version: 66.03
glider: 119
mission: 5
dive: 18
start: 9 18 108 11 6 36
data:
$ID,119
$MISSION,5
$DIVE,18
$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,-210057.28
$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,26
$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
$GPS1,110138,4654.976,-12533.670,27,1.3,27,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.2
$GPS2,110545,4654.943,-12533.701,10,1.6,10,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.264,0.002
$KALMAN_X,9430.4,460.5,565.9,-55559.7,646.8
$KALMAN_Y,17500.3,-428.3,148.9,-23865.3,188.0
$MHEAD_RNG_PITCHd_Wd,252.1,185022,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-61.92,0.000,2,0.000,0.000,863,2185,2632
$GC,87,-1.00,-146.6,3.1,-4.6,6,123,11.80,2.38,-18.58,0.000,4,0.151,0.095,2573,798,3435
$GC,265,-0.75,-146.6,43.8,-17.0,23,272,0.35,2.30,0.00,0.000,6,0.093,0.061,2630,2205,3436
$GC,612,-0.79,-146.6,87.4,-12.8,80,616,0.00,2.38,0.00,0.000,4,0.000,0.081,2630,797,3437
$GC,629,-0.86,-146.6,89.3,-11.5,81,633,0.00,2.30,0.00,0.000,6,0.000,0.066,2630,2198,3438
$GC,956,-0.98,-146.6,121.6,-8.6,111,957,0.22,0.00,0.00,0.000,6,0.055,0.000,2585,2198,3438
$GC,1271,-0.91,-146.6,160.8,-12.7,137,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2199,3438
$GC,1579,-0.85,-146.6,194.0,-9.8,152,1581,0.17,0.00,0.00,0.000,6,0.097,0.000,2614,2199,3437
$GC,1889,-0.92,-146.6,215.6,-7.0,167,1893,0.00,2.38,0.00,0.000,4,0.000,0.087,2614,798,3437
$GC,1934,-1.05,-146.6,219.2,-7.8,169,1939,0.22,2.33,0.00,0.000,6,0.056,0.073,2569,2207,3437
$GC,2256,-0.93,-146.6,256.3,-12.4,185,2261,0.15,2.40,0.00,0.000,4,0.103,0.087,2596,797,3437
$GC,2288,-0.93,-146.6,260.0,-10.2,186,2295,0.00,2.35,0.00,0.000,6,0.000,0.074,2596,2198,3438
$GC,2604,-0.93,-146.6,289.7,-9.4,202,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2198,3438
$GC,2909,-0.93,-146.6,319.0,-9.8,211,2913,0.00,2.40,0.00,0.000,4,0.000,0.091,2596,790,3437
$GC,2958,-0.99,-146.6,324.1,-10.1,211,2962,0.00,2.35,0.00,0.000,6,0.000,0.075,2596,2205,3437
$GC,3273,-0.99,-146.6,356.2,-10.2,217,3277,0.00,2.42,0.00,0.000,4,0.000,0.091,2596,789,3437
$GC,3289,-0.99,-146.6,357.9,-10.3,217,3293,0.00,2.38,0.00,0.000,6,0.000,0.075,2596,2201,3437
$GC,3638,-0.99,-146.6,393.7,-10.3,223,3642,0.00,2.42,0.00,0.000,4,0.000,0.093,2596,788,3437
$GC,3672,-1.05,-146.6,397.2,-10.9,223,3677,0.12,2.35,0.00,0.000,6,0.071,0.077,2571,2202,3437
$GC,3997,-0.97,-146.6,435.4,-11.7,229,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2201,3437
$GC,4300,-0.89,-146.6,468.4,-10.7,234,4305,0.15,2.45,0.00,0.000,4,0.104,0.095,2598,788,3436
