version: 66.03
glider: 119
mission: 5
dive: 9
start: 9 16 108 11 46 46
data:
$ID,119
$MISSION,5
$DIVE,9
$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,-209901.16
$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,25
$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
$GPS1,114108,4700.655,-12507.680,25,1.3,25,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.7
$GPS2,114556,4700.650,-12507.680,14,1.3,31,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,-0.043
$KALMAN_X,4665.9,179.8,-209.8,-16835.6,1469.1
$KALMAN_Y,3311.0,1350.7,204.8,-958.1,836.2
$MHEAD_RNG_PITCHd_Wd,242.2,217654,-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,19,begin dive
$GC,21,-1.00,-146.6,0.0,0.0,0,84,0.00,0.00,-60.90,0.000,2,0.000,0.000,861,2184,2620
$GC,87,-1.00,-146.6,3.1,-5.1,6,123,11.85,2.50,-18.08,0.000,4,0.150,0.103,2574,3606,3436
$GC,221,-0.73,-146.6,32.9,-19.4,18,226,0.38,2.33,0.00,0.000,6,0.092,0.067,2634,2205,3436
$GC,561,-0.73,-146.6,74.0,-11.1,74,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2205,3438
$GC,890,-0.83,-146.6,105.0,-8.9,110,894,0.00,2.40,0.00,0.000,4,0.000,0.091,2634,789,3438
$GC,940,-0.97,-146.6,109.5,-8.3,114,947,0.25,2.35,0.00,0.000,6,0.053,0.074,2585,2210,3438
$GC,1266,-0.90,-146.6,150.9,-12.6,145,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2211,3438
$GC,1574,-0.85,-146.6,187.5,-11.7,160,1576,0.15,0.00,0.00,0.000,6,0.099,0.000,2611,2211,3438
$GC,1884,-0.90,-146.6,216.0,-9.1,175,1888,0.00,2.42,0.00,0.000,4,0.000,0.091,2611,792,3438
$GC,1939,-0.98,-146.6,221.4,-9.3,177,1946,0.12,2.33,0.00,0.000,6,0.071,0.074,2585,2205,3438
$GC,2255,-0.94,-146.6,257.2,-11.6,193,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2205,3438
$GC,2563,-0.94,-146.6,293.5,-11.7,208,2567,0.00,2.40,0.00,0.000,4,0.000,0.098,2585,3606,3438
$GC,2579,-0.89,-146.6,295.5,-11.8,208,2586,0.00,2.35,0.00,0.000,6,0.000,0.077,2585,2188,3438
$GC,2929,-0.89,-146.6,334.8,-11.2,216,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2188,3438
$GC,3232,-0.89,-146.6,369.7,-11.5,221,3237,0.00,2.40,0.00,0.000,4,0.000,0.096,2585,785,3437
$GC,3282,-0.89,-146.6,375.0,-10.0,221,3290,0.00,2.35,0.00,0.000,6,0.000,0.077,2585,2199,3437
$GC,3599,-0.89,-146.6,407.7,-10.3,227,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2199,3437
$GC,3902,-0.89,-146.6,442.2,-11.5,232,3907,0.10,2.45,0.00,0.000,4,0.113,0.097,2601,789,3437
$GC,3934,-0.96,-146.6,445.9,-10.6,232,3939,0.00,2.35,0.00,0.000,6,0.000,0.078,2601,2198,3437
$GC,4261,-1.00,-146.6,478.6,-9.9,238,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2198,3436
$GC,4564,-1.06,-146.6,506.0,-8.8,243,4569,0.15,2.47,0.00,0.000,4,0.067,0.100,2568,785,3436
