version: 66.04
glider: 108
mission: 11
dive: 139
start: 10 3 108 10 35 38
data:
$ID,108
$MISSION,11
$DIVE,139
$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,-2
$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,-113542.74
$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,20
$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,2745
$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
$GPS1,102408,6640.747,-5953.824,98,0.9,98,-37.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-68.7
$GPS2,103445,6640.643,-5953.932,14,0.9,14,-37.9
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.212,0.098
$KALMAN_X,43649.1,-23.8,339.6,-102817.0,-525.0
$KALMAN_Y,-77646.2,-609.9,-1346.4,58892.9,258.4
$MHEAD_RNG_PITCHd_Wd,103.0,37297,-13.0,-7.021
$D_GRID,703
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.00,-146.0,0.0,0.0,0,64,0.00,0.00,-44.50,0.000,2,0.000,0.000,338,2244,2567
$GC,66,-1.00,-146.0,3.2,-1.7,8,108,8.65,2.45,-24.88,0.000,4,0.258,0.080,2448,819,3345
$GC,233,-0.61,-146.0,27.8,-11.6,37,240,0.30,2.35,0.00,0.000,6,0.143,0.066,2526,2238,3348
$GC,577,-0.61,-146.0,52.6,-6.8,98,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2238,3350
$GC,919,-0.66,-146.0,78.2,-8.1,159,925,0.00,2.38,0.00,0.000,4,0.000,0.067,2526,810,3352
$GC,943,-0.66,-146.0,80.1,-8.1,163,949,0.00,2.35,0.00,0.000,6,0.000,0.064,2518,2244,3352
$GC,1290,-0.66,-146.0,106.5,-7.4,214,1294,0.00,2.22,0.00,0.000,4,0.000,0.080,2508,3599,3352
$GC,1358,-0.66,-146.0,111.7,-7.7,217,1362,0.00,2.25,0.00,0.000,6,0.000,0.054,2508,2215,3352
$GC,1690,-0.66,-146.0,137.5,-7.7,233,1694,0.00,2.30,0.00,0.000,4,0.000,0.069,2508,809,3351
$GC,1699,-0.66,-146.0,138.3,-7.4,233,1704,0.00,2.38,0.00,0.000,6,0.000,0.065,2498,2233,3351
$GC,2022,-0.66,-146.0,163.9,-8.2,249,2026,0.00,2.22,0.00,0.000,4,0.000,0.081,2488,3598,3350
$GC,2031,-0.66,-146.0,164.8,-8.0,249,2036,0.08,2.22,0.00,0.000,6,0.146,0.054,2513,2230,3351
$GC,2353,-0.71,-146.0,188.9,-7.2,265,2357,0.00,2.30,0.00,0.000,4,0.000,0.071,2513,811,3350
$GC,2369,-0.71,-146.0,190.1,-7.0,265,2376,0.00,2.33,0.00,0.000,6,0.000,0.066,2505,2239,3351
$GC,2684,-0.71,-146.0,211.7,-6.7,281,2688,0.00,2.22,0.00,0.000,4,0.000,0.082,2494,3599,3350
$GC,2723,-0.71,-146.0,214.8,-7.5,282,2729,0.00,2.17,0.00,0.000,6,0.000,0.052,2494,2222,3350
$GC,3038,-0.71,-146.0,238.0,-7.2,298,3042,0.00,2.28,0.00,0.000,4,0.000,0.079,2484,3604,3350
$GC,3048,-0.71,-146.0,238.7,-7.3,298,3052,0.00,2.17,0.00,0.000,6,0.000,0.052,2484,2228,3349
$GC,3369,-0.71,-146.0,263.4,-7.4,314,3373,0.00,2.28,0.00,0.000,4,0.000,0.067,2484,820,3348
$GC,3414,-0.64,-146.0,267.0,-7.8,316,3419,0.17,2.30,0.00,0.000,6,0.142,0.068,2524,2241,3348
