version: 66.03
glider: 119
mission: 5
dive: 226
start: 11 21 108 11 51 17
data:
$ID,119
$MISSION,5
$DIVE,226
$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,-213960.41
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,114158,4701.082,-12501.652,30,2.4,49,18.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-66.2
$GPS2,115026,4701.142,-12501.567,12,1.7,30,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.134,-0.142
$KALMAN_X,-28578.5,-82.8,43.4,24147.9,-3058.8
$KALMAN_Y,251280.1,90.5,279.5,-246836.0,4296.3
$MHEAD_RNG_PITCHd_Wd,118.4,4977,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,75,0.00,0.00,-51.67,0.000,2,0.000,0.000,860,2212,2461
$GC,78,-0.67,-117.3,3.1,-3.4,5,122,12.15,2.35,-25.58,0.000,4,0.141,0.074,2647,3608,3316
$GC,172,-0.43,-117.3,13.7,-12.1,13,179,0.32,2.25,0.00,0.000,6,0.081,0.039,2701,2203,3316
$GC,500,-0.43,-117.3,38.7,-9.0,44,504,0.00,2.35,0.00,0.000,4,0.000,0.061,2701,3603,3316
$GC,541,-0.49,-117.3,42.3,-8.6,49,547,0.00,2.12,0.00,0.000,6,0.000,0.040,2702,2258,3316
$GC,885,-0.74,-117.3,65.7,-5.9,110,892,0.32,2.25,0.00,0.000,4,0.044,0.061,2629,3599,3316
$GC,1000,-0.56,-117.3,76.4,-10.6,130,1007,0.28,2.83,0.00,0.000,6,0.078,0.044,2676,1836,3316
$GC,1334,-0.56,-117.3,100.8,-6.0,165,1338,0.00,2.95,0.00,0.000,4,0.000,0.060,2676,3602,3316
$GC,1411,-0.60,-117.3,105.4,-6.2,171,1418,0.00,2.67,0.00,0.000,6,0.000,0.043,2676,1924,3316
$GC,1738,-0.66,-117.3,122.2,-4.7,202,1743,0.00,2.80,0.00,0.000,4,0.000,0.061,2676,3597,3316
$GC,1779,-0.72,-117.3,124.1,-5.0,205,1784,0.17,2.60,0.00,0.000,6,0.051,0.043,2638,1974,3316
$GC,2104,-0.62,-117.3,143.2,-6.1,235,2109,0.15,2.72,0.00,0.000,4,0.085,0.061,2664,3602,3316
$GC,2188,-0.62,-117.3,147.3,-5.3,242,2193,0.00,2.50,0.00,0.000,6,0.000,0.043,2664,2038,3316
$GC,2506,-0.62,-117.3,161.9,-4.7,260,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2038,3316
$GC,2817,-0.62,-117.3,175.9,-4.7,275,2822,0.00,2.62,0.00,0.000,4,0.000,0.063,2664,3604,3316
$GC,2840,-0.62,-117.3,176.9,-4.3,276,2845,0.00,2.45,0.00,0.000,6,0.000,0.042,2664,2064,3315
$GC,3162,-0.62,-117.3,192.1,-4.7,292,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2064,3316
$GC,3471,-0.62,-117.3,208.3,-5.3,307,3475,0.00,2.58,0.00,0.000,4,0.000,0.063,2664,3605,3316
$GC,3503,-0.62,-117.3,210.3,-6.1,308,3510,0.00,2.45,0.00,0.000,6,0.000,0.042,2664,2083,3315
$GC,3820,-0.62,-117.3,227.0,-5.1,324,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2083,3315
$GC,4129,-0.66,-117.3,243.4,-5.3,339,4133,0.00,2.55,0.00,0.000,4,0.000,0.064,2663,3604,3315
$GC,4184,-0.70,-117.3,246.5,-5.8,341,4190,0.00,2.40,0.00,0.000,6,0.000,0.043,2664,2088,3315
$GC,4500,-0.70,-117.3,263.5,-6.0,357,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2082,3315
$GC,4809,-0.75,-117.3,280.0,-5.2,372,4814,0.15,2.55,0.00,0.000,4,0.059,0.062,2627,3606,3315
$GC,4859,-0.64,-117.3,283.8,-7.9,374,4864,0.17,2.38,0.00,0.000,6,0.083,0.043,2658,2120,3314
$GC,5193,-0.64,-117.3,304.4,-6.3,388,5198,0.00,2.50,0.00,0.000,4,0.000,0.064,2657,3603,3314
$GC,5226,-0.64,-117.3,306.5,-6.5,388,5230,0.00,2.35,0.00,0.000,6,0.000,0.041,2658,2142,3314
$GC,5560,-0.64,-117.3,325.3,-5.7,394,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2136,3314
$GC,5861,-0.64,-117.3,344.5,-6.5,399,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2136,3314
$GC,6164,-0.64,-117.3,362.7,-5.9,404,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2136,3313
