version: 66.04
glider: 108
mission: 11
dive: 393
start: 11 29 108 16 12 10
data:
$ID,108
$MISSION,11
$DIVE,393
$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,-119614.86
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,085509,6541.520,-5844.323,13,1.3,13,-36.2
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-2.5
$GPS2,085509,6541.520,-5844.323,13,1.3,13,-36.2
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6545.213,-5819.612
$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,106.2,20000,-13.0,-7.021
$D_GRID,474
$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,-146.0,0.0,0.0,0,67,0.00,0.00,-47.88,0.000,6,0.000,0.000,2693,327,3246
$GC,71,-0.99,-146.0,1.6,-0.1,9,83,0.65,5.43,0.00,0.000,4,0.086,0.069,2443,3606,3248
$GC,91,-1.48,-146.0,1.9,-0.4,12,98,0.30,2.20,0.00,0.000,6,0.078,0.052,2341,2216,3248
$GC,436,-0.91,-146.0,57.9,-17.7,73,443,0.47,2.25,0.00,0.000,4,0.175,0.064,2488,816,3250
$GC,501,-0.83,-146.0,64.7,-9.3,84,507,0.00,2.35,0.00,0.000,6,0.000,0.067,2480,2237,3250
$GC,844,-0.76,-146.0,96.9,-8.2,145,851,0.12,2.25,0.00,0.000,4,0.148,0.081,2506,3608,3250
$GC,915,-0.85,-146.0,102.2,-7.7,154,918,0.00,2.17,0.00,0.000,6,0.000,0.054,2506,2228,3250
$GC,1248,-0.90,-146.0,122.7,-5.7,170,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2228,3249
$GC,1558,-0.95,-146.0,140.6,-6.1,185,1562,0.12,2.25,0.00,0.000,4,0.087,0.066,2453,819,3249
$GC,1647,-0.77,-146.0,148.4,-8.8,189,1652,0.25,2.33,0.00,0.000,6,0.139,0.068,2515,2232,3250
$GC,1971,-0.88,-146.0,169.4,-6.4,205,1973,0.10,0.00,0.00,0.000,6,0.091,0.000,2473,2232,3249
$GC,2277,-0.88,-146.0,195.0,-8.4,220,2281,0.00,2.30,0.00,0.000,4,0.000,0.066,2473,822,3248
$GC,2321,-0.79,-146.0,199.1,-9.3,222,2326,0.17,2.33,0.00,0.000,6,0.139,0.069,2512,2232,3248
$GC,2643,-0.90,-146.0,218.4,-5.2,238,2645,0.10,0.00,0.00,0.000,6,0.091,0.000,2470,2232,3248
$GC,2951,-0.90,-146.0,237.3,-5.9,253,2955,0.00,2.30,0.00,0.000,4,0.000,0.066,2469,817,3248
$GC,2985,-0.80,-146.0,239.5,-6.3,254,2990,0.17,2.35,0.00,0.000,6,0.138,0.069,2508,2245,3247
$GC,3302,-0.91,-146.0,255.7,-5.6,269,3307,0.10,2.33,0.00,0.000,4,0.092,0.066,2466,820,3248
$GC,3347,-0.80,-146.0,259.1,-7.4,271,3352,0.17,2.33,0.00,0.000,6,0.140,0.068,2505,2232,3248
$GC,3669,-0.90,-146.0,278.7,-5.9,287,3672,0.00,2.30,0.00,0.000,4,0.000,0.065,2505,816,3248
$GC,3697,-0.97,-146.0,280.5,-5.9,288,3702,0.10,2.33,0.00,0.000,6,0.086,0.067,2454,2236,3248
$GC,4024,-0.90,-146.0,301.8,-6.2,304,4029,0.12,2.22,0.00,0.000,4,0.146,0.079,2480,3599,3248
$GC,4103,-0.90,-146.0,306.4,-5.6,307,4109,0.00,2.17,0.00,0.000,6,0.000,0.053,2480,2213,3248
$GC,4419,-0.90,-146.0,322.2,-5.1,323,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2213,3248
