version: 66.03
glider: 119
mission: 5
dive: 19
start: 9 18 108 16 39 54
data:
$ID,119
$MISSION,5
$DIVE,19
$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,-210073.48
$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,23
$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
$GPS1,163437,4654.677,-12537.061,40,1.4,45,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.6
$GPS2,163903,4654.688,-12537.093,14,1.6,14,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,-0.033
$KALMAN_X,11437.2,310.7,-334.5,-60789.0,1840.2
$KALMAN_Y,17167.3,-228.7,-264.8,-23798.5,835.2
$MHEAD_RNG_PITCHd_Wd,244.4,180769,-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,-60.75,0.000,2,0.000,0.000,864,2182,2602
$GC,87,-1.00,-146.6,3.2,-5.0,6,124,11.85,2.40,-19.52,0.000,4,0.151,0.094,2574,785,3436
$GC,310,-0.76,-146.6,48.6,-18.9,29,317,0.35,2.33,0.00,0.000,6,0.091,0.063,2630,2212,3436
$GC,650,-0.80,-146.6,87.5,-8.4,82,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2212,3437
$GC,969,-0.90,-146.6,116.8,-8.6,112,971,0.15,0.00,0.00,0.000,6,0.061,0.000,2598,2212,3437
$GC,1285,-0.90,-146.6,152.8,-12.2,141,1289,0.00,2.42,0.00,0.000,4,0.000,0.087,2598,786,3437
$GC,1379,-0.90,-146.6,163.6,-9.7,145,1383,0.00,2.35,0.00,0.000,6,0.000,0.072,2598,2205,3437
$GC,1701,-0.90,-146.6,193.7,-9.2,161,1705,0.00,2.38,0.00,0.000,4,0.000,0.087,2598,795,3437
$GC,1740,-0.90,-146.6,197.5,-9.7,163,1744,0.00,2.33,0.00,0.000,6,0.000,0.073,2598,2203,3437
$GC,2073,-0.90,-146.6,229.7,-9.2,179,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2203,3437
$GC,2382,-0.90,-146.6,255.7,-8.3,194,2386,0.00,2.40,0.00,0.000,4,0.000,0.090,2598,795,3437
$GC,2426,-0.96,-146.6,259.7,-9.3,196,2430,0.00,2.33,0.00,0.000,6,0.000,0.074,2598,2206,3437
$GC,2752,-0.96,-146.6,290.4,-9.5,212,2757,0.00,2.42,0.00,0.000,4,0.000,0.091,2598,786,3437
$GC,2793,-1.02,-146.6,294.4,-9.9,214,2797,0.00,2.35,0.00,0.000,6,0.000,0.075,2598,2206,3437
$GC,3162,-1.02,-146.6,328.1,-9.1,222,3166,0.00,2.42,0.00,0.000,4,0.000,0.091,2598,789,3437
$GC,3189,-1.06,-146.6,330.6,-8.9,222,3194,0.15,2.33,0.00,0.000,6,0.067,0.075,2568,2201,3437
$GC,3521,-0.96,-146.6,364.9,-10.5,228,3523,0.12,0.00,0.00,0.000,6,0.109,0.000,2587,2200,3437
$GC,3823,-0.96,-146.6,390.8,-8.5,233,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2201,3436
$GC,4127,-0.96,-146.6,417.5,-8.8,238,4131,0.00,2.42,0.00,0.000,4,0.000,0.095,2587,796,3436
$GC,4177,-0.96,-146.6,422.5,-9.7,238,4181,0.00,2.35,0.00,0.000,6,0.000,0.077,2587,2204,3436
$GC,4492,-0.96,-146.6,453.8,-10.1,244,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2204,3436
