version: 66.04
glider: 108
mission: 11
dive: 73
start: 9 19 108 3 4 54
data:
$ID,108
$MISSION,11
$DIVE,73
$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,1
$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,-112390.39
$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,28
$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
$GPS1,025525,6658.895,-5717.363,40,1.4,40,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-71.1
$GPS2,030402,6658.961,-5717.459,11,1.1,11,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.142,0.140
$KALMAN_X,3853.8,125.6,159.4,44730.2,-112.3
$KALMAN_Y,-1451.4,568.1,620.9,11959.1,-3128.7
$MHEAD_RNG_PITCHd_Wd,352.3,12702,-14.2,-7.021
$D_GRID,787
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-46.80,0.000,2,0.000,0.000,334,2250,2882
$GC,68,-1.07,-146.0,3.2,-2.2,8,100,8.70,2.25,-17.88,0.000,4,0.267,0.087,2414,3600,3495
$GC,269,-0.85,-146.0,34.0,-13.4,43,276,0.20,2.20,0.00,0.000,6,0.146,0.050,2470,2208,3500
$GC,613,-0.85,-146.0,68.8,-10.2,104,619,0.00,2.22,0.00,0.000,4,0.000,0.062,2471,825,3503
$GC,680,-0.85,-146.0,75.8,-10.5,116,687,0.00,2.30,0.00,0.000,6,0.000,0.060,2462,2241,3503
$GC,1020,-0.85,-146.0,110.1,-9.8,163,1024,0.00,2.17,0.00,0.000,4,0.000,0.073,2452,3602,3504
$GC,1103,-0.79,-146.0,118.8,-10.3,166,1110,0.10,2.17,0.00,0.000,6,0.143,0.050,2484,2228,3503
$GC,1419,-0.86,-146.0,143.4,-7.7,182,1423,0.00,2.25,0.00,0.000,4,0.000,0.064,2485,827,3502
$GC,1508,-0.90,-146.0,150.7,-8.4,186,1512,0.00,2.30,0.00,0.000,6,0.000,0.062,2477,2248,3502
$GC,1838,-0.90,-146.0,178.0,-8.4,202,1842,0.00,2.15,0.00,0.000,4,0.000,0.075,2466,3599,3501
$GC,1906,-0.90,-146.0,184.3,-9.6,205,1909,0.00,2.15,0.00,0.000,6,0.000,0.052,2466,2218,3502
$GC,2237,-0.90,-146.0,213.3,-8.5,221,2241,0.00,2.25,0.00,0.000,4,0.000,0.065,2466,816,3500
$GC,2381,-0.90,-146.0,225.6,-7.9,227,2386,0.00,2.33,0.00,0.000,6,0.000,0.061,2456,2238,3500
$GC,2702,-0.90,-146.0,251.4,-7.9,243,2706,0.00,2.17,0.00,0.000,4,0.000,0.075,2446,3604,3499
$GC,2847,-0.90,-146.0,264.6,-9.9,249,2852,0.00,2.17,0.00,0.000,6,0.000,0.051,2446,2225,3499
$GC,3168,-0.90,-146.0,293.2,-9.0,265,3172,0.00,2.22,0.00,0.000,4,0.000,0.064,2446,827,3499
$GC,3290,-0.84,-146.0,304.9,-9.5,270,3296,0.10,2.30,0.00,0.000,6,0.133,0.062,2470,2237,3500
$GC,3612,-0.91,-146.0,330.1,-7.9,286,3615,0.00,2.15,0.00,0.000,4,0.000,0.074,2461,3596,3499
$GC,3786,-0.97,-146.0,344.9,-8.5,293,3792,0.00,2.12,0.00,0.000,6,0.000,0.050,2461,2222,3499
$GC,4100,-1.02,-146.0,369.6,-7.8,309,4102,0.10,0.00,0.00,0.000,6,0.089,0.000,2417,2222,3500
$GC,4410,-0.91,-146.0,400.4,-10.4,324,4412,0.15,0.00,0.00,0.000,6,0.150,0.000,2458,2222,3500
$GC,4734,-0.96,-146.0,426.7,-8.2,332,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2222,3500
$GC,5059,-0.96,-146.0,452.9,-8.0,340,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2222,3501
$GC,5388,-1.01,-146.0,478.6,-7.7,348,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2222,3501
$GC,5709,-1.06,-146.0,503.4,-7.5,356,5711,0.12,0.00,0.00,0.000,6,0.084,0.000,2407,2222,3501
$GC,6034,-0.92,-146.0,535.6,-10.0,364,6039,0.17,2.28,0.00,0.000,4,0.150,0.071,2449,3600,3501
$GC,6128,-0.92,-146.0,543.8,-8.6,366,6132,0.00,2.15,0.00,0.000,6,0.000,0.049,2449,2230,3501
$GC,6446,-0.92,-146.0,568.7,-7.8,374,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2230,3501
$GC,6771,-0.92,-146.0,593.0,-7.4,382,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2230,3500
