version: 66.03
glider: 119
mission: 5
dive: 11
start: 9 16 108 22 48 53
data:
$ID,119
$MISSION,5
$DIVE,11
$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,-209933.3
$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,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
$GPS1,224338,4702.474,-12514.542,31,1.5,31,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.0
$GPS2,224802,4702.461,-12514.544,13,1.5,13,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.162,-0.208
$KALMAN_X,6507.0,-782.8,125.4,-26726.6,1518.1
$KALMAN_Y,11719.4,-427.6,-38.4,-3989.1,4082.9
$MHEAD_RNG_PITCHd_Wd,199.5,209030,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-61.83,0.000,2,0.000,0.000,864,2191,2627
$GC,87,-1.00,-146.6,3.1,-5.2,6,126,11.88,2.47,-18.48,0.000,4,0.150,0.097,2572,3602,3436
$GC,295,-0.78,-146.6,46.1,-17.0,28,302,0.35,2.30,0.00,0.000,6,0.093,0.062,2628,2192,3436
$GC,636,-0.78,-146.6,87.6,-10.7,83,640,0.00,2.42,0.00,0.000,4,0.000,0.089,2628,3608,3438
$GC,670,-0.83,-146.6,91.3,-11.1,86,674,0.00,2.33,0.00,0.000,6,0.000,0.069,2628,2200,3438
$GC,996,-0.91,-146.6,120.5,-8.5,116,1001,0.15,2.40,0.00,0.000,4,0.063,0.090,2597,792,3438
$GC,1073,-0.91,-146.6,128.9,-10.4,122,1080,0.00,2.35,0.00,0.000,6,0.000,0.071,2597,2196,3438
$GC,1395,-0.91,-146.6,164.5,-11.1,147,1399,0.00,2.40,0.00,0.000,4,0.000,0.087,2597,790,3438
$GC,1466,-0.91,-146.6,172.2,-10.7,150,1470,0.00,2.35,0.00,0.000,6,0.000,0.071,2597,2209,3438
$GC,1788,-0.91,-146.6,206.1,-10.3,166,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2209,3438
$GC,2097,-0.91,-146.6,238.6,-10.6,181,2101,0.00,2.42,0.00,0.000,4,0.000,0.089,2597,790,3438
$GC,2140,-0.91,-146.6,243.4,-10.6,183,2144,0.00,2.35,0.00,0.000,6,0.000,0.073,2597,2209,3438
$GC,2468,-0.91,-146.6,276.7,-9.9,199,2473,0.00,2.42,0.00,0.000,4,0.000,0.090,2597,790,3438
$GC,2531,-0.95,-146.6,282.8,-9.3,202,2535,0.00,2.35,0.00,0.000,6,0.000,0.074,2597,2206,3438
$GC,2895,-0.95,-146.6,316.9,-9.2,214,2899,0.00,2.42,0.00,0.000,4,0.000,0.091,2597,794,3438
$GC,2939,-0.99,-146.6,321.0,-9.7,214,2943,0.00,2.35,0.00,0.000,6,0.000,0.074,2597,2207,3437
$GC,3254,-0.99,-146.6,351.4,-9.8,220,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2208,3438
$GC,3557,-0.99,-146.6,382.0,-10.1,225,3561,0.00,2.45,0.00,0.000,4,0.000,0.093,2597,784,3437
$GC,3595,-1.04,-146.6,386.2,-10.5,225,3600,0.12,2.35,0.00,0.000,6,0.073,0.076,2572,2201,3438
$GC,3916,-0.95,-146.6,423.8,-11.9,231,3918,0.12,0.00,0.00,0.000,6,0.108,0.000,2591,2201,3437
$GC,4218,-0.95,-146.6,455.1,-10.2,236,4222,0.00,2.45,0.00,0.000,4,0.000,0.102,2591,3609,3436
$GC,4250,-0.95,-146.6,458.7,-10.8,236,4254,0.00,2.40,0.00,0.000,6,0.000,0.080,2591,2200,3436
$GC,4582,-0.95,-146.6,493.1,-10.4,242,4586,0.00,2.42,0.00,0.000,4,0.000,0.100,2591,792,3436
$GC,4620,-0.95,-146.6,497.0,-9.6,242,4624,0.00,2.35,0.00,0.000,6,0.000,0.077,2591,2201,3436
$GC,4947,-0.95,-146.6,528.2,-9.7,248,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,3435
$GC,5249,-0.95,-146.6,556.9,-9.5,253,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2201,3435
$GC,5552,-0.95,-146.6,586.4,-9.8,258,5556,0.00,2.50,0.00,0.000,4,0.000,0.105,2591,789,3434
$GC,5607,-1.00,-146.6,592.2,-10.2,258,5614,0.00,2.38,0.00,0.000,6,0.000,0.084,2591,2198,3434
