version: 66.03
glider: 119
mission: 5
dive: 12
start: 9 17 108 3 53 17
data:
$ID,119
$MISSION,5
$DIVE,12
$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,-209951.14
$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
$GPS1,034437,4701.206,-12516.774,40,2.0,46,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.7
$GPS2,035224,4701.210,-12516.765,12,1.8,15,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.144,-0.221
$KALMAN_X,6930.4,-141.1,-614.8,-29855.7,2964.4
$KALMAN_Y,13749.0,-466.0,-365.5,-7954.8,4372.0
$MHEAD_RNG_PITCHd_Wd,194.7,206188,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.00,-146.6,0.0,0.0,0,83,0.00,0.00,-61.45,0.000,2,0.000,0.000,861,2187,2646
$GC,86,-1.00,-146.6,3.1,-5.1,6,125,11.85,2.47,-17.65,0.000,4,0.150,0.094,2574,3605,3435
$GC,228,-0.76,-146.6,33.6,-18.8,19,233,0.35,2.30,0.00,0.000,6,0.096,0.061,2630,2201,3436
$GC,568,-0.76,-146.6,73.4,-11.5,75,574,0.00,2.38,0.00,0.000,4,0.000,0.088,2630,797,3437
$GC,609,-0.83,-146.6,77.7,-10.7,82,615,0.00,2.30,0.00,0.000,6,0.000,0.067,2630,2203,3437
$GC,944,-0.90,-146.6,112.0,-9.4,115,950,0.12,0.00,0.00,0.000,6,0.067,0.000,2603,2203,3437
$GC,1270,-0.90,-146.6,145.3,-10.8,146,1274,0.00,2.40,0.00,0.000,4,0.000,0.093,2603,3606,3437
$GC,1290,-0.90,-146.6,147.7,-10.5,147,1297,0.00,2.35,0.00,0.000,6,0.000,0.072,2603,2202,3438
$GC,1607,-0.90,-146.6,179.3,-10.3,164,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2202,3437
$GC,1916,-0.90,-146.6,210.1,-9.5,179,1920,0.00,2.40,0.00,0.000,4,0.000,0.091,2603,788,3437
$GC,1957,-0.94,-146.6,213.9,-9.6,181,1960,0.00,2.33,0.00,0.000,6,0.000,0.073,2603,2199,3437
$GC,2289,-0.94,-146.6,243.8,-9.2,197,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2199,3437
$GC,2598,-0.94,-146.6,272.2,-9.2,212,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2199,3437
$GC,2908,-0.94,-146.6,300.9,-9.3,227,2912,0.00,2.42,0.00,0.000,4,0.000,0.091,2603,784,3437
$GC,2942,-1.01,-146.6,304.4,-9.6,227,2946,0.00,2.35,0.00,0.000,6,0.000,0.074,2602,2205,3437
$GC,3267,-1.01,-146.6,336.6,-10.1,233,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2205,3436
$GC,3572,-1.05,-146.6,368.1,-10.4,238,3577,0.15,2.42,0.00,0.000,4,0.065,0.091,2569,793,3436
$GC,3615,-0.98,-146.6,373.6,-12.4,238,3620,0.00,2.35,0.00,0.000,6,0.000,0.076,2569,2203,3435
$GC,3936,-0.88,-146.6,413.1,-12.3,244,3941,0.17,2.45,0.00,0.000,4,0.100,0.094,2599,789,3435
$GC,3962,-0.88,-146.6,416.1,-10.3,244,3967,0.00,2.35,0.00,0.000,6,0.000,0.076,2599,2201,3435
$GC,4300,-0.88,-146.6,447.5,-9.2,250,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2201,3434
$GC,4603,-0.88,-146.6,474.8,-9.0,255,4611,0.00,2.45,0.00,0.000,4,0.000,0.097,2599,788,3434
$GC,4633,-0.94,-146.6,477.6,-9.6,255,4637,0.00,2.38,0.00,0.000,6,0.000,0.078,2599,2208,3434
$GC,4970,-0.99,-146.6,509.0,-9.4,261,4974,0.00,2.47,0.00,0.000,4,0.000,0.099,2599,789,3434
$GC,5014,-1.07,-146.6,513.3,-9.2,261,5019,0.17,2.38,0.00,0.000,6,0.065,0.079,2566,2207,3433
$GC,5328,-0.98,-146.6,549.0,-11.5,267,5332,0.00,2.47,0.00,0.000,4,0.000,0.100,2565,793,3433
$GC,5349,-0.91,-146.6,551.5,-11.7,267,5354,0.20,2.38,0.00,0.000,6,0.100,0.081,2597,2203,3433
$GC,5686,-0.91,-146.6,580.2,-8.3,273,5690,0.00,2.47,0.00,0.000,4,0.000,0.108,2597,3607,3432
$GC,5724,-0.96,-146.6,583.7,-9.0,273,5729,0.00,2.38,0.00,0.000,6,0.000,0.084,2596,2204,3432
$GC,6045,-1.01,-146.6,610.9,-8.5,279,6049,0.00,2.50,0.00,0.000,4,0.000,0.112,2597,793,3432
