version: 66.03
glider: 119
mission: 5
dive: 228
start: 11 21 108 20 54 14
data:
$ID,119
$MISSION,5
$DIVE,228
$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,-214008.02
$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,32
$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
$GPS1,204757,4659.822,-12458.881,25,2.3,44,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.6
$GPS2,205323,4659.854,-12458.861,10,2.4,29,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.194,-0.018
$KALMAN_X,-32748.1,376.4,277.1,31011.7,-10410.3
$KALMAN_Y,261254.8,-506.5,-37.3,-258254.7,20696.4
$MHEAD_RNG_PITCHd_Wd,246.3,228789,-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,-117.3,0.0,0.0,0,80,0.00,0.00,-56.60,0.000,2,0.000,0.000,856,2213,2638
$GC,83,-0.67,-117.3,3.1,-3.6,6,119,12.10,2.30,-18.62,0.000,4,0.141,0.068,2646,795,3316
$GC,283,-0.48,-117.3,26.2,-9.6,24,288,0.28,2.17,0.00,0.000,6,0.081,0.041,2691,2203,3316
$GC,615,-0.48,-117.3,51.3,-6.3,67,622,0.00,2.25,0.00,0.000,4,0.000,0.057,2691,790,3316
$GC,651,-0.53,-117.3,53.3,-5.8,73,657,0.00,2.15,0.00,0.000,6,0.000,0.041,2692,2187,3317
$GC,995,-0.76,-117.3,74.8,-5.9,134,1002,0.28,2.22,0.00,0.000,4,0.042,0.054,2628,787,3316
$GC,1102,-0.64,-117.3,83.1,-8.1,150,1109,0.17,2.58,0.00,0.000,6,0.081,0.044,2658,2446,3316
$GC,1430,-0.64,-117.3,103.0,-6.3,181,1435,0.00,2.72,0.00,0.000,4,0.000,0.055,2658,793,3316
$GC,1474,-0.64,-117.3,106.0,-6.4,184,1481,0.00,2.55,0.00,0.000,6,0.000,0.044,2658,2407,3316
$GC,1801,-0.64,-117.3,127.9,-7.4,215,1805,0.00,2.60,0.00,0.000,4,0.000,0.058,2658,787,3316
$GC,1908,-0.69,-117.3,136.0,-7.2,224,1912,0.00,2.42,0.00,0.000,6,0.000,0.044,2657,2345,3316
$GC,2230,-0.69,-117.3,156.6,-6.3,249,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2345,3316
$GC,2539,-0.69,-117.3,175.5,-5.8,264,2543,0.00,2.50,0.00,0.000,4,0.000,0.058,2657,785,3316
$GC,2601,-0.75,-117.3,179.3,-6.0,267,2605,0.00,2.38,0.00,0.000,6,0.000,0.044,2658,2308,3316
$GC,2928,-0.75,-117.3,196.9,-5.1,283,2932,0.00,2.45,0.00,0.000,4,0.000,0.060,2658,784,3316
$GC,2954,-0.75,-117.3,198.5,-5.5,284,2958,0.00,2.30,0.00,0.000,6,0.000,0.043,2658,2263,3316
$GC,3276,-0.75,-117.3,215.3,-5.4,300,3280,0.00,2.38,0.00,0.000,4,0.000,0.060,2658,784,3316
$GC,3297,-0.75,-117.3,216.5,-4.9,301,3301,0.00,2.30,0.00,0.000,6,0.000,0.043,2658,2267,3316
$GC,3619,-0.75,-117.3,232.8,-5.0,317,3623,0.00,2.38,0.00,0.000,4,0.000,0.060,2658,788,3316
$GC,3651,-0.79,-117.3,234.8,-5.6,318,3659,0.17,2.25,0.00,0.000,6,0.053,0.043,2620,2248,3316
$GC,3968,-0.67,-117.3,258.6,-7.4,334,3973,0.15,2.35,0.00,0.000,4,0.088,0.060,2649,797,3316
$GC,3991,-0.62,-117.3,260.2,-6.7,335,3995,0.00,2.20,0.00,0.000,6,0.000,0.043,2649,2218,3316
$GC,4312,-0.62,-117.3,280.1,-6.1,351,4316,0.00,2.30,0.00,0.000,4,0.000,0.061,2649,791,3316
