version: 66.04
glider: 108
mission: 11
dive: 79
start: 9 20 108 13 47 41
data:
$ID,108
$MISSION,11
$DIVE,79
$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,-112521.52
$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
$GPS1,134138,6654.845,-5748.062,27,1.3,27,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-71.0
$GPS2,134650,6654.847,-5748.064,11,1.4,11,-37.6
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.197,0.033
$KALMAN_X,5958.5,278.8,622.4,19734.6,-508.6
$KALMAN_Y,-8666.7,-321.1,-722.3,13798.6,-719.8
$MHEAD_RNG_PITCHd_Wd,317.1,25369,-14.2,-7.021
$D_GRID,828
$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,-46.03,0.000,2,0.000,0.000,338,2242,2731
$GC,68,-1.07,-146.0,3.0,-1.7,8,110,8.52,2.25,-24.83,0.000,4,0.259,0.087,2412,3599,3495
$GC,261,-0.84,-146.0,33.3,-13.7,42,268,0.22,2.20,0.00,0.000,6,0.146,0.049,2476,2206,3499
$GC,605,-0.84,-146.0,66.1,-8.6,103,611,0.00,2.22,0.00,0.000,4,0.000,0.060,2476,817,3501
$GC,678,-0.84,-146.0,72.7,-9.1,116,685,0.00,2.30,0.00,0.000,6,0.000,0.058,2468,2235,3501
$GC,1033,-0.84,-146.0,106.4,-9.9,171,1037,0.00,2.17,0.00,0.000,4,0.000,0.074,2458,3602,3501
$GC,1161,-0.84,-146.0,120.3,-11.1,176,1168,0.00,2.17,0.00,0.000,6,0.000,0.049,2458,2225,3501
$GC,1476,-0.84,-146.0,152.4,-10.3,192,1480,0.00,2.22,0.00,0.000,4,0.000,0.063,2458,827,3501
$GC,1571,-0.78,-146.0,162.3,-11.1,196,1575,0.15,2.28,0.00,0.000,6,0.146,0.061,2488,2238,3501
$GC,1898,-0.88,-146.0,189.1,-7.9,212,1902,0.10,2.15,0.00,0.000,4,0.094,0.073,2436,3602,3500
$GC,1991,-0.82,-146.0,198.9,-10.7,216,1996,0.12,2.17,0.00,0.000,6,0.146,0.050,2489,2223,3500
$GC,2318,-0.93,-146.0,224.5,-7.8,232,2322,0.12,2.22,0.00,0.000,4,0.086,0.063,2436,827,3500
$GC,2395,-0.82,-146.0,232.6,-10.5,235,2399,0.20,2.28,0.00,0.000,6,0.145,0.061,2484,2238,3499
$GC,2716,-0.93,-146.0,258.1,-7.5,251,2720,0.12,2.15,0.00,0.000,4,0.084,0.073,2422,3597,3499
$GC,2832,-0.83,-146.0,269.9,-10.3,256,2837,0.20,2.12,0.00,0.000,6,0.148,0.050,2480,2226,3500
$GC,3159,-0.93,-146.0,290.6,-6.0,272,3161,0.10,0.00,0.00,0.000,6,0.092,0.000,2437,2226,3499
$GC,3468,-0.88,-146.0,315.4,-8.0,287,3472,0.12,2.22,0.00,0.000,4,0.152,0.062,2470,828,3499
$GC,3522,-0.88,-146.0,319.4,-6.7,289,3526,0.00,2.28,0.00,0.000,6,0.000,0.060,2463,2232,3499
$GC,3843,-0.88,-146.0,340.7,-6.7,305,3847,0.00,2.15,0.00,0.000,4,0.000,0.072,2452,3599,3499
$GC,3904,-0.88,-146.0,345.2,-7.4,307,3910,0.00,2.15,0.00,0.000,6,0.000,0.048,2452,2225,3499
$GC,4219,-0.88,-146.0,369.3,-7.6,323,4223,0.00,2.22,0.00,0.000,4,0.000,0.061,2452,824,3499
$GC,4302,-0.88,-146.0,376.1,-8.6,326,4309,0.05,2.28,0.00,0.000,6,0.145,0.059,2460,2228,3499
$GC,4618,-0.93,-146.0,399.3,-7.3,342,4622,0.00,2.17,0.00,0.000,4,0.000,0.071,2452,3602,3499
$GC,4745,-0.93,-146.0,409.9,-8.2,345,4752,0.00,2.15,0.00,0.000,6,0.000,0.048,2451,2230,3499
$GC,5076,-0.93,-146.0,434.6,-7.3,354,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2230,3499
$GC,5402,-0.93,-146.0,458.0,-7.1,362,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2229,3499
$GC,5726,-0.93,-146.0,482.2,-7.5,370,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2230,3500
$GC,6051,-0.93,-146.0,505.7,-7.3,378,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2230,3500
$GC,6376,-0.93,-146.0,529.8,-7.4,386,6380,0.00,2.25,0.00,0.000,4,0.000,0.071,2441,3598,3500
$GC,6466,-0.93,-146.0,537.1,-8.4,388,6470,0.00,2.12,0.00,0.000,6,0.000,0.048,2441,2220,3500
$GC,6795,-0.93,-146.0,562.9,-7.8,396,6799,0.00,2.20,0.00,0.000,4,0.000,0.062,2441,827,3500
