version: 66.03
glider: 119
mission: 5
dive: 8
start: 9 16 108 6 35 30
data:
$ID,119
$MISSION,5
$DIVE,8
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-209867.39
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$PRESSURE_SLOPE,0.0001159777
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,063007,4659.620,-12504.104,36,1.1,36,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.6
$GPS2,063439,4659.601,-12504.101,13,1.2,13,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.246,-0.094
$KALMAN_X,4238.3,-17.7,314.5,-12222.2,3039.3
$KALMAN_Y,231.7,842.2,-197.8,1090.7,1863.3
$MHEAD_RNG_PITCHd_Wd,230.8,222173,-18.1,-10.000
$D_GRID,990
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.00,-146.6,0.0,0.0,0,95,0.00,0.00,-72.05,0.000,2,0.000,0.000,862,2181,2966
$GC,97,-1.00,-146.6,4.6,-7.1,7,120,11.90,0.00,-8.43,0.000,6,0.153,0.000,2577,2182,3438
$GC,448,-0.85,-146.6,75.1,-15.4,58,455,0.17,2.42,0.00,0.000,4,0.100,0.084,2608,3612,3438
$GC,529,-0.85,-146.6,85.9,-12.5,68,533,0.00,2.33,0.00,0.000,6,0.000,0.067,2608,2202,3438
$GC,854,-0.85,-146.6,122.9,-10.7,98,858,0.00,2.40,0.00,0.000,4,0.000,0.093,2608,793,3438
$GC,905,-0.92,-146.6,128.8,-11.5,102,909,0.00,2.35,0.00,0.000,6,0.000,0.071,2608,2212,3439
$GC,1237,-0.92,-146.6,162.9,-10.1,127,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2212,3439
$GC,1545,-0.92,-146.6,195.6,-10.5,142,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2212,3439
$GC,1857,-0.92,-146.6,226.7,-9.9,157,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2212,3439
$GC,2164,-0.97,-146.6,256.4,-9.6,172,2169,0.00,2.45,0.00,0.000,4,0.000,0.096,2608,792,3439
$GC,2237,-1.04,-146.6,263.3,-9.5,175,2242,0.20,2.33,0.00,0.000,6,0.058,0.074,2569,2201,3439
$GC,2553,-0.94,-146.6,301.1,-12.5,190,2558,0.15,2.40,0.00,0.000,4,0.102,0.094,2593,3606,3438
$GC,2591,-0.94,-146.6,305.6,-10.5,190,2596,0.00,2.38,0.00,0.000,6,0.000,0.077,2593,2199,3439
$GC,2918,-0.94,-146.6,340.2,-10.7,196,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2199,3438
$GC,3220,-0.94,-146.6,371.3,-10.2,201,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2198,3438
$GC,3524,-0.94,-146.6,401.4,-10.0,206,3529,0.00,2.42,0.00,0.000,4,0.000,0.099,2593,787,3438
$GC,3574,-0.99,-146.6,406.9,-10.3,206,3578,0.00,2.35,0.00,0.000,6,0.000,0.075,2593,2203,3438
$GC,3888,-0.99,-146.6,440.0,-10.7,212,3893,0.00,2.42,0.00,0.000,4,0.000,0.101,2593,3606,3437
$GC,3904,-0.99,-146.6,441.8,-10.6,212,3908,0.00,2.35,0.00,0.000,6,0.000,0.078,2593,2200,3437
$GC,4253,-0.99,-146.6,477.3,-10.2,218,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2199,3437
$GC,4556,-0.99,-146.6,507.7,-10.1,223,4560,0.00,2.45,0.00,0.000,4,0.000,0.104,2593,793,3436
$GC,4618,-1.05,-146.6,514.2,-10.9,224,4621,0.00,2.35,0.00,0.000,6,0.000,0.080,2593,2200,3437
$GC,4989,-1.05,-146.6,551.5,-9.8,230,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2200,3435
$GC,5292,-1.05,-146.6,580.2,-9.4,235,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2199,3435
$GC,5594,-1.05,-146.6,612.6,-10.9,240,5598,0.00,2.53,0.00,0.000,4,0.000,0.114,2593,795,3435
$GC,5643,-1.11,-146.6,618.3,-12.0,240,5648,0.20,2.38,0.00,0.000,6,0.061,0.087,2554,2199,3435
$GC,5952,-0.99,-146.6,658.4,-13.0,245,5957,0.15,2.55,0.00,0.000,4,0.106,0.116,2581,797,3434
