version: 66.03
glider: 119
mission: 5
dive: 15
start: 9 17 108 20 39 48
data:
$ID,119
$MISSION,5
$DIVE,15
$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,-210013.75
$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
$GPS1,203438,4657.747,-12525.166,32,1.3,32,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.6
$GPS2,203857,4657.764,-12525.189,11,1.9,11,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.247,-0.091
$KALMAN_X,6631.4,-126.3,-42.1,-40795.5,520.8
$KALMAN_Y,17575.3,-213.4,-51.4,-18733.6,1903.8
$MHEAD_RNG_PITCHd_Wd,231.3,195579,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-60.78,0.000,2,0.000,0.000,864,2182,2603
$GC,87,-1.00,-146.6,3.2,-5.1,6,124,11.80,2.38,-19.27,0.000,4,0.149,0.095,2574,797,3436
$GC,192,-0.55,-146.6,27.5,-27.5,15,197,0.62,2.33,0.00,0.000,6,0.092,0.063,2675,2205,3436
$GC,532,-0.78,-146.6,58.8,-5.3,67,538,0.22,2.38,0.00,0.000,4,0.051,0.078,2625,790,3437
$GC,573,-0.84,-146.6,62.4,-9.7,74,580,0.00,2.30,0.00,0.000,6,0.000,0.066,2625,2200,3437
$GC,913,-0.90,-146.6,101.4,-11.0,119,917,0.00,2.40,0.00,0.000,4,0.000,0.085,2626,789,3438
$GC,934,-0.99,-146.6,103.9,-11.3,120,941,0.22,2.33,0.00,0.000,6,0.054,0.070,2580,2208,3438
$GC,1259,-0.89,-146.6,147.9,-13.0,151,1261,0.15,0.00,0.00,0.000,6,0.099,0.000,2604,2208,3438
$GC,1569,-0.89,-146.6,180.0,-9.6,167,1573,0.00,2.40,0.00,0.000,4,0.000,0.087,2604,797,3438
$GC,1631,-0.95,-146.6,186.1,-9.9,170,1635,0.00,2.33,0.00,0.000,6,0.000,0.073,2604,2201,3438
$GC,1958,-0.95,-146.6,218.4,-9.1,186,1962,0.00,2.40,0.00,0.000,4,0.000,0.088,2604,790,3438
$GC,2002,-1.01,-146.6,222.3,-8.8,188,2007,0.15,2.33,0.00,0.000,6,0.064,0.072,2574,2199,3438
$GC,2322,-0.92,-146.6,256.4,-10.9,204,2327,0.15,2.38,0.00,0.000,4,0.104,0.089,2601,797,3438
$GC,2349,-0.92,-146.6,259.4,-10.5,205,2353,0.00,2.35,0.00,0.000,6,0.000,0.073,2601,2202,3438
$GC,2670,-0.92,-146.6,291.2,-10.1,221,2674,0.00,2.40,0.00,0.000,4,0.000,0.090,2601,797,3438
$GC,2691,-0.92,-146.6,293.4,-10.2,222,2695,0.00,2.33,0.00,0.000,6,0.000,0.073,2601,2195,3438
$GC,3014,-0.92,-146.6,325.7,-10.2,230,3018,0.00,2.40,0.00,0.000,4,0.000,0.091,2602,793,3438
$GC,3040,-0.97,-146.6,328.6,-10.0,230,3044,0.00,2.35,0.00,0.000,6,0.000,0.074,2601,2207,3438
$GC,3378,-0.97,-146.6,360.8,-9.5,236,3382,0.00,2.42,0.00,0.000,4,0.000,0.092,2601,795,3438
$GC,3422,-1.05,-146.6,365.1,-8.7,236,3427,0.17,2.33,0.00,0.000,6,0.061,0.076,2567,2199,3438
$GC,3737,-0.96,-146.6,401.0,-11.5,242,3738,0.15,0.00,0.00,0.000,6,0.105,0.000,2590,2199,3438
$GC,4041,-0.96,-146.6,428.7,-8.9,247,4045,0.00,2.42,0.00,0.000,4,0.000,0.096,2590,797,3437
$GC,4079,-0.96,-146.6,432.2,-8.2,247,4083,0.00,2.35,0.00,0.000,6,0.000,0.077,2590,2206,3437