$GC,3740,-0.79,-146.0,284.7,-5.3,332,3744,0.15,2.20,0.00,0.000,4,0.084,0.081,2455,3602,3348
$GC,3767,-0.73,-146.0,286.7,-7.9,333,3771,0.17,2.20,0.00,0.000,6,0.157,0.057,2504,2228,3348
$GC,4094,-0.80,-146.0,305.6,-5.5,349,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2228,3348
$GC,4402,-0.89,-146.0,323.1,-5.5,364,4407,0.15,2.28,0.00,0.000,4,0.085,0.071,2443,815,3347
$GC,4464,-0.69,-146.0,328.0,-8.3,367,4469,0.25,2.30,0.00,0.000,6,0.144,0.068,2507,2236,3347
$GC,4790,-0.80,-146.0,346.7,-5.5,383,4795,0.10,2.30,0.00,0.000,4,0.095,0.069,2465,819,3347
$GC,4833,-0.68,-146.0,349.8,-7.3,385,4838,0.20,2.30,0.00,0.000,6,0.145,0.067,2513,2246,3347
$GC,5154,-0.81,-146.0,366.9,-5.2,401,5159,0.12,2.33,0.00,0.000,4,0.086,0.068,2462,815,3347
$GC,5226,-0.70,-146.0,371.9,-7.7,404,5230,0.20,2.30,0.00,0.000,6,0.143,0.067,2510,2240,3348
$GC,5546,-0.82,-146.0,389.0,-5.4,420,5548,0.12,0.00,0.00,0.000,6,0.087,0.000,2460,2239,3347
$GC,5873,-0.75,-146.0,411.9,-7.1,432,5878,0.12,2.22,0.00,0.000,4,0.162,0.079,2485,3602,3348
$GC,5924,-0.80,-146.0,415.3,-6.5,433,5927,0.00,2.22,0.00,0.000,6,0.000,0.054,2484,2214,3347
$GC,6247,-0.80,-146.0,434.6,-5.8,441,6251,0.00,2.25,0.00,0.000,4,0.000,0.067,2484,809,3348
$GC,6302,-0.80,-146.0,438.2,-6.7,442,6306,0.00,2.30,0.00,0.000,6,0.000,0.065,2474,2237,3348
$GC,6621,-0.80,-146.0,457.3,-6.0,450,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2237,3348
$GC,6946,-0.80,-146.0,478.4,-6.6,458,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2237,3348
$GC,7271,-0.80,-146.0,499.7,-6.5,466,7275,0.00,2.35,0.00,0.000,4,0.000,0.066,2474,819,3349
$GC,7310,-0.75,-146.0,502.5,-7.0,467,7315,0.12,2.33,0.00,0.000,6,0.143,0.064,2499,2234,3349
$GC,7634,-0.85,-146.0,520.1,-5.4,475,7636,0.10,0.00,0.00,0.000,6,0.093,0.000,2458,2233,3349
$GC,7959,-0.79,-146.0,541.2,-6.5,483,7961,0.12,0.00,0.00,0.000,6,0.155,0.000,2491,2233,3349
$GC,8284,-0.86,-146.0,557.5,-4.9,491,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2233,3349
$GC,8609,-0.94,-146.0,574.0,-5.2,499,8613,0.15,2.40,0.00,0.000,4,0.084,0.064,2432,813,3350
$GC,8624,-0.94,-146.0,575.0,-5.5,499,8629,0.12,2.30,0.00,0.000,6,0.151,0.063,2455,2236,3350
$GC,8973,-0.88,-146.0,597.9,-6.5,508,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2236,3349
$GC,9297,-0.82,-146.0,618.1,-6.3,516,9302,0.10,2.35,0.00,0.000,4,0.164,0.064,2483,818,3349
$GC,9336,-0.82,-146.0,620.7,-5.9,517,9340,0.00,2.33,0.00,0.000,6,0.000,0.064,2475,2238,3350
$GC,9665,-0.82,-146.0,639.7,-5.6,525,9669,0.00,2.33,0.00,0.000,4,0.000,0.066,2475,821,3350
$GC,9720,-0.82,-146.0,643.1,-6.1,526,9725,0.00,2.28,0.00,0.000,6,0.000,0.064,2465,2234,3350
$GC,10039,-0.82,-146.0,660.4,-5.4,534,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2234,3350
