version: 66.03
glider: 119
mission: 5
dive: 10
start: 9 16 108 17 20 29
data:
$ID,119
$MISSION,5
$DIVE,10
$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,-209917.72
$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,26
$R_STBD_OVSHOOT,16
$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
$GPS1,171459,4701.803,-12511.111,42,2.8,61,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.0
$GPS2,171938,4701.808,-12511.096,9,1.2,14,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.245,-0.098
$KALMAN_X,5770.9,-325.8,-33.9,-21933.0,1564.1
$KALMAN_Y,7681.7,217.5,142.5,-1987.8,1888.6
$MHEAD_RNG_PITCHd_Wd,229.8,213362,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.00,-146.6,0.0,0.0,0,94,0.00,0.00,-70.70,0.000,2,0.000,0.000,861,2184,2889
$GC,97,-1.00,-146.6,3.9,-5.5,7,130,11.90,2.50,-10.55,0.000,4,0.150,0.094,2574,3608,3437
$GC,244,-0.77,-146.6,41.4,-17.5,20,251,0.32,2.30,0.00,0.000,6,0.095,0.063,2626,2201,3437
$GC,592,-0.77,-146.6,83.9,-10.4,79,596,0.00,2.40,0.00,0.000,4,0.000,0.089,2626,793,3438
$GC,632,-0.84,-146.6,88.0,-10.0,82,636,0.00,2.35,0.00,0.000,6,0.000,0.069,2626,2210,3438
$GC,958,-0.91,-146.6,119.7,-9.6,112,963,0.12,2.42,0.00,0.000,4,0.067,0.087,2599,795,3438
$GC,979,-0.91,-146.6,122.0,-9.9,113,986,0.00,2.35,0.00,0.000,6,0.000,0.071,2599,2196,3438
$GC,1314,-0.91,-146.6,159.3,-10.9,141,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2196,3438
$GC,1622,-0.91,-146.6,193.0,-11.0,156,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2196,3438
$GC,1931,-0.91,-146.6,228.8,-11.8,171,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2196,3439
$GC,2240,-0.91,-146.6,262.3,-10.6,186,2244,0.00,2.40,0.00,0.000,4,0.000,0.092,2599,795,3438
$GC,2326,-0.91,-146.6,271.3,-10.3,190,2330,0.00,2.33,0.00,0.000,6,0.000,0.074,2599,2199,3438
$GC,2671,-0.91,-146.6,306.9,-9.9,205,2675,0.00,2.42,0.00,0.000,4,0.000,0.091,2599,784,3438
$GC,2716,-0.96,-146.6,311.4,-9.6,205,2720,0.00,2.35,0.00,0.000,6,0.000,0.074,2599,2203,3438
$GC,3030,-0.96,-146.6,341.4,-9.5,211,3034,0.00,2.42,0.00,0.000,4,0.000,0.093,2599,795,3438
$GC,3074,-1.02,-146.6,345.7,-9.6,211,3078,0.00,2.33,0.00,0.000,6,0.000,0.075,2599,2201,3438
$GC,3389,-1.02,-146.6,376.5,-10.0,217,3393,0.00,2.42,0.00,0.000,4,0.000,0.094,2599,794,3437
$GC,3451,-1.08,-146.6,382.8,-10.1,218,3456,0.20,2.35,0.00,0.000,6,0.061,0.077,2561,2207,3437
$GC,3817,-0.96,-146.6,428.4,-12.7,224,3822,0.15,2.45,0.00,0.000,4,0.105,0.094,2588,795,3437
$GC,3838,-0.90,-146.6,431.1,-11.7,224,3842,0.00,2.35,0.00,0.000,6,0.000,0.077,2588,2207,3436
$GC,4180,-0.90,-146.6,467.1,-10.5,230,4185,0.00,2.45,0.00,0.000,4,0.000,0.097,2588,796,3436
