version: 66.04
glider: 108
mission: 11
dive: 278
start: 11 6 108 21 48 50
data:
$ID,108
$MISSION,11
$DIVE,278
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,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,225
$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,-115891.01
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,214055,6705.202,-5653.872,35,1.2,35,-37.6
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-69.0
$GPS2,214757,6705.270,-5654.007,11,1.4,11,-37.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.157,-0.172
$KALMAN_X,68748.3,-972.1,-126.1,-36695.2,-538.9
$KALMAN_Y,-190519.1,905.9,742.3,209454.3,805.0
$MHEAD_RNG_PITCHd_Wd,175.2,6041,-13.0,-7.021
$D_GRID,480
$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,15,-1.00,-146.0,0.0,0.0,0,79,0.00,0.00,-62.15,0.000,2,0.000,0.000,337,2231,3062
$GC,83,-1.00,-146.0,3.2,-1.9,11,107,8.57,2.33,-7.88,0.000,4,0.245,0.069,2450,817,3345
$GC,355,-0.72,-146.0,38.7,-12.6,59,362,0.20,2.28,0.00,0.000,6,0.140,0.056,2498,2232,3348
$GC,699,-0.72,-146.0,69.2,-8.5,120,705,0.00,2.28,0.00,0.000,4,0.000,0.054,2500,805,3347
$GC,713,-0.72,-146.0,70.3,-8.3,122,719,0.00,2.30,0.00,0.000,6,0.000,0.056,2492,2242,3347
$GC,1056,-0.72,-146.0,98.7,-7.7,183,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2242,3347
$GC,1388,-0.72,-146.0,123.4,-7.4,202,1392,0.00,2.15,0.00,0.000,4,0.000,0.070,2482,3594,3346
$GC,1443,-0.72,-146.0,127.3,-6.7,204,1447,0.00,2.12,0.00,0.000,6,0.000,0.044,2482,2210,3346
$GC,1764,-0.72,-146.0,147.2,-5.6,220,1768,0.00,2.15,0.00,0.000,4,0.000,0.057,2482,827,3345
$GC,1774,-0.72,-146.0,147.9,-5.5,220,1778,0.12,2.25,0.00,0.000,6,0.135,0.056,2506,2241,3345
$GC,2096,-0.83,-146.0,163.7,-5.2,236,2100,0.12,2.15,0.00,0.000,4,0.076,0.068,2440,3593,3345
$GC,2107,-0.89,-146.0,164.3,-5.3,236,2112,0.10,2.10,0.00,0.000,6,0.159,0.043,2465,2215,3345
$GC,2428,-0.89,-146.0,187.8,-7.4,252,2431,0.00,2.15,0.00,0.000,4,0.000,0.054,2468,824,3345
$GC,2438,-0.83,-146.0,188.7,-7.2,252,2442,0.00,2.25,0.00,0.000,6,0.000,0.055,2461,2242,3345
$GC,2760,-0.78,-146.0,212.6,-7.1,268,2764,0.12,2.25,0.00,0.000,4,0.141,0.054,2500,828,3345
$GC,2846,-0.83,-146.0,218.0,-6.7,272,2850,0.00,2.25,0.00,0.000,6,0.000,0.055,2492,2245,3345
$GC,3180,-0.91,-146.0,237.4,-5.9,288,3184,0.12,2.25,0.00,0.000,4,0.075,0.053,2434,819,3345
$GC,3190,-0.91,-146.0,238.2,-5.8,288,3197,0.15,2.25,0.00,0.000,6,0.137,0.054,2465,2240,3345
$GC,3506,-0.91,-146.0,259.2,-6.5,304,3510,0.00,2.22,0.00,0.000,4,0.000,0.053,2465,823,3346
$GC,3516,-0.91,-146.0,260.0,-6.6,304,3520,0.00,2.22,0.00,0.000,6,0.000,0.054,2457,2232,3346
$GC,3838,-0.85,-146.0,280.3,-6.0,320,3842,0.00,2.15,0.00,0.000,4,0.000,0.067,2447,3600,3346
$GC,3849,-0.79,-146.0,281.2,-6.2,320,3854,0.15,2.10,0.00,0.000,6,0.144,0.041,2488,2210,3346
$GC,4170,-0.86,-146.0,296.5,-4.6,336,4174,0.00,2.12,0.00,0.000,4,0.000,0.053,2488,827,3347
$GC,4181,-0.92,-146.0,297.2,-4.6,336,4186,0.10,2.22,0.00,0.000,6,0.077,0.053,2432,2235,3347
