version: 66.03
glider: 119
mission: 5
dive: 14
start: 9 17 108 15 3 0
data:
$ID,119
$MISSION,5
$DIVE,14
$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,-210000.27
$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,29
$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
$GPS1,145726,4658.448,-12521.812,41,0.9,41,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.2
$GPS2,150209,4658.442,-12521.771,14,0.9,14,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.224,-0.139
$KALMAN_X,6393.4,-11.0,-31.6,-36364.2,138.5
$KALMAN_Y,16505.8,-295.4,-392.2,-15975.2,2819.7
$MHEAD_RNG_PITCHd_Wd,219.7,199874,-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,22,-1.00,-146.6,0.0,0.0,0,84,0.00,0.00,-60.67,0.000,2,0.000,0.000,860,2183,2601
$GC,87,-1.00,-146.6,3.0,-4.6,6,121,11.80,0.00,-19.83,0.000,6,0.148,0.000,2574,2183,3436
$GC,447,-0.79,-146.6,69.4,-16.5,54,454,0.28,2.42,0.00,0.000,4,0.096,0.082,2622,3616,3437
$GC,493,-0.79,-146.6,76.1,-13.1,62,500,0.00,2.30,0.00,0.000,6,0.000,0.064,2622,2204,3437
$GC,828,-0.84,-146.6,112.8,-9.9,96,832,0.00,2.40,0.00,0.000,4,0.000,0.090,2622,798,3438
$GC,868,-0.94,-146.6,116.6,-8.5,99,873,0.15,2.33,0.00,0.000,6,0.060,0.070,2590,2205,3438
$GC,1203,-0.89,-146.6,153.8,-12.3,129,1207,0.00,2.40,0.00,0.000,4,0.000,0.091,2590,3610,3438
$GC,1220,-0.83,-146.6,156.0,-13.2,130,1225,0.17,2.33,0.00,0.000,6,0.094,0.071,2619,2204,3438
$GC,1548,-0.91,-146.6,187.8,-9.0,146,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2203,3438
$GC,1856,-1.00,-146.6,213.7,-8.2,161,1858,0.20,0.00,0.00,0.000,6,0.061,0.000,2579,2202,3438
$GC,2165,-0.92,-146.6,249.1,-11.8,176,2168,0.00,2.40,0.00,0.000,4,0.000,0.094,2578,789,3438
$GC,2192,-0.85,-146.6,252.6,-12.5,177,2197,0.20,2.33,0.00,0.000,6,0.094,0.073,2611,2199,3438
$GC,2513,-0.92,-146.6,284.5,-9.6,193,2517,0.00,2.40,0.00,0.000,4,0.000,0.090,2611,786,3438
$GC,2568,-1.03,-146.6,289.9,-9.6,195,2573,0.20,2.33,0.00,0.000,6,0.061,0.072,2572,2199,3438
$GC,2920,-0.92,-146.6,331.7,-12.3,204,2922,0.15,0.00,0.00,0.000,6,0.102,0.000,2596,2199,3438
$GC,3223,-0.92,-146.6,362.0,-10.0,209,3227,0.00,2.40,0.00,0.000,4,0.000,0.092,2596,787,3438
$GC,3295,-0.98,-146.6,369.2,-10.0,210,3299,0.00,2.35,0.00,0.000,6,0.000,0.074,2596,2205,3438
$GC,3655,-0.98,-146.6,404.1,-9.8,216,3659,0.00,2.42,0.00,0.000,4,0.000,0.094,2596,794,3437
$GC,3688,-1.02,-146.6,407.5,-9.9,216,3693,0.00,2.33,0.00,0.000,6,0.000,0.075,2596,2199,3437
$GC,4014,-1.02,-146.6,437.9,-9.3,222,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2199,3437
$GC,4317,-1.02,-146.6,466.5,-9.4,227,4321,0.00,2.45,0.00,0.000,4,0.000,0.097,2596,785,3436
