version: 66.03
glider: 119
mission: 5
dive: 252
start: 12 1 108 3 9 37
data:
$ID,119
$MISSION,5
$DIVE,252
$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,-214410.95
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,025750,4658.022,-12639.493,49,1.3,49,18.5
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.8
$GPS2,030845,4657.954,-12639.612,14,1.3,14,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186,-0.058
$KALMAN_X,-5041.6,-483.7,-383.8,-122455.4,2069.8
$KALMAN_Y,309644.9,-100.0,-566.1,-310052.4,2244.0
$MHEAD_RNG_PITCHd_Wd,234.3,101605,-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,-51.50,0.000,2,0.000,0.000,862,2162,2536
$GC,77,-0.67,-117.3,3.0,-3.5,5,121,12.20,2.25,-24.10,0.000,4,0.141,0.073,2646,789,3316
$GC,358,-0.49,-117.3,32.7,-10.9,30,362,0.28,2.20,0.00,0.000,6,0.079,0.043,2692,2201,3316
$GC,696,-0.49,-117.3,59.7,-8.2,82,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2201,3316
$GC,1041,-0.53,-117.3,83.6,-6.3,139,1045,0.00,2.28,0.00,0.000,4,0.000,0.059,2692,792,3316
$GC,1070,-0.60,-117.3,85.3,-6.7,141,1075,0.12,2.22,0.00,0.000,6,0.058,0.042,2662,2222,3315
$GC,1397,-0.55,-117.3,112.1,-8.1,171,1401,0.00,2.33,0.00,0.000,4,0.000,0.060,2662,788,3316
$GC,1452,-0.55,-117.3,116.5,-7.0,175,1458,0.00,2.17,0.00,0.000,6,0.000,0.043,2662,2167,3316
$GC,1778,-0.55,-117.3,135.9,-5.3,206,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2167,3316
$GC,2105,-0.55,-117.3,153.6,-5.0,234,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2167,3316
$GC,2413,-0.55,-117.3,171.0,-5.8,249,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2167,3316
$GC,2722,-0.55,-117.3,189.3,-5.9,264,2727,0.00,2.40,0.00,0.000,4,0.000,0.066,2662,3608,3316
$GC,2750,-0.55,-117.3,190.9,-5.8,265,2754,0.00,2.28,0.00,0.000,6,0.000,0.043,2662,2168,3316
$GC,3071,-0.55,-117.3,208.5,-5.5,281,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2164,3316
$GC,3381,-0.59,-117.3,226.1,-5.8,296,3386,0.00,2.42,0.00,0.000,4,0.000,0.066,2662,3603,3316
$GC,3403,-0.63,-117.3,227.6,-6.1,297,3408,0.00,2.22,0.00,0.000,6,0.000,0.043,2662,2196,3316
$GC,3725,-0.68,-117.3,247.6,-6.4,313,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2190,3316
$GC,4034,-0.72,-117.3,265.4,-5.4,328,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2189,3315
$GC,4344,-0.77,-117.3,281.1,-5.3,343,4346,0.15,0.00,0.00,0.000,6,0.058,0.000,2629,2189,3315
$GC,4693,-0.68,-117.3,305.3,-7.0,358,4697,0.12,2.38,0.00,0.000,4,0.090,0.069,2651,799,3315
$GC,4736,-0.68,-117.3,308.2,-5.9,358,4740,0.00,2.15,0.00,0.000,6,0.000,0.045,2650,2174,3315
$GC,5051,-0.68,-117.3,326.0,-5.6,364,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2174,3315
$GC,5354,-0.68,-117.3,342.7,-5.5,369,5358,0.00,2.40,0.00,0.000,4,0.000,0.067,2650,3601,3314
$GC,5380,-0.68,-117.3,344.4,-6.4,369,5385,0.00,2.28,0.00,0.000,6,0.000,0.045,2651,2189,3314
$GC,5718,-0.68,-117.3,364.0,-5.8,375,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3313
$GC,6021,-0.68,-117.3,380.8,-5.5,380,6025,0.00,2.40,0.00,0.000,4,0.000,0.068,2650,3604,3313
$GC,6041,-0.68,-117.3,382.1,-6.3,380,6046,0.00,2.28,0.00,0.000,6,0.000,0.045,2651,2170,3312
$GC,6385,-0.68,-117.3,401.8,-5.8,386,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2165,3313
$GC,6688,-0.68,-117.3,419.2,-5.7,391,6692,0.00,2.42,0.00,0.000,4,0.000,0.069,2650,3598,3312
$GC,6708,-0.68,-117.3,420.5,-6.1,391,6713,0.00,2.25,0.00,0.000,6,0.000,0.045,2651,2210,3312
$GC,7052,-0.68,-117.3,438.3,-5.1,397,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3312
$GC,7356,-0.68,-117.3,452.6,-4.7,402,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3312
