version: 66.04
glider: 108
mission: 11
dive: 87
start: 9 22 108 17 59 13
data:
$ID,108
$MISSION,11
$DIVE,87
$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,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,-112660.77
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,174208,6651.620,-5822.302,35,1.2,35,-37.7
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-69.2
$GPS2,175821,6651.604,-5822.626,15,2.0,15,-37.7
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD2_WB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.231,0.035
$KALMAN_X,17570.5,303.5,39.2,-16456.7,1293.2
$KALMAN_Y,-18451.1,-261.6,-25.1,16825.3,-990.3
$MHEAD_RNG_PITCHd_Wd,316.4,34511,-13.0,-7.021
$D_GRID,845
$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,-1.00,-146.0,0.0,0.0,0,65,0.00,0.00,-45.78,0.000,2,0.000,0.000,338,2241,2776
$GC,68,-1.00,-146.0,3.2,-1.9,8,105,8.62,2.35,-23.35,0.000,4,0.256,0.085,2429,3597,3494
$GC,219,-0.68,-146.0,25.7,-17.9,34,226,0.28,2.25,0.00,0.000,6,0.139,0.050,2509,2205,3498
$GC,563,-0.68,-146.0,53.0,-7.6,95,569,0.00,2.28,0.00,0.000,4,0.000,0.061,2509,810,3501
$GC,630,-0.68,-146.0,58.5,-8.3,107,637,0.00,2.33,0.00,0.000,6,0.000,0.058,2501,2237,3501
$GC,974,-0.68,-146.0,90.3,-8.7,168,980,0.00,2.20,0.00,0.000,4,0.000,0.074,2491,3600,3502
$GC,1064,-0.68,-146.0,98.4,-9.2,184,1070,0.00,2.17,0.00,0.000,6,0.000,0.051,2491,2226,3502
$GC,1396,-0.68,-146.0,123.3,-7.8,203,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2226,3502
$GC,1705,-0.68,-146.0,146.7,-7.1,218,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2226,3501
$GC,2015,-0.68,-146.0,170.0,-7.6,233,2018,0.00,2.30,0.00,0.000,4,0.000,0.076,2481,3602,3500
$GC,2109,-0.68,-146.0,178.1,-9.1,237,2114,0.08,2.22,0.00,0.000,6,0.143,0.052,2506,2220,3500
$GC,2436,-0.79,-146.0,202.3,-7.6,253,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2220,3499
$GC,2745,-0.91,-146.0,225.1,-7.3,268,2747,0.17,0.00,0.00,0.000,6,0.081,0.000,2437,2220,3498
$GC,3054,-0.77,-146.0,256.0,-10.1,283,3059,0.20,2.28,0.00,0.000,4,0.150,0.067,2500,817,3498
$GC,3109,-0.83,-146.0,260.4,-7.0,285,3115,0.00,2.30,0.00,0.000,6,0.000,0.064,2492,2236,3498
$GC,3425,-0.90,-146.0,283.2,-7.0,301,3429,0.12,2.17,0.00,0.000,4,0.084,0.076,2429,3595,3497
$GC,3507,-0.75,-146.0,291.2,-9.9,304,3514,0.17,2.17,0.00,0.000,6,0.140,0.053,2497,2232,3497
$GC,3823,-0.86,-146.0,309.1,-5.4,320,3825,0.12,0.00,0.00,0.000,6,0.088,0.000,2446,2232,3497
$GC,4132,-0.77,-146.0,332.9,-7.8,335,4134,0.17,0.00,0.00,0.000,6,0.151,0.000,2495,2232,3497
$GC,4442,-0.88,-146.0,350.7,-6.0,350,4443,0.12,0.00,0.00,0.000,6,0.086,0.000,2446,2232,3496