$GC,6468,-0.64,-117.3,376.9,-4.6,409,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2136,3313
$GC,6771,-0.64,-117.3,388.8,-3.9,414,6775,0.00,2.45,0.00,0.000,4,0.000,0.066,2657,3605,3313
$GC,6797,-0.64,-117.3,390.1,-4.9,414,6801,0.00,2.30,0.00,0.000,6,0.000,0.042,2657,2150,3312
$GC,7135,-0.64,-117.3,405.1,-4.6,420,7139,0.00,2.42,0.00,0.000,4,0.000,0.066,2657,3597,3312
$GC,7156,-0.64,-117.3,406.4,-5.7,420,7160,0.00,2.33,0.00,0.000,6,0.000,0.043,2657,2133,3312
$GC,7500,-0.64,-117.3,424.1,-5.2,426,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2133,3312
$GC,7802,-0.64,-117.3,441.0,-5.7,431,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2133,3312
$GC,8107,-0.69,-117.3,458.2,-5.7,436,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2133,3312
$GC,8410,-0.73,-117.3,476.6,-6.1,441,8414,0.00,2.25,0.00,0.000,4,0.000,0.071,2657,804,3311
$GC,8448,-0.81,-117.3,479.4,-6.5,441,8452,0.17,2.10,0.00,0.000,6,0.054,0.045,2622,2149,3311
$GC,8775,-0.71,-117.3,502.2,-6.9,447,8777,0.12,0.00,0.00,0.000,6,0.092,0.000,2643,2149,3311
$GC,9077,-0.71,-117.3,518.8,-5.3,452,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2149,3311
$GC,9381,-0.71,-117.3,533.2,-4.6,457,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2149,3310
$GC,9683,-0.71,-117.3,549.0,-5.3,462,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2149,3310
$GC,9986,-0.71,-117.3,565.8,-5.6,467,9990,0.00,2.25,0.00,0.000,4,0.000,0.076,2643,807,3310
$GC,10018,-0.71,-117.3,567.6,-5.5,467,10022,0.00,2.08,0.00,0.000,6,0.000,0.050,2643,2122,3310
$GC,10350,-0.71,-117.3,584.2,-4.9,473,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2123,3309
$GC,10654,-0.82,-117.3,594.1,-3.2,478,10658,0.00,2.50,0.00,0.000,4,0.000,0.076,2643,3599,3309
$STATE,10796,end dive,NO_VERTICAL_VELOCITY
$STATE,10798,begin apogee
$GC,10805,-0.23,0.0,594.2,0.0,480,10905,0.55,0.00,96.95,1.227,6,0.048,0.000,2753,2196,2837
$STATE,10906,end apogee,CONTROL_FINISHED_OK
$STATE,10906,begin climb
$GC,10908,0.67,117.3,594.0,0.0,481,11018,1.08,0.00,103.78,1.180,6,0.038,0.000,2946,2195,2358
$GC,11335,0.47,117.3,563.0,8.7,488,11340,0.22,2.42,0.00,0.000,4,0.095,0.079,2908,790,2358
$GC,11374,0.41,117.3,559.9,7.5,488,11377,0.00,2.28,0.00,0.000,6,0.000,0.051,2908,2206,2358
$GC,11700,0.36,117.3,540.9,5.7,494,11702,0.17,0.00,0.00,0.000,6,0.091,0.000,2880,2206,2358
$GC,12003,0.48,157.5,527.9,4.2,499,12048,0.12,2.47,36.33,1.175,4,0.066,0.074,2906,794,2193
$GC,12103,0.48,157.5,521.7,5.8,500,12107,0.00,2.28,0.00,0.000,6,0.000,0.049,2906,2184,2194
$GC,12435,0.48,157.5,500.4,6.5,506,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2184,2194
$GC,12738,0.48,159.7,483.8,5.4,511,12742,0.00,2.30,0.00,0.000,4,0.000,0.074,2906,791,2193
$GC,12777,0.48,159.7,480.9,7.8,511,12781,0.00,2.12,0.00,0.000,6,0.000,0.048,2906,2142,2193
$GC,13103,0.48,159.7,456.3,7.5,517,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2142,2193
$GC,13406,0.49,172.8,440.2,5.1,522,13426,0.00,2.25,15.02,1.105,4,0.000,0.073,2906,794,2132
$GC,13470,0.49,172.8,436.1,6.1,523,13474,0.00,2.12,0.00,0.000,6,0.000,0.048,2907,2131,2132
$GC,13836,0.57,195.3,418.4,4.8,529,13858,0.00,0.00,20.75,1.107,6,0.000,0.000,2906,2131,2040
$GC,14139,0.65,209.5,403.2,5.1,534,14159,0.17,2.30,13.80,1.066,4,0.056,0.074,2947,791,1983
$GC,14193,0.54,209.5,399.3,8.6,534,14198,0.17,2.08,0.00,0.000,6,0.095,0.047,2919,2098,1983
$GC,14502,0.54,209.5,378.4,6.8,539,14506,0.00,2.17,0.00,0.000,4,0.000,0.073,2919,791,1983
