version: 66.03
glider: 119
mission: 5
dive: 25
start: 9 20 108 7 53 48
data:
$ID,119
$MISSION,5
$DIVE,25
$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,-210184.53
$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,29
$R_STBD_OVSHOOT,17
$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
$GPS1,074825,4702.135,-12554.209,36,1.7,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.3
$GPS2,075257,4702.099,-12554.164,15,1.6,15,18.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,-0.193
$KALMAN_X,22827.7,583.3,983.7,-95391.8,4092.3
$KALMAN_Y,23666.3,-877.8,79.9,-16280.3,5096.7
$MHEAD_RNG_PITCHd_Wd,197.9,158986,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.81,-146.6,0.0,0.0,0,83,0.00,0.00,-60.33,0.000,2,0.000,0.000,862,2189,2629
$GC,86,-0.81,-146.6,3.4,-5.2,6,125,12.15,2.45,-18.20,0.000,4,0.151,0.094,2616,3606,3436
$GC,171,-0.44,-146.6,20.2,-19.0,14,176,0.50,2.30,0.00,0.000,6,0.091,0.061,2698,2206,3436
$GC,502,-0.61,-146.6,46.5,-7.1,52,508,0.15,0.00,0.00,0.000,6,0.057,0.000,2662,2204,3437
$GC,845,-0.61,-146.6,74.6,-7.1,113,851,0.00,2.35,0.00,0.000,4,0.000,0.080,2663,784,3438
$GC,892,-0.68,-146.6,77.8,-7.2,121,898,0.00,2.30,0.00,0.000,6,0.000,0.066,2663,2203,3438
$GC,1220,-0.75,-146.6,99.4,-6.4,154,1225,0.15,2.38,0.00,0.000,4,0.060,0.081,2630,793,3438
$GC,1297,-0.75,-146.6,105.5,-8.4,160,1304,0.00,2.35,0.00,0.000,6,0.000,0.070,2630,2201,3438
$GC,1624,-0.75,-146.6,129.1,-8.2,191,1628,0.00,2.38,0.00,0.000,4,0.000,0.083,2630,791,3438
$GC,1652,-0.75,-146.6,131.5,-8.2,193,1656,0.00,2.33,0.00,0.000,6,0.000,0.071,2630,2200,3438
$GC,1975,-0.75,-146.6,157.1,-8.2,219,1979,0.00,2.38,0.00,0.000,4,0.000,0.083,2630,789,3438
$GC,2029,-0.75,-146.6,161.6,-8.2,221,2036,0.00,2.35,0.00,0.000,6,0.000,0.071,2630,2200,3438
$GC,2345,-0.75,-146.6,185.0,-7.2,237,2349,0.00,2.38,0.00,0.000,4,0.000,0.084,2630,787,3438
$GC,2395,-0.75,-146.6,188.8,-7.4,239,2399,0.00,2.33,0.00,0.000,6,0.000,0.071,2630,2199,3438
$GC,2722,-0.75,-146.6,213.2,-7.9,255,2726,0.00,2.38,0.00,0.000,4,0.000,0.085,2630,792,3438
$GC,2754,-0.75,-146.6,215.8,-8.3,256,2761,0.00,2.35,0.00,0.000,6,0.000,0.073,2630,2198,3438
$GC,3070,-0.75,-146.6,240.8,-7.7,272,3074,0.00,2.38,0.00,0.000,4,0.000,0.087,2630,794,3438
$GC,3142,-0.75,-146.6,246.5,-8.1,275,3146,0.00,2.35,0.00,0.000,6,0.000,0.074,2630,2211,3438
$GC,3464,-0.75,-146.6,269.2,-6.8,291,3468,0.00,2.40,0.00,0.000,4,0.000,0.087,2630,793,3437
$GC,3519,-0.79,-146.6,273.0,-6.4,293,3523,0.00,2.33,0.00,0.000,6,0.000,0.074,2630,2201,3437
$GC,3835,-0.79,-146.6,292.5,-6.3,308,3839,0.00,2.40,0.00,0.000,4,0.000,0.089,2630,791,3437
$GC,3874,-0.79,-146.6,295.0,-6.8,310,3879,0.00,2.35,0.00,0.000,6,0.000,0.075,2630,2206,3437