$GC,4794,-0.96,-146.6,484.6,-10.1,249,4799,0.00,2.45,0.00,0.000,4,0.000,0.097,2587,789,3435
$GC,4816,-0.96,-146.6,486.8,-9.8,249,4820,0.00,2.35,0.00,0.000,6,0.000,0.078,2587,2206,3435
$GC,5159,-0.96,-146.6,520.8,-9.9,255,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,3435
$GC,5462,-0.96,-146.6,548.9,-9.3,260,5466,0.00,2.47,0.00,0.000,4,0.000,0.100,2587,790,3434
$GC,5489,-0.96,-146.6,551.5,-9.7,260,5493,0.00,2.35,0.00,0.000,6,0.000,0.081,2587,2199,3434
$GC,5820,-0.96,-146.6,580.6,-8.7,266,5824,0.00,2.45,0.00,0.000,4,0.000,0.101,2587,798,3434
$GC,5842,-0.96,-146.6,582.5,-9.1,266,5846,0.00,2.35,0.00,0.000,6,0.000,0.084,2587,2199,3434
$GC,6179,-0.96,-146.6,614.7,-9.8,272,6183,0.00,2.45,0.00,0.000,4,0.000,0.104,2587,798,3433
$GC,6200,-0.96,-146.6,616.9,-10.1,272,6205,0.00,2.40,0.00,0.000,6,0.000,0.086,2587,2199,3433
$GC,6544,-0.96,-146.6,651.4,-10.1,278,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2199,3433
$GC,6847,-0.96,-146.6,680.7,-9.6,283,6851,0.00,2.53,0.00,0.000,4,0.000,0.114,2587,799,3432
$GC,6879,-1.01,-146.6,683.9,-9.7,283,6884,0.00,2.42,0.00,0.000,6,0.000,0.093,2587,2206,3433
$GC,7205,-1.01,-146.6,711.7,-8.5,289,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,3432
$GC,7509,-1.01,-146.6,736.7,-8.3,294,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2206,3432
$GC,7811,-1.01,-146.6,761.9,-8.3,299,7815,0.00,2.47,0.00,0.000,4,0.000,0.101,2587,796,3432
$GC,7833,-1.06,-146.6,763.6,-7.8,299,7837,0.00,2.38,0.00,0.000,6,0.000,0.083,2587,2202,3431
$GC,8170,-1.10,-146.6,789.0,-7.5,305,8172,0.15,0.00,0.00,0.000,6,0.069,0.000,2558,2202,3431
$GC,8473,-1.02,-146.6,819.1,-10.1,310,8477,0.00,2.47,0.00,0.000,4,0.000,0.103,2558,797,3430
$GC,8494,-0.94,-146.6,821.5,-10.7,310,8499,0.20,2.38,0.00,0.000,6,0.099,0.084,2590,2205,3430
$GC,8832,-1.01,-146.6,850.1,-8.4,316,8836,0.00,2.50,0.00,0.000,4,0.000,0.104,2590,788,3430
$GC,8860,-1.08,-146.6,852.8,-9.3,316,8865,0.15,2.40,0.00,0.000,6,0.068,0.084,2561,2203,3430
$GC,9191,-1.01,-146.6,886.4,-10.4,322,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2204,3430
$GC,9495,-0.95,-146.6,918.0,-10.5,327,9500,0.15,2.53,0.00,0.000,4,0.108,0.107,2588,790,3429
$GC,9534,-1.03,-146.6,921.9,-9.6,327,9538,0.00,2.42,0.00,0.000,6,0.000,0.087,2587,2209,3429
$GC,9854,-1.09,-146.6,948.7,-8.3,333,9856,0.15,0.00,0.00,0.000,6,0.069,0.000,2558,2208,3429
$GC,10158,-1.02,-146.6,976.3,-9.1,338,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2209,3429
$STATE,10336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10336,begin apogee