$GC,4584,-1.06,-146.6,508.4,-10.1,243,4589,0.00,2.40,0.00,0.000,6,0.000,0.079,2568,2218,3436
$GC,4928,-0.99,-146.6,546.6,-11.3,249,4932,0.00,2.50,0.00,0.000,4,0.000,0.104,2568,795,3435
$GC,4976,-0.99,-146.6,552.3,-11.0,249,4981,0.00,2.38,0.00,0.000,6,0.000,0.081,2568,2203,3435
$GC,5292,-0.92,-146.6,586.1,-10.6,255,5294,0.17,0.00,0.00,0.000,6,0.103,0.000,2596,2204,3434
$GC,5597,-0.96,-146.6,613.5,-9.0,260,5601,0.00,2.53,0.00,0.000,4,0.000,0.110,2596,791,3434
$GC,5635,-1.04,-146.6,617.3,-9.3,260,5639,0.00,2.40,0.00,0.000,6,0.000,0.087,2596,2203,3434
$GC,5957,-1.09,-146.6,648.1,-9.7,266,5962,0.17,2.55,0.00,0.000,4,0.067,0.112,2561,788,3434
$GC,5990,-1.03,-146.6,652.0,-11.6,266,5994,0.00,2.42,0.00,0.000,6,0.000,0.091,2561,2205,3434
$GC,6321,-0.95,-146.6,690.1,-11.4,272,6323,0.17,0.00,0.00,0.000,6,0.103,0.000,2589,2205,3433
$GC,6626,-0.95,-146.6,716.7,-8.7,277,6630,0.00,2.53,0.00,0.000,4,0.000,0.107,2589,787,3433
$GC,6660,-1.00,-146.6,719.9,-9.2,277,6664,0.00,2.40,0.00,0.000,6,0.000,0.083,2589,2207,3433
$GC,6985,-1.00,-146.6,748.8,-9.0,283,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,3432
$GC,7289,-1.00,-146.6,776.2,-9.0,288,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2207,3432
$GC,7592,-1.00,-146.6,800.8,-8.0,293,7596,0.00,2.50,0.00,0.000,4,0.000,0.107,2589,795,3431
$GC,7624,-1.06,-146.6,803.4,-8.3,293,7629,0.00,2.38,0.00,0.000,6,0.000,0.084,2589,2199,3431
$GC,7952,-1.10,-146.6,829.0,-7.8,299,7953,0.15,0.00,0.00,0.000,6,0.073,0.000,2561,2199,3431
$GC,8254,-1.03,-146.6,858.1,-9.6,304,8258,0.00,2.50,0.00,0.000,4,0.000,0.108,2561,797,3431
$GC,8281,-0.97,-146.6,861.0,-9.6,304,8286,0.15,2.38,0.00,0.000,6,0.106,0.085,2584,2203,3431
$GC,8612,-0.97,-146.6,888.7,-8.4,310,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2203,3430
$GC,8916,-0.97,-146.6,914.8,-8.6,315,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2203,3430
$GC,9218,-0.97,-146.6,942.0,-9.2,320,9222,0.00,2.53,0.00,0.000,4,0.000,0.114,2584,798,3430
$GC,9239,-1.01,-146.6,943.9,-9.6,320,9243,0.00,2.40,0.00,0.000,6,0.000,0.087,2584,2202,3430
$GC,9575,-1.01,-146.6,973.2,-8.6,326,9580,0.00,2.55,0.00,0.000,4,0.000,0.113,2584,789,3429
$GC,9598,-1.06,-146.6,975.1,-8.8,326,9602,0.00,2.42,0.00,0.000,6,0.000,0.087,2584,2203,3429
$STATE,9811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9811,begin apogee
$GC,9816,-0.23,0.0,993.5,8.6,330,9947,0.98,0.00,127.30,1.463,6,0.088,0.000,2747,2406,2837
$STATE,9948,end apogee,CONTROL_FINISHED_OK
$STATE,9948,begin climb
$GC,9950,1.00,146.6,997.4,0.0,332,10093,1.60,2.92,133.73,1.416,4,0.052,0.150,3016,3761,2238