$GC,4350,-1.08,-146.6,469.6,-9.9,227,4355,0.17,2.38,0.00,0.000,6,0.063,0.077,2562,2206,3436
$GC,4676,-0.96,-146.6,505.7,-11.2,233,4678,0.17,0.00,0.00,0.000,6,0.104,0.000,2589,2206,3436
$GC,4980,-0.96,-146.6,531.9,-8.3,238,4984,0.00,2.47,0.00,0.000,4,0.000,0.100,2589,792,3435
$GC,5035,-1.01,-146.6,536.9,-9.1,238,5041,0.00,2.35,0.00,0.000,6,0.000,0.081,2589,2202,3435
$GC,5344,-1.01,-146.6,561.3,-7.9,244,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2202,3435
$GC,5647,-1.01,-146.6,585.7,-8.0,249,5651,0.00,2.47,0.00,0.000,4,0.000,0.104,2589,797,3434
$GC,5685,-1.07,-146.6,588.9,-8.2,249,5689,0.00,2.38,0.00,0.000,6,0.000,0.085,2590,2198,3434
$GC,6005,-1.07,-146.6,615.4,-8.4,255,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2198,3434
$GC,6309,-1.07,-146.6,642.8,-8.9,260,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2198,3434
$GC,6611,-1.07,-146.6,669.3,-8.7,265,6615,0.00,2.53,0.00,0.000,4,0.000,0.116,2589,795,3432
$GC,6649,-1.13,-146.6,672.8,-9.4,265,6654,0.20,2.42,0.00,0.000,6,0.062,0.094,2551,2200,3433
$GC,6969,-0.99,-146.6,708.4,-11.4,271,6971,0.17,0.00,0.00,0.000,6,0.105,0.000,2579,2201,3432
$GC,7272,-0.99,-146.6,735.3,-8.7,276,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2201,3432
$GC,7575,-0.99,-146.6,761.7,-8.7,281,7579,0.00,2.67,0.00,0.000,4,0.000,0.139,2579,800,3432
$GC,7613,-0.99,-146.6,765.3,-9.4,281,7617,0.00,2.58,0.00,0.000,6,0.000,0.123,2579,2199,3432
$GC,7933,-0.99,-146.6,795.3,-9.5,287,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2199,3431
$GC,8236,-0.99,-146.6,823.8,-9.4,292,8241,0.00,2.50,0.00,0.000,4,0.000,0.107,2579,795,3430
$GC,8299,-1.03,-146.6,829.5,-9.1,293,8303,0.00,2.40,0.00,0.000,6,0.000,0.084,2579,2208,3430
$GC,8663,-1.03,-146.6,860.3,-8.2,299,8667,0.00,2.53,0.00,0.000,4,0.000,0.106,2578,787,3430
$GC,8690,-1.03,-146.6,862.5,-9.2,299,8694,0.00,2.40,0.00,0.000,6,0.000,0.084,2579,2206,3430
$GC,9029,-1.03,-146.6,889.5,-8.0,305,9033,0.00,2.53,0.00,0.000,4,0.000,0.107,2579,788,3430
$GC,9051,-1.03,-146.6,891.4,-8.0,305,9055,0.00,2.40,0.00,0.000,6,0.000,0.084,2579,2201,3429
$GC,9394,-1.03,-146.6,917.0,-7.5,311,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2201,3429
$GC,9697,-1.03,-146.6,941.3,-8.1,316,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2201,3429
$GC,10000,-1.03,-146.6,967.4,-8.6,321,10004,0.00,2.53,0.00,0.000,4,0.000,0.110,2579,795,3429
$GC,10044,-1.09,-146.6,971.3,-9.3,321,10048,0.00,2.40,0.00,0.000,6,0.000,0.087,2579,2199,3429
$STATE,10295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10295,begin apogee
$GC,10300,-0.23,0.0,992.8,8.5,326,10430,1.00,0.00,127.03,1.468,6,0.091,0.000,2745,2406,2837
