version: 66.04
glider: 108
mission: 11
dive: 57
start: 9 15 108 22 56 57
data:
$ID,108
$MISSION,11
$DIVE,57
$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,-112141.93
$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,25
$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,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
$GPS1,225107,6659.152,-5727.781,33,1.2,33,-37.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.0
$GPS2,225603,6659.160,-5727.784,9,1.9,9,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.200,-0.003
$KALMAN_X,-4552.2,351.3,823.6,44722.1,-3222.4
$KALMAN_Y,10994.6,373.4,-3335.2,4025.7,7527.9
$MHEAD_RNG_PITCHd_Wd,68.7,29597,-14.2,-7.021
$D_GRID,825
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.07,-146.0,0.0,0.0,0,61,0.00,0.00,-42.53,0.000,2,0.000,0.000,339,2241,2631
$GC,63,-1.07,-146.0,3.0,-1.8,7,110,8.82,2.17,-30.90,0.000,4,0.280,0.087,2408,3597,3492
$GC,235,-0.74,-146.0,28.8,-14.8,36,242,0.30,2.15,0.00,0.000,6,0.150,0.051,2495,2214,3496
$GC,578,-0.74,-146.0,59.8,-8.5,97,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2214,3499
$GC,921,-0.80,-146.0,87.8,-7.2,158,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2214,3500
$GC,1249,-0.87,-146.0,113.0,-8.1,195,1251,0.12,0.00,0.00,0.000,6,0.087,0.000,2443,2214,3500
$GC,1558,-0.77,-146.0,145.5,-10.7,210,1562,0.17,2.25,0.00,0.000,4,0.153,0.064,2495,818,3499
$GC,1623,-0.83,-146.0,151.5,-8.5,213,1628,0.00,2.33,0.00,0.000,6,0.000,0.062,2487,2229,3499
$GC,1950,-0.91,-146.0,178.0,-8.0,229,1952,0.10,0.00,0.00,0.000,6,0.088,0.000,2440,2229,3498
$GC,2260,-0.84,-146.0,209.9,-10.3,244,2265,0.15,2.17,0.00,0.000,4,0.153,0.075,2474,3594,3497
$GC,2314,-0.93,-146.0,215.0,-9.2,246,2321,0.00,2.15,0.00,0.000,6,0.000,0.051,2474,2225,3497
$GC,2630,-0.99,-146.0,239.3,-7.4,262,2632,0.12,0.00,0.00,0.000,6,0.084,0.000,2420,2225,3497
$GC,2940,-0.87,-146.0,269.3,-9.7,277,2944,0.17,2.25,0.00,0.000,4,0.152,0.074,2461,3601,3496
$GC,3011,-0.87,-146.0,275.4,-8.1,280,3015,0.00,2.15,0.00,0.000,6,0.000,0.051,2461,2230,3496
$GC,3332,-0.87,-146.0,298.9,-7.2,296,3336,0.00,2.25,0.00,0.000,4,0.000,0.064,2462,816,3496
$GC,3409,-0.87,-146.0,305.2,-8.3,299,3414,0.00,2.30,0.00,0.000,6,0.000,0.061,2451,2226,3496
$GC,3730,-0.87,-146.0,331.5,-8.2,315,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2226,3496
$GC,4041,-0.87,-146.0,356.6,-8.1,330,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2226,3497
$GC,4349,-0.87,-146.0,381.6,-8.1,345,4352,0.00,2.17,0.00,0.000,4,0.000,0.074,2440,3606,3497
$GC,4393,-0.87,-146.0,385.5,-9.3,347,4398,0.12,2.12,0.00,0.000,6,0.153,0.050,2474,2217,3496
$GC,4723,-0.96,-146.0,409.5,-7.2,360,4728,0.10,2.20,0.00,0.000,4,0.089,0.061,2430,827,3496
