version: 66.03
glider: 119
mission: 5
dive: 32
start: 9 22 108 18 33 31
data:
$ID,119
$MISSION,5
$DIVE,32
$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,550
$T_MISSION,570
$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,-210288.2
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,182701,4703.454,-12605.897,40,1.3,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.8
$GPS2,183239,4703.452,-12605.891,11,1.3,11,18.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.122,-0.160
$KALMAN_X,48180.1,-212.8,137.7,-133859.5,4132.1
$KALMAN_Y,49908.9,46.7,-175.0,-40662.4,5293.3
$MHEAD_RNG_PITCHd_Wd,198.7,144269,-12.6,-6.000
$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,-0.72,-117.3,0.0,0.0,0,84,0.00,0.00,-62.10,0.000,2,0.000,0.000,862,2206,2854
$GC,87,-0.72,-117.3,3.7,-5.3,6,114,12.25,2.40,-9.43,0.000,4,0.150,0.087,2637,3614,3316
$GC,229,-0.47,-117.3,32.1,-13.3,18,234,0.35,2.30,0.00,0.000,6,0.081,0.056,2695,2194,3316
$GC,565,-0.56,-117.3,55.4,-6.4,68,572,0.00,2.30,0.00,0.000,4,0.000,0.073,2695,796,3318
$GC,640,-0.70,-117.3,59.9,-6.0,81,647,0.28,2.30,0.00,0.000,6,0.046,0.061,2639,2210,3318
$GC,982,-0.56,-117.3,91.3,-8.6,131,984,0.22,0.00,0.00,0.000,6,0.084,0.000,2677,2211,3318
$GC,1302,-0.63,-117.3,115.2,-7.2,161,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2211,3319
$GC,1621,-0.73,-117.3,133.6,-4.9,191,1626,0.17,2.40,0.00,0.000,4,0.054,0.091,2636,3603,3319
$GC,1672,-0.64,-117.3,137.1,-7.4,195,1677,0.12,2.33,0.00,0.000,6,0.097,0.069,2657,2197,3319
$GC,1994,-0.64,-117.3,155.4,-5.8,221,1998,0.00,2.35,0.00,0.000,4,0.000,0.083,2657,793,3319
$GC,2026,-0.70,-117.3,157.3,-5.9,222,2033,0.00,2.30,0.00,0.000,6,0.000,0.070,2657,2198,3319
$GC,2345,-0.74,-117.3,175.2,-5.9,238,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2198,3319
$GC,2652,-0.79,-117.3,193.0,-5.5,253,2654,0.15,0.00,0.00,0.000,6,0.061,0.000,2625,2198,3319
$GC,2961,-0.69,-117.3,217.2,-8.1,268,2962,0.12,0.00,0.00,0.000,6,0.097,0.000,2645,2198,3319
$GC,3269,-0.69,-117.3,237.9,-6.4,283,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2198,3318
$GC,3579,-0.69,-117.3,256.8,-6.0,298,3583,0.00,2.40,0.00,0.000,4,0.000,0.085,2646,787,3318
$GC,3607,-0.69,-117.3,258.6,-6.3,299,3610,0.00,2.35,0.00,0.000,6,0.000,0.071,2646,2205,3318
$GC,3928,-0.69,-117.3,276.6,-5.6,315,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,3318
$GC,4237,-0.69,-117.3,293.1,-5.3,330,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2206,3317
$GC,4563,-0.69,-117.3,311.3,-5.7,340,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2206,3316
$GC,4866,-0.69,-117.3,329.1,-5.9,345,4870,0.00,2.42,0.00,0.000,4,0.000,0.087,2646,789,3316