$GC,10183,0.71,146.6,977.1,15.3,335,10188,0.40,2.50,0.00,0.000,6,0.108,0.096,2958,2407,2238
$GC,10497,0.66,146.6,942.3,10.9,341,10502,0.00,2.60,0.00,0.000,4,0.000,0.113,2960,988,2238
$GC,10553,0.58,146.6,935.9,11.9,341,10559,0.20,2.47,0.00,0.000,6,0.109,0.090,2930,2400,2237
$GC,10862,0.65,161.9,906.9,9.3,347,10878,0.00,0.00,14.18,1.306,6,0.000,0.000,2930,2400,2177
$GC,11165,0.74,183.0,879.5,9.0,352,11191,0.15,2.60,19.95,1.339,4,0.071,0.111,2962,990,2089
$GC,11241,0.68,183.0,870.5,12.6,353,11245,0.00,2.47,0.00,0.000,6,0.000,0.090,2962,2399,2089
$GC,11589,0.68,183.0,827.5,12.3,359,11593,0.00,2.55,0.00,0.000,4,0.000,0.110,2963,990,2088
$GC,11639,0.64,183.0,821.4,12.4,359,11644,0.15,2.42,0.00,0.000,6,0.111,0.089,2940,2400,2088
$GC,11948,0.70,183.0,788.1,10.6,364,11952,0.00,2.55,0.00,0.000,4,0.000,0.110,2941,985,2088
$GC,12003,0.70,183.0,782.0,10.9,364,12010,0.00,2.42,0.00,0.000,6,0.000,0.089,2941,2400,2088
$GC,12313,0.77,183.0,748.7,10.8,370,12318,0.15,2.53,0.00,0.000,4,0.073,0.107,2973,991,2088
$GC,12375,0.69,183.0,740.9,12.9,371,12380,0.15,2.42,0.00,0.000,6,0.114,0.091,2952,2400,2088
$GC,12739,0.69,183.0,701.6,10.6,377,12743,0.00,2.53,0.00,0.000,4,0.000,0.108,2952,988,2088
$GC,12782,0.69,183.0,696.8,10.9,377,12786,0.00,2.42,0.00,0.000,6,0.000,0.089,2952,2403,2087
$GC,13102,0.69,183.0,664.0,10.2,383,13107,0.00,2.53,0.00,0.000,4,0.000,0.108,2953,990,2087
$GC,13157,0.69,183.0,657.9,11.0,383,13164,0.00,2.42,0.00,0.000,6,0.000,0.090,2953,2405,2087
$GC,13467,0.69,183.0,625.9,10.4,389,13471,0.00,2.53,0.00,0.000,4,0.000,0.107,2953,987,2087
$GC,13504,0.69,183.0,621.8,10.3,389,13509,0.00,2.42,0.00,0.000,6,0.000,0.089,2953,2406,2088
$GC,13831,0.69,183.0,588.0,10.4,395,13835,0.00,2.53,0.00,0.000,4,0.000,0.105,2953,981,2087
$GC,13879,0.69,183.0,582.6,10.6,395,13884,0.00,2.42,0.00,0.000,6,0.000,0.088,2953,2403,2087
$GC,14194,0.69,183.0,550.1,10.3,401,14198,0.00,2.50,0.00,0.000,4,0.000,0.104,2953,989,2087
$GC,14249,0.69,183.0,544.1,10.7,401,14255,0.00,2.40,0.00,0.000,6,0.000,0.088,2952,2400,2088
$GC,14559,0.73,183.0,511.2,10.7,407,14563,0.00,2.50,0.00,0.000,4,0.000,0.104,2953,986,2087
$GC,14591,0.73,183.0,507.5,10.8,407,14595,0.00,2.42,0.00,0.000,6,0.000,0.087,2953,2407,2087
$GC,14923,0.77,183.0,471.3,10.9,413,14927,0.00,2.50,0.00,0.000,4,0.000,0.102,2953,988,2087
$GC,14984,0.77,183.0,464.3,10.7,414,14988,0.00,2.42,0.00,0.000,6,0.000,0.089,2953,2403,2087
$GC,15348,0.82,183.0,424.3,10.9,420,15353,0.12,2.50,0.00,0.000,4,0.075,0.100,2978,986,2087
$GC,15410,0.75,183.0,417.2,12.3,421,15414,0.00,2.42,0.00,0.000,6,0.000,0.088,2978,2403,2088
$GC,15774,0.75,183.0,376.2,11.1,427,15775,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2403,2087
