version: 66.03
glider: 119
mission: 5
dive: 225
start: 11 21 108 5 43 26
data:
$ID,119
$MISSION,5
$DIVE,225
$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,600
$T_MISSION,660
$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,120
$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,350
$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,-213927.78
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$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,3
$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
$GPS1,053708,4701.022,-12504.604,41,1.5,41,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.9
$GPS2,054233,4701.043,-12504.636,10,1.9,10,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.173,-0.089
$KALMAN_X,-25933.4,-378.0,69.1,17878.0,-528.4
$KALMAN_Y,247814.7,196.4,217.8,-243600.9,1905.6
$MHEAD_RNG_PITCHd_Wd,98.8,8601,-11.5,-5.500
$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,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.55,0.000,2,0.000,0.000,861,2212,2539
$GC,77,-0.67,-117.3,3.2,-3.7,5,121,12.23,2.40,-22.45,0.000,4,0.143,0.074,2647,3598,3316
$GC,290,-0.43,-117.3,26.4,-9.9,24,295,0.32,2.25,0.00,0.000,6,0.080,0.040,2702,2183,3316
$GC,620,-0.49,-117.3,47.5,-7.1,63,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2178,3316
$GC,964,-0.75,-117.3,73.9,-7.7,124,971,0.32,2.40,0.00,0.000,4,0.046,0.061,2633,3602,3316
$GC,1060,-0.57,-117.3,82.8,-9.0,138,1067,0.22,2.22,0.00,0.000,6,0.079,0.041,2671,2198,3317
$GC,1387,-0.57,-117.3,100.3,-4.3,169,1391,0.00,2.35,0.00,0.000,4,0.000,0.061,2671,794,3316
$GC,1450,-0.57,-117.3,103.5,-5.4,174,1454,0.00,2.20,0.00,0.000,6,0.000,0.044,2671,2205,3316
$GC,1777,-0.57,-117.3,121.3,-5.9,204,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3317
$GC,2094,-0.62,-117.3,139.8,-5.9,234,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3316
$GC,2418,-0.67,-117.3,156.0,-4.5,259,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3316
$GC,2728,-0.73,-117.3,168.5,-4.1,274,2730,0.15,0.00,0.00,0.000,6,0.056,0.000,2637,2205,3316
$GC,3037,-0.64,-117.3,187.4,-6.7,289,3041,0.12,2.30,0.00,0.000,4,0.089,0.061,2659,787,3316
$GC,3076,-0.64,-117.3,189.9,-6.2,290,3082,0.00,2.20,0.00,0.000,6,0.000,0.044,2659,2216,3316
$GC,3391,-0.64,-117.3,208.4,-5.9,306,3395,0.00,2.30,0.00,0.000,4,0.000,0.061,2659,791,3316
$GC,3424,-0.64,-117.3,210.5,-6.3,307,3430,0.00,2.17,0.00,0.000,6,0.000,0.043,2659,2179,3317
$GC,3740,-0.64,-117.3,230.9,-6.6,323,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2179,3317
$GC,4050,-0.64,-117.3,251.0,-6.6,338,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2179,3317
$GC,4358,-0.64,-117.3,270.3,-6.2,353,4362,0.00,2.25,0.00,0.000,4,0.000,0.062,2659,790,3316
$GC,4385,-0.69,-117.3,272.0,-6.3,354,4389,0.00,2.17,0.00,0.000,6,0.000,0.043,2659,2190,3316
