version: 66.03
glider: 119
mission: 5
dive: 24
start: 9 20 108 3 40 24
data:
$ID,119
$MISSION,5
$DIVE,24
$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,440
$T_MISSION,480
$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,-210167.03
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,18
$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
$GPS1,033137,4701.415,-12553.896,42,1.6,42,18.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.2
$GPS2,033935,4701.425,-12553.814,10,2.3,29,18.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.239,0.009
$KALMAN_X,16010.4,1366.4,1108.7,-89036.9,-2308.2
$KALMAN_Y,20704.6,409.5,717.7,-16521.8,-388.2
$MHEAD_RNG_PITCHd_Wd,253.7,159402,-13.9,-7.500
$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,21,-0.81,-146.6,0.0,0.0,0,89,0.00,0.00,-66.75,0.000,2,0.000,0.000,861,2205,2843
$GC,92,-0.81,-146.6,4.0,-5.8,7,119,12.12,0.00,-11.73,0.000,6,0.150,0.000,2613,2205,3437
$GC,448,-0.59,-146.6,64.6,-12.6,56,455,0.30,2.38,0.00,0.000,4,0.089,0.074,2666,780,3439
$GC,529,-0.67,-146.6,72.5,-9.0,70,535,0.00,2.30,0.00,0.000,6,0.000,0.062,2666,2203,3439
$GC,860,-0.76,-146.6,97.6,-6.8,109,865,0.15,2.40,0.00,0.000,4,0.060,0.088,2630,3610,3439
$GC,888,-0.76,-146.6,100.1,-9.5,111,892,0.00,2.35,0.00,0.000,6,0.000,0.067,2631,2181,3439
$GC,1213,-0.76,-146.6,128.3,-7.4,141,1217,0.00,2.33,0.00,0.000,4,0.000,0.085,2631,796,3439
$GC,1267,-0.76,-146.6,132.2,-7.3,145,1274,0.00,2.30,0.00,0.000,6,0.000,0.070,2630,2200,3439
$GC,1592,-0.76,-146.6,155.0,-7.9,173,1596,0.00,2.38,0.00,0.000,4,0.000,0.084,2631,796,3439
$GC,1618,-0.76,-146.6,157.4,-8.1,174,1623,0.00,2.35,0.00,0.000,6,0.000,0.071,2631,2200,3439
$GC,1941,-0.76,-146.6,181.4,-7.3,190,1944,0.00,2.38,0.00,0.000,4,0.000,0.084,2630,786,3439
$GC,1986,-0.76,-146.6,184.9,-7.7,192,1990,0.00,2.35,0.00,0.000,6,0.000,0.072,2630,2206,3440
$GC,2312,-0.76,-146.6,210.9,-8.2,208,2316,0.00,2.40,0.00,0.000,4,0.000,0.086,2631,789,3439
$GC,2344,-0.76,-146.6,213.7,-8.5,209,2351,0.00,2.38,0.00,0.000,6,0.000,0.073,2631,2203,3439
$GC,2660,-0.76,-146.6,240.4,-9.1,225,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2203,3439
$GC,2969,-0.76,-146.6,268.0,-8.8,240,2973,0.00,2.40,0.00,0.000,4,0.000,0.087,2631,791,3438
$GC,3018,-0.76,-146.6,272.5,-8.5,242,3022,0.00,2.33,0.00,0.000,6,0.000,0.074,2630,2199,3438
$GC,3339,-0.76,-146.6,299.4,-8.1,258,3343,0.00,2.40,0.00,0.000,4,0.000,0.087,2631,789,3438
$GC,3366,-0.76,-146.6,301.6,-7.9,259,3370,0.00,2.35,0.00,0.000,6,0.000,0.074,2630,2208,3438
$GC,3710,-0.76,-146.6,326.5,-7.1,265,3714,0.00,2.40,0.00,0.000,4,0.000,0.088,2631,796,3437
$GC,3737,-0.76,-146.6,328.5,-7.1,265,3741,0.00,2.33,0.00,0.000,6,0.000,0.074,2631,2201,3437
$GC,4069,-0.76,-146.6,350.2,-6.6,271,4073,0.00,2.40,0.00,0.000,4,0.000,0.089,2631,793,3437
$GC,4092,-0.76,-146.6,351.7,-6.5,271,4096,0.00,2.33,0.00,0.000,6,0.000,0.074,2630,2199,3437
$GC,4429,-0.76,-146.6,374.2,-6.6,277,4433,0.00,2.40,0.00,0.000,4,0.000,0.090,2631,796,3436