$GC,4207,-0.90,-146.6,470.3,-12.0,230,4211,0.00,2.38,0.00,0.000,6,0.000,0.077,2588,2199,3436
$GC,4545,-0.90,-146.6,507.7,-11.0,236,4549,0.00,2.45,0.00,0.000,4,0.000,0.099,2588,795,3436
$GC,4600,-0.90,-146.6,513.6,-9.9,236,4606,0.00,2.38,0.00,0.000,6,0.000,0.080,2588,2207,3435
$GC,4909,-0.90,-146.6,545.5,-10.4,242,4913,0.00,2.47,0.00,0.000,4,0.000,0.101,2588,797,3435
$GC,4929,-0.90,-146.6,547.9,-11.3,242,4933,0.00,2.40,0.00,0.000,6,0.000,0.081,2588,2219,3435
$GC,5274,-0.90,-146.6,582.5,-9.8,248,5278,0.00,2.53,0.00,0.000,4,0.000,0.103,2587,790,3435
$GC,5337,-0.94,-146.6,588.6,-9.0,249,5341,0.00,2.40,0.00,0.000,6,0.000,0.084,2588,2200,3435
$GC,5702,-0.94,-146.6,623.9,-9.6,255,5706,0.00,2.50,0.00,0.000,4,0.000,0.107,2588,798,3434
$GC,5734,-0.94,-146.6,627.2,-10.2,255,5738,0.00,2.38,0.00,0.000,6,0.000,0.087,2588,2199,3434
$GC,6066,-0.94,-146.6,656.7,-8.8,261,6070,0.00,2.53,0.00,0.000,4,0.000,0.112,2588,797,3433
$GC,6098,-0.94,-146.6,659.7,-9.3,261,6102,0.00,2.40,0.00,0.000,6,0.000,0.091,2588,2199,3433
$GC,6430,-0.94,-146.6,691.3,-9.7,267,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,3433
$GC,6734,-0.94,-146.6,720.9,-9.8,272,6739,0.00,2.47,0.00,0.000,4,0.000,0.104,2588,797,3433
$GC,6784,-0.99,-146.6,726.0,-9.7,272,6789,0.00,2.38,0.00,0.000,6,0.000,0.083,2588,2209,3433
$GC,7094,-0.99,-146.6,755.9,-9.7,277,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2209,3432
$GC,7396,-0.99,-146.6,782.9,-8.8,282,7401,0.00,2.53,0.00,0.000,4,0.000,0.105,2588,790,3432
$GC,7429,-1.04,-146.6,785.8,-8.8,282,7434,0.00,2.40,0.00,0.000,6,0.000,0.083,2588,2203,3432
$GC,7755,-1.04,-146.6,810.4,-7.5,288,7759,0.00,2.50,0.00,0.000,4,0.000,0.107,2587,798,3431
$GC,7794,-1.10,-146.6,813.5,-8.2,288,7799,0.15,2.40,0.00,0.000,6,0.068,0.084,2559,2208,3431
$GC,8114,-1.01,-146.6,844.3,-9.7,294,8116,0.12,0.00,0.00,0.000,6,0.114,0.000,2578,2208,3431
$GC,8418,-1.01,-146.6,871.3,-8.8,299,8423,0.00,2.53,0.00,0.000,4,0.000,0.107,2578,793,3430
$GC,8468,-1.01,-146.6,875.9,-8.3,299,8472,0.00,2.40,0.00,0.000,6,0.000,0.085,2578,2200,3430
$GC,8784,-1.01,-146.6,900.8,-7.9,305,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2201,3430
$GC,9090,-1.01,-146.6,925.5,-8.3,310,9094,0.00,2.53,0.00,0.000,4,0.000,0.109,2578,794,3430
$GC,9156,-1.01,-146.6,931.7,-8.7,311,9160,0.00,2.40,0.00,0.000,6,0.000,0.087,2578,2205,3429
$GC,9521,-1.01,-146.6,962.1,-8.3,317,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2205,3429
$GC,9826,-1.01,-146.6,989.3,-9.1,322,9830,0.00,2.55,0.00,0.000,4,0.000,0.112,2578,794,3429
$STATE,9833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9833,begin apogee