$GC,5916,-1.00,-146.6,623.3,-10.1,264,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2198,3434
$GC,6221,-1.00,-146.6,653.3,-9.9,269,6225,0.00,2.53,0.00,0.000,4,0.000,0.112,2590,793,3433
$GC,6248,-1.04,-146.6,656.2,-10.2,269,6252,0.00,2.40,0.00,0.000,6,0.000,0.091,2590,2199,3433
$GC,6579,-1.04,-146.6,687.6,-9.4,275,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,3433
$GC,6884,-1.04,-146.6,715.6,-9.2,280,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2199,3433
$GC,7185,-1.04,-146.6,740.9,-8.3,285,7190,0.00,2.65,0.00,0.000,4,0.000,0.133,2591,790,3432
$GC,7224,-1.11,-146.6,744.2,-8.5,285,7229,0.17,2.55,0.00,0.000,6,0.065,0.115,2558,2195,3432
$GC,7546,-1.01,-146.6,775.5,-9.8,291,7550,0.12,2.58,0.00,0.000,4,0.112,0.120,2576,3610,3431
$GC,7573,-0.96,-146.6,778.4,-9.9,291,7577,0.00,2.40,0.00,0.000,6,0.000,0.087,2577,2202,3431
$GC,7904,-0.96,-146.6,806.3,-8.3,297,7908,0.00,2.50,0.00,0.000,4,0.000,0.109,2577,787,3431
$GC,7925,-0.96,-146.6,808.3,-8.8,297,7929,0.00,2.40,0.00,0.000,6,0.000,0.084,2577,2206,3431
$GC,8268,-0.96,-146.6,840.2,-9.5,303,8272,0.00,2.53,0.00,0.000,4,0.000,0.107,2577,787,3431
$GC,8300,-0.96,-146.6,843.6,-9.8,303,8304,0.00,2.42,0.00,0.000,6,0.000,0.085,2577,2207,3431
$GC,8632,-0.96,-146.6,877.5,-10.3,309,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2208,3431
$STATE,8877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8877,begin apogee
$GC,8882,-0.23,0.0,901.6,10.0,313,9011,1.02,0.00,125.97,1.402,6,0.088,0.000,2747,2402,2837
$STATE,9012,end apogee,CONTROL_FINISHED_OK
$STATE,9012,begin climb
$GC,9014,1.00,146.6,906.1,0.0,315,9155,1.58,2.83,131.57,1.355,4,0.049,0.129,3015,3754,2239
$GC,9245,0.71,146.6,887.9,15.0,318,9251,0.38,2.47,0.00,0.000,6,0.108,0.091,2960,2402,2239
$GC,9565,0.66,146.6,852.4,10.9,324,9570,0.00,2.58,0.00,0.000,4,0.000,0.120,2960,3766,2239
$GC,9632,0.55,146.6,844.2,12.5,325,9637,0.25,2.40,0.00,0.000,6,0.115,0.090,2924,2397,2239
$GC,9998,0.65,157.1,809.1,9.5,331,10013,0.00,2.53,10.48,1.210,4,0.000,0.108,2924,989,2195
$GC,10091,0.70,157.1,799.6,10.8,332,10096,0.15,2.45,0.00,0.000,6,0.067,0.087,2953,2400,2195
$GC,10422,0.70,157.1,762.2,11.4,338,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2400,2195
$GC,10725,0.70,157.1,728.4,11.0,343,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2400,2195
$GC,11028,0.70,157.1,695.1,11.0,348,11033,0.00,2.53,0.00,0.000,4,0.000,0.106,2953,985,2195
$GC,11061,0.70,157.1,691.3,10.6,348,11065,0.00,2.42,0.00,0.000,6,0.000,0.087,2953,2403,2194
$GC,11393,0.71,162.4,658.3,9.8,354,11403,0.00,2.50,5.82,1.018,4,0.000,0.104,2954,986,2174
$GC,11447,0.71,162.4,652.7,10.0,354,11454,0.00,2.42,0.00,0.000,6,0.000,0.087,2953,2409,2174
$GC,11757,0.73,178.7,623.7,9.3,360,11777,0.00,2.55,15.27,1.203,4,0.000,0.104,2953,983,2107
$GC,11817,0.74,187.6,617.8,9.6,361,11831,0.00,2.45,9.12,1.105,6,0.000,0.087,2953,2403,2071
$GC,12186,0.75,197.3,582.3,9.6,367,12200,0.00,2.53,9.68,1.111,4,0.000,0.104,2954,986,2032
$GC,12250,0.75,198.3,575.8,10.0,368,12255,0.00,2.42,0.00,0.000,6,0.000,0.086,2953,2402,2032
$GC,12616,0.80,198.3,539.4,10.0,374,12620,0.00,2.50,0.00,0.000,4,0.000,0.102,2953,991,2032