$GC,4729,-0.90,-146.0,338.2,-5.5,338,4732,0.00,2.22,0.00,0.000,4,0.000,0.065,2480,813,3248
$GC,4774,-0.90,-146.0,341.2,-6.4,340,4778,0.00,2.33,0.00,0.000,6,0.000,0.066,2470,2232,3248
$GC,5109,-0.90,-146.0,362.5,-6.4,356,5112,0.00,2.30,0.00,0.000,4,0.000,0.064,2469,812,3248
$GC,5125,-0.90,-146.0,363.7,-6.1,356,5132,0.10,2.33,0.00,0.000,6,0.144,0.064,2486,2234,3248
$GC,5442,-0.95,-146.0,379.4,-4.6,372,5446,0.00,2.30,0.00,0.000,4,0.000,0.063,2487,813,3248
$GC,5488,-0.95,-146.0,381.7,-4.6,374,5492,0.00,2.35,0.00,0.000,6,0.000,0.078,2479,2241,3249
$GC,5816,-0.95,-146.0,398.1,-5.2,390,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2241,3249
$GC,6141,-0.95,-146.0,414.4,-4.8,399,6145,0.00,2.30,0.00,0.000,4,0.000,0.064,2479,817,3249
$GC,6174,-0.95,-146.0,416.2,-5.1,399,6178,0.00,2.33,0.00,0.000,6,0.000,0.064,2469,2238,3249
$GC,6511,-0.95,-146.0,433.6,-5.3,408,6515,0.00,2.30,0.00,0.000,4,0.000,0.063,2469,818,3250
$GC,6550,-0.95,-146.0,436.3,-7.7,408,6557,0.00,2.33,0.00,0.000,6,0.000,0.064,2459,2243,3250
$GC,6882,-0.95,-146.0,457.2,-7.0,417,6886,0.00,2.20,0.00,0.000,4,0.000,0.078,2449,3594,3250
$GC,6909,-0.95,-146.0,459.3,-7.1,417,6914,0.10,2.15,0.00,0.000,6,0.160,0.049,2473,2212,3250
$STATE,7167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7167,begin apogee
$GC,7175,-0.31,0.0,476.0,6.6,424,7302,0.45,0.00,124.43,1.163,6,0.124,0.000,2617,1743,2650
$STATE,7303,end apogee,CONTROL_FINISHED_OK
$STATE,7303,begin climb
$GC,7306,0.99,146.0,478.1,0.0,427,7440,0.85,0.00,130.25,1.081,6,0.095,0.000,2892,1743,2054
$GC,7753,0.78,146.0,436.5,10.1,438,7758,0.17,2.42,0.00,0.000,4,0.130,0.071,2843,3153,2047
$GC,7782,0.64,146.0,434.0,8.6,438,7787,0.12,2.35,0.00,0.000,6,0.133,0.052,2818,1729,2046
$GC,8114,0.76,172.5,412.7,6.2,446,8143,0.10,2.38,22.42,1.058,4,0.081,0.067,2875,332,1946
$GC,8166,0.68,172.5,408.1,9.7,447,8171,0.17,2.35,0.00,0.000,6,0.124,0.056,2825,1751,1946
$GC,8485,0.75,172.5,384.3,7.4,460,8489,0.00,2.28,0.00,0.000,4,0.000,0.071,2825,3162,1942
$GC,8553,0.75,172.5,378.6,8.4,463,8557,0.00,2.28,0.00,0.000,6,0.000,0.052,2833,1729,1942
$GC,8886,0.75,173.5,354.9,7.0,479,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1728,1942
$GC,9195,0.76,182.7,333.6,6.7,494,9209,0.00,2.35,9.62,0.965,4,0.000,0.068,2833,3163,1905
$GC,9249,0.71,182.7,329.5,8.4,496,9253,0.00,2.28,0.00,0.000,6,0.000,0.052,2843,1725,1904
$GC,9571,0.71,182.7,305.6,7.7,512,9575,0.00,2.33,0.00,0.000,4,0.000,0.067,2843,3165,1904
$GC,9605,0.63,182.7,302.6,9.1,513,9609,0.15,2.25,0.00,0.000,6,0.129,0.051,2810,1735,1904
$GC,9921,1.01,182.7,280.5,7.3,528,9925,0.25,2.33,0.00,0.000,4,0.070,0.068,2915,3159,1903
