version: 66.04
glider: 108
mission: 11
dive: 704
start: 1 21 109 4 44 51
data:
$ID,108
$MISSION,11
$DIVE,704
$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,1
$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,15
$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,-135291.25
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,162618,6623.215,-5723.298,0,3085.3,0,-36.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.97
$_SM_ANGLEo,-2.6
$GPS2,162618,6623.215,-5723.298,0,3085.3,0,-36.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$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,55.8,77967,-13.0,-7.021
$D_GRID,560
$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,17,-0.99,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,2678,3146,2645
$GC,29,-0.99,-146.0,8.2,-0.0,1,53,0.60,0.75,-15.65,0.000,4,0.071,0.113,2451,3594,3250
$GC,177,-0.78,-146.0,22.0,-9.3,26,184,0.20,2.15,0.00,0.000,6,0.146,0.042,2509,2215,3254
$GC,525,-0.78,-146.0,51.1,-8.2,87,531,0.00,2.20,0.00,0.000,4,0.000,0.055,2510,828,3254
$GC,630,-0.78,-146.0,59.8,-8.3,105,636,0.00,2.33,0.00,0.000,6,0.000,0.055,2503,2239,3254
$GC,977,-0.78,-146.0,85.6,-6.4,166,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2239,3254
$GC,1314,-0.78,-146.0,109.9,-9.1,212,1318,0.00,2.28,0.00,0.000,4,0.000,0.058,2503,828,3252
$GC,1461,-0.78,-146.0,123.4,-8.9,218,1465,0.00,2.30,0.00,0.000,6,0.000,0.058,2493,2234,3252
$GC,1783,-0.78,-146.0,145.6,-5.9,234,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2234,3251
$GC,2093,-0.78,-146.0,161.5,-5.1,249,2096,0.00,2.30,0.00,0.000,4,0.000,0.058,2493,825,3251
$GC,2179,-0.78,-146.0,166.1,-5.4,252,2186,0.10,2.30,0.00,0.000,6,0.137,0.058,2509,2236,3251
$GC,2498,-0.87,-146.0,180.4,-4.2,268,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2235,3250
$GC,2807,-0.97,-146.0,193.6,-4.7,283,2812,0.15,2.33,0.00,0.000,4,0.072,0.056,2444,816,3249
$GC,2909,-0.79,-146.0,201.6,-8.5,287,2916,0.25,2.33,0.00,0.000,6,0.132,0.057,2506,2244,3249
$GC,3227,-0.88,-146.0,219.0,-5.3,303,3231,0.00,2.33,0.00,0.000,4,0.000,0.057,2506,817,3249
$GC,3321,-0.93,-146.0,224.0,-5.4,307,3325,0.00,2.30,0.00,0.000,6,0.000,0.055,2498,2234,3249
$GC,3657,-1.01,-146.0,242.3,-5.7,323,3659,0.12,0.00,0.00,0.000,6,0.072,0.000,2437,2234,3249
$GC,3966,-0.88,-146.0,267.2,-8.3,338,3968,0.20,0.00,0.00,0.000,6,0.138,0.000,2495,2234,3249
$GC,4276,-0.95,-146.0,286.6,-6.2,353,4280,0.10,2.28,0.00,0.000,4,0.085,0.053,2448,828,3249
$GC,4383,-0.81,-146.0,295.0,-7.4,357,4390,0.22,2.33,0.00,0.000,6,0.125,0.054,2503,2239,3249
$GC,4701,-0.92,-146.0,310.5,-4.4,373,4706,0.10,2.28,0.00,0.000,4,0.083,0.052,2456,821,3250
$GC,4803,-0.78,-146.0,316.1,-5.5,377,4808,0.22,2.33,0.00,0.000,6,0.125,0.052,2511,2238,3251
$GC,5127,-0.93,-146.0,328.5,-4.2,393,5129,0.12,0.00,0.00,0.000,6,0.074,0.000,2454,2238,3251
$GC,5437,-0.87,-146.0,347.2,-6.3,408,5441,0.15,2.28,0.00,0.000,4,0.137,0.051,2496,828,3252
$GC,5557,-0.93,-146.0,354.5,-6.1,413,5561,0.00,2.33,0.00,0.000,6,0.000,0.051,2490,2246,3252