$GC,4196,-0.79,-146.6,315.5,-6.4,318,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2205,3437
$GC,4499,-0.79,-146.6,335.4,-6.7,323,4503,0.00,2.42,0.00,0.000,4,0.000,0.090,2630,784,3436
$GC,4561,-0.85,-146.6,339.8,-6.9,324,4565,0.00,2.35,0.00,0.000,6,0.000,0.075,2630,2208,3436
$GC,4931,-0.85,-146.6,365.5,-6.9,330,4935,0.00,2.42,0.00,0.000,4,0.000,0.090,2630,793,3436
$GC,4970,-0.90,-146.6,368.2,-7.1,330,4975,0.15,2.35,0.00,0.000,6,0.062,0.076,2599,2207,3435
$GC,5290,-0.78,-146.6,396.9,-9.1,336,5295,0.15,2.42,0.00,0.000,4,0.098,0.090,2627,794,3434
$GC,5333,-0.78,-146.6,400.6,-8.3,336,5337,0.00,2.35,0.00,0.000,6,0.000,0.077,2627,2203,3435
$GC,5654,-0.78,-146.6,424.2,-7.3,342,5658,0.00,2.42,0.00,0.000,4,0.000,0.093,2627,793,3434
$GC,5692,-0.83,-146.6,427.0,-7.2,342,5696,0.00,2.35,0.00,0.000,6,0.000,0.077,2627,2204,3435
$GC,6012,-0.83,-146.6,448.7,-6.8,348,6016,0.00,2.42,0.00,0.000,4,0.000,0.093,2627,796,3434
$GC,6039,-0.87,-146.6,450.6,-7.2,348,6043,0.00,2.35,0.00,0.000,6,0.000,0.077,2627,2202,3434
$GC,6370,-0.87,-146.6,471.9,-6.4,354,6374,0.00,2.42,0.00,0.000,4,0.000,0.094,2627,796,3434
$GC,6408,-0.92,-146.6,474.4,-6.7,354,6413,0.15,2.35,0.00,0.000,6,0.066,0.077,2596,2201,3434
$GC,6729,-0.79,-146.6,501.3,-8.6,360,6734,0.15,2.45,0.00,0.000,4,0.099,0.094,2624,791,3433
$GC,6761,-0.79,-146.6,503.9,-7.6,360,6765,0.00,2.38,0.00,0.000,6,0.000,0.080,2624,2208,3433
$GC,7093,-0.79,-146.6,524.9,-6.3,366,7097,0.00,2.45,0.00,0.000,4,0.000,0.096,2624,796,3433
$GC,7131,-0.84,-146.6,527.5,-6.6,366,7135,0.00,2.35,0.00,0.000,6,0.000,0.080,2624,2199,3433
$GC,7456,-0.84,-146.6,547.1,-6.0,372,7460,0.00,2.45,0.00,0.000,4,0.000,0.097,2624,792,3432
$GC,7489,-0.88,-146.6,549.3,-6.4,372,7493,0.00,2.38,0.00,0.000,6,0.000,0.081,2624,2203,3432
$GC,7815,-0.88,-146.6,569.5,-6.2,378,7819,0.00,2.47,0.00,0.000,4,0.000,0.097,2625,788,3432
$GC,7848,-0.92,-146.6,571.6,-6.9,378,7852,0.12,2.40,0.00,0.000,6,0.071,0.082,2598,2208,3432
$GC,8173,-0.82,-146.6,598.4,-8.5,384,8178,0.12,2.50,0.00,0.000,4,0.104,0.099,2618,787,3432
$GC,8205,-0.82,-146.6,601.0,-7.5,384,8209,0.00,2.40,0.00,0.000,6,0.000,0.084,2618,2198,3431
$GC,8537,-0.82,-146.6,622.6,-6.4,390,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2198,3431
$GC,8840,-0.82,-146.6,641.8,-6.3,395,8845,0.00,2.50,0.00,0.000,4,0.000,0.106,2618,797,3431
$GC,8879,-0.82,-146.6,644.3,-6.9,395,8883,0.00,2.40,0.00,0.000,6,0.000,0.089,2618,2199,3431
$GC,9205,-0.82,-146.6,665.4,-6.7,401,9209,0.00,2.53,0.00,0.000,4,0.000,0.109,2618,791,3430
$GC,9231,-0.82,-146.6,667.7,-8.1,401,9235,0.00,2.42,0.00,0.000,6,0.000,0.092,2618,2199,3431
$GC,9568,-0.82,-146.6,693.3,-7.7,407,9573,0.00,2.55,0.00,0.000,4,0.000,0.114,2618,794,3430
$GC,9607,-0.86,-146.6,696.3,-8.0,407,9611,0.00,2.45,0.00,0.000,6,0.000,0.099,2618,2197,3430
