.073,2960,3163,1334
$GC,13334,0.89,322.3,66.4,13.6,785,13341,0.35,2.33,0.00,0.000,6,0.137,0.058,2869,1739,1331
$GC,13680,1.59,322.3,35.6,12.3,846,13687,0.45,2.33,0.00,0.000,4,0.099,0.071,3023,330,1324
$GC,13711,1.98,322.3,32.0,12.1,851,13718,0.28,2.33,0.00,0.000,6,0.071,0.060,3131,1749,1324
$FREEZE,6.42,-1.805,-1.806
$STATE,13813,end climb,FINISH_DEPTH_REACHED
$STATE,13813,begin subsurface finish
$FINISH1,6.4,1.026460,58
$GC,13821,0.07,58.4,6.4,-28.5,869,13880,1.50,2.33,-49.60,0.000,4,0.173,0.091,2686,3161,2413
$FINISH2,2.0
$STATE,13881,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13881,begin surface
$RAFOS_CLK,634
$RAFOS,4,1227861872,8.750000,8.742222,64,59,57,56,55,52,213,195,178,157,139,113
$RAFOS,3,1227861246,8.583333,8.568334,58,57,56,52,50,50,154,204,214,112,163,173
$RAFOS,2,1227860659,8.416667,8.405278,71,61,56,51,51,51,212,187,203,166,148,242
$RAFOS,1,1227860079,8.250000,8.244166,69,60,58,57,56,55,167,139,157,205,215,190
$RAFOS,0,1227859459,8.083333,8.071944,59,58,54,51,50,50,205,154,181,193,139,219
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6548.42,-6024.58,170298,151550
$TT8_MAMPS,0.026845
$HUMID,1816
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,14.90
$XPDR_PINGS,27
$24V_AH,22.0,64.583
$10V_AH,10.5,29.311
$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,9.275,135.850,414.625,0.000,0.000,0.000,0.000,0.000,6.750,0.000,0.000,0.000,1601.187,9918.925,511.782,1669.646,234.295,0.000,1448.291,0.000,1660.133,1800.000,0.529,0.000
$DEVICE_MAMPS,173.342,90.506,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28429,879
$CAP_FILE_SIZE,116186,0
$CFSIZE,260165632,226168832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.8
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5