version: 66.03
glider: 119
mission: 5
dive: 27
start: 9 20 108 23 29 38
data:
$ID,119
$MISSION,5
$DIVE,27
$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,528
$T_MISSION,540
$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,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,-210213.14
$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,19
$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,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
$GPS1,232338,4659.561,-12555.350,37,1.9,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.6
$GPS2,232844,4659.536,-12555.366,8,1.3,13,18.5
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.191,-0.119
$KALMAN_X,33024.3,-902.5,-1051.3,-103506.4,10778.2
$KALMAN_Y,28551.7,708.2,-892.9,-26505.6,3730.2
$MHEAD_RNG_PITCHd_Wd,219.6,157422,-11.5,-6.250
$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,20,-0.70,-146.6,0.0,0.0,0,73,0.00,0.00,-51.50,0.000,2,0.000,0.000,861,2208,2630
$GC,76,-0.70,-146.6,3.2,-5.4,5,112,12.35,2.38,-18.55,0.000,4,0.151,0.092,2640,3607,3437
$GC,153,-0.34,-146.6,16.6,-15.0,12,158,0.50,2.33,0.00,0.000,6,0.085,0.059,2721,2187,3437
$GC,479,-0.52,-146.6,38.5,-4.3,42,484,0.17,2.30,0.00,0.000,4,0.054,0.069,2681,794,3438
$GC,530,-0.58,-146.6,41.8,-6.4,48,536,0.00,2.28,0.00,0.000,6,0.000,0.058,2681,2206,3438
$GC,873,-0.58,-146.6,63.4,-7.3,109,880,0.00,2.38,0.00,0.000,4,0.000,0.075,2680,786,3439
$GC,926,-0.63,-146.6,66.9,-6.7,118,932,0.00,2.30,0.00,0.000,6,0.000,0.064,2681,2203,3440
$GC,1271,-0.71,-146.6,84.8,-6.5,173,1273,0.17,0.00,0.00,0.000,6,0.054,0.000,2642,2203,3440
$GC,1591,-0.65,-146.6,109.9,-7.5,203,1595,0.00,2.40,0.00,0.000,4,0.000,0.082,2642,789,3440
$GC,1675,-0.65,-146.6,116.4,-7.8,210,1679,0.00,2.35,0.00,0.000,6,0.000,0.070,2642,2208,3440
$GC,2000,-0.60,-146.6,137.9,-6.3,240,2004,0.15,2.40,0.00,0.000,4,0.087,0.081,2671,794,3440
$GC,2062,-0.74,-146.6,141.5,-6.0,245,2067,0.17,2.33,0.00,0.000,6,0.054,0.071,2634,2207,3440
$GC,2392,-0.66,-146.6,165.2,-7.1,266,2397,0.10,2.40,0.00,0.000,4,0.100,0.082,2651,794,3440
$GC,2425,-0.66,-146.6,167.5,-6.2,267,2431,0.00,2.35,0.00,0.000,6,0.000,0.071,2651,2219,3440
$GC,2741,-0.66,-146.6,186.4,-6.1,283,2745,0.00,2.42,0.00,0.000,4,0.000,0.084,2651,792,3440
$GC,2784,-0.71,-146.6,189.3,-6.9,285,2788,0.00,2.35,0.00,0.000,6,0.000,0.072,2651,2206,3440
$GC,3111,-0.71,-146.6,209.6,-6.3,301,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3440
$GC,3420,-0.71,-146.6,228.9,-6.4,316,3424,0.00,2.40,0.00,0.000,4,0.000,0.085,2651,796,3439
$GC,3447,-0.71,-146.6,230.9,-7.4,317,3451,0.00,2.35,0.00,0.000,6,0.000,0.073,2651,2208,3439
$GC,3769,-0.71,-146.6,252.1,-6.7,333,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2208,3439
