version: 66.04
glider: 108
mission: 11
dive: 398
start: 11 30 108 11 54 58
data:
$ID,108
$MISSION,11
$DIVE,398
$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,-3
$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,-119640.95
$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,27
$R_STBD_OVSHOOT,19
$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
$GPS1,114038,6539.845,-5820.662,60,0.8,60,-36.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-65.5
$GPS2,115439,6539.800,-5820.676,10,1.6,10,-36.1
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,HEADING
$TGT_LATLONG,6543.494,-5755.992
$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,106.1,20000,-13.0,-7.021
$D_GRID,491
$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,16,-0.99,-146.0,0.0,0.0,0,86,0.00,0.00,-67.03,0.000,2,0.000,0.000,329,2241,2754
$GC,90,-0.99,-146.0,3.1,-1.6,12,126,8.90,2.40,-19.75,0.000,4,0.250,0.077,2467,812,3248
$GC,236,-0.77,-146.0,17.9,-10.6,37,243,0.20,2.35,0.00,0.000,6,0.137,0.064,2516,2237,3252
$GC,582,-0.77,-146.0,45.3,-6.9,98,588,0.00,2.22,0.00,0.000,4,0.000,0.077,2507,3596,3253
$GC,651,-0.77,-146.0,50.5,-7.6,110,657,0.00,2.17,0.00,0.000,6,0.000,0.051,2508,2216,3252
$GC,996,-0.77,-146.0,70.8,-5.8,171,1002,0.00,2.22,0.00,0.000,4,0.000,0.063,2508,819,3252
$GC,1143,-0.77,-146.0,81.1,-7.4,197,1151,0.00,2.33,0.00,0.000,6,0.000,0.065,2499,2240,3252
$GC,1493,-0.77,-146.0,106.3,-7.2,248,1496,0.00,2.33,0.00,0.000,4,0.000,0.064,2499,812,3253
$GC,1504,-0.77,-146.0,107.2,-7.3,248,1509,0.10,2.35,0.00,0.000,6,0.143,0.064,2515,2240,3253
$GC,1822,-0.85,-146.0,128.8,-6.9,263,1826,0.00,2.22,0.00,0.000,4,0.000,0.079,2507,3603,3252
$GC,1856,-0.93,-146.0,131.5,-7.3,264,1861,0.12,2.17,0.00,0.000,6,0.086,0.051,2454,2215,3252
$GC,2174,-0.80,-146.0,158.4,-8.2,279,2178,0.20,2.22,0.00,0.000,4,0.137,0.064,2526,817,3252
$GC,2214,-0.91,-146.0,161.2,-6.1,280,2220,0.12,2.35,0.00,0.000,6,0.078,0.066,2463,2246,3252
$GC,2530,-0.83,-146.0,185.1,-7.4,296,2532,0.15,0.00,0.00,0.000,6,0.143,0.000,2505,2246,3251
$GC,2839,-0.91,-146.0,200.5,-4.8,311,2843,0.10,2.22,0.00,0.000,4,0.094,0.083,2453,3603,3251
$GC,2863,-0.91,-146.0,202.0,-6.3,312,2867,0.12,2.17,0.00,0.000,6,0.153,0.053,2485,2214,3251
$GC,3196,-0.91,-146.0,221.4,-6.1,328,3199,0.00,2.22,0.00,0.000,4,0.000,0.064,2485,814,3250
$GC,3229,-0.91,-146.0,223.7,-7.1,329,3233,0.00,2.33,0.00,0.000,6,0.000,0.065,2477,2239,3250
$GC,3547,-0.91,-146.0,243.5,-6.2,344,3551,0.00,2.30,0.00,0.000,4,0.000,0.065,2477,818,3250
$GC,3593,-0.87,-146.0,246.7,-6.8,346,3598,0.10,2.33,0.00,0.000,6,0.143,0.066,2493,2242,3250
$GC,3922,-0.93,-146.0,265.0,-5.6,362,3926,0.00,2.30,0.00,0.000,4,0.000,0.064,2494,820,3250
$GC,4024,-0.93,-146.0,271.1,-6.1,366,4028,0.00,2.33,0.00,0.000,6,0.000,0.065,2486,2244,3250
$GC,4345,-0.93,-146.0,290.0,-5.8,382,4349,0.00,2.30,0.00,0.000,4,0.000,0.064,2486,817,3250
$GC,4413,-0.93,-146.0,294.1,-5.8,385,4417,0.00,2.33,0.00,0.000,6,0.000,0.064,2476,2244,3250
$GC,4746,-0.93,-146.0,314.2,-6.2,401,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2244,3250