$GC,4452,-0.80,-146.6,375.6,-6.5,277,4456,0.00,2.33,0.00,0.000,6,0.000,0.074,2630,2199,3437
$GC,4788,-0.80,-146.6,397.6,-6.5,283,4793,0.00,2.40,0.00,0.000,4,0.000,0.091,2631,796,3436
$GC,4824,-0.85,-146.6,400.1,-7.0,283,4828,0.00,2.35,0.00,0.000,6,0.000,0.076,2630,2208,3436
$GC,5149,-0.85,-146.6,423.0,-7.1,289,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2208,3435
$GC,5452,-0.85,-146.6,444.7,-7.1,294,5456,0.00,2.42,0.00,0.000,4,0.000,0.093,2631,797,3434
$GC,5496,-0.91,-146.6,447.9,-7.1,294,5501,0.15,2.35,0.00,0.000,6,0.061,0.077,2599,2204,3434
$GC,5810,-0.81,-146.6,474.6,-8.5,300,5815,0.12,2.45,0.00,0.000,4,0.102,0.094,2619,790,3434
$GC,5843,-0.81,-146.6,477.3,-7.4,300,5847,0.00,2.38,0.00,0.000,6,0.000,0.077,2619,2208,3434
$GC,6180,-0.81,-146.6,499.2,-6.4,306,6184,0.00,2.45,0.00,0.000,4,0.000,0.095,2620,794,3434
$GC,6213,-0.81,-146.6,501.3,-6.2,306,6217,0.00,2.38,0.00,0.000,6,0.000,0.079,2620,2206,3434
$GC,6545,-0.81,-146.6,521.2,-6.0,312,6549,0.00,2.45,0.00,0.000,4,0.000,0.097,2619,797,3434
$GC,6579,-0.81,-146.6,523.3,-6.9,312,6583,0.00,2.38,0.00,0.000,6,0.000,0.080,2620,2208,3433
$GC,6904,-0.81,-146.6,544.1,-6.5,318,6908,0.00,2.47,0.00,0.000,4,0.000,0.097,2619,790,3433
$GC,6938,-0.81,-146.6,546.5,-7.4,318,6942,0.00,2.38,0.00,0.000,6,0.000,0.081,2619,2202,3433
$GC,7263,-0.81,-146.6,567.7,-6.5,324,7267,0.00,2.45,0.00,0.000,4,0.000,0.098,2619,799,3432
$GC,7290,-0.81,-146.6,569.4,-6.3,324,7295,0.00,2.35,0.00,0.000,6,0.000,0.082,2619,2201,3432
$STATE,7387,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7388,begin apogee
$GC,7393,-0.23,0.0,575.4,6.3,326,7516,0.75,0.00,120.07,1.195,6,0.079,0.000,2747,2302,2837
$STATE,7517,end apogee,CONTROL_FINISHED_OK
$STATE,7517,begin climb
$GC,7519,0.81,146.6,578.9,0.0,328,7648,1.30,0.00,124.40,1.144,6,0.050,0.000,2974,2302,2239
$GC,7945,0.56,146.6,541.3,11.5,335,7950,0.30,2.55,0.00,0.000,4,0.100,0.106,2926,3704,2239
$GC,7983,0.45,146.6,537.3,10.1,335,7989,0.17,2.42,0.00,0.000,6,0.107,0.082,2900,2308,2239
$GC,8303,0.48,169.7,515.2,6.7,341,8328,0.00,2.53,20.00,1.107,4,0.000,0.100,2900,883,2145
$GC,8401,0.48,175.3,508.3,7.3,342,8412,0.00,2.42,6.55,0.926,6,0.000,0.081,2900,2299,2122
$GC,8727,0.56,205.0,487.3,6.5,348,8759,0.12,2.55,25.58,1.111,4,0.071,0.096,2925,884,2000
$GC,8820,0.51,205.0,479.6,9.3,349,8824,0.00,2.45,0.00,0.000,6,0.000,0.081,2925,2302,1999
$GC,9157,0.51,205.0,451.4,8.5,355,9161,0.00,2.50,0.00,0.000,4,0.000,0.097,2925,887,1998
$GC,9234,0.47,205.0,444.3,9.2,356,9239,0.12,2.40,0.00,0.000,6,0.107,0.081,2906,2301,1998
$GC,9582,0.53,205.0,415.4,8.4,362,9586,0.00,2.47,0.00,0.000,4,0.000,0.095,2906,883,1998
$GC,9653,0.53,205.0,408.8,9.3,363,9658,0.00,2.42,0.00,0.000,6,0.000,0.081,2905,2300,1998
$GC,10013,0.59,205.0,377.9,8.4,369,10017,0.00,2.45,0.00,0.000,4,0.000,0.094,2906,889,1998
$GC,10107,0.59,205.0,369.5,8.5,370,10112,0.00,2.38,0.00,0.000,6,0.000,0.081,2906,2300,1997
$GC,10445,0.65,205.0,343.0,7.8,376,10450,0.15,2.45,0.00,0.000,4,0.067,0.092,2941,888,1998