$GC,6911,-0.93,-146.0,572.7,-8.6,398,6916,0.10,2.28,0.00,0.000,6,0.147,0.060,2457,2233,3500
$GC,7253,-0.98,-146.0,599.0,-7.8,407,7257,0.00,2.15,0.00,0.000,4,0.000,0.071,2449,3602,3500
$GC,7336,-1.03,-146.0,606.2,-8.9,408,7343,0.00,2.12,0.00,0.000,6,0.000,0.044,2449,2226,3500
$GC,7667,-1.03,-146.0,633.0,-8.0,417,7671,0.00,2.20,0.00,0.000,4,0.000,0.058,2449,819,3500
$GC,7733,-1.03,-146.0,638.7,-8.7,418,7738,0.00,2.28,0.00,0.000,6,0.000,0.058,2438,2232,3500
$GC,8081,-1.03,-146.0,667.2,-8.1,427,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2232,3500
$GC,8406,-1.03,-146.0,692.7,-7.8,435,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2232,3500
$GC,8731,-1.03,-146.0,717.2,-7.6,443,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2232,3499
$GC,9056,-1.03,-146.0,743.3,-8.1,451,9060,0.00,2.15,0.00,0.000,4,0.000,0.073,2427,3597,3499
$GC,9138,-1.03,-146.0,750.9,-8.8,452,9146,0.00,2.12,0.00,0.000,6,0.000,0.044,2427,2221,3499
$GC,9472,-0.99,-146.0,778.2,-8.1,461,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2221,3499
$GC,9795,-0.99,-146.0,805.7,-8.5,469,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2221,3499
$STATE,10077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10077,begin apogee
$GC,10082,-0.31,0.0,829.8,8.5,476,10210,0.52,0.00,125.30,1.374,6,0.132,0.000,2596,1746,2894
$STATE,10211,end apogee,CONTROL_FINISHED_OK
$STATE,10211,begin climb
$GC,10213,1.07,146.0,833.1,0.0,479,10349,0.90,2.60,127.00,1.302,4,0.092,0.062,2902,342,2298
$GC,10361,0.75,146.0,822.4,10.8,482,10367,0.30,2.50,0.00,0.000,6,0.137,0.051,2821,1742,2297
$GC,10703,0.69,146.0,795.4,7.9,491,10707,0.00,2.35,0.00,0.000,4,0.000,0.064,2821,3155,2293
$GC,10724,0.58,146.0,793.4,8.4,491,10730,0.15,2.35,0.00,0.000,6,0.132,0.048,2782,1744,2292
$GC,11072,0.71,177.3,771.9,6.0,500,11106,0.12,2.45,26.58,1.279,4,0.084,0.064,2832,3154,2171
$GC,11123,0.55,177.3,767.7,9.5,501,11127,0.25,2.35,0.00,0.000,6,0.137,0.048,2774,1739,2170
$GC,11441,0.75,210.4,748.2,6.0,509,11476,0.15,2.47,29.08,1.276,4,0.078,0.065,2833,3157,2037
$GC,11503,0.58,210.4,742.6,10.7,510,11508,0.22,2.38,0.00,0.000,6,0.136,0.049,2782,1733,2034
$GC,11851,0.77,229.9,720.4,6.4,519,11876,0.15,2.47,17.42,1.232,4,0.076,0.066,2841,3149,1956
$GC,11881,0.69,229.9,717.7,8.3,519,11886,0.17,2.33,0.00,0.000,6,0.136,0.049,2804,1735,1955
$GC,12218,0.78,229.9,691.0,7.8,528,12223,0.10,2.40,0.00,0.000,4,0.092,0.065,2844,3162,1952
$GC,12232,0.78,229.9,689.5,8.2,528,12238,0.08,2.33,0.00,0.000,6,0.140,0.049,2829,1738,1952
$GC,12580,0.78,229.9,656.4,9.5,537,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1738,1952
$GC,12906,0.78,229.9,625.5,9.5,545,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1738,1951
$GC,13230,0.78,229.9,593.6,9.8,553,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1738,1951
$GC,13555,0.78,229.9,561.2,9.9,561,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1738,1950
$GC,13880,0.78,229.9,528.8,9.7,569,13884,0.00,2.35,0.00,0.000,4,0.000,0.067,2829,3151,1950
$GC,13896,0.73,229.9,527.2,9.7,569,13900,0.00,2.28,0.00,0.000,6,0.000,0.050,2837,1735,1950
$GC,14209,0.68,229.9,495.1,10.3,577,14211,0.12,0.00,0.00,0.000,6,0.140,0.000,2802,1734,1950
$GC,14534,0.79,229.9,469.3,7.7,585,14536,0.10,0.00,0.00,0.000,6,0.091,0.000,2843,1734,1950
$GC,14859,0.70,229.9,435.5,10.6,593,14861,0.15,0.00,0.00,0.000,6,0.135,0.000,2801,1734,1949
$GC,15184,0.81,229.9,411.2,7.2,601,15186,0.12,0.00,0.00,0.000,6,0.083,0.000,2852,1735,1949
