version: 66.04
glider: 108
mission: 11
dive: 56
start: 9 15 108 17 22 3
data:
$ID,108
$MISSION,11
$DIVE,56
$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,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,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,-112130.51
$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,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2895
$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
$GPS1,171608,6700.924,-5735.395,36,1.0,36,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-70.4
$GPS2,172109,6700.920,-5735.353,14,1.0,14,-37.7
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,0.057
$KALMAN_X,-4195.5,331.7,-497.8,40212.4,-798.8
$KALMAN_Y,8325.2,832.5,3451.7,2695.3,-6580.8
$MHEAD_RNG_PITCHd_Wd,123.6,34412,-14.2,-7.021
$D_GRID,829
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,67,0.00,0.00,-47.78,0.000,2,0.000,0.000,342,2240,2803
$GC,69,-1.07,-146.0,3.1,-2.0,8,107,8.88,2.40,-20.52,0.000,4,0.282,0.074,2419,812,3495
$GC,354,-0.83,-146.0,48.0,-12.2,58,361,0.25,2.33,0.00,0.000,6,0.156,0.060,2481,2232,3498
$GC,698,-0.83,-146.0,81.0,-9.3,119,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2232,3501
$GC,1035,-0.83,-146.0,112.1,-9.4,163,1039,0.00,2.20,0.00,0.000,4,0.000,0.074,2473,3603,3501
$GC,1068,-0.83,-146.0,115.4,-10.3,164,1072,0.00,2.20,0.00,0.000,6,0.000,0.050,2473,2215,3500
$GC,1389,-0.83,-146.0,145.5,-9.3,180,1393,0.00,2.25,0.00,0.000,4,0.000,0.074,2462,3601,3501
$GC,1443,-0.83,-146.0,150.9,-10.4,182,1448,0.00,2.17,0.00,0.000,6,0.000,0.051,2462,2222,3500
$GC,1764,-0.83,-146.0,179.4,-8.3,198,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2222,3499
$GC,2073,-0.83,-146.0,205.2,-8.1,213,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2221,3499
$GC,2384,-0.83,-146.0,230.9,-8.2,228,2388,0.00,2.25,0.00,0.000,4,0.000,0.064,2462,816,3498
$GC,2399,-0.83,-146.0,232.5,-8.4,228,2407,0.08,2.33,0.00,0.000,6,0.140,0.060,2478,2235,3498
$GC,2716,-0.91,-146.0,255.9,-7.5,244,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2235,3497
$GC,3025,-1.01,-146.0,280.1,-7.9,259,3026,0.15,0.00,0.00,0.000,6,0.077,0.000,2417,2235,3497
$GC,3334,-0.87,-146.0,312.0,-10.0,274,3338,0.17,2.15,0.00,0.000,4,0.153,0.073,2458,3596,3497
$GC,3344,-0.76,-146.0,313.0,-9.9,274,3348,0.12,2.12,0.00,0.000,6,0.150,0.049,2492,2213,3497
$GC,3664,-0.93,-146.0,334.7,-6.7,290,3666,0.15,0.00,0.00,0.000,6,0.076,0.000,2429,2213,3498
$GC,3974,-0.85,-146.0,363.2,-9.1,305,3976,0.17,0.00,0.00,0.000,6,0.150,0.000,2479,2213,3498
$GC,4283,-0.95,-146.0,384.1,-6.5,320,4285,0.12,0.00,0.00,0.000,6,0.081,0.000,2425,2213,3498
$GC,4591,-0.86,-146.0,412.6,-9.3,332,4595,0.17,2.25,0.00,0.000,4,0.149,0.072,2466,3600,3498