$GC,4752,-0.79,-146.0,375.8,-8.2,365,4754,0.15,0.00,0.00,0.000,6,0.153,0.000,2487,2232,3496
$GC,5060,-0.89,-146.0,395.1,-5.9,380,5062,0.10,0.00,0.00,0.000,6,0.092,0.000,2446,2232,3496
$GC,5386,-0.82,-146.0,418.2,-7.1,390,5388,0.12,0.00,0.00,0.000,6,0.158,0.000,2479,2232,3496
$GC,5711,-0.89,-146.0,437.2,-5.8,398,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2232,3496
$GC,6036,-0.96,-146.0,455.7,-5.6,406,6038,0.12,0.00,0.00,0.000,6,0.086,0.000,2428,2232,3496
$GC,6361,-0.83,-146.0,481.4,-8.1,414,6363,0.17,0.00,0.00,0.000,6,0.150,0.000,2478,2232,3497
$GC,6686,-0.91,-146.0,501.9,-6.3,422,6690,0.00,2.28,0.00,0.000,4,0.000,0.072,2470,3600,3497
$GC,6764,-0.99,-146.0,507.3,-6.9,423,6769,0.10,2.15,0.00,0.000,6,0.094,0.049,2427,2225,3496
$GC,7100,-0.85,-146.0,535.7,-8.6,432,7105,0.17,2.25,0.00,0.000,4,0.147,0.062,2483,825,3497
$GC,7160,-0.85,-146.0,540.2,-7.3,433,7164,0.00,2.30,0.00,0.000,6,0.000,0.060,2475,2235,3496
$GC,7512,-0.91,-146.0,563.2,-6.5,442,7515,0.00,2.17,0.00,0.000,4,0.000,0.072,2464,3605,3497
$GC,7589,-0.91,-146.0,569.1,-7.3,443,7593,0.00,2.17,0.00,0.000,6,0.000,0.049,2464,2230,3497
$GC,7926,-0.91,-146.0,592.8,-7.0,452,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,8251,-0.91,-146.0,615.6,-7.0,460,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,8576,-0.91,-146.0,637.8,-6.6,468,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,8901,-0.91,-146.0,659.4,-6.8,476,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,9225,-0.91,-146.0,680.8,-6.7,484,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3498
$GC,9550,-0.91,-146.0,703.2,-7.0,492,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,9876,-0.91,-146.0,724.3,-6.6,500,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,10200,-0.91,-146.0,745.7,-6.6,508,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,10525,-0.91,-146.0,767.6,-6.8,516,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2230,3497
$GC,10850,-0.91,-146.0,790.1,-7.0,524,10854,0.00,2.25,0.00,0.000,4,0.000,0.074,2454,3595,3497
$GC,10899,-0.91,-146.0,793.8,-7.4,525,10904,0.00,2.15,0.00,0.000,6,0.000,0.049,2454,2233,3497
$GC,11224,-0.91,-146.0,816.4,-6.6,533,11228,0.00,2.25,0.00,0.000,4,0.000,0.064,2454,817,3497
$GC,11329,-0.91,-146.0,823.7,-6.7,535,11333,0.00,2.30,0.00,0.000,6,0.000,0.062,2444,2231,3497
$STATE,11640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11640,begin apogee
$GC,11645,-0.31,0.0,846.0,7.2,543,11773,0.47,0.00,125.72,1.384,6,0.133,0.000,2594,1743,2895
$STATE,11774,end apogee,CONTROL_FINISHED_OK
$STATE,11774,begin climb
$GC,11776,1.00,146.0,849.3,0.0,546,11913,0.85,2.70,128.05,1.312,4,0.091,0.068,2885,338,2298