$GC,9841,-0.23,0.0,990.4,9.1,322,9972,0.98,0.00,127.40,1.461,6,0.090,0.000,2741,2395,2837
$STATE,9973,end apogee,CONTROL_FINISHED_OK
$STATE,9973,begin climb
$GC,9975,1.00,146.6,994.0,0.0,324,10119,1.62,2.95,134.12,1.414,4,0.054,0.147,3015,3765,2239
$GC,10236,0.70,146.6,969.3,15.4,328,10242,0.40,2.50,0.00,0.000,6,0.107,0.095,2957,2407,2239
$GC,10591,0.66,146.6,931.9,10.3,334,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2407,2238
$GC,10894,0.61,146.6,899.9,10.6,339,10899,0.15,2.55,0.00,0.000,4,0.112,0.110,2932,991,2237
$GC,10971,0.61,146.6,892.0,10.7,340,10975,0.00,2.45,0.00,0.000,6,0.000,0.090,2932,2404,2237
$GC,11326,0.68,158.3,858.2,9.5,346,11342,0.00,2.58,11.20,1.269,4,0.000,0.109,2932,982,2191
$GC,11425,0.68,161.7,848.1,9.8,347,11435,0.00,2.45,4.75,0.974,6,0.000,0.090,2932,2399,2177
$GC,11757,0.77,173.8,816.5,9.4,353,11777,0.15,2.60,11.85,1.267,4,0.070,0.110,2964,990,2128
$GC,11838,0.70,173.8,807.2,12.0,354,11842,0.00,2.45,0.00,0.000,6,0.000,0.090,2964,2402,2128
$GC,12192,0.70,173.8,765.9,11.7,360,12196,0.00,2.55,0.00,0.000,4,0.000,0.108,2964,984,2128
$GC,12246,0.64,173.8,759.0,13.2,360,12253,0.15,2.45,0.00,0.000,6,0.110,0.091,2943,2402,2128
$GC,12556,0.69,173.8,725.8,10.7,366,12560,0.00,2.53,0.00,0.000,4,0.000,0.107,2943,990,2127
$GC,12617,0.69,173.8,719.2,10.1,367,12621,0.00,2.45,0.00,0.000,6,0.000,0.091,2943,2406,2127
$GC,12982,0.74,173.8,680.3,10.7,373,12986,0.00,2.53,0.00,0.000,4,0.000,0.106,2943,989,2127
$GC,13043,0.74,173.8,673.6,11.2,374,13047,0.00,2.42,0.00,0.000,6,0.000,0.090,2943,2400,2127
$GC,13408,0.80,173.8,635.7,10.3,380,13413,0.15,2.50,0.00,0.000,4,0.071,0.104,2975,989,2127
$GC,13508,0.72,173.8,623.6,13.2,381,13512,0.00,2.42,0.00,0.000,6,0.000,0.090,2975,2406,2127
$GC,13834,0.66,173.8,587.1,11.1,387,13839,0.17,2.42,0.00,0.000,4,0.108,0.113,2945,3764,2127
$GC,13871,0.66,173.8,583.1,10.4,387,13876,0.00,2.35,0.00,0.000,6,0.000,0.087,2946,2392,2127
$GC,14198,0.74,206.9,555.5,8.5,393,14232,0.00,2.53,28.10,1.200,4,0.000,0.105,2945,999,1993
$GC,14346,0.79,206.9,541.5,10.2,395,14351,0.15,2.42,0.00,0.000,6,0.067,0.087,2974,2400,1993
$GC,14694,0.79,206.9,501.8,11.6,401,14698,0.00,2.50,0.00,0.000,4,0.000,0.103,2974,995,1993
$GC,14759,0.79,206.9,493.8,11.9,402,14764,0.00,2.42,0.00,0.000,6,0.000,0.087,2974,2391,1993
$GC,15125,0.79,206.9,451.4,11.5,408,15129,0.00,2.47,0.00,0.000,4,0.000,0.101,2974,991,1993
$GC,15190,0.79,206.9,443.6,11.8,409,15195,0.00,2.40,0.00,0.000,6,0.000,0.087,2973,2400,1992
$GC,15556,0.79,206.9,402.4,11.2,415,15560,0.00,2.47,0.00,0.000,4,0.000,0.099,2974,992,1993
$GC,15644,0.79,206.9,392.4,10.7,416,15648,0.00,2.42,0.00,0.000,6,0.000,0.086,2974,2400,1992
