version: 66.04
glider: 108
mission: 11
dive: 177
start: 10 13 108 7 57 25
data:
$ID,108
$MISSION,11
$DIVE,177
$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,-114200.09
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,074856,6702.797,-5702.953,36,1.5,36,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-68.8
$GPS2,075632,6702.822,-5702.820,10,1.1,15,-37.6
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.215,-0.090
$KALMAN_X,14516.1,394.4,135.3,9499.0,-769.1
$KALMAN_Y,-25440.5,563.7,-684.4,41630.0,243.6
$MHEAD_RNG_PITCHd_Wd,285.0,24354,-13.0,-7.021
$D_GRID,688
$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,-51.88,0.000,2,0.000,0.000,332,2236,2788
$GC,72,-1.00,-146.0,3.3,-1.9,9,108,8.60,2.28,-19.15,0.000,4,0.253,0.085,2427,3595,3343
$GC,339,-0.66,-146.0,39.3,-14.6,56,346,0.30,2.22,0.00,0.000,6,0.142,0.049,2517,2209,3347
$GC,683,-0.66,-146.0,65.7,-6.3,117,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2209,3348
$GC,1026,-0.71,-146.0,88.2,-7.4,178,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2209,3349
$GC,1361,-0.77,-146.0,112.3,-7.3,216,1362,0.12,0.00,0.00,0.000,6,0.083,0.000,2462,2209,3349
$GC,1668,-0.65,-146.0,138.8,-8.3,231,1673,0.20,2.28,0.00,0.000,4,0.139,0.062,2528,812,3348
$GC,1758,-0.73,-146.0,144.3,-6.1,235,1762,0.00,2.35,0.00,0.000,6,0.000,0.061,2520,2232,3348
$GC,2079,-0.84,-146.0,163.4,-6.2,251,2080,0.15,0.00,0.00,0.000,6,0.072,0.000,2454,2232,3348
$GC,2387,-0.71,-146.0,190.6,-8.7,266,2389,0.17,0.00,0.00,0.000,6,0.146,0.000,2504,2232,3347
$GC,2698,-0.78,-146.0,210.8,-6.1,281,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2232,3347
$GC,3006,-0.86,-146.0,228.6,-5.4,296,3011,0.12,2.30,0.00,0.000,4,0.083,0.074,2440,3601,3347
$GC,3068,-0.71,-146.0,233.1,-7.7,299,3073,0.22,2.20,0.00,0.000,6,0.144,0.051,2506,2226,3347
$GC,3396,-0.80,-146.0,248.9,-4.3,315,3400,0.10,2.28,0.00,0.000,4,0.091,0.062,2460,812,3346
$GC,3468,-0.68,-146.0,253.7,-6.9,318,3473,0.20,2.35,0.00,0.000,6,0.135,0.061,2509,2233,3346
$GC,3789,-0.79,-146.0,268.5,-4.9,334,3791,0.10,0.00,0.00,0.000,6,0.087,0.000,2464,2233,3346
$GC,4098,-0.74,-146.0,289.0,-6.9,349,4103,0.12,2.25,0.00,0.000,4,0.148,0.073,2490,3608,3346
$GC,4154,-0.81,-146.0,292.5,-6.2,351,4160,0.00,2.20,0.00,0.000,6,0.000,0.048,2490,2214,3346
$GC,4470,-0.81,-146.0,311.2,-6.1,367,4474,0.00,2.22,0.00,0.000,4,0.000,0.060,2490,817,3346
$GC,4532,-0.81,-146.0,315.5,-6.9,369,4538,0.00,2.35,0.00,0.000,6,0.000,0.059,2480,2243,3347
$GC,4848,-0.81,-146.0,335.0,-6.2,385,4852,0.00,2.20,0.00,0.000,4,0.000,0.072,2469,3605,3346
$GC,4909,-0.81,-146.0,339.4,-7.5,387,4916,0.00,2.20,0.00,0.000,6,0.000,0.048,2469,2228,3346
$GC,5227,-0.81,-146.0,359.4,-6.3,403,5230,0.00,2.22,0.00,0.000,4,0.000,0.061,2469,823,3347
