version: 66.04
glider: 108
mission: 11
dive: 296
start: 11 10 108 19 35 15
data:
$ID,108
$MISSION,11
$DIVE,296
$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,225
$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,-116331.02
$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,21
$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
$GPS1,192808,6652.078,-5746.694,35,0.9,35,-37.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-65.6
$GPS2,193421,6652.042,-5746.601,10,1.0,10,-37.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.232,-0.025
$KALMAN_X,69028.4,435.9,626.5,-77400.0,866.1
$KALMAN_Y,-182904.8,-736.1,-1239.9,181012.4,1312.8
$MHEAD_RNG_PITCHd_Wd,301.6,26992,-13.0,-7.021
$D_GRID,723
$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,15,-1.00,-146.0,0.0,0.0,0,63,0.00,0.00,-45.15,0.000,2,0.000,0.000,337,2232,2465
$GC,66,-1.00,-146.0,3.0,-1.2,8,120,8.57,2.38,-39.20,0.000,4,0.244,0.093,2431,3610,3342
$GC,305,-0.71,-146.0,27.3,-11.4,50,312,0.25,2.25,0.00,0.000,6,0.150,0.051,2504,2216,3346
$GC,649,-0.71,-146.0,58.2,-9.6,111,656,0.00,2.25,0.00,0.000,4,0.000,0.063,2504,817,3346
$GC,740,-0.71,-146.0,66.9,-9.4,127,746,0.00,2.38,0.00,0.000,6,0.000,0.066,2496,2237,3346
$GC,1084,-0.71,-146.0,93.8,-7.2,188,1090,0.00,2.28,0.00,0.000,4,0.000,0.081,2486,3608,3347
$GC,1175,-0.66,-146.0,100.5,-7.2,204,1180,0.12,2.20,0.00,0.000,6,0.151,0.052,2518,2219,3347
$GC,1508,-0.75,-146.0,119.5,-5.7,220,1510,0.10,0.00,0.00,0.000,6,0.094,0.000,2477,2219,3347
$GC,1816,-0.69,-146.0,146.1,-9.0,235,1818,0.12,0.00,0.00,0.000,6,0.150,0.000,2510,2219,3347
$GC,2127,-0.78,-146.0,168.2,-6.5,250,2131,0.10,2.25,0.00,0.000,4,0.093,0.065,2469,819,3346
$GC,2199,-0.68,-146.0,174.0,-8.2,253,2204,0.17,2.38,0.00,0.000,6,0.143,0.068,2509,2233,3346
$GC,2515,-0.78,-146.0,193.7,-6.3,268,2520,0.10,2.28,0.00,0.000,4,0.090,0.081,2457,3606,3345
$GC,2600,-0.71,-146.0,201.0,-8.5,272,2604,0.17,2.17,0.00,0.000,6,0.150,0.053,2505,2230,3345
$GC,2928,-0.80,-146.0,221.7,-6.0,288,2934,0.00,2.25,0.00,0.000,4,0.000,0.065,2505,810,3345
$GC,3007,-0.86,-146.0,227.2,-6.8,291,3012,0.10,2.38,0.00,0.000,6,0.087,0.067,2454,2245,3345
$GC,3323,-0.77,-146.0,251.6,-7.8,306,3325,0.15,0.00,0.00,0.000,6,0.146,0.000,2495,2244,3345
$GC,3632,-0.85,-146.0,272.5,-7.3,321,3637,0.10,2.22,0.00,0.000,4,0.096,0.080,2442,3600,3345
$GC,3710,-0.74,-146.0,280.3,-10.3,324,3717,0.20,2.17,0.00,0.000,6,0.149,0.052,2497,2213,3345
$GC,4026,-0.84,-146.0,304.4,-7.2,340,4030,0.10,2.22,0.00,0.000,4,0.094,0.063,2454,823,3346
$GC,4093,-0.72,-146.0,309.9,-8.3,343,4098,0.20,2.33,0.00,0.000,6,0.140,0.066,2500,2243,3345
$GC,4420,-0.83,-146.0,324.1,-3.2,359,4422,0.10,0.00,0.00,0.000,6,0.091,0.000,2457,2243,3346