$STATE,10431,end apogee,CONTROL_FINISHED_OK
$STATE,10431,begin climb
$GC,10433,1.00,146.6,996.3,0.0,328,10577,1.62,2.90,133.50,1.415,4,0.048,0.139,3018,3764,2239
$GC,10667,0.69,146.6,974.9,16.3,332,10672,0.43,2.53,0.00,0.000,6,0.106,0.096,2956,2405,2240
$GC,11032,0.64,146.6,934.5,10.8,338,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2405,2238
$GC,11335,0.58,146.6,902.8,10.4,343,11340,0.15,2.55,0.00,0.000,4,0.113,0.110,2930,990,2238
$GC,11367,0.58,146.6,899.6,10.3,343,11371,0.00,2.45,0.00,0.000,6,0.000,0.089,2931,2400,2237
$GC,11699,0.61,172.3,870.2,8.8,349,11728,0.00,2.60,22.80,1.358,4,0.000,0.108,2930,996,2134
$GC,11802,0.63,185.1,860.4,9.4,350,11821,0.00,2.45,12.60,1.279,6,0.000,0.088,2930,2402,2082
$GC,12132,0.73,203.0,830.2,9.2,356,12157,0.15,2.60,16.85,1.308,4,0.071,0.108,2962,990,2009
$GC,12242,0.68,203.0,817.2,11.9,357,12246,0.00,2.47,0.00,0.000,6,0.000,0.088,2962,2398,2008
$GC,12561,0.68,203.0,778.5,12.1,363,12565,0.00,2.55,0.00,0.000,4,0.000,0.108,2962,986,2008
$GC,12593,0.63,203.0,774.3,12.4,363,12598,0.15,2.45,0.00,0.000,6,0.111,0.088,2940,2400,2008
$GC,12919,0.70,203.0,739.7,10.6,369,12923,0.00,2.53,0.00,0.000,4,0.000,0.107,2940,989,2007
$GC,12973,0.70,203.0,733.9,10.3,369,12980,0.00,2.42,0.00,0.000,6,0.000,0.088,2940,2400,2008
$GC,13283,0.77,203.0,702.3,10.2,375,13288,0.15,2.53,0.00,0.000,4,0.072,0.105,2972,988,2007
$GC,13338,0.70,203.0,695.6,12.3,375,13344,0.00,2.42,0.00,0.000,6,0.000,0.087,2972,2407,2007
$GC,13646,0.70,203.0,658.4,12.1,381,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2407,2007
$GC,13950,0.70,203.0,621.3,12.2,386,13954,0.00,2.53,0.00,0.000,4,0.000,0.106,2973,987,2007
$GC,14016,0.63,203.0,612.9,11.5,387,14021,0.20,2.42,0.00,0.000,6,0.106,0.087,2942,2405,2008
$GC,14375,0.71,205.7,576.6,9.9,393,14384,0.00,2.50,3.83,0.782,4,0.000,0.105,2942,992,1998
$GC,14446,0.75,205.7,569.3,10.5,394,14451,0.12,2.38,0.00,0.000,6,0.076,0.087,2966,2402,1998
$GC,14811,0.75,205.7,526.4,12.0,400,14815,0.00,2.50,0.00,0.000,4,0.000,0.104,2966,983,1999
$GC,14848,0.75,205.7,521.7,12.7,400,14853,0.00,2.40,0.00,0.000,6,0.000,0.086,2966,2401,1998
$GC,15175,0.75,205.7,482.1,12.2,406,15179,0.00,2.47,0.00,0.000,4,0.000,0.101,2966,988,1998
$GC,15236,0.75,205.7,474.5,12.4,407,15240,0.00,2.40,0.00,0.000,6,0.000,0.086,2966,2401,1998
$GC,15600,0.75,205.7,433.5,11.0,413,15604,0.00,2.47,0.00,0.000,4,0.000,0.100,2965,988,1998
$GC,15638,0.75,205.7,429.3,10.8,413,15643,0.00,2.40,0.00,0.000,6,0.000,0.084,2966,2409,1998
$GC,15964,0.75,205.7,395.5,10.5,419,15969,0.00,2.47,0.00,0.000,4,0.000,0.098,2966,988,1998