$GC,5305,-0.73,-146.0,364.8,-6.7,406,5309,0.15,2.25,0.00,0.000,6,0.136,0.059,2502,2241,3348
$GC,5625,-0.83,-146.0,381.7,-5.4,422,5627,0.10,0.00,0.00,0.000,6,0.086,0.000,2458,2240,3348
$GC,5934,-0.76,-146.0,402.8,-6.8,436,5936,0.12,0.00,0.00,0.000,6,0.147,0.000,2491,2240,3348
$GC,6259,-0.83,-146.0,420.9,-5.5,444,6263,0.00,2.30,0.00,0.000,4,0.000,0.061,2491,812,3348
$GC,6315,-0.83,-146.0,424.2,-5.9,445,6318,0.00,2.28,0.00,0.000,6,0.000,0.058,2484,2242,3348
$GC,6633,-0.83,-146.0,442.8,-5.9,453,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2241,3348
$GC,6958,-0.83,-146.0,460.9,-5.4,461,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2241,3349
$GC,7283,-0.83,-146.0,476.8,-5.0,469,7286,0.00,2.33,0.00,0.000,4,0.000,0.058,2484,820,3349
$GC,7350,-0.83,-146.0,480.6,-5.7,470,7354,0.00,2.28,0.00,0.000,6,0.000,0.057,2474,2244,3349
$GC,7697,-0.83,-146.0,500.0,-5.5,479,7701,0.00,2.22,0.00,0.000,4,0.000,0.070,2463,3602,3350
$GC,7769,-0.83,-146.0,504.1,-6.3,480,7773,0.00,2.17,0.00,0.000,6,0.000,0.046,2463,2222,3350
$GC,8111,-0.83,-146.0,524.5,-6.0,489,8115,0.00,2.25,0.00,0.000,4,0.000,0.059,2463,825,3350
$GC,8178,-0.75,-146.0,528.9,-6.6,490,8183,0.15,2.33,0.00,0.000,6,0.133,0.058,2495,2236,3350
$GC,8526,-0.84,-146.0,547.1,-5.3,499,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2236,3351
$GC,8851,-0.94,-146.0,564.1,-5.2,507,8856,0.15,2.35,0.00,0.000,4,0.075,0.058,2432,818,3351
$GC,8895,-0.74,-146.0,567.2,-8.0,508,8900,0.25,2.38,0.00,0.000,6,0.137,0.058,2496,2243,3351
$GC,9220,-0.85,-146.0,582.8,-4.6,516,9221,0.10,0.00,0.00,0.000,6,0.085,0.000,2453,2243,3350
$GC,9545,-0.77,-146.0,601.4,-5.7,524,9547,0.15,0.00,0.00,0.000,6,0.143,0.000,2495,2244,3351
$GC,9869,-0.87,-146.0,615.7,-4.4,532,9871,0.10,0.00,0.00,0.000,6,0.088,0.000,2451,2243,3350
$GC,10194,-0.79,-146.0,635.9,-6.4,540,10199,0.12,2.38,0.00,0.000,4,0.148,0.060,2486,816,3350
$GC,10261,-0.79,-146.0,639.7,-5.4,541,10265,0.00,2.38,0.00,0.000,6,0.000,0.058,2478,2242,3350
$GC,10608,-0.79,-146.0,658.1,-5.2,550,10612,0.00,2.20,0.00,0.000,4,0.000,0.072,2467,3594,3350
$GC,10658,-0.79,-146.0,661.0,-5.7,551,10662,0.00,2.17,0.00,0.000,6,0.000,0.047,2467,2221,3350
$GC,10983,-0.79,-146.0,679.1,-5.5,559,10987,0.00,2.25,0.00,0.000,4,0.000,0.061,2467,826,3350
$GC,11055,-0.73,-146.0,683.5,-5.8,560,11059,0.15,2.33,0.00,0.000,6,0.132,0.059,2500,2241,3350
$STATE,11144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11145,begin apogee
$GC,11151,-0.31,0.0,688.0,4.9,563,11277,0.28,0.00,123.60,1.281,6,0.122,0.000,2589,1733,2745
$STATE,11278,end apogee,CONTROL_FINISHED_OK
$STATE,11278,begin climb
$GC,11280,1.00,146.0,689.5,0.0,566,11414,0.88,2.62,126.72,1.207,4,0.098,0.063,2874,3147,2148