$GC,10364,-0.82,-146.0,681.5,-6.6,542,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2234,3350
$GC,10689,-0.82,-146.0,701.4,-6.5,550,10693,0.00,2.17,0.00,0.000,4,0.000,0.078,2454,3601,3350
$GC,10704,-0.82,-146.0,702.6,-7.2,550,10709,0.08,2.22,0.00,0.000,6,0.155,0.051,2478,2214,3350
$STATE,10713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10713,begin apogee
$GC,10718,-0.31,0.0,703.5,7.6,550,10845,0.32,0.00,124.35,1.313,6,0.127,0.000,2588,1739,2745
$STATE,10846,end apogee,CONTROL_FINISHED_OK
$STATE,10846,begin climb
$GC,10848,1.00,146.0,706.4,0.0,553,10983,0.88,2.67,127.25,1.238,4,0.104,0.068,2880,333,2148
$GC,11013,0.76,146.0,694.0,11.0,557,11018,0.22,2.53,0.00,0.000,6,0.130,0.055,2821,1741,2146
$GC,11336,0.71,146.0,665.9,9.0,565,11340,0.00,2.40,0.00,0.000,4,0.000,0.069,2821,3164,2141
$GC,11408,0.54,146.0,659.1,9.1,566,11413,0.20,2.40,0.00,0.000,6,0.134,0.055,2775,1741,2140
$GC,11751,0.72,177.8,639.2,6.0,575,11780,0.15,0.00,26.73,1.216,6,0.077,0.000,2836,1741,2020
$GC,12075,0.63,177.8,610.5,8.7,583,12077,0.17,0.00,0.00,0.000,6,0.125,0.000,2786,1741,2015
$GC,12400,0.81,207.5,590.6,6.1,591,12434,0.17,2.47,26.48,1.205,4,0.073,0.070,2857,3165,1897
$GC,12451,0.60,207.5,585.8,10.9,592,12456,0.28,2.42,0.00,0.000,6,0.136,0.054,2788,1731,1895
$GC,12763,0.78,218.7,564.8,6.7,600,12776,0.15,0.00,10.05,1.095,6,0.073,0.000,2851,1731,1853
$GC,13088,0.66,218.7,531.8,10.3,608,13093,0.20,2.40,0.00,0.000,4,0.123,0.070,2787,3158,1850
$GC,13114,0.66,218.7,529.3,8.2,608,13119,0.00,2.38,0.00,0.000,6,0.000,0.055,2793,1734,1849
$GC,13452,0.86,249.2,508.6,6.0,617,13482,0.17,0.00,27.60,1.169,6,0.071,0.000,2866,1734,1728
$GC,13777,0.70,249.2,474.5,10.8,625,13779,0.20,0.00,0.00,0.000,6,0.125,0.000,2806,1734,1721
$GC,14102,0.87,275.9,453.8,6.2,633,14128,0.15,0.00,23.20,1.130,6,0.074,0.000,2866,1734,1620
$GC,14465,0.74,275.9,416.6,10.3,642,14467,0.17,0.00,0.00,0.000,6,0.127,0.000,2815,1734,1613
$GC,14770,0.90,298.7,397.1,6.3,650,14796,0.12,2.45,20.25,1.093,4,0.077,0.071,2866,3155,1527
$GC,14817,0.74,298.7,392.4,10.3,652,14822,0.22,2.38,0.00,0.000,6,0.131,0.055,2810,1741,1525
$GC,15144,0.97,321.1,370.3,6.3,668,15171,0.20,2.42,20.80,1.069,4,0.067,0.071,2904,326,1434
$GC,15198,0.81,321.1,364.3,13.2,670,15205,0.25,2.35,0.00,0.000,6,0.127,0.056,2829,1744,1432
$GC,15514,0.94,321.1,339.2,7.5,686,15518,0.12,2.30,0.00,0.000,4,0.077,0.069,2880,3157,1427
$GC,15580,0.73,321.1,331.0,14.5,689,15585,0.25,2.33,0.00,0.000,6,0.132,0.056,2815,1737,1426
$GC,15900,0.95,321.1,306.6,7.5,705,15905,0.17,2.35,0.00,0.000,4,0.069,0.071,2896,320,1425
$GC,15939,0.90,321.1,302.5,11.3,707,15944,0.17,2.33,0.00,0.000,6,0.126,0.057,2844,1756,1425