$GC,7659,-0.68,-117.3,465.8,-4.3,407,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3311
$GC,7961,-0.68,-117.3,479.1,-4.4,412,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3311
$GC,8264,-0.68,-117.3,493.6,-4.9,417,8268,0.00,2.40,0.00,0.000,4,0.000,0.078,2650,803,3311
$GC,8286,-0.72,-117.3,494.9,-5.5,417,8290,0.00,2.20,0.00,0.000,6,0.000,0.049,2650,2199,3311
$GC,8629,-0.72,-117.3,513.0,-5.4,423,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,3310
$GC,8932,-0.72,-117.3,528.1,-4.9,428,8936,0.00,2.35,0.00,0.000,4,0.000,0.077,2650,803,3310
$GC,8970,-0.78,-117.3,530.1,-5.3,428,8974,0.00,2.15,0.00,0.000,6,0.000,0.050,2651,2163,3309
$GC,9291,-0.82,-117.3,545.4,-4.8,434,9293,0.15,0.00,0.00,0.000,6,0.059,0.000,2617,2164,3309
$GC,9594,-0.72,-117.3,564.7,-6.5,439,9595,0.15,0.00,0.00,0.000,6,0.087,0.000,2643,2164,3309
$GC,9896,-0.72,-117.3,582.3,-5.8,444,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2164,3309
$GC,10200,-0.72,-117.3,600.0,-5.8,449,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2164,3309
$GC,10503,-0.72,-117.3,616.8,-5.5,454,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2164,3309
$GC,10805,-0.72,-117.3,633.5,-5.5,459,10810,0.00,2.33,0.00,0.000,4,0.000,0.080,2643,795,3309
$GC,10832,-0.72,-117.3,635.0,-5.8,459,10836,0.00,2.22,0.00,0.000,6,0.000,0.053,2643,2164,3308
$GC,11170,-0.72,-117.3,653.8,-5.6,465,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2164,3308
$GC,11473,-0.72,-117.3,670.2,-5.4,470,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2164,3308
$GC,11776,-0.72,-117.3,686.0,-5.2,475,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2164,3308
$GC,12080,-0.72,-117.3,700.4,-4.7,480,12084,0.00,2.33,0.00,0.000,4,0.000,0.083,2643,803,3308
$GC,12119,-0.76,-117.3,702.4,-5.1,480,12123,0.00,2.15,0.00,0.000,6,0.000,0.054,2643,2143,3307
$GC,12439,-0.76,-117.3,716.9,-4.5,486,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2143,3307
$GC,12742,-0.76,-117.3,731.6,-4.9,491,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3307
$GC,13045,-0.76,-117.3,748.0,-5.5,496,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3307
$GC,13348,-0.76,-117.3,765.1,-5.7,501,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3307
$GC,13653,-0.76,-117.3,780.7,-5.1,506,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3306
$GC,13954,-0.76,-117.3,794.6,-4.5,511,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3306
$GC,14258,-0.76,-117.3,807.3,-4.3,516,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3305
$GC,14561,-0.76,-117.3,820.2,-4.3,521,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2143,3305
$GC,14864,-0.76,-117.3,834.4,-4.7,526,14868,0.00,2.33,0.00,0.000,4,0.000,0.087,2643,801,3305
$GC,14903,-0.82,-117.3,836.5,-5.0,526,14907,0.00,2.15,0.00,0.000,6,0.000,0.057,2643,2133,3305
$GC,15224,-0.87,-117.3,853.0,-5.2,532,15229,0.17,2.53,0.00,0.000,4,0.055,0.082,2603,3602,3305
$GC,15240,-0.87,-117.3,854.2,-5.5,532,15244,0.00,2.38,0.00,0.000,6,0.000,0.051,2603,2125,3304
$GC,15583,-0.73,-117.3,878.6,-7.2,538,15588,0.17,2.55,0.00,0.000,4,0.087,0.079,2636,3605,3304
$GC,15621,-0.73,-117.3,881.2,-6.0,538,15625,0.00,2.33,0.00,0.000,6,0.000,0.051,2637,2150,3304
$GC,15948,-0.73,-117.3,898.5,-5.3,544,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2150,3304
$GC,16251,-0.73,-117.3,914.6,-5.3,549,16252,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2150,3304
$GC,16553,-0.73,-117.3,931.1,-5.5,554,16558,0.00,2.53,0.00,0.000,4,0.000,0.083,2636,3599,3304
$GC,16570,-0.73,-117.3,931.9,-5.4,554,16574,0.00,2.30,0.00,0.000,6,0.000,0.051,2637,2164,3304