$GC,11426,0.72,146.0,677.0,10.7,569,11432,0.28,2.53,0.00,0.000,6,0.133,0.049,2812,1741,2145
$GC,11763,0.72,146.0,650.9,7.4,578,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1741,2142
$GC,12087,0.72,146.0,627.3,7.4,586,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1741,2140
$GC,12412,0.72,146.0,603.2,7.4,594,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1741,2140
$GC,12737,0.72,146.0,578.8,7.5,602,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1741,2139
$GC,13062,0.72,146.0,554.4,7.6,610,13066,0.00,2.40,0.00,0.000,4,0.000,0.065,2812,3149,2139
$GC,13077,0.72,146.0,553.2,7.6,610,13081,0.00,2.38,0.00,0.000,6,0.000,0.051,2819,1728,2139
$GC,13390,0.72,146.0,528.3,8.1,618,13394,0.00,2.40,0.00,0.000,4,0.000,0.065,2819,3156,2139
$GC,13411,0.64,146.0,526.5,7.8,618,13416,0.12,2.30,0.00,0.000,6,0.138,0.051,2794,1742,2138
$GC,13759,0.74,151.7,502.9,6.8,627,13766,0.10,0.00,4.47,0.828,6,0.085,0.000,2842,1742,2126
$GC,14084,0.64,151.7,473.2,9.2,635,14086,0.17,0.00,0.00,0.000,6,0.122,0.000,2790,1742,2125
$GC,14409,0.78,172.8,452.3,6.3,643,14434,0.12,2.42,18.77,1.116,4,0.077,0.067,2846,3156,2040
$GC,14456,0.60,172.8,447.9,10.1,644,14461,0.25,2.35,0.00,0.000,6,0.132,0.051,2783,1728,2038
$GC,14780,0.82,214.0,428.3,5.7,652,14822,0.17,0.00,35.65,1.114,6,0.065,0.000,2858,1728,1872
$GC,15126,0.70,214.0,393.0,10.3,662,15131,0.17,2.35,0.00,0.000,4,0.121,0.065,2815,333,1864
$GC,15153,0.75,214.0,390.5,8.5,663,15157,0.00,2.28,0.00,0.000,6,0.000,0.052,2815,1742,1864
$GC,15474,0.80,214.0,366.5,7.5,679,15478,0.00,2.28,0.00,0.000,4,0.000,0.066,2815,3161,1863
$GC,15519,0.80,214.0,362.6,9.1,681,15523,0.00,2.33,0.00,0.000,6,0.000,0.051,2825,1728,1862
$GC,15844,0.80,214.0,335.1,8.7,697,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1728,1862
$GC,16155,0.80,214.0,308.6,8.5,712,16159,0.00,2.30,0.00,0.000,4,0.000,0.067,2835,327,1862
$GC,16170,0.80,214.0,306.9,8.7,712,16177,0.00,2.30,0.00,0.000,6,0.000,0.052,2835,1742,1861
$GC,16486,0.80,214.0,277.7,9.4,728,16490,0.00,2.25,0.00,0.000,4,0.000,0.065,2835,3151,1862
$GC,16524,0.68,214.0,273.9,9.6,729,16531,0.15,2.25,0.00,0.000,6,0.131,0.051,2802,1733,1860
$GC,16840,0.85,231.8,252.6,6.5,745,16862,0.15,2.33,14.05,0.961,4,0.070,0.065,2878,326,1800
$GC,16873,0.75,231.8,249.6,9.4,746,16877,0.22,2.30,0.00,0.000,6,0.122,0.052,2810,1754,1800
$GC,17194,0.90,243.6,228.2,6.6,762,17211,0.15,2.33,11.27,0.917,4,0.068,0.064,2876,3161,1751
$GC,17238,0.68,243.6,223.6,10.4,763,17243,0.30,2.33,0.00,0.000,6,0.130,0.051,2795,1729,1748
$GC,17559,0.96,243.6,201.5,7.1,779,17561,0.22,0.00,0.00,0.000,6,0.077,0.000,2877,1729,1746
$GC,17868,1.09,243.6,171.6,9.4,794,17872,0.00,2.33,0.00,0.000,4,0.000,0.066,2883,322,1746
