version: 66.03
glider: 119
mission: 5
dive: 219
start: 11 18 108 21 20 7
data:
$ID,119
$MISSION,5
$DIVE,219
$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,-213833.97
$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,12
$R_STBD_OVSHOOT,43
$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
$GPS1,210956,4657.431,-12531.391,40,1.4,40,18.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.1
$GPS2,211915,4657.392,-12531.361,9,1.3,9,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.193,-0.026
$KALMAN_X,-17424.1,-26.7,-687.0,-23975.9,884.1
$KALMAN_Y,239824.0,48.8,-563.8,-241406.2,1826.0
$MHEAD_RNG_PITCHd_Wd,79.2,42413,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.40,0.000,2,0.000,0.000,861,2230,2556
$GC,77,-0.67,-117.3,3.1,-3.8,5,121,12.23,2.50,-21.60,0.000,4,0.142,0.071,2648,786,3317
$GC,189,-0.42,-117.3,16.2,-13.2,15,194,0.35,2.20,0.00,0.000,6,0.081,0.041,2706,2194,3318
$GC,514,-0.42,-117.3,41.0,-7.4,46,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2193,3318
$GC,857,-0.49,-117.3,63.7,-5.8,107,863,0.00,2.28,0.00,0.000,4,0.000,0.055,2706,774,3318
$GC,887,-0.58,-117.3,65.4,-5.5,112,894,0.17,2.15,0.00,0.000,6,0.050,0.040,2666,2175,3318
$GC,1223,-0.50,-117.3,90.4,-6.9,160,1228,0.12,2.35,0.00,0.000,4,0.087,0.060,2688,3595,3318
$GC,1285,-0.50,-117.3,94.3,-6.2,165,1289,0.00,2.28,0.00,0.000,6,0.000,0.039,2688,2147,3318
$GC,1614,-0.57,-117.3,112.3,-5.0,195,1618,0.00,2.28,0.00,0.000,4,0.000,0.061,2688,777,3318
$GC,1654,-0.66,-117.3,114.8,-6.1,198,1658,0.17,2.12,0.00,0.000,6,0.051,0.041,2650,2151,3318
$GC,1979,-0.59,-117.3,138.4,-6.3,228,1983,0.00,2.20,0.00,0.000,4,0.000,0.061,2650,776,3318
$GC,2028,-0.54,-117.3,142.1,-7.4,232,2036,0.12,2.08,0.00,0.000,6,0.071,0.042,2676,2104,3318
$GC,2351,-0.60,-117.3,158.4,-4.8,255,2355,0.00,2.47,0.00,0.000,4,0.000,0.065,2676,3602,3318
$GC,2384,-0.66,-117.3,160.3,-5.3,256,2388,0.00,2.35,0.00,0.000,6,0.000,0.041,2676,2097,3317
$GC,2706,-0.73,-117.3,176.1,-5.1,272,2708,0.20,0.00,0.00,0.000,6,0.051,0.000,2633,2097,3318
$GC,3014,-0.60,-117.3,197.1,-6.8,287,3019,0.15,2.50,0.00,0.000,4,0.087,0.061,2662,3597,3318
$GC,3054,-0.60,-117.3,199.7,-5.9,289,3058,0.00,2.35,0.00,0.000,6,0.000,0.043,2663,2120,3317
$GC,3386,-0.60,-117.3,218.5,-5.5,305,3390,0.00,2.22,0.00,0.000,4,0.000,0.064,2663,782,3318
$GC,3412,-0.60,-117.3,220.2,-6.2,306,3416,0.00,2.12,0.00,0.000,6,0.000,0.042,2663,2138,3318
$GC,3734,-0.60,-117.3,237.4,-4.9,322,3738,0.00,2.40,0.00,0.000,4,0.000,0.065,2663,3595,3317
$GC,3779,-0.60,-117.3,239.8,-5.1,324,3783,0.00,2.30,0.00,0.000,6,0.000,0.043,2663,2131,3317
$GC,4100,-0.60,-117.3,254.3,-4.5,340,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2129,3317
$GC,4409,-0.60,-117.3,268.9,-4.8,355,4413,0.00,2.45,0.00,0.000,4,0.000,0.064,2662,3599,3317
$GC,4454,-0.60,-117.3,271.3,-5.7,357,4458,0.00,2.30,0.00,0.000,6,0.000,0.044,2663,2143,3316
$GC,4774,-0.60,-117.3,288.5,-5.7,373,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3316
$GC,5101,-0.60,-117.3,307.2,-5.7,385,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3315
$GC,5405,-0.60,-117.3,323.5,-5.3,390,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3315
$GC,5707,-0.60,-117.3,340.3,-5.6,395,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3315
$GC,6012,-0.60,-117.3,358.7,-6.1,400,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3314
$GC,6315,-0.60,-117.3,375.2,-5.4,405,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3314
$GC,6618,-0.64,-117.3,391.4,-5.3,410,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2138,3314
$GC,6921,-0.69,-117.3,405.8,-4.7,415,6925,0.00,2.47,0.00,0.000,4,0.000,0.066,2663,3599,3313