$GC,5055,-0.93,-146.0,332.0,-5.6,416,5059,0.00,2.30,0.00,0.000,4,0.000,0.062,2476,816,3251
$GC,5094,-0.93,-146.0,334.4,-6.0,417,5101,0.00,2.33,0.00,0.000,6,0.000,0.063,2466,2246,3251
$GC,5413,-0.93,-146.0,351.5,-5.4,433,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2246,3252
$GC,5720,-0.93,-146.0,368.2,-5.3,448,5723,0.00,2.17,0.00,0.000,4,0.000,0.075,2456,3597,3253
$GC,5731,-0.93,-146.0,368.8,-5.3,448,5736,0.10,2.12,0.00,0.000,6,0.153,0.048,2481,2217,3253
$GC,6052,-0.93,-146.0,384.8,-5.1,464,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2217,3253
$GC,6381,-0.93,-146.0,402.7,-5.4,479,6385,0.00,2.20,0.00,0.000,4,0.000,0.061,2481,819,3254
$GC,6427,-0.93,-146.0,405.4,-5.7,480,6431,0.00,2.30,0.00,0.000,6,0.000,0.061,2473,2234,3254
$GC,6758,-0.93,-146.0,425.5,-6.0,488,6762,0.00,2.25,0.00,0.000,4,0.000,0.059,2473,825,3254
$GC,6798,-0.88,-146.0,428.0,-6.7,488,6805,0.10,2.30,0.00,0.000,6,0.140,0.061,2489,2236,3254
$GC,7130,-0.95,-146.0,445.8,-5.4,497,7134,0.00,2.28,0.00,0.000,4,0.000,0.060,2490,825,3254
$GC,7152,-0.95,-146.0,447.2,-5.5,497,7156,0.00,2.33,0.00,0.000,6,0.000,0.061,2482,2242,3254
$GC,7501,-0.95,-146.0,466.8,-5.5,506,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2242,3254
$GC,7826,-1.01,-146.0,483.5,-5.1,514,7830,0.00,2.28,0.00,0.000,4,0.000,0.061,2482,829,3254
$GC,7838,-1.01,-146.0,484.3,-5.2,514,7841,0.00,2.30,0.00,0.000,6,0.000,0.061,2472,2241,3254
$STATE,7992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7993,begin apogee
$GC,8000,-0.31,0.0,492.8,5.4,518,8129,0.45,0.00,126.03,1.154,6,0.119,0.000,2616,1734,2650
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8130,begin climb
$GC,8133,0.99,146.0,494.2,0.0,521,8270,0.85,2.60,130.07,1.077,4,0.090,0.065,2894,3152,2054
$GC,8316,0.67,146.0,477.4,12.9,525,8321,0.30,2.45,0.00,0.000,6,0.133,0.049,2824,1734,2049
$GC,8663,0.67,146.0,451.2,7.1,534,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1734,2046
$GC,8989,0.72,151.6,428.4,6.8,542,8998,0.00,2.38,4.53,0.760,4,0.000,0.067,2824,3161,2032
$GC,9028,0.68,151.6,425.5,8.0,542,9034,0.00,2.28,0.00,0.000,6,0.000,0.051,2832,1731,2032
$GC,9360,0.68,151.6,401.5,7.2,551,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1730,2032
$GC,9668,0.69,159.0,379.9,6.8,565,9682,0.00,2.38,8.12,0.946,4,0.000,0.068,2832,3157,2001
$GC,9717,0.60,159.0,376.2,7.9,567,9722,0.12,2.25,0.00,0.000,6,0.133,0.051,2807,1730,2000
$GC,10044,0.81,199.1,357.3,5.7,583,10084,0.17,0.00,35.85,1.064,6,0.066,0.000,2884,1730,1838
$GC,10394,0.68,199.1,321.8,10.6,600,10396,0.20,0.00,0.00,0.000,6,0.123,0.000,2824,1730,1831
$GC,10703,0.78,199.7,299.6,7.0,615,10708,0.10,2.38,0.00,0.000,4,0.080,0.066,2870,3151,1829
$GC,10736,0.63,199.7,296.3,10.1,616,10743,0.22,2.25,0.00,0.000,6,0.127,0.050,2813,1735,1828
$GC,11053,0.81,200.8,274.2,7.0,632,11058,0.15,2.30,0.00,0.000,4,0.069,0.065,2886,324,1828
$GC,11093,0.74,200.8,270.2,11.3,634,11098,0.17,2.33,0.00,0.000,6,0.123,0.055,2834,1744,1828
$GC,11421,0.83,200.8,244.8,7.7,650,11425,0.10,2.28,0.00,0.000,4,0.082,0.067,2881,3156,1827