$GC,16077,0.75,183.0,343.9,10.6,432,16081,0.00,2.47,0.00,0.000,4,0.000,0.099,2978,988,2088
$GC,16160,0.69,183.0,334.7,10.8,433,16165,0.17,2.40,0.00,0.000,6,0.106,0.085,2952,2405,2088
$GC,16503,0.76,199.5,302.8,9.3,439,16522,0.00,2.45,14.50,1.004,4,0.000,0.098,2952,986,2023
$GC,16584,0.81,199.5,295.0,10.9,440,16591,0.12,2.38,0.00,0.000,6,0.073,0.084,2976,2402,2023
$GC,16899,0.81,199.5,261.6,10.4,456,16903,0.00,2.47,0.00,0.000,4,0.000,0.097,2977,987,2023
$GC,16944,0.81,199.5,256.6,10.1,458,16948,0.00,2.40,0.00,0.000,6,0.000,0.081,2976,2399,2023
$GC,17264,0.81,199.5,222.9,10.5,474,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2400,2023
$GC,17574,0.81,199.5,191.2,10.6,489,17578,0.00,2.45,0.00,0.000,4,0.000,0.094,2977,988,2023
$GC,17628,0.81,199.5,185.1,12.6,491,17635,0.00,2.40,0.00,0.000,6,0.000,0.081,2977,2398,2023
$GC,17944,0.81,199.5,152.0,10.3,507,17948,0.00,2.45,0.00,0.000,4,0.000,0.093,2977,984,2023
$GC,17971,0.83,215.8,149.1,9.3,508,17994,0.00,2.38,14.38,0.907,6,0.000,0.078,2977,2400,1956
$GC,18312,0.88,215.8,112.6,11.2,540,18313,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2400,1956
$GC,18632,0.97,234.5,80.2,9.1,570,18656,0.15,2.45,16.02,0.866,4,0.067,0.091,3011,983,1880
$GC,18674,0.92,234.5,75.9,10.5,576,18680,0.00,2.38,0.00,0.000,6,0.000,0.077,3011,2400,1880
$GC,19018,0.93,246.4,42.2,9.5,637,19035,0.00,2.45,11.07,0.818,4,0.000,0.091,3011,985,1831
$GC,19079,0.93,246.4,35.8,11.7,644,19086,0.00,2.40,0.00,0.000,6,0.000,0.077,3011,2396,1831
$GC,19408,1.13,356.4,13.5,5.0,675,19500,0.15,0.00,84.75,0.801,6,0.067,0.000,3043,2396,1384
$STATE,19540,end climb,SURFACE_DEPTH_REACHED
$STATE,19540,begin surface coast
$FINISH,-0.0,1.002131
$STATE,19552,end surface coast,CONTROL_FINISHED_OK
$STATE,19552,begin surface
$SM_CCo,19573,20.33,0.759,0,0,1205,400.08
$SM_GC,0.61,0.00,0.00,20.33,0.000,0.000,0.759,861,2184,1205,-8.92,-0.45,400.08
$IRIDIUM_FIX,4638.64,-12638.96,111297,060635
$TT8_MAMPS,0.027612
$HUMID,2148
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,17.10
$XPDR_PINGS,42
$24V_AH,22.5,35.566
$10V_AH,10.6,22.721
$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,30.675,177.450,435.875,20.325,0.000,25.579,25.410,121.789,19.250,0.000,0.000,33.134,1425.955,15617.522,607.664,1851.616,380.093,33.348,1561.420,0.000,1789.602,0.000,56.632
$DEVICE_MAMPS,150.332,149.565,1463.436,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.747,553.756,772.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34827,689
$CAP_FILE_SIZE,144411,0
$CFSIZE,260165632,258654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,160908,171459,4701.803,-12511.111,42,2.8,61,18.4