$GC,10342,-0.23,0.0,991.1,8.3,341,10472,1.15,0.00,126.55,1.468,6,0.092,0.000,2748,2398,2837
$STATE,10472,end apogee,CONTROL_FINISHED_OK
$STATE,10472,begin climb
$GC,10475,1.00,146.6,992.8,0.0,343,10618,1.60,2.92,133.38,1.417,4,0.048,0.143,3017,3764,2239
$GC,10752,0.68,146.6,958.1,17.8,347,10758,0.45,2.47,0.00,0.000,6,0.110,0.095,2952,2412,2239
$GC,11073,0.63,146.6,916.9,12.7,353,11077,0.00,2.58,0.00,0.000,4,0.000,0.124,2951,3768,2238
$GC,11111,0.53,146.6,911.8,13.9,353,11116,0.22,2.42,0.00,0.000,6,0.116,0.092,2919,2395,2238
$GC,11431,0.63,176.6,882.7,8.6,359,11465,0.00,2.62,26.58,1.355,4,0.000,0.108,2919,989,2117
$GC,11544,0.74,215.9,873.3,8.2,360,11585,0.22,2.47,34.75,1.346,6,0.058,0.089,2961,2402,1956
$GC,11922,0.74,215.9,830.8,11.6,367,11926,0.00,2.58,0.00,0.000,4,0.000,0.107,2961,984,1955
$GC,11977,0.70,215.9,824.2,12.2,367,11984,0.00,2.47,0.00,0.000,6,0.000,0.088,2961,2405,1955
$GC,12287,0.70,215.9,787.6,11.8,373,12291,0.00,2.55,0.00,0.000,4,0.000,0.107,2961,990,1954
$GC,12348,0.70,215.9,779.8,12.9,374,12352,0.00,2.45,0.00,0.000,6,0.000,0.089,2961,2405,1954
$GC,12712,0.70,215.9,732.6,13.1,380,12716,0.00,2.53,0.00,0.000,4,0.000,0.107,2962,990,1954
$GC,12760,0.70,215.9,726.3,12.9,380,12765,0.00,2.42,0.00,0.000,6,0.000,0.088,2961,2400,1954
$GC,13075,0.70,215.9,687.7,12.2,386,13079,0.00,2.53,0.00,0.000,4,0.000,0.106,2961,984,1954
$GC,13113,0.70,215.9,682.9,12.4,386,13117,0.00,2.42,0.00,0.000,6,0.000,0.088,2961,2400,1954
$GC,13439,0.70,215.9,643.6,12.0,392,13444,0.00,2.50,0.00,0.000,4,0.000,0.104,2961,989,1954
$GC,13505,0.70,215.9,635.5,11.6,393,13510,0.00,2.40,0.00,0.000,6,0.000,0.088,2961,2399,1954
$GC,13871,0.70,215.9,591.4,12.2,399,13875,0.00,2.50,0.00,0.000,4,0.000,0.104,2961,988,1954
$GC,13920,0.70,215.9,585.0,12.6,399,13924,0.00,2.40,0.00,0.000,6,0.000,0.087,2961,2401,1954
$GC,14234,0.70,215.9,545.0,12.8,405,14239,0.00,2.50,0.00,0.000,4,0.000,0.102,2961,982,1954
$GC,14272,0.70,215.9,540.0,12.5,405,14277,0.00,2.42,0.00,0.000,6,0.000,0.086,2961,2406,1954
$GC,14599,0.70,215.9,499.8,12.2,411,14603,0.00,2.50,0.00,0.000,4,0.000,0.100,2961,984,1954
$GC,14660,0.70,215.9,492.2,12.6,412,14664,0.00,2.42,0.00,0.000,6,0.000,0.085,2961,2406,1954
$GC,15024,0.70,215.9,448.1,12.1,418,15029,0.00,2.47,0.00,0.000,4,0.000,0.099,2961,988,1954
$GC,15068,0.70,215.9,442.5,12.3,418,15072,0.00,2.40,0.00,0.000,6,0.000,0.084,2961,2407,1954
$GC,15388,0.70,215.9,404.7,11.8,424,15393,0.00,2.47,0.00,0.000,4,0.000,0.097,2961,988,1954
$GC,15450,0.70,215.9,397.3,12.5,425,15454,0.00,2.40,0.00,0.000,6,0.000,0.084,2961,2400,1954