$GC,4503,-0.78,-146.0,318.9,-6.8,352,4505,0.20,0.00,0.00,0.000,6,0.137,0.000,2490,2235,3347
$GC,4812,-0.86,-146.0,332.7,-4.4,367,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2235,3347
$GC,5124,-0.94,-146.0,346.5,-4.4,382,5128,0.15,2.22,0.00,0.000,4,0.072,0.051,2429,825,3348
$GC,5134,-0.94,-146.0,347.2,-4.3,382,5140,0.12,2.22,0.00,0.000,6,0.140,0.052,2454,2241,3349
$GC,5450,-0.89,-146.0,365.7,-5.9,398,5453,0.00,2.22,0.00,0.000,4,0.000,0.051,2456,831,3349
$GC,5461,-0.83,-146.0,366.5,-5.8,398,5466,0.12,2.22,0.00,0.000,6,0.132,0.051,2482,2245,3349
$GC,5777,-0.89,-146.0,383.0,-5.3,413,5781,0.00,2.25,0.00,0.000,4,0.000,0.051,2482,817,3349
$GC,5788,-0.94,-146.0,383.7,-5.2,413,5792,0.00,2.25,0.00,0.000,6,0.000,0.051,2475,2244,3349
$GC,6109,-0.94,-146.0,400.8,-5.4,429,6113,0.00,2.22,0.00,0.000,4,0.000,0.051,2475,830,3349
$GC,6137,-0.94,-146.0,402.6,-6.4,429,6141,0.00,2.22,0.00,0.000,6,0.000,0.051,2464,2245,3349
$GC,6479,-0.94,-146.0,423.0,-6.1,438,6483,0.00,2.25,0.00,0.000,4,0.000,0.051,2464,828,3350
$GC,6491,-0.94,-146.0,423.8,-6.0,438,6495,0.00,2.25,0.00,0.000,6,0.000,0.051,2455,2245,3349
$GC,6810,-0.87,-146.0,443.7,-6.4,446,6814,0.00,2.20,0.00,0.000,4,0.000,0.051,2456,828,3350
$GC,6844,-0.78,-146.0,446.0,-6.9,446,6849,0.15,2.22,0.00,0.000,6,0.129,0.051,2489,2244,3350
$GC,7176,-0.87,-146.0,462.9,-4.9,454,7180,0.10,2.22,0.00,0.000,4,0.081,0.051,2442,825,3350
$GC,7204,-0.75,-146.0,464.7,-6.6,454,7209,0.20,2.25,0.00,0.000,6,0.133,0.051,2491,2245,3350
$STATE,7497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7497,begin apogee
$GC,7503,-0.31,0.0,480.1,5.1,462,7628,0.30,0.00,122.20,1.093,6,0.114,0.000,2589,1735,2745
$STATE,7629,end apogee,CONTROL_FINISHED_OK
$STATE,7629,begin climb
$GC,7632,1.00,146.0,482.4,0.0,465,7765,0.90,2.58,123.90,1.029,4,0.095,0.056,2881,3146,2148
$GC,7811,0.63,146.0,465.8,12.6,469,7816,0.38,2.38,0.00,0.000,6,0.130,0.041,2788,1726,2145
$GC,8152,0.79,179.6,444.6,5.9,478,8186,0.15,2.33,27.92,1.001,4,0.064,0.056,2869,337,2013
$GC,8226,0.65,179.6,437.2,11.1,479,8231,0.25,2.30,0.00,0.000,6,0.119,0.044,2795,1752,2012
$GC,8557,0.82,212.5,416.9,6.0,487,8592,0.15,2.30,28.75,1.002,4,0.063,0.058,2865,3152,1877
$GC,8691,0.56,212.5,401.7,12.6,490,8696,0.32,2.25,0.00,0.000,6,0.127,0.042,2779,1731,1873
$GC,9019,1.26,212.5,378.0,8.7,505,9024,0.45,2.30,0.00,0.000,4,0.090,0.055,2931,3157,1870
$GC,9075,0.79,212.5,371.5,13.6,507,9082,0.38,2.22,0.00,0.000,6,0.140,0.043,2828,1734,1870
$GC,9390,0.79,212.5,343.9,8.4,523,9394,0.00,2.22,0.00,0.000,4,0.000,0.057,2836,334,1870
$GC,9445,0.85,212.5,339.4,8.6,525,9449,0.00,2.22,0.00,0.000,6,0.000,0.044,2836,1757,1871
$GC,9766,0.85,212.5,312.0,8.7,541,9770,0.00,2.17,0.00,0.000,4,0.000,0.057,2836,3153,1870
$GC,9839,0.71,212.5,304.9,10.3,544,9843,0.15,2.20,0.00,0.000,6,0.124,0.043,2802,1731,1869
$GC,10166,0.87,231.5,282.9,6.4,560,10188,0.15,2.25,15.68,0.929,4,0.063,0.055,2883,327,1800