$GC,4344,-0.62,-117.3,282.1,-6.4,352,4351,0.00,2.20,0.00,0.000,6,0.000,0.043,2649,2189,3316
$GC,4662,-0.62,-117.3,300.4,-6.0,368,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3316
$GC,4963,-0.62,-117.3,318.8,-6.1,373,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3315
$GC,5266,-0.62,-117.3,337.4,-6.2,378,5270,0.00,2.25,0.00,0.000,4,0.000,0.061,2649,798,3315
$GC,5298,-0.62,-117.3,339.8,-7.0,378,5302,0.00,2.20,0.00,0.000,6,0.000,0.043,2649,2194,3315
$GC,5630,-0.62,-117.3,358.2,-5.3,384,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2194,3315
$GC,5937,-0.62,-117.3,376.3,-5.9,389,5941,0.00,2.35,0.00,0.000,4,0.000,0.067,2649,3598,3315
$GC,5958,-0.62,-117.3,377.7,-5.5,389,5962,0.00,2.22,0.00,0.000,6,0.000,0.044,2649,2196,3314
$GC,6296,-0.62,-117.3,395.6,-5.3,395,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2190,3314
$GC,6598,-0.62,-117.3,413.8,-6.1,400,6602,0.00,2.38,0.00,0.000,4,0.000,0.066,2649,3605,3314
$GC,6619,-0.62,-117.3,415.1,-6.1,400,6623,0.00,2.22,0.00,0.000,6,0.000,0.043,2649,2216,3313
$GC,6962,-0.62,-117.3,435.3,-5.9,406,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2210,3313
$STATE,7202,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7203,begin apogee
$GC,7207,-0.23,0.0,449.3,5.8,410,7306,0.57,0.00,95.57,1.122,6,0.069,0.000,2749,2210,2837
$STATE,7307,end apogee,CONTROL_FINISHED_OK
$STATE,7307,begin climb
$GC,7309,0.67,117.3,450.9,0.0,411,7418,1.08,2.50,100.45,1.072,4,0.043,0.062,2945,3598,2358
$GC,7525,0.46,117.3,444.1,7.0,414,7530,0.28,2.33,0.00,0.000,6,0.088,0.046,2902,2198,2358
$GC,7861,0.46,121.0,426.2,5.4,420,7871,0.00,2.38,5.32,0.829,4,0.000,0.065,2901,3603,2343
$GC,7927,0.52,165.0,422.8,4.1,421,7972,0.00,2.15,38.97,1.071,6,0.000,0.046,2901,2255,2164
$GC,8288,0.60,178.9,405.1,5.1,427,8308,0.15,2.53,13.68,1.032,4,0.061,0.071,2937,795,2107
$GC,8405,0.49,178.9,395.5,8.6,428,8410,0.17,2.22,0.00,0.000,6,0.087,0.045,2908,2205,2107
$GC,8719,0.55,178.9,372.1,7.4,434,8723,0.00,2.33,0.00,0.000,4,0.000,0.070,2907,796,2107
$GC,8751,0.55,178.9,369.6,7.4,434,8756,0.00,2.22,0.00,0.000,6,0.000,0.046,2908,2192,2107
$GC,9084,0.61,185.4,350.8,5.3,440,9099,0.12,2.35,7.22,0.924,4,0.065,0.069,2935,796,2081
$GC,9127,0.54,185.4,347.9,6.9,440,9130,0.00,2.17,0.00,0.000,6,0.000,0.046,2935,2182,2081
$GC,9452,0.54,185.4,327.0,6.4,446,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2182,2081
$GC,9756,0.54,185.4,305.6,7.1,451,9760,0.00,2.28,0.00,0.000,4,0.000,0.067,2935,788,2081
$GC,9822,0.48,185.4,300.8,6.9,452,9827,0.17,2.15,0.00,0.000,6,0.088,0.046,2906,2164,2081
$GC,10155,0.57,194.9,283.8,5.2,466,10169,0.00,2.25,9.68,0.960,4,0.000,0.065,2905,790,2042
$GC,10204,0.63,194.9,280.6,6.0,468,10208,0.17,2.10,0.00,0.000,6,0.056,0.044,2942,2140,2042