$GC,15987,0.79,206.9,353.4,11.3,422,15988,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2400,1993
$GC,16290,0.79,206.9,318.7,11.5,427,16294,0.00,2.45,0.00,0.000,4,0.000,0.097,2974,993,1993
$GC,16384,0.79,206.9,307.3,11.5,428,16388,0.00,2.38,0.00,0.000,6,0.000,0.084,2974,2402,1993
$GC,16706,0.79,206.9,268.8,12.1,441,16710,0.00,2.42,0.00,0.000,4,0.000,0.095,2974,993,1993
$GC,16773,0.79,206.9,260.1,12.1,444,16777,0.00,2.38,0.00,0.000,6,0.000,0.083,2974,2402,1993
$GC,17105,0.79,206.9,220.6,11.3,460,17109,0.00,2.45,0.00,0.000,4,0.000,0.094,2974,985,1994
$GC,17182,0.79,206.9,211.7,10.6,463,17189,0.00,2.40,0.00,0.000,6,0.000,0.081,2974,2400,1993
$GC,17498,0.79,206.9,177.0,11.0,479,17502,0.00,2.42,0.00,0.000,4,0.000,0.091,2974,992,1994
$GC,17592,0.79,206.9,166.0,11.2,483,17596,0.00,2.35,0.00,0.000,6,0.000,0.079,2974,2401,1994
$GC,17919,0.82,228.5,132.5,9.0,507,17944,0.00,2.45,18.23,0.910,4,0.000,0.091,2974,992,1905
$GC,17977,0.83,236.8,126.7,9.6,512,17995,0.00,2.38,8.55,0.829,6,0.000,0.078,2974,2395,1871
$GC,18313,0.90,236.8,91.5,10.8,544,18317,0.00,2.42,0.00,0.000,4,0.000,0.089,2974,986,1871
$GC,18380,0.94,236.8,83.9,10.2,550,18385,0.17,2.38,0.00,0.000,6,0.062,0.077,3008,2400,1871
$GC,18721,0.96,251.9,48.0,9.3,607,18745,0.00,2.42,13.55,0.839,4,0.000,0.100,3008,3764,1809
$GC,18817,0.96,251.9,37.5,11.9,622,18823,0.00,2.33,0.00,0.000,6,0.000,0.075,3008,2401,1809
$GC,19145,1.16,346.6,12.9,5.7,653,19224,0.20,2.45,72.80,0.805,4,0.063,0.084,3050,992,1423
$GC,19247,1.16,346.6,3.4,11.6,662,19252,0.00,2.42,0.00,0.000,6,0.000,0.073,3050,2400,1423
$STATE,19262,end climb,SURFACE_DEPTH_REACHED
$STATE,19262,begin surface coast
$FINISH,0.1,1.023780
$STATE,19274,end surface coast,CONTROL_FINISHED_OK
$STATE,19274,begin surface
$SM_CCo,19295,24.42,0.763,0,0,1206,400.08
$SM_GC,0.88,0.00,0.00,24.42,0.000,0.000,0.763,864,2191,1206,-8.91,-0.25,400.08
$IRIDIUM_FIX,4641.78,-12506.24,111297,111120
$TT8_MAMPS,0.027612
$HUMID,2149
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.10
$XPDR_PINGS,27
$24V_AH,22.5,35.738
$10V_AH,10.6,22.810
$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,29.700,200.925,430.550,24.425,0.000,29.753,24.990,124.991,16.000,0.000,0.000,15.936,1453.062,15097.127,581.934,2079.485,387.934,33.354,1658.244,0.000,2016.387,0.000,62.260
$DEVICE_MAMPS,150.332,147.264,1461.135,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.427,535.393,735.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34845,664
$CAP_FILE_SIZE,150609,0
$CFSIZE,260165632,258588672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,160908,224338,4702.474,-12514.542,31,1.5,31,18.4