$GC,16036,0.75,205.7,387.2,11.4,420,16040,0.00,2.38,0.00,0.000,6,0.000,0.084,2966,2399,1999
$GC,16396,0.75,205.7,347.2,11.1,426,16397,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2399,1999
$GC,16699,0.75,205.7,314.5,10.8,431,16703,0.00,2.45,0.00,0.000,4,0.000,0.096,2966,986,1999
$GC,16760,0.75,205.7,307.7,12.1,432,16764,0.00,2.38,0.00,0.000,6,0.000,0.082,2966,2405,1999
$GC,17094,0.75,205.7,271.5,11.0,444,17098,0.00,2.45,0.00,0.000,4,0.000,0.094,2966,986,1999
$GC,17159,0.75,205.7,263.9,12.5,447,17164,0.00,2.38,0.00,0.000,6,0.000,0.081,2966,2406,1999
$GC,17486,0.75,205.7,229.3,10.2,463,17490,0.00,2.45,0.00,0.000,4,0.000,0.092,2966,984,1999
$GC,17549,0.76,213.4,223.1,9.7,466,17563,0.00,2.38,8.23,0.902,6,0.000,0.080,2966,2400,1966
$GC,17880,0.76,213.4,188.4,10.9,482,17884,0.00,2.42,0.00,0.000,4,0.000,0.091,2966,986,1966
$GC,17951,0.76,213.4,179.9,10.9,485,17956,0.00,2.38,0.00,0.000,6,0.000,0.078,2966,2407,1966
$GC,18275,0.81,213.4,144.8,10.9,503,18279,0.00,2.45,0.00,0.000,4,0.000,0.089,2966,982,1966
$GC,18314,0.81,213.4,140.5,10.3,506,18319,0.00,2.38,0.00,0.000,6,0.000,0.077,2966,2403,1966
$GC,18641,0.89,232.7,107.1,9.1,536,18664,0.15,2.42,16.55,0.898,4,0.065,0.088,2999,984,1887
$GC,18767,0.85,232.7,93.0,11.4,547,18771,0.00,2.38,0.00,0.000,6,0.000,0.076,2999,2400,1887
$GC,19102,0.87,250.9,61.1,9.2,595,19120,0.00,0.00,15.52,0.860,6,0.000,0.000,2999,2401,1814
$GC,19451,1.03,336.7,31.8,6.1,647,19525,0.12,2.50,66.65,0.828,4,0.068,0.085,3026,985,1464
$GC,19548,1.03,336.7,23.1,10.2,656,19553,0.00,2.45,0.00,0.000,6,0.000,0.074,3026,2407,1463
$STATE,19765,end climb,SURFACE_DEPTH_REACHED
$STATE,19765,begin surface coast
$FINISH,0.6,1.023793
$STATE,19778,end surface coast,CONTROL_FINISHED_OK
$STATE,19778,begin surface
$SM_CCo,19799,29.17,0.788,0,0,1205,400.08
$SM_GC,1.34,0.00,0.00,29.17,0.000,0.000,0.788,864,2184,1205,-8.91,-0.45,400.08
$IRIDIUM_FIX,4641.78,-12516.85,121297,090951
$TT8_MAMPS,0.027612
$HUMID,2133
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.90
$XPDR_PINGS,32
$24V_AH,22.6,36.431
$10V_AH,10.6,23.157
$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,30.150,176.875,423.550,29.175,0.000,33.021,28.524,123.085,16.750,0.000,0.000,15.759,1434.138,15807.354,586.199,1887.321,397.273,33.357,1556.432,0.000,1836.982,0.000,56.628
$DEVICE_MAMPS,148.031,138.827,1468.038,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.661,547.040,743.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34888,677
$CAP_FILE_SIZE,145705,0
$CFSIZE,260165632,258334720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,170908,203438,4657.747,-12525.166,32,1.3,32,18.4