version: 66.03
glider: 119
mission: 5
dive: 16
start: 9 18 108 2 17 24
data:
$ID,119
$MISSION,5
$DIVE,16
$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,-210027.95
$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,19
$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
$GPS1,021156,4657.083,-12528.642,40,1.7,40,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.2
$GPS2,021633,4657.094,-12528.600,12,1.4,12,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.249,-0.086
$KALMAN_X,6912.5,51.3,85.0,-45691.3,134.6
$KALMAN_Y,18280.2,-119.2,-292.2,-20532.8,1841.6
$MHEAD_RNG_PITCHd_Wd,232.5,191304,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-61.67,0.000,2,0.000,0.000,863,2205,2629
$GC,88,-1.00,-146.6,3.3,-5.3,6,124,11.85,2.50,-18.10,0.000,4,0.150,0.097,2575,784,3436
$GC,248,-0.78,-146.6,36.7,-16.5,20,255,0.32,2.33,0.00,0.000,6,0.093,0.064,2627,2205,3437
$GC,590,-0.78,-146.6,75.1,-11.1,79,596,0.00,2.40,0.00,0.000,4,0.000,0.084,2628,786,3438
$GC,620,-0.82,-146.6,78.3,-10.6,84,626,0.00,2.33,0.00,0.000,6,0.000,0.068,2627,2199,3438
$GC,948,-0.91,-146.6,110.0,-9.6,116,949,0.12,0.00,0.00,0.000,6,0.067,0.000,2601,2199,3438
$GC,1265,-0.91,-146.6,145.0,-11.2,146,1269,0.00,2.40,0.00,0.000,4,0.000,0.087,2600,785,3439
$GC,1292,-0.91,-146.6,148.4,-11.8,148,1296,0.00,2.35,0.00,0.000,6,0.000,0.071,2601,2207,3439
$GC,1618,-0.91,-146.6,182.4,-10.5,164,1622,0.00,2.42,0.00,0.000,4,0.000,0.087,2600,780,3438
$GC,1657,-0.96,-146.6,186.3,-10.1,166,1661,0.00,2.33,0.00,0.000,6,0.000,0.072,2600,2199,3438
$GC,1989,-0.96,-146.6,221.5,-10.8,182,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2199,3438
$GC,2299,-0.96,-146.6,254.7,-11.0,197,2303,0.00,2.42,0.00,0.000,4,0.000,0.089,2601,777,3439
$GC,2331,-1.01,-146.6,258.5,-11.4,198,2338,0.00,2.35,0.00,0.000,6,0.000,0.073,2600,2203,3438
$GC,2647,-1.01,-146.6,292.0,-10.5,214,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2203,3439
$GC,2972,-1.01,-146.6,325.8,-10.3,222,2976,0.00,2.42,0.00,0.000,4,0.000,0.093,2600,787,3439
$GC,3017,-1.09,-146.6,330.3,-9.6,222,3021,0.20,2.35,0.00,0.000,6,0.058,0.075,2561,2201,3438
$GC,3331,-0.96,-146.6,368.5,-12.3,228,3333,0.17,0.00,0.00,0.000,6,0.104,0.000,2589,2201,3438
$GC,3635,-0.96,-146.6,395.9,-8.8,233,3639,0.00,2.45,0.00,0.000,4,0.000,0.095,2589,783,3438
$GC,3662,-0.96,-146.6,398.6,-9.4,233,3667,0.00,2.35,0.00,0.000,6,0.000,0.075,2588,2206,3438
$GC,4000,-0.96,-146.6,426.2,-8.2,239,4005,0.00,2.45,0.00,0.000,4,0.000,0.095,2589,786,3438
$GC,4028,-0.96,-146.6,428.7,-8.7,239,4032,0.00,2.35,0.00,0.000,6,0.000,0.077,2588,2199,3437
$GC,4359,-0.96,-146.6,457.7,-8.9,245,4363,0.00,2.45,0.00,0.000,4,0.000,0.097,2589,784,3438
