version: 66.04
glider: 108
mission: 11
dive: 166
start: 10 11 108 1 54 50
data:
$ID,108
$MISSION,11
$DIVE,166
$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,900
$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,-114000.34
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,014902,6653.730,-5707.345,36,1.7,36,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-65.5
$GPS2,015357,6653.705,-5707.300,8,1.7,8,-37.4
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.019,0.233
$KALMAN_X,7205.5,-47.0,-70.1,14199.3,1162.9
$KALMAN_Y,-15775.0,526.4,444.1,13972.3,-3729.2
$MHEAD_RNG_PITCHd_Wd,32.7,22149,-13.0,-7.021
$D_GRID,707
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.00,-146.0,0.0,0.0,0,69,0.00,0.00,-52.35,0.000,2,0.000,0.000,331,2238,2724
$GC,71,-1.00,-146.0,3.0,-1.5,9,109,8.50,2.45,-24.08,0.000,4,0.250,0.076,2450,806,3343
$GC,277,-0.71,-146.0,26.1,-13.5,45,284,0.22,2.38,0.00,0.000,6,0.140,0.060,2506,2241,3347
$GC,622,-0.71,-146.0,55.1,-7.2,106,628,0.00,2.22,0.00,0.000,4,0.000,0.072,2498,3593,3348
$GC,774,-0.71,-146.0,66.4,-7.4,133,781,0.00,2.20,0.00,0.000,6,0.000,0.049,2498,2215,3348
$GC,1118,-0.71,-146.0,91.6,-7.6,194,1124,0.00,2.25,0.00,0.000,4,0.000,0.061,2498,826,3349
$GC,1220,-0.64,-146.0,100.3,-8.6,212,1225,0.12,2.35,0.00,0.000,6,0.140,0.061,2522,2241,3349
$GC,1536,-0.72,-146.0,126.0,-8.3,227,1537,0.10,0.00,0.00,0.000,6,0.088,0.000,2479,2241,3349
$GC,1844,-0.66,-146.0,154.9,-8.7,242,1846,0.15,0.00,0.00,0.000,6,0.145,0.000,2520,2241,3348
$GC,2154,-0.76,-146.0,173.3,-5.2,257,2159,0.12,2.35,0.00,0.000,4,0.084,0.064,2469,819,3347
$GC,2289,-0.64,-146.0,183.2,-8.0,263,2294,0.20,2.35,0.00,0.000,6,0.140,0.064,2517,2230,3347
$GC,2610,-0.75,-146.0,201.2,-5.7,279,2615,0.10,2.25,0.00,0.000,4,0.088,0.075,2463,3606,3347
$GC,2665,-0.67,-146.0,205.5,-8.0,281,2670,0.17,2.22,0.00,0.000,6,0.148,0.052,2512,2214,3347
$GC,2986,-0.78,-146.0,224.9,-6.0,297,2990,0.10,2.25,0.00,0.000,4,0.093,0.064,2469,816,3346
$GC,3075,-0.68,-146.0,232.2,-8.4,301,3080,0.17,2.33,0.00,0.000,6,0.140,0.063,2509,2232,3346
$GC,3402,-0.78,-146.0,253.0,-6.2,317,3404,0.10,0.00,0.00,0.000,6,0.090,0.000,2466,2232,3346
$GC,3711,-0.73,-146.0,276.2,-7.5,332,3713,0.12,0.00,0.00,0.000,6,0.150,0.000,2499,2232,3346
$GC,4022,-0.80,-146.0,294.7,-5.8,347,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2232,3346
$GC,4329,-0.89,-146.0,311.8,-5.3,362,4334,0.15,2.33,0.00,0.000,4,0.078,0.062,2437,824,3345
$GC,4414,-0.70,-146.0,318.1,-7.8,366,4419,0.28,2.33,0.00,0.000,6,0.138,0.062,2509,2237,3345
$GC,4742,-0.83,-146.0,331.9,-3.8,382,4744,0.12,0.00,0.00,0.000,6,0.078,0.000,2457,2237,3345
