version: 66.04
glider: 108
mission: 11
dive: 114
start: 9 29 108 2 35 26
data:
$ID,108
$MISSION,11
$DIVE,114
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-113151.42
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$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,19
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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
$GPS1,022938,6643.363,-6004.966,41,1.1,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-69.2
$GPS2,023433,6643.346,-6005.024,11,1.2,11,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.233,0.014
$KALMAN_X,33025.7,155.4,-489.8,-99618.3,2079.6
$KALMAN_Y,-36845.5,103.6,1812.9,19220.2,-4318.4
$MHEAD_RNG_PITCHd_Wd,311.5,27931,-13.0,-7.021
$D_GRID,595
$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,14,begin dive
$GC,16,-1.00,-146.0,0.0,0.0,0,63,0.00,0.00,-45.33,0.000,2,0.000,0.000,339,2230,2353
$GC,65,-1.00,-146.0,3.1,-1.5,8,125,8.52,2.30,-41.28,0.000,4,0.255,0.092,2433,3596,3343
$GC,378,-0.69,-146.0,44.6,-12.6,63,385,0.28,2.25,0.00,0.000,6,0.150,0.055,2513,2214,3348
$GC,722,-0.69,-146.0,74.3,-9.6,124,728,0.00,2.33,0.00,0.000,4,0.000,0.078,2505,3613,3349
$GC,772,-0.69,-146.0,79.6,-10.7,133,779,0.00,2.25,0.00,0.000,6,0.000,0.054,2505,2216,3349
$GC,1110,-0.69,-146.0,110.3,-8.0,177,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2216,3350
$GC,1421,-0.69,-146.0,133.7,-7.5,192,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2216,3350
$GC,1729,-0.69,-146.0,156.5,-7.6,207,1733,0.00,2.30,0.00,0.000,4,0.000,0.070,2504,814,3349
$GC,1857,-0.69,-146.0,167.4,-8.7,212,1864,0.00,2.33,0.00,0.000,6,0.000,0.067,2494,2237,3349
$GC,2172,-0.69,-146.0,194.4,-8.5,228,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2237,3349
$GC,2482,-0.69,-146.0,217.6,-7.0,243,2486,0.00,2.35,0.00,0.000,4,0.000,0.071,2494,818,3349
$GC,2536,-0.69,-146.0,221.7,-7.5,245,2541,0.05,2.35,0.00,0.000,6,0.145,0.068,2503,2236,3349
$GC,2857,-0.69,-146.0,241.7,-6.4,261,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2236,3348
$GC,3166,-0.73,-146.0,262.7,-7.1,276,3170,0.00,2.35,0.00,0.000,4,0.000,0.071,2503,816,3348
$GC,3249,-0.73,-146.0,269.1,-7.7,279,3256,0.00,2.35,0.00,0.000,6,0.000,0.069,2495,2232,3348
$GC,3564,-0.73,-146.0,292.7,-7.4,295,3568,0.00,2.20,0.00,0.000,4,0.000,0.091,2485,3598,3348
$GC,3694,-0.73,-146.0,303.0,-8.2,300,3700,0.00,2.20,0.00,0.000,6,0.000,0.058,2485,2221,3348
$GC,4008,-0.73,-146.0,326.2,-7.1,316,4012,0.00,2.25,0.00,0.000,4,0.000,0.072,2485,820,3347
$GC,4091,-0.73,-146.0,332.5,-7.6,319,4099,0.05,2.33,0.00,0.000,6,0.143,0.068,2492,2232,3347
$GC,4407,-0.73,-146.0,351.1,-5.7,335,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2232,3348
$GC,4717,-0.78,-146.0,368.8,-5.9,350,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2232,3347
$GC,5026,-0.83,-146.0,387.7,-6.2,365,5030,0.00,2.35,0.00,0.000,4,0.000,0.069,2494,813,3347
$GC,5132,-0.83,-146.0,394.8,-6.8,369,5139,0.00,2.33,0.00,0.000,6,0.000,0.067,2486,2241,3347
$GC,5464,-0.83,-146.0,414.9,-6.1,380,5468,0.00,2.17,0.00,0.000,4,0.000,0.079,2476,3598,3347
