version: 66.04
glider: 108
mission: 11
dive: 284
start: 11 7 108 21 37 16
data:
$ID,108
$MISSION,11
$DIVE,284
$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,-116008.78
$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,39
$R_STBD_OVSHOOT,35
$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
$GPS1,211856,6705.334,-5656.655,68,1.2,68,-37.6
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-59.2
$GPS2,213623,6705.346,-5657.011,16,1.5,16,-37.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.087,-0.217
$KALMAN_X,55974.8,-422.5,378.0,-27181.3,-1292.9
$KALMAN_Y,-178357.4,-170.6,206.6,199081.1,2153.6
$MHEAD_RNG_PITCHd_Wd,239.5,29914,-13.0,-7.021
$D_GRID,529
$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,-62.28,0.000,2,0.000,0.000,331,2210,2762
$GC,83,-1.00,-146.0,3.2,-2.0,11,114,8.50,2.38,-17.33,0.000,4,0.242,0.082,2430,3585,3344
$GC,367,-0.69,-146.0,45.3,-13.6,61,374,0.28,2.15,0.00,0.000,6,0.140,0.045,2512,2216,3347
$GC,712,-0.75,-146.0,73.6,-8.0,122,718,0.00,2.30,0.00,0.000,4,0.000,0.067,2504,3594,3347
$GC,918,-0.82,-146.0,89.1,-6.9,158,924,0.10,2.15,0.00,0.000,6,0.089,0.044,2457,2218,3347
$GC,1256,-0.69,-146.0,117.6,-8.3,191,1260,0.17,2.20,0.00,0.000,4,0.133,0.054,2510,829,3347
$GC,1271,-0.61,-146.0,118.9,-7.9,191,1278,0.00,2.30,0.00,0.000,6,0.000,0.056,2502,2230,3347
$GC,1587,-0.67,-146.0,139.3,-6.6,207,1591,0.00,2.22,0.00,0.000,4,0.000,0.069,2492,3596,3347
$GC,1660,-0.73,-146.0,144.6,-7.2,210,1664,0.00,2.12,0.00,0.000,6,0.000,0.044,2492,2228,3346
$GC,1987,-0.73,-146.0,165.1,-6.3,226,1991,0.00,2.25,0.00,0.000,4,0.000,0.068,2482,3595,3346
$GC,2005,-0.73,-146.0,166.1,-6.4,226,2011,0.00,2.12,0.00,0.000,6,0.000,0.044,2482,2217,3346
$GC,2320,-0.73,-146.0,185.5,-6.0,242,2324,0.00,2.17,0.00,0.000,4,0.000,0.055,2482,819,3346
$GC,2337,-0.73,-146.0,186.6,-5.7,242,2343,0.12,2.30,0.00,0.000,6,0.134,0.055,2506,2243,3346
$GC,2653,-0.85,-146.0,202.6,-5.0,258,2657,0.12,2.25,0.00,0.000,4,0.077,0.054,2450,822,3346
$GC,2704,-0.69,-146.0,206.1,-7.6,260,2709,0.22,2.25,0.00,0.000,6,0.133,0.055,2506,2236,3346
$GC,3025,-0.80,-146.0,220.3,-4.1,276,3030,0.10,2.25,0.00,0.000,4,0.084,0.053,2460,816,3347
$GC,3048,-0.80,-146.0,221.6,-5.8,277,3052,0.12,2.25,0.00,0.000,6,0.136,0.054,2484,2235,3347
$GC,3374,-0.80,-146.0,238.6,-5.1,293,3378,0.00,2.17,0.00,0.000,4,0.000,0.067,2476,3605,3347
$GC,3390,-0.80,-146.0,239.6,-5.4,293,3397,0.00,2.12,0.00,0.000,6,0.000,0.042,2476,2218,3347
$GC,3706,-0.80,-146.0,256.6,-5.1,309,3710,0.00,2.17,0.00,0.000,4,0.000,0.054,2476,817,3347
$GC,3722,-0.80,-146.0,257.5,-5.1,309,3728,0.00,2.28,0.00,0.000,6,0.000,0.054,2466,2244,3348
$GC,4038,-0.80,-146.0,275.3,-5.7,325,4042,0.00,2.25,0.00,0.000,4,0.000,0.054,2466,816,3348
$GC,4066,-0.74,-146.0,276.9,-5.9,326,4070,0.15,2.28,0.00,0.000,6,0.131,0.054,2498,2246,3348
$GC,4389,-0.85,-146.0,292.6,-4.9,342,4393,0.10,2.25,0.00,0.000,4,0.084,0.052,2452,819,3348
$GC,4399,-0.91,-146.0,293.3,-4.9,342,4405,0.00,2.25,0.00,0.000,6,0.000,0.053,2441,2237,3348