$GC,4601,-0.80,-146.0,413.6,-9.1,332,4605,0.00,2.12,0.00,0.000,6,0.000,0.048,2466,2213,3498
$GC,4914,-0.86,-146.0,436.2,-7.2,340,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2213,3498
$GC,5239,-0.93,-146.0,460.0,-7.4,348,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2213,3498
$GC,5564,-1.00,-146.0,483.7,-7.1,356,5568,0.10,2.25,0.00,0.000,4,0.091,0.072,2411,3599,3499
$GC,5578,-1.00,-146.0,484.9,-7.4,356,5584,0.08,2.15,0.00,0.000,6,0.156,0.048,2435,2217,3499
$GC,5892,-1.00,-146.0,510.5,-8.2,364,5896,0.00,2.20,0.00,0.000,4,0.000,0.071,2426,3599,3499
$GC,5930,-0.94,-146.0,513.9,-9.0,364,5937,0.10,2.10,0.00,0.000,6,0.160,0.048,2452,2223,3499
$GC,6260,-0.94,-146.0,539.1,-7.6,373,6264,0.00,2.22,0.00,0.000,4,0.000,0.071,2444,3608,3499
$GC,6275,-0.94,-146.0,540.5,-7.8,373,6280,0.00,2.12,0.00,0.000,6,0.000,0.048,2444,2233,3499
$GC,6588,-0.94,-146.0,565.8,-8.1,381,6592,0.00,2.17,0.00,0.000,4,0.000,0.072,2434,3597,3499
$GC,6609,-0.94,-146.0,567.7,-8.8,381,6614,0.00,2.12,0.00,0.000,6,0.000,0.048,2434,2226,3499
$GC,6957,-0.89,-146.0,597.2,-8.6,390,6962,0.12,2.22,0.00,0.000,4,0.157,0.071,2459,3608,3499
$GC,6984,-0.94,-146.0,599.5,-8.7,390,6988,0.00,2.15,0.00,0.000,6,0.000,0.048,2459,2223,3498
$GC,7326,-0.99,-146.0,623.7,-7.1,399,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2222,3499
$GC,7651,-1.05,-146.0,647.0,-7.2,407,7655,0.12,2.20,0.00,0.000,4,0.087,0.061,2407,830,3499
$GC,7660,-1.05,-146.0,647.8,-7.3,407,7665,0.10,2.28,0.00,0.000,6,0.150,0.058,2430,2236,3499
$GC,7978,-1.05,-146.0,673.8,-8.1,415,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2235,3499
$GC,8303,-1.00,-146.0,700.2,-8.1,423,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2236,3498
$GC,8628,-1.00,-146.0,726.3,-8.1,431,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2236,3498
$GC,8953,-1.00,-146.0,752.1,-8.1,439,8956,0.00,2.17,0.00,0.000,4,0.000,0.075,2421,3596,3498
$GC,8970,-0.94,-146.0,753.5,-7.9,439,8974,0.12,2.10,0.00,0.000,6,0.156,0.050,2455,2226,3498
$GC,9282,-1.00,-146.0,776.5,-7.5,447,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2226,3498
$GC,9606,-1.06,-146.0,800.7,-7.4,455,9608,0.12,0.00,0.00,0.000,6,0.085,0.000,2406,2226,3498
$STATE,9930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9930,begin apogee
$GC,9934,-0.31,0.0,831.7,9.3,463,10062,0.57,0.00,124.82,1.383,6,0.137,0.000,2588,1738,2895
$STATE,10063,end apogee,CONTROL_FINISHED_OK
$STATE,10063,begin climb
$GC,10065,1.07,146.0,834.9,0.0,466,10200,0.93,2.62,126.15,1.310,4,0.097,0.067,2900,342,2298
$GC,10267,0.75,146.0,817.5,12.1,470,10272,0.30,2.47,0.00,0.000,6,0.140,0.054,2819,1740,2295
$GC,10597,0.68,146.0,791.5,7.6,478,10602,0.00,2.35,0.00,0.000,4,0.000,0.067,2819,3153,2293
$GC,10646,0.48,146.0,787.2,9.1,479,10652,0.20,2.38,0.00,0.000,6,0.130,0.054,2754,1735,2292