$GC,4729,-0.78,-146.0,338.1,-5.1,374,4731,0.12,0.00,0.00,0.000,6,0.150,0.000,2490,2242,3346
$GC,5039,-0.86,-146.0,355.1,-6.3,389,5043,0.00,2.22,0.00,0.000,4,0.000,0.079,2482,3600,3346
$GC,5084,-0.94,-146.0,358.2,-7.3,391,5089,0.12,2.17,0.00,0.000,6,0.083,0.051,2428,2219,3346
$GC,5417,-0.78,-146.0,386.7,-8.2,407,5421,0.20,2.25,0.00,0.000,4,0.145,0.061,2500,812,3347
$GC,5506,-0.86,-146.0,392.8,-6.3,411,5511,0.08,2.35,0.00,0.000,6,0.095,0.064,2454,2234,3346
$GC,5824,-0.80,-146.0,414.4,-6.8,422,5829,0.12,2.25,0.00,0.000,4,0.143,0.077,2479,3600,3347
$GC,5869,-0.87,-146.0,417.3,-6.0,423,5873,0.00,2.17,0.00,0.000,6,0.000,0.049,2479,2213,3347
$GC,6193,-0.87,-146.0,437.7,-6.4,431,6198,0.00,2.20,0.00,0.000,4,0.000,0.062,2479,817,3347
$GC,6284,-0.87,-146.0,444.1,-7.6,433,6288,0.00,2.35,0.00,0.000,6,0.000,0.064,2469,2244,3348
$GC,6608,-0.87,-146.0,464.8,-6.3,441,6612,0.00,2.22,0.00,0.000,4,0.000,0.077,2459,3605,3348
$GC,6685,-0.87,-146.0,470.1,-6.8,442,6689,0.00,2.17,0.00,0.000,6,0.000,0.049,2458,2212,3348
$GC,7022,-0.87,-146.0,491.5,-6.3,451,7026,0.00,2.20,0.00,0.000,4,0.000,0.061,2459,822,3348
$GC,7101,-0.80,-146.0,496.4,-6.7,452,7106,0.15,2.33,0.00,0.000,6,0.137,0.064,2489,2242,3348
$GC,7432,-0.89,-146.0,512.3,-4.8,460,7437,0.10,2.22,0.00,0.000,4,0.087,0.076,2435,3605,3348
$GC,7493,-0.79,-146.0,516.5,-7.5,461,7498,0.17,2.17,0.00,0.000,6,0.150,0.049,2482,2210,3348
$GC,7836,-0.86,-146.0,534.7,-5.2,470,7840,0.00,2.20,0.00,0.000,4,0.000,0.061,2483,818,3348
$GC,7920,-0.86,-146.0,539.5,-5.7,471,7926,0.00,2.35,0.00,0.000,6,0.000,0.074,2474,2242,3349
$GC,8251,-0.86,-146.0,557.6,-5.5,480,8255,0.00,2.22,0.00,0.000,4,0.000,0.077,2464,3603,3348
$GC,8297,-0.86,-146.0,560.3,-6.3,481,8301,0.00,2.15,0.00,0.000,6,0.000,0.048,2464,2218,3349
$GC,8627,-0.86,-146.0,579.5,-6.0,489,8631,0.00,2.20,0.00,0.000,4,0.000,0.061,2464,825,3349
$GC,8711,-0.81,-146.0,585.1,-6.5,490,8718,0.10,2.33,0.00,0.000,6,0.143,0.064,2481,2244,3348
$GC,9043,-0.88,-146.0,604.8,-5.9,499,9047,0.00,2.22,0.00,0.000,4,0.000,0.077,2471,3602,3349
$GC,9099,-0.94,-146.0,608.6,-6.6,500,9102,0.00,2.15,0.00,0.000,6,0.000,0.048,2472,2219,3348
$GC,9418,-0.94,-146.0,627.6,-5.8,508,9421,0.00,2.20,0.00,0.000,4,0.000,0.061,2472,825,3349
$GC,9513,-0.94,-146.0,633.9,-6.8,510,9516,0.00,2.30,0.00,0.000,6,0.000,0.064,2462,2233,3348
$GC,9837,-0.94,-146.0,654.5,-6.5,518,9841,0.00,2.22,0.00,0.000,4,0.000,0.077,2451,3595,3348
$GC,9904,-0.94,-146.0,659.5,-7.4,519,9908,0.00,2.12,0.00,0.000,6,0.000,0.048,2452,2216,3348
$GC,10251,-0.94,-146.0,683.3,-6.7,528,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2216,3348
$GC,10576,-0.94,-146.0,704.4,-6.6,536,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2216,3348
$STATE,10858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10858,begin apogee