$GC,5570,-0.83,-146.0,422.2,-6.9,382,5574,0.00,2.17,0.00,0.000,6,0.000,0.055,2475,2223,3347
$GC,5883,-0.83,-146.0,442.2,-6.4,390,5887,0.00,2.28,0.00,0.000,4,0.000,0.071,2475,811,3348
$GC,5966,-0.77,-146.0,448.1,-6.9,391,5973,0.10,2.30,0.00,0.000,6,0.150,0.065,2491,2237,3348
$GC,6299,-0.83,-146.0,466.3,-5.4,400,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2237,3348
$GC,6622,-0.90,-146.0,484.9,-5.6,408,6624,0.12,0.00,0.00,0.000,6,0.087,0.000,2441,2237,3348
$GC,6947,-0.77,-146.0,508.0,-7.2,416,6949,0.17,0.00,0.00,0.000,6,0.153,0.000,2490,2237,3348
$GC,7272,-0.84,-146.0,525.9,-5.5,424,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2237,3349
$GC,7597,-0.90,-146.0,543.0,-5.2,432,7602,0.12,2.33,0.00,0.000,4,0.089,0.066,2438,823,3349
$GC,7693,-0.73,-146.0,549.6,-7.6,434,7698,0.25,2.30,0.00,0.000,6,0.143,0.065,2502,2245,3349
$GC,8005,-0.85,-146.0,563.9,-4.5,442,8010,0.12,2.17,0.00,0.000,4,0.087,0.077,2440,3611,3349
$GC,8072,-0.75,-146.0,568.3,-7.6,443,8076,0.20,2.17,0.00,0.000,6,0.150,0.054,2498,2218,3349
$GC,8420,-0.86,-146.0,584.1,-4.5,452,8424,0.12,2.22,0.00,0.000,4,0.087,0.067,2446,820,3350
$GC,8486,-0.71,-146.0,588.0,-5.9,453,8490,0.22,2.28,0.00,0.000,6,0.142,0.064,2502,2240,3350
$STATE,8668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8668,begin apogee
$GC,8674,-0.31,0.0,595.6,3.9,458,8800,0.28,0.00,122.72,1.236,6,0.129,0.000,2590,1738,2745
$STATE,8800,end apogee,CONTROL_FINISHED_OK
$STATE,8800,begin climb
$GC,8802,1.00,146.0,597.1,0.0,461,8935,0.88,2.65,124.62,1.165,4,0.104,0.071,2883,341,2148
$GC,8957,0.75,146.0,584.5,10.6,464,8962,0.25,2.53,0.00,0.000,6,0.130,0.055,2816,1749,2146
$GC,9293,0.75,146.0,559.9,7.4,473,9297,0.00,2.38,0.00,0.000,4,0.000,0.070,2816,3160,2141
$GC,9330,0.62,146.0,556.6,9.1,473,9338,0.15,2.40,0.00,0.000,6,0.137,0.056,2784,1730,2140
$GC,9662,0.78,187.3,537.1,5.7,482,9705,0.15,2.53,34.33,1.156,4,0.075,0.071,2845,3155,1980
$GC,9738,0.57,187.3,530.2,10.9,483,9743,0.28,2.42,0.00,0.000,6,0.135,0.055,2779,1731,1977
$GC,10075,0.80,224.5,510.0,5.8,492,10110,0.17,0.00,32.53,1.143,6,0.071,0.000,2849,1731,1829
$GC,10400,0.71,224.5,479.7,9.4,500,10405,0.15,2.45,0.00,0.000,4,0.124,0.070,2806,3158,1821
$GC,10426,0.71,224.5,477.3,8.5,500,10431,0.00,2.42,0.00,0.000,6,0.000,0.056,2813,1731,1820
$GC,10764,0.77,224.5,452.9,7.5,509,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1731,1820
$GC,11089,0.84,224.5,428.6,7.6,517,11091,0.10,0.00,0.00,0.000,6,0.090,0.000,2857,1731,1819
$GC,11393,0.73,224.5,397.8,10.1,525,11395,0.15,0.00,0.00,0.000,6,0.129,0.000,2814,1731,1818
$GC,11703,0.83,224.5,374.8,7.2,540,11705,0.10,0.00,0.00,0.000,6,0.089,0.000,2855,1731,1818
$GC,12012,0.74,224.5,345.6,9.5,555,12017,0.15,2.35,0.00,0.000,4,0.127,0.071,2810,3154,1818
$GC,12022,0.66,224.5,344.6,9.4,555,12028,0.00,2.35,0.00,0.000,6,0.000,0.055,2818,1725,1817
$GC,12338,0.75,227.0,322.4,6.9,571,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1725,1817
$GC,12647,0.86,234.1,301.8,6.8,586,12657,0.10,0.00,7.57,0.944,6,0.091,0.000,2861,1725,1790