$GC,11964,0.70,146.0,834.7,11.4,550,11969,0.28,2.53,0.00,0.000,6,0.133,0.054,2811,1745,2296
$GC,12312,0.62,146.0,808.3,7.5,559,12316,0.00,2.40,0.00,0.000,4,0.000,0.069,2811,3161,2293
$GC,12356,0.41,146.0,804.6,8.6,560,12361,0.28,2.38,0.00,0.000,6,0.135,0.054,2741,1741,2292
$GC,12686,0.84,189.8,787.3,5.6,568,12729,0.28,2.55,37.12,1.301,4,0.065,0.070,2863,332,2121
$GC,12785,0.65,189.8,779.2,10.1,570,12790,0.25,2.40,0.00,0.000,6,0.130,0.055,2792,1745,2119
$GC,13102,0.65,197.1,757.4,6.8,578,13116,0.00,2.40,7.43,1.098,4,0.000,0.069,2792,3156,2091
$GC,13185,0.59,197.1,750.8,8.3,579,13191,0.00,2.35,0.00,0.000,6,0.000,0.055,2801,1729,2089
$GC,13515,0.59,200.1,727.5,6.9,588,13525,0.00,2.40,4.03,0.838,4,0.000,0.069,2801,3151,2079
$GC,13560,0.48,200.1,723.9,8.4,589,13564,0.20,2.30,0.00,0.000,6,0.133,0.055,2753,1733,2079
$GC,13883,0.98,202.3,703.3,7.0,597,13893,0.32,2.42,3.60,0.765,4,0.077,0.069,2874,3157,2070
$GC,14023,0.61,202.3,687.3,13.3,600,14028,0.32,2.30,0.00,0.000,6,0.139,0.056,2787,1741,2069
$GC,14341,0.73,231.0,667.0,6.1,608,14372,0.10,2.42,25.92,1.259,4,0.089,0.068,2831,3160,1952
$GC,14379,0.63,231.0,664.1,7.8,609,14384,0.20,2.35,0.00,0.000,6,0.130,0.054,2785,1738,1950
$GC,14702,0.81,270.3,644.7,5.8,617,14745,0.17,2.47,34.60,1.241,4,0.070,0.069,2855,3159,1793
$GC,14755,0.61,270.3,639.9,10.2,618,14760,0.28,2.40,0.00,0.000,6,0.134,0.054,2787,1726,1790
$GC,15068,0.83,300.7,620.7,6.0,626,15098,0.17,0.00,27.38,1.206,6,0.071,0.000,2856,1726,1669
$GC,15393,0.69,300.7,585.1,11.4,634,15395,0.20,0.00,0.00,0.000,6,0.124,0.000,2797,1726,1661
$GC,15718,0.84,300.7,560.6,7.3,642,15720,0.15,0.00,0.00,0.000,6,0.074,0.000,2857,1726,1658
$GC,16042,0.69,300.7,520.7,12.7,650,16044,0.20,0.00,0.00,0.000,6,0.127,0.000,2797,1726,1658
$GC,16367,0.84,300.7,495.6,7.3,658,16369,0.15,0.00,0.00,0.000,6,0.074,0.000,2858,1726,1657
$GC,16693,0.69,300.7,456.6,12.3,666,16695,0.20,0.00,0.00,0.000,6,0.127,0.000,2797,1726,1657
$GC,17017,0.84,300.7,430.1,7.9,674,17019,0.15,0.00,0.00,0.000,6,0.074,0.000,2858,1726,1656
$GC,17322,0.69,300.7,392.6,12.7,682,17324,0.20,0.00,0.00,0.000,6,0.125,0.000,2798,1726,1656
$GC,17632,0.85,300.7,368.4,7.2,697,17634,0.15,0.00,0.00,0.000,6,0.074,0.000,2859,1726,1655
$GC,17941,0.71,300.7,333.2,11.6,712,17946,0.17,2.38,0.00,0.000,4,0.126,0.067,2806,3154,1656
$GC,17961,0.65,300.7,330.9,10.4,713,17966,0.00,2.30,0.00,0.000,6,0.000,0.053,2813,1721,1655
$GC,18289,0.74,300.7,306.1,7.3,729,18290,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1721,1655
$GC,18598,0.85,300.7,282.4,8.0,744,18599,0.10,0.00,0.00,0.000,6,0.086,0.000,2859,1721,1655
$GC,18909,0.77,300.7,249.2,10.3,759,18914,0.15,2.30,0.00,0.000,4,0.127,0.066,2814,3151,1655
