version: 66.04
glider: 108
mission: 11
dive: 287
start: 11 8 108 12 3 6
data:
$ID,108
$MISSION,11
$DIVE,287
$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,-116071.42
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,115558,6702.495,-5704.403,39,2.5,58,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-61.6
$GPS2,120213,6702.480,-5704.455,13,1.8,13,-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,-0.208,-0.106
$KALMAN_X,57116.9,735.3,103.1,-34619.1,-2112.6
$KALMAN_Y,-175015.5,-524.6,475.7,190498.7,299.0
$MHEAD_RNG_PITCHd_Wd,280.7,23038,-13.0,-7.021
$D_GRID,708
$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,16,-1.00,-146.0,0.0,0.0,0,70,0.00,0.00,-51.40,0.000,2,0.000,0.000,332,2241,2740
$GC,73,-1.00,-146.0,3.2,-1.9,9,109,8.55,2.28,-18.38,0.000,4,0.243,0.083,2430,3598,3344
$GC,362,-0.73,-146.0,48.3,-12.0,60,369,0.25,2.15,0.00,0.000,6,0.144,0.045,2502,2210,3347
$GC,706,-0.73,-146.0,71.5,-6.4,121,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2209,3347
$GC,1049,-0.73,-146.0,95.2,-6.2,182,1056,0.00,2.17,0.00,0.000,4,0.000,0.058,2502,819,3347
$GC,1212,-0.73,-146.0,106.5,-7.1,199,1217,0.00,2.30,0.00,0.000,6,0.000,0.058,2494,2243,3347
$GC,1540,-0.73,-146.0,128.3,-6.7,215,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2243,3347
$GC,1849,-0.73,-146.0,147.3,-6.2,230,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2243,3347
$GC,2159,-0.73,-146.0,167.1,-6.4,245,2163,0.00,2.28,0.00,0.000,4,0.000,0.058,2493,816,3346
$GC,2192,-0.73,-146.0,169.7,-7.7,246,2197,0.00,2.28,0.00,0.000,6,0.000,0.058,2485,2235,3346
$GC,2514,-0.73,-146.0,191.6,-6.5,262,2517,0.00,2.17,0.00,0.000,4,0.000,0.071,2474,3596,3346
$GC,2610,-0.73,-146.0,198.8,-7.3,266,2614,0.10,2.12,0.00,0.000,6,0.145,0.046,2500,2214,3347
$GC,2938,-0.81,-146.0,218.2,-5.7,282,2942,0.00,2.17,0.00,0.000,4,0.000,0.058,2500,818,3346
$GC,3000,-0.87,-146.0,222.0,-6.0,284,3007,0.10,2.28,0.00,0.000,6,0.082,0.059,2447,2234,3346
$GC,3318,-0.78,-146.0,245.3,-7.4,300,3319,0.15,0.00,0.00,0.000,6,0.146,0.000,2489,2234,3346
$GC,3625,-0.84,-146.0,263.7,-5.8,315,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2235,3345
$GC,3935,-0.91,-146.0,281.1,-5.4,330,3937,0.12,0.00,0.00,0.000,6,0.083,0.000,2435,2234,3345
$GC,4244,-0.78,-146.0,302.6,-7.0,345,4248,0.20,2.20,0.00,0.000,4,0.145,0.068,2484,3605,3346
$GC,4289,-0.86,-146.0,305.3,-5.6,347,4293,0.00,2.12,0.00,0.000,6,0.000,0.044,2484,2217,3346
$GC,4622,-0.92,-146.0,322.0,-5.1,363,4626,0.10,2.17,0.00,0.000,4,0.086,0.055,2436,820,3345
$GC,4671,-0.75,-146.0,325.5,-7.3,365,4676,0.22,2.30,0.00,0.000,6,0.136,0.056,2491,2244,3345
$GC,4995,-0.84,-146.0,342.2,-5.0,381,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2244,3346