$GC,10530,0.63,194.9,253.7,8.4,484,10534,0.00,2.20,0.00,0.000,4,0.000,0.066,2942,788,2042
$GC,10570,0.57,194.9,250.3,9.4,486,10574,0.00,2.08,0.00,0.000,6,0.000,0.045,2942,2120,2042
$GC,10902,0.57,194.9,226.2,6.4,502,10906,0.00,2.15,0.00,0.000,4,0.000,0.065,2942,794,2042
$GC,10935,0.51,194.9,223.9,7.0,503,10942,0.15,2.03,0.00,0.000,6,0.077,0.044,2912,2082,2042
$GC,11251,0.59,200.2,206.6,5.3,519,11260,0.00,0.00,6.43,0.841,6,0.000,0.000,2913,2083,2020
$GC,11560,0.67,200.2,188.8,5.7,534,11562,0.17,0.00,0.00,0.000,6,0.057,0.000,2950,2082,2020
$GC,11869,0.62,200.2,165.2,7.9,549,11871,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2082,2020
$GC,12182,0.62,200.2,139.8,7.0,570,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2082,2020
$GC,12500,0.62,200.2,118.5,6.4,600,12504,0.00,2.53,0.00,0.000,4,0.000,0.063,2950,3600,2020
$GC,12546,0.56,200.2,115.0,7.8,604,12551,0.17,2.47,0.00,0.000,6,0.092,0.047,2922,2066,2020
$GC,12871,0.64,202.9,97.5,5.4,634,12883,0.00,2.15,4.32,0.666,4,0.000,0.064,2921,792,2009
$GC,12952,0.70,202.9,93.0,6.0,641,12956,0.17,1.77,0.00,0.000,6,0.055,0.043,2958,1942,2009
$GC,13283,0.70,202.9,71.9,6.0,683,13289,0.00,2.75,0.00,0.000,4,0.000,0.062,2958,3600,2009
$GC,13408,0.66,202.9,64.0,6.6,705,13415,0.00,2.47,0.00,0.000,6,0.000,0.046,2958,2057,2009
$GC,13753,0.73,260.6,47.4,3.7,766,13809,0.00,2.70,47.53,0.859,4,0.000,0.062,2958,3596,1774
$GC,13890,0.73,260.6,40.1,7.0,790,13896,0.00,2.38,0.00,0.000,6,0.000,0.044,2958,2140,1774
$GC,14217,0.88,304.2,24.1,4.1,821,14260,0.15,2.30,36.28,0.828,4,0.057,0.062,2994,791,1594
$GC,14317,0.88,304.2,15.9,8.3,830,14321,0.00,2.30,0.00,0.000,6,0.000,0.043,2995,2238,1594
$STATE,14496,end climb,SURFACE_DEPTH_REACHED
$STATE,14496,begin surface coast
$FINISH,0.6,1.013685
$STATE,14519,end surface coast,CONTROL_FINISHED_OK
$STATE,14519,begin surface
$SM_CCo,14540,21.70,0.804,0,0,1409,350.04
$SM_GC,1.70,0.00,0.00,21.70,0.000,0.000,0.804,860,2180,1409,-8.92,-0.57,350.04
$IRIDIUM_FIX,4644.93,-12458.49,150298,171758
$TT8_MAMPS,0.027612
$HUMID,2029
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.7,56.2
$24V_AH,23.1,67.184
$10V_AH,10.5,48.083
$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,28.400,129.875,365.450,21.700,0.000,22.725,26.236,154.780,3.500,0.000,0.000,32.333,1545.984,10443.373,490.473,1985.236,423.630,33.374,1411.600,0.000,1949.481,0.000,25.920
$DEVICE_MAMPS,141.128,95.875,1122.121,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.184,670.621,1283.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41068,849
$CAP_FILE_SIZE,122042,0
$CFSIZE,260165632,242065408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221108,005807,4700.627,-12501.149,33,1.9,33,18.4