$GC,4706,-0.69,-117.3,292.9,-6.6,370,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2189,3316
$GC,5012,-0.69,-117.3,311.8,-6.1,379,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2189,3316
$GC,5314,-0.69,-117.3,329.7,-5.8,384,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2190,3316
$GC,5618,-0.73,-117.3,349.6,-6.7,389,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2189,3316
$GC,5921,-0.77,-117.3,369.0,-6.3,394,5923,0.15,0.00,0.00,0.000,6,0.058,0.000,2626,2189,3316
$GC,6225,-0.67,-117.3,391.2,-7.4,399,6230,0.15,2.28,0.00,0.000,4,0.085,0.064,2655,804,3315
$GC,6297,-0.72,-117.3,396.2,-6.9,400,6301,0.00,2.12,0.00,0.000,6,0.000,0.044,2655,2170,3315
$GC,6651,-0.72,-117.3,416.4,-5.6,406,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2170,3315
$GC,6955,-0.77,-117.3,431.1,-4.8,411,6959,0.12,2.28,0.00,0.000,4,0.063,0.067,2626,792,3315
$GC,6975,-0.77,-117.3,432.4,-6.0,411,6979,0.00,2.15,0.00,0.000,6,0.000,0.044,2626,2151,3315
$GC,7319,-0.68,-117.3,455.4,-7.0,417,7321,0.12,0.00,0.00,0.000,6,0.088,0.000,2648,2151,3314
$GC,7621,-0.68,-117.3,473.2,-5.9,422,7625,0.00,2.42,0.00,0.000,4,0.000,0.069,2648,3597,3314
$GC,7654,-0.68,-117.3,475.0,-5.7,422,7658,0.00,2.30,0.00,0.000,6,0.000,0.044,2648,2142,3313
$GC,7981,-0.68,-117.3,491.1,-4.9,428,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2142,3313
$GC,8283,-0.68,-117.3,506.0,-4.8,433,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2142,3313
$GC,8586,-0.68,-117.3,521.2,-5.0,438,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2142,3313
$GC,8890,-0.68,-117.3,537.2,-5.2,443,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2142,3312
$GC,9194,-0.68,-117.3,554.6,-5.8,448,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2140,3312
$GC,9496,-0.68,-117.3,568.6,-4.5,453,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2140,3312
$GC,9798,-0.68,-117.3,585.1,-5.5,458,9803,0.00,2.47,0.00,0.000,4,0.000,0.071,2647,3596,3311
$GC,9825,-0.68,-117.3,586.9,-6.7,458,9829,0.00,2.30,0.00,0.000,6,0.000,0.045,2648,2170,3311
$GC,10163,-0.68,-117.3,604.7,-5.1,464,10167,0.00,2.33,0.00,0.000,4,0.000,0.078,2648,804,3311
$GC,10202,-0.75,-117.3,607.0,-6.0,464,10206,0.00,2.12,0.00,0.000,6,0.000,0.048,2648,2152,3311
$GC,10528,-0.75,-117.3,622.5,-4.7,470,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2152,3311
$GC,10831,-0.75,-117.3,633.8,-3.6,475,10835,0.00,2.28,0.00,0.000,4,0.000,0.074,2648,792,3310
$GC,10876,-1.66,-117.3,634.7,-1.6,475,10881,1.17,2.12,0.00,0.000,6,0.050,0.051,2436,2131,3310
$STATE,11067,end dive,NO_VERTICAL_VELOCITY
$STATE,11067,begin apogee
$GC,11073,-0.23,0.0,635.5,0.0,479,11175,1.88,0.00,98.35,1.259,6,0.081,0.000,2747,2207,2837
$STATE,11176,end apogee,CONTROL_FINISHED_OK
$STATE,11176,begin climb