$GC,4078,-0.71,-146.6,271.4,-6.1,348,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2208,3439
$GC,4387,-0.71,-146.6,290.3,-6.1,363,4392,0.00,2.42,0.00,0.000,4,0.000,0.087,2651,787,3438
$GC,4415,-0.76,-146.6,291.9,-6.3,364,4419,0.00,2.35,0.00,0.000,6,0.000,0.074,2651,2200,3438
$GC,4747,-0.76,-146.6,311.5,-5.9,374,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3437
$GC,5050,-0.76,-146.6,330.1,-6.2,379,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3437
$GC,5354,-0.81,-146.6,348.8,-6.1,384,5358,0.15,2.40,0.00,0.000,4,0.062,0.089,2616,796,3437
$GC,5393,-0.73,-146.6,351.7,-8.1,384,5398,0.12,2.35,0.00,0.000,6,0.094,0.075,2637,2206,3437
$GC,5712,-0.73,-146.6,372.5,-6.4,390,5716,0.00,2.42,0.00,0.000,4,0.000,0.090,2636,796,3436
$GC,5733,-0.73,-146.6,374.0,-6.4,390,5738,0.00,2.38,0.00,0.000,6,0.000,0.075,2637,2213,3436
$GC,6076,-0.73,-146.6,393.8,-5.7,396,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2213,3436
$GC,6381,-0.73,-146.6,411.1,-5.7,401,6385,0.00,2.47,0.00,0.000,4,0.000,0.091,2637,787,3435
$GC,6424,-0.73,-146.6,413.9,-6.3,401,6428,0.00,2.38,0.00,0.000,6,0.000,0.075,2637,2203,3435
$GC,6746,-0.73,-146.6,434.2,-6.4,407,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2203,3435
$GC,7047,-0.73,-146.6,454.4,-6.7,412,7052,0.00,2.45,0.00,0.000,4,0.000,0.093,2637,791,3435
$GC,7074,-0.73,-146.6,456.3,-7.4,412,7078,0.00,2.38,0.00,0.000,6,0.000,0.077,2636,2205,3435
$GC,7412,-0.73,-146.6,478.9,-6.7,418,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2206,3434
$GC,7715,-0.73,-146.6,499.3,-6.7,423,7719,0.00,2.45,0.00,0.000,4,0.000,0.094,2637,799,3434
$GC,7741,-0.73,-146.6,501.3,-7.4,423,7746,0.00,2.35,0.00,0.000,6,0.000,0.078,2637,2199,3434
$GC,8079,-0.73,-146.6,523.7,-6.6,429,8083,0.00,2.45,0.00,0.000,4,0.000,0.096,2637,797,3433
$GC,8105,-0.73,-146.6,525.6,-7.2,429,8110,0.00,2.35,0.00,0.000,6,0.000,0.079,2637,2201,3433
$GC,8443,-0.73,-146.6,546.6,-6.2,435,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2201,3433
$GC,8747,-0.73,-146.6,563.3,-5.4,440,8751,0.00,2.47,0.00,0.000,4,0.000,0.099,2637,796,3433
$GC,8768,-0.73,-146.6,564.6,-5.6,440,8772,0.00,2.38,0.00,0.000,6,0.000,0.081,2636,2201,3433
$GC,9111,-0.73,-146.6,583.1,-5.4,446,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2201,3432
$GC,9415,-0.73,-146.6,600.1,-5.7,451,9419,0.00,2.47,0.00,0.000,4,0.000,0.100,2637,800,3432
$GC,9458,-0.77,-146.6,602.9,-6.7,451,9462,0.00,2.38,0.00,0.000,6,0.000,0.084,2636,2201,3432
$GC,9779,-0.77,-146.6,621.7,-6.0,457,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2201,3432
$GC,10082,-0.77,-146.6,640.8,-6.3,462,10086,0.00,2.53,0.00,0.000,4,0.000,0.106,2636,791,3432
$GC,10103,-0.77,-146.6,642.2,-6.7,462,10107,0.00,2.40,0.00,0.000,6,0.000,0.087,2636,2199,3432