$GC,4772,-0.85,-146.0,414.0,-10.0,361,4776,0.12,2.28,0.00,0.000,6,0.137,0.060,2473,2230,3497
$GC,5090,-0.95,-146.0,436.9,-7.1,369,5094,0.10,2.15,0.00,0.000,4,0.090,0.073,2420,3594,3497
$GC,5128,-0.85,-146.0,440.2,-9.4,369,5135,0.12,2.12,0.00,0.000,6,0.133,0.048,2473,2222,3497
$GC,5459,-0.95,-146.0,463.0,-6.7,378,5463,0.10,2.20,0.00,0.000,4,0.088,0.061,2428,816,3497
$GC,5509,-0.84,-146.0,467.3,-8.9,379,5514,0.20,2.28,0.00,0.000,6,0.145,0.059,2477,2237,3497
$GC,5828,-0.97,-146.0,488.2,-6.3,387,5830,0.12,0.00,0.00,0.000,6,0.083,0.000,2424,2237,3498
$GC,6151,-0.89,-146.0,515.5,-8.5,395,6153,0.15,0.00,0.00,0.000,6,0.151,0.000,2466,2237,3497
$GC,6477,-0.97,-146.0,537.6,-6.6,403,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2237,3497
$GC,6803,-1.05,-146.0,559.3,-6.7,411,6805,0.15,0.00,0.00,0.000,6,0.077,0.000,2406,2237,3497
$GC,7126,-0.91,-146.0,589.8,-9.6,419,7131,0.20,2.28,0.00,0.000,4,0.152,0.062,2468,825,3497
$GC,7193,-0.97,-146.0,595.0,-7.7,420,7197,0.00,2.28,0.00,0.000,6,0.000,0.061,2461,2245,3497
$GC,7540,-1.03,-146.0,620.5,-7.5,429,7545,0.10,2.12,0.00,0.000,4,0.087,0.074,2405,3602,3498
$GC,7578,-0.89,-146.0,624.3,-10.0,429,7586,0.15,2.12,0.00,0.000,6,0.145,0.049,2456,2232,3498
$GC,7910,-0.95,-146.0,649.0,-7.3,438,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2232,3497
$GC,8235,-1.01,-146.0,672.4,-7.0,446,8238,0.00,2.22,0.00,0.000,4,0.000,0.064,2456,826,3497
$GC,8283,-1.01,-146.0,676.2,-7.8,447,8288,0.00,2.28,0.00,0.000,6,0.000,0.061,2448,2230,3497
$GC,8608,-1.01,-146.0,700.2,-7.4,455,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2230,3497
$GC,8932,-1.01,-146.0,724.4,-7.5,463,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2230,3497
$GC,9257,-1.01,-146.0,749.3,-7.7,471,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2230,3497
$GC,9582,-1.01,-146.0,773.7,-7.5,479,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2230,3497
$GC,9907,-1.01,-146.0,798.1,-7.4,487,9911,0.00,2.17,0.00,0.000,4,0.000,0.076,2437,3606,3496
$GC,9990,-1.01,-146.0,804.8,-7.6,488,9997,0.00,2.15,0.00,0.000,6,0.000,0.051,2437,2225,3497
$STATE,10280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10280,begin apogee
$GC,10284,-0.31,0.0,826.8,7.5,496,10412,0.47,0.00,124.78,1.377,6,0.132,0.000,2588,1736,2895
$STATE,10413,end apogee,CONTROL_FINISHED_OK
$STATE,10413,begin climb
$GC,10414,1.07,146.0,829.4,0.0,499,10549,0.93,2.62,126.15,1.304,4,0.095,0.067,2902,338,2298
$GC,10577,0.74,146.0,815.8,12.4,502,10585,0.32,2.50,0.00,0.000,6,0.136,0.053,2814,1742,2297
$GC,10908,0.74,146.0,790.3,7.6,511,10912,0.00,2.35,0.00,0.000,4,0.000,0.067,2814,3155,2292
$GC,10946,0.58,146.0,787.0,9.3,511,10955,0.15,2.35,0.00,0.000,6,0.138,0.054,2783,1737,2292