$GC,14534,0.54,209.5,376.0,7.4,539,14538,0.00,2.05,0.00,0.000,6,0.000,0.046,2918,2074,1983
$GC,14866,0.54,209.5,353.6,6.7,545,14870,0.00,2.12,0.00,0.000,4,0.000,0.072,2918,786,1983
$GC,14898,0.54,209.5,351.1,7.8,545,14903,0.00,2.00,0.00,0.000,6,0.000,0.046,2919,2049,1983
$GC,15236,0.54,209.5,329.3,6.1,551,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2049,1983
$GC,15539,0.54,209.5,312.0,5.7,556,15542,0.00,2.08,0.00,0.000,4,0.000,0.071,2918,784,1983
$GC,15572,0.54,209.5,309.8,7.0,556,15575,0.00,1.98,0.00,0.000,6,0.000,0.045,2918,2034,1983
$GC,15891,0.54,209.5,290.7,6.1,565,15892,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2033,1983
$GC,16201,0.59,209.5,272.4,5.6,580,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2034,1983
$GC,16510,0.63,209.5,254.4,5.8,595,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2034,1983
$GC,16819,0.68,209.5,235.7,6.3,610,16821,0.15,0.00,0.00,0.000,6,0.061,0.000,2952,2034,1983
$GC,17130,0.61,209.5,210.2,8.3,625,17135,0.00,2.62,0.00,0.000,4,0.000,0.067,2951,3613,1983
$GC,17163,0.52,209.5,206.7,8.9,626,17170,0.22,2.50,0.00,0.000,6,0.089,0.048,2915,2038,1983
$GC,17479,0.60,216.5,188.7,5.3,642,17493,0.00,2.65,8.02,0.881,4,0.000,0.064,2915,3603,1953
$GC,17517,0.66,216.5,186.3,5.8,643,17524,0.15,2.40,0.00,0.000,6,0.061,0.047,2947,2098,1953
$GC,17833,0.62,216.5,165.7,6.9,659,17837,0.00,2.15,0.00,0.000,4,0.000,0.066,2947,793,1954
$GC,17901,0.54,216.5,160.6,7.2,662,17905,0.17,1.98,0.00,0.000,6,0.090,0.044,2918,2064,1954
$GC,18228,0.61,216.5,141.2,6.3,684,18231,0.00,2.08,0.00,0.000,4,0.000,0.065,2918,787,1953
$GC,18296,0.65,216.5,136.4,7.2,690,18300,0.12,1.90,0.00,0.000,6,0.062,0.044,2947,2016,1954
$GC,18625,0.65,216.5,110.0,7.6,721,18627,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2016,1954
$GC,18944,0.65,216.5,85.5,8.2,751,18945,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2016,1954
$GC,19276,0.65,216.5,61.2,7.0,804,19282,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2016,1954
$GC,19619,0.74,252.1,44.3,4.4,865,19660,0.00,2.72,30.30,0.871,4,0.000,0.063,2947,3606,1808
$GC,19702,0.85,257.8,40.1,5.3,879,19715,0.20,2.67,6.55,0.745,6,0.052,0.045,2987,1965,1786
$GC,20033,0.80,258.8,21.5,5.5,911,20037,0.00,2.80,0.00,0.000,4,0.000,0.064,2987,3613,1786
$GC,20106,0.76,258.8,17.1,8.0,917,20111,0.12,2.53,0.00,0.000,6,0.099,0.044,2968,2057,1786
$STATE,20343,end climb,SURFACE_DEPTH_REACHED
$STATE,20344,begin surface coast
$FINISH,0.7,1.024573
$STATE,20387,end surface coast,CONTROL_FINISHED_OK
$STATE,20388,begin surface
$SM_CCo,20408,44.35,0.812,0,0,1410,350.04
$SM_GC,2.18,0.00,0.00,44.35,0.000,0.000,0.812,861,2217,1410,-8.92,0.48,350.04
$IRIDIUM_FIX,4641.78,-12503.66,150298,111124
$TT8_MAMPS,0.027612
$HUMID,2027
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,22.6,66.947
$10V_AH,10.5,47.885
$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,29.050,142.475,331.500,44.350,0.000,52.052,49.596,213.050,5.000,0.000,0.000,32.007,1763.513,15939.581,501.291,2180.171,572.102,33.374,1525.837,0.000,2135.647,0.000,33.956
$DEVICE_MAMPS,141.128,79.001,1227.200,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.570,750.359,1294.010,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47414,943
$CAP_FILE_SIZE,147639,0
$CFSIZE,260165632,242155520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211108,173326,4700.490,-12459.305,37,1.9,37,18.4