version: 66.04
glider: 108
mission: 11
dive: 74
start: 9 19 108 8 25 25
data:
$ID,108
$MISSION,11
$DIVE,74
$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,-112404.18
$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,22
$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
$GPS1,081938,6701.186,-5724.155,30,0.9,30,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-73.6
$GPS2,082433,6701.184,-5724.129,11,0.9,11,-37.7
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.197,-0.031
$KALMAN_X,2829.7,150.9,-563.4,41605.9,176.4
$KALMAN_Y,410.8,149.2,273.4,14959.5,-444.7
$MHEAD_RNG_PITCHd_Wd,298.7,44255,-14.2,-7.021
$D_GRID,805
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-52.47,0.000,2,0.000,0.000,338,2230,2816
$GC,74,-1.07,-146.0,3.2,-2.2,9,110,8.50,2.22,-20.62,0.000,4,0.258,0.087,2415,3597,3493
$GC,363,-0.82,-146.0,50.1,-12.4,60,370,0.22,2.20,0.00,0.000,6,0.149,0.051,2479,2204,3498
$GC,707,-0.82,-146.0,81.8,-9.3,121,713,0.00,2.28,0.00,0.000,4,0.000,0.071,2470,3601,3501
$GC,954,-0.82,-146.0,106.7,-10.0,157,958,0.00,2.17,0.00,0.000,6,0.000,0.051,2470,2211,3501
$GC,1285,-0.82,-146.0,138.7,-9.5,173,1289,0.00,2.22,0.00,0.000,4,0.000,0.064,2470,823,3501
$GC,1368,-0.82,-146.0,147.2,-10.2,176,1375,0.00,2.33,0.00,0.000,6,0.000,0.062,2460,2236,3501
$GC,1684,-0.82,-146.0,177.3,-9.1,192,1688,0.00,2.17,0.00,0.000,4,0.000,0.075,2450,3599,3500
$GC,1773,-0.82,-146.0,186.3,-9.8,196,1778,0.12,2.15,0.00,0.000,6,0.153,0.052,2483,2219,3499
$GC,2104,-0.92,-146.0,212.2,-7.8,212,2108,0.10,2.25,0.00,0.000,4,0.091,0.065,2439,818,3499
$GC,2165,-0.83,-146.0,218.3,-9.8,214,2172,0.12,2.33,0.00,0.000,6,0.136,0.062,2482,2234,3499
$GC,2480,-0.93,-146.0,241.7,-7.2,230,2485,0.12,2.17,0.00,0.000,4,0.084,0.074,2421,3603,3498
$GC,2597,-0.83,-146.0,253.1,-10.3,235,2602,0.15,2.17,0.00,0.000,6,0.143,0.052,2471,2225,3498
$GC,2924,-0.91,-146.0,275.2,-6.6,251,2928,0.00,2.25,0.00,0.000,4,0.000,0.064,2471,815,3498
$GC,2972,-0.91,-146.0,278.7,-7.2,253,2977,0.00,2.30,0.00,0.000,6,0.000,0.060,2463,2228,3498
$GC,3301,-0.95,-146.0,300.8,-6.7,269,3305,0.00,2.17,0.00,0.000,4,0.000,0.073,2453,3601,3498
$GC,3407,-0.95,-146.0,309.2,-7.8,273,3414,0.00,2.17,0.00,0.000,6,0.000,0.050,2453,2219,3498
$GC,3722,-0.95,-146.0,333.9,-8.2,289,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2219,3498
$GC,4033,-0.95,-146.0,359.5,-8.1,304,4036,0.00,2.25,0.00,0.000,4,0.000,0.073,2442,3594,3498
$GC,4093,-0.95,-146.0,364.9,-9.2,306,4100,0.00,2.15,0.00,0.000,6,0.000,0.049,2442,2222,3498
$GC,4409,-0.95,-146.0,391.3,-8.5,322,4413,0.00,2.22,0.00,0.000,4,0.000,0.064,2442,819,3498
$GC,4481,-0.90,-146.0,397.8,-8.5,325,4486,0.08,2.30,0.00,0.000,6,0.135,0.060,2469,2237,3498