$GC,4380,-0.96,-146.6,459.7,-9.2,245,4384,0.00,2.38,0.00,0.000,6,0.000,0.077,2588,2205,3437
$GC,4717,-0.96,-146.6,488.8,-8.7,251,4721,0.00,2.47,0.00,0.000,4,0.000,0.097,2589,783,3437
$GC,4744,-0.96,-146.6,491.2,-9.2,251,4748,0.00,2.38,0.00,0.000,6,0.000,0.079,2589,2203,3437
$GC,5082,-0.96,-146.6,521.1,-9.0,257,5086,0.00,2.47,0.00,0.000,4,0.000,0.100,2589,786,3437
$GC,5121,-1.01,-146.6,524.8,-9.5,257,5125,0.00,2.38,0.00,0.000,6,0.000,0.081,2588,2201,3436
$GC,5446,-1.01,-146.6,552.8,-8.6,263,5451,0.00,2.47,0.00,0.000,4,0.000,0.101,2588,787,3436
$GC,5474,-1.01,-146.6,555.4,-9.4,263,5478,0.00,2.38,0.00,0.000,6,0.000,0.083,2588,2206,3436
$GC,5805,-1.01,-146.6,584.3,-8.8,269,5809,0.00,2.50,0.00,0.000,4,0.000,0.103,2589,787,3435
$GC,5843,-1.06,-146.6,587.7,-9.3,269,5847,0.00,2.40,0.00,0.000,6,0.000,0.085,2588,2199,3435
$GC,6162,-1.06,-146.6,615.5,-8.7,275,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,3435
$GC,6466,-1.06,-146.6,641.5,-8.5,280,6470,0.00,2.53,0.00,0.000,4,0.000,0.109,2588,787,3434
$GC,6499,-1.11,-146.6,644.6,-9.6,280,6504,0.17,2.42,0.00,0.000,6,0.064,0.090,2554,2199,3435
$GC,6825,-0.99,-146.6,681.9,-11.7,286,6830,0.15,2.60,0.00,0.000,4,0.110,0.127,2581,3605,3434
$GC,6846,-0.92,-146.6,684.6,-11.7,286,6850,0.00,2.45,0.00,0.000,6,0.000,0.097,2581,2192,3433
$GC,7184,-0.92,-146.6,717.4,-9.7,292,7188,0.00,2.45,0.00,0.000,4,0.000,0.103,2581,784,3433
$GC,7221,-0.92,-146.6,721.5,-10.6,292,7225,0.00,2.38,0.00,0.000,6,0.000,0.081,2581,2206,3433
$GC,7548,-0.92,-146.6,753.9,-10.0,298,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2206,3433
$GC,7851,-0.92,-146.6,783.5,-9.7,303,7855,0.00,2.50,0.00,0.000,4,0.000,0.103,2581,787,3433
$GC,7889,-0.96,-146.6,787.1,-9.7,303,7893,0.00,2.40,0.00,0.000,6,0.000,0.083,2581,2203,3433
$GC,8209,-0.96,-146.6,816.6,-9.2,309,8213,0.00,2.47,0.00,0.000,4,0.000,0.104,2581,787,3432
$GC,8230,-0.96,-146.6,818.6,-8.8,309,8234,0.00,2.40,0.00,0.000,6,0.000,0.083,2581,2201,3432
$GC,8574,-0.96,-146.6,850.4,-9.5,315,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2201,3432
$GC,8877,-0.96,-146.6,878.7,-9.3,320,8881,0.00,2.53,0.00,0.000,4,0.000,0.105,2581,781,3431
$GC,8915,-1.01,-146.6,882.4,-9.4,320,8919,0.00,2.42,0.00,0.000,6,0.000,0.084,2581,2205,3432
$GC,9235,-1.01,-146.6,910.4,-8.8,326,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2205,3431
$GC,9539,-1.01,-146.6,935.6,-8.3,331,9543,0.00,2.53,0.00,0.000,4,0.000,0.107,2581,789,3431
$GC,9566,-1.06,-146.6,937.9,-9.2,331,9570,0.00,2.42,0.00,0.000,6,0.000,0.086,2581,2205,3431
$GC,9904,-1.06,-146.6,966.7,-8.6,337,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2205,3431
$STATE,10203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10203,begin apogee