$GC,5302,-0.93,-146.0,359.1,-5.5,396,5304,0.15,0.00,0.00,0.000,6,0.073,0.000,2428,2244,3347
$GC,5611,-0.79,-146.0,381.8,-7.4,411,5613,0.20,0.00,0.00,0.000,6,0.147,0.000,2486,2244,3348
$GC,5922,-0.87,-146.0,399.0,-5.3,426,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2244,3348
$GC,6225,-0.95,-146.0,414.8,-5.1,434,6230,0.12,2.28,0.00,0.000,4,0.080,0.054,2432,816,3349
$GC,6265,-0.76,-146.0,417.5,-7.4,435,6270,0.25,2.28,0.00,0.000,6,0.133,0.054,2495,2241,3349
$GC,6590,-0.88,-146.0,433.6,-5.0,443,6592,0.12,0.00,0.00,0.000,6,0.077,0.000,2440,2241,3349
$GC,6914,-0.78,-146.0,456.8,-7.3,451,6916,0.17,0.00,0.00,0.000,6,0.146,0.000,2489,2241,3349
$GC,7239,-0.88,-146.0,475.2,-5.5,459,7241,0.10,0.00,0.00,0.000,6,0.086,0.000,2444,2241,3350
$GC,7565,-0.79,-146.0,496.4,-6.3,467,7567,0.15,0.00,0.00,0.000,6,0.145,0.000,2486,2241,3351
$GC,7889,-0.88,-146.0,511.8,-4.7,475,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2241,3351
$GC,8214,-0.96,-146.0,527.0,-4.6,483,8218,0.15,2.25,0.00,0.000,4,0.075,0.053,2424,826,3351
$GC,8253,-0.75,-146.0,529.4,-7.2,483,8260,0.28,2.30,0.00,0.000,6,0.135,0.054,2497,2243,3351
$GC,8584,-0.88,-146.0,544.9,-4.6,492,8586,0.12,0.00,0.00,0.000,6,0.076,0.000,2443,2243,3352
$GC,8909,-0.78,-146.0,565.3,-6.4,500,8911,0.17,0.00,0.00,0.000,6,0.146,0.000,2492,2243,3352
$GC,9235,-0.89,-146.0,582.6,-5.3,508,9239,0.12,2.25,0.00,0.000,4,0.081,0.054,2438,824,3352
$GC,9286,-0.74,-146.0,586.1,-7.0,509,9291,0.25,2.30,0.00,0.000,6,0.134,0.055,2501,2241,3352
$GC,9605,-0.88,-146.0,602.2,-5.1,517,9607,0.12,0.00,0.00,0.000,6,0.078,0.000,2448,2241,3352
$GC,9929,-0.82,-146.0,622.8,-6.4,525,9931,0.12,0.00,0.00,0.000,6,0.154,0.000,2480,2241,3352
$GC,10254,-0.88,-146.0,640.4,-5.4,533,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2241,3352
$GC,10579,-0.94,-146.0,656.8,-5.0,541,10584,0.12,2.28,0.00,0.000,4,0.082,0.056,2428,816,3352
$GC,10624,-0.77,-146.0,659.9,-7.4,542,10629,0.25,2.28,0.00,0.000,6,0.137,0.056,2493,2238,3352
$GC,10942,-0.89,-146.0,675.9,-5.0,550,10947,0.12,2.20,0.00,0.000,4,0.080,0.067,2429,3594,3352
$GC,10993,-0.77,-146.0,679.3,-7.1,551,10998,0.22,2.10,0.00,0.000,6,0.144,0.043,2494,2219,3352
$GC,11317,-0.91,-146.0,694.7,-4.6,559,11322,0.12,2.17,0.00,0.000,4,0.083,0.055,2440,823,3352
$GC,11373,-0.78,-146.0,698.3,-6.8,560,11378,0.20,2.28,0.00,0.000,6,0.136,0.057,2487,2240,3351
$STATE,11601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11602,begin apogee
$GC,11608,-0.31,0.0,709.3,4.6,566,11738,0.32,0.00,126.80,1.290,6,0.121,0.000,2591,1743,2745
$STATE,11739,end apogee,CONTROL_FINISHED_OK
$STATE,11739,begin climb
$GC,11741,1.00,146.0,710.8,0.0,569,11879,0.88,2.60,130.25,1.212,4,0.099,0.062,2873,3145,2149
$GC,11904,0.71,146.0,697.1,10.4,572,11911,0.28,2.42,0.00,0.000,6,0.133,0.045,2812,1733,2145