$GC,10966,0.77,216.3,772.2,4.7,487,11034,0.20,2.55,59.70,1.308,4,0.074,0.066,2835,3157,2013
$GC,11078,0.56,216.3,762.1,10.9,489,11083,0.25,2.40,0.00,0.000,6,0.137,0.053,2778,1731,2007
$GC,11414,0.81,260.0,742.0,5.6,498,11456,0.20,0.00,38.20,1.280,6,0.073,0.000,2854,1731,1835
$GC,11779,0.69,260.0,702.5,11.4,507,11784,0.17,2.42,0.00,0.000,4,0.130,0.068,2804,3152,1826
$GC,11828,0.69,260.0,697.5,9.7,508,11833,0.00,2.33,0.00,0.000,6,0.000,0.054,2811,1735,1825
$GC,12148,0.75,260.0,671.2,8.3,516,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1735,1824
$GC,12472,0.80,260.0,644.4,8.3,524,12475,0.00,2.35,0.00,0.000,4,0.000,0.069,2811,3154,1823
$GC,12498,0.80,260.0,641.8,9.1,524,12502,0.00,2.33,0.00,0.000,6,0.000,0.054,2820,1731,1822
$GC,12840,0.80,260.0,611.2,9.0,533,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1731,1822
$GC,13165,0.80,260.0,582.0,8.9,541,13169,0.00,2.33,0.00,0.000,4,0.000,0.069,2820,3160,1822
$GC,13210,0.71,260.0,577.5,10.2,542,13214,0.00,2.28,0.00,0.000,6,0.000,0.055,2830,1735,1821
$GC,13538,0.71,260.0,547.3,9.0,550,13542,0.00,2.33,0.00,0.000,4,0.000,0.070,2840,331,1822
$GC,13566,0.71,260.0,544.8,9.2,550,13571,0.12,2.30,0.00,0.000,6,0.135,0.055,2805,1744,1822
$GC,13902,0.83,263.4,521.1,6.9,559,13906,0.12,2.25,0.00,0.000,4,0.084,0.070,2855,3158,1821
$GC,13973,0.61,263.4,513.0,12.3,560,13978,0.28,2.30,0.00,0.000,6,0.140,0.056,2782,1714,1821
$GC,14310,0.91,309.0,493.3,5.5,569,14353,0.22,0.00,41.00,1.180,6,0.069,0.000,2871,1714,1635
$GC,14674,0.77,309.0,450.6,12.3,578,14679,0.17,2.38,0.00,0.000,4,0.130,0.067,2820,3153,1626
$GC,14706,0.77,309.0,447.0,10.2,578,14713,0.00,2.33,0.00,0.000,6,0.000,0.054,2828,1733,1624
$GC,15037,0.77,309.0,416.4,9.4,587,15041,0.00,2.33,0.00,0.000,4,0.000,0.070,2838,333,1623
$GC,15070,0.86,309.0,413.3,9.2,587,15074,0.00,2.30,0.00,0.000,6,0.000,0.054,2838,1739,1623
$GC,15388,0.86,309.0,381.3,10.2,599,15392,0.00,2.28,0.00,0.000,4,0.000,0.068,2838,3163,1622
$GC,15455,0.76,309.0,373.8,12.1,602,15460,0.12,2.28,0.00,0.000,6,0.143,0.054,2813,1732,1621
$GC,15780,0.88,309.0,346.8,7.9,618,15785,0.12,2.33,0.00,0.000,4,0.084,0.068,2872,325,1621
$GC,15806,0.88,309.0,344.2,10.2,619,15811,0.08,2.33,0.00,0.000,6,0.130,0.054,2845,1736,1621
$GC,16128,0.88,309.0,310.9,10.6,635,16132,0.00,2.25,0.00,0.000,4,0.000,0.070,2845,3157,1621
$GC,16195,0.77,309.0,302.8,12.7,638,16200,0.12,2.25,0.00,0.000,6,0.142,0.054,2818,1733,1620
$GC,16521,0.88,309.0,274.5,8.8,654,16526,0.12,2.33,0.00,0.000,4,0.083,0.069,2875,324,1620
$GC,16560,0.88,309.0,270.2,10.9,656,16564,0.12,2.30,0.00,0.000,6,0.134,0.054,2840,1745,1620
$GC,16887,0.88,309.0,239.5,8.7,672,16890,0.00,2.25,0.00,0.000,4,0.000,0.068,2840,3163,1621