$GC,11278,0.70,174.7,766.1,6.1,520,11308,0.10,2.45,24.20,1.273,4,0.091,0.067,2823,3162,2182
$GC,11347,0.51,174.7,759.9,9.9,521,11352,0.25,2.38,0.00,0.000,6,0.136,0.054,2765,1731,2179
$GC,11689,0.75,217.6,739.6,5.6,530,11733,0.20,2.55,37.60,1.283,4,0.070,0.068,2849,3158,2006
$GC,11760,0.54,217.6,732.8,11.2,531,11765,0.30,2.38,0.00,0.000,6,0.135,0.054,2775,1738,2003
$GC,12103,0.79,251.6,711.4,5.9,540,12136,0.20,0.00,30.08,1.259,6,0.068,0.000,2854,1738,1869
$GC,12427,0.68,251.6,677.0,10.9,548,12432,0.17,2.40,0.00,0.000,4,0.129,0.068,2804,3152,1862
$GC,12453,0.68,251.6,674.2,10.6,548,12458,0.00,2.35,0.00,0.000,6,0.000,0.054,2811,1734,1860
$GC,12791,0.75,251.6,646.9,8.1,557,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1734,1861
$GC,13115,0.82,251.6,619.9,8.3,565,13120,0.10,2.35,0.00,0.000,4,0.087,0.069,2854,3152,1859
$GC,13142,0.69,251.6,617.0,11.5,565,13147,0.15,2.30,0.00,0.000,6,0.117,0.055,2803,1741,1858
$GC,13484,0.81,251.6,590.0,7.7,574,13486,0.12,0.00,0.00,0.000,6,0.083,0.000,2855,1741,1858
$GC,13809,0.69,251.6,555.4,10.8,582,13811,0.17,0.00,0.00,0.000,6,0.128,0.000,2804,1741,1858
$GC,14134,0.81,251.6,531.8,7.0,590,14139,0.12,2.30,0.00,0.000,4,0.082,0.069,2855,3155,1858
$GC,14155,0.75,251.6,529.9,9.2,590,14160,0.17,2.28,0.00,0.000,6,0.134,0.055,2814,1726,1858
$GC,14503,0.83,251.6,503.0,7.7,599,14505,0.10,0.00,0.00,0.000,6,0.091,0.000,2854,1726,1858
$GC,14828,0.73,251.6,468.8,10.6,607,14830,0.15,0.00,0.00,0.000,6,0.125,0.000,2810,1726,1858
$GC,15153,0.82,251.6,443.7,7.6,615,15158,0.10,2.35,0.00,0.000,4,0.087,0.071,2853,3165,1858
$GC,15173,0.77,251.6,441.7,9.6,615,15179,0.10,2.30,0.00,0.000,6,0.129,0.054,2825,1732,1857
$GC,15522,0.77,251.6,412.1,8.6,624,15523,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1732,1857
$GC,15828,0.77,251.6,385.4,8.9,635,15829,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1733,1857
$GC,16137,0.77,251.6,359.0,8.1,650,16141,0.00,2.30,0.00,0.000,4,0.000,0.068,2825,3165,1857
$GC,16164,0.77,251.6,356.6,8.7,651,16169,0.00,2.28,0.00,0.000,6,0.000,0.054,2832,1737,1856
$GC,16490,0.77,251.6,328.0,8.8,667,16494,0.00,2.30,0.00,0.000,4,0.000,0.070,2843,329,1857
$GC,16513,0.77,251.6,326.0,8.7,668,16517,0.00,2.28,0.00,0.000,6,0.000,0.054,2843,1745,1857
$GC,16844,0.77,251.6,295.7,8.7,684,16848,0.00,2.22,0.00,0.000,4,0.000,0.069,2843,3155,1857
$GC,16882,0.64,251.6,291.8,10.9,685,16889,0.15,2.25,0.00,0.000,6,0.124,0.055,2789,1739,1857
$GC,17199,0.94,297.8,274.4,5.5,701,17239,0.22,0.00,37.55,1.031,6,0.067,0.000,2879,1739,1680
$GC,17547,0.79,297.8,232.6,12.4,718,17549,0.17,0.00,0.00,0.000,6,0.130,0.000,2828,1739,1672
$GC,17856,0.88,297.8,206.3,8.3,733,17860,0.00,2.35,0.00,0.000,4,0.000,0.068,2833,324,1670