$GC,12234,0.71,146.0,672.1,7.4,581,12238,0.00,2.40,0.00,0.000,4,0.000,0.063,2811,3149,2142
$GC,12250,0.71,146.0,670.9,7.1,581,12255,0.00,2.33,0.00,0.000,6,0.000,0.047,2817,1730,2141
$GC,12564,0.71,146.0,647.9,7.3,589,12568,0.00,2.35,0.00,0.000,4,0.000,0.063,2817,3157,2141
$GC,12602,0.59,146.0,644.8,8.6,589,12609,0.17,2.25,0.00,0.000,6,0.131,0.048,2778,1736,2140
$GC,12933,0.83,195.9,626.6,5.4,598,12981,0.20,2.38,41.75,1.226,4,0.063,0.064,2869,3156,1945
$GC,13016,0.56,195.9,618.9,12.0,600,13021,0.35,2.30,0.00,0.000,6,0.133,0.048,2777,1727,1942
$GC,13340,1.08,195.9,596.7,7.4,608,13345,0.32,2.35,0.00,0.000,4,0.080,0.063,2895,3163,1938
$GC,13477,0.73,195.9,580.8,13.2,611,13482,0.32,2.25,0.00,0.000,6,0.136,0.049,2810,1733,1937
$GC,13801,0.84,208.8,557.5,6.6,619,13816,0.12,0.00,11.60,1.114,6,0.074,0.000,2867,1733,1893
$GC,14127,0.69,208.8,524.4,10.5,627,14129,0.22,0.00,0.00,0.000,6,0.124,0.000,2799,1733,1890
$GC,14451,0.89,240.4,503.8,6.0,635,14486,0.17,2.38,27.52,1.163,4,0.067,0.065,2874,3144,1764
$GC,14514,0.65,240.4,497.1,12.1,636,14519,0.30,2.25,0.00,0.000,6,0.130,0.048,2795,1733,1761
$GC,14858,0.90,281.9,476.4,5.7,645,14900,0.20,0.00,37.05,1.143,6,0.063,0.000,2886,1733,1595
$GC,15225,0.73,281.9,432.6,12.2,654,15227,0.25,0.00,0.00,0.000,6,0.123,0.000,2811,1733,1586
$GC,15550,0.95,322.8,412.5,5.7,662,15599,0.17,2.38,37.80,1.055,4,0.065,0.064,2886,3147,1429
$GC,15610,0.77,322.8,406.2,11.6,663,15615,0.25,2.28,0.00,0.000,6,0.127,0.048,2823,1729,1427
$GC,15935,0.93,322.8,382.6,7.2,677,15940,0.12,2.28,0.00,0.000,4,0.072,0.062,2888,319,1420
$GC,15957,0.99,322.8,380.5,8.9,678,15961,0.00,2.30,0.00,0.000,6,0.000,0.051,2888,1746,1420
$GC,16281,0.85,322.8,339.9,12.9,694,16285,0.17,2.25,0.00,0.000,4,0.128,0.064,2835,3151,1417
$GC,16313,0.85,322.8,335.7,11.2,695,16320,0.00,2.22,0.00,0.000,6,0.000,0.049,2842,1733,1417
$GC,16629,0.91,322.8,308.3,8.3,711,16630,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1733,1416
$GC,16938,0.99,322.8,283.8,7.8,726,16943,0.10,2.30,0.00,0.000,4,0.084,0.064,2889,3156,1415
$GC,16960,0.93,322.8,281.5,9.3,727,16965,0.15,2.22,0.00,0.000,6,0.137,0.049,2857,1733,1415
$GC,17280,0.93,322.8,252.2,8.8,743,17284,0.00,2.25,0.00,0.000,4,0.000,0.064,2864,329,1414
$GC,17303,0.99,322.8,250.1,8.6,744,17306,0.00,2.25,0.00,0.000,6,0.000,0.051,2864,1746,1414
$GC,17635,0.99,322.8,217.2,9.9,760,17639,0.00,2.22,0.00,0.000,4,0.000,0.064,2864,3148,1414
$GC,17696,0.89,322.8,210.3,11.1,762,17703,0.10,2.22,0.00,0.000,6,0.140,0.049,2845,1726,1414
$GC,18012,1.02,322.8,185.3,7.5,778,18016,0.12,2.22,0.00,0.000,4,0.075,0.063,2913,333,1414
$GC,18034,1.02,322.8,183.4,8.2,779,18039,0.15,2.25,0.00,0.000,6,0.132,0.051,2870,1748,1413