$GC,4327,-0.89,-146.6,471.0,-9.2,234,4331,0.00,2.38,0.00,0.000,6,0.000,0.079,2598,2207,3437
$GC,4665,-0.94,-146.6,498.8,-8.3,240,4669,0.00,2.45,0.00,0.000,4,0.000,0.097,2598,793,3436
$GC,4686,-1.00,-146.6,500.6,-8.6,240,4690,0.00,2.35,0.00,0.000,6,0.000,0.080,2598,2200,3435
$GC,5024,-1.05,-146.6,527.7,-8.0,246,5026,0.15,0.00,0.00,0.000,6,0.070,0.000,2569,2201,3435
$GC,5326,-0.98,-146.6,558.3,-10.2,251,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2200,3435
$GC,5629,-0.90,-146.6,590.2,-10.6,256,5631,0.20,0.00,0.00,0.000,6,0.101,0.000,2601,2200,3434
$GC,5932,-0.97,-146.6,614.6,-7.8,261,5936,0.00,2.50,0.00,0.000,4,0.000,0.114,2601,3604,3434
$GC,5965,-1.05,-146.6,617.4,-8.6,261,5970,0.17,2.38,0.00,0.000,6,0.064,0.084,2567,2201,3433
$GC,6291,-0.99,-146.6,647.2,-9.1,267,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2201,3433
$GC,6594,-0.92,-146.6,674.3,-8.9,272,6596,0.17,0.00,0.00,0.000,6,0.104,0.000,2595,2201,3434
$GC,6897,-0.98,-146.6,694.3,-6.4,277,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2201,3433
$GC,7200,-1.05,-146.6,713.0,-6.2,282,7205,0.12,2.62,0.00,0.000,4,0.075,0.133,2570,793,3432
$GC,7249,-1.05,-146.6,717.1,-8.6,282,7254,0.00,2.47,0.00,0.000,6,0.000,0.107,2570,2194,3432
$GC,7559,-1.05,-146.6,743.3,-8.6,287,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2194,3432
$GC,7862,-1.05,-146.6,771.4,-9.3,292,7866,0.00,2.78,0.00,0.000,4,0.000,0.158,2570,3606,3431
$GC,7905,-1.05,-146.6,775.7,-9.2,292,7909,0.00,2.40,0.00,0.000,6,0.000,0.091,2570,2198,3430
$GC,8226,-1.01,-146.6,807.2,-9.8,298,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2199,3431
$GC,8530,-1.01,-146.6,836.9,-9.8,303,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2198,3430
$GC,8832,-1.01,-146.6,865.9,-9.5,308,8836,0.00,2.58,0.00,0.000,4,0.000,0.117,2569,3608,3430
$GC,8859,-0.97,-146.6,868.5,-9.5,308,8863,0.00,2.40,0.00,0.000,6,0.000,0.088,2570,2196,3430
$GC,9190,-0.97,-146.6,897.7,-8.8,314,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2196,3430
$GC,9493,-0.97,-146.6,923.5,-8.5,319,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2197,3429
$GC,9796,-0.97,-146.6,948.8,-8.3,324,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2197,3429
$GC,10099,-0.97,-146.6,973.8,-8.1,329,10103,0.00,2.62,0.00,0.000,4,0.000,0.123,2569,3610,3429
$GC,10120,-0.97,-146.6,975.7,-9.2,329,10124,0.00,2.42,0.00,0.000,6,0.000,0.093,2570,2205,3428
$STATE,10339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10339,begin apogee
$GC,10345,-0.23,0.0,993.1,7.9,333,10475,1.08,0.00,126.62,1.471,6,0.092,0.000,2747,2407,2837
$STATE,10475,end apogee,CONTROL_FINISHED_OK