$GC,5886,-0.99,-146.0,371.2,-4.7,429,5887,0.10,0.00,0.00,0.000,6,0.078,0.000,2437,2245,3253
$GC,6195,-0.87,-146.0,389.9,-6.0,444,6200,0.20,2.30,0.00,0.000,4,0.133,0.050,2501,815,3254
$GC,6305,-0.94,-146.0,395.2,-4.9,449,6309,0.00,2.33,0.00,0.000,6,0.000,0.050,2493,2243,3254
$GC,6636,-1.00,-146.0,409.6,-4.4,460,6638,0.12,0.00,0.00,0.000,6,0.071,0.000,2431,2243,3255
$GC,6962,-0.86,-146.0,429.6,-6.1,468,6967,0.22,2.30,0.00,0.000,4,0.130,0.051,2502,813,3256
$GC,7081,-0.94,-146.0,435.1,-4.3,470,7085,0.00,2.33,0.00,0.000,6,0.000,0.050,2494,2245,3256
$GC,7420,-1.02,-146.0,449.8,-4.3,479,7422,0.12,0.00,0.00,0.000,6,0.070,0.000,2433,2245,3257
$GC,7744,-0.88,-146.0,469.6,-6.3,487,7749,0.20,2.30,0.00,0.000,4,0.135,0.050,2497,813,3257
$GC,7895,-0.94,-146.0,477.4,-5.0,490,7899,0.00,2.33,0.00,0.000,6,0.000,0.049,2490,2244,3257
$GC,8211,-1.01,-146.0,493.1,-4.8,498,8212,0.12,0.00,0.00,0.000,6,0.073,0.000,2429,2244,3258
$GC,8534,-0.87,-146.0,515.1,-7.0,506,8539,0.20,2.30,0.00,0.000,4,0.133,0.050,2497,814,3258
$GC,8609,-0.93,-146.0,519.6,-6.1,507,8614,0.00,2.30,0.00,0.000,6,0.000,0.050,2490,2233,3258
$GC,8948,-1.00,-146.0,537.3,-5.3,516,8953,0.10,2.25,0.00,0.000,4,0.081,0.050,2437,820,3258
$GC,9062,-0.83,-146.0,545.0,-7.0,518,9067,0.25,2.30,0.00,0.000,6,0.125,0.050,2500,2242,3258
$STATE,9366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9366,begin apogee
$GC,9377,-0.31,0.0,560.2,4.8,526,9508,0.35,0.00,128.57,1.127,6,0.111,0.000,2614,1740,2650
$STATE,9509,end apogee,CONTROL_FINISHED_OK
$STATE,9509,begin climb
$GC,9513,0.99,146.0,562.1,0.0,529,9651,0.88,2.62,131.75,1.060,4,0.087,0.054,2901,3155,2054
$GC,9664,0.72,146.0,549.5,9.1,533,9669,0.28,2.42,0.00,0.000,6,0.124,0.040,2838,1733,2051
$GC,9979,0.72,146.0,526.3,7.1,541,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1733,2048
$GC,10303,0.72,146.0,503.1,7.1,549,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1733,2046
$GC,10628,0.72,146.0,479.3,7.5,557,10632,0.00,2.33,0.00,0.000,4,0.000,0.058,2838,3158,2046
$GC,10663,0.66,146.0,476.3,8.8,557,10668,0.10,2.22,0.00,0.000,6,0.137,0.043,2818,1727,2045
$GC,11001,0.78,148.4,452.8,6.9,566,11006,0.12,2.33,0.00,0.000,4,0.068,0.055,2882,3155,2044
$GC,11025,0.69,148.4,450.5,8.9,566,11029,0.22,2.20,0.00,0.000,6,0.129,0.042,2827,1734,2045
$GC,11369,0.75,148.4,424.4,7.5,575,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1734,2044
$GC,11693,0.81,148.4,400.7,7.4,583,11698,0.10,2.33,0.00,0.000,4,0.075,0.058,2881,3159,2043
$GC,11717,0.69,148.4,398.5,9.0,583,11722,0.22,2.22,0.00,0.000,6,0.129,0.043,2825,1730,2043
$GC,12047,0.77,155.8,374.9,6.8,599,12057,0.10,0.00,7.90,0.887,6,0.074,0.000,2881,1730,2014
$GC,12354,0.64,155.8,345.8,9.3,614,12359,0.20,2.30,0.00,0.000,4,0.120,0.056,2816,3152,2013
$GC,12377,0.64,155.8,343.9,8.0,615,12381,0.00,2.20,0.00,0.000,6,0.000,0.042,2823,1730,2013
$GC,12709,0.73,169.9,323.6,6.6,631,12730,0.00,2.38,13.15,0.930,4,0.000,0.055,2823,3143,1957