$GC,5050,-0.75,-146.0,348.3,-5.6,397,5052,0.15,0.00,0.00,0.000,6,0.143,0.000,2499,2237,3346
$GC,5359,-0.84,-146.0,361.3,-4.4,412,5363,0.10,2.35,0.00,0.000,4,0.089,0.061,2456,823,3347
$GC,5453,-0.71,-146.0,367.2,-6.6,416,5458,0.20,2.28,0.00,0.000,6,0.137,0.061,2503,2246,3347
$GC,5774,-0.83,-146.0,382.2,-4.8,432,5776,0.10,0.00,0.00,0.000,6,0.087,0.000,2460,2246,3347
$GC,6082,-0.77,-146.0,403.0,-7.0,446,6087,0.12,2.20,0.00,0.000,4,0.151,0.071,2486,3603,3347
$GC,6144,-0.84,-146.0,407.1,-6.4,447,6148,0.00,2.20,0.00,0.000,6,0.000,0.048,2486,2217,3347
$GC,6457,-0.89,-146.0,425.5,-5.7,455,6461,0.08,2.28,0.00,0.000,4,0.100,0.062,2448,812,3347
$GC,6592,-0.75,-146.0,435.0,-7.7,458,6597,0.20,2.35,0.00,0.000,6,0.137,0.059,2496,2245,3347
$GC,6916,-0.85,-146.0,450.7,-4.8,466,6918,0.10,0.00,0.00,0.000,6,0.085,0.000,2453,2244,3347
$GC,7241,-0.76,-146.0,470.3,-6.1,474,7245,0.15,2.22,0.00,0.000,4,0.146,0.071,2487,3594,3347
$GC,7302,-0.84,-146.0,473.7,-5.2,475,7305,0.00,2.20,0.00,0.000,6,0.000,0.048,2487,2216,3347
$GC,7615,-0.89,-146.0,489.2,-4.8,483,7619,0.10,2.25,0.00,0.000,4,0.090,0.061,2442,820,3348
$GC,7737,-0.74,-146.0,497.4,-6.7,485,7742,0.22,2.33,0.00,0.000,6,0.137,0.060,2500,2232,3348
$GC,8068,-0.86,-146.0,512.0,-4.3,493,8070,0.12,0.00,0.00,0.000,6,0.079,0.000,2448,2231,3348
$GC,8396,-0.77,-146.0,532.6,-6.5,501,8398,0.15,0.00,0.00,0.000,6,0.150,0.000,2489,2231,3348
$GC,8719,-0.84,-146.0,549.6,-5.2,509,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2231,3348
$GC,9043,-0.91,-146.0,565.3,-4.7,517,9045,0.12,0.00,0.00,0.000,6,0.084,0.000,2438,2231,3348
$GC,9368,-0.78,-146.0,586.9,-6.8,525,9373,0.17,2.35,0.00,0.000,4,0.153,0.061,2487,813,3348
$GC,9446,-0.78,-146.0,591.5,-6.0,526,9450,0.00,2.38,0.00,0.000,6,0.000,0.060,2479,2244,3348
$GC,9782,-0.78,-146.0,609.6,-5.4,535,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2244,3348
$GC,10107,-0.78,-146.0,627.8,-5.6,543,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2244,3348
$GC,10433,-0.78,-146.0,645.9,-5.6,551,10437,0.00,2.38,0.00,0.000,4,0.000,0.061,2480,814,3348
$GC,10499,-0.78,-146.0,649.8,-6.1,552,10503,0.00,2.35,0.00,0.000,6,0.000,0.060,2469,2235,3348
$GC,10841,-0.78,-146.0,669.5,-5.7,561,10845,0.00,2.25,0.00,0.000,4,0.000,0.071,2459,3604,3348
$GC,10897,-0.78,-146.0,673.0,-6.1,562,10901,0.12,2.22,0.00,0.000,6,0.150,0.048,2492,2211,3348
$GC,11215,-0.87,-146.0,688.5,-4.8,570,11219,0.10,2.25,0.00,0.000,4,0.090,0.062,2449,824,3348
$GC,11298,-0.75,-146.0,693.9,-7.3,571,11305,0.20,2.25,0.00,0.000,6,0.139,0.061,2496,2239,3348
$STATE,11586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11586,begin apogee
