version: 66.04
glider: 108
mission: 11
dive: 286
start: 11 8 108 6 43 2
data:
$ID,108
$MISSION,11
$DIVE,286
$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,-116055.45
$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,25
$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
$GPS1,063308,6703.247,-5658.898,55,1.4,55,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-64.1
$GPS2,064211,6703.209,-5658.967,12,2.7,31,-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,-0.182,-0.146
$KALMAN_X,56170.0,1809.1,576.8,-31240.8,-2757.2
$KALMAN_Y,-176482.5,474.5,-391.1,193194.5,866.7
$MHEAD_RNG_PITCHd_Wd,268.9,27232,-13.0,-7.021
$D_GRID,648
$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,13,begin dive
$GC,17,-1.00,-146.0,0.0,0.0,0,87,0.00,0.00,-67.30,0.000,2,0.000,0.000,336,2245,3115
$GC,90,-1.00,-146.0,3.3,-1.5,12,110,8.62,2.33,-6.22,0.000,4,0.248,0.083,2427,3600,3343
$GC,363,-0.72,-146.0,44.4,-13.3,60,370,0.25,2.17,0.00,0.000,6,0.144,0.044,2505,2218,3347
$GC,707,-0.72,-146.0,72.0,-7.8,121,714,0.00,2.30,0.00,0.000,4,0.000,0.068,2497,3607,3347
$GC,832,-0.72,-146.0,82.0,-7.8,143,838,0.00,2.17,0.00,0.000,6,0.000,0.044,2497,2218,3347
$GC,1168,-0.72,-146.0,105.2,-6.4,192,1172,0.00,2.20,0.00,0.000,4,0.000,0.055,2497,816,3346
$GC,1208,-0.72,-146.0,107.6,-6.3,193,1214,0.00,2.30,0.00,0.000,6,0.000,0.057,2487,2236,3346
$GC,1524,-0.72,-146.0,128.9,-6.9,209,1527,0.00,2.25,0.00,0.000,4,0.000,0.056,2487,828,3345
$GC,1602,-0.67,-146.0,134.9,-7.4,212,1606,0.12,2.28,0.00,0.000,6,0.133,0.057,2511,2234,3345
$GC,1923,-0.79,-146.0,152.5,-5.2,228,1928,0.10,2.20,0.00,0.000,4,0.081,0.068,2454,3602,3345
$GC,1961,-0.70,-146.0,155.4,-7.3,229,1968,0.20,2.12,0.00,0.000,6,0.141,0.044,2510,2224,3345
$GC,2277,-0.82,-146.0,172.6,-5.6,245,2282,0.12,2.20,0.00,0.000,4,0.078,0.056,2453,821,3345
$GC,2305,-0.71,-146.0,174.5,-7.8,246,2310,0.20,2.28,0.00,0.000,6,0.136,0.056,2500,2243,3345
$GC,2632,-0.81,-146.0,192.7,-5.7,262,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2243,3345
$GC,2943,-0.90,-146.0,209.9,-5.5,277,2947,0.15,2.30,0.00,0.000,4,0.071,0.054,2434,816,3346
$GC,2988,-0.69,-146.0,213.3,-7.8,279,2993,0.28,2.30,0.00,0.000,6,0.133,0.055,2506,2243,3345
$GC,3316,-0.82,-146.0,228.9,-4.8,295,3318,0.12,0.00,0.00,0.000,6,0.074,0.000,2449,2243,3346
$GC,3625,-0.74,-146.0,250.3,-6.9,310,3627,0.17,0.00,0.00,0.000,6,0.141,0.000,2499,2243,3346
$GC,3933,-0.84,-146.0,265.6,-5.0,325,3935,0.10,0.00,0.00,0.000,6,0.087,0.000,2453,2243,3346