$GC,4892,-0.69,-117.3,330.8,-6.4,345,4896,0.00,2.38,0.00,0.000,6,0.000,0.073,2645,2219,3316
$GC,5230,-0.69,-117.3,349.8,-5.6,351,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2219,3315
$GC,5533,-0.69,-117.3,366.9,-5.6,356,5537,0.00,2.45,0.00,0.000,4,0.000,0.088,2646,791,3315
$GC,5560,-0.74,-117.3,368.6,-5.8,356,5564,0.00,2.35,0.00,0.000,6,0.000,0.074,2645,2203,3315
$GC,5891,-0.74,-117.3,387.0,-5.5,362,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,3314
$GC,6194,-0.74,-117.3,403.5,-5.5,367,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,3314
$GC,6497,-0.74,-117.3,419.7,-5.3,372,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3314
$GC,6800,-0.74,-117.3,438.0,-6.1,377,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,3313
$GC,7104,-0.74,-117.3,456.6,-6.1,382,7108,0.00,2.45,0.00,0.000,4,0.000,0.093,2646,794,3313
$GC,7143,-0.80,-117.3,459.1,-6.4,382,7147,0.00,2.35,0.00,0.000,6,0.000,0.076,2645,2199,3313
$GC,7465,-0.85,-117.3,477.6,-5.8,388,7467,0.17,0.00,0.00,0.000,6,0.061,0.000,2610,2199,3313
$GC,7766,-0.74,-117.3,500.5,-7.8,393,7768,0.15,0.00,0.00,0.000,6,0.097,0.000,2635,2199,3312
$GC,8068,-0.74,-117.3,519.5,-6.1,398,8072,0.00,2.45,0.00,0.000,4,0.000,0.097,2635,796,3312
$GC,8095,-0.74,-117.3,521.3,-6.5,398,8099,0.00,2.38,0.00,0.000,6,0.000,0.078,2635,2204,3312
$GC,8433,-0.74,-117.3,540.7,-5.7,404,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2204,3311
$GC,8737,-0.74,-117.3,557.9,-5.6,409,8742,0.00,2.47,0.00,0.000,4,0.000,0.097,2635,796,3310
$GC,8787,-0.74,-117.3,561.2,-6.5,409,8791,0.00,2.38,0.00,0.000,6,0.000,0.081,2635,2199,3310
$GC,9103,-0.74,-117.3,579.8,-6.0,415,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2199,3310
$GC,9405,-0.74,-117.3,597.7,-5.9,420,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2199,3310
$GC,9708,-0.74,-117.3,614.5,-5.5,425,9712,0.00,2.50,0.00,0.000,4,0.000,0.102,2635,794,3310
$GC,9757,-0.78,-117.3,617.4,-6.1,425,9761,0.00,2.40,0.00,0.000,6,0.000,0.085,2635,2204,3310
$GC,10066,-0.78,-117.3,634.7,-5.7,430,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2204,3310
$GC,10370,-0.78,-117.3,653.3,-6.1,435,10374,0.00,2.53,0.00,0.000,4,0.000,0.107,2635,798,3310
$GC,10401,-0.78,-117.3,655.3,-6.5,435,10406,0.00,2.42,0.00,0.000,6,0.000,0.091,2635,2205,3310
$GC,10734,-0.78,-117.3,676.0,-6.3,441,10738,0.00,2.50,0.00,0.000,4,0.000,0.098,2635,788,3310
$GC,10778,-0.83,-117.3,678.9,-6.6,441,10782,0.00,2.42,0.00,0.000,6,0.000,0.081,2635,2212,3309
$GC,11099,-0.83,-117.3,697.2,-5.7,447,11103,0.00,2.50,0.00,0.000,4,0.000,0.098,2635,796,3309
$GC,11126,-0.87,-117.3,698.7,-5.8,447,11131,0.15,2.40,0.00,0.000,6,0.064,0.081,2605,2209,3309
$GC,11456,-0.77,-117.3,718.7,-6.0,453,11461,0.15,2.50,0.00,0.000,4,0.097,0.097,2633,796,3308
