version: 66.04
glider: 108
mission: 11
dive: 75
start: 9 19 108 14 3 50
data:
$ID,108
$MISSION,11
$DIVE,75
$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,-112418.7
$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,23
$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
$GPS1,135707,6659.646,-5728.995,33,1.1,33,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-70.3
$GPS2,140257,6659.644,-5728.991,12,1.1,12,-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,-0.176,-0.095
$KALMAN_X,2888.5,-169.5,702.1,37051.3,-1624.4
$KALMAN_Y,-422.6,-346.0,-568.1,14313.1,981.6
$MHEAD_RNG_PITCHd_Wd,279.3,40149,-14.2,-7.021
$D_GRID,832
$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,15,begin dive
$GC,17,-1.07,-146.0,0.0,0.0,0,59,0.00,0.00,-40.20,0.000,2,0.000,0.000,332,2249,2693
$GC,61,-1.07,-146.0,3.0,-1.8,7,104,8.60,2.28,-27.30,0.000,4,0.263,0.085,2412,3610,3495
$GC,351,-0.80,-146.0,46.4,-12.5,58,358,0.25,2.20,0.00,0.000,6,0.146,0.049,2484,2216,3500
$GC,695,-0.80,-146.0,76.6,-7.9,119,701,0.00,2.25,0.00,0.000,4,0.000,0.062,2485,820,3502
$GC,768,-0.80,-146.0,82.7,-8.2,132,775,0.00,2.30,0.00,0.000,6,0.000,0.059,2476,2234,3502
$GC,1110,-0.80,-146.0,113.6,-9.2,174,1113,0.00,2.17,0.00,0.000,4,0.000,0.073,2466,3597,3502
$GC,1159,-0.80,-146.0,118.4,-10.1,176,1163,0.00,2.17,0.00,0.000,6,0.000,0.050,2466,2228,3502
$GC,1485,-0.80,-146.0,146.4,-8.3,192,1489,0.00,2.25,0.00,0.000,4,0.000,0.064,2466,824,3501
$GC,1540,-0.80,-146.0,151.5,-8.9,194,1545,0.08,2.33,0.00,0.000,6,0.140,0.061,2481,2237,3502
$GC,1861,-0.87,-146.0,178.6,-8.3,210,1865,0.00,2.17,0.00,0.000,4,0.000,0.074,2472,3607,3500
$GC,1932,-0.91,-146.0,185.1,-8.9,213,1936,0.00,2.17,0.00,0.000,6,0.000,0.051,2472,2232,3500
$GC,2259,-0.96,-146.0,212.7,-8.3,229,2261,0.10,0.00,0.00,0.000,6,0.093,0.000,2428,2231,3499
$GC,2568,-0.86,-146.0,243.8,-9.9,244,2573,0.15,2.28,0.00,0.000,4,0.151,0.063,2470,812,3499
$GC,2674,-0.86,-146.0,252.6,-8.1,249,2678,0.00,2.30,0.00,0.000,6,0.000,0.061,2462,2239,3499
$GC,3005,-0.86,-146.0,279.7,-8.2,265,3009,0.00,2.15,0.00,0.000,4,0.000,0.074,2452,3599,3499
$GC,3077,-0.86,-146.0,286.3,-9.4,268,3082,0.00,2.17,0.00,0.000,6,0.000,0.051,2452,2220,3499
$GC,3403,-0.86,-146.0,313.6,-7.9,284,3407,0.00,2.22,0.00,0.000,4,0.000,0.063,2452,817,3499
$GC,3430,-0.86,-146.0,315.9,-8.7,285,3435,0.08,2.30,0.00,0.000,6,0.137,0.059,2467,2232,3499
$GC,3756,-0.93,-146.0,339.4,-7.4,301,3760,0.00,2.17,0.00,0.000,4,0.000,0.072,2459,3606,3498
$GC,3806,-0.98,-146.0,343.3,-7.9,303,3810,0.00,2.17,0.00,0.000,6,0.000,0.049,2459,2218,3498
$GC,4134,-0.98,-146.0,369.2,-8.0,319,4138,0.00,2.22,0.00,0.000,4,0.000,0.062,2459,818,3499
$GC,4160,-0.98,-146.0,371.7,-8.5,320,4165,0.00,2.30,0.00,0.000,6,0.000,0.058,2449,2234,3499