$GC,11178,0.67,117.3,635.6,0.0,480,11293,1.17,2.70,105.40,1.207,4,0.074,0.077,2939,796,2357
$GC,11548,0.44,117.3,613.6,8.5,485,11553,0.25,2.28,0.00,0.000,6,0.094,0.053,2901,2199,2357
$GC,11867,0.44,117.3,593.7,6.1,491,11871,0.00,2.35,0.00,0.000,4,0.000,0.077,2900,804,2357
$GC,11917,0.37,117.3,590.0,7.0,491,11921,0.00,2.20,0.00,0.000,6,0.000,0.051,2900,2182,2357
$GC,12232,0.34,128.0,572.8,5.2,497,12246,0.15,0.00,10.90,1.126,6,0.097,0.000,2875,2182,2315
$GC,12535,0.45,164.9,560.3,4.3,502,12575,0.12,2.42,33.65,1.198,4,0.064,0.077,2903,801,2164
$GC,12598,0.45,164.9,556.1,7.2,503,12602,0.00,2.20,0.00,0.000,6,0.000,0.049,2903,2154,2164
$GC,12963,0.45,164.9,526.7,8.0,509,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2153,2164
$GC,13266,0.45,165.5,508.8,5.5,514,13270,0.00,2.28,0.00,0.000,4,0.000,0.077,2903,796,2164
$GC,13298,0.45,165.5,506.8,5.9,514,13302,0.00,2.17,0.00,0.000,6,0.000,0.049,2903,2150,2164
$GC,13630,0.45,165.5,486.1,6.4,520,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2150,2164
$GC,13933,0.45,165.5,468.9,5.6,525,13937,0.00,2.25,0.00,0.000,4,0.000,0.074,2903,802,2164
$GC,13971,0.45,165.5,466.5,6.4,525,13975,0.00,2.10,0.00,0.000,6,0.000,0.048,2903,2135,2164
$GC,14297,0.47,183.3,450.1,4.9,531,14316,0.00,0.00,17.60,1.132,6,0.000,0.000,2903,2135,2089
$GC,14601,0.52,188.7,434.0,5.3,536,14612,0.00,2.30,6.55,0.969,4,0.000,0.074,2902,794,2067
$GC,14667,0.52,188.7,429.8,6.1,537,14672,0.00,2.10,0.00,0.000,6,0.000,0.048,2903,2100,2067
$GC,15033,0.57,188.7,405.4,6.9,543,15037,0.00,2.17,0.00,0.000,4,0.000,0.074,2903,794,2067
$GC,15061,0.57,188.7,403.2,8.0,543,15064,0.00,2.03,0.00,0.000,6,0.000,0.047,2903,2084,2067
$GC,15398,0.63,188.7,379.7,6.9,549,15403,0.15,2.12,0.00,0.000,4,0.059,0.071,2939,793,2067
$GC,15430,0.51,188.7,376.6,9.5,549,15435,0.12,2.00,0.00,0.000,6,0.087,0.046,2916,2051,2067
$GC,15762,0.51,188.7,351.1,7.5,555,15766,0.00,2.08,0.00,0.000,4,0.000,0.071,2916,793,2067
$GC,15794,0.51,188.7,348.7,6.1,555,15798,0.00,1.92,0.00,0.000,6,0.000,0.045,2916,2007,2067
$GC,16131,0.51,188.7,326.2,6.6,561,16136,0.00,2.65,0.00,0.000,4,0.000,0.068,2915,3603,2067
$GC,16186,0.51,188.7,322.4,7.0,561,16193,0.00,2.47,0.00,0.000,6,0.000,0.048,2915,2057,2067
$GC,16496,0.51,188.7,303.7,6.0,567,16500,0.00,2.60,0.00,0.000,4,0.000,0.066,2915,3612,2067
$GC,16539,0.51,188.7,300.9,6.7,567,16543,0.00,2.42,0.00,0.000,6,0.000,0.048,2915,2093,2067
$GC,16866,0.52,198.8,283.4,5.2,583,16879,0.00,0.00,10.38,0.983,6,0.000,0.000,2915,2094,2026
$GC,17176,0.53,202.3,266.5,5.4,598,17186,0.00,2.10,5.22,0.814,4,0.000,0.068,2915,800,2011
$GC,17219,0.53,202.3,264.1,5.7,600,17223,0.00,2.00,0.00,0.000,6,0.000,0.044,2915,2066,2011
$GC,17546,0.53,202.3,246.1,5.6,616,17550,0.00,2.08,0.00,0.000,4,0.000,0.067,2915,794,2011