$GC,4716,-0.81,-146.0,315.2,-6.7,358,4718,0.15,0.00,0.00,0.000,6,0.141,0.000,2484,2237,3349
$GC,5025,-0.86,-146.0,331.4,-5.3,373,5029,0.00,2.22,0.00,0.000,4,0.000,0.052,2484,826,3349
$GC,5036,-0.91,-146.0,332.0,-5.3,373,5040,0.00,2.25,0.00,0.000,6,0.000,0.053,2476,2245,3349
$GC,5358,-0.91,-146.0,351.1,-6.3,389,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2245,3350
$GC,5668,-0.91,-146.0,370.5,-6.1,404,5672,0.00,2.28,0.00,0.000,4,0.000,0.052,2475,816,3350
$GC,5701,-0.91,-146.0,372.8,-6.5,405,5705,0.00,2.25,0.00,0.000,6,0.000,0.052,2466,2235,3350
$GC,6023,-0.91,-146.0,393.0,-6.2,421,6026,0.00,2.25,0.00,0.000,4,0.000,0.051,2466,816,3350
$GC,6046,-0.86,-146.0,394.5,-6.5,422,6050,0.00,2.28,0.00,0.000,6,0.000,0.052,2456,2245,3350
$GC,6376,-0.81,-146.0,414.4,-5.7,432,6377,0.10,0.00,0.00,0.000,6,0.142,0.000,2483,2245,3351
$GC,6701,-0.88,-146.0,430.4,-4.8,440,6705,0.00,2.25,0.00,0.000,4,0.000,0.051,2483,828,3351
$GC,6717,-0.88,-146.0,431.2,-4.9,440,6721,0.00,2.25,0.00,0.000,6,0.000,0.051,2475,2244,3351
$GC,7030,-0.88,-146.0,446.1,-4.6,448,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2244,3352
$GC,7355,-0.88,-146.0,462.8,-5.1,456,7359,0.00,2.28,0.00,0.000,4,0.000,0.051,2475,817,3352
$GC,7395,-0.88,-146.0,465.0,-5.6,456,7401,0.00,2.28,0.00,0.000,6,0.000,0.051,2465,2245,3352
$GC,7726,-0.88,-146.0,482.1,-5.1,465,7729,0.00,2.28,0.00,0.000,4,0.000,0.051,2465,819,3353
$GC,7736,-0.88,-146.0,482.8,-5.3,465,7740,0.00,2.25,0.00,0.000,6,0.000,0.051,2455,2239,3352
$GC,8055,-0.88,-146.0,500.7,-5.7,473,8059,0.00,2.25,0.00,0.000,4,0.000,0.050,2455,823,3352
$GC,8067,-0.82,-146.0,501.4,-5.6,473,8071,0.12,2.25,0.00,0.000,6,0.131,0.051,2480,2239,3352
$GC,8380,-0.88,-146.0,517.1,-5.1,481,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2239,3353
$STATE,8620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8620,begin apogee
$GC,8626,-0.31,0.0,529.1,4.8,487,8752,0.35,0.00,123.05,1.130,6,0.115,0.000,2593,1734,2745
$STATE,8753,end apogee,CONTROL_FINISHED_OK
$STATE,8753,begin climb
$GC,8756,1.00,146.0,530.1,0.0,490,8888,0.85,2.58,124.07,1.064,4,0.097,0.056,2873,3147,2149
$GC,8929,0.66,146.0,513.5,13.7,494,8934,0.32,2.40,0.00,0.000,6,0.129,0.041,2794,1735,2145
$GC,9248,0.74,146.0,490.7,7.0,502,9250,0.10,0.00,0.00,0.000,6,0.079,0.000,2846,1735,2144
$GC,9573,0.62,146.0,460.0,9.4,510,9575,0.20,0.00,0.00,0.000,6,0.121,0.000,2787,1735,2143
$GC,9898,0.77,164.5,439.0,6.4,518,9919,0.12,2.30,15.73,1.007,4,0.072,0.057,2847,3153,2073
$GC,9954,0.54,164.5,433.3,12.3,519,9959,0.30,2.25,0.00,0.000,6,0.125,0.042,2768,1730,2071
$GC,10302,1.00,164.5,409.7,7.5,528,10306,0.30,2.30,0.00,0.000,4,0.067,0.056,2886,3155,2071
$GC,10469,0.66,164.5,388.4,13.9,532,10476,0.32,2.22,0.00,0.000,6,0.132,0.042,2799,1738,2071
$GC,10784,0.75,164.5,364.8,7.1,548,10788,0.00,2.25,0.00,0.000,4,0.000,0.057,2807,330,2071
$GC,10823,0.88,164.5,361.9,7.4,549,10830,0.15,2.25,0.00,0.000,6,0.063,0.044,2879,1751,2071