$GC,4243,-0.77,-146.0,285.0,-6.5,340,4245,0.15,0.00,0.00,0.000,6,0.140,0.000,2495,2243,3346
$GC,4552,-0.87,-146.0,299.7,-4.7,355,4554,0.10,0.00,0.00,0.000,6,0.086,0.000,2447,2243,3347
$GC,4861,-0.79,-146.0,318.7,-6.2,370,4867,0.15,2.33,0.00,0.000,4,0.143,0.052,2489,818,3347
$GC,4890,-0.79,-146.0,320.4,-5.7,371,4894,0.00,2.33,0.00,0.000,6,0.000,0.053,2481,2239,3347
$GC,5211,-0.83,-146.0,337.0,-5.4,387,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2240,3347
$GC,5520,-0.88,-146.0,354.8,-6.0,402,5524,0.00,2.28,0.00,0.000,4,0.000,0.052,2481,825,3348
$GC,5550,-0.88,-146.0,356.5,-6.6,403,5554,0.00,2.25,0.00,0.000,6,0.000,0.052,2473,2239,3348
$GC,5876,-0.88,-146.0,376.5,-6.1,419,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2239,3349
$GC,6186,-0.88,-146.0,394.9,-5.8,434,6190,0.00,2.25,0.00,0.000,4,0.000,0.051,2472,827,3349
$GC,6219,-0.88,-146.0,397.0,-6.3,435,6223,0.00,2.28,0.00,0.000,6,0.000,0.051,2463,2235,3349
$GC,6557,-0.88,-146.0,416.3,-5.7,445,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2234,3349
$GC,6882,-0.88,-146.0,434.7,-5.9,453,6885,0.00,2.25,0.00,0.000,4,0.000,0.051,2462,826,3350
$GC,6916,-0.81,-146.0,436.8,-6.6,453,6920,0.12,2.25,0.00,0.000,6,0.131,0.052,2487,2246,3350
$GC,7247,-0.89,-146.0,453.8,-5.1,461,7249,0.10,0.00,0.00,0.000,6,0.080,0.000,2439,2246,3350
$GC,7572,-0.79,-146.0,474.6,-6.5,469,7577,0.17,2.28,0.00,0.000,4,0.140,0.051,2490,821,3350
$GC,7628,-0.84,-146.0,477.9,-6.1,470,7632,0.00,2.25,0.00,0.000,6,0.000,0.051,2482,2245,3350
$GC,7941,-0.90,-146.0,494.9,-5.5,478,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2245,3351
$GC,8266,-0.96,-146.0,513.4,-5.6,486,8268,0.12,0.00,0.00,0.000,6,0.069,0.000,2423,2245,3351
$GC,8592,-0.81,-146.0,537.3,-7.3,494,8594,0.20,0.00,0.00,0.000,6,0.137,0.000,2481,2245,3351
$GC,8916,-0.88,-146.0,554.8,-5.4,502,8920,0.00,2.20,0.00,0.000,4,0.000,0.064,2473,3596,3351
$GC,8944,-0.94,-146.0,556.5,-6.3,502,8948,0.00,2.12,0.00,0.000,6,0.000,0.040,2473,2224,3351
$GC,9287,-0.94,-146.0,575.8,-5.6,511,9291,0.00,2.20,0.00,0.000,4,0.000,0.053,2473,826,3351
$GC,9359,-0.94,-146.0,580.3,-6.4,512,9363,0.00,2.28,0.00,0.000,6,0.000,0.052,2463,2233,3351
$GC,9702,-0.94,-146.0,600.7,-5.9,521,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2233,3351
$GC,10027,-0.94,-146.0,619.4,-5.9,529,10031,0.00,2.22,0.00,0.000,4,0.000,0.064,2453,3604,3351
$GC,10065,-0.94,-146.0,621.8,-6.8,529,10071,0.00,2.12,0.00,0.000,6,0.000,0.041,2453,2221,3351
$GC,10396,-0.94,-146.0,641.9,-6.1,538,10400,0.00,2.17,0.00,0.000,4,0.000,0.054,2453,830,3351