$GC,4401,-0.96,-146.6,457.9,-8.1,253,4405,0.00,2.45,0.00,0.000,4,0.000,0.095,2590,790,3437
$GC,4439,-0.96,-146.6,461.2,-8.4,253,4443,0.00,2.35,0.00,0.000,6,0.000,0.077,2590,2199,3437
$GC,4760,-0.96,-146.6,488.6,-8.8,259,4764,0.00,2.42,0.00,0.000,4,0.000,0.097,2590,800,3436
$GC,4793,-0.96,-146.6,491.9,-9.2,259,4797,0.00,2.33,0.00,0.000,6,0.000,0.079,2590,2202,3436
$GC,5126,-0.96,-146.6,522.1,-9.1,265,5130,0.00,2.45,0.00,0.000,4,0.000,0.099,2590,798,3435
$GC,5170,-1.02,-146.6,526.4,-9.2,265,5174,0.00,2.35,0.00,0.000,6,0.000,0.080,2590,2198,3436
$GC,5485,-1.02,-146.6,553.8,-8.7,271,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,3435
$GC,5788,-1.02,-146.6,580.1,-8.8,276,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2198,3435
$GC,6090,-1.02,-146.6,607.2,-8.9,281,6094,0.00,2.50,0.00,0.000,4,0.000,0.107,2590,793,3434
$GC,6140,-1.09,-146.6,611.5,-8.3,281,6145,0.15,2.40,0.00,0.000,6,0.067,0.087,2561,2200,3434
$GC,6448,-0.99,-146.6,642.5,-10.1,286,6450,0.12,0.00,0.00,0.000,6,0.111,0.000,2581,2201,3434
$GC,6751,-0.99,-146.6,668.3,-8.3,291,6756,0.00,2.53,0.00,0.000,4,0.000,0.114,2580,801,3434
$GC,6784,-0.99,-146.6,671.2,-8.6,291,6788,0.00,2.42,0.00,0.000,6,0.000,0.095,2580,2205,3434
$GC,7117,-0.99,-146.6,700.3,-8.8,297,7121,0.00,2.58,0.00,0.000,4,0.000,0.120,2580,801,3433
$GC,7160,-0.99,-146.6,704.4,-9.1,297,7164,0.00,2.45,0.00,0.000,6,0.000,0.102,2580,2199,3433
$GC,7481,-0.99,-146.6,733.7,-9.2,303,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2199,3433
$GC,7785,-0.99,-146.6,761.1,-9.1,308,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2199,3432
$GC,8087,-0.99,-146.6,789.1,-9.3,313,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2199,3432
$GC,8391,-0.99,-146.6,817.6,-9.5,318,8396,0.00,2.47,0.00,0.000,4,0.000,0.104,2580,800,3431
$GC,8436,-1.05,-146.6,821.9,-9.5,318,8440,0.00,2.40,0.00,0.000,6,0.000,0.083,2580,2212,3431
$GC,8750,-1.05,-146.6,851.5,-9.4,324,8755,0.00,2.53,0.00,0.000,4,0.000,0.104,2580,790,3431
$GC,8789,-1.09,-146.6,855.3,-9.1,324,8794,0.00,2.40,0.00,0.000,6,0.000,0.084,2580,2202,3430
$GC,9109,-1.09,-146.6,883.8,-8.8,330,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2202,3430
$GC,9412,-1.09,-146.6,909.2,-8.4,335,9417,0.00,2.50,0.00,0.000,4,0.000,0.106,2580,800,3430
$GC,9434,-1.09,-146.6,910.9,-8.0,335,9438,0.00,2.38,0.00,0.000,6,0.000,0.084,2580,2206,3430
$GC,9777,-1.09,-146.6,937.1,-7.6,341,9781,0.00,2.53,0.00,0.000,4,0.000,0.107,2580,794,3430
$GC,9809,-1.14,-146.6,939.7,-8.2,341,9814,0.17,2.40,0.00,0.000,6,0.063,0.086,2546,2202,3430
$GC,10135,-1.02,-146.6,972.2,-10.2,347,10137,0.17,0.00,0.00,0.000,6,0.112,0.000,2573,2201,3429