$GC,11483,-0.77,-117.3,720.2,-5.2,453,11487,0.00,2.40,0.00,0.000,6,0.000,0.081,2633,2205,3309
$GC,11821,-0.77,-117.3,735.0,-4.4,459,11825,0.00,2.50,0.00,0.000,4,0.000,0.099,2633,789,3309
$GC,11859,-0.81,-117.3,736.7,-4.5,459,11863,0.00,2.40,0.00,0.000,6,0.000,0.081,2633,2201,3308
$GC,12179,-0.81,-117.3,751.0,-4.6,465,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2201,3308
$GC,12482,-0.81,-117.3,765.7,-4.9,470,12486,0.00,2.50,0.00,0.000,4,0.000,0.100,2633,790,3307
$GC,12509,-0.86,-117.3,767.1,-5.7,470,12513,0.00,2.40,0.00,0.000,6,0.000,0.082,2633,2199,3308
$GC,12840,-0.86,-117.3,785.9,-5.8,476,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2199,3307
$GC,13143,-0.86,-117.3,805.4,-6.5,481,13147,0.00,2.50,0.00,0.000,4,0.000,0.101,2633,793,3307
$GC,13186,-0.91,-117.3,808.4,-6.8,481,13191,0.17,2.40,0.00,0.000,6,0.063,0.084,2598,2199,3307
$GC,13500,-0.79,-117.3,834.3,-8.3,487,13505,0.15,2.53,0.00,0.000,4,0.097,0.100,2627,786,3306
$GC,13533,-0.79,-117.3,836.7,-7.3,487,13537,0.00,2.42,0.00,0.000,6,0.000,0.084,2627,2202,3306
$GC,13864,-0.79,-117.3,857.6,-6.2,493,13868,0.00,2.53,0.00,0.000,4,0.000,0.102,2627,789,3307
$GC,13903,-0.79,-117.3,859.8,-5.8,493,13907,0.00,2.40,0.00,0.000,6,0.000,0.084,2627,2201,3306
$GC,14230,-0.79,-117.3,876.1,-4.8,499,14234,0.00,2.53,0.00,0.000,4,0.000,0.103,2627,787,3306
$GC,14257,-0.79,-117.3,877.5,-5.1,499,14261,0.00,2.42,0.00,0.000,6,0.000,0.084,2627,2199,3306
$GC,14588,-0.79,-117.3,891.7,-4.2,505,14593,0.00,2.53,0.00,0.000,4,0.000,0.103,2627,789,3306
$GC,14615,-0.79,-117.3,892.7,-4.2,505,14619,0.00,2.45,0.00,0.000,6,0.000,0.085,2627,2208,3305
$GC,14953,-0.79,-117.3,907.5,-4.4,511,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2208,3305
$GC,15256,-0.79,-117.3,921.9,-4.8,516,15260,0.00,2.55,0.00,0.000,4,0.000,0.104,2627,789,3305
$GC,15299,-0.79,-117.3,924.1,-5.4,516,15303,0.00,2.45,0.00,0.000,6,0.000,0.087,2627,2203,3305
$GC,15620,-0.79,-117.3,939.5,-4.8,522,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,3305
$GC,15924,-0.79,-117.3,953.7,-4.7,527,15929,0.00,2.55,0.00,0.000,4,0.000,0.106,2627,792,3305
$GC,15969,-0.83,-117.3,955.8,-5.4,527,15973,0.00,2.45,0.00,0.000,6,0.000,0.087,2627,2205,3305
$GC,16283,-0.83,-117.3,969.7,-4.5,533,16287,0.00,2.55,0.00,0.000,4,0.000,0.106,2627,791,3305
$GC,16315,-0.83,-117.3,971.3,-5.2,533,16319,0.00,2.45,0.00,0.000,6,0.000,0.088,2627,2204,3305
$GC,16641,-0.83,-117.3,986.0,-4.5,539,16645,0.00,2.55,0.00,0.000,4,0.000,0.107,2627,794,3305
$GC,16673,-0.83,-117.3,987.6,-4.5,539,16677,0.00,2.45,0.00,0.000,6,0.000,0.089,2627,2201,3305
$STATE,16760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16760,begin apogee