$GC,12765,0.73,169.9,319.3,8.0,633,12769,0.00,2.22,0.00,0.000,6,0.000,0.042,2831,1727,1956
$GC,13089,0.81,182.2,297.8,6.6,649,13111,0.10,2.40,12.23,0.898,4,0.077,0.055,2884,3160,1907
$GC,13141,0.59,182.2,292.7,11.5,651,13146,0.30,2.22,0.00,0.000,6,0.124,0.041,2805,1737,1905
$GC,13465,0.89,242.9,274.5,5.1,667,13523,0.22,0.00,53.85,0.936,6,0.054,0.000,2912,1736,1659
$GC,13833,0.77,242.9,233.8,11.3,685,13835,0.22,0.00,0.00,0.000,6,0.120,0.000,2843,1736,1651
$GC,14144,0.89,253.1,212.2,6.7,700,14158,0.12,2.35,8.35,0.779,4,0.068,0.056,2906,3149,1618
$GC,14172,0.78,253.1,209.6,9.1,701,14177,0.22,2.20,0.00,0.000,6,0.127,0.041,2849,1736,1617
$GC,14495,0.96,305.7,189.5,5.3,717,14546,0.15,0.00,48.30,0.869,6,0.061,0.000,2924,1736,1403
$GC,14844,0.89,305.7,154.0,10.3,734,14849,0.20,2.33,0.00,0.000,4,0.117,0.055,2858,3162,1396
$GC,14875,0.95,305.7,151.3,7.7,735,14879,0.08,2.22,0.00,0.000,6,0.087,0.041,2912,1732,1394
$GC,15198,0.95,305.7,125.1,7.5,751,15202,0.10,2.25,0.00,0.000,4,0.127,0.056,2892,326,1394
$GC,15227,1.08,322.8,123.0,6.5,752,15247,0.08,2.28,14.65,0.805,6,0.086,0.044,2944,1754,1334
$GC,15568,1.08,322.8,92.1,9.9,778,15575,0.12,2.22,0.00,0.000,4,0.126,0.060,2907,3144,1331
$GC,15639,1.08,322.8,85.2,9.4,790,15645,0.00,2.20,0.00,0.000,6,0.000,0.044,2913,1738,1330
$GC,15987,1.16,322.8,57.3,7.4,851,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1739,1328
$GC,16333,1.24,322.8,32.8,7.2,912,16340,0.12,2.33,0.00,0.000,4,0.073,0.061,2972,3144,1327
$GC,16353,1.24,322.8,30.9,7.2,915,16360,0.15,2.22,0.00,0.000,6,0.143,0.046,2941,1732,1327
$FREEZE,6.68,-1.760,-1.814
$STATE,16585,end climb,FINISH_DEPTH_REACHED
$STATE,16585,begin subsurface finish
$FINISH1,6.7,1.026568,53
$GC,16597,0.07,53.1,6.7,-9.9,956,16644,0.73,2.35,-37.58,0.000,4,0.096,0.072,2690,333,2438
$FINISH2,4.5
$STATE,16645,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16645,begin surface
$RAFOS_CLK,691
$RAFOS,4,1232527457,8.750000,8.738055,66,64,64,59,58,52,194,212,227,158,169,122
$RAFOS,3,1232526858,8.583333,8.571667,65,62,53,51,50,46,201,149,166,120,218,137
$RAFOS,2,1232526261,8.416667,8.405833,81,65,63,58,57,54,657,200,181,154,209,224
$RAFOS,1,1232525647,8.250000,8.235278,59,56,55,54,51,49,192,210,160,228,170,117
$RAFOS,0,1232525049,8.083333,8.069167,61,60,59,57,56,51,222,137,207,189,120,171
$RAFOS_FIX,6623.214844,-5723.298340,200109,161618,3,85,0.14
$IRIDIUM_FIX,6548.42,-5714.92,160498,050508
$TT8_MAMPS,0.026845
$HUMID,1828
$INTERNAL_PRESSURE,9.95155
$TCM_TEMP,15.20
$XPDR_PINGS,145
$24V_AH,21.9,106.675
$10V_AH,10.4,47.678
$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,9.700,120.825,418.750,0.000,0.000,0.000,0.000,0.000,36.250,0.000,0.000,0.000,1785.948,12189.188,552.275,1812.630,359.391,0.000,1503.086,0.000,1799.357,1800.000,0.532,0.000
$DEVICE_MAMPS,146.497,112.749,1127.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31495,964
$CAP_FILE_SIZE,127722,0
$CFSIZE,260165632,208429056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.2
$GPS,200109,162618,6623.215,-5723.298,0,3085.3,0,-36.7