$GC,7096,-0.92,-146.0,617.8,-7.7,390,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2230,3500
$GC,7421,-0.92,-146.0,643.2,-7.9,398,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2230,3500
$GC,7746,-0.92,-146.0,667.9,-7.5,406,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2229,3500
$GC,8071,-0.92,-146.0,692.8,-7.7,414,8074,0.00,2.25,0.00,0.000,4,0.000,0.074,2438,3601,3500
$GC,8162,-0.92,-146.0,700.3,-8.6,416,8166,0.00,2.12,0.00,0.000,6,0.000,0.051,2438,2228,3500
$GC,8490,-0.92,-146.0,727.1,-7.9,424,8494,0.00,2.25,0.00,0.000,4,0.000,0.063,2438,814,3500
$GC,8581,-0.92,-146.0,734.5,-9.2,426,8586,0.12,2.28,0.00,0.000,6,0.145,0.061,2462,2235,3499
$GC,8910,-1.01,-146.0,757.1,-6.8,434,8915,0.10,2.15,0.00,0.000,4,0.089,0.073,2409,3600,3499
$GC,9010,-0.92,-146.0,766.5,-9.4,436,9015,0.12,2.15,0.00,0.000,6,0.145,0.051,2452,2224,3499
$STATE,9326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9327,begin apogee
$GC,9331,-0.31,0.0,789.1,7.1,444,9459,0.43,0.00,124.97,1.358,6,0.128,0.000,2590,1740,2895
$STATE,9460,end apogee,CONTROL_FINISHED_OK
$STATE,9460,begin climb
$GC,9462,1.07,146.0,791.9,0.0,447,9592,0.95,0.00,127.30,1.285,6,0.093,0.000,2897,1740,2299
$GC,9893,0.78,146.0,747.9,11.6,458,9898,0.22,2.45,0.00,0.000,4,0.133,0.068,2838,336,2293
$GC,9914,0.64,146.0,745.6,10.8,458,9919,0.17,2.42,0.00,0.000,6,0.129,0.053,2789,1744,2293
$GC,10256,0.73,163.7,723.2,6.4,467,10277,0.10,2.40,15.30,1.211,4,0.085,0.067,2831,3153,2226
$GC,10299,0.57,163.7,719.3,9.5,468,10304,0.22,2.38,0.00,0.000,6,0.134,0.054,2779,1730,2225
$GC,10623,0.74,192.5,699.1,6.1,476,10654,0.15,2.42,25.27,1.249,4,0.077,0.066,2840,3151,2110
$GC,10687,0.55,192.5,693.1,10.6,477,10692,0.28,2.38,0.00,0.000,6,0.134,0.054,2773,1727,2107
$GC,11030,0.80,235.1,673.0,5.6,486,11073,0.20,2.53,37.50,1.255,4,0.069,0.067,2856,3153,1935
$GC,11089,0.63,235.1,667.2,10.4,487,11094,0.28,2.40,0.00,0.000,6,0.137,0.054,2789,1733,1932
$GC,11402,0.83,259.1,646.6,6.2,495,11426,0.17,0.00,21.02,1.210,6,0.071,0.000,2858,1732,1838
$GC,11726,0.74,259.1,612.8,10.5,503,11728,0.15,0.00,0.00,0.000,6,0.129,0.000,2816,1733,1832
$GC,12051,0.81,259.1,586.2,8.1,511,12055,0.00,2.35,0.00,0.000,4,0.000,0.068,2816,3154,1831
$GC,12077,0.81,259.1,583.7,9.7,511,12083,0.00,2.35,0.00,0.000,6,0.000,0.054,2824,1729,1830
$GC,12420,0.81,259.1,554.2,8.6,520,12424,0.00,2.40,0.00,0.000,4,0.000,0.069,2824,3162,1830
$GC,12435,0.81,259.1,552.7,8.6,520,12440,0.00,2.33,0.00,0.000,6,0.000,0.054,2834,1738,1829
$GC,12748,0.81,259.1,523.4,9.3,528,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1738,1829
$GC,13073,0.81,259.1,494.0,8.9,536,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1738,1829
$GC,13399,0.81,259.1,465.8,8.8,544,13402,0.00,2.38,0.00,0.000,4,0.000,0.068,2834,3160,1828
$GC,13414,0.81,259.1,464.1,9.0,544,13418,0.00,2.30,0.00,0.000,6,0.000,0.054,2844,1739,1828
$GC,13727,0.81,259.1,433.7,9.8,552,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1739,1828
$GC,14052,0.81,259.1,401.3,10.1,560,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1739,1828
$GC,14361,0.81,259.1,370.2,10.0,574,14364,0.00,2.33,0.00,0.000,4,0.000,0.071,2856,328,1827
$GC,14376,0.81,259.1,368.5,10.1,574,14383,0.08,2.30,0.00,0.000,6,0.125,0.054,2828,1738,1828
$GC,14691,0.81,259.1,341.8,8.5,590,14695,0.00,2.25,0.00,0.000,4,0.000,0.069,2828,3153,1828
$GC,14713,0.81,259.1,339.7,9.7,591,14717,0.00,2.25,0.00,0.000,6,0.000,0.054,2836,1734,1827
