version: 66.04
glider: 108
mission: 11
dive: 526
start: 12 28 108 22 56 56
data:
$ID,108
$MISSION,11
$DIVE,526
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-126385.23
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,25
$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
$GPS1,201040,6629.136,-6002.767,0,2137.0,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.07
$_SM_ANGLEo,-9.8
$GPS2,201040,6629.136,-6002.767,0,2137.0,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,346.2,37898,-13.0,-7.021
$D_GRID,526
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.40,0.000,2,0.000,0.000,2694,1738,943
$GC,27,-0.99,-146.0,8.1,-0.0,1,96,0.62,0.00,-64.32,0.000,6,0.057,0.000,2448,1738,3248
$GC,435,-0.71,-146.0,51.2,-13.8,73,443,0.22,3.12,0.00,0.000,4,0.146,0.077,2506,3604,3258
$GC,697,-0.71,-146.0,76.8,-9.5,119,704,0.00,2.20,0.00,0.000,6,0.000,0.053,2507,2215,3259
$GC,1049,-0.71,-146.0,109.7,-9.1,168,1053,0.00,2.33,0.00,0.000,4,0.000,0.078,2499,3603,3259
$GC,1151,-0.71,-146.0,119.2,-9.5,172,1156,0.10,2.20,0.00,0.000,6,0.156,0.054,2523,2214,3259
$GC,1473,-0.79,-146.0,143.8,-7.3,188,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2214,3259
$GC,1783,-0.88,-146.0,164.3,-6.1,203,1788,0.12,2.25,0.00,0.000,4,0.091,0.066,2472,821,3259
$GC,1870,-0.74,-146.0,171.5,-9.0,207,1875,0.20,2.35,0.00,0.000,6,0.140,0.067,2517,2233,3259
$GC,2199,-0.80,-146.0,195.9,-7.7,223,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2233,3259
$GC,2508,-0.89,-146.0,218.8,-6.6,238,2513,0.12,2.28,0.00,0.000,4,0.093,0.081,2457,3604,3259
$GC,2609,-0.74,-146.0,227.9,-9.8,242,2616,0.22,2.20,0.00,0.000,6,0.151,0.055,2519,2218,3259
$GC,2927,-0.84,-146.0,248.8,-6.5,258,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2218,3259
$GC,3235,-0.93,-146.0,267.9,-6.0,273,3240,0.15,2.25,0.00,0.000,4,0.085,0.067,2457,824,3259
$GC,3353,-0.76,-146.0,277.9,-8.7,278,3358,0.25,2.33,0.00,0.000,6,0.143,0.067,2518,2232,3259
$GC,3676,-0.86,-146.0,296.0,-5.6,294,3677,0.10,0.00,0.00,0.000,6,0.098,0.000,2477,2231,3259
$GC,3985,-0.86,-146.0,322.0,-9.0,309,3989,0.00,2.28,0.00,0.000,4,0.000,0.081,2467,3607,3259
$GC,4081,-0.80,-146.0,331.8,-10.4,313,4085,0.15,2.20,0.00,0.000,6,0.150,0.054,2506,2221,3259
$GC,4403,-0.89,-146.0,357.4,-7.4,329,4407,0.00,2.25,0.00,0.000,4,0.000,0.067,2507,820,3259
$GC,4490,-0.96,-146.0,363.9,-7.2,332,4497,0.10,2.35,0.00,0.000,6,0.088,0.067,2456,2240,3258
$GC,4807,-0.87,-146.0,389.6,-7.6,348,4812,0.12,2.35,0.00,0.000,4,0.156,0.065,2488,812,3258
$GC,4892,-0.87,-146.0,395.4,-6.6,352,4896,0.00,2.35,0.00,0.000,6,0.000,0.065,2481,2240,3258
$GC,5222,-0.87,-146.0,416.8,-6.7,362,5227,0.00,2.33,0.00,0.000,4,0.000,0.065,2480,820,3258
$GC,5323,-0.87,-146.0,424.1,-7.4,364,5327,0.00,2.35,0.00,0.000,6,0.000,0.065,2470,2242,3258
$GC,5636,-0.87,-146.0,445.8,-7.2,372,5640,0.00,2.22,0.00,0.000,4,0.000,0.078,2460,3596,3258
$GC,5766,-0.87,-146.0,455.5,-7.2,374,5773,0.12,2.17,0.00,0.000,6,0.147,0.052,2492,2218,3258
$GC,6099,-0.96,-146.0,475.1,-5.9,383,6102,0.00,2.25,0.00,0.000,4,0.000,0.064,2492,811,3258
$GC,6212,-1.01,-146.0,481.5,-5.3,385,6217,0.10,2.35,0.00,0.000,6,0.087,0.064,2442,2238,3258
$GC,6561,-0.92,-146.0,506.7,-7.6,394,6566,0.15,2.25,0.00,0.000,4,0.153,0.076,2475,3607,3259
$GC,6640,-1.39,-146.0,508.9,0.1,395,6647,0.30,2.17,0.00,0.000,6,0.063,0.051,2354,2224,3259
$STATE,6766,end dive,NO_VERTICAL_VELOCITY
$STATE,6766,begin apogee
$GC,6774,-0.31,0.0,508.9,0.0,399,6903,0.80,0.00,125.68,1.176,6,0.104,0.000,2617,1741,2650
$STATE,6904,end apogee,CONTROL_FINISHED_OK
$STATE,6904,begin climb
$GC,6907,0.99,146.0,508.6,0.0,402,7049,0.88,2.72,132.70,1.098,4,0.097,0.068,2896,3155,2054
$GC,7099,0.66,146.0,493.1,11.1,406,7104,0.32,2.47,0.00,0.000,6,0.137,0.050,2821,1738,2051