$GC,16266,0.99,321.1,272.9,8.7,723,16271,0.10,2.28,0.00,0.000,4,0.084,0.071,2886,3161,1425
$GC,16315,0.77,321.1,266.8,14.1,725,16320,0.25,2.35,0.00,0.000,6,0.131,0.057,2820,1726,1424
$GC,16636,1.44,321.1,238.4,11.0,741,16641,0.45,2.33,0.00,0.000,4,0.104,0.071,2975,326,1423
$GC,16675,1.66,321.1,233.8,12.7,743,16680,0.15,2.30,0.00,0.000,6,0.083,0.057,3035,1752,1423
$GC,17003,1.01,321.1,154.5,23.8,759,17008,0.52,2.38,0.00,0.000,4,0.157,0.070,2883,324,1423
$GC,17046,1.01,321.1,147.4,11.9,761,17051,0.00,2.33,0.00,0.000,6,0.000,0.058,2884,1733,1423
$GC,17374,1.01,321.1,117.1,9.4,777,17378,0.00,2.30,0.00,0.000,4,0.000,0.074,2883,3155,1423
$GC,17424,0.90,321.1,111.6,11.2,779,17429,0.15,2.30,0.00,0.000,6,0.129,0.058,2848,1726,1423
$GC,17754,1.58,321.1,84.5,9.8,817,17761,0.43,2.30,0.00,0.000,4,0.099,0.072,2999,328,1422
$GC,17824,1.36,321.1,77.1,11.5,829,17831,0.17,2.35,0.00,0.000,6,0.154,0.062,2951,1755,1422
$GC,18168,1.16,321.1,34.9,10.5,890,18175,0.15,2.30,0.00,0.000,4,0.145,0.076,2906,3163,1422
$GC,18192,0.99,321.1,31.7,12.5,894,18199,0.15,2.33,0.00,0.000,6,0.127,0.061,2869,1725,1422
$GC,18537,1.54,321.1,3.8,12.4,955,18544,0.35,2.33,0.00,0.000,4,0.084,0.074,2998,320,1420
$STATE,18548,end climb,SURFACE_DEPTH_REACHED
$STATE,18548,begin surface coast
$FINISH,1.7,1.025227
$STATE,18560,end surface coast,CONTROL_FINISHED_OK
$STATE,18560,begin surface
$SM_CCo,18638,0.00,0.000,0,0,1417,325.76
$SM_GC,2.26,7.12,0.00,0.00,0.055,0.000,0.000,338,2242,1417,-10.57,0.34,325.76
$RAFOS_CLK,797
$RAFOS,4,1223037850,12.750000,12.736111,63,60,54,53,51,49,197,176,135,215,120,235
$RAFOS,3,1223037244,12.583333,12.567778,61,57,56,54,51,50,208,197,183,166,131,116
$RAFOS,2,1223036675,12.416667,12.409722,61,60,59,57,51,51,186,152,211,163,131,1859
$RAFOS,1,1223036043,12.250000,12.234167,64,59,58,56,51,49,205,169,215,678,225,124
$RAFOS,0,1223035455,12.083333,12.070833,98,62,56,56,55,51,505,170,196,179,114,138
$RAFOS_FIX,6642.305664,-5953.307617,031008,040404,3,94,0.52
$IRIDIUM_FIX,6614.97,-5949.70,281297,101029
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.30
$XPDR_PINGS,27
$24V_AH,22.7,27.256
$10V_AH,10.6,12.549
$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,26.575,164.050,406.700,0.000,0.000,55.972,70.281,335.454,6.750,0.000,0.000,15.773,1831.703,14400.188,539.034,1842.385,661.502,33.378,1560.453,0.000,1814.748,1800.000,0.531,0.000
$DEVICE_MAMPS,257.712,82.069,1313.104,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31549,959
$CAP_FILE_SIZE,156320,0
$CFSIZE,260165632,243499008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,031008,154801,6641.964,-5949.421,56,2.0,61,-37.9