$GC,12956,0.80,234.1,272.3,9.5,601,12958,0.12,0.00,0.00,0.000,6,0.128,0.000,2825,1725,1788
$GC,13266,0.94,243.8,251.5,6.7,616,13278,0.12,0.00,9.90,0.968,6,0.081,0.000,2875,1725,1750
$GC,13574,0.87,243.8,222.1,9.3,631,13579,0.12,2.38,0.00,0.000,4,0.133,0.071,2847,330,1747
$GC,13590,0.87,243.8,220.8,8.8,632,13594,0.00,2.33,0.00,0.000,6,0.000,0.057,2847,1755,1747
$GC,13923,0.94,246.9,197.4,6.9,648,13928,0.00,0.00,3.92,0.700,6,0.000,0.000,2847,1755,1738
$GC,14231,1.02,246.9,175.9,7.2,663,14236,0.10,2.28,0.00,0.000,4,0.092,0.073,2890,3154,1737
$GC,14275,0.79,246.9,171.4,11.3,665,14280,0.25,2.35,0.00,0.000,6,0.139,0.058,2826,1728,1736
$GC,14603,0.97,248.1,149.2,7.0,681,14604,0.15,0.00,0.00,0.000,6,0.077,0.000,2886,1727,1736
$GC,14910,0.90,248.1,121.7,8.8,696,14912,0.15,0.00,0.00,0.000,6,0.130,0.000,2842,1727,1736
$GC,15220,1.08,290.6,103.4,5.7,711,15264,0.17,2.55,38.22,0.979,4,0.081,0.075,2910,3161,1560
$GC,15281,0.96,290.6,97.9,9.4,716,15288,0.20,2.45,0.00,0.000,6,0.140,0.060,2864,1728,1557
$GC,15626,1.10,294.3,73.3,6.9,777,15633,0.12,2.40,0.00,0.000,4,0.082,0.075,2919,332,1550
$GC,15639,1.22,294.3,72.3,7.1,779,15645,0.00,2.35,0.00,0.000,6,0.000,0.060,2919,1753,1550
$GC,15983,1.12,294.3,38.1,9.9,840,15989,0.00,2.42,0.00,0.000,4,0.000,0.077,2930,328,1548
$GC,16012,1.04,294.3,35.2,9.8,845,16019,0.17,2.35,0.00,0.000,6,0.137,0.062,2879,1751,1548
$GC,16357,1.53,345.3,14.7,5.4,906,16411,0.30,2.38,45.55,0.925,4,0.081,0.077,2993,3152,1335
$GC,16417,1.53,345.3,9.7,8.8,916,16423,0.00,2.38,0.00,0.000,6,0.000,0.061,3004,1740,1334
$STATE,16483,end climb,SURFACE_DEPTH_REACHED
$STATE,16483,begin surface coast
$FINISH,1.7,1.020287
$STATE,16513,end surface coast,CONTROL_FINISHED_OK
$STATE,16513,begin surface
$SM_CCo,16590,0.00,0.000,0,0,1325,348.33
$SM_GC,2.56,7.38,0.00,0.00,0.057,0.000,0.000,338,2237,1325,-10.57,0.23,348.33
$RAFOS_CLK,703
$RAFOS,4,1222663445,4.750000,4.734722,75,60,59,58,57,57,827,154,189,118,218,167
$RAFOS,3,1222662874,4.583333,4.576111,73,65,64,61,58,51,579,183,219,174,206,147
$RAFOS,2,1222662265,4.416667,4.406944,74,64,63,59,58,55,822,197,222,206,236,173
$RAFOS,1,1222661646,4.250000,4.235000,115,58,56,53,52,51,690,118,204,139,219,164
$RAFOS,0,1222661066,4.083333,4.073889,96,62,56,53,53,51,419,207,171,220,146,188
$RAFOS_FIX,6643.557617,-6001.847168,290908,040440,5,87,0.35
$IRIDIUM_FIX,6614.97,-6001.83,231297,212157
$TT8_MAMPS,0.026845
$HUMID,1828
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.10
$XPDR_PINGS,18
$24V_AH,22.9,23.763
$10V_AH,10.6,11.103
$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,22.625,113.925,419.375,0.000,0.000,23.281,37.285,129.018,4.500,0.000,0.000,12.858,1719.002,12547.085,552.400,1724.353,352.555,33.364,1490.362,0.000,1709.099,1800.000,0.531,0.000
$DEVICE_MAMPS,254.644,92.040,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31568,933
$CAP_FILE_SIZE,128322,0
$CFSIZE,260165632,245014528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.7
$GPS,290908,071346,6640.372,-6008.833,36,3.4,55,-37.9