$STATE,10476,begin climb
$GC,10478,1.00,146.6,995.6,0.0,335,10616,1.62,0.00,134.18,1.418,6,0.051,0.000,3020,2407,2239
$GC,10885,0.73,146.6,947.8,14.7,342,10890,0.35,2.58,0.00,0.000,4,0.106,0.124,2964,3761,2239
$GC,10940,0.59,146.6,940.1,13.1,342,10947,0.22,2.42,0.00,0.000,6,0.110,0.093,2932,2399,2239
$GC,11249,0.60,153.7,909.8,9.7,348,11263,0.00,2.60,7.75,1.180,4,0.000,0.113,2932,988,2210
$GC,11303,0.62,167.1,904.4,9.4,348,11323,0.00,2.47,13.23,1.292,6,0.000,0.089,2932,2406,2154
$GC,11684,0.68,174.7,867.7,9.7,355,11698,0.00,2.60,7.82,1.185,4,0.000,0.110,2932,990,2124
$GC,11771,0.69,183.4,859.1,9.6,356,11786,0.00,2.47,9.60,1.230,6,0.000,0.091,2932,2409,2089
$GC,12119,0.79,201.4,827.2,9.2,362,12144,0.17,2.65,16.85,1.309,4,0.066,0.110,2968,989,2015
$GC,12223,0.72,201.4,815.1,12.5,363,12227,0.00,2.47,0.00,0.000,6,0.000,0.090,2968,2400,2014
$GC,12548,0.72,201.4,777.0,11.7,369,12552,0.00,2.55,0.00,0.000,4,0.000,0.110,2968,987,2013
$GC,12580,0.66,201.4,773.0,12.5,369,12585,0.15,2.45,0.00,0.000,6,0.112,0.090,2947,2406,2014
$GC,12905,0.66,201.4,738.2,10.8,375,12909,0.00,2.55,0.00,0.000,4,0.000,0.109,2946,982,2013
$GC,12971,0.66,201.4,730.9,10.8,376,12975,0.00,2.45,0.00,0.000,6,0.000,0.090,2946,2406,2013
$GC,13336,0.71,201.4,690.0,11.3,382,13341,0.00,2.53,0.00,0.000,4,0.000,0.107,2946,987,2013
$GC,13431,0.71,201.4,678.6,11.1,383,13435,0.00,2.42,0.00,0.000,6,0.000,0.090,2946,2402,2013
$GC,13768,0.77,201.4,640.4,11.3,389,13773,0.00,2.50,0.00,0.000,4,0.000,0.105,2946,989,2013
$GC,13857,0.77,201.4,630.2,11.4,390,13861,0.00,2.42,0.00,0.000,6,0.000,0.089,2946,2393,2013
$GC,14200,0.83,201.4,592.8,10.8,396,14205,0.15,2.47,0.00,0.000,4,0.069,0.103,2979,988,2013
$GC,14227,0.77,201.4,589.4,13.3,396,14231,0.00,2.40,0.00,0.000,6,0.000,0.087,2979,2408,2013
$GC,14565,0.71,201.4,544.3,13.5,402,14570,0.15,2.53,0.00,0.000,4,0.112,0.103,2953,980,2013
$GC,14608,0.71,201.4,538.5,12.1,402,14612,0.00,2.42,0.00,0.000,6,0.000,0.088,2953,2405,2013
$GC,14929,0.75,201.4,500.7,11.8,408,14933,0.00,2.50,0.00,0.000,4,0.000,0.103,2953,985,2013
$GC,14972,0.75,201.4,495.5,12.1,408,14976,0.00,2.40,0.00,0.000,6,0.000,0.087,2953,2401,2013
$GC,15293,0.79,201.4,461.3,10.6,414,15297,0.00,2.47,0.00,0.000,4,0.000,0.101,2953,988,2013
$GC,15364,0.79,201.4,453.6,11.2,415,15369,0.00,2.42,0.00,0.000,6,0.000,0.087,2953,2403,2013
$GC,15724,0.85,204.2,418.1,9.9,421,15734,0.15,2.47,3.78,0.719,4,0.069,0.101,2986,990,2004
$GC,15784,0.75,204.2,410.9,11.7,421,15791,0.15,2.40,0.00,0.000,6,0.113,0.086,2964,2410,2004
$GC,16093,0.75,204.2,377.7,10.7,427,16097,0.00,2.47,0.00,0.000,4,0.000,0.098,2964,988,2004
