version: 66.03
glider: 119
mission: 5
dive: 13
start: 9 17 108 9 31 19
data:
$ID,119
$MISSION,5
$DIVE,13
$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,-209983.88
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,092237,4659.935,-12519.025,36,0.8,42,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.4
$GPS2,093029,4659.985,-12519.021,10,2.3,29,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.189,-0.184
$KALMAN_X,6071.5,47.9,-6.1,-32634.7,42.6
$KALMAN_Y,15582.2,-380.0,-237.9,-12268.6,3647.8
$MHEAD_RNG_PITCHd_Wd,207.3,203326,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-66.12,0.000,2,0.000,0.000,862,2207,2785
$GC,91,-1.00,-146.6,3.8,-5.8,7,123,11.75,0.00,-13.32,0.000,6,0.147,0.000,2573,2207,3438
$GC,452,-0.77,-146.6,76.4,-16.1,58,459,0.30,2.42,0.00,0.000,4,0.096,0.085,2625,785,3438
$GC,476,-0.66,-146.6,79.8,-13.7,62,483,0.17,2.33,0.00,0.000,6,0.087,0.065,2653,2209,3438
$GC,803,-0.84,-146.6,105.0,-6.4,93,808,0.17,2.42,0.00,0.000,4,0.058,0.084,2613,787,3439
$GC,831,-0.92,-146.6,107.6,-9.5,95,835,0.00,2.35,0.00,0.000,6,0.000,0.068,2614,2209,3438
$GC,1157,-0.92,-146.6,140.5,-9.3,125,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2209,3439
$GC,1469,-0.97,-146.6,170.2,-9.6,145,1471,0.15,0.00,0.00,0.000,6,0.063,0.000,2583,2209,3438
$GC,1778,-0.90,-146.6,207.4,-12.7,160,1782,0.12,2.42,0.00,0.000,4,0.105,0.087,2602,779,3439
$GC,1817,-0.94,-146.6,212.1,-11.3,162,1821,0.00,2.35,0.00,0.000,6,0.000,0.071,2602,2203,3439
$GC,2143,-0.94,-146.6,246.3,-10.1,178,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2203,3438
$GC,2452,-0.94,-146.6,277.8,-10.0,193,2456,0.00,2.42,0.00,0.000,4,0.000,0.090,2602,783,3439
$GC,2484,-0.98,-146.6,281.3,-10.7,194,2491,0.00,2.33,0.00,0.000,6,0.000,0.073,2603,2208,3439
$GC,2797,-0.98,-146.6,313.4,-10.5,206,2801,0.00,2.42,0.00,0.000,4,0.000,0.090,2602,786,3438
$GC,2840,-1.06,-146.6,318.3,-11.2,206,2845,0.17,2.35,0.00,0.000,6,0.061,0.074,2568,2205,3438
$GC,3155,-0.94,-146.6,359.2,-13.2,212,3157,0.15,0.00,0.00,0.000,6,0.107,0.000,2591,2205,3438
$GC,3459,-0.94,-146.6,392.1,-10.7,217,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2205,3437
$GC,3760,-0.94,-146.6,422.6,-10.1,222,3765,0.00,2.45,0.00,0.000,4,0.000,0.094,2591,785,3437
$GC,3788,-0.94,-146.6,425.2,-9.3,222,3792,0.00,2.35,0.00,0.000,6,0.000,0.075,2591,2203,3437
$GC,4120,-0.94,-146.6,455.5,-8.9,228,4124,0.00,2.45,0.00,0.000,4,0.000,0.095,2591,785,3436
$GC,4141,-0.94,-146.6,457.5,-8.8,228,4145,0.00,2.35,0.00,0.000,6,0.000,0.075,2591,2200,3436
$GC,4484,-0.94,-146.6,487.1,-8.6,234,4488,0.00,2.45,0.00,0.000,4,0.000,0.097,2591,785,3436