$GC,10212,0.74,231.5,278.3,11.0,562,10217,0.22,2.25,0.00,0.000,6,0.117,0.045,2815,1750,1799
$GC,10540,0.84,231.5,253.1,7.6,578,10545,0.10,2.20,0.00,0.000,4,0.074,0.057,2866,3150,1797
$GC,10640,0.61,231.5,240.5,12.8,582,10647,0.30,2.20,0.00,0.000,6,0.123,0.043,2784,1729,1796
$GC,10956,1.25,231.5,214.1,10.4,598,10961,0.40,2.28,0.00,0.000,4,0.077,0.056,2933,3154,1795
$GC,10989,1.20,231.5,210.2,11.4,599,10994,0.12,2.20,0.00,0.000,6,0.152,0.043,2910,1731,1795
$GC,11310,0.93,231.5,163.8,14.3,615,11314,0.17,2.22,0.00,0.000,4,0.134,0.054,2865,326,1795
$GC,11387,0.93,231.5,155.3,9.8,618,11392,0.00,2.25,0.00,0.000,6,0.000,0.045,2865,1753,1796
$GC,11709,0.85,231.5,125.0,9.2,634,11713,0.10,2.20,0.00,0.000,4,0.129,0.058,2835,3156,1796
$GC,11781,0.85,231.5,118.7,8.0,637,11785,0.00,2.20,0.00,0.000,6,0.000,0.043,2842,1723,1795
$GC,12100,0.95,237.2,97.1,6.8,657,12112,0.00,0.00,5.62,0.693,6,0.000,0.000,2842,1723,1778
$GC,12450,1.09,260.5,74.6,6.3,719,12476,0.17,2.38,21.35,0.835,4,0.064,0.058,2923,3157,1682
$GC,12500,0.89,260.5,69.3,11.0,727,12507,0.30,2.22,0.00,0.000,6,0.130,0.044,2844,1730,1680
$GC,12845,1.43,273.3,45.5,6.6,788,12864,0.35,2.30,11.50,0.787,4,0.081,0.058,2971,3158,1630
$GC,12911,1.10,273.3,38.9,11.6,799,12918,0.30,2.22,0.00,0.000,6,0.138,0.045,2893,1739,1628
$GC,13255,1.10,273.3,13.3,9.0,860,13262,0.00,2.25,0.00,0.000,4,0.000,0.059,2901,330,1626
$GC,13324,1.18,273.3,7.4,8.2,872,13331,0.00,2.22,0.00,0.000,6,0.000,0.047,2901,1740,1626
$STATE,13374,end climb,SURFACE_DEPTH_REACHED
$STATE,13374,begin surface coast
$FINISH,1.5,1.026174
$STATE,13409,end surface coast,CONTROL_FINISHED_OK
$STATE,13409,begin surface
$SM_CCo,13487,0.00,0.000,0,0,1622,275.47
$SM_GC,2.28,6.88,0.00,0.00,0.049,0.000,0.000,330,2251,1622,-10.59,0.59,275.47
$RAFOS_CLK,499
$RAFOS,4,1226018645,0.750000,0.734722,66,60,58,55,53,52,178,205,134,120,215,147
$RAFOS,3,1226018045,0.583333,0.568056,60,59,57,57,54,53,221,146,202,158,119,190
$RAFOS,2,1226017456,0.416667,0.404444,75,60,58,57,57,53,583,199,218,184,140,166
$RAFOS,1,1226016846,0.250000,0.235000,60,60,57,53,51,51,211,862,156,193,170,144
$RAFOS,0,1226016275,0.083333,0.076389,55,54,53,53,51,50,220,196,211,136,121,112
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6636.54,-5655.33,310198,171706
$TT8_MAMPS,0.026078
$HUMID,1762
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.20
$XPDR_PINGS,69
$24V_AH,22.9,49.371
$10V_AH,10.6,22.559
$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,23.825,144.650,356.925,0.000,0.000,24.894,31.636,215.078,17.250,0.000,0.000,13.413,1630.196,9623.029,484.463,1630.447,540.578,33.366,1383.285,0.000,1611.486,1800.000,0.532,0.000
$DEVICE_MAMPS,245.440,69.797,1092.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28397,887
$CAP_FILE_SIZE,127779,0
$CFSIZE,260165632,233041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,071108,013502,6705.217,-5653.471,40,1.0,40,-37.6