$GC,16954,0.82,309.0,232.5,10.3,675,16957,0.00,2.25,0.00,0.000,6,0.000,0.053,2847,1731,1620
$GC,17285,0.82,309.0,198.6,10.3,691,17288,0.00,2.30,0.00,0.000,4,0.000,0.067,2857,321,1619
$GC,17323,0.90,309.0,194.5,10.5,692,17330,0.00,2.30,0.00,0.000,6,0.000,0.053,2858,1749,1620
$GC,17638,0.90,309.0,162.5,10.0,708,17642,0.00,2.22,0.00,0.000,4,0.000,0.067,2858,3157,1620
$GC,17683,0.82,309.0,157.7,11.5,710,17688,0.12,2.22,0.00,0.000,6,0.142,0.053,2832,1736,1620
$GC,18009,0.99,313.5,134.0,6.9,726,18014,0.15,2.30,0.00,0.000,4,0.079,0.068,2902,320,1621
$GC,18052,0.93,313.5,129.7,10.5,728,18057,0.12,2.30,0.00,0.000,6,0.130,0.054,2859,1735,1622
$GC,18379,1.00,313.5,101.6,8.8,744,18383,0.00,2.25,0.00,0.000,4,0.000,0.069,2859,3156,1622
$GC,18428,1.00,313.5,96.7,9.8,750,18435,0.00,2.22,0.00,0.000,6,0.000,0.054,2866,1735,1621
$GC,18772,1.08,313.5,67.8,7.5,811,18780,0.10,2.30,0.00,0.000,4,0.094,0.070,2917,321,1621
$GC,18813,1.08,313.5,63.9,9.6,818,18820,0.10,2.30,0.00,0.000,6,0.151,0.054,2891,1750,1622
$GC,19156,1.08,313.5,33.1,8.2,879,19163,0.00,2.22,0.00,0.000,4,0.000,0.071,2890,3160,1622
$GC,19197,1.08,313.5,29.8,8.2,886,19203,0.00,2.22,0.00,0.000,6,0.000,0.055,2897,1740,1621
$GC,19540,1.16,313.5,5.8,7.3,947,19547,0.00,2.30,0.00,0.000,4,0.000,0.072,2907,325,1619
$STATE,19579,end climb,SURFACE_DEPTH_REACHED
$STATE,19580,begin surface coast
$FINISH,2.1,1.025259
$STATE,19592,end surface coast,CONTROL_FINISHED_OK
$STATE,19592,begin surface
$SM_CCo,19669,0.00,0.000,0,0,1617,313.49
$SM_GC,2.36,6.82,0.00,0.00,0.054,0.000,0.000,338,2239,1617,-10.58,0.25,313.49
$RAFOS_CLK,807
$RAFOS,4,1221511467,20.750000,20.740833,59,55,55,54,53,52,158,121,182,138,224,207
$RAFOS,3,1221510856,20.583334,20.571112,64,56,56,51,51,51,213,194,139,128,153,225
$RAFOS,2,1221510246,20.416666,20.401667,57,55,52,50,50,48,201,140,191,128,152,181
$RAFOS,1,1221509675,20.250000,20.243055,64,59,54,53,52,51,217,132,205,116,146,175
$RAFOS,0,1221509050,20.083334,20.069445,56,55,55,54,53,50,213,146,121,182,173,131
$RAFOS_FIX,44908.476562,1181011.750000,150908,040412,2,95,0.01
$IRIDIUM_FIX,6631.12,-5736.37,101297,111135
$TT8_MAMPS,0.026845
$HUMID,1850
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.00
$XPDR_PINGS,52
$24V_AH,23.1,14.667
$10V_AH,10.6,7.209
$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,23.025,160.675,389.875,0.000,0.000,31.333,33.354,127.377,13.000,0.000,0.000,15.534,1930.673,15332.027,541.494,1824.033,338.243,33.345,1550.790,0.000,1798.831,1800.000,0.531,0.000
$DEVICE_MAMPS,282.256,75.166,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31552,956
$CAP_FILE_SIZE,144878,0
$CFSIZE,260165632,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$CURRENT,0.186,162.1,1
$GPS,150908,225107,6659.152,-5727.781,33,1.2,33,-37.6