$GC,4803,-0.99,-146.0,420.4,-7.0,334,4808,0.12,2.15,0.00,0.000,4,0.084,0.071,2409,3593,3498
$GC,4875,-0.86,-146.0,427.3,-10.0,335,4880,0.22,2.15,0.00,0.000,6,0.146,0.049,2475,2200,3498
$GC,5217,-0.98,-146.0,450.5,-6.8,344,5219,0.12,0.00,0.00,0.000,6,0.084,0.000,2422,2199,3499
$GC,5542,-0.89,-146.0,480.0,-9.1,352,5544,0.15,0.00,0.00,0.000,6,0.150,0.000,2464,2199,3499
$GC,5867,-0.97,-146.0,504.3,-7.4,360,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2199,3499
$GC,6192,-1.05,-146.0,528.8,-7.6,368,6196,0.15,2.28,0.00,0.000,4,0.080,0.071,2395,3596,3499
$GC,6269,-0.89,-146.0,536.9,-11.0,369,6274,0.25,2.12,0.00,0.000,6,0.147,0.049,2469,2220,3499
$GC,6606,-0.99,-146.0,560.8,-7.0,378,6610,0.10,2.22,0.00,0.000,4,0.091,0.063,2426,821,3499
$GC,6711,-0.88,-146.0,570.3,-9.2,380,6715,0.17,2.28,0.00,0.000,6,0.144,0.061,2467,2244,3498
$GC,7024,-0.98,-146.0,592.1,-6.9,388,7028,0.00,2.12,0.00,0.000,4,0.000,0.074,2458,3596,3499
$GC,7101,-1.05,-146.0,598.2,-8.0,389,7106,0.12,2.12,0.00,0.000,6,0.086,0.050,2408,2218,3499
$GC,7438,-0.92,-146.0,629.3,-9.3,398,7442,0.17,2.22,0.00,0.000,4,0.146,0.063,2457,819,3499
$GC,7491,-0.92,-146.0,633.8,-7.5,399,7496,0.00,2.30,0.00,0.000,6,0.000,0.060,2450,2237,3499
$GC,7810,-0.92,-146.0,657.7,-7.7,407,7814,0.00,2.15,0.00,0.000,4,0.000,0.073,2439,3596,3498
$GC,7882,-0.92,-146.0,663.8,-8.6,408,7886,0.00,2.15,0.00,0.000,6,0.000,0.049,2439,2222,3498
$GC,8224,-0.92,-146.0,691.5,-8.0,417,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2221,3498
$GC,8549,-0.92,-146.0,716.8,-7.7,425,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2222,3498
$GC,8874,-0.92,-146.0,741.5,-7.5,433,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2222,3498
$GC,9199,-0.92,-146.0,766.2,-7.7,441,9203,0.00,2.28,0.00,0.000,4,0.000,0.074,2428,3602,3498
$GC,9281,-0.92,-146.0,773.3,-8.6,442,9289,0.08,2.15,0.00,0.000,6,0.147,0.050,2454,2230,3498
$GC,9613,-1.00,-146.0,796.0,-6.7,451,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2229,3497
$STATE,9773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9773,begin apogee
$GC,9778,-0.31,0.0,807.0,6.7,455,9906,0.43,0.00,124.68,1.368,6,0.128,0.000,2592,1745,2895
$STATE,9906,end apogee,CONTROL_FINISHED_OK
$STATE,9906,begin climb
$GC,9908,1.07,146.0,809.6,0.0,458,10039,0.90,0.00,127.07,1.293,6,0.094,0.000,2887,1744,2299
$GC,10354,0.81,146.0,765.9,11.1,469,10356,0.20,0.00,0.00,0.000,6,0.134,0.000,2832,1744,2293
$GC,10679,0.73,146.0,739.0,8.2,477,10683,0.00,2.42,0.00,0.000,4,0.000,0.067,2832,3152,2292
$GC,10711,0.54,146.0,736.0,8.7,477,10716,0.20,2.38,0.00,0.000,6,0.128,0.054,2777,1737,2292
$GC,11047,0.70,172.7,715.6,6.2,486,11077,0.12,2.53,22.27,1.259,4,0.084,0.067,2827,3153,2190