$GC,10464,-0.85,-146.0,646.3,-6.5,539,10469,0.12,2.22,0.00,0.000,6,0.133,0.053,2477,2233,3351
$STATE,10525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10525,begin apogee
$GC,10531,-0.31,0.0,649.7,5.6,541,10659,0.35,0.00,125.38,1.223,6,0.120,0.000,2590,1734,2745
$STATE,10660,end apogee,CONTROL_FINISHED_OK
$STATE,10660,begin climb
$GC,10662,1.00,146.0,649.7,0.0,544,10800,0.85,2.60,128.00,1.151,4,0.085,0.057,2885,333,2148
$GC,10819,0.78,146.0,637.0,10.3,547,10824,0.22,2.47,0.00,0.000,6,0.124,0.045,2825,1748,2147
$GC,11149,0.78,146.0,610.9,7.9,555,11153,0.00,2.30,0.00,0.000,4,0.000,0.059,2825,3162,2142
$GC,11234,0.61,146.0,603.1,9.4,556,11240,0.17,2.30,0.00,0.000,6,0.127,0.044,2784,1733,2142
$GC,11565,0.79,175.2,582.2,6.1,565,11592,0.15,0.00,24.70,1.137,6,0.064,0.000,2854,1733,2030
$GC,11890,0.65,175.2,550.4,9.9,573,11894,0.20,2.33,0.00,0.000,4,0.120,0.059,2790,3152,2026
$GC,11917,0.65,175.2,548.1,7.3,573,11921,0.00,2.25,0.00,0.000,6,0.000,0.045,2797,1723,2025
$GC,12253,0.79,199.9,527.1,6.2,582,12282,0.12,2.42,21.33,1.117,4,0.071,0.059,2858,3155,1929
$GC,12322,0.55,199.9,520.1,11.6,583,12327,0.32,2.25,0.00,0.000,6,0.128,0.045,2772,1738,1927
$GC,12659,1.11,199.9,496.5,7.9,592,12664,0.35,2.30,0.00,0.000,4,0.075,0.060,2901,3151,1925
$GC,12731,0.69,199.9,488.0,13.8,593,12736,0.35,2.22,0.00,0.000,6,0.137,0.046,2807,1728,1925
$GC,13063,0.76,199.9,463.1,7.1,601,13067,0.00,2.22,0.00,0.000,4,0.000,0.060,2815,330,1924
$GC,13079,0.85,199.9,461.9,7.2,601,13084,0.10,2.25,0.00,0.000,6,0.078,0.047,2866,1754,1925
$GC,13393,0.68,199.9,428.6,10.8,609,13397,0.20,2.20,0.00,0.000,4,0.128,0.060,2801,3153,1924
$GC,13448,0.68,199.9,423.6,8.1,610,13451,0.00,2.20,0.00,0.000,6,0.000,0.045,2807,1735,1923
$GC,13767,0.76,207.9,401.5,6.8,618,13781,0.00,2.35,7.45,0.925,4,0.000,0.060,2808,3157,1897
$GC,13811,0.76,207.9,397.9,8.3,619,13815,0.00,2.20,0.00,0.000,6,0.000,0.045,2816,1735,1895
$GC,14143,0.76,207.9,371.5,8.0,635,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1734,1895
$GC,14452,0.76,207.9,346.7,8.2,650,14456,0.00,2.30,0.00,0.000,4,0.000,0.059,2816,3157,1896
$GC,14484,0.76,207.9,343.6,9.3,651,14489,0.00,2.20,0.00,0.000,6,0.000,0.044,2826,1734,1895
$GC,14806,0.76,207.9,316.4,8.3,667,14810,0.00,2.28,0.00,0.000,4,0.000,0.059,2826,3149,1895
$GC,14833,0.76,207.9,313.8,9.3,668,14837,0.00,2.20,0.00,0.000,6,0.000,0.044,2836,1738,1895
$GC,15159,0.76,207.9,286.7,7.8,684,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1738,1896
$GC,15469,0.76,207.9,263.4,7.5,699,15473,0.00,2.28,0.00,0.000,4,0.000,0.059,2836,3159,1896