$GC,5973,-0.93,-146.6,661.1,-12.6,245,5977,0.00,2.40,0.00,0.000,6,0.000,0.092,2581,2202,3434
$GC,6316,-0.93,-146.6,695.9,-10.1,251,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2202,3434
$GC,6619,-0.93,-146.6,723.3,-8.9,256,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2207,3434
$GC,6923,-0.93,-146.6,750.8,-9.1,261,6928,0.00,2.50,0.00,0.000,4,0.000,0.107,2581,794,3434
$GC,6962,-0.93,-146.6,754.5,-9.7,261,6966,0.00,2.38,0.00,0.000,6,0.000,0.082,2581,2202,3433
$GC,7288,-0.93,-146.6,784.2,-9.0,267,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2202,3433
$GC,7591,-0.93,-146.6,811.5,-9.1,272,7595,0.00,2.53,0.00,0.000,4,0.000,0.108,2581,787,3433
$GC,7623,-0.93,-146.6,814.7,-9.6,272,7627,0.00,2.40,0.00,0.000,6,0.000,0.083,2581,2204,3433
$GC,7955,-0.93,-146.6,847.0,-9.9,278,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2205,3432
$GC,8259,-0.93,-146.6,877.2,-9.9,283,8263,0.00,2.55,0.00,0.000,4,0.000,0.110,2581,787,3432
$GC,8290,-0.93,-146.6,880.5,-10.1,283,8295,0.00,2.40,0.00,0.000,6,0.000,0.084,2581,2199,3432
$GC,8623,-0.93,-146.6,912.1,-9.7,289,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2199,3432
$GC,8926,-0.93,-146.6,939.6,-9.0,294,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2199,3431
$STATE,9047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9047,begin apogee
$GC,9053,-0.23,0.0,950.6,9.0,296,9183,1.00,0.00,126.75,1.436,6,0.089,0.000,2748,2408,2837
$STATE,9183,end apogee,CONTROL_FINISHED_OK
$STATE,9183,begin climb
$GC,9185,1.00,146.6,953.5,0.0,298,9326,1.58,2.85,131.77,1.391,4,0.052,0.136,3015,3753,2239
$GC,9349,0.70,146.6,942.5,14.4,300,9355,0.40,2.50,0.00,0.000,6,0.106,0.091,2958,2405,2239
$GC,9669,0.70,146.6,908.8,10.3,306,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2405,2238
$GC,9973,0.66,146.6,878.2,10.2,311,9977,0.00,2.55,0.00,0.000,4,0.000,0.112,2958,991,2238
$GC,10016,0.60,146.6,873.5,10.1,311,10021,0.17,2.45,0.00,0.000,6,0.112,0.091,2933,2398,2238
$GC,10331,0.69,165.2,845.0,9.2,317,10355,0.00,2.60,17.17,1.302,4,0.000,0.110,2933,990,2163
$GC,10396,0.73,165.2,838.7,10.4,318,10401,0.12,2.47,0.00,0.000,6,0.074,0.090,2957,2404,2163
$GC,10760,0.73,165.2,800.6,10.4,324,10764,0.00,2.58,0.00,0.000,4,0.000,0.110,2957,983,2162
$GC,10792,0.73,165.2,797.2,10.6,324,10796,0.00,2.45,0.00,0.000,6,0.000,0.090,2957,2401,2162
$GC,11124,0.75,180.4,765.7,9.3,330,11143,0.00,2.55,14.32,1.263,4,0.000,0.111,2958,990,2100
$GC,11210,0.75,180.4,757.2,10.1,331,11214,0.00,2.45,0.00,0.000,6,0.000,0.090,2957,2404,2101
$GC,11559,0.76,190.2,723.9,9.6,337,11574,0.00,2.55,9.85,1.187,4,0.000,0.110,2958,988,2061
$GC,11629,0.76,190.2,716.9,10.2,338,11633,0.00,2.47,0.00,0.000,6,0.000,0.089,2958,2400,2060
$GC,11989,0.76,190.2,679.3,10.7,344,11993,0.00,2.55,0.00,0.000,4,0.000,0.110,2960,982,2061
$GC,12066,0.76,190.2,670.1,11.6,345,12070,0.00,2.42,0.00,0.000,6,0.000,0.089,2959,2399,2061
$GC,12420,0.81,190.2,630.1,11.1,351,12425,0.00,2.53,0.00,0.000,4,0.000,0.108,2960,986,2061
$GC,12469,0.81,190.2,624.6,10.8,351,12474,0.00,2.42,0.00,0.000,6,0.000,0.089,2960,2403,2061
$GC,12785,0.82,198.7,594.1,9.6,357,12799,0.00,2.53,8.93,1.111,4,0.000,0.108,2960,983,2026
$GC,12878,0.82,198.7,584.4,10.8,358,12882,0.00,2.42,0.00,0.000,6,0.000,0.090,2960,2399,2025
$GC,13221,0.86,198.7,549.6,10.1,364,13226,0.12,2.53,0.00,0.000,4,0.074,0.106,2985,984,2026