$GC,15491,0.70,229.9,380.6,10.1,613,15496,0.15,2.35,0.00,0.000,4,0.134,0.067,2808,3151,1949
$GC,15523,0.70,229.9,377.8,8.6,614,15530,0.00,2.25,0.00,0.000,6,0.000,0.050,2816,1739,1949
$GC,15838,0.70,229.9,354.7,7.2,630,15840,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1739,1949
$GC,16148,0.76,229.9,332.2,7.2,645,16152,0.00,2.30,0.00,0.000,4,0.000,0.065,2825,328,1950
$GC,16157,0.83,229.9,331.4,7.4,645,16162,0.00,2.28,0.00,0.000,6,0.000,0.050,2825,1741,1950
$GC,16478,0.83,229.9,305.8,8.2,661,16480,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1740,1949
$GC,16788,0.88,229.9,278.4,8.9,676,16792,0.08,2.22,0.00,0.000,4,0.099,0.064,2862,3157,1950
$GC,16809,0.81,229.9,276.2,9.2,677,16814,0.15,2.22,0.00,0.000,6,0.144,0.050,2830,1734,1950
$GC,17135,0.86,229.9,248.3,7.9,693,17136,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1734,1950
$GC,17444,0.91,229.9,224.7,7.4,708,17449,0.10,2.28,0.00,0.000,4,0.091,0.064,2882,327,1950
$GC,17471,0.86,229.9,222.4,9.8,709,17476,0.08,2.28,0.00,0.000,6,0.135,0.052,2839,1739,1951
$GC,17790,0.86,229.9,197.5,7.6,725,17794,0.00,2.20,0.00,0.000,4,0.000,0.066,2839,3157,1951
$GC,17812,0.86,229.9,195.6,9.2,726,17816,0.00,2.22,0.00,0.000,6,0.000,0.049,2847,1726,1951
$GC,18145,0.86,229.9,168.0,8.3,742,18147,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1726,1951
$GC,18453,0.86,229.9,143.2,8.0,757,18454,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1726,1951
$GC,18762,0.86,229.9,118.8,8.1,772,18763,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1726,1951
$GC,19077,0.86,229.9,93.1,7.6,796,19083,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1725,1951
$GC,19420,0.96,253.6,69.7,6.3,857,19444,0.00,0.00,19.75,0.897,6,0.000,0.000,2847,1725,1861
$GC,19781,1.08,253.6,44.7,7.1,921,19787,0.15,0.00,0.00,0.000,6,0.081,0.000,2907,1726,1857
$GC,20124,1.10,272.2,13.1,6.4,982,20149,0.00,2.35,15.65,0.863,4,0.000,0.067,2917,342,1785
$GC,20183,1.20,305.0,9.4,6.0,992,20219,0.00,2.30,28.52,0.856,6,0.000,0.053,2916,1751,1651
$STATE,20279,end climb,SURFACE_DEPTH_REACHED
$STATE,20279,begin surface coast
$FINISH,1.5,1.014653
$STATE,20325,end surface coast,CONTROL_FINISHED_OK
$STATE,20325,begin surface
$SM_CCo,20400,0.00,0.000,0,0,1640,307.85
$SM_GC,2.35,7.15,0.00,0.00,0.061,0.000,0.000,339,2241,1640,-10.58,0.31,307.85
$RAFOS_CLK,834
$RAFOS,4,1221929081,16.750000,16.744722,147,54,53,51,51,50,514,215,192,157,145,182
$RAFOS,3,1221928457,16.583334,16.571388,59,58,57,51,48,48,209,110,193,226,122,146
$RAFOS,2,1221927848,16.416666,16.402222,80,59,59,59,58,57,533,157,221,131,193,140
$RAFOS,1,1221927272,16.250000,16.242222,68,67,56,56,55,53,153,562,130,141,171,183
$RAFOS,0,1221926662,16.083334,16.072779,83,64,59,59,58,58,783,195,219,178,166,210
$RAFOS_FIX,6657.618164,-5752.403320,200908,161618,3,103,0.63
$IRIDIUM_FIX,6625.71,-5746.88,151297,070741
$TT8_MAMPS,0.025311
$HUMID,1826
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.00
$XPDR_PINGS,24
$24V_AH,22.9,18.039
$10V_AH,10.6,8.651
$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,21.625,132.750,389.300,0.000,0.000,26.451,33.686,141.937,6.000,0.000,0.000,13.012,1875.474,15991.989,509.327,1954.874,384.667,33.355,1580.135,0.000,1941.116,1800.000,0.532,0.000
$DEVICE_MAMPS,259.246,86.671,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34698,1017
$CAP_FILE_SIZE,143727,0
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,200908,192908,6655.921,-5755.017,35,0.8,35,-37.7