$GC,6072,-1.08,-146.6,613.3,-9.3,279,6077,0.17,2.40,0.00,0.000,6,0.067,0.087,2563,2203,3432
$GC,6403,-0.99,-146.6,649.4,-11.1,285,6405,0.10,0.00,0.00,0.000,6,0.115,0.000,2579,2203,3431
$GC,6706,-0.99,-146.6,680.3,-10.2,290,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2203,3431
$GC,7009,-0.99,-146.6,711.3,-10.2,295,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2203,3430
$GC,7312,-0.99,-146.6,741.1,-9.8,300,7316,0.00,2.65,0.00,0.000,4,0.000,0.133,2579,795,3430
$GC,7349,-0.99,-146.6,745.1,-10.0,300,7354,0.00,2.55,0.00,0.000,6,0.000,0.117,2579,2200,3430
$GC,7677,-0.99,-146.6,776.4,-9.5,306,7681,0.00,2.50,0.00,0.000,4,0.000,0.104,2578,790,3429
$GC,7714,-0.99,-146.6,780.2,-9.3,306,7719,0.00,2.40,0.00,0.000,6,0.000,0.083,2578,2208,3429
$GC,8041,-0.99,-146.6,811.9,-9.9,312,8045,0.00,2.53,0.00,0.000,4,0.000,0.104,2578,783,3428
$GC,8084,-0.99,-146.6,816.8,-10.8,312,8088,0.00,2.40,0.00,0.000,6,0.000,0.083,2578,2208,3428
$GC,8405,-0.99,-146.6,847.6,-9.5,318,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2208,3428
$GC,8708,-0.99,-146.6,875.6,-9.2,323,8713,0.00,2.53,0.00,0.000,4,0.000,0.106,2578,790,3428
$GC,8747,-0.99,-146.6,879.4,-10.0,323,8751,0.00,2.40,0.00,0.000,6,0.000,0.084,2578,2199,3428
$GC,9073,-0.99,-146.6,910.0,-9.5,329,9077,0.00,2.53,0.00,0.000,4,0.000,0.107,2578,783,3428
$GC,9099,-0.99,-146.6,912.6,-9.6,329,9103,0.00,2.42,0.00,0.000,6,0.000,0.085,2578,2203,3428
$GC,9437,-0.99,-146.6,942.3,-8.7,335,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2203,3427
$GC,9740,-0.99,-146.6,966.5,-7.9,340,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2203,3427
$STATE,10041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10041,begin apogee
$GC,10046,-0.23,0.0,992.0,8.4,345,10176,1.02,0.00,126.50,1.463,6,0.091,0.000,2748,2398,2837
$STATE,10177,end apogee,CONTROL_FINISHED_OK
$STATE,10177,begin climb
$GC,10179,1.00,146.6,995.5,0.0,347,10322,1.60,2.92,133.20,1.417,4,0.050,0.142,3017,3763,2240
$GC,10378,0.69,146.6,979.7,15.6,350,10384,0.43,2.53,0.00,0.000,6,0.106,0.094,2956,2401,2240
$GC,10710,0.64,146.6,942.6,11.0,356,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2401,2239
$GC,11013,0.59,146.6,910.3,10.7,361,11018,0.15,2.55,0.00,0.000,4,0.114,0.110,2931,991,2238
$GC,11045,0.60,153.1,906.9,9.7,361,11059,0.00,2.45,7.12,1.156,6,0.000,0.090,2931,2400,2212
$GC,11375,0.66,166.7,876.2,9.4,367,11394,0.00,2.58,13.18,1.304,4,0.000,0.110,2931,997,2157
$GC,11501,0.66,170.6,863.5,9.8,368,11511,0.00,2.45,5.18,1.022,6,0.000,0.090,2931,2406,2141
$GC,11877,0.74,177.0,826.9,9.7,375,11892,0.15,2.58,7.25,1.160,4,0.070,0.108,2963,994,2115
$GC,11925,0.66,177.0,821.2,12.3,375,11930,0.00,2.45,0.00,0.000,6,0.000,0.089,2963,2407,2115
$GC,12240,0.66,177.0,784.4,11.8,381,12244,0.00,2.55,0.00,0.000,4,0.000,0.107,2963,989,2115
$GC,12294,0.60,177.0,777.8,12.7,381,12301,0.20,2.42,0.00,0.000,6,0.107,0.088,2933,2400,2115
$GC,12604,0.67,177.0,746.3,10.2,387,12608,0.00,2.53,0.00,0.000,4,0.000,0.107,2933,987,2115
$GC,12698,0.67,177.0,736.1,10.7,388,12702,0.00,2.42,0.00,0.000,6,0.000,0.087,2933,2406,2114
$GC,13035,0.74,177.0,701.3,10.3,394,13040,0.15,2.53,0.00,0.000,4,0.071,0.104,2962,981,2114
$GC,13097,0.69,177.0,694.1,11.9,395,13101,0.00,2.45,0.00,0.000,6,0.000,0.089,2962,2405,2114
$GC,13461,0.69,177.0,653.0,11.1,401,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2405,2114
$GC,13764,0.69,177.0,620.6,10.5,406,13768,0.00,2.50,0.00,0.000,4,0.000,0.104,2962,990,2114
