version: 66.03
glider: 119
mission: 5
dive: 33
start: 9 23 108 3 25 42
data:
$ID,119
$MISSION,5
$DIVE,33
$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,-210300.91
$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
$GPS1,031908,4703.066,-12607.714,36,1.2,36,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.3
$GPS2,032450,4703.051,-12607.709,10,1.2,10,18.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.151,-0.133
$KALMAN_X,50209.5,-162.3,-262.4,-137831.3,3050.9
$KALMAN_Y,54220.7,137.6,-54.7,-45938.3,4325.2
$MHEAD_RNG_PITCHd_Wd,210.0,141942,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-52.08,0.000,2,0.000,0.000,862,2206,2673
$GC,77,-0.72,-117.3,3.6,-6.1,5,108,12.32,2.38,-14.00,0.000,4,0.148,0.089,2635,3607,3316
$GC,193,-0.34,-117.3,26.2,-17.9,15,201,0.52,2.30,0.00,0.000,6,0.087,0.057,2720,2195,3316
$GC,526,-0.55,-117.3,47.6,-4.9,59,532,0.20,0.00,0.00,0.000,6,0.055,0.000,2676,2190,3317
$GC,870,-0.75,-117.3,71.5,-7.2,120,877,0.17,2.33,0.00,0.000,4,0.052,0.072,2632,784,3319
$GC,906,-0.81,-117.3,74.3,-7.8,126,912,0.00,2.30,0.00,0.000,6,0.000,0.061,2631,2203,3319
$GC,1235,-0.66,-117.3,104.9,-9.4,162,1239,0.15,2.38,0.00,0.000,4,0.092,0.077,2660,796,3319
$GC,1279,-0.66,-117.3,108.6,-8.1,165,1286,0.00,2.30,0.00,0.000,6,0.000,0.066,2660,2203,3319
$GC,1605,-0.66,-117.3,132.3,-6.7,196,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2203,3319
$GC,1923,-0.70,-117.3,153.0,-6.7,224,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2203,3319
$GC,2231,-0.76,-117.3,170.0,-4.8,239,2233,0.12,0.00,0.00,0.000,6,0.067,0.000,2632,2203,3319
$GC,2540,-0.69,-117.3,190.4,-6.9,254,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2203,3319
$GC,2849,-0.63,-117.3,210.4,-6.3,269,2854,0.15,2.40,0.00,0.000,4,0.091,0.082,2660,786,3319
$GC,2876,-0.68,-117.3,211.9,-5.2,270,2880,0.00,2.33,0.00,0.000,6,0.000,0.070,2660,2198,3319
$GC,3198,-0.76,-117.3,227.0,-4.9,286,3200,0.15,0.00,0.00,0.000,6,0.063,0.000,2629,2198,3319
$GC,3507,-0.71,-117.3,245.9,-5.9,301,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2198,3319
$GC,3816,-0.64,-117.3,264.3,-6.4,316,3821,0.15,2.40,0.00,0.000,4,0.093,0.084,2657,790,3318
$GC,3837,-0.64,-117.3,265.7,-6.1,317,3841,0.00,2.35,0.00,0.000,6,0.000,0.071,2657,2209,3318
$GC,4165,-0.72,-117.3,283.3,-5.6,333,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2209,3318
$GC,4477,-0.79,-117.3,300.3,-5.5,348,4478,0.17,0.00,0.00,0.000,6,0.059,0.000,2622,2209,3318
$GC,4777,-0.71,-117.3,322.0,-7.2,353,4781,0.12,2.40,0.00,0.000,4,0.097,0.086,2642,796,3317
$GC,4808,-0.71,-117.3,324.1,-6.4,353,4813,0.00,2.35,0.00,0.000,6,0.000,0.073,2642,2193,3317
$GC,5141,-0.71,-117.3,343.2,-5.7,359,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2192,3317
$GC,5444,-0.71,-117.3,359.1,-5.2,364,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2193,3316
$GC,5747,-0.71,-117.3,374.9,-5.2,369,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2192,3315
$GC,6050,-0.71,-117.3,391.2,-5.4,374,6054,0.00,2.50,0.00,0.000,4,0.000,0.101,2642,3609,3315
$GC,6076,-0.71,-117.3,392.8,-6.3,374,6080,0.00,2.35,0.00,0.000,6,0.000,0.074,2642,2202,3314
$GC,6414,-0.71,-117.3,412.3,-5.9,380,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3314
$GC,6718,-0.71,-117.3,431.6,-6.5,385,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3314
$GC,7020,-0.71,-117.3,450.7,-6.3,390,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3314
$GC,7323,-0.71,-117.3,467.8,-5.6,395,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3313
$GC,7626,-0.71,-117.3,483.5,-5.2,400,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3313
$GC,7929,-0.71,-117.3,498.0,-4.7,405,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3312