$GC,18360,1.02,322.8,151.7,9.7,795,18364,0.00,2.25,0.00,0.000,4,0.000,0.067,2870,3160,1414
$GC,18399,0.95,322.8,147.6,10.9,796,18405,0.00,2.22,0.00,0.000,6,0.000,0.050,2877,1735,1414
$GC,18716,0.95,322.8,117.6,9.3,812,18717,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1735,1414
$GC,19036,0.95,322.8,86.9,9.1,845,19042,0.00,2.25,0.00,0.000,4,0.000,0.064,2886,332,1414
$GC,19060,1.00,322.8,84.8,8.7,849,19067,0.00,2.25,0.00,0.000,6,0.000,0.052,2886,1748,1413
$GC,19405,1.00,322.8,54.0,8.5,910,19411,0.00,2.25,0.00,0.000,4,0.000,0.067,2886,3159,1413
$GC,19445,1.00,322.8,50.1,9.6,917,19452,0.00,2.22,0.00,0.000,6,0.000,0.051,2896,1741,1413
$GC,19790,1.06,322.8,23.3,9.7,978,19796,0.00,2.28,0.00,0.000,4,0.000,0.065,2905,326,1412
$GC,19820,1.14,322.8,20.5,9.2,983,19826,0.00,2.28,0.00,0.000,6,0.000,0.055,2906,1745,1412
$STATE,20009,end climb,SURFACE_DEPTH_REACHED
$STATE,20009,begin surface coast
$FINISH,1.5,1.026190
$STATE,20038,end surface coast,CONTROL_FINISHED_OK
$STATE,20039,begin surface
$SM_CCo,20116,0.00,0.000,0,0,1410,327.48
$SM_GC,2.35,6.97,0.00,0.00,0.058,0.000,0.000,339,2230,1410,-10.57,0.00,327.48
$RAFOS_CLK,804
$RAFOS,4,1226162659,16.750000,16.738611,65,65,62,60,52,52,169,201,144,218,157,114
$RAFOS,3,1226162061,16.583334,16.572500,64,62,59,54,53,51,184,154,217,229,141,167
$RAFOS,2,1226161451,16.416666,16.403055,62,61,60,59,57,51,169,204,216,558,145,225
$RAFOS,1,1226160845,16.250000,16.234722,59,58,58,57,53,51,205,196,161,215,142,176
$RAFOS,0,1226160241,16.083334,16.066944,67,60,59,56,54,48,210,153,166,1931,184,136
$RAFOS,4,1226148256,12.750000,12.737778,61,58,58,56,54,53,121,192,214,168,204,145
$RAFOS,3,1226147652,12.583333,12.570000,63,59,55,55,54,54,133,208,174,145,187,155
$RAFOS,2,1226147054,12.416667,12.403889,57,56,55,55,54,54,200,190,150,226,163,555
$RAFOS,1,1226146445,12.250000,12.234722,60,58,55,54,53,51,196,219,117,187,150,166
$RAFOS,0,1226145846,12.083333,12.068334,59,56,53,52,51,50,155,145,212,221,188,165
$RAFOS_FIX,6701.073730,-5544.408203,061108,161620,2,94,4.46
$IRIDIUM_FIX,6636.54,-5655.33,020298,060607
$TT8_MAMPS,0.026845
$HUMID,1811
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,15.80
$XPDR_PINGS,47
$24V_AH,22.5,50.559
$10V_AH,10.6,23.117
$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,25.925,137.400,412.775,0.000,0.000,23.905,35.762,188.462,11.750,0.000,0.000,15.350,1915.167,15579.514,535.836,1935.971,522.023,33.379,1592.901,0.000,1900.615,3600.000,0.531,0.000
$DEVICE_MAMPS,243.139,82.836,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34636,1022
$CAP_FILE_SIZE,153477,0
$CFSIZE,260165632,232464384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.9
$GPS,081108,174031,6700.821,-5709.427,78,1.0,82,-37.6