$GC,4505,-0.94,-146.6,488.9,-8.6,234,4509,0.00,2.38,0.00,0.000,6,0.000,0.078,2591,2206,3436
$GC,4848,-0.94,-146.6,518.5,-8.7,240,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2206,3435
$GC,5152,-0.94,-146.6,544.4,-8.5,245,5157,0.00,2.50,0.00,0.000,4,0.000,0.101,2591,778,3435
$GC,5215,-1.01,-146.6,549.8,-8.4,246,5220,0.00,2.40,0.00,0.000,6,0.000,0.081,2591,2203,3434
$GC,5585,-1.01,-146.6,584.3,-9.6,252,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2203,3433
$GC,5888,-1.01,-146.6,615.5,-10.3,257,5892,0.00,2.50,0.00,0.000,4,0.000,0.106,2591,781,3433
$GC,5949,-1.08,-146.6,621.5,-10.5,258,5954,0.15,2.40,0.00,0.000,6,0.068,0.087,2563,2199,3433
$GC,6314,-0.98,-146.6,662.4,-11.1,264,6316,0.12,0.00,0.00,0.000,6,0.111,0.000,2582,2199,3433
$GC,6617,-0.98,-146.6,690.9,-9.4,269,6622,0.00,2.58,0.00,0.000,4,0.000,0.120,2581,788,3432
$GC,6666,-0.98,-146.6,695.9,-10.2,269,6671,0.00,2.45,0.00,0.000,6,0.000,0.099,2581,2195,3432
$GC,6984,-0.98,-146.6,727.2,-10.0,275,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2196,3432
$GC,7286,-0.98,-146.6,757.6,-10.0,280,7290,0.00,2.67,0.00,0.000,4,0.000,0.137,2581,787,3431
$GC,7318,-0.98,-146.6,761.0,-9.5,280,7323,0.00,2.58,0.00,0.000,6,0.000,0.120,2581,2198,3431
$GC,7644,-0.98,-146.6,792.3,-9.5,286,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2199,3430
$GC,7947,-0.98,-146.6,819.4,-8.9,291,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2199,3430
$GC,8252,-0.98,-146.6,845.4,-8.5,296,8256,0.00,2.50,0.00,0.000,4,0.000,0.107,2581,788,3430
$GC,8278,-0.98,-146.6,847.9,-9.7,296,8283,0.00,2.40,0.00,0.000,6,0.000,0.083,2581,2209,3430
$GC,8616,-0.98,-146.6,875.8,-8.2,302,8621,0.00,2.50,0.00,0.000,4,0.000,0.106,2582,788,3429
$GC,8666,-1.03,-146.6,880.1,-8.1,302,8671,0.00,2.40,0.00,0.000,6,0.000,0.084,2581,2201,3430
$GC,8976,-1.03,-146.6,903.0,-7.4,307,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2201,3429
$GC,9279,-1.03,-146.6,925.5,-7.4,312,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2201,3428
$GC,9581,-1.03,-146.6,947.7,-7.4,317,9586,0.00,2.53,0.00,0.000,4,0.000,0.108,2581,788,3428
$GC,9608,-1.03,-146.6,949.9,-9.0,317,9614,0.00,2.40,0.00,0.000,6,0.000,0.085,2581,2200,3429
$GC,9946,-1.03,-146.6,976.0,-7.8,323,9950,0.00,2.55,0.00,0.000,4,0.000,0.109,2581,780,3428
$GC,9985,-1.09,-146.6,979.2,-8.4,323,9989,0.00,2.42,0.00,0.000,6,0.000,0.086,2581,2201,3428
$STATE,10120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10120,begin apogee
$GC,10126,-0.23,0.0,990.4,8.2,326,10256,1.00,0.00,126.78,1.463,6,0.090,0.000,2747,2399,2837
$STATE,10256,end apogee,CONTROL_FINISHED_OK
$STATE,10256,begin climb