$GC,16765,-0.23,0.0,991.8,4.9,541,16869,0.70,0.00,100.68,1.477,6,0.079,0.000,2746,2201,2837
$STATE,16869,end apogee,CONTROL_FINISHED_OK
$STATE,16870,begin climb
$GC,16872,0.72,117.3,992.7,0.0,542,16987,1.25,2.97,107.22,1.429,4,0.049,0.139,2957,3601,2359
$GC,17020,0.35,117.3,986.4,10.1,545,17026,0.52,2.62,0.00,0.000,6,0.100,0.094,2880,2203,2358
$GC,17369,0.35,117.3,964.4,6.1,551,17373,0.00,2.60,0.00,0.000,4,0.000,0.110,2880,780,2357
$GC,17406,0.30,117.3,962.1,6.4,551,17411,0.00,2.50,0.00,0.000,6,0.000,0.086,2880,2205,2357
$GC,17726,0.31,129.6,944.2,5.6,557,17740,0.00,0.00,11.90,1.323,6,0.000,0.000,2880,2205,2308
$GC,18029,0.32,136.8,926.8,5.8,562,18039,0.00,0.00,8.00,1.236,6,0.000,0.000,2880,2206,2279
$GC,18332,0.32,136.8,908.9,6.0,567,18336,0.00,2.58,0.00,0.000,4,0.000,0.108,2880,784,2279
$GC,18386,0.32,136.8,905.2,6.5,567,18393,0.00,2.45,0.00,0.000,6,0.000,0.087,2880,2204,2279
$GC,18696,0.32,136.8,884.9,6.6,573,18697,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2204,2279
$GC,18999,0.32,136.8,863.3,7.1,578,19003,0.00,2.55,0.00,0.000,4,0.000,0.108,2880,787,2279
$GC,19060,0.32,136.8,858.7,7.8,579,19064,0.00,2.45,0.00,0.000,6,0.000,0.088,2880,2201,2278
$GC,19424,0.32,136.8,832.4,7.3,585,19429,0.00,2.55,0.00,0.000,4,0.000,0.107,2880,781,2278
$GC,19468,0.32,136.8,828.9,7.8,585,19472,0.00,2.45,0.00,0.000,6,0.000,0.087,2880,2201,2278
$GC,19788,0.32,136.8,805.4,7.4,591,19793,0.00,2.55,0.00,0.000,4,0.000,0.106,2880,782,2279
$GC,19843,0.32,136.8,801.1,7.0,591,19850,0.00,2.42,0.00,0.000,6,0.000,0.087,2880,2202,2279
$GC,20152,0.32,136.8,779.5,6.9,597,20154,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2202,2279
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$GC,27304,0.50,203.7,290.7,5.8,719,27318,0.00,2.45,6.78,0.904,4,0.000,0.092,2887,781,2005
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$STATE,31392,end climb,SURFACE_DEPTH_REACHED
$STATE,31393,begin surface coast
$FINISH,0.2,1.012409
$STATE,31416,end surface coast,CONTROL_FINISHED_OK
$STATE,31416,begin surface
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$IRIDIUM_FIX,4644.93,-12604.20,171297,090920
$TT8_MAMPS,0.027612
$HUMID,2105
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$TCM_TEMP,17.80
$XPDR_PINGS,34
$24V_AH,22.5,39.449
$10V_AH,10.6,25.106
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$DEVICE_SECS,31.100,279.200,365.000,25.350,0.000,24.324,39.564,156.059,17.250,0.000,0.000,13.926,2197.166,25643.738,614.760,2786.981,547.539,33.376,2021.466,0.000,2737.370,0.000,56.642
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53630,1069
$CAP_FILE_SIZE,217216,0
$CFSIZE,260165632,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,230908,031908,4703.066,-12607.714,36,1.2,36,18.5