$GC,10209,-0.23,0.0,994.0,9.0,342,10339,1.00,0.00,127.30,1.473,6,0.089,0.000,2747,2399,2837
$STATE,10340,end apogee,CONTROL_FINISHED_OK
$STATE,10340,begin climb
$GC,10342,1.00,146.6,998.3,0.0,344,10485,1.58,2.90,133.18,1.421,4,0.048,0.142,3016,3763,2239
$GC,10620,0.69,146.6,970.2,15.5,348,10625,0.43,2.53,0.00,0.000,6,0.105,0.097,2954,2394,2239
$GC,10957,0.64,146.6,930.7,11.6,354,10958,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2394,2239
$GC,11260,0.60,146.6,897.4,10.9,359,11262,0.15,0.00,0.00,0.000,6,0.110,0.000,2931,2394,2238
$GC,11563,0.61,155.0,868.3,9.6,364,11577,0.00,2.55,8.57,1.219,4,0.000,0.110,2931,987,2205
$GC,11599,0.61,155.0,864.5,10.0,364,11603,0.00,2.45,0.00,0.000,6,0.000,0.088,2931,2404,2204
$GC,11931,0.66,155.0,831.0,10.1,370,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2405,2204
$GC,12234,0.72,155.0,799.1,10.6,375,12239,0.12,2.55,0.00,0.000,4,0.074,0.107,2956,988,2203
$GC,12323,0.64,155.0,788.4,11.6,376,12327,0.00,2.42,0.00,0.000,6,0.000,0.090,2955,2398,2203
$GC,12660,0.64,155.0,749.0,11.7,382,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2398,2203
$GC,12963,0.64,155.0,716.5,10.5,387,12967,0.00,2.53,0.00,0.000,4,0.000,0.108,2956,989,2203
$GC,13001,0.58,155.0,712.5,10.7,387,13006,0.17,2.42,0.00,0.000,6,0.110,0.090,2930,2401,2203
$GC,13321,0.68,177.4,683.6,9.0,393,13346,0.00,2.53,19.70,1.268,4,0.000,0.107,2929,988,2113
$GC,13374,0.75,187.4,678.5,9.5,393,13389,0.17,2.45,9.98,1.157,6,0.066,0.089,2962,2407,2073
$GC,13743,0.75,187.4,635.2,11.9,400,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2407,2073
$GC,14046,0.75,187.4,598.8,12.0,405,14051,0.00,2.55,0.00,0.000,4,0.000,0.105,2962,984,2073
$GC,14118,0.71,187.4,589.8,12.0,406,14123,0.00,2.45,0.00,0.000,6,0.000,0.087,2962,2407,2072
$GC,14472,0.71,187.4,548.5,11.6,412,14477,0.00,2.53,0.00,0.000,4,0.000,0.104,2962,988,2072
$GC,14516,0.71,187.4,543.4,11.6,412,14520,0.00,2.42,0.00,0.000,6,0.000,0.087,2962,2402,2072
$GC,14836,0.71,187.4,509.2,10.5,418,14841,0.00,2.53,0.00,0.000,4,0.000,0.102,2962,979,2072
$GC,14869,0.71,187.4,505.7,10.5,418,14873,0.00,2.42,0.00,0.000,6,0.000,0.086,2962,2399,2072
$GC,15200,0.71,187.4,472.0,10.3,424,15205,0.00,2.50,0.00,0.000,4,0.000,0.100,2962,985,2072
$GC,15244,0.71,187.4,467.3,10.4,424,15248,0.00,2.42,0.00,0.000,6,0.000,0.085,2962,2407,2072
$GC,15565,0.71,187.4,432.7,10.9,430,15569,0.00,2.50,0.00,0.000,4,0.000,0.100,2962,987,2072
$GC,15597,0.71,187.4,428.8,11.3,430,15601,0.00,2.40,0.00,0.000,6,0.000,0.084,2962,2400,2071
$GC,15928,0.71,187.4,392.5,10.9,436,15933,0.00,2.47,0.00,0.000,4,0.000,0.097,2962,986,2072