$GC,10865,-0.31,0.0,724.5,7.1,543,10996,0.45,0.00,128.23,1.312,6,0.130,0.000,2590,1732,2745
$STATE,10997,end apogee,CONTROL_FINISHED_OK
$STATE,10997,begin climb
$GC,11000,1.00,146.0,727.0,0.0,546,11148,0.93,2.70,134.95,1.220,4,0.099,0.067,2879,3143,2148
$GC,11193,0.66,146.0,710.4,12.2,551,11198,0.35,2.45,0.00,0.000,6,0.133,0.049,2795,1741,2144
$GC,11512,0.82,198.3,692.2,5.3,559,11564,0.15,2.53,46.45,1.221,4,0.071,0.067,2858,3152,1934
$GC,11587,0.61,198.3,685.7,9.8,560,11594,0.30,2.42,0.00,0.000,6,0.131,0.050,2786,1726,1932
$GC,11919,0.87,252.5,667.6,5.3,569,11973,0.20,2.53,48.85,1.222,4,0.063,0.067,2869,3156,1714
$GC,11985,0.69,252.5,661.4,10.8,570,11990,0.28,2.40,0.00,0.000,6,0.130,0.049,2803,1730,1711
$GC,12316,0.89,282.5,640.4,6.1,578,12356,0.17,0.00,29.08,1.134,6,0.067,0.000,2877,1730,1592
$GC,12681,0.74,282.5,597.5,12.2,587,12686,0.20,2.40,0.00,0.000,4,0.127,0.069,2814,3162,1585
$GC,12708,0.74,282.5,594.6,9.7,587,12712,0.00,2.30,0.00,0.000,6,0.000,0.051,2820,1725,1584
$GC,13045,0.83,282.5,568.5,7.7,596,13049,0.00,2.38,0.00,0.000,4,0.000,0.069,2821,3159,1583
$GC,13084,0.83,282.5,565.1,9.3,596,13090,0.00,2.28,0.00,0.000,6,0.000,0.051,2830,1725,1582
$GC,13415,0.88,282.5,536.9,8.6,605,13419,0.00,2.35,0.00,0.000,4,0.000,0.069,2830,3152,1582
$GC,13443,0.88,282.5,534.1,9.8,605,13447,0.00,2.25,0.00,0.000,6,0.000,0.051,2840,1728,1581
$GC,13785,0.88,282.5,500.5,10.0,614,13789,0.00,2.33,0.00,0.000,4,0.000,0.069,2840,3160,1581
$GC,13801,0.88,282.5,498.6,10.3,614,13805,0.00,2.25,0.00,0.000,6,0.000,0.051,2850,1728,1581
$GC,14114,0.88,282.5,465.5,10.5,622,14118,0.00,2.35,0.00,0.000,4,0.000,0.069,2850,3164,1581
$GC,14136,0.81,282.5,463.2,10.1,622,14141,0.12,2.25,0.00,0.000,6,0.140,0.052,2825,1736,1580
$GC,14479,0.90,282.5,436.8,7.3,631,14481,0.10,0.00,0.00,0.000,6,0.083,0.000,2871,1736,1580
$GC,14803,0.79,282.5,401.4,11.3,639,14808,0.15,2.33,0.00,0.000,4,0.128,0.070,2827,3156,1580
$GC,14819,0.72,282.5,399.6,11.2,639,14823,0.00,2.25,0.00,0.000,6,0.000,0.052,2835,1725,1579
$GC,15152,0.77,282.5,370.7,8.8,655,15156,0.00,2.35,0.00,0.000,4,0.000,0.069,2835,3163,1579
$GC,15174,0.77,282.5,368.4,9.6,656,15178,0.00,2.25,0.00,0.000,6,0.000,0.051,2844,1731,1579
$GC,15507,0.77,282.5,337.9,9.1,672,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1731,1579
$GC,15815,0.77,282.5,310.4,8.7,687,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1730,1579
$GC,16124,0.77,282.5,282.8,9.1,702,16129,0.00,2.33,0.00,0.000,4,0.000,0.069,2844,3153,1579
$GC,16157,0.77,282.5,279.6,10.1,703,16162,0.12,2.22,0.00,0.000,6,0.133,0.051,2818,1734,1579
$GC,16480,1.00,292.7,258.0,6.7,719,16490,0.17,0.00,8.43,0.918,6,0.068,0.000,2895,1734,1551
$GC,16788,0.86,292.7,217.3,13.8,734,16790,0.20,0.00,0.00,0.000,6,0.127,0.000,2835,1734,1549