$GC,9927,-0.86,-146.6,719.5,-7.2,413,9931,0.00,2.47,0.00,0.000,4,0.000,0.100,2618,797,3430
$GC,9953,-0.86,-146.6,721.4,-7.4,413,9957,0.00,2.38,0.00,0.000,6,0.000,0.083,2618,2205,3430
$GC,10291,-0.86,-146.6,743.2,-6.5,419,10295,0.00,2.50,0.00,0.000,4,0.000,0.100,2618,789,3429
$GC,10324,-0.90,-146.6,745.4,-6.8,419,10328,0.00,2.40,0.00,0.000,6,0.000,0.083,2618,2200,3429
$GC,10650,-0.90,-146.6,765.7,-6.2,425,10654,0.00,2.50,0.00,0.000,4,0.000,0.101,2618,788,3429
$GC,10688,-0.95,-146.6,768.2,-6.0,425,10693,0.12,2.40,0.00,0.000,6,0.071,0.083,2593,2199,3429
$GC,11008,-0.85,-146.6,793.0,-7.8,431,11010,0.12,0.00,0.00,0.000,6,0.105,0.000,2614,2199,3428
$GC,11311,-0.85,-146.6,814.4,-7.0,436,11315,0.00,2.50,0.00,0.000,4,0.000,0.102,2613,792,3428
$GC,11373,-0.85,-146.6,818.6,-7.0,437,11377,0.00,2.40,0.00,0.000,6,0.000,0.084,2613,2206,3428
$GC,11744,-0.85,-146.6,843.7,-6.8,443,11748,0.00,2.50,0.00,0.000,4,0.000,0.104,2613,798,3428
$GC,11770,-0.85,-146.6,845.8,-7.8,443,11774,0.00,2.38,0.00,0.000,6,0.000,0.084,2613,2201,3428
$GC,12108,-0.85,-146.6,869.8,-7.1,449,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2201,3428
$GC,12413,-0.85,-146.6,891.4,-7.1,454,12417,0.00,2.53,0.00,0.000,4,0.000,0.105,2614,789,3428
$GC,12446,-0.85,-146.6,894.0,-7.1,454,12451,0.00,2.42,0.00,0.000,6,0.000,0.086,2613,2203,3428
$GC,12772,-0.85,-146.6,917.1,-7.1,460,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2203,3427
$GC,13075,-0.85,-146.6,937.4,-6.7,465,13080,0.00,2.53,0.00,0.000,4,0.000,0.108,2613,800,3426
$GC,13125,-0.89,-146.6,940.8,-6.5,465,13130,0.00,2.42,0.00,0.000,6,0.000,0.087,2613,2204,3426
$GC,13434,-0.89,-146.6,959.4,-6.0,470,13439,0.00,2.53,0.00,0.000,4,0.000,0.108,2613,798,3426
$GC,13461,-0.89,-146.6,961.2,-6.2,470,13466,0.00,2.40,0.00,0.000,6,0.000,0.087,2613,2199,3426
$GC,13800,-0.89,-146.6,981.2,-6.0,476,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2199,3426
$STATE,13978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13978,begin apogee
$GC,13984,-0.23,0.0,991.5,5.7,479,14113,0.80,0.00,126.45,1.470,6,0.082,0.000,2749,2304,2837
$STATE,14114,end apogee,CONTROL_FINISHED_OK
$STATE,14114,begin climb
$GC,14116,0.81,146.6,994.2,0.0,481,14254,1.35,0.00,134.48,1.421,6,0.050,0.000,2977,2304,2239
$GC,14524,0.51,146.6,954.2,12.3,488,14529,0.38,2.78,0.00,0.000,4,0.101,0.141,2916,3707,2238
$GC,14608,0.38,146.6,945.4,9.6,489,14613,0.20,2.50,0.00,0.000,6,0.104,0.094,2886,2309,2238
$GC,14950,0.39,156.5,920.3,7.2,495,14965,0.00,2.58,10.10,1.262,4,0.000,0.113,2885,887,2197
$GC,15033,0.42,175.2,914.0,6.9,496,15057,0.00,2.47,17.52,1.339,6,0.000,0.089,2885,2307,2122
$GC,15379,0.49,176.4,888.5,7.5,502,15383,0.00,2.58,0.00,0.000,4,0.000,0.109,2885,888,2121