$GC,10446,-0.77,-146.6,663.6,-6.2,468,10450,0.00,2.53,0.00,0.000,4,0.000,0.107,2637,794,3432
$GC,10467,-0.77,-146.6,665.0,-6.6,468,10471,0.00,2.42,0.00,0.000,6,0.000,0.091,2636,2201,3431
$GC,10810,-0.77,-146.6,685.3,-5.8,474,10814,0.00,2.47,0.00,0.000,4,0.000,0.098,2636,798,3432
$GC,10842,-0.81,-146.6,687.4,-6.6,474,10846,0.00,2.38,0.00,0.000,6,0.000,0.081,2636,2208,3431
$GC,11174,-0.81,-146.6,706.3,-5.7,480,11178,0.00,2.47,0.00,0.000,4,0.000,0.097,2637,798,3431
$GC,11201,-0.86,-146.6,708.0,-6.4,480,11206,0.12,2.35,0.00,0.000,6,0.064,0.081,2610,2201,3430
$GC,11532,-0.75,-146.6,731.7,-7.2,486,11537,0.15,2.47,0.00,0.000,4,0.096,0.098,2638,794,3430
$GC,11558,-0.75,-146.6,733.7,-6.6,486,11562,0.00,2.40,0.00,0.000,6,0.000,0.082,2638,2203,3430
$GC,11896,-0.80,-146.6,754.1,-6.1,492,11901,0.00,2.50,0.00,0.000,4,0.000,0.100,2638,790,3430
$GC,11929,-0.86,-146.6,756.3,-6.4,492,11934,0.15,2.40,0.00,0.000,6,0.063,0.082,2608,2200,3430
$GC,12255,-0.76,-146.6,781.1,-7.6,498,12257,0.15,0.00,0.00,0.000,6,0.097,0.000,2633,2199,3430
$GC,12560,-0.76,-146.6,800.0,-6.2,503,12565,0.00,2.50,0.00,0.000,4,0.000,0.101,2633,793,3430
$GC,12599,-0.80,-146.6,802.7,-6.7,503,12603,0.00,2.40,0.00,0.000,6,0.000,0.084,2632,2198,3430
$GC,12919,-0.80,-146.6,821.2,-5.8,509,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,3429
$GC,13222,-0.80,-146.6,838.2,-5.6,514,13226,0.00,2.50,0.00,0.000,4,0.000,0.102,2633,799,3429
$GC,13266,-0.85,-146.6,840.6,-5.7,514,13270,0.00,2.40,0.00,0.000,6,0.000,0.084,2633,2200,3430
$GC,13580,-0.85,-146.6,858.5,-5.6,520,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2199,3429
$GC,13884,-0.85,-146.6,876.5,-5.9,525,13888,0.00,2.53,0.00,0.000,4,0.000,0.104,2633,791,3429
$GC,13928,-0.89,-146.6,879.3,-6.0,525,13933,0.15,2.42,0.00,0.000,6,0.064,0.086,2602,2201,3429
$GC,14243,-0.77,-146.6,902.4,-7.5,531,14245,0.15,0.00,0.00,0.000,6,0.097,0.000,2627,2201,3428
$GC,14545,-0.77,-146.6,920.5,-5.9,536,14549,0.00,2.50,0.00,0.000,4,0.000,0.105,2627,800,3428
$GC,14577,-0.77,-146.6,922.4,-6.2,536,14582,0.00,2.42,0.00,0.000,6,0.000,0.087,2627,2202,3428
$GC,14903,-0.77,-146.6,940.1,-5.4,542,14908,0.00,2.53,0.00,0.000,4,0.000,0.106,2627,800,3428
$GC,14936,-0.77,-146.6,941.8,-5.4,542,14940,0.00,2.40,0.00,0.000,6,0.000,0.087,2627,2200,3428
$GC,15268,-0.77,-146.6,958.1,-4.9,548,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2200,3428
$GC,15571,-0.77,-146.6,972.7,-4.8,553,15575,0.00,2.53,0.00,0.000,4,0.000,0.107,2627,800,3427
$GC,15626,-0.82,-146.6,975.5,-4.3,553,15632,0.00,2.42,0.00,0.000,6,0.000,0.089,2627,2200,3427
$STATE,15933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15933,begin apogee
$GC,15938,-0.23,0.0,990.7,5.0,559,16068,0.70,0.00,127.47,1.469,6,0.078,0.000,2746,2199,2837