$GC,17097,1.03,292.7,190.4,7.9,749,17102,0.15,2.28,0.00,0.000,4,0.071,0.066,2909,328,1548
$GC,17115,1.13,292.7,188.8,8.2,750,17119,0.00,2.30,0.00,0.000,6,0.000,0.056,2910,1751,1548
$GC,17448,0.98,292.7,148.2,11.7,766,17453,0.15,2.28,0.00,0.000,4,0.140,0.072,2866,3149,1548
$GC,17470,0.88,292.7,145.8,10.6,767,17475,0.10,2.22,0.00,0.000,6,0.140,0.052,2845,1738,1549
$GC,17794,1.11,327.0,125.7,5.9,783,17836,0.17,0.00,33.85,0.905,6,0.071,0.000,2922,1738,1411
$GC,18147,0.99,327.0,90.5,9.4,812,18153,0.17,0.00,0.00,0.000,6,0.131,0.000,2870,1738,1405
$GC,18491,1.18,327.0,65.7,8.4,873,18497,0.15,0.00,0.00,0.000,6,0.074,0.000,2936,1738,1402
$GC,18834,1.08,327.0,29.7,10.7,934,18841,0.17,2.35,0.00,0.000,4,0.131,0.073,2883,3150,1401
$GC,18859,1.02,327.0,27.2,10.4,938,18865,0.00,2.25,0.00,0.000,6,0.000,0.055,2889,1737,1400
$STATE,19195,end climb,SURFACE_DEPTH_REACHED
$STATE,19195,begin surface coast
$FINISH,1.7,1.003872
$STATE,19243,end surface coast,CONTROL_FINISHED_OK
$STATE,19243,begin surface
$SM_CCo,19321,0.00,0.000,0,0,1397,330.42
$SM_GC,2.56,6.97,0.00,0.00,0.058,0.000,0.000,335,2230,1397,-10.58,0.00,330.42
$RAFOS_CLK,809
$RAFOS,4,1226364243,0.750000,0.734167,107,67,67,64,57,56,742,212,201,165,174,232
$RAFOS,3,1226363646,0.583333,0.568333,59,59,58,57,55,55,215,807,162,198,175,152
$RAFOS,2,1226363057,0.416667,0.404722,89,58,56,54,51,50,504,178,196,213,155,144
$RAFOS,1,1226362459,0.250000,0.238611,99,61,58,57,56,56,628,208,170,115,140,196
$RAFOS,0,1226361843,0.083333,0.067500,73,63,60,56,50,47,879,165,208,151,229,174
$RAFOS,4,1226349843,20.750000,20.734167,89,57,56,55,54,52,749,214,146,205,137,119
$RAFOS,3,1226349241,20.583334,20.566944,115,64,56,54,52,50,843,221,151,186,166,204
$RAFOS,2,1226348648,20.416666,20.402222,109,60,58,55,53,52,550,154,122,216,191,178
$RAFOS,1,1226348041,20.250000,20.233612,63,59,57,56,52,51,214,174,203,112,153,133
$RAFOS,0,1226347446,20.083334,20.068333,53,52,52,51,50,48,119,129,198,158,167,183
$RAFOS_FIX,6653.300293,-5755.362793,111108,000000,4,92,0.39
$IRIDIUM_FIX,6625.71,-5757.35,040298,131310
$TT8_MAMPS,0.026078
$HUMID,1794
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,15.20
$XPDR_PINGS,57
$24V_AH,22.2,52.126
$10V_AH,10.5,23.803
$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,23.800,161.450,429.825,0.000,0.000,25.339,32.182,191.325,14.250,0.000,0.000,12.337,1919.433,14651.104,598.868,2006.381,535.081,33.383,1680.498,0.000,1973.106,3600.000,0.531,0.000
$DEVICE_MAMPS,243.906,92.807,1312.337,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34682,1006
$CAP_FILE_SIZE,154800,0
$CFSIZE,260165632,231821312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1452.5
$GPS,111108,005902,6651.271,-5750.581,37,1.0,37,-37.6