$GC,13825,0.63,177.0,613.9,10.8,407,13830,0.15,2.42,0.00,0.000,6,0.110,0.088,2940,2404,2114
$GC,14190,0.70,182.2,578.3,9.8,413,14201,0.00,2.47,5.95,1.002,4,0.000,0.103,2940,989,2094
$GC,14273,0.70,182.2,569.9,10.1,414,14277,0.00,2.40,0.00,0.000,6,0.000,0.088,2940,2400,2093
$GC,14622,0.78,189.3,536.2,9.7,420,14637,0.15,2.50,7.57,1.057,4,0.071,0.103,2973,989,2065
$GC,14698,0.71,189.3,527.5,12.1,421,14703,0.00,2.40,0.00,0.000,6,0.000,0.087,2972,2398,2064
$GC,15058,0.71,189.3,487.0,11.1,427,15062,0.00,2.50,0.00,0.000,4,0.000,0.100,2973,983,2065
$GC,15135,0.65,189.3,478.0,11.6,428,15140,0.20,2.40,0.00,0.000,6,0.104,0.087,2943,2402,2065
$GC,15489,0.73,197.8,444.1,9.6,434,15504,0.00,2.50,8.80,1.041,4,0.000,0.100,2942,989,2030
$GC,15600,0.80,201.9,432.8,9.8,435,15611,0.17,2.40,5.28,0.884,6,0.065,0.085,2975,2401,2013
$GC,15920,0.80,201.9,396.1,11.5,441,15924,0.00,2.50,0.00,0.000,4,0.000,0.098,2975,980,2013
$GC,15968,0.80,201.9,390.1,12.6,441,15973,0.00,2.42,0.00,0.000,6,0.000,0.085,2975,2404,2013
$GC,16283,0.80,201.9,353.2,11.9,447,16287,0.00,2.47,0.00,0.000,4,0.000,0.097,2976,987,2013
$GC,16327,0.75,201.9,348.1,10.7,447,16331,0.00,2.40,0.00,0.000,6,0.000,0.084,2975,2403,2013
$GC,16647,0.75,201.9,311.5,11.6,453,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2403,2013
$GC,16955,0.75,201.9,275.4,11.8,464,16959,0.00,2.45,0.00,0.000,4,0.000,0.094,2976,987,2014
$GC,17016,0.75,201.9,268.1,13.5,467,17021,0.00,2.40,0.00,0.000,6,0.000,0.083,2975,2406,2014
$GC,17343,0.75,201.9,232.8,10.4,483,17347,0.00,2.45,0.00,0.000,4,0.000,0.093,2975,987,2014
$GC,17397,0.75,201.9,226.8,10.7,485,17404,0.00,2.40,0.00,0.000,6,0.000,0.081,2976,2402,2014
$GC,17713,0.75,201.9,193.1,10.8,501,17714,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2402,2013
$GC,18022,0.75,201.9,158.1,11.0,516,18026,0.00,2.42,0.00,0.000,4,0.000,0.091,2976,986,2014
$GC,18111,0.77,214.4,148.7,9.4,520,18128,0.00,2.35,11.35,0.901,6,0.000,0.079,2976,2399,1963
$GC,18446,0.77,214.4,111.0,12.3,552,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2399,1963
$GC,18766,0.88,265.8,82.1,7.7,582,18815,0.00,2.50,40.62,0.881,4,0.000,0.088,2975,983,1752
$GC,18885,0.99,269.3,71.0,9.8,600,18897,0.20,2.40,4.68,0.649,6,0.058,0.077,3013,2399,1738
$GC,19232,0.99,269.3,33.7,10.8,657,19233,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2399,1739
$GC,19552,1.15,348.2,7.6,6.4,687,19617,0.15,2.47,56.15,0.808,4,0.064,0.081,3048,984,1416
$STATE,19620,end climb,SURFACE_DEPTH_REACHED
$STATE,19620,begin surface coast
$FINISH,0.3,1.023819
$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19633,begin surface
$SM_CCo,19656,24.02,0.762,0,0,1205,400.08
$SM_GC,0.99,0.00,0.00,24.02,0.000,0.000,0.762,862,2203,1205,-8.91,0.08,400.08
$IRIDIUM_FIX,4644.93,-12514.27,121297,030347
$TT8_MAMPS,0.027612
$HUMID,2134
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,18.90
$XPDR_PINGS,28
$24V_AH,22.6,36.078
$10V_AH,10.6,22.983
$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,30.425,176.450,432.825,24.025,0.000,45.506,62.149,194.783,15.750,0.000,0.000,17.220,1445.238,15680.245,600.188,1912.970,512.924,33.341,1580.805,0.000,1859.466,0.000,56.645
$DEVICE_MAMPS,149.565,141.895,1463.436,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.807,557.223,782.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34769,694
$CAP_FILE_SIZE,148040,0
$CFSIZE,260165632,258457600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,170908,092237,4659.935,-12519.025,36,0.8,42,18.4