$GC,16919,-0.73,-117.3,950.8,-5.4,560,16920,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2164,3304
$GC,17221,-0.73,-117.3,964.8,-4.5,565,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2164,3304
$GC,17526,-0.73,-117.3,976.5,-3.9,570,17528,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2162,3304
$GC,17828,-0.73,-117.3,988.4,-3.9,575,17829,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2162,3303
$STATE,17885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17885,begin apogee
$GC,17891,-0.23,0.0,990.8,3.9,576,17997,0.65,0.00,103.10,1.506,6,0.073,0.000,2748,2206,2837
$STATE,17998,end apogee,CONTROL_FINISHED_OK
$STATE,17998,begin climb
$GC,18000,0.67,117.3,992.0,0.0,577,18123,1.12,2.70,114.57,1.468,4,0.044,0.084,2946,3594,2358
$GC,18156,0.36,117.3,986.4,8.9,579,18162,0.43,2.47,0.00,0.000,6,0.092,0.058,2882,2210,2358
$GC,18488,0.36,117.3,965.5,6.1,585,18492,0.00,2.53,0.00,0.000,4,0.000,0.103,2882,782,2357
$GC,18532,0.32,120.6,962.6,5.4,585,18542,0.00,2.30,4.85,1.036,6,0.000,0.061,2882,2185,2345
$GC,18846,0.32,120.6,944.7,5.7,590,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2185,2345
$GC,19149,0.32,120.6,926.9,6.0,595,19150,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2185,2345
$GC,19452,0.32,120.6,908.1,6.3,600,19453,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2185,2345
$GC,19755,0.32,120.6,888.4,6.5,605,19759,0.00,2.45,0.00,0.000,4,0.000,0.094,2882,779,2345
$GC,19798,0.32,120.6,885.4,6.8,605,19802,0.00,2.22,0.00,0.000,6,0.000,0.058,2882,2160,2344
$GC,20119,0.32,120.6,864.5,6.5,611,20120,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2161,2344
$GC,20422,0.32,120.6,846.1,6.1,616,20423,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2160,2344
$GC,20725,0.32,123.7,829.5,5.4,621,20731,0.00,0.00,4.55,0.997,6,0.000,0.000,2882,2161,2332
$GC,21028,0.33,129.3,813.4,5.3,626,21042,0.00,2.42,6.80,1.183,4,0.000,0.087,2882,779,2310
$GC,21070,0.35,148.9,811.1,4.9,626,21095,0.00,2.17,19.50,1.360,6,0.000,0.055,2882,2131,2229
$GC,21462,0.39,148.9,788.8,5.7,633,21463,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2131,2229
$GC,21765,0.44,149.9,772.4,5.5,638,21766,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2131,2229
$GC,22068,0.50,166.7,757.0,5.0,643,22092,0.15,2.38,17.85,1.332,4,0.060,0.086,2918,782,2157
$GC,22115,0.40,166.7,753.8,7.1,643,22119,0.17,2.17,0.00,0.000,6,0.091,0.054,2890,2120,2157
$GC,22430,0.44,166.7,735.2,6.0,649,22431,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2121,2157
$GC,22732,0.44,166.7,715.3,6.6,654,22733,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2120,2157
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$STATE,33775,end climb,SURFACE_DEPTH_REACHED
$STATE,33775,begin surface coast
$FINISH,0.8,1.024472
$STATE,33810,end surface coast,CONTROL_FINISHED_OK
$STATE,33810,begin surface
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$IRIDIUM_FIX,4641.78,-12640.84,250298,030328
$TT8_MAMPS,0.027612
$HUMID,2034
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$TCM_TEMP,17.40
$XPDR_PINGS,2
$24V_AH,21.7,71.025
$10V_AH,10.4,51.275
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$DEVICE_SECS,29.450,171.475,353.500,47.600,0.000,87.296,92.467,221.776,9.250,0.000,0.000,16.271,2222.013,28423.451,555.937,2563.306,757.769,33.384,1816.868,0.000,2525.162,0.000,56.642
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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,56817,1156
$CAP_FILE_SIZE,201600,0
$CFSIZE,260165632,239874048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,123539,4657.182,-12645.438,37,1.9,44,18.5