$GC,12688,0.81,201.7,531.8,9.8,375,12699,0.12,2.40,5.55,0.941,6,0.071,0.087,2977,2399,2014
$GC,13042,0.81,201.7,491.5,11.5,381,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2399,2014
$GC,13345,0.81,201.7,457.0,11.3,386,13349,0.00,2.50,0.00,0.000,4,0.000,0.102,2977,983,2013
$GC,13399,0.76,201.7,450.3,11.9,386,13406,0.00,2.40,0.00,0.000,6,0.000,0.086,2977,2399,2014
$GC,13708,0.76,201.7,413.2,12.1,392,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2399,2014
$GC,14011,0.76,201.7,377.8,11.7,397,14016,0.00,2.47,0.00,0.000,4,0.000,0.099,2977,985,2014
$GC,14083,0.76,201.7,369.0,12.4,398,14087,0.00,2.40,0.00,0.000,6,0.000,0.084,2977,2390,2014
$GC,14443,0.76,201.7,325.7,12.1,404,14447,0.00,2.45,0.00,0.000,4,0.000,0.097,2977,986,2014
$GC,14475,0.76,201.7,321.6,12.1,404,14479,0.00,2.38,0.00,0.000,6,0.000,0.083,2977,2400,2014
$GC,14789,0.76,201.7,286.3,10.9,413,14793,0.00,2.45,0.00,0.000,4,0.000,0.096,2977,990,2014
$GC,14832,0.76,201.7,281.3,11.0,415,14836,0.00,2.38,0.00,0.000,6,0.000,0.082,2977,2401,2014
$GC,15159,0.76,201.7,246.0,10.9,431,15163,0.00,2.45,0.00,0.000,4,0.000,0.094,2977,984,2014
$GC,15207,0.76,201.7,240.7,10.2,433,15212,0.00,2.38,0.00,0.000,6,0.000,0.081,2977,2400,2014
$GC,15529,0.76,201.7,208.1,10.7,449,15533,0.00,2.45,0.00,0.000,4,0.000,0.094,2977,980,2014
$GC,15590,0.76,201.7,201.0,11.3,452,15595,0.00,2.40,0.00,0.000,6,0.000,0.081,2977,2406,2014
$GC,15917,0.76,201.7,164.1,11.0,468,15921,0.00,2.42,0.00,0.000,4,0.000,0.091,2977,989,2015
$GC,15949,0.76,201.7,160.4,11.0,469,15954,0.00,2.38,0.00,0.000,6,0.000,0.079,2977,2396,2015
$GC,16277,0.78,222.8,128.6,9.0,495,16300,0.00,2.45,17.85,0.907,4,0.000,0.091,2977,988,1928
$GC,16335,0.80,235.6,123.2,9.4,500,16351,0.00,2.38,11.60,0.864,6,0.000,0.078,2978,2401,1876
$GC,16670,0.86,235.6,89.7,10.4,531,16671,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2401,1876
$GC,17002,0.97,243.1,57.9,9.7,582,17015,0.15,2.47,7.50,0.783,4,0.065,0.088,3011,979,1846
$GC,17096,0.97,243.1,48.4,10.4,598,17102,0.00,2.38,0.00,0.000,6,0.000,0.077,3010,2400,1846
$GC,17431,1.18,342.1,16.9,5.5,636,17515,0.20,0.00,76.55,0.809,6,0.061,0.000,3053,2400,1441
$STATE,17597,end climb,SURFACE_DEPTH_REACHED
$STATE,17597,begin surface coast
$FINISH,0.2,1.003176
$STATE,17612,end surface coast,CONTROL_FINISHED_OK
$STATE,17612,begin surface
$SM_CCo,17633,26.85,0.774,0,0,1205,400.08
$SM_GC,0.97,0.00,0.00,26.85,0.000,0.000,0.774,861,2189,1205,-8.91,-0.34,400.08
$IRIDIUM_FIX,4641.78,-12516.85,111297,171717
$TT8_MAMPS,0.027612
$HUMID,2123
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.80
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,901.6,6.0
$24V_AH,22.6,35.901
$10V_AH,10.6,22.893
$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,29.100,161.850,426.975,26.850,0.000,26.446,22.982,116.099,14.750,0.000,0.000,14.952,1342.538,13886.708,567.773,1771.277,356.711,33.347,1479.441,0.000,1724.897,0.000,54.700
$DEVICE_MAMPS,150.332,132.691,1402.076,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.676,525.653,765.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31727,653
$CAP_FILE_SIZE,130685,0
$CFSIZE,260165632,258543616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,170908,034437,4701.206,-12516.774,40,2.0,46,18.4