$GC,4487,-0.98,-146.0,397.8,-7.9,336,4491,0.00,2.17,0.00,0.000,4,0.000,0.072,2438,3609,3499
$GC,4565,-0.98,-146.0,404.6,-8.9,338,4569,0.00,2.15,0.00,0.000,6,0.000,0.049,2437,2219,3499
$GC,4901,-0.98,-146.0,432.6,-8.4,347,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2219,3500
$GC,5226,-0.98,-146.0,459.2,-8.2,355,5230,0.00,2.25,0.00,0.000,4,0.000,0.072,2427,3594,3499
$GC,5286,-0.92,-146.0,464.7,-9.3,356,5292,0.08,2.15,0.00,0.000,6,0.149,0.049,2452,2220,3500
$GC,5599,-0.92,-146.0,488.0,-7.5,364,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2220,3499
$GC,5923,-0.92,-146.0,512.5,-7.6,372,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2220,3500
$GC,6248,-0.92,-146.0,537.2,-7.6,380,6252,0.00,2.25,0.00,0.000,4,0.000,0.073,2444,3597,3500
$GC,6293,-0.92,-146.0,540.9,-8.4,381,6297,0.00,2.12,0.00,0.000,6,0.000,0.050,2444,2219,3500
$GC,6622,-0.92,-146.0,568.0,-8.3,389,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2219,3499
$GC,6946,-0.92,-146.0,593.9,-8.0,397,6950,0.00,2.28,0.00,0.000,4,0.000,0.073,2434,3608,3499
$GC,7012,-0.92,-146.0,599.7,-9.2,398,7018,0.05,2.17,0.00,0.000,6,0.156,0.049,2452,2223,3499
$GC,7361,-0.92,-146.0,626.7,-7.7,407,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2223,3499
$GC,7685,-0.92,-146.0,651.8,-7.7,415,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2223,3499
$GC,8010,-0.92,-146.0,676.9,-7.7,423,8014,0.00,2.25,0.00,0.000,4,0.000,0.073,2443,3600,3499
$GC,8071,-0.92,-146.0,681.9,-8.2,424,8075,0.00,2.15,0.00,0.000,6,0.000,0.050,2443,2230,3499
$GC,8383,-0.92,-146.0,707.7,-8.3,432,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2230,3499
$GC,8708,-0.92,-146.0,733.7,-8.0,440,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2230,3499
$GC,9036,-0.92,-146.0,760.2,-8.1,448,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2230,3499
$GC,9358,-0.92,-146.0,786.3,-7.9,456,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2230,3498
$GC,9683,-0.92,-146.0,811.0,-7.5,464,9687,0.00,2.25,0.00,0.000,4,0.000,0.073,2433,3604,3498
$GC,9738,-0.92,-146.0,815.4,-8.6,465,9743,0.08,2.15,0.00,0.000,6,0.150,0.046,2458,2220,3498
$STATE,10015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10015,begin apogee
$GC,10020,-0.31,0.0,834.0,6.7,472,10148,0.43,0.00,125.30,1.382,6,0.127,0.000,2596,1745,2895
$STATE,10149,end apogee,CONTROL_FINISHED_OK
$STATE,10149,begin climb
$GC,10150,1.07,146.0,836.8,0.0,475,10285,0.90,2.62,127.12,1.309,4,0.091,0.068,2905,342,2298
$GC,10314,0.76,146.0,823.7,12.7,479,10320,0.32,2.50,0.00,0.000,6,0.137,0.053,2816,1744,2297
$GC,10638,0.77,155.3,800.0,6.7,487,10652,0.00,2.42,8.40,1.110,4,0.000,0.067,2816,3155,2262
$GC,10702,0.60,155.3,794.7,9.1,488,10707,0.15,2.38,0.00,0.000,6,0.140,0.054,2785,1738,2260