$GC,17924,1.01,243.6,166.4,8.9,796,17927,0.00,2.30,0.00,0.000,6,0.000,0.052,2883,1756,1746
$GC,18244,0.90,243.6,134.1,9.7,812,18248,0.12,2.22,0.00,0.000,4,0.137,0.064,2847,3159,1746
$GC,18294,0.84,243.6,129.6,8.2,814,18298,0.00,2.28,0.00,0.000,6,0.000,0.051,2855,1732,1746
$GC,18621,0.84,243.6,102.5,8.4,830,18624,0.00,2.30,0.00,0.000,4,0.000,0.067,2865,324,1746
$GC,18659,0.91,243.6,98.9,9.0,831,18666,0.00,2.28,0.00,0.000,6,0.000,0.052,2865,1745,1746
$GC,19003,0.91,243.6,68.3,8.5,892,19010,0.00,2.25,0.00,0.000,4,0.000,0.067,2865,3159,1746
$GC,19038,0.91,243.6,64.9,9.3,898,19044,0.00,2.28,0.00,0.000,6,0.000,0.054,2873,1731,1746
$GC,19381,1.02,287.0,39.6,5.6,959,19422,0.00,0.00,36.58,0.898,6,0.000,0.000,2873,1731,1575
$GC,19760,1.14,291.2,17.2,6.9,1026,19766,0.10,0.00,0.00,0.000,6,0.086,0.000,2918,1731,1566
$STATE,19910,end climb,SURFACE_DEPTH_REACHED
$STATE,19910,begin surface coast
$FINISH,1.8,1.026054
$STATE,19940,end surface coast,CONTROL_FINISHED_OK
$STATE,19940,begin surface
$SM_CCo,20017,0.00,0.000,0,0,1560,290.44
$SM_GC,2.63,6.97,0.00,0.00,0.054,0.000,0.000,336,2233,1560,-10.57,0.08,290.44
$RAFOS_CLK,799
$RAFOS,4,1223901843,12.750000,12.734167,106,64,61,60,54,51,784,212,187,158,174,55
$RAFOS,3,1223901255,12.583333,12.570833,75,66,64,61,59,59,898,889,229,210,149,178
$RAFOS,2,1223900652,12.416667,12.403334,107,70,59,55,54,53,552,197,142,216,127,118
$RAFOS,1,1223900055,12.250000,12.237500,107,61,55,54,54,53,767,125,153,196,170,212
$RAFOS,0,1223899463,12.083333,12.073055,67,64,64,59,59,56,218,197,890,162,139,209
$RAFOS,4,1223887442,8.750000,8.733889,63,51,51,50,50,50,219,141,810,193,120,85
$RAFOS,3,1223886844,8.583333,8.567778,64,61,59,54,53,52,214,202,187,119,163,145
$RAFOS,2,1223886249,8.416667,8.402500,83,59,54,52,50,49,595,209,167,184,154,220
$RAFOS,1,1223885646,8.250000,8.235000,106,57,56,53,51,51,841,187,160,171,211,220
$RAFOS,0,1223885045,8.083333,8.068055,67,64,62,54,52,52,1016,169,226,193,124,210
$RAFOS_FIX,6703.892090,-5714.645996,131008,121228,4,99,0.53
$IRIDIUM_FIX,6631.12,-5658.34,070198,080821
$TT8_MAMPS,0.026078
$HUMID,1805
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,16.20
$XPDR_PINGS,54
$24V_AH,22.9,33.454
$10V_AH,10.6,15.398
$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,22.925,139.625,371.125,0.000,0.000,49.677,68.862,161.822,13.500,0.000,0.000,16.550,1983.683,15507.257,512.046,1983.138,508.616,33.353,1576.178,0.000,1955.855,3600.000,0.532,0.000
$DEVICE_MAMPS,253.110,85.137,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34724,1058
$CAP_FILE_SIZE,153203,0
$CFSIZE,260165632,239915008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$GPS,131008,133238,6702.953,-5710.529,28,0.9,28,-37.6