$GC,17873,0.98,297.8,205.0,8.1,733,17880,0.12,2.33,0.00,0.000,6,0.080,0.052,2885,1748,1670
$GC,18188,0.85,297.8,165.6,12.7,749,18192,0.17,2.25,0.00,0.000,4,0.131,0.067,2833,3162,1670
$GC,18210,0.80,297.8,162.9,12.7,750,18214,0.00,2.25,0.00,0.000,6,0.000,0.053,2840,1735,1669
$GC,18541,0.88,297.8,132.3,8.5,766,18545,0.00,2.30,0.00,0.000,4,0.000,0.068,2849,335,1669
$GC,18568,1.02,297.8,130.0,9.0,767,18573,0.08,2.30,0.00,0.000,6,0.077,0.052,2905,1741,1670
$GC,18891,0.90,297.8,91.8,11.2,790,18898,0.20,2.25,0.00,0.000,4,0.133,0.067,2839,3162,1670
$GC,18909,0.83,297.8,89.6,10.8,793,18916,0.00,2.25,0.00,0.000,6,0.000,0.053,2843,1732,1669
$GC,19253,1.03,312.0,66.1,6.6,854,19267,0.12,0.00,11.45,0.868,6,0.081,0.000,2897,1731,1623
$GC,19605,1.03,312.0,32.3,9.1,916,19611,0.00,2.30,0.00,0.000,4,0.000,0.070,2907,334,1620
$GC,19644,1.03,312.0,28.7,8.6,923,19652,0.12,2.30,0.00,0.000,6,0.133,0.055,2872,1753,1620
$GC,19990,1.33,382.0,9.6,4.8,984,20055,0.20,2.40,58.88,0.877,4,0.070,0.070,2957,3156,1336
$STATE,20066,end climb,SURFACE_DEPTH_REACHED
$STATE,20066,begin surface coast
$FINISH,1.4,1.015930
$STATE,20084,end surface coast,CONTROL_FINISHED_OK
$STATE,20084,begin surface
$SM_CCo,20160,0.00,0.000,0,0,1327,384.39
$SM_GC,2.35,7.32,0.00,0.00,0.057,0.000,0.000,337,2209,1327,-10.59,-0.57,384.39
$RAFOS_CLK,834
$RAFOS,2,1221539043,4.416667,4.400833,63,59,57,53,53,48,209,200,170,150,117,134
$RAFOS,1,1221538443,4.250000,4.234167,70,59,59,52,52,51,182,197,209,151,127,221
$RAFOS,0,1221537853,4.083333,4.070278,64,62,59,54,51,46,146,205,215,178,163,117
$RAFOS,4,1221525851,0.750000,0.736389,70,66,60,56,54,53,204,191,174,362,220,157
$RAFOS,3,1221525241,0.583333,0.566944,83,63,58,56,56,54,932,174,213,145,199,117
$RAFOS,2,1221524671,0.416667,0.408611,61,58,58,57,56,56,201,179,211,142,151,125
$RAFOS,1,1221524056,0.250000,0.237778,59,58,57,52,51,51,178,215,204,121,154,190
$RAFOS,0,1221523455,0.083333,0.070833,60,59,54,52,52,50,208,166,181,126,225,138
$RAFOS_FIX,75808.679688,1439338.375000,160908,000032,2,76,201886.98
$IRIDIUM_FIX,6631.12,-5738.07,101297,171731
$TT8_MAMPS,0.026078
$HUMID,1818
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.90
$XPDR_PINGS,25
$24V_AH,23.0,14.835
$10V_AH,10.6,7.275
$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,25.025,136.725,450.675,0.000,0.000,22.636,33.086,135.567,6.250,0.000,0.000,10.799,2018.426,15692.658,586.309,1839.993,352.600,33.351,1604.845,0.000,1824.619,2880.000,0.532,0.000
$DEVICE_MAMPS,279.955,87.438,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34680,999
$CAP_FILE_SIZE,145827,0
$CFSIZE,260165632,249368576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$CURRENT,0.082, 10.2,1
$GPS,160908,043457,6702.259,-5724.104,23,2.6,42,-37.7