$GC,18929,0.77,300.7,246.9,9.9,760,18934,0.00,2.30,0.00,0.000,6,0.000,0.053,2820,1728,1655
$GC,19257,0.92,306.7,224.6,6.8,776,19263,0.12,0.00,4.30,0.710,6,0.080,0.000,2873,1727,1645
$GC,19566,0.83,306.7,193.0,10.0,791,19568,0.15,0.00,0.00,0.000,6,0.127,0.000,2828,1727,1644
$GC,19875,1.02,323.9,172.7,6.5,806,19896,0.17,0.00,16.62,0.946,6,0.073,0.000,2898,1728,1574
$GC,20204,0.87,323.9,135.0,11.6,822,20206,0.20,0.00,0.00,0.000,6,0.127,0.000,2837,1728,1570
$GC,20514,1.09,366.4,115.4,5.7,837,20556,0.20,2.47,37.08,0.940,4,0.071,0.071,2926,327,1401
$GC,20561,1.09,366.4,111.0,8.0,839,20566,0.12,2.38,0.00,0.000,6,0.140,0.054,2892,1752,1399
$GC,20894,1.09,366.4,79.7,9.3,883,20900,0.00,2.42,0.00,0.000,4,0.000,0.071,2900,324,1392
$GC,20917,1.09,366.4,77.6,9.2,887,20923,0.00,2.33,0.00,0.000,6,0.000,0.055,2900,1742,1392
$GC,21260,1.09,366.4,41.7,9.4,948,21265,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1741,1390
$GC,21602,1.20,396.3,15.1,6.1,1009,21632,0.00,2.40,24.30,0.895,4,0.000,0.071,2900,3156,1279
$GC,21683,1.20,396.3,8.5,8.6,1023,21689,0.00,2.35,0.00,0.000,6,0.000,0.059,2907,1735,1274
$STATE,21755,end climb,SURFACE_DEPTH_REACHED
$STATE,21755,begin surface coast
$FINISH,1.6,1.006245
$STATE,21795,end surface coast,CONTROL_FINISHED_OK
$STATE,21796,begin surface
$SM_CCo,21872,0.00,0.000,0,0,1267,399.10
$SM_GC,2.47,7.10,0.00,0.00,0.063,0.000,0.000,340,2237,1267,-10.57,0.20,399.10
$RAFOS_CLK,924
$RAFOS,4,1222116267,20.750000,20.740833,151,63,60,55,52,49,553,178,210,194,161,141
$RAFOS,3,1222115658,20.583334,20.571667,65,64,60,55,53,52,190,698,224,207,172,148
$RAFOS,2,1222115048,20.416666,20.402222,106,59,57,57,54,53,622,197,131,182,165,154
$RAFOS,1,1222114480,20.250000,20.244444,104,60,57,53,52,52,420,120,197,174,214,145
$RAFOS,0,1222113859,20.083334,20.071945,96,67,63,52,51,51,703,201,218,162,176,115
$RAFOS_FIX,6654.165039,-5827.480469,220908,202000,4,114,0.68
$IRIDIUM_FIX,6620.33,-5822.83,171297,171707
$TT8_MAMPS,0.026845
$HUMID,1862
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,15.50
$XPDR_PINGS,40
$24V_AH,22.8,19.412
$10V_AH,10.6,9.257
$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,25.100,113.325,476.150,0.000,0.000,53.785,65.784,634.455,10.000,0.000,0.000,17.055,1927.016,17430.504,585.288,1932.801,981.867,33.354,1632.901,0.000,1911.491,1800.000,0.531,0.000
$DEVICE_MAMPS,256.178,85.137,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.407,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34713,1043
$CAP_FILE_SIZE,166945,2
$CFSIZE,260165632,247070720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,230908,000508,6651.565,-5828.142,27,0.9,27,-37.8