version: 66.03
glider: 119
mission: 5
dive: 250
start: 11 30 108 8 13 37
data:
$ID,119
$MISSION,5
$DIVE,250
$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,-214377.86
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,080603,4658.822,-12629.625,39,1.4,41,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.8
$GPS2,081245,4658.785,-12629.614,13,1.2,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.182,-0.070
$KALMAN_X,-6857.7,23.3,141.7,-109048.7,1377.4
$KALMAN_Y,307116.4,-711.8,187.1,-306130.9,2638.8
$MHEAD_RNG_PITCHd_Wd,230.3,114185,-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,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.55,0.000,2,0.000,0.000,863,2220,2545
$GC,77,-0.67,-117.3,3.5,-4.3,5,121,12.15,2.50,-21.33,0.000,4,0.140,0.071,2645,786,3317
$GC,189,-0.45,-117.3,15.8,-11.8,15,194,0.32,2.20,0.00,0.000,6,0.077,0.043,2699,2192,3317
$GC,514,-0.45,-117.3,39.9,-6.9,45,518,0.00,2.28,0.00,0.000,4,0.000,0.059,2699,783,3317
$GC,553,-0.45,-117.3,42.5,-6.8,51,559,0.00,2.20,0.00,0.000,6,0.000,0.042,2700,2175,3317
$GC,897,-0.49,-117.3,66.5,-6.6,112,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2176,3317
$GC,1239,-0.58,-117.3,88.4,-6.5,162,1244,0.15,2.38,0.00,0.000,4,0.053,0.063,2664,3601,3317
$GC,1256,-0.58,-117.3,89.6,-6.9,163,1260,0.00,2.25,0.00,0.000,6,0.000,0.040,2664,2164,3317
$GC,1583,-0.53,-117.3,114.2,-7.7,193,1587,0.00,2.42,0.00,0.000,4,0.000,0.064,2664,3602,3317
$GC,1604,-0.53,-117.3,115.9,-7.3,194,1611,0.00,2.30,0.00,0.000,6,0.000,0.042,2665,2172,3317
$GC,1931,-0.53,-117.3,135.8,-5.7,225,1935,0.00,2.40,0.00,0.000,4,0.000,0.064,2664,3600,3317
$GC,1970,-0.53,-117.3,138.4,-6.4,228,1974,0.00,2.22,0.00,0.000,6,0.000,0.044,2664,2199,3317
$GC,2291,-0.53,-117.3,158.2,-6.4,252,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2194,3317
$GC,2601,-0.53,-117.3,175.9,-5.3,267,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2193,3317
$GC,2909,-0.53,-117.3,193.7,-5.9,282,2913,0.00,2.38,0.00,0.000,4,0.000,0.067,2664,3609,3317
$GC,2931,-0.53,-117.3,195.1,-6.1,283,2935,0.00,2.20,0.00,0.000,6,0.000,0.043,2664,2215,3317
$GC,3258,-0.57,-117.3,213.9,-6.1,299,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2210,3317
$GC,3567,-0.57,-117.3,233.0,-6.1,314,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2210,3317
$GC,3878,-0.62,-117.3,250.3,-5.4,329,3882,0.00,2.30,0.00,0.000,4,0.000,0.067,2664,806,3317
$GC,3895,-0.68,-117.3,251.3,-5.2,329,3901,0.00,2.17,0.00,0.000,6,0.000,0.044,2664,2217,3317
$GC,4211,-0.73,-117.3,267.6,-5.2,345,4213,0.12,0.00,0.00,0.000,6,0.062,0.000,2636,2217,3317
$GC,4520,-0.65,-117.3,287.8,-6.7,360,4525,0.12,2.33,0.00,0.000,4,0.091,0.065,2657,803,3317
$GC,4546,-0.65,-117.3,289.6,-6.6,361,4550,0.00,2.20,0.00,0.000,6,0.000,0.044,2657,2211,3317
$GC,4865,-0.65,-117.3,307.3,-5.5,373,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2211,3317
$GC,5168,-0.65,-117.3,322.8,-5.1,378,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2211,3317
$GC,5471,-0.65,-117.3,337.7,-4.9,383,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2211,3316
$GC,5774,-0.65,-117.3,354.4,-5.6,388,5778,0.00,2.33,0.00,0.000,4,0.000,0.067,2657,799,3316
$GC,5801,-0.71,-117.3,356.0,-6.1,388,5805,0.00,2.17,0.00,0.000,6,0.000,0.044,2657,2196,3316
$GC,6132,-0.71,-117.3,374.1,-5.4,394,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2196,3315
$GC,6435,-0.71,-117.3,389.4,-5.0,399,6439,0.00,2.30,0.00,0.000,4,0.000,0.069,2657,806,3315
$GC,6462,-0.76,-117.3,390.7,-5.1,399,6467,0.12,2.12,0.00,0.000,6,0.060,0.045,2629,2167,3315
$GC,6793,-0.68,-117.3,411.2,-6.3,405,6795,0.12,0.00,0.00,0.000,6,0.089,0.000,2651,2167,3315