$GC,11516,0.64,200.8,234.0,12.0,654,11521,0.25,2.25,0.00,0.000,6,0.127,0.051,2817,1727,1827
$GC,11832,0.84,214.8,212.7,6.6,669,11852,0.15,0.00,13.23,0.934,6,0.068,0.000,2885,1727,1774
$GC,12162,0.77,214.8,181.7,9.4,685,12167,0.15,2.35,0.00,0.000,4,0.122,0.066,2840,3165,1772
$GC,12189,0.77,214.8,179.2,7.9,686,12193,0.00,2.25,0.00,0.000,6,0.000,0.051,2848,1731,1771
$GC,12511,0.88,225.8,157.4,6.7,702,12527,0.08,2.28,10.98,0.890,4,0.097,0.065,2900,333,1728
$GC,12567,0.82,225.8,152.4,8.9,703,12574,0.17,2.33,0.00,0.000,6,0.127,0.054,2849,1755,1728
$GC,12884,1.04,283.8,133.6,5.2,719,12942,0.17,2.35,51.97,0.935,4,0.067,0.068,2924,3161,1492
$GC,12970,0.83,283.8,125.5,10.9,722,12976,0.28,2.33,0.00,0.000,6,0.130,0.051,2854,1734,1487
$GC,13292,1.16,302.6,105.1,6.4,738,13315,0.22,2.33,15.85,0.879,4,0.084,0.067,2938,323,1416
$GC,13340,1.33,302.6,101.0,8.8,740,13345,0.12,2.35,0.00,0.000,6,0.082,0.056,2988,1749,1415
$GC,13683,1.06,302.6,50.8,15.0,799,13690,0.25,2.30,0.00,0.000,4,0.136,0.071,2910,3161,1411
$GC,13754,0.99,302.6,43.1,10.0,811,13760,0.00,2.28,0.00,0.000,6,0.000,0.054,2916,1731,1409
$GC,14098,0.99,302.6,10.5,10.4,872,14104,0.00,2.28,0.00,0.000,4,0.000,0.069,2926,330,1407
$FREEZE,6.72,-0.213,-1.811
$FREEZE,6.16,-0.213,-1.810
$FREEZE,5.79,-0.216,-1.810
$FREEZE,5.29,-0.220,-1.809
$GC,14152,1.05,302.6,5.3,9.6,881,14158,0.00,2.30,0.00,0.000,6,0.000,0.058,2926,1748,1407
$FREEZE,4.01,-0.220,-1.808
$FREEZE,3.28,-0.220,-1.808
$FREEZE,2.63,-0.220,-1.807
$STATE,14174,end climb,SURFACE_DEPTH_REACHED
$STATE,14174,begin surface coast
$FREEZE,2.13,-0.221,-1.807
$FREEZE,1.60,-0.229,-0.200
$FINISH,1.6,1.002775
$STATE,14187,end surface coast,FINISH_DEPTH_REACHED
$STATE,14187,begin surface
$SM_CCo,14266,0.00,0.000,0,0,1405,305.40
$SM_GC,2.43,6.97,0.00,0.00,0.052,0.000,0.000,336,2248,1405,-10.67,0.51,305.40
$RAFOS_CLK,603
$RAFOS,4,1228049042,12.750000,12.733889,58,58,58,57,51,51,157,169,187,136,205,215
$RAFOS,3,1228048459,12.583333,12.571944,68,59,57,54,51,51,178,142,206,219,122,193
$RAFOS,2,1228047853,12.416667,12.403611,70,59,59,57,54,51,182,122,196,215,149,170
$RAFOS,1,1228047246,12.250000,12.235000,62,59,58,53,50,50,208,152,181,164,117,224
$RAFOS,0,1228046643,12.083333,12.067500,60,60,56,54,53,51,190,211,117,178,105,144
$RAFOS_FIX,-31200.181641,336923.250000,301108,080856,2,74,15226.59
$IRIDIUM_FIX,6512.01,-5821.84,240298,030335
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.30
$XPDR_PINGS,34
$24V_AH,22.1,66.331
$10V_AH,10.5,30.067
$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,22.000,134.700,396.625,0.000,0.000,33.155,29.966,508.680,8.500,0.000,0.000,12.269,1622.458,10328.147,531.022,1622.971,998.937,0.000,1425.142,0.000,1598.306,1800.000,0.531,0.000
$DEVICE_MAMPS,250.042,82.836,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.632,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28393,887
$CAP_FILE_SIZE,133597,0
$CFSIZE,260165632,225390592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,301108,155428,6541.285,-5816.878,38,2.8,57,-36.1