$GC,10507,0.55,205.0,337.2,9.4,377,10511,0.00,2.38,0.00,0.000,6,0.000,0.081,2941,2300,1997
$GC,10871,0.49,205.0,300.8,10.1,383,10876,0.17,2.45,0.00,0.000,4,0.099,0.092,2909,885,1997
$GC,10920,0.49,205.0,296.3,9.2,383,10925,0.00,2.38,0.00,0.000,6,0.000,0.080,2909,2309,1997
$GC,11242,0.56,205.0,270.2,7.9,399,11246,0.00,2.45,0.00,0.000,4,0.000,0.091,2909,888,1997
$GC,11328,0.56,205.0,263.4,8.4,403,11332,0.00,2.38,0.00,0.000,6,0.000,0.079,2909,2303,1997
$GC,11655,0.63,208.0,239.7,7.4,419,11665,0.15,2.42,3.50,0.609,4,0.064,0.092,2945,897,1989
$GC,11715,0.54,208.0,233.7,10.1,421,11722,0.15,2.33,0.00,0.000,6,0.104,0.078,2922,2300,1989
$GC,12031,0.54,208.0,207.1,8.1,437,12035,0.00,2.42,0.00,0.000,4,0.000,0.091,2922,888,1989
$GC,12119,0.54,208.0,199.7,7.9,441,12123,0.00,2.35,0.00,0.000,6,0.000,0.077,2922,2300,1989
$GC,12446,0.54,209.2,175.5,7.5,457,12450,0.00,2.42,0.00,0.000,4,0.000,0.090,2922,885,1988
$GC,12523,0.54,209.2,169.1,8.2,460,12531,0.00,2.38,0.00,0.000,6,0.000,0.077,2922,2297,1989
$GC,12842,0.58,209.2,143.2,7.8,480,12846,0.00,2.42,0.00,0.000,4,0.000,0.088,2922,878,1989
$GC,12875,0.58,209.2,140.5,7.6,482,12882,0.00,2.38,0.00,0.000,6,0.000,0.076,2922,2296,1989
$GC,13202,0.64,214.3,118.0,7.3,513,13214,0.00,2.42,6.85,0.805,4,0.000,0.087,2921,887,1962
$GC,13293,0.64,214.3,110.3,8.3,521,13297,0.00,2.35,0.00,0.000,6,0.000,0.076,2922,2300,1962
$GC,13621,0.80,258.0,88.5,6.0,551,13662,0.28,2.50,34.60,0.887,4,0.052,0.086,2978,878,1785
$GC,13708,0.68,258.0,81.4,9.0,559,13712,0.17,2.40,0.00,0.000,6,0.097,0.074,2951,2300,1784
$GC,14052,0.77,286.8,55.7,6.5,618,14081,0.00,2.53,23.73,0.851,4,0.000,0.087,2951,883,1667
$GC,14139,0.84,301.6,49.8,7.0,633,14158,0.17,2.40,13.05,0.808,6,0.058,0.074,2986,2304,1607
$GC,14483,0.92,317.7,19.4,7.0,674,14505,0.00,2.47,14.07,0.807,4,0.000,0.094,2986,3697,1541
$GC,14595,0.92,317.7,10.9,7.7,684,14600,0.00,2.35,0.00,0.000,6,0.000,0.069,2986,2293,1541
$STATE,14727,end climb,SURFACE_DEPTH_REACHED
$STATE,14727,begin surface coast
$FINISH,0.3,1.020863
$STATE,14749,end surface coast,CONTROL_FINISHED_OK
$STATE,14749,begin surface
$SM_CCo,14770,37.12,0.789,0,0,1206,400.08
$SM_GC,1.63,0.00,0.00,37.12,0.000,0.000,0.789,862,2189,1206,-8.91,-0.31,400.08
$IRIDIUM_FIX,1630.63,-17433.26,141297,202059
$TT8_MAMPS,0.027612
$HUMID,2115
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.4,5.6
$24V_AH,23.1,38.106
$10V_AH,10.6,24.117
$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,28.675,168.475,392.400,37.125,0.000,61.126,55.765,172.415,5.000,0.000,0.000,31.718,1392.737,10977.939,546.506,1871.449,485.978,33.361,1466.611,0.000,1821.592,0.000,34.018
$DEVICE_MAMPS,150.332,115.817,1194.986,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.496,548.169,962.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34859,698
$CAP_FILE_SIZE,129954,0
$CFSIZE,260165632,257683456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,200908,074825,4702.135,-12554.209,36,1.7,36,18.5