$GC,7098,-0.68,-117.3,427.6,-5.3,410,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2167,3314
$GC,7399,-0.68,-117.3,444.0,-5.4,415,7403,0.00,2.40,0.00,0.000,4,0.000,0.069,2651,3598,3314
$GC,7422,-0.68,-117.3,445.2,-5.5,415,7426,0.00,2.25,0.00,0.000,6,0.000,0.045,2651,2179,3313
$GC,7759,-0.68,-117.3,463.0,-5.2,421,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2178,3313
$GC,8062,-0.68,-117.3,478.5,-5.2,426,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2178,3313
$GC,8365,-0.68,-117.3,493.9,-5.0,431,8369,0.00,2.33,0.00,0.000,4,0.000,0.075,2651,808,3313
$GC,8387,-0.72,-117.3,495.0,-4.9,431,8391,0.00,2.17,0.00,0.000,6,0.000,0.048,2651,2190,3313
$GC,8724,-0.72,-117.3,510.5,-4.6,437,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2190,3313
$GC,9028,-0.72,-117.3,525.2,-4.9,442,9032,0.00,2.33,0.00,0.000,4,0.000,0.074,2651,799,3312
$GC,9061,-0.77,-117.3,527.0,-5.6,442,9065,0.00,2.15,0.00,0.000,6,0.000,0.049,2651,2164,3312
$GC,9386,-0.77,-117.3,544.3,-5.3,448,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2164,3312
$GC,9689,-0.77,-117.3,562.1,-5.9,453,9693,0.00,2.28,0.00,0.000,4,0.000,0.074,2651,807,3312
$GC,9710,-0.82,-117.3,563.5,-6.8,453,9715,0.15,2.12,0.00,0.000,6,0.056,0.051,2618,2147,3312
$GC,10054,-0.71,-117.3,588.4,-7.3,459,10056,0.15,0.00,0.00,0.000,6,0.086,0.000,2644,2148,3311
$GC,10356,-0.71,-117.3,606.1,-5.8,464,10360,0.00,2.45,0.00,0.000,4,0.000,0.074,2644,3601,3311
$GC,10389,-0.71,-117.3,608.1,-6.2,464,10393,0.00,2.33,0.00,0.000,6,0.000,0.048,2644,2145,3310
$GC,10722,-0.71,-117.3,625.4,-5.2,470,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2145,3310
$GC,11024,-0.71,-117.3,640.5,-4.9,475,11028,0.00,2.50,0.00,0.000,4,0.000,0.073,2644,3600,3310
$GC,11051,-0.71,-117.3,641.9,-5.4,475,11055,0.00,2.30,0.00,0.000,6,0.000,0.048,2644,2161,3310
$GC,11388,-0.71,-117.3,657.5,-4.6,481,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2161,3310
$GC,11691,-0.71,-117.3,670.3,-4.2,486,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2161,3310
$GC,11994,-0.71,-117.3,683.5,-4.3,491,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2160,3310
$GC,12297,-0.71,-117.3,697.6,-4.7,496,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2160,3310
$GC,12601,-0.71,-117.3,712.9,-5.1,501,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3309
$GC,12903,-0.71,-117.3,729.2,-5.4,506,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3309
$GC,13206,-0.71,-117.3,745.9,-5.5,511,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3309
$GC,13511,-0.71,-117.3,762.1,-5.4,516,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3309
$GC,13814,-0.71,-117.3,777.0,-4.9,521,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3309
$GC,14116,-0.71,-117.3,791.3,-4.7,526,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2157,3308
$GC,14419,-0.71,-117.3,806.0,-4.9,531,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2157,3308
$GC,14722,-0.71,-117.3,820.7,-4.9,536,14726,0.00,2.40,0.00,0.000,4,0.000,0.088,2644,802,3308
$GC,14749,-0.75,-117.3,822.0,-5.3,536,14753,0.00,2.20,0.00,0.000,6,0.000,0.057,2644,2166,3308
$GC,15081,-0.75,-117.3,839.2,-5.2,542,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3308
$GC,15384,-0.75,-117.3,855.2,-5.3,547,15385,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3307
$GC,15687,-0.75,-117.3,870.5,-5.0,552,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3307
$GC,15990,-0.75,-117.3,886.0,-5.1,557,15995,0.00,2.38,0.00,0.000,4,0.000,0.088,2644,800,3307
$GC,16023,-0.81,-117.3,887.9,-5.6,557,16027,0.00,2.20,0.00,0.000,6,0.000,0.059,2644,2154,3306