$GC,6948,-0.69,-117.3,407.2,-5.0,415,6952,0.00,2.30,0.00,0.000,6,0.000,0.044,2663,2165,3313
$GC,7285,-0.74,-117.3,422.4,-4.6,421,7290,0.12,2.33,0.00,0.000,4,0.064,0.073,2635,805,3313
$GC,7318,-0.70,-117.3,424.3,-6.3,421,7322,0.00,2.17,0.00,0.000,6,0.000,0.046,2635,2197,3313
$GC,7644,-0.62,-117.3,443.1,-5.8,427,7646,0.17,0.00,0.00,0.000,6,0.086,0.000,2665,2197,3312
$GC,7948,-0.68,-117.3,459.1,-5.3,432,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2197,3312
$GC,8250,-0.74,-117.3,474.9,-5.1,437,8252,0.15,0.00,0.00,0.000,6,0.061,0.000,2633,2197,3312
$GC,8553,-0.66,-117.3,493.4,-6.1,442,8555,0.12,0.00,0.00,0.000,6,0.091,0.000,2654,2197,3312
$GC,8856,-0.66,-117.3,509.2,-5.2,447,8860,0.00,2.33,0.00,0.000,4,0.000,0.074,2654,808,3312
$GC,8888,-0.66,-117.3,511.1,-5.9,447,8893,0.00,2.20,0.00,0.000,6,0.000,0.048,2654,2184,3312
$GC,9222,-0.66,-117.3,529.0,-5.4,453,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2184,3311
$GC,9523,-0.66,-117.3,543.5,-4.7,458,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2184,3310
$GC,9826,-0.66,-117.3,558.5,-5.0,463,9831,0.00,2.38,0.00,0.000,4,0.000,0.072,2654,3599,3310
$GC,9860,-0.66,-117.3,560.3,-5.2,463,9864,0.00,2.25,0.00,0.000,6,0.000,0.046,2654,2179,3310
$GC,10186,-0.66,-117.3,578.1,-5.5,469,10190,0.00,2.33,0.00,0.000,4,0.000,0.080,2654,800,3310
$GC,10224,-0.71,-117.3,580.3,-6.3,469,10228,0.00,2.20,0.00,0.000,6,0.000,0.051,2654,2189,3310
$GC,10550,-0.71,-117.3,598.6,-5.6,475,10554,0.00,2.38,0.00,0.000,4,0.000,0.071,2654,3600,3310
$GC,10582,-0.71,-117.3,600.6,-6.2,475,10586,0.00,2.28,0.00,0.000,6,0.000,0.046,2654,2171,3309
$GC,10914,-0.71,-117.3,618.8,-5.5,481,10918,0.00,2.30,0.00,0.000,4,0.000,0.083,2654,806,3309
$GC,10947,-0.76,-117.3,620.7,-5.2,481,10951,0.00,2.17,0.00,0.000,6,0.000,0.051,2654,2179,3309
$GC,11274,-0.80,-117.3,638.2,-5.4,487,11275,0.15,0.00,0.00,0.000,6,0.062,0.000,2622,2179,3309
$GC,11576,-0.70,-117.3,657.0,-6.2,492,11578,0.12,0.00,0.00,0.000,6,0.093,0.000,2644,2180,3309
$GC,11879,-0.70,-117.3,673.5,-5.4,497,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3308
$GC,12182,-0.70,-117.3,691.4,-6.0,502,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3308
$GC,12485,-0.70,-117.3,710.7,-6.4,507,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2180,3308
$GC,12789,-0.70,-117.3,731.4,-6.8,512,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3307
$GC,13092,-0.70,-117.3,752.4,-6.9,517,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3307
$GC,13394,-0.70,-117.3,773.2,-6.9,522,13398,0.00,2.35,0.00,0.000,4,0.000,0.084,2644,801,3307
$GC,13438,-0.70,-117.3,776.5,-7.7,522,13442,0.00,2.20,0.00,0.000,6,0.000,0.054,2643,2171,3307
$GC,13763,-0.70,-117.3,798.5,-6.8,528,13768,0.00,2.45,0.00,0.000,4,0.000,0.081,2643,3599,3306
$GC,13796,-0.70,-117.3,800.9,-7.0,528,13800,0.00,2.30,0.00,0.000,6,0.000,0.049,2644,2156,3306
$GC,14128,-0.70,-117.3,823.9,-7.0,534,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3306
$GC,14431,-0.70,-117.3,846.0,-7.4,539,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2156,3306
$GC,14734,-0.70,-117.3,867.6,-7.2,544,14738,0.00,2.50,0.00,0.000,4,0.000,0.080,2643,3599,3305
$GC,14760,-0.70,-117.3,869.8,-7.4,544,14764,0.00,2.33,0.00,0.000,6,0.000,0.049,2644,2172,3305
$GC,15098,-0.70,-117.3,894.3,-7.3,550,15102,0.00,2.38,0.00,0.000,4,0.000,0.094,2644,806,3305
$GC,15124,-0.70,-117.3,896.4,-7.0,550,15129,0.00,2.25,0.00,0.000,6,0.000,0.058,2643,2178,3305
$GC,15461,-0.70,-117.3,918.9,-6.6,556,15463,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2178,3306
$GC,15765,-0.70,-117.3,937.5,-6.1,561,15769,0.00,2.42,0.00,0.000,4,0.000,0.094,2644,799,3305