$GC,11592,-0.31,0.0,707.9,4.5,579,11719,0.30,0.00,123.68,1.314,6,0.126,0.000,2593,1743,2745
$STATE,11720,end apogee,CONTROL_FINISHED_OK
$STATE,11720,begin climb
$GC,11722,1.00,146.0,710.0,0.0,582,11854,0.90,0.00,127.78,1.235,6,0.098,0.000,2881,1743,2149
$GC,12157,0.72,146.0,666.0,10.8,593,12159,0.25,0.00,0.00,0.000,6,0.128,0.000,2809,1743,2142
$GC,12480,0.72,149.2,642.9,6.9,601,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1742,2140
$GC,12805,0.73,157.9,620.9,6.7,609,12817,0.00,0.00,9.88,1.118,6,0.000,0.000,2809,1743,2101
$GC,13130,0.74,163.3,598.8,6.8,617,13138,0.00,0.00,6.25,1.000,6,0.000,0.000,2809,1743,2079
$GC,13455,0.75,167.3,576.4,6.9,625,13462,0.00,0.00,4.95,0.910,6,0.000,0.000,2809,1743,2062
$GC,13780,0.76,176.2,554.2,6.7,633,13794,0.00,2.45,9.18,1.096,4,0.000,0.068,2809,3148,2026
$GC,13805,0.76,180.0,552.3,6.9,633,13815,0.00,2.35,4.72,0.862,6,0.000,0.053,2816,1728,2011
$GC,14147,0.76,180.0,528.2,7.1,642,14150,0.00,2.42,0.00,0.000,4,0.000,0.067,2816,3161,2010
$GC,14168,0.70,180.0,526.5,7.0,642,14172,0.00,2.35,0.00,0.000,6,0.000,0.053,2826,1734,2010
$GC,14516,0.70,180.0,500.2,7.5,651,14519,0.00,2.40,0.00,0.000,4,0.000,0.067,2826,3152,2010
$GC,14537,0.62,180.0,498.4,8.1,651,14542,0.17,2.35,0.00,0.000,6,0.132,0.053,2786,1731,2008
$GC,14885,0.83,230.3,479.5,5.4,660,14936,0.17,2.53,43.22,1.177,4,0.068,0.066,2860,3147,1805
$GC,14942,0.66,230.3,474.5,9.0,661,14947,0.25,2.40,0.00,0.000,6,0.133,0.052,2799,1738,1804
$GC,15290,0.80,243.3,450.9,6.6,670,15309,0.12,2.50,11.32,1.057,4,0.077,0.067,2853,3155,1752
$GC,15314,0.74,243.3,448.7,9.2,670,15319,0.17,2.40,0.00,0.000,6,0.133,0.053,2814,1726,1751
$GC,15650,0.80,243.3,421.8,7.9,679,15652,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1726,1747
$GC,15955,0.86,243.3,397.8,7.7,687,15960,0.12,2.42,0.00,0.000,4,0.075,0.066,2868,3161,1747
$GC,15971,0.86,243.3,396.2,8.3,688,15976,0.15,2.35,0.00,0.000,6,0.141,0.053,2836,1736,1745
$GC,16299,0.86,243.3,365.7,9.1,704,16303,0.00,2.35,0.00,0.000,4,0.000,0.067,2845,326,1745
$GC,16314,0.86,243.3,364.0,9.0,704,16321,0.00,2.30,0.00,0.000,6,0.000,0.053,2845,1740,1745
$GC,16630,0.79,243.3,334.1,9.6,720,16634,0.00,2.25,0.00,0.000,4,0.000,0.067,2845,3162,1746
$GC,16664,0.65,243.3,330.6,9.5,721,16669,0.20,2.33,0.00,0.000,6,0.130,0.054,2797,1727,1745
$GC,16980,0.89,277.4,310.5,5.9,736,17012,0.17,0.00,29.35,1.055,6,0.067,0.000,2871,1727,1614
$GC,17308,0.74,277.4,272.7,12.1,752,17310,0.20,0.00,0.00,0.000,6,0.123,0.000,2811,1727,1606
$GC,17618,0.88,277.4,250.4,7.2,767,17623,0.12,2.40,0.00,0.000,4,0.077,0.064,2865,3150,1605
$GC,17636,0.88,277.4,249.0,7.3,768,17640,0.12,2.30,0.00,0.000,6,0.140,0.052,2840,1738,1605