$GC,15821,0.70,215.9,353.8,11.8,431,15825,0.00,2.45,0.00,0.000,4,0.000,0.095,2961,987,1954
$GC,15882,0.70,215.9,346.3,12.3,432,15886,0.00,2.40,0.00,0.000,6,0.000,0.083,2961,2408,1954
$GC,16246,0.70,215.9,305.7,11.0,438,16250,0.00,2.47,0.00,0.000,4,0.000,0.094,2961,980,1955
$GC,16324,0.70,215.9,297.0,11.6,439,16331,0.00,2.40,0.00,0.000,6,0.000,0.081,2961,2395,1954
$GC,16639,0.70,215.9,262.3,11.0,455,16643,0.00,2.42,0.00,0.000,4,0.000,0.094,2961,986,1955
$GC,16679,0.70,215.9,257.6,11.6,457,16683,0.00,2.38,0.00,0.000,6,0.000,0.081,2961,2402,1955
$GC,17005,0.70,215.9,217.5,12.3,473,17009,0.00,2.42,0.00,0.000,4,0.000,0.091,2961,986,1955
$GC,17059,0.70,215.9,210.8,11.9,475,17066,0.00,2.40,0.00,0.000,6,0.000,0.080,2961,2402,1955
$GC,17376,0.71,225.9,178.0,9.5,491,17390,0.00,2.40,9.38,0.897,4,0.000,0.091,2961,978,1916
$GC,17446,0.71,225.9,171.1,10.2,494,17450,0.00,2.38,0.00,0.000,6,0.000,0.078,2961,2405,1916
$GC,17766,0.80,250.5,141.1,8.9,514,17792,0.00,2.45,20.98,0.930,4,0.000,0.089,2961,986,1814
$GC,17855,0.87,250.5,132.0,10.7,521,17861,0.15,2.38,0.00,0.000,6,0.063,0.077,2990,2400,1814
$GC,18179,0.87,250.5,92.5,10.1,552,18183,0.00,2.42,0.00,0.000,4,0.000,0.087,2991,985,1814
$GC,18211,0.89,272.1,89.2,9.0,554,18238,0.00,2.40,17.95,0.884,6,0.000,0.077,2991,2403,1727
$GC,18570,0.98,272.1,51.4,12.5,610,18577,0.00,2.42,0.00,0.000,4,0.000,0.087,2991,985,1727
$GC,18679,1.05,272.1,39.1,10.1,628,18686,0.20,2.38,0.00,0.000,6,0.056,0.076,3030,2401,1726
$GC,19003,1.09,305.1,5.3,8.5,659,19030,0.00,2.38,21.88,0.828,4,0.000,0.095,3030,3763,1592
$STATE,19040,end climb,SURFACE_DEPTH_REACHED
$STATE,19040,begin surface coast
$FINISH,0.3,1.005121
$STATE,19064,end surface coast,CONTROL_FINISHED_OK
$STATE,19064,begin surface
$SM_CCo,19087,43.50,0.795,0,0,1205,400.08
$SM_GC,1.66,0.00,0.00,43.50,0.000,0.000,0.795,862,2184,1205,-8.91,-0.45,400.08
$IRIDIUM_FIX,4635.50,-12534.09,131297,111150
$TT8_MAMPS,0.027612
$HUMID,2127
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,15.60
$XPDR_PINGS,17
$24V_AH,22.6,37.253
$10V_AH,10.6,23.573
$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,29.500,185.825,391.425,43.500,0.000,24.063,30.558,113.392,13.000,0.000,0.000,15.578,1415.639,15148.541,582.507,1874.534,376.489,33.356,1543.824,0.000,1824.608,0.000,57.844
$DEVICE_MAMPS,151.099,143.429,1468.038,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.276,540.290,742.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31686,664
$CAP_FILE_SIZE,142253,0
$CFSIZE,260165632,258048000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,180908,220008,4653.925,-12540.855,45,1.2,45,18.4