$GC,8232,-0.71,-117.3,512.6,-4.8,410,8236,0.00,2.50,0.00,0.000,4,0.000,0.102,2642,3605,3312
$GC,8259,-0.71,-117.3,514.1,-5.7,410,8263,0.00,2.35,0.00,0.000,6,0.000,0.077,2642,2205,3312
$GC,8597,-0.75,-117.3,530.4,-4.9,416,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,3312
$GC,8900,-0.80,-117.3,545.9,-5.1,421,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,3312
$GC,9203,-0.86,-117.3,561.9,-5.3,426,9205,0.15,0.00,0.00,0.000,6,0.065,0.000,2610,2204,3311
$GC,9506,-0.76,-117.3,581.5,-6.6,431,9511,0.12,2.50,0.00,0.000,4,0.100,0.104,2632,792,3311
$GC,9538,-0.76,-117.3,583.5,-5.9,431,9542,0.00,2.38,0.00,0.000,6,0.000,0.082,2631,2199,3311
$GC,9871,-0.76,-117.3,602.1,-5.6,437,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,3310
$GC,10173,-0.76,-117.3,619.4,-5.7,442,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,3309
$GC,10476,-0.76,-117.3,635.6,-5.3,447,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2199,3310
$GC,10780,-0.76,-117.3,651.1,-5.1,452,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,3310
$GC,11082,-0.76,-117.3,666.7,-5.2,457,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,3309
$GC,11386,-0.76,-117.3,682.6,-5.3,462,11390,0.00,2.50,0.00,0.000,4,0.000,0.099,2632,787,3309
$GC,11412,-0.76,-117.3,684.1,-5.3,462,11416,0.00,2.40,0.00,0.000,6,0.000,0.080,2631,2201,3309
$GC,11752,-0.76,-117.3,701.1,-5.0,468,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3309
$GC,12053,-0.76,-117.3,716.3,-5.0,473,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3309
$GC,12356,-0.76,-117.3,731.2,-4.9,478,12360,0.00,2.58,0.00,0.000,4,0.000,0.118,2631,3606,3309
$GC,12377,-0.76,-117.3,732.3,-5.0,478,12381,0.00,2.40,0.00,0.000,6,0.000,0.081,2632,2198,3308
$GC,12720,-0.76,-117.3,750.4,-5.3,484,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,3308
$GC,13023,-0.76,-117.3,766.8,-5.4,489,13027,0.00,2.47,0.00,0.000,4,0.000,0.103,2631,792,3308
$GC,13061,-0.80,-117.3,768.8,-5.4,489,13065,0.00,2.40,0.00,0.000,6,0.000,0.082,2631,2202,3308
$GC,13380,-0.80,-117.3,785.5,-5.2,495,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2202,3308
$GC,13684,-0.80,-117.3,800.8,-5.1,500,13689,0.00,2.50,0.00,0.000,4,0.000,0.100,2631,790,3308
$GC,13718,-0.85,-117.3,802.7,-5.7,500,13722,0.00,2.40,0.00,0.000,6,0.000,0.082,2631,2201,3307
$GC,14044,-0.85,-117.3,819.7,-5.3,506,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,3307
$GC,14346,-0.85,-117.3,836.9,-5.7,511,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3307
$GC,14650,-0.85,-117.3,854.1,-5.7,516,14654,0.00,2.53,0.00,0.000,4,0.000,0.101,2631,786,3307
$GC,14687,-0.90,-117.3,856.3,-6.2,516,14692,0.15,2.42,0.00,0.000,6,0.065,0.084,2602,2207,3307
$GC,15008,-0.80,-117.3,876.8,-6.4,522,15010,0.12,0.00,0.00,0.000,6,0.102,0.000,2623,2207,3306
$GC,15311,-0.80,-117.3,892.0,-4.8,527,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2207,3306
$GC,15615,-0.80,-117.3,906.2,-4.7,532,15619,0.00,2.55,0.00,0.000,4,0.000,0.103,2623,783,3305
$GC,15658,-0.80,-117.3,908.3,-4.9,532,15662,0.00,2.45,0.00,0.000,6,0.000,0.084,2622,2204,3306
$GC,15979,-0.80,-117.3,923.6,-4.8,538,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,3306
$GC,16282,-0.80,-117.3,939.7,-5.4,543,16286,0.00,2.55,0.00,0.000,4,0.000,0.104,2622,786,3305
$GC,16325,-0.80,-117.3,942.5,-5.8,543,16329,0.00,2.45,0.00,0.000,6,0.000,0.086,2622,2206,3305
$GC,16646,-0.80,-117.3,961.1,-5.9,549,16650,0.00,2.55,0.00,0.000,4,0.000,0.104,2622,789,3305
$GC,16689,-0.80,-117.3,963.9,-5.4,549,16694,0.00,2.45,0.00,0.000,6,0.000,0.087,2622,2204,3305
$GC,17004,-0.80,-117.3,982.2,-5.7,555,17005,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2204,3305