$GC,15427,0.49,176.4,884.3,8.8,502,15432,0.00,2.45,0.00,0.000,6,0.000,0.088,2885,2300,2121
$GC,15743,0.56,176.4,859.3,8.0,508,15745,0.17,0.00,0.00,0.000,6,0.065,0.000,2919,2300,2121
$GC,16046,0.50,176.4,830.4,9.6,513,16047,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2300,2120
$GC,16349,0.46,176.4,801.7,9.4,518,16353,0.00,2.55,0.00,0.000,4,0.000,0.109,2919,883,2120
$GC,16404,0.36,176.4,796.4,10.5,518,16410,0.22,2.45,0.00,0.000,6,0.096,0.088,2884,2309,2120
$GC,16713,0.48,198.5,774.9,6.7,524,16739,0.00,2.55,20.80,1.315,4,0.000,0.106,2883,887,2027
$GC,16778,0.61,235.3,770.4,6.2,525,16818,0.28,2.45,32.00,1.304,6,0.054,0.087,2936,2305,1877
$GC,17138,0.56,235.3,736.5,9.5,531,17143,0.00,2.58,0.00,0.000,4,0.000,0.107,2936,886,1876
$GC,17194,0.48,235.3,731.0,9.5,531,17200,0.17,2.45,0.00,0.000,6,0.099,0.087,2909,2300,1876
$GC,17503,0.54,235.3,706.5,7.9,537,17507,0.00,2.53,0.00,0.000,4,0.000,0.105,2909,888,1876
$GC,17564,0.54,235.3,701.1,9.6,538,17568,0.00,2.45,0.00,0.000,6,0.000,0.087,2909,2308,1875
$GC,17929,0.59,235.3,669.0,9.0,544,17933,0.00,2.53,0.00,0.000,4,0.000,0.104,2909,888,1876
$GC,18023,0.59,235.3,659.6,11.1,545,18027,0.00,2.42,0.00,0.000,6,0.000,0.086,2909,2309,1876
$GC,18355,0.65,235.3,627.8,9.6,551,18360,0.15,2.53,0.00,0.000,4,0.066,0.102,2943,887,1876
$GC,18416,0.55,235.3,620.6,11.4,552,18421,0.12,2.42,0.00,0.000,6,0.108,0.087,2924,2302,1875
$GC,18781,0.55,235.3,582.6,10.3,558,18785,0.00,2.50,0.00,0.000,4,0.000,0.102,2924,887,1876
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$GC,25055,0.92,307.9,23.2,6.1,873,25093,0.25,2.40,31.65,0.836,6,0.051,0.074,3005,2303,1582
$STATE,25334,end climb,SURFACE_DEPTH_REACHED
$STATE,25334,begin surface coast
$FINISH,0.3,1.023821
$STATE,25357,end surface coast,CONTROL_FINISHED_OK
$STATE,25357,begin surface
$SM_CCo,25378,42.12,0.795,0,0,1206,400.08
$SM_GC,1.51,0.00,0.00,42.12,0.000,0.000,0.795,863,2175,1206,-8.91,-0.71,400.08
$IRIDIUM_FIX,4648.08,-12552.82,151297,030308
$TT8_MAMPS,0.028379
$HUMID,2115
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,17.30
$XPDR_PINGS,17
$24V_AH,22.6,38.281
$10V_AH,10.6,24.231
$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,30.275,272.825,399.575,42.125,0.000,24.068,24.780,123.700,13.000,0.000,0.000,16.871,1925.324,20044.090,672.302,2594.012,458.018,33.359,1966.684,0.000,2539.392,0.000,56.650
$DEVICE_MAMPS,151.099,141.128,1470.339,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,614.563,735.746,1019.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44338,901
$CAP_FILE_SIZE,193578,0
$CFSIZE,260165632,257552384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,200908,145838,4700.596,-12554.944,32,0.8,32,18.5