$GC,17961,0.88,277.4,219.3,8.8,784,17962,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1737,1605
$GC,18271,0.88,277.4,190.6,9.2,799,18274,0.00,2.33,0.00,0.000,4,0.000,0.067,2848,330,1605
$GC,18298,0.96,277.4,187.9,9.5,800,18302,0.00,2.25,0.00,0.000,6,0.000,0.053,2848,1751,1605
$GC,18623,0.96,277.4,157.1,9.4,816,18627,0.00,2.25,0.00,0.000,4,0.000,0.067,2849,3149,1604
$GC,18673,0.88,277.4,152.0,10.3,818,18677,0.00,2.28,0.00,0.000,6,0.000,0.053,2858,1732,1604
$GC,18999,0.88,277.4,121.6,9.0,834,19000,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1733,1604
$GC,19313,0.88,277.4,94.6,8.6,855,19319,0.00,2.30,0.00,0.000,4,0.000,0.068,2869,328,1604
$GC,19336,0.94,277.4,92.6,8.3,859,19343,0.00,2.30,0.00,0.000,6,0.000,0.054,2869,1740,1604
$GC,19680,0.94,277.4,64.0,7.3,920,19687,0.00,2.28,0.00,0.000,4,0.000,0.069,2869,3151,1604
$GC,19709,0.94,277.4,61.6,8.1,925,19715,0.00,2.28,0.00,0.000,6,0.000,0.054,2878,1730,1604
$GC,20054,1.01,277.4,33.7,8.0,986,20060,0.00,2.30,0.00,0.000,4,0.000,0.071,2887,324,1604
$GC,20089,1.09,277.4,31.1,7.7,992,20095,0.00,2.30,0.00,0.000,6,0.000,0.055,2887,1742,1604
$STATE,20407,end climb,SURFACE_DEPTH_REACHED
$STATE,20407,begin surface coast
$FINISH,1.7,1.026063
$STATE,20437,end surface coast,CONTROL_FINISHED_OK
$STATE,20437,begin surface
$SM_CCo,20513,0.00,0.000,0,0,1599,281.11
$SM_GC,2.39,6.88,0.00,0.00,0.059,0.000,0.000,336,2239,1599,-10.59,0.25,281.11
$RAFOS_CLK,843
$RAFOS,4,1223700276,4.750000,4.743333,60,59,58,57,53,51,217,650,189,169,121,112
$RAFOS,3,1223699667,4.583333,4.574167,67,66,59,55,54,50,172,219,207,190,136,119
$RAFOS,2,1223699049,4.416667,4.402500,71,65,60,58,51,50,209,588,198,134,164,181
$RAFOS,1,1223698481,4.250000,4.244722,76,67,57,56,55,50,201,640,152,214,115,173
$RAFOS,0,1223697871,4.083333,4.075278,57,53,53,51,49,48,862,190,149,166,211,133
$RAFOS_FIX,6740.825195,-5744.878906,111008,040412,2,74,10.46
$IRIDIUM_FIX,6625.71,-5754.44,040198,212153
$TT8_MAMPS,0.026078
$HUMID,1820
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,15.80
$XPDR_PINGS,39
$24V_AH,22.8,31.945
$10V_AH,10.6,14.706
$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,23.600,140.600,370.325,0.000,0.000,25.104,33.352,130.971,9.750,0.000,0.000,10.248,2004.354,15939.467,515.938,1963.841,410.475,33.357,1568.404,0.000,1947.144,1800.000,0.532,0.000
$DEVICE_MAMPS,250.042,75.933,1313.871,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34681,1054
$CAP_FILE_SIZE,150462,0
$CFSIZE,260165632,240586752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,111008,073852,6654.304,-5704.284,39,5.5,58,-37.4