$GC,10102,0.67,182.7,258.6,13.5,536,10107,0.35,2.25,0.00,0.000,6,0.135,0.053,2821,1732,1903
$GC,10424,0.85,201.6,237.5,6.4,552,10447,0.15,2.35,17.15,0.983,4,0.069,0.067,2900,320,1829
$GC,10476,0.75,201.6,232.7,10.9,554,10481,0.20,2.33,0.00,0.000,6,0.130,0.058,2842,1742,1828
$GC,10797,0.86,201.6,208.2,7.7,570,10802,0.10,2.28,0.00,0.000,4,0.084,0.070,2888,3155,1826
$GC,10860,0.64,201.6,201.3,12.1,573,10865,0.28,2.25,0.00,0.000,6,0.130,0.053,2817,1731,1824
$GC,11187,1.08,201.6,177.0,7.3,589,11192,0.28,2.35,0.00,0.000,4,0.071,0.070,2928,3162,1824
$GC,11342,0.75,201.6,160.0,12.2,596,11347,0.32,2.25,0.00,0.000,6,0.136,0.054,2841,1739,1824
$GC,11669,0.98,269.6,142.3,4.8,612,11737,0.17,2.40,59.80,0.960,4,0.067,0.067,2930,330,1550
$GC,11780,0.89,269.6,132.4,10.2,617,11785,0.22,2.38,0.00,0.000,6,0.129,0.058,2865,1747,1547
$GC,12107,1.09,306.5,111.2,5.8,633,12145,0.17,2.33,31.83,0.921,4,0.067,0.071,2939,3151,1400
$GC,12179,0.87,306.5,103.5,12.4,635,12184,0.30,2.30,0.00,0.000,6,0.133,0.054,2862,1734,1397
$GC,12520,1.50,306.5,76.7,8.0,689,12527,0.43,2.33,0.00,0.000,4,0.088,0.067,3013,324,1390
$GC,12562,1.62,306.5,72.9,8.7,696,12568,0.00,2.38,0.00,0.000,6,0.000,0.059,3013,1750,1390
$GC,12907,1.28,306.5,20.7,17.0,757,12913,0.20,2.33,0.00,0.000,4,0.156,0.075,2953,3164,1389
$GC,12949,1.04,306.5,14.2,15.4,764,12956,0.20,2.30,0.00,0.000,6,0.137,0.058,2903,1734,1388
$FREEZE,6.98,-1.814,-1.810
$STATE,13045,end climb,FINISH_DEPTH_REACHED
$STATE,13045,begin subsurface finish
$FINISH1,7.0,1.026507,56
$GC,13053,0.07,56.1,7.0,-4.6,781,13094,0.62,0.00,-34.62,0.000,6,0.113,0.000,2693,1734,2425
$FINISH2,4.6
$STATE,13095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$RAFOS_CLK,596
$RAFOS,4,1227977053,16.750000,16.736944,71,62,60,58,53,51,213,139,173,119,152,197
$RAFOS,3,1227976457,16.583334,16.571388,62,59,56,54,54,51,204,706,182,146,121,214
$RAFOS,2,1227975842,16.416666,16.400555,61,58,54,52,50,49,209,163,121,153,131,174
$RAFOS,1,1227975243,16.250000,16.234167,63,62,55,54,54,53,134,190,222,205,163,116
$RAFOS_FIX,6549.236328,-5929.427246,271108,202040,2,119,0.73
$IRIDIUM_FIX,6517.16,-5931.80,210298,090954
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,14.90
$XPDR_PINGS,22
$24V_AH,22.1,65.673
$10V_AH,10.5,29.778
$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,9.450,132.650,395.500,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,0.000,1458.165,9451.787,507.805,1515.458,217.417,0.000,1348.579,0.000,1503.294,1440.000,0.529,0.000
$DEVICE_MAMPS,174.876,80.535,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25276,788
$CAP_FILE_SIZE,111649,0
$CFSIZE,260165632,225665024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,291108,085509,6541.520,-5844.323,13,1.3,13,-36.2