version: 66.04
glider: 108
mission: 11
dive: 387
start: 11 28 108 17 52 39
data:
$ID,108
$MISSION,11
$DIVE,387
$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,26
$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
$GPS1,202640,6549.236,-5929.427,0,2119.0,0,-36.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.73
$_SM_ANGLEo,-1.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.93,0.000,2,0.000,0.000,2685,3164,2652
$GC,28,-0.99,-146.0,9.8,-0.0,1,52,0.62,3.85,-15.00,0.000,4,0.079,0.068,2458,809,3251
$GC,98,-0.70,-146.0,15.3,-9.8,13,105,0.28,2.35,0.00,0.000,6,0.143,0.066,2527,2235,3254
$GC,444,-0.77,-146.0,42.6,-8.1,74,450,0.00,2.22,0.00,0.000,4,0.000,0.081,2519,3597,3255
$GC,462,-0.84,-146.0,44.0,-7.5,77,469,0.00,2.17,0.00,0.000,6,0.000,0.053,2518,2212,3255
$GC,807,-0.84,-146.0,69.3,-7.7,138,813,0.00,2.22,0.00,0.000,4,0.000,0.066,2518,814,3255
$GC,830,-0.84,-146.0,71.3,-7.7,142,837,0.00,2.33,0.00,0.000,6,0.000,0.067,2509,2232,3255
$GC,1175,-0.84,-146.0,97.6,-7.2,203,1181,0.00,2.30,0.00,0.000,4,0.000,0.065,2509,816,3255
$GC,1277,-0.84,-146.0,105.5,-7.7,212,1282,0.00,2.35,0.00,0.000,6,0.000,0.068,2499,2243,3254
$GC,1593,-0.84,-146.0,128.3,-7.2,227,1597,0.00,2.22,0.00,0.000,4,0.000,0.082,2489,3604,3254
$GC,1632,-0.84,-146.0,131.4,-8.0,228,1638,0.00,2.17,0.00,0.000,6,0.000,0.054,2489,2220,3254
$GC,1948,-0.84,-146.0,153.8,-7.0,244,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2220,3254
$GC,2256,-0.84,-146.0,176.9,-7.5,259,2260,0.00,2.25,0.00,0.000,4,0.000,0.067,2488,819,3254
$GC,2318,-0.84,-146.0,182.1,-8.4,261,2324,0.00,2.35,0.00,0.000,6,0.000,0.068,2479,2243,3253
$GC,2634,-0.84,-146.0,205.5,-7.0,277,2637,0.00,2.35,0.00,0.000,4,0.000,0.067,2478,810,3253
$GC,2658,-0.78,-146.0,207.1,-6.8,278,2662,0.15,2.35,0.00,0.000,6,0.140,0.067,2509,2239,3253
$GC,2990,-0.89,-146.0,224.4,-5.0,294,2994,0.00,2.33,0.00,0.000,4,0.000,0.067,2509,817,3253
$GC,3059,-0.96,-146.0,228.2,-5.7,297,3064,0.12,2.35,0.00,0.000,6,0.083,0.067,2451,2233,3253
$GC,3386,-0.87,-146.0,251.1,-7.2,313,3390,0.15,2.28,0.00,0.000,4,0.156,0.093,2483,3607,3253
$GC,3426,-0.91,-146.0,253.9,-6.9,315,3430,0.00,2.20,0.00,0.000,6,0.000,0.054,2483,2213,3253
$GC,3760,-0.91,-146.0,276.8,-7.2,331,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2213,3253
$GC,4068,-0.91,-146.0,299.3,-7.2,346,4072,0.00,2.22,0.00,0.000,4,0.000,0.066,2483,817,3252
$GC,4091,-0.91,-146.0,301.0,-7.7,347,4095,0.00,2.33,0.00,0.000,6,0.000,0.067,2474,2233,3252
$GC,4417,-0.91,-146.0,324.7,-7.2,363,4421,0.00,2.30,0.00,0.000,4,0.000,0.065,2474,812,3253
$GC,4440,-0.91,-146.0,326.5,-7.5,364,4444,0.00,2.35,0.00,0.000,6,0.000,0.066,2463,2245,3253
$GC,4773,-0.91,-146.0,349.9,-6.8,380,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2245,3253
$GC,5083,-0.91,-146.0,368.1,-5.6,395,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2245,3253
$GC,5392,-0.91,-146.0,386.0,-5.9,410,5395,0.00,2.33,0.00,0.000,4,0.000,0.064,2463,814,3254
$GC,5409,-0.86,-146.0,387.2,-6.1,410,5416,0.15,2.33,0.00,0.000,6,0.135,0.065,2495,2234,3254
$GC,5745,-0.96,-146.0,404.0,-4.9,425,5747,0.10,0.00,0.00,0.000,6,0.096,0.000,2454,2234,3254
$GC,6069,-0.91,-146.0,424.4,-6.4,433,6071,0.12,0.00,0.00,0.000,6,0.153,0.000,2486,2234,3254
$GC,6394,-0.98,-146.0,441.9,-5.3,441,6398,0.00,2.28,0.00,0.000,4,0.000,0.064,2486,818,3255
$GC,6468,-0.98,-146.0,446.1,-5.8,442,6472,0.00,2.33,0.00,0.000,6,0.000,0.065,2478,2240,3255
$GC,6811,-1.11,-146.0,464.0,-5.0,451,6816,0.15,2.33,0.00,0.000,4,0.077,0.063,2414,810,3255
$STATE,6953,end dive,NO_VERTICAL_VELOCITY
$STATE,6956,begin apogee
$GC,6964,-0.31,0.0,464.0,0.0,454,7093,0.57,0.00,125.40,1.152,6,0.093,0.000,2613,1756,2651
$STATE,7094,end apogee,CONTROL_FINISHED_OK
$STATE,7094,begin climb