$GC,7442,0.81,186.0,473.1,5.7,415,7483,0.12,2.50,34.92,1.104,4,0.074,0.067,2876,3162,1891
$GC,7490,0.84,208.1,469.3,6.3,416,7517,0.12,2.35,20.77,1.032,6,0.145,0.051,2856,1736,1801
$GC,7849,0.84,208.1,441.3,7.9,425,7853,0.00,2.35,0.00,0.000,4,0.000,0.067,2855,3162,1798
$GC,7860,0.84,208.1,440.3,7.9,425,7864,0.00,2.28,0.00,0.000,6,0.000,0.051,2863,1736,1797
$GC,8180,0.84,208.1,416.7,7.3,433,8184,0.00,2.33,0.00,0.000,4,0.000,0.067,2863,3154,1796
$GC,8209,0.75,208.1,414.4,8.3,433,8213,0.12,2.25,0.00,0.000,6,0.142,0.051,2838,1732,1795
$GC,8533,0.92,259.4,395.5,5.4,443,8580,0.15,0.00,45.08,1.083,6,0.074,0.000,2904,1732,1592
$GC,8904,0.81,259.4,358.9,9.7,461,8908,0.17,2.28,0.00,0.000,4,0.130,0.065,2861,333,1588
$GC,8938,0.93,259.4,356.0,7.7,462,8942,0.00,2.30,0.00,0.000,6,0.000,0.053,2862,1756,1588
$GC,9261,1.05,259.4,332.0,7.4,478,9263,0.15,0.00,0.00,0.000,6,0.072,0.000,2933,1755,1587
$GC,9570,0.91,259.4,297.4,11.4,493,9572,0.20,0.00,0.00,0.000,6,0.133,0.000,2874,1756,1587
$GC,9878,1.04,280.4,275.6,6.3,508,9900,0.12,0.00,18.85,1.012,6,0.077,0.000,2930,1756,1506
$GC,10208,0.93,280.4,245.1,9.2,524,10212,0.17,2.28,0.00,0.000,4,0.131,0.071,2878,3157,1505
$GC,10231,0.93,280.4,243.0,8.8,525,10235,0.00,2.25,0.00,0.000,6,0.000,0.054,2884,1738,1504
$GC,10564,1.03,286.1,220.2,6.8,541,10572,0.00,0.00,5.75,0.821,6,0.000,0.000,2884,1738,1483
$GC,10874,1.15,286.1,198.7,7.2,556,10878,0.15,2.33,0.00,0.000,4,0.077,0.070,2950,3149,1484
$GC,10890,1.15,286.1,197.2,7.7,556,10897,0.12,2.25,0.00,0.000,6,0.154,0.054,2928,1734,1483
$GC,11206,1.15,286.1,167.6,8.6,572,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1734,1484
$GC,11518,1.15,286.1,143.7,7.8,587,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1734,1483
$GC,11825,1.15,286.1,118.9,7.7,602,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1734,1483
$GC,12138,1.15,286.1,96.0,8.4,623,12144,0.00,2.30,0.00,0.000,4,0.000,0.071,2937,333,1483
$GC,12163,1.15,286.1,93.8,8.8,627,12169,0.00,2.30,0.00,0.000,6,0.000,0.058,2937,1741,1483
$GC,12508,1.15,286.1,66.1,8.6,688,12515,0.00,2.30,0.00,0.000,4,0.000,0.074,2937,3153,1483
$GC,12545,1.07,286.1,62.4,10.0,694,12552,0.15,2.28,0.00,0.000,6,0.138,0.057,2905,1732,1482
$GC,12892,1.24,321.6,39.5,5.9,755,12928,0.15,0.00,32.65,0.930,6,0.073,0.000,2968,1732,1339
$FREEZE,6.39,-1.777,-1.778
$STATE,13225,end climb,FINISH_DEPTH_REACHED
$STATE,13225,begin subsurface finish
$FINISH1,6.4,1.026059,78
$GC,13234,0.10,78.1,6.4,-10.0,814,13276,0.85,0.00,-35.88,0.000,6,0.132,0.000,2702,1732,2334
$FINISH2,4.5
$STATE,13276,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13277,begin surface
$RAFOS_CLK,617
$RAFOS,4,1230511451,0.750000,0.736389,59,58,56,53,51,51,198,173,219,122,155,111
$RAFOS,3,1230510867,0.583333,0.574167,59,58,57,56,54,50,131,216,183,146,160,228
$RAFOS,2,1230510242,0.416667,0.400556,63,60,58,54,53,51,189,212,129,168,222,983
$RAFOS,1,1230509654,0.250000,0.237222,98,77,62,57,54,53,702,174,216,199,138,153
$RAFOS,0,1230509044,0.083333,0.067778,95,67,56,55,54,50,646,221,205,134,154,180
$RAFOS_FIX,6628.643066,-6003.502441,291208,000044,2,96,0.07
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1837
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,14.90
$XPDR_PINGS,121
$24V_AH,21.6,85.173
$10V_AH,10.4,39.122
$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,7.950,98.200,416.400,0.000,0.000,0.000,0.000,0.000,30.250,0.000,0.000,0.000,1488.358,9533.497,519.129,1568.182,228.872,0.000,1366.550,0.000,1553.414,1800.000,0.528,0.000
$DEVICE_MAMPS,156.468,81.302,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25315,821
$CAP_FILE_SIZE,103607,0
$CFSIZE,260165632,217153536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.4
$GPS,291208,001144,6628.643,-6003.502,0,2096.5,0,-37.3