$GC,15044,0.81,259.1,309.4,9.1,607,15048,0.00,2.30,0.00,0.000,4,0.000,0.071,2847,327,1827
$GC,15066,0.81,259.1,307.4,9.2,608,15070,0.00,2.28,0.00,0.000,6,0.000,0.054,2846,1745,1827
$GC,15398,0.81,259.1,274.5,10.2,624,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1745,1827
$GC,15707,0.81,259.1,242.6,10.4,639,15711,0.00,2.22,0.00,0.000,4,0.000,0.067,2847,3154,1827
$GC,15722,0.76,259.1,240.9,10.4,639,15730,0.10,2.28,0.00,0.000,6,0.135,0.054,2822,1733,1827
$GC,16038,0.86,259.1,214.6,8.3,655,16042,0.00,2.30,0.00,0.000,4,0.000,0.070,2831,325,1827
$GC,16060,0.98,259.1,212.8,7.8,656,16065,0.12,2.28,0.00,0.000,6,0.084,0.052,2882,1749,1828
$GC,16392,0.87,259.1,176.3,11.1,672,16396,0.15,2.22,0.00,0.000,4,0.140,0.067,2838,3154,1828
$GC,16413,0.81,259.1,174.0,11.1,673,16418,0.00,2.25,0.00,0.000,6,0.000,0.054,2846,1725,1828
$GC,16745,0.86,259.1,146.9,7.8,689,16749,0.00,2.28,0.00,0.000,4,0.000,0.068,2856,330,1828
$GC,16754,0.92,259.1,146.1,7.7,689,16759,0.00,2.28,0.00,0.000,6,0.000,0.051,2856,1741,1829
$GC,17075,0.92,259.1,120.8,7.7,705,17079,0.00,2.25,0.00,0.000,4,0.000,0.068,2856,3165,1829
$GC,17097,0.92,259.1,119.0,9.1,706,17101,0.00,2.25,0.00,0.000,6,0.000,0.054,2865,1725,1828
$GC,17419,0.92,259.1,93.7,7.4,731,17425,0.00,2.28,0.00,0.000,4,0.000,0.070,2875,331,1829
$GC,17436,0.92,259.1,92.4,7.3,734,17443,0.00,2.25,0.00,0.000,6,0.000,0.053,2875,1743,1830
$GC,17779,0.92,259.1,66.5,7.5,795,17786,0.00,2.33,0.00,0.000,4,0.000,0.070,2884,335,1829
$GC,17802,0.92,259.1,64.7,7.9,799,17809,0.12,2.25,0.00,0.000,6,0.132,0.054,2847,1745,1830
$GC,18147,1.09,268.6,40.7,6.7,860,18161,0.15,2.30,7.80,0.833,4,0.080,0.070,2906,3157,1800
$GC,18212,0.90,268.6,34.4,10.6,871,18219,0.22,2.25,0.00,0.000,6,0.143,0.057,2851,1740,1798
$GC,18557,1.44,317.1,15.8,5.5,932,18604,0.32,2.45,41.00,0.897,4,0.074,0.071,2986,330,1602
$STATE,18688,end climb,SURFACE_DEPTH_REACHED
$STATE,18688,begin surface coast
$FINISH,1.5,1.025376
$STATE,18716,end surface coast,CONTROL_FINISHED_OK
$STATE,18716,begin surface
$SM_CCo,18794,0.00,0.000,0,0,1591,319.87
$SM_GC,2.27,7.30,0.00,0.00,0.061,0.000,0.000,339,2229,1591,-10.57,-0.03,319.87
$RAFOS_CLK,780
$RAFOS,0,1221811442,8.083333,8.067223,80,67,61,55,54,51,972,219,150,166,141,180
$RAFOS,4,1221799445,4.750000,4.734722,106,67,62,54,52,52,758,210,184,228,158,167
$RAFOS,3,1221798876,4.583333,4.576667,99,66,60,58,56,52,751,208,134,159,178,232
$RAFOS,2,1221798267,4.416667,4.407500,104,70,51,50,50,49,445,203,219,185,140,97
$RAFOS,1,1221797654,4.250000,4.237222,115,61,56,56,54,50,744,146,216,206,166,225
$RAFOS,0,1221797042,4.083333,4.067222,90,60,58,57,56,51,988,196,213,181,158,147
$RAFOS_FIX,6700.232910,-5724.019531,190908,040414,5,103,1.07
$IRIDIUM_FIX,6631.12,-5719.52,141297,030340
$TT8_MAMPS,0.029146
$HUMID,1831
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,15.50
$XPDR_PINGS,42
$24V_AH,23.2,17.105
$10V_AH,10.6,8.230
$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,21.900,147.300,400.175,0.000,0.000,45.518,74.588,226.768,10.500,0.000,0.000,12.933,1826.116,14573.064,549.718,1865.412,512.635,33.356,1549.273,0.000,1848.018,2520.000,0.530,0.000
$DEVICE_MAMPS,266.916,87.438,1357.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31566,960
$CAP_FILE_SIZE,141425,0
$CFSIZE,260165632,248401920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,190908,081938,6701.186,-5724.155,30,0.9,30,-37.7