$GC,10259,1.00,146.6,993.7,0.0,328,10397,1.62,0.00,134.02,1.411,6,0.050,0.000,3020,2399,2239
$GC,10666,0.74,146.6,947.7,14.7,335,10671,0.35,2.67,0.00,0.000,4,0.107,0.138,2965,3761,2238
$GC,10777,0.59,146.6,933.3,13.0,336,10782,0.22,2.42,0.00,0.000,6,0.112,0.094,2932,2398,2238
$GC,11092,0.60,157.8,903.1,9.5,342,11108,0.00,2.55,11.15,1.267,4,0.000,0.110,2932,990,2193
$GC,11140,0.60,157.8,898.2,10.2,342,11145,0.00,2.45,0.00,0.000,6,0.000,0.088,2932,2399,2192
$GC,11456,0.65,157.8,866.6,10.2,348,11460,0.00,2.55,0.00,0.000,4,0.000,0.108,2932,986,2192
$GC,11510,0.65,157.8,860.7,10.3,348,11517,0.00,2.45,0.00,0.000,6,0.000,0.088,2932,2406,2192
$GC,11820,0.69,157.8,828.7,10.4,354,11824,0.00,2.55,0.00,0.000,4,0.000,0.107,2932,987,2191
$GC,11891,0.69,157.8,821.0,10.6,355,11895,0.00,2.42,0.00,0.000,6,0.000,0.087,2932,2400,2192
$GC,12252,0.76,169.0,786.2,9.5,361,12268,0.15,2.53,10.73,1.243,4,0.070,0.107,2964,990,2147
$GC,12313,0.67,169.0,779.4,11.6,362,12318,0.00,2.45,0.00,0.000,6,0.000,0.089,2964,2405,2147
$GC,12678,0.67,169.0,741.7,10.1,368,12682,0.00,2.53,0.00,0.000,4,0.000,0.107,2964,989,2147
$GC,12717,0.60,169.0,737.6,10.3,368,12722,0.20,2.42,0.00,0.000,6,0.107,0.087,2934,2399,2147
$GC,13037,0.70,200.7,710.3,8.6,374,13071,0.00,2.58,27.85,1.289,4,0.000,0.104,2934,996,2017
$GC,13111,0.77,209.2,703.3,9.6,375,13126,0.17,2.45,8.62,1.128,6,0.067,0.087,2966,2402,1984
$GC,13468,0.77,209.2,661.2,11.9,381,13473,0.00,2.55,0.00,0.000,4,0.000,0.104,2966,985,1983
$GC,13541,0.72,209.2,652.7,11.8,382,13545,0.00,2.45,0.00,0.000,6,0.000,0.087,2966,2405,1983
$GC,13894,0.72,209.2,610.3,12.1,388,13898,0.00,2.53,0.00,0.000,4,0.000,0.104,2966,988,1983
$GC,13959,0.72,209.2,602.4,11.6,389,13963,0.00,2.42,0.00,0.000,6,0.000,0.087,2966,2402,1983
$GC,14325,0.72,209.2,559.2,11.9,395,14329,0.00,2.50,0.00,0.000,4,0.000,0.103,2966,989,1983
$GC,14357,0.72,209.2,555.1,11.6,395,14361,0.00,2.42,0.00,0.000,6,0.000,0.087,2967,2406,1982
$GC,14688,0.72,209.2,516.0,11.7,401,14692,0.00,2.53,0.00,0.000,4,0.000,0.103,2966,982,1983
$GC,14750,0.72,209.2,508.7,11.5,402,14754,0.00,2.42,0.00,0.000,6,0.000,0.087,2966,2400,1983
$GC,15114,0.72,209.2,469.0,10.7,408,15119,0.00,2.47,0.00,0.000,4,0.000,0.100,2966,989,1983
$GC,15153,0.72,209.2,464.7,11.6,408,15157,0.00,2.40,0.00,0.000,6,0.000,0.085,2966,2403,1983
$GC,15479,0.72,209.2,428.4,11.3,414,15483,0.00,2.47,0.00,0.000,4,0.000,0.099,2966,988,1983
$GC,15551,0.72,209.2,419.8,11.9,415,15555,0.00,2.40,0.00,0.000,6,0.000,0.084,2966,2402,1982
$GC,15910,0.72,209.2,377.0,12.0,421,15914,0.00,2.47,0.00,0.000,4,0.000,0.097,2966,982,1983