$GC,15496,0.69,207.9,261.0,8.4,700,15501,0.15,2.20,0.00,0.000,6,0.128,0.044,2802,1731,1895
$GC,15823,0.88,233.7,242.0,6.2,716,15848,0.15,0.00,22.80,0.952,6,0.064,0.000,2873,1731,1792
$GC,16152,0.75,233.7,205.9,10.9,732,16154,0.20,0.00,0.00,0.000,6,0.121,0.000,2813,1732,1787
$GC,16461,0.96,262.5,185.3,6.1,747,16489,0.17,0.00,25.15,0.917,6,0.063,0.000,2891,1731,1675
$GC,16791,0.82,262.5,148.9,11.4,763,16793,0.20,0.00,0.00,0.000,6,0.120,0.000,2830,1731,1669
$GC,17100,1.04,286.2,127.6,6.3,778,17126,0.17,2.33,20.88,0.883,4,0.064,0.060,2908,3157,1578
$GC,17149,0.82,286.2,122.5,12.2,780,17154,0.30,2.25,0.00,0.000,6,0.130,0.046,2828,1728,1576
$GC,17466,1.19,297.5,103.0,6.7,795,17484,0.28,0.00,10.43,0.828,6,0.080,0.000,2926,1728,1532
$GC,17819,1.29,297.5,70.6,8.5,853,17825,0.00,2.22,0.00,0.000,4,0.000,0.061,2935,333,1528
$GC,17859,1.29,297.5,67.0,8.5,860,17866,0.00,2.25,0.00,0.000,6,0.000,0.050,2935,1742,1528
$GC,18203,1.18,297.5,29.2,8.9,921,18210,0.10,2.25,0.00,0.000,4,0.149,0.063,2908,3157,1526
$GC,18216,1.05,297.5,27.8,9.4,923,18224,0.12,2.22,0.00,0.000,6,0.144,0.046,2881,1725,1526
$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,1.5,1.002669
$STATE,18595,end surface coast,CONTROL_FINISHED_OK
$STATE,18595,begin surface
$SM_CCo,18673,0.00,0.000,0,0,1522,300.00
$SM_GC,2.54,6.75,0.00,0.00,0.045,0.000,0.000,333,2230,1522,-10.58,-0.03,300.00
$RAFOS_CLK,721
$RAFOS,4,1226133866,8.750000,8.740556,63,60,60,56,55,55,166,175,205,118,144,216
$RAFOS,3,1226133258,8.583333,8.571667,65,60,58,55,54,52,206,193,154,171,225,112
$RAFOS,2,1226132641,8.416667,8.400278,62,59,57,54,51,51,190,202,218,140,166,123
$RAFOS,1,1226132058,8.250000,8.238334,62,59,59,56,52,50,220,207,198,173,146,116
$RAFOS,0,1226131448,8.083333,8.068889,64,61,59,59,56,49,117,197,209,227,136,177
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6631.12,-5658.34,020298,060646
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,16.00
$XPDR_PINGS,48
$24V_AH,22.6,50.402
$10V_AH,10.6,23.047
$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,23.700,137.125,386.100,0.000,0.000,55.196,141.892,140.134,12.000,0.000,0.000,33.467,1841.598,14404.861,510.607,1850.551,602.226,33.382,1510.177,0.000,1800.809,1800.000,0.532,0.000
$DEVICE_MAMPS,247.741,82.836,1222.598,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34659,990
$CAP_FILE_SIZE,143844,0
$CFSIZE,260165632,232534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.2
$GPS,081108,115558,6702.495,-5704.403,39,2.5,58,-37.6