$GC,13351,0.80,198.7,533.9,11.2,366,13356,0.00,2.42,0.00,0.000,6,0.000,0.090,2985,2399,2026
$GC,13716,0.80,198.7,489.4,12.1,372,13720,0.00,2.50,0.00,0.000,4,0.000,0.105,2985,990,2026
$GC,13765,0.73,198.7,483.3,11.4,372,13770,0.15,2.40,0.00,0.000,6,0.110,0.089,2963,2398,2025
$GC,14074,0.78,198.7,451.6,10.2,377,14079,0.00,2.50,0.00,0.000,4,0.000,0.104,2963,985,2026
$GC,14118,0.78,198.7,447.1,10.4,377,14122,0.00,2.42,0.00,0.000,6,0.000,0.087,2963,2410,2026
$GC,14439,0.84,209.7,416.5,9.5,383,14455,0.00,2.50,10.48,1.042,4,0.000,0.103,2964,989,1981
$GC,14488,0.87,227.9,412.1,9.2,383,14509,0.12,2.40,15.90,1.068,6,0.074,0.087,2988,2405,1907
$GC,14863,0.87,227.9,371.6,10.9,390,14867,0.00,2.53,0.00,0.000,4,0.000,0.102,2988,983,1907
$GC,14951,0.87,227.9,360.9,12.1,391,14955,0.00,2.42,0.00,0.000,6,0.000,0.087,2988,2399,1907
$GC,15294,0.87,227.9,320.7,11.6,397,15298,0.00,2.50,0.00,0.000,4,0.000,0.100,2988,981,1907
$GC,15320,0.87,227.9,317.7,10.9,397,15324,0.00,2.42,0.00,0.000,6,0.000,0.085,2988,2404,1907
$GC,15640,0.87,227.9,279.7,12.4,406,15644,0.00,2.50,0.00,0.000,4,0.000,0.100,2988,984,1907
$GC,15666,0.87,227.9,276.3,12.3,407,15670,0.00,2.40,0.00,0.000,6,0.000,0.084,2988,2400,1907
$GC,15988,0.87,227.9,237.5,11.5,423,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2400,1907
$GC,16297,0.87,227.9,201.0,11.9,438,16301,0.00,2.47,0.00,0.000,4,0.000,0.100,2988,989,1907
$GC,16374,0.87,227.9,191.5,12.2,441,16381,0.00,2.42,0.00,0.000,6,0.000,0.085,2988,2400,1907
$GC,16690,0.87,227.9,152.8,11.9,457,16693,0.00,2.47,0.00,0.000,4,0.000,0.097,2988,982,1908
$GC,16735,0.87,227.9,147.7,11.8,459,16739,0.00,2.40,0.00,0.000,6,0.000,0.084,2988,2403,1907
$GC,17061,0.91,229.5,114.8,9.9,489,17065,0.00,2.47,0.00,0.000,4,0.000,0.096,2988,983,1908
$GC,17122,0.91,229.5,108.2,10.8,494,17126,0.00,2.40,0.00,0.000,6,0.000,0.084,2988,2400,1908
$GC,17449,1.02,270.5,79.1,8.1,525,17489,0.15,2.50,33.95,0.881,4,0.069,0.095,3021,983,1734
$GC,17575,1.02,270.5,65.1,11.0,547,17581,0.00,2.40,0.00,0.000,6,0.000,0.081,3021,2400,1733
$GC,17919,1.10,292.5,29.1,9.0,599,17943,0.00,2.50,18.88,0.832,4,0.000,0.094,3022,987,1644
$GC,17974,1.23,324.8,24.1,8.5,604,18008,0.25,2.42,25.95,0.811,6,0.059,0.081,3067,2407,1512
$STATE,18207,end climb,SURFACE_DEPTH_REACHED
$STATE,18208,begin surface coast
$FINISH,0.1,1.023830
$STATE,18218,end surface coast,CONTROL_FINISHED_OK
$STATE,18218,begin surface
$SM_CCo,18239,35.42,0.782,0,0,1205,400.08
$SM_GC,1.26,0.00,0.00,35.42,0.000,0.000,0.782,862,2184,1205,-8.91,-0.45,400.08
$IRIDIUM_FIX,4641.78,-12508.05,111297,030341
$TT8_MAMPS,0.027612
$HUMID,2123
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,950.6,6.2
$24V_AH,22.6,35.395
$10V_AH,10.6,22.634
$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
$DEVICE_SECS,29.125,163.025,413.950,35.425,0.000,31.405,41.347,108.983,16.000,0.000,0.000,15.256,1315.999,14537.572,560.310,1764.397,375.355,33.340,1471.656,0.000,1717.203,0.000,57.875
$DEVICE_MAMPS,152.633,135.759,1435.824,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.356,504.374,699.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31647,627
$CAP_FILE_SIZE,131637,0
$CFSIZE,260165632,258732032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,160908,114108,4700.655,-12507.680,25,1.3,25,18.4