$GC,15959,0.72,209.2,371.0,11.5,421,15963,0.00,2.40,0.00,0.000,6,0.000,0.084,2966,2402,1983
$GC,16274,0.72,209.2,335.2,11.4,427,16278,0.00,2.47,0.00,0.000,4,0.000,0.096,2966,983,1983
$GC,16335,0.72,209.2,328.2,12.0,428,16339,0.00,2.40,0.00,0.000,6,0.000,0.083,2966,2400,1983
$GC,16660,0.72,209.2,293.7,10.3,434,16664,0.00,2.45,0.00,0.000,4,0.000,0.094,2966,987,1983
$GC,16722,0.72,209.2,287.3,10.5,437,16726,0.00,2.40,0.00,0.000,6,0.000,0.082,2966,2405,1983
$GC,17048,0.72,209.2,253.4,10.6,453,17052,0.00,2.45,0.00,0.000,4,0.000,0.094,2966,979,1984
$GC,17131,0.72,209.2,243.9,11.3,456,17138,0.00,2.40,0.00,0.000,6,0.000,0.081,2966,2393,1984
$GC,17447,0.74,228.1,211.4,9.1,472,17469,0.00,2.42,16.42,0.962,4,0.000,0.091,2966,984,1906
$GC,17515,0.77,249.4,205.1,9.0,475,17540,0.00,2.40,18.40,0.952,6,0.000,0.081,2966,2405,1819
$GC,17869,0.83,249.4,170.1,10.6,492,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2405,1819
$GC,18180,0.91,249.4,134.5,11.0,513,18185,0.17,2.45,0.00,0.000,4,0.064,0.088,3003,986,1819
$GC,18235,0.84,249.4,126.7,14.0,517,18242,0.00,2.38,0.00,0.000,6,0.000,0.077,3003,2406,1818
$GC,18563,0.84,249.4,86.3,11.3,548,18567,0.00,2.45,0.00,0.000,4,0.000,0.088,3003,984,1818
$GC,18641,0.84,249.4,77.3,11.0,556,18647,0.00,2.38,0.00,0.000,6,0.000,0.077,3003,2404,1818
$GC,18984,0.89,294.0,43.2,8.0,617,19029,0.00,2.42,35.45,0.857,4,0.000,0.097,3003,3756,1638
$GC,19046,0.96,347.3,38.2,7.6,626,19095,0.00,2.33,41.80,0.815,6,0.000,0.074,3003,2401,1421
$GC,19413,1.18,369.3,4.0,9.0,661,19432,0.30,0.00,12.38,0.771,6,0.053,0.000,3061,2397,1331
$STATE,19440,end climb,SURFACE_DEPTH_REACHED
$STATE,19440,begin surface coast
$FINISH,0.2,1.022825
$STATE,19452,end surface coast,CONTROL_FINISHED_OK
$STATE,19453,begin surface
$SM_CCo,19473,14.30,0.768,0,0,1206,400.08
$SM_GC,1.54,0.00,0.00,14.30,0.000,0.000,0.768,860,2184,1206,-8.92,-0.45,400.08
$IRIDIUM_FIX,4644.93,-12521.25,121297,090957
$TT8_MAMPS,0.027612
$HUMID,2152
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.00
$XPDR_PINGS,30
$24V_AH,22.6,36.258
$10V_AH,10.6,23.070
$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,29.750,182.000,443.600,14.300,0.000,57.157,52.372,182.606,16.500,0.000,0.000,32.106,1402.503,15552.568,626.081,1875.796,502.389,33.348,1579.644,0.000,1810.691,0.000,59.461
$DEVICE_MAMPS,147.264,138.060,1463.436,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.887,538.210,731.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34836,665
$CAP_FILE_SIZE,145322,0
$CFSIZE,260165632,258400256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,170908,145726,4658.448,-12521.812,41,0.9,41,18.4