$GC,17579,0.53,202.3,244.0,6.0,617,17583,0.00,2.00,0.00,0.000,6,0.000,0.044,2915,2074,2011
$GC,17900,0.53,202.3,225.2,5.8,633,17904,0.00,2.55,0.00,0.000,4,0.000,0.066,2915,3605,2011
$GC,17932,0.53,202.3,223.0,6.5,634,17938,0.00,2.53,0.00,0.000,6,0.000,0.047,2915,2053,2011
$GC,18248,0.57,202.3,200.2,8.0,650,18252,0.00,2.05,0.00,0.000,4,0.000,0.067,2915,792,2011
$GC,18294,0.57,202.3,196.4,8.5,652,18297,0.00,1.92,0.00,0.000,6,0.000,0.044,2916,2032,2011
$GC,18626,0.62,202.3,172.0,7.0,668,18630,0.00,2.00,0.00,0.000,4,0.000,0.065,2915,798,2011
$GC,18655,0.62,202.3,169.9,8.0,669,18659,0.00,1.85,0.00,0.000,6,0.000,0.044,2915,1996,2011
$GC,18972,0.67,202.3,149.3,6.0,685,18974,0.15,0.00,0.00,0.000,6,0.058,0.000,2948,1996,2011
$GC,19292,0.62,202.3,127.4,6.6,715,19297,0.00,2.70,0.00,0.000,4,0.000,0.064,2948,3608,2011
$GC,19320,0.54,202.3,125.1,8.1,717,19325,0.17,2.58,0.00,0.000,6,0.092,0.047,2920,2018,2011
$GC,19646,0.62,227.0,109.8,4.7,747,19674,0.00,0.00,22.00,0.916,6,0.000,0.000,2920,2018,1910
$GC,19996,0.71,227.0,88.1,6.2,780,20001,0.15,2.70,0.00,0.000,4,0.058,0.061,2955,3610,1911
$GC,20036,0.64,227.0,84.5,9.2,783,20040,0.00,2.67,0.00,0.000,6,0.000,0.050,2956,1985,1911
$GC,20376,0.64,227.0,57.7,7.3,838,20382,0.00,1.98,0.00,0.000,4,0.000,0.064,2956,787,1911
$GC,20429,0.64,227.0,53.7,7.9,847,20435,0.00,1.77,0.00,0.000,6,0.000,0.042,2956,1910,1911
$GC,20772,0.68,262.6,34.3,4.4,898,20807,0.00,2.88,30.17,0.861,4,0.000,0.062,2956,3613,1766
$GC,20842,0.69,268.4,30.9,5.3,904,20859,0.00,2.88,6.70,0.732,6,0.000,0.045,2956,1844,1742
$GC,21177,0.89,369.0,14.7,2.3,936,21265,0.17,3.12,78.90,0.812,4,0.054,0.058,2996,3615,1332
$GC,21318,0.89,369.0,2.7,10.2,949,21323,0.00,2.85,0.00,0.000,6,0.000,0.045,2996,1893,1332
$STATE,21332,end climb,SURFACE_DEPTH_REACHED
$STATE,21332,begin surface coast
$FINISH,0.9,1.022854
$STATE,21345,end surface coast,CONTROL_FINISHED_OK
$STATE,21345,begin surface
$SM_CCo,21426,0.00,0.000,0,0,1331,369.42
$SM_GC,1.80,11.82,0.00,0.00,0.036,0.000,0.000,861,2206,1331,-8.87,0.17,369.42
$IRIDIUM_FIX,4641.78,-12508.05,140298,202018
$TT8_MAMPS,0.027612
$HUMID,2016
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.5,72.2
$24V_AH,22.5,66.812
$10V_AH,10.5,47.772
$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,31.425,152.050,425.825,0.000,0.000,29.189,23.691,154.271,5.250,0.000,0.000,11.873,1792.366,16670.932,548.444,2255.739,473.023,33.382,1635.831,0.000,2226.707,0.000,36.998
$DEVICE_MAMPS,142.662,89.739,1258.647,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.511,760.896,1274.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47458,951
$CAP_FILE_SIZE,151872,0
$CFSIZE,260165632,242216960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211108,114158,4701.082,-12501.652,30,2.4,49,18.4