$GC,16355,-0.96,-117.3,907.8,-6.2,563,16360,0.28,2.35,0.00,0.000,4,0.048,0.087,2584,806,3307
$GC,16573,-0.76,-117.3,924.4,-7.1,566,16578,0.28,2.85,0.00,0.000,6,0.084,0.062,2629,2534,3306
$GC,16916,-0.76,-117.3,943.4,-5.5,572,16920,0.00,3.03,0.00,0.000,4,0.000,0.087,2630,799,3306
$GC,17027,-0.76,-117.3,950.1,-6.6,573,17032,0.00,2.65,0.00,0.000,6,0.000,0.061,2629,2416,3306
$GC,17342,-0.76,-117.3,967.6,-5.5,579,17346,0.00,2.83,0.00,0.000,4,0.000,0.090,2629,805,3306
$GC,17403,-0.76,-117.3,971.1,-5.6,580,17407,0.00,2.55,0.00,0.000,6,0.000,0.061,2629,2358,3305
$STATE,17766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17766,begin apogee
$GC,17771,-0.23,0.0,990.1,5.1,586,17888,0.70,0.00,105.68,1.482,6,0.073,0.000,2748,2186,2836
$STATE,17889,end apogee,CONTROL_FINISHED_OK
$STATE,17889,begin climb
$GC,17891,0.67,117.3,992.9,0.0,588,18014,1.12,2.75,114.28,1.463,4,0.048,0.087,2944,3602,2358
$GC,18115,0.39,117.3,979.5,8.6,591,18120,0.38,2.40,0.00,0.000,6,0.091,0.058,2886,2213,2358
$GC,18446,0.39,117.3,956.2,7.0,597,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2213,2358
$GC,18750,0.39,117.3,935.2,6.9,602,18751,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2213,2358
$GC,19052,0.39,117.3,915.4,6.5,607,19053,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2213,2358
$GC,19355,0.39,117.3,896.8,6.1,612,19356,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2213,2358
$GC,19659,0.39,118.0,880.0,5.5,617,19660,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2213,2358
$GC,19962,0.41,131.6,864.4,5.1,622,19979,0.00,0.00,14.68,1.369,6,0.000,0.000,2886,2213,2300
$GC,20265,0.44,156.2,850.1,4.7,627,20291,0.00,0.00,24.10,1.393,6,0.000,0.000,2886,2213,2200
$GC,20568,0.45,169.4,834.9,5.1,632,20594,0.00,2.55,16.27,1.205,4,0.000,0.095,2886,785,2146
$GC,20638,0.45,169.4,830.9,5.9,633,20643,0.00,2.30,0.00,0.000,6,0.000,0.054,2886,2199,2145
$GC,20999,0.51,169.4,811.0,5.6,639,21004,0.12,2.42,0.00,0.000,4,0.064,0.086,2913,787,2145
$GC,21043,0.42,169.4,807.9,8.2,639,21048,0.12,2.22,0.00,0.000,6,0.097,0.054,2893,2168,2145
$GC,21357,0.42,169.4,788.3,6.3,645,21358,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2168,2145
$GC,21660,0.42,169.4,767.8,6.8,650,21664,0.00,2.38,0.00,0.000,4,0.000,0.087,2893,780,2146
$GC,21693,0.42,169.4,765.3,7.1,650,21697,0.00,2.17,0.00,0.000,6,0.000,0.054,2893,2138,2145
$GC,22019,0.42,169.4,742.2,7.1,656,22020,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2138,2146
$GC,22322,0.42,169.4,721.6,6.8,661,22323,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,2146
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$STATE,33352,end climb,SURFACE_DEPTH_REACHED
$STATE,33352,begin surface coast
$FINISH,0.9,1.018951
$STATE,33394,end surface coast,CONTROL_FINISHED_OK
$STATE,33395,begin surface
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$IRIDIUM_FIX,4641.78,-12629.48,230298,222215
$TT8_MAMPS,0.027612
$HUMID,2002
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$TCM_TEMP,17.30
$XPDR_PINGS,1
$24V_AH,21.8,70.700
$10V_AH,10.4,51.009
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$DEVICE_SECS,29.600,183.550,348.400,54.075,0.000,24.615,57.293,191.524,9.250,0.000,0.000,16.528,2257.002,27751.484,599.488,2617.858,632.337,33.385,1877.974,0.000,2582.055,0.000,59.545
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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,56862,1170
$CAP_FILE_SIZE,202279,0
$CFSIZE,260165632,240050176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,301108,173238,4658.241,-12633.766,32,2.0,32,18.5