$GC,11050,0.72,188.8,773.9,5.9,497,11086,0.12,2.47,29.65,1.288,4,0.083,0.066,2836,3158,2125
$GC,11119,0.51,188.8,767.6,10.8,498,11124,0.30,2.40,0.00,0.000,6,0.138,0.054,2763,1728,2122
$GC,11462,0.93,204.1,746.6,6.5,507,11482,0.28,2.42,14.12,1.223,4,0.068,0.069,2882,333,2062
$GC,11666,0.74,204.1,724.0,11.5,511,11671,0.20,2.40,0.00,0.000,6,0.129,0.055,2817,1752,2061
$GC,12008,0.74,204.1,695.8,7.9,520,12012,0.00,2.28,0.00,0.000,4,0.000,0.068,2817,3151,2059
$GC,12029,0.68,204.1,694.0,8.2,520,12033,0.00,2.33,0.00,0.000,6,0.000,0.054,2825,1740,2058
$GC,12376,0.68,204.1,664.0,8.7,529,12380,0.00,2.35,0.00,0.000,4,0.000,0.070,2836,333,2059
$GC,12392,0.68,204.1,662.7,8.5,529,12397,0.10,2.33,0.00,0.000,6,0.128,0.053,2802,1738,2058
$GC,12705,0.76,204.1,640.4,7.2,537,12709,0.00,2.28,0.00,0.000,4,0.000,0.068,2802,3155,2058
$GC,12750,0.76,204.1,637.0,8.1,538,12754,0.00,2.28,0.00,0.000,6,0.000,0.055,2810,1737,2057
$GC,13079,0.76,204.1,612.0,7.7,546,13083,0.00,2.30,0.00,0.000,4,0.000,0.067,2810,3153,2058
$GC,13099,0.76,204.1,610.1,8.8,546,13104,0.00,2.30,0.00,0.000,6,0.000,0.053,2820,1736,2057
$GC,13448,0.76,204.1,581.6,8.2,555,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1736,2057
$GC,13772,0.76,204.1,555.9,7.7,563,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1736,2057
$GC,14098,0.76,204.1,529.7,8.2,571,14101,0.00,2.35,0.00,0.000,4,0.000,0.068,2820,3158,2057
$GC,14130,0.67,204.1,526.6,9.9,571,14135,0.05,2.30,0.00,0.000,6,0.119,0.056,2802,1739,2057
$GC,14466,0.75,204.1,501.4,7.3,580,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1739,2057
$GC,14791,0.86,204.1,477.1,7.6,588,14796,0.15,2.35,0.00,0.000,4,0.080,0.067,2862,3163,2057
$GC,14818,0.69,204.1,474.4,11.1,588,14823,0.22,2.28,0.00,0.000,6,0.142,0.054,2806,1734,2057
$GC,15154,0.77,204.1,447.8,7.7,597,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1734,2057
$GC,15479,0.86,204.1,423.5,7.4,605,15484,0.12,2.35,0.00,0.000,4,0.085,0.067,2857,3164,2057
$GC,15500,0.76,204.1,421.5,9.6,605,15505,0.12,2.30,0.00,0.000,6,0.137,0.054,2812,1731,2057
$GC,15822,0.82,204.1,396.9,7.4,614,15824,0.10,0.00,0.00,0.000,6,0.093,0.000,2853,1730,2057
$GC,16131,0.71,204.1,365.5,10.0,629,16133,0.15,0.00,0.00,0.000,6,0.133,0.000,2810,1730,2057
$GC,16441,0.79,204.1,342.2,7.3,644,16442,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1730,2057
$GC,16750,0.87,211.2,320.6,6.8,659,16759,0.12,0.00,6.50,0.904,6,0.082,0.000,2859,1730,2034
$GC,17059,0.75,211.2,292.2,9.0,674,17064,0.15,2.35,0.00,0.000,4,0.136,0.068,2816,3153,2033
$GC,17075,0.66,211.2,290.7,8.8,675,17080,0.10,2.25,0.00,0.000,6,0.150,0.054,2798,1733,2033
$GC,17401,0.85,247.5,271.6,5.8,691,17443,0.15,2.47,31.23,1.025,4,0.078,0.067,2858,3162,1885