$STATE,16069,end apogee,CONTROL_FINISHED_OK
$STATE,16069,begin climb
$GC,16071,0.70,146.6,994.3,0.0,561,16211,1.20,0.00,134.60,1.421,6,0.049,0.000,2952,2199,2239
$GC,16561,0.41,146.6,950.5,11.0,569,16567,0.35,2.75,0.00,0.000,4,0.097,0.136,2894,3611,2238
$GC,16673,0.28,146.6,940.5,7.9,570,16678,0.20,2.47,0.00,0.000,6,0.099,0.091,2863,2211,2238
$GC,16987,0.28,146.6,920.6,6.3,576,16988,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2210,2237
$GC,17290,0.28,146.6,900.7,6.6,581,17291,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2211,2237
$GC,17593,0.28,146.6,880.7,6.6,586,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2210,2237
$GC,17896,0.28,146.6,859.5,7.0,591,17900,0.00,2.58,0.00,0.000,4,0.000,0.117,2863,3607,2236
$GC,17939,0.28,146.6,856.2,7.2,591,17943,0.00,2.42,0.00,0.000,6,0.000,0.089,2863,2198,2237
$GC,18260,0.32,146.6,834.9,6.6,597,18261,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2198,2236
$GC,18563,0.32,150.7,816.2,6.1,602,18570,0.00,0.00,5.03,1.022,6,0.000,0.000,2862,2198,2222
$GC,18866,0.38,160.5,798.2,6.0,607,18878,0.00,0.00,10.00,1.247,6,0.000,0.000,2863,2198,2182
$GC,19170,0.44,167.0,779.8,6.1,612,19179,0.17,0.00,7.18,1.153,6,0.062,0.000,2897,2198,2156
$GC,19472,0.37,167.0,756.3,7.9,617,19477,0.00,2.55,0.00,0.000,4,0.000,0.111,2897,3607,2156
$GC,19539,0.27,167.0,750.3,8.9,618,19544,0.22,2.42,0.00,0.000,6,0.096,0.088,2862,2199,2156
$GC,19898,0.34,167.0,726.5,6.5,624,19899,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2199,2156
$GC,20201,0.41,167.0,706.5,6.6,629,20203,0.15,0.00,0.00,0.000,6,0.067,0.000,2892,2199,2155
$GC,20504,0.41,167.0,684.4,7.3,634,20508,0.00,2.55,0.00,0.000,4,0.000,0.107,2892,3616,2156
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$STATE,30587,end climb,SURFACE_DEPTH_REACHED
$STATE,30587,begin surface coast
$FINISH,0.3,1.010576
$STATE,30610,end surface coast,CONTROL_FINISHED_OK
$STATE,30610,begin surface
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$IRIDIUM_FIX,4641.78,-12550.97,151297,151501
$TT8_MAMPS,0.028379
$HUMID,2140
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$TCM_TEMP,17.30
$XPDR_PINGS,27
$24V_AH,22.5,38.625
$10V_AH,10.6,24.482
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$DEVICE_SECS,30.425,208.575,423.675,8.500,0.000,26.404,27.774,140.393,15.500,0.000,0.000,15.073,2129.164,25191.299,599.496,2515.795,502.124,33.387,1848.425,0.000,2478.798,0.000,56.639
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$SENSOR_SECS,749.156,897.299,1246.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53631,1099
$CAP_FILE_SIZE,193401,0
$CFSIZE,260165632,257372160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,210908,080132,4659.073,-12556.922,36,1.6,36,18.5