$GC,15797,-0.70,-117.3,939.4,-6.0,561,15801,0.00,2.25,0.00,0.000,6,0.000,0.061,2643,2182,3305
$GC,16129,-0.70,-117.3,958.0,-5.6,567,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,3304
$GC,16432,-0.70,-117.3,974.4,-5.4,572,16436,0.00,2.45,0.00,0.000,4,0.000,0.097,2643,798,3305
$GC,16477,-0.75,-117.3,976.8,-5.3,572,16481,0.00,2.22,0.00,0.000,6,0.000,0.062,2643,2159,3305
$STATE,16734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16734,begin apogee
$GC,16739,-0.23,0.0,992.2,6.0,577,16845,0.60,0.00,103.10,1.498,6,0.067,0.000,2748,2205,2837
$STATE,16846,end apogee,CONTROL_FINISHED_OK
$STATE,16846,begin climb
$GC,16848,0.67,117.3,995.1,0.0,578,16971,1.12,2.70,113.28,1.448,4,0.047,0.088,2944,3597,2359
$GC,17128,0.40,117.3,979.5,8.7,582,17133,0.35,2.38,0.00,0.000,6,0.092,0.061,2889,2210,2359
$GC,17471,0.41,120.5,960.4,5.4,588,17481,0.00,2.50,5.00,1.041,4,0.000,0.101,2889,784,2345
$GC,17548,0.36,120.5,955.7,5.7,589,17552,0.00,2.22,0.00,0.000,6,0.000,0.061,2889,2144,2345
$GC,17896,0.37,127.4,937.3,5.3,595,17906,0.00,0.00,7.88,1.244,6,0.000,0.000,2889,2144,2317
$GC,18200,0.38,136.8,921.7,5.2,600,18215,0.00,2.38,10.57,1.324,4,0.000,0.096,2889,788,2278
$GC,18237,0.39,145.9,919.5,5.2,600,18252,0.00,2.20,10.15,1.295,6,0.000,0.060,2889,2130,2242
$GC,18562,0.40,150.2,902.1,5.4,606,18573,0.00,2.35,6.00,1.144,4,0.000,0.093,2889,785,2224
$GC,18617,0.40,150.2,898.8,6.6,606,18623,0.00,2.12,0.00,0.000,6,0.000,0.059,2889,2094,2224
$GC,18926,0.40,150.2,881.4,5.7,612,18927,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2094,2224
$GC,19229,0.40,150.2,863.6,5.9,617,19233,0.00,2.28,0.00,0.000,4,0.000,0.092,2889,778,2223
$GC,19268,0.40,150.2,861.1,6.6,617,19272,0.00,2.08,0.00,0.000,6,0.000,0.058,2889,2053,2223
$GC,19594,0.40,150.2,839.9,6.5,623,19598,0.00,2.62,0.00,0.000,4,0.000,0.081,2889,3602,2223
$GC,19637,0.40,150.2,836.6,7.0,623,19641,0.00,2.47,0.00,0.000,6,0.000,0.054,2889,2076,2224
$GC,19958,0.40,150.2,815.4,6.6,629,19959,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2076,2224
$GC,20261,0.40,150.2,794.1,7.1,634,20262,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2076,2224
$GC,20564,0.40,150.2,772.5,7.0,639,20568,0.00,2.20,0.00,0.000,4,0.000,0.092,2889,788,2224
$GC,20608,0.40,150.2,769.3,6.5,639,20612,0.00,2.03,0.00,0.000,6,0.000,0.053,2889,2050,2224
$GC,20928,0.40,150.2,749.5,6.0,645,20930,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2051,2224
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$GC,23545,0.44,151.9,586.8,5.8,688,23546,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1991,2224
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$STATE,32578,end climb,SURFACE_DEPTH_REACHED
$STATE,32578,begin surface coast
$FINISH,0.8,1.012665
$STATE,32600,end surface coast,CONTROL_FINISHED_OK
$STATE,32601,begin surface
$SM_CCo,32621,50.62,0.811,0,0,1409,350.04
$SM_GC,1.74,0.00,0.00,50.62,0.000,0.000,0.811,858,2219,1409,-8.93,0.54,350.04
$IRIDIUM_FIX,4638.64,-12527.13,120298,212139
$TT8_MAMPS,0.027612
$HUMID,2022
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$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,21.9,65.856
$10V_AH,10.4,46.999
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$DEVICE_SECS,29.600,204.325,343.100,50.625,0.000,59.836,56.767,253.985,9.000,0.000,0.000,11.298,2258.481,26981.744,577.572,2678.254,724.056,33.384,1895.819,0.000,2639.418,0.000,56.637
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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,56847,1160
$CAP_FILE_SIZE,205935,0
$CFSIZE,260165632,242679808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191108,062601,4656.957,-12527.594,38,1.9,43,18.4