$GC,15955,0.71,187.4,389.5,11.3,436,15960,0.00,2.42,0.00,0.000,6,0.000,0.083,2962,2400,2072
$GC,16293,0.72,199.6,357.1,9.4,442,16311,0.00,2.50,11.52,1.032,4,0.000,0.097,2962,981,2023
$GC,16345,0.73,203.5,351.8,9.8,442,16357,0.00,2.40,4.90,0.813,6,0.000,0.081,2962,2403,2007
$GC,16659,0.73,203.5,318.9,10.6,448,16663,0.00,2.47,0.00,0.000,4,0.000,0.094,2962,985,2007
$GC,16730,0.73,203.5,311.0,10.9,449,16734,0.00,2.40,0.00,0.000,6,0.000,0.081,2962,2406,2006
$GC,17054,0.73,203.5,278.1,10.2,461,17058,0.00,2.47,0.00,0.000,4,0.000,0.092,2962,978,2007
$GC,17125,0.73,203.5,270.8,10.7,464,17129,0.00,2.40,0.00,0.000,6,0.000,0.080,2962,2404,2007
$GC,17447,0.73,203.5,238.7,10.0,480,17451,0.00,2.45,0.00,0.000,4,0.000,0.091,2962,976,2007
$GC,17495,0.73,203.5,233.3,11.3,482,17500,0.00,2.40,0.00,0.000,6,0.000,0.079,2962,2405,2007
$GC,17817,0.73,203.5,196.0,12.8,498,17821,0.00,2.45,0.00,0.000,4,0.000,0.090,2962,979,2007
$GC,17871,0.73,203.5,189.1,11.7,500,17878,0.00,2.40,0.00,0.000,6,0.000,0.078,2962,2397,2007
$GC,18187,0.73,203.5,156.6,10.6,516,18188,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2397,2008
$GC,18506,0.78,206.8,121.5,9.8,543,18517,0.00,2.38,4.78,0.718,4,0.000,0.090,2962,983,1993
$GC,18619,0.84,257.9,111.6,7.7,553,18666,0.00,2.38,40.30,0.910,6,0.000,0.077,2962,2404,1784
$GC,18992,0.99,270.8,81.3,9.4,588,19010,0.25,2.45,11.75,0.843,4,0.055,0.086,3014,983,1732
$GC,19114,0.95,270.8,65.7,12.3,608,19120,0.00,2.40,0.00,0.000,6,0.000,0.074,3014,2406,1732
$GC,19458,0.95,270.8,29.9,10.5,662,19462,0.00,2.38,0.00,0.000,4,0.000,0.097,3014,3765,1732
$GC,19715,0.98,294.4,6.7,8.9,684,19743,0.00,2.33,19.15,0.825,6,0.000,0.070,3014,2385,1635
$STATE,19782,end climb,SURFACE_DEPTH_REACHED
$STATE,19783,begin surface coast
$FINISH,0.2,1.023868
$STATE,19805,end surface coast,CONTROL_FINISHED_OK
$STATE,19805,begin surface
$SM_CCo,19826,48.40,0.791,0,0,1206,400.08
$SM_GC,1.44,0.00,0.00,48.40,0.000,0.000,0.791,864,2184,1206,-8.91,-0.45,400.08
$IRIDIUM_FIX,4641.78,-12528.96,121297,202049
$TT8_MAMPS,0.027612
$HUMID,2123
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.10
$XPDR_PINGS,22
$24V_AH,22.5,36.772
$10V_AH,10.6,23.332
$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,28.850,191.250,391.125,48.400,0.000,25.236,24.967,129.631,14.250,0.000,0.000,13.582,1451.912,15810.084,581.513,1911.948,396.539,33.357,1572.612,0.000,1866.982,0.000,56.634
$DEVICE_MAMPS,150.332,141.895,1472.640,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.872,560.264,772.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34772,693
$CAP_FILE_SIZE,146242,0
$CFSIZE,260165632,258211840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,180908,074956,4655.797,-12531.848,40,1.8,40,18.4