$STATE,10375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10375,begin apogee
$GC,10380,-0.23,0.0,993.0,8.5,351,10511,1.05,0.00,126.80,1.470,6,0.091,0.000,2746,2398,2838
$STATE,10511,end apogee,CONTROL_FINISHED_OK
$STATE,10512,begin climb
$GC,10514,1.00,146.6,996.1,0.0,353,10657,1.58,2.90,133.35,1.417,4,0.050,0.142,3016,3762,2239
$GC,10871,0.69,146.6,954.4,16.6,358,10876,0.43,2.47,0.00,0.000,6,0.110,0.094,2954,2404,2239
$GC,11197,0.64,146.6,917.7,11.1,364,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2403,2238
$GC,11500,0.59,146.6,884.5,11.0,369,11502,0.15,0.00,0.00,0.000,6,0.114,0.000,2931,2404,2238
$GC,11803,0.61,161.8,855.9,9.3,374,11819,0.00,0.00,14.23,1.307,6,0.000,0.000,2932,2404,2177
$GC,12106,0.68,174.8,827.5,9.4,379,12125,0.00,2.58,12.50,1.279,4,0.000,0.108,2931,994,2123
$GC,12199,0.69,186.3,817.9,9.5,380,12216,0.00,2.45,11.73,1.256,6,0.000,0.088,2931,2402,2077
$GC,12536,0.80,204.5,786.4,9.2,386,12561,0.20,2.60,16.77,1.289,4,0.063,0.108,2973,990,2003
$GC,12594,0.73,204.5,779.7,11.5,386,12600,0.00,2.47,0.00,0.000,6,0.000,0.087,2973,2404,2003
$GC,12904,0.67,204.5,744.0,11.6,392,12905,0.15,0.00,0.00,0.000,6,0.112,0.000,2951,2404,2003
$GC,13206,0.67,204.5,712.2,10.5,397,13210,0.00,2.55,0.00,0.000,4,0.000,0.107,2951,982,2002
$GC,13283,0.67,204.5,703.3,12.2,398,13287,0.00,2.45,0.00,0.000,6,0.000,0.088,2951,2409,2002
$GC,13638,0.72,204.5,664.3,10.9,404,13642,0.00,2.53,0.00,0.000,4,0.000,0.105,2951,990,2002
$GC,13704,0.72,204.5,657.1,11.0,405,13708,0.00,2.45,0.00,0.000,6,0.000,0.088,2951,2402,2001
$GC,14069,0.72,204.5,619.4,10.4,411,14073,0.00,2.50,0.00,0.000,4,0.000,0.105,2951,990,2001
$GC,14123,0.72,204.5,613.0,12.4,411,14130,0.00,2.40,0.00,0.000,6,0.000,0.087,2951,2399,2001
$GC,14433,0.76,204.5,578.3,11.3,417,14437,0.00,2.50,0.00,0.000,4,0.000,0.104,2951,989,2001
$GC,14487,0.76,204.5,572.1,11.0,417,14494,0.00,2.40,0.00,0.000,6,0.000,0.087,2951,2399,2001
$GC,14797,0.80,204.5,538.6,11.0,423,14802,0.12,2.50,0.00,0.000,4,0.074,0.103,2976,987,2001
$GC,14835,0.73,204.5,533.7,12.7,423,14839,0.00,2.40,0.00,0.000,6,0.000,0.087,2975,2399,2001
$GC,15162,0.68,204.5,493.8,12.2,429,15166,0.15,2.50,0.00,0.000,4,0.110,0.102,2950,986,2001
$GC,15199,0.68,204.5,489.3,11.2,429,15203,0.00,2.40,0.00,0.000,6,0.000,0.087,2950,2400,2001
$GC,15526,0.74,204.5,455.8,10.4,435,15530,0.00,2.47,0.00,0.000,4,0.000,0.100,2950,989,2001
$GC,15574,0.74,204.5,450.4,11.2,435,15579,0.00,2.40,0.00,0.000,6,0.000,0.085,2950,2403,2001
$GC,15890,0.80,204.5,417.6,10.4,441,15895,0.12,2.47,0.00,0.000,4,0.074,0.099,2975,988,2001
$GC,15933,0.73,204.5,412.5,12.0,441,15938,0.00,2.40,0.00,0.000,6,0.000,0.084,2975,2407,2002