$GC,11099,0.55,172.7,711.3,9.4,487,11104,0.22,2.38,0.00,0.000,6,0.137,0.054,2777,1729,2188
$GC,11417,0.75,202.1,691.7,6.1,495,11451,0.15,2.50,26.20,1.255,4,0.079,0.067,2836,3158,2069
$GC,11484,0.57,202.1,685.4,10.4,496,11489,0.25,2.38,0.00,0.000,6,0.136,0.054,2777,1737,2067
$GC,11826,0.87,222.1,663.4,6.4,505,11851,0.22,2.47,17.60,1.215,4,0.071,0.068,2867,3148,1988
$GC,11923,0.65,222.1,653.2,12.4,507,11928,0.28,2.35,0.00,0.000,6,0.140,0.055,2798,1730,1985
$GC,12241,0.73,222.1,629.3,7.3,515,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1730,1983
$GC,12566,0.81,222.1,605.9,7.3,523,12568,0.12,0.00,0.00,0.000,6,0.083,0.000,2849,1730,1984
$GC,12891,0.69,222.1,572.3,10.7,531,12893,0.17,0.00,0.00,0.000,6,0.134,0.000,2798,1730,1983
$GC,13217,0.81,227.4,548.8,6.9,539,13224,0.12,0.00,5.00,0.916,6,0.083,0.000,2849,1730,1968
$GC,13541,0.70,227.4,516.4,10.0,547,13543,0.15,0.00,0.00,0.000,6,0.135,0.000,2807,1730,1967
$GC,13866,0.77,227.4,492.4,7.2,555,13870,0.00,2.38,0.00,0.000,4,0.000,0.071,2806,3149,1967
$GC,13881,0.83,227.4,491.2,7.1,555,13886,0.08,2.28,0.00,0.000,6,0.104,0.054,2850,1731,1966
$GC,14228,0.72,227.4,457.0,10.1,564,14233,0.15,2.33,0.00,0.000,4,0.139,0.070,2816,327,1967
$GC,14243,0.68,227.4,455.5,10.2,564,14248,0.00,2.33,0.00,0.000,6,0.000,0.054,2816,1745,1967
$GC,14590,0.68,227.4,427.6,7.9,573,14594,0.00,2.25,0.00,0.000,4,0.000,0.069,2816,3156,1966
$GC,14623,0.62,227.4,424.7,8.5,573,14628,0.10,2.28,0.00,0.000,6,0.132,0.055,2792,1740,1966
$GC,14960,0.82,247.1,403.4,6.4,582,14984,0.15,2.40,18.30,1.099,4,0.076,0.067,2854,3153,1887
$GC,15006,0.66,247.1,399.0,10.7,583,15011,0.17,2.33,0.00,0.000,6,0.132,0.054,2795,1738,1884
$GC,15333,0.85,247.1,376.2,7.1,599,15334,0.15,0.00,0.00,0.000,6,0.075,0.000,2857,1738,1882
$GC,15642,0.74,247.1,342.5,11.0,614,15647,0.15,2.30,0.00,0.000,4,0.132,0.067,2813,3155,1881
$GC,15658,0.67,247.1,340.7,10.6,615,15662,0.00,2.28,0.00,0.000,6,0.000,0.054,2821,1728,1881
$GC,15983,0.67,247.1,313.0,8.2,631,15987,0.00,2.30,0.00,0.000,4,0.000,0.071,2832,327,1881
$GC,15999,0.73,247.1,311.7,8.2,631,16005,0.00,2.33,0.00,0.000,6,0.000,0.054,2831,1747,1881
$GC,16315,0.73,247.1,284.0,8.9,647,16319,0.00,2.25,0.00,0.000,4,0.000,0.068,2832,3164,1881
$GC,16370,0.63,247.1,278.2,10.1,649,16375,0.12,2.30,0.00,0.000,6,0.130,0.054,2788,1735,1880
$GC,16693,0.89,255.4,256.9,6.8,665,16703,0.20,0.00,7.57,0.907,6,0.069,0.000,2867,1735,1853
$GC,17000,0.79,255.4,220.7,11.9,680,17005,0.15,2.33,0.00,0.000,4,0.132,0.068,2832,324,1852
$GC,17021,0.79,255.4,218.3,10.6,681,17025,0.00,2.33,0.00,0.000,6,0.000,0.052,2832,1745,1852