$GC,17453,0.72,247.5,266.7,10.1,693,17458,0.20,2.35,0.00,0.000,6,0.140,0.052,2812,1716,1883
$GC,17774,0.85,247.5,243.2,7.2,709,17776,0.12,0.00,0.00,0.000,6,0.081,0.000,2862,1716,1879
$GC,18083,0.77,247.5,209.7,11.2,724,18085,0.15,0.00,0.00,0.000,6,0.129,0.000,2819,1716,1879
$GC,18392,0.91,247.5,186.6,7.0,739,18397,0.12,2.40,0.00,0.000,4,0.081,0.066,2869,3157,1879
$GC,18418,0.82,247.5,183.9,9.9,740,18424,0.10,2.30,0.00,0.000,6,0.131,0.054,2832,1738,1877
$GC,18740,0.91,247.7,159.6,7.0,756,18742,0.10,0.00,0.00,0.000,6,0.091,0.000,2872,1737,1877
$GC,19049,0.91,247.7,133.2,8.7,771,19050,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1737,1878
$GC,19358,0.91,247.7,103.2,9.8,786,19362,0.00,2.33,0.00,0.000,4,0.000,0.069,2882,325,1878
$GC,19389,0.91,247.7,100.1,9.0,787,19395,0.08,2.30,0.00,0.000,6,0.128,0.054,2855,1736,1878
$GC,19734,1.00,260.3,76.3,6.6,847,19752,0.00,2.30,10.98,0.874,4,0.000,0.070,2855,3164,1832
$GC,19797,1.00,260.3,71.6,7.7,858,19803,0.00,2.28,0.00,0.000,6,0.000,0.054,2861,1737,1831
$GC,20140,1.09,260.3,46.4,7.2,919,20146,0.12,0.00,0.00,0.000,6,0.087,0.000,2911,1738,1830
$GC,20484,1.09,264.3,19.1,6.9,980,20496,0.00,2.38,3.92,0.644,4,0.000,0.071,2921,328,1817
$GC,20530,1.09,264.3,15.8,7.0,988,20537,0.12,2.30,0.00,0.000,6,0.140,0.057,2887,1748,1817
$STATE,20748,end climb,SURFACE_DEPTH_REACHED
$STATE,20749,begin surface coast
$FINISH,1.8,1.025411
$STATE,20795,end surface coast,CONTROL_FINISHED_OK
$STATE,20795,begin surface
$SM_CCo,20809,8.52,0.823,0,0,1773,275.23
$SM_GC,3.86,0.00,0.00,8.52,0.000,0.000,0.823,340,2236,1773,-10.66,0.14,275.23
$RAFOS_CLK,855
$RAFOS,4,1221842671,16.750000,16.741945,123,60,59,58,56,54,590,171,199,208,134,119
$RAFOS,3,1221842062,16.583334,16.572779,75,62,56,56,55,52,798,163,218,206,179,195
$RAFOS,2,1221841452,16.416666,16.403334,131,69,63,62,57,57,487,204,123,157,218,171
$RAFOS,1,1221840876,16.250000,16.243334,83,64,56,54,51,50,587,216,164,202,181,599
$RAFOS,0,1221840267,16.083334,16.074167,99,67,63,60,56,55,814,213,200,111,161,189
$RAFOS_FIX,6659.463379,-5737.494629,190908,161627,5,102,0.72
$IRIDIUM_FIX,6631.12,-5725.81,141297,080856
$TT8_MAMPS,0.026845
$HUMID,1847
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.10
$XPDR_PINGS,19
$24V_AH,22.8,17.397
$10V_AH,10.6,8.366
$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,21.700,152.375,357.225,8.525,0.000,22.272,33.801,186.154,4.750,0.000,0.000,13.888,1950.967,16306.313,494.599,2005.849,426.609,33.356,1586.391,0.000,1988.665,1800.000,0.532,0.000
$DEVICE_MAMPS,263.081,85.137,1382.134,822.991,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34648,1035
$CAP_FILE_SIZE,151447,0
$CFSIZE,260165632,248258560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,190908,195316,6659.006,-5736.816,66,2.6,85,-37.7