$STATE,17123,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,17123,begin apogee
$GC,17128,-0.23,0.0,988.9,5.7,557,17232,0.75,0.00,100.65,1.479,6,0.081,0.000,2749,2204,2837
$STATE,17232,end apogee,CONTROL_FINISHED_OK
$STATE,17232,begin climb
$GC,17235,0.72,117.3,990.4,0.0,558,17350,1.23,2.92,106.95,1.433,4,0.048,0.127,2958,3603,2358
$GC,17445,0.37,117.3,977.4,10.8,562,17451,0.50,2.58,0.00,0.000,6,0.102,0.092,2884,2200,2358
$GC,17799,0.32,117.3,952.0,7.1,568,17801,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2201,2357
$GC,18102,0.32,117.3,930.7,7.1,573,18103,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2200,2357
$GC,18405,0.32,117.3,910.1,6.8,578,18406,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2201,2356
$GC,18708,0.32,117.3,890.7,6.4,583,18712,0.00,2.60,0.00,0.000,4,0.000,0.117,2884,3606,2356
$GC,18746,0.26,117.3,888.0,7.4,583,18751,0.15,2.42,0.00,0.000,6,0.104,0.087,2860,2199,2357
$GC,19066,0.36,153.1,872.5,4.8,589,19099,0.00,0.00,31.45,1.393,6,0.000,0.000,2861,2199,2212
$GC,19369,0.49,177.1,856.9,5.2,594,19399,0.20,2.62,22.20,1.355,4,0.061,0.109,2903,787,2114
$GC,19427,0.41,177.1,852.6,8.1,594,19433,0.00,2.47,0.00,0.000,6,0.000,0.084,2903,2205,2113
$GC,19735,0.41,177.1,828.8,7.7,600,19737,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2204,2113
$GC,20039,0.41,177.1,805.5,7.8,605,20040,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2205,2113
$GC,20342,0.41,177.1,780.6,8.2,610,20346,0.00,2.53,0.00,0.000,4,0.000,0.111,2903,3607,2112
$GC,20385,0.35,177.1,776.6,8.7,610,20390,0.15,2.42,0.00,0.000,6,0.104,0.088,2880,2199,2113
$GC,20699,0.41,177.1,753.9,7.1,616,20700,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2198,2112
$GC,21002,0.47,177.1,733.1,6.8,621,21007,0.10,2.53,0.00,0.000,4,0.079,0.108,2901,781,2112
$GC,21029,0.47,177.1,730.8,8.5,621,21033,0.00,2.42,0.00,0.000,6,0.000,0.084,2901,2202,2112
$GC,21366,0.47,177.1,703.8,8.1,627,21370,0.00,2.50,0.00,0.000,4,0.000,0.108,2901,3606,2112
$GC,21415,0.42,177.1,699.4,9.3,627,21419,0.00,2.40,0.00,0.000,6,0.000,0.085,2901,2197,2112
$GC,21730,0.42,177.1,673.7,8.2,633,21731,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2197,2112
$GC,22033,0.42,177.1,649.2,8.1,638,22037,0.00,2.47,0.00,0.000,4,0.000,0.106,2901,791,2112
$GC,22071,0.37,177.1,646.0,8.0,638,22074,0.00,2.42,0.00,0.000,6,0.000,0.083,2901,2210,2112
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$GC,28873,0.62,209.0,163.2,5.8,818,28885,0.15,2.40,5.97,0.803,4,0.063,0.089,2936,789,1985
$GC,28918,0.54,209.0,159.6,7.7,820,28922,0.00,2.35,0.00,0.000,6,0.000,0.074,2936,2208,1984
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$STATE,31303,end climb,SURFACE_DEPTH_REACHED
$STATE,31303,begin surface coast
$FINISH,0.3,1.013421
$STATE,31326,end surface coast,CONTROL_FINISHED_OK
$STATE,31326,begin surface
$SM_CCo,31346,11.50,0.763,0,0,1409,350.04
$SM_GC,2.62,0.00,0.00,11.50,0.000,0.000,0.763,862,2207,1409,-8.91,0.20,350.04
$IRIDIUM_FIX,4648.08,-12715.60,171297,181846
$TT8_MAMPS,0.027612
$HUMID,2108
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$TCM_TEMP,17.50
$XPDR_PINGS,32
$24V_AH,22.5,39.606
$10V_AH,10.6,25.228
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$DEVICE_SECS,30.575,170.900,386.725,11.500,0.000,26.524,26.412,174.055,16.750,0.000,0.000,12.073,2073.903,26158.018,551.225,2381.285,525.683,33.363,1731.055,0.000,2349.914,0.000,56.644
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,741.951,888.331,1208.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53721,1088
$CAP_FILE_SIZE,186015,0
$CFSIZE,260165632,256864256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230908,120938,4702.711,-12610.403,39,1.1,39,18.5