$GC,7097,0.99,146.0,463.8,0.0,457,7234,0.88,2.58,129.73,1.071,4,0.092,0.070,2898,3143,2053
$GC,7344,0.65,146.0,438.8,12.7,462,7349,0.32,2.40,0.00,0.000,6,0.137,0.053,2820,1747,2047
$GC,7676,0.71,147.6,415.1,7.0,470,7680,0.00,2.38,0.00,0.000,4,0.000,0.067,2829,328,2046
$GC,7716,0.81,149.2,412.2,7.0,470,7723,0.10,2.38,0.00,0.000,6,0.084,0.057,2875,1752,2046
$GC,8029,0.69,149.2,383.2,9.3,482,8034,0.17,2.28,0.00,0.000,4,0.132,0.070,2823,3151,2046
$GC,8124,0.64,149.2,375.2,8.0,486,8128,0.00,2.28,0.00,0.000,6,0.000,0.053,2831,1724,2045
$GC,8445,0.67,175.3,353.4,6.2,502,8472,0.00,0.00,24.38,1.050,6,0.000,0.000,2831,1724,1936
$GC,8774,0.75,199.2,333.6,6.3,518,8801,0.00,2.38,21.58,1.030,4,0.000,0.068,2831,3152,1838
$GC,8829,0.75,199.2,329.8,7.8,520,8836,0.00,2.28,0.00,0.000,6,0.000,0.051,2840,1733,1835
$GC,9145,0.80,199.2,306.0,7.6,536,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1733,1832
$GC,9455,0.86,199.2,280.8,8.3,551,9459,0.10,2.33,0.00,0.000,4,0.087,0.069,2888,3153,1832
$GC,9495,0.64,199.2,276.5,11.2,553,9500,0.28,2.25,0.00,0.000,6,0.133,0.053,2816,1729,1831
$GC,9822,0.86,230.2,254.8,6.0,569,9854,0.17,0.00,27.35,1.010,6,0.065,0.000,2892,1729,1711
$GC,10172,0.77,230.2,221.6,9.6,586,10177,0.17,2.35,0.00,0.000,4,0.123,0.069,2841,3156,1705
$GC,10205,0.77,230.2,218.7,8.0,587,10211,0.00,2.25,0.00,0.000,6,0.000,0.053,2847,1737,1705
$GC,10520,0.89,230.2,196.4,7.1,603,10525,0.10,2.30,0.00,0.000,4,0.084,0.067,2907,323,1704
$GC,10577,0.83,230.2,191.1,9.8,605,10583,0.17,2.33,0.00,0.000,6,0.130,0.058,2856,1752,1704
$GC,10893,0.94,230.2,167.5,7.4,621,10897,0.10,2.28,0.00,0.000,4,0.084,0.071,2901,3162,1704
$GC,10943,0.73,230.2,162.1,11.6,623,10948,0.28,2.28,0.00,0.000,6,0.132,0.054,2830,1728,1703
$GC,11259,1.20,230.2,138.4,8.0,638,11264,0.30,2.38,0.00,0.000,4,0.080,0.070,2944,3163,1702
$GC,11392,0.86,230.2,122.0,13.5,644,11397,0.30,2.28,0.00,0.000,6,0.140,0.056,2867,1733,1702
$GC,11715,0.96,230.2,95.5,7.9,667,11721,0.00,2.30,0.00,0.000,4,0.000,0.071,2874,324,1702
$GC,11756,1.07,230.2,92.0,7.8,674,11763,0.12,2.30,0.00,0.000,6,0.078,0.058,2933,1741,1702
$GC,12102,0.97,230.2,60.0,8.0,735,12108,0.17,2.30,0.00,0.000,4,0.134,0.074,2880,3158,1701
$GC,12150,0.97,236.5,56.6,6.8,743,12162,0.00,2.28,5.38,0.763,6,0.000,0.057,2888,1729,1686
$GC,12501,1.07,263.2,33.2,6.2,805,12530,0.10,0.00,25.15,0.922,6,0.085,0.000,2937,1728,1576
$FREEZE,6.61,-1.820,-1.804
$STATE,12799,end climb,FINISH_DEPTH_REACHED
$STATE,12799,begin subsurface finish
$FINISH1,6.6,1.026427,60
$GC,12807,0.07,60.0,6.6,-7.7,858,12843,0.75,2.33,-26.95,0.000,4,0.121,0.085,2695,330,2410
$FINISH2,5.6
$STATE,12844,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12844,begin surface
$RAFOS_CLK,582
$RAFOS,4,1227905049,20.750000,20.735834,60,58,57,54,51,49,152,210,184,111,123,193
$RAFOS,3,1227904454,20.583334,20.570555,53,52,52,51,50,50,211,195,164,120,151,133
$RAFOS,2,1227903860,20.416666,20.405556,64,61,58,56,51,45,199,211,152,124,177,231
$RAFOS,1,1227903241,20.250000,20.233612,62,55,53,53,51,49,216,119,198,158,180,71
$RAFOS,0,1227902661,20.083334,20.072500,60,58,54,51,50,49,152,194,218,182,170,206
$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,1805
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.00
$XPDR_PINGS,7
$24V_AH,22.1,64.923
$10V_AH,10.5,29.464
$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,7.025,118.425,358.950,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,0.000,1535.122,9118.817,438.591,1600.150,205.453,0.000,1303.644,0.000,1587.459,1800.000,0.528,0.000
$DEVICE_MAMPS,155.701,92.807,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28400,864
$CAP_FILE_SIZE,106961,0
$CFSIZE,260165632,226004992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.7
$GPS,271108,202640,6549.236,-5929.427,0,2119.0,0,-36.5