$GC,17347,0.83,255.4,189.0,8.4,697,17349,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1746,1852
$GC,17657,0.89,255.4,165.3,7.2,712,17660,0.00,2.28,0.00,0.000,4,0.000,0.067,2832,3167,1852
$GC,17694,0.89,255.4,162.2,8.2,713,17701,0.00,2.30,0.00,0.000,6,0.000,0.052,2842,1738,1851
$GC,18010,0.95,260.7,139.4,6.8,729,18021,0.00,2.35,6.00,0.795,4,0.000,0.065,2842,3163,1832
$GC,18027,1.00,260.7,138.1,7.1,730,18031,0.08,2.28,0.00,0.000,6,0.107,0.053,2885,1729,1831
$GC,18352,0.91,260.7,105.8,10.2,746,18354,0.12,0.00,0.00,0.000,6,0.137,0.000,2850,1729,1831
$GC,18682,1.01,260.7,80.4,7.8,794,18688,0.10,0.00,0.00,0.000,6,0.092,0.000,2889,1729,1831
$GC,19025,1.01,260.7,49.3,8.3,855,19031,0.00,2.30,0.00,0.000,4,0.000,0.071,2899,329,1831
$GC,19059,1.01,260.7,46.4,8.4,861,19065,0.00,2.30,0.00,0.000,6,0.000,0.055,2900,1755,1831
$GC,19403,1.13,282.8,20.5,6.3,922,19428,0.00,2.47,19.25,0.888,4,0.000,0.071,2908,326,1742
$GC,19507,1.22,282.8,13.6,7.3,940,19513,0.00,2.33,0.00,0.000,6,0.000,0.055,2908,1751,1739
$STATE,19663,end climb,SURFACE_DEPTH_REACHED
$STATE,19663,begin surface coast
$FINISH,1.4,1.008249
$STATE,19726,end surface coast,CONTROL_FINISHED_OK
$STATE,19726,begin surface
$SM_CCo,19800,0.00,0.000,0,0,1733,285.04
$SM_GC,2.38,6.93,0.00,0.00,0.054,0.000,0.000,333,2242,1733,-10.58,0.34,285.04
$RAFOS_CLK,820
$RAFOS,4,1221828241,12.750000,12.733611,72,62,58,57,55,52,765,170,223,194,117,208
$RAFOS,3,1221827641,12.583333,12.566944,96,65,54,53,51,51,917,204,228,148,182,215
$RAFOS,2,1221827070,12.416667,12.408334,88,65,64,62,55,54,406,219,159,196,138,113
$RAFOS,1,1221826467,12.250000,12.240833,82,63,59,55,51,49,652,195,216,134,227,154
$RAFOS,0,1221825858,12.083333,12.071667,112,54,53,52,52,49,870,201,212,173,121,155
$RAFOS,4,1221813844,8.750000,8.734445,137,58,56,53,53,51,767,204,215,176,132,232
$RAFOS,3,1221813245,8.583333,8.568055,81,56,55,55,54,54,929,194,223,168,112,129
$RAFOS,1,1221812042,8.250000,8.233889,60,58,57,56,55,54,144,187,154,170,227,804
$RAFOS_FIX,6700.059082,-5732.113281,190908,121214,5,90,0.42
$IRIDIUM_FIX,6631.12,-5719.52,141297,030335
$TT8_MAMPS,0.026845
$HUMID,1831
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.10
$XPDR_PINGS,31
$24V_AH,23.0,17.251
$10V_AH,10.6,8.297
$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,23.300,151.650,373.950,0.000,0.000,27.645,32.198,127.571,7.750,0.000,0.000,13.164,1896.796,15409.154,532.334,1938.762,341.146,33.355,1577.941,0.000,1913.605,2520.000,0.531,0.000
$DEVICE_MAMPS,258.479,86.671,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31606,979
$CAP_FILE_SIZE,149944,0
$CFSIZE,260165632,248328192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,190908,135707,6659.646,-5728.995,33,1.1,33,-37.7