$GC,16147,0.75,204.2,371.6,11.9,427,16154,0.00,2.38,0.00,0.000,6,0.000,0.084,2963,2398,2004
$GC,16457,0.75,204.2,338.9,10.6,433,16461,0.00,2.45,0.00,0.000,4,0.000,0.097,2964,988,2004
$GC,16522,0.75,204.2,331.4,11.0,434,16527,0.00,2.38,0.00,0.000,6,0.000,0.083,2964,2404,2004
$GC,16848,0.75,204.2,294.3,11.4,440,16852,0.00,2.45,0.00,0.000,4,0.000,0.095,2964,986,2004
$GC,16914,0.75,204.2,286.7,11.3,443,16919,0.00,2.38,0.00,0.000,6,0.000,0.081,2964,2400,2004
$GC,17241,0.75,204.2,250.9,11.2,459,17245,0.00,2.42,0.00,0.000,4,0.000,0.094,2963,986,2005
$GC,17296,0.75,204.2,244.5,11.5,461,17301,0.00,2.38,0.00,0.000,6,0.000,0.081,2963,2402,2005
$GC,17618,0.75,204.2,207.8,11.3,477,17622,0.00,2.45,0.00,0.000,4,0.000,0.092,2964,976,2005
$GC,17717,0.75,204.2,196.7,10.8,481,17724,0.00,2.40,0.00,0.000,6,0.000,0.080,2964,2396,2005
$GC,18033,0.77,224.5,167.0,9.1,497,18056,0.00,2.47,17.42,0.943,4,0.000,0.092,2963,979,1921
$GC,18150,0.77,224.5,154.1,10.6,502,18154,0.00,2.40,0.00,0.000,6,0.000,0.078,2964,2408,1921
$GC,18477,0.89,272.5,120.5,7.8,531,18521,0.15,2.55,38.22,0.913,4,0.067,0.089,2997,978,1725
$GC,18584,0.93,300.3,111.0,8.7,540,18612,0.00,2.42,23.27,0.877,6,0.000,0.077,2997,2403,1612
$GC,18936,1.01,300.3,65.6,13.4,581,18942,0.12,2.45,0.00,0.000,4,0.069,0.087,3022,985,1611
$GC,18999,1.01,300.3,57.3,10.8,592,19005,0.00,2.38,0.00,0.000,6,0.000,0.076,3022,2400,1611
$GC,19335,1.06,300.3,18.3,11.4,639,19339,0.00,2.42,0.00,0.000,4,0.000,0.085,3022,985,1611
$GC,19408,1.12,310.4,10.8,9.5,645,19423,0.00,2.38,9.55,0.784,6,0.000,0.075,3022,2401,1571
$STATE,19513,end climb,SURFACE_DEPTH_REACHED
$STATE,19513,begin surface coast
$FINISH,0.3,1.012129
$STATE,19536,end surface coast,CONTROL_FINISHED_OK
$STATE,19536,begin surface
$SM_CCo,19557,40.97,0.805,0,0,1206,400.08
$SM_GC,1.73,0.00,0.00,40.97,0.000,0.000,0.805,864,2182,1206,-8.91,-0.51,400.08
$IRIDIUM_FIX,4638.64,-12528.96,131297,080851
$TT8_MAMPS,0.027612
$HUMID,2142
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.00
$XPDR_PINGS,23
$24V_AH,22.6,37.083
$10V_AH,10.6,23.487
$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,30.475,176.925,408.300,40.975,0.000,31.525,23.706,103.383,14.750,0.000,0.000,12.375,1406.255,15649.102,619.438,1815.565,360.573,33.348,1544.293,0.000,1772.074,0.000,59.447
$DEVICE_MAMPS,151.099,158.002,1471.106,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.995,536.035,715.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31670,657
$CAP_FILE_SIZE,144115,0
$CFSIZE,260165632,258105344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,180908,163437,4654.677,-12537.061,40,1.4,45,18.4