$GC,16248,0.73,204.5,376.4,11.5,447,16252,0.00,2.47,0.00,0.000,4,0.000,0.098,2975,988,2002
$GC,16291,0.68,204.5,370.9,12.4,447,16296,0.15,2.38,0.00,0.000,6,0.106,0.084,2953,2400,2001
$GC,16606,0.74,204.5,336.9,10.8,453,16610,0.00,2.45,0.00,0.000,4,0.000,0.097,2952,988,2002
$GC,16667,0.74,204.5,330.5,10.4,454,16671,0.00,2.40,0.00,0.000,6,0.000,0.084,2952,2403,2002
$GC,17032,0.81,216.2,295.3,9.5,460,17048,0.12,2.45,10.80,0.985,4,0.073,0.094,2977,987,1955
$GC,17095,0.76,216.2,288.7,11.1,462,17099,0.00,2.40,0.00,0.000,6,0.000,0.082,2977,2407,1955
$GC,17421,0.76,216.2,252.9,10.8,478,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2407,1955
$GC,17730,0.76,216.2,216.4,12.5,493,17734,0.00,2.45,0.00,0.000,4,0.000,0.093,2977,980,1954
$GC,17763,0.76,216.2,212.0,12.5,494,17767,0.00,2.40,0.00,0.000,6,0.000,0.079,2977,2393,1954
$GC,18084,0.76,216.2,173.3,11.4,510,18088,0.00,2.42,0.00,0.000,4,0.000,0.091,2977,986,1955
$GC,18116,0.76,216.2,169.5,10.5,511,18123,0.00,2.40,0.00,0.000,6,0.000,0.078,2977,2402,1954
$GC,18436,0.76,216.2,132.5,11.7,534,18440,0.00,2.42,0.00,0.000,4,0.000,0.089,2978,986,1955
$GC,18490,0.76,216.2,126.0,12.1,538,18497,0.00,2.38,0.00,0.000,6,0.000,0.077,2978,2393,1955
$GC,18819,0.83,267.8,97.5,7.7,569,18865,0.00,2.45,40.75,0.903,4,0.000,0.087,2977,984,1745
$GC,18899,0.89,267.8,89.7,10.4,576,18906,0.00,2.40,0.00,0.000,6,0.000,0.076,2977,2406,1745
$GC,19237,1.02,275.9,56.0,9.6,628,19249,0.20,0.00,8.15,0.789,6,0.058,0.000,3020,2407,1713
$GC,19575,1.09,336.3,22.0,7.2,671,19629,0.00,2.50,47.40,0.830,4,0.000,0.085,3021,984,1464
$STATE,19785,end climb,SURFACE_DEPTH_REACHED
$STATE,19785,begin surface coast
$FINISH,0.4,1.023831
$STATE,19797,end surface coast,CONTROL_FINISHED_OK
$STATE,19798,begin surface
$SM_CCo,19820,29.40,0.793,0,0,1206,400.08
$SM_GC,1.38,0.00,0.00,29.40,0.000,0.000,0.793,863,2203,1206,-8.91,0.08,400.08
$IRIDIUM_FIX,4641.78,-12524.57,121297,151547
$TT8_MAMPS,0.028379
$HUMID,2109
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.70
$XPDR_PINGS,23
$24V_AH,22.5,36.604
$10V_AH,10.6,23.244
$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,30.800,189.700,422.475,29.400,0.000,23.321,24.422,115.662,14.500,0.000,0.000,12.867,1461.431,15788.650,593.021,1889.487,377.272,33.366,1575.891,0.000,1843.087,0.000,56.630
$DEVICE_MAMPS,148.798,141.895,1469.572,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.301,557.237,767.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34785,691
$CAP_FILE_SIZE,148917,0
$CFSIZE,260165632,258269184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,180908,021156,4657.083,-12528.642,40,1.7,40,18.4