$GC,11138,0.65,164.5,325.5,11.8,565,11143,0.25,2.22,0.00,0.000,4,0.127,0.058,2798,3154,2071
$GC,11216,0.65,164.5,318.7,8.3,568,11220,0.00,2.22,0.00,0.000,6,0.000,0.043,2802,1732,2070
$GC,11538,0.75,184.9,297.3,6.4,584,11558,0.00,0.00,17.25,0.953,6,0.000,0.000,2802,1731,1991
$GC,11867,0.87,201.8,276.3,6.5,600,11890,0.15,2.30,15.52,0.923,4,0.067,0.057,2872,3152,1921
$GC,11937,0.60,201.8,268.9,13.1,603,11941,0.32,2.25,0.00,0.000,6,0.127,0.041,2784,1730,1918
$GC,12263,0.88,239.3,249.7,5.8,619,12297,0.20,0.00,31.45,0.937,6,0.059,0.000,2879,1730,1769
$GC,12595,0.72,239.3,212.3,11.4,635,12597,0.22,0.00,0.00,0.000,6,0.119,0.000,2811,1730,1763
$GC,12904,0.89,244.8,189.9,6.8,650,12911,0.12,0.00,5.05,0.690,6,0.071,0.000,2871,1730,1747
$GC,13213,0.80,244.8,157.7,10.1,665,13217,0.15,2.25,0.00,0.000,4,0.120,0.055,2832,337,1746
$GC,13258,0.96,244.8,153.9,8.0,667,13262,0.12,2.22,0.00,0.000,6,0.070,0.044,2893,1755,1746
$GC,13591,0.82,244.8,116.9,11.2,683,13596,0.20,2.22,0.00,0.000,4,0.124,0.058,2827,3157,1746
$GC,13636,0.82,244.8,112.8,8.2,685,13641,0.00,2.25,0.00,0.000,6,0.000,0.043,2833,1732,1745
$GC,13965,1.04,280.3,91.1,5.9,719,14001,0.15,0.00,31.30,0.862,6,0.067,0.000,2904,1732,1602
$GC,14338,0.97,280.3,53.2,10.7,785,14345,0.15,2.28,0.00,0.000,4,0.120,0.056,2866,341,1594
$GC,14375,1.09,280.3,50.3,8.3,791,14382,0.10,2.28,0.00,0.000,6,0.082,0.046,2918,1736,1594
$GC,14720,1.09,280.3,9.7,11.6,852,14727,0.10,2.35,0.00,0.000,4,0.138,0.061,2890,3156,1592
$GC,14761,1.09,280.3,4.9,11.5,859,14767,0.00,2.28,0.00,0.000,6,0.000,0.046,2896,1739,1592
$STATE,14777,end climb,SURFACE_DEPTH_REACHED
$STATE,14777,begin surface coast
$FINISH,1.5,1.026213
$STATE,14806,end surface coast,CONTROL_FINISHED_OK
$STATE,14806,begin surface
$SM_CCo,14883,0.00,0.000,0,0,1588,283.81
$SM_GC,2.80,6.82,0.00,0.00,0.048,0.000,0.000,334,2244,1588,-10.58,0.40,283.81
$RAFOS_CLK,578
$RAFOS,4,1226105045,0.750000,0.734722,63,63,52,51,50,50,186,214,166,224,151,1337
$RAFOS,3,1226104453,0.583333,0.570278,59,57,56,55,54,50,209,129,157,179,188,146
$RAFOS,2,1226103850,0.416667,0.402778,63,59,57,55,55,55,143,132,600,187,224,113
$RAFOS,1,1226103243,0.250000,0.234167,58,58,57,55,53,53,178,196,227,158,125,140
$RAFOS,0,1226102642,0.083333,0.067222,59,53,50,49,48,44,199,120,179,211,147,221
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6636.54,-5652.31,010298,212105
$TT8_MAMPS,0.026845
$HUMID,1772
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.20
$XPDR_PINGS,57
$24V_AH,22.8,50.117
$10V_AH,10.6,22.915
$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,22.475,132.325,363.425,0.000,0.000,99.742,237.809,354.849,14.250,0.000,0.000,18.052,1591.371,11267.428,484.942,1599.681,985.720,33.375,1370.989,0.000,1570.291,1800.000,0.532,0.000
$DEVICE_MAMPS,241.605,82.069,1129.791,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28437,867
$CAP_FILE_SIZE,131441,0
$CFSIZE,260165632,232681472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,081108,014639,6704.708,-5658.340,34,1.1,35,-37.6