version: 66.03
glider: 119
mission: 5
dive: 181
start: 11 3 108 19 38 54
data:
$ID,119
$MISSION,5
$DIVE,181
$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,-213209.47
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,193143,4710.981,-12731.055,35,2.0,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.3
$GPS2,193802,4710.931,-12731.044,15,1.1,15,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.144,-0.132
$KALMAN_X,-26584.1,48.7,228.0,-167068.7,-1558.7
$KALMAN_Y,174551.3,375.3,-8.0,-151962.2,1019.5
$MHEAD_RNG_PITCHd_Wd,208.8,41802,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,85,0.00,0.00,-61.53,0.000,2,0.000,0.000,863,2224,2760
$GC,88,-0.67,-117.3,3.2,-4.6,6,122,12.23,2.40,-13.43,0.000,4,0.143,0.074,2651,797,3319
$GC,127,0.02,-117.3,10.5,-14.1,9,134,0.90,2.17,0.00,0.000,6,0.074,0.041,2800,2196,3319
$GC,454,-0.51,-117.3,37.0,-9.3,40,459,0.60,2.28,0.00,0.000,4,0.048,0.055,2688,787,3319
$GC,464,-0.96,-117.3,38.4,-9.4,40,471,0.52,2.20,0.00,0.000,6,0.035,0.041,2580,2196,3319
$GC,802,-0.49,-117.3,89.9,-14.6,93,807,0.62,2.28,0.00,0.000,4,0.085,0.060,2687,796,3319
$GC,999,-0.49,-117.3,104.8,-7.2,110,1003,0.00,2.25,0.00,0.000,6,0.000,0.044,2687,2234,3319
$GC,1325,-0.49,-117.3,123.0,-5.1,140,1329,0.00,2.25,0.00,0.000,4,0.000,0.065,2687,3598,3319
$GC,1357,-0.56,-117.3,124.9,-5.9,142,1368,0.00,2.15,0.00,0.000,6,0.000,0.041,2687,2235,3319
$GC,1684,-0.79,-117.3,143.1,-6.2,173,1689,0.30,2.33,0.00,0.000,4,0.044,0.060,2619,810,3318
$GC,1907,-0.61,-117.3,160.5,-8.2,187,1911,0.28,1.88,0.00,0.000,6,0.077,0.044,2666,2018,3319
$GC,2234,-0.61,-117.3,180.3,-6.1,203,2238,0.00,2.60,0.00,0.000,4,0.000,0.065,2666,3598,3319
$GC,2299,-0.61,-117.3,184.8,-6.5,206,2304,0.00,2.40,0.00,0.000,6,0.000,0.044,2666,2077,3319
$GC,2627,-0.61,-117.3,203.9,-6.0,222,2631,0.00,2.55,0.00,0.000,4,0.000,0.065,2666,3608,3319
$GC,2677,-0.61,-117.3,207.3,-6.7,224,2681,0.00,2.33,0.00,0.000,6,0.000,0.044,2666,2128,3319
$GC,2995,-0.61,-117.3,226.3,-5.7,239,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2122,3319
$GC,3302,-0.61,-117.3,244.0,-5.7,254,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2123,3319
$GC,3611,-0.61,-117.3,261.9,-5.7,269,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2122,3318
$GC,3921,-0.61,-117.3,279.0,-5.4,284,3925,0.00,2.47,0.00,0.000,4,0.000,0.067,2666,3600,3318
$GC,3948,-0.61,-117.3,280.7,-5.4,285,3952,0.00,2.38,0.00,0.000,6,0.000,0.045,2666,2106,3318
$GC,4264,-0.65,-117.3,298.2,-5.4,300,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2105,3318
$GC,4608,-0.65,-117.3,317.2,-5.5,307,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2105,3317
$GC,4911,-0.70,-117.3,332.8,-5.1,312,4916,0.00,2.53,0.00,0.000,4,0.000,0.067,2666,3606,3317
$GC,4944,-0.70,-117.3,334.6,-5.4,312,4948,0.00,2.35,0.00,0.000,6,0.000,0.046,2666,2124,3316
$GC,5277,-0.75,-117.3,350.4,-4.8,318,5279,0.15,0.00,0.00,0.000,6,0.059,0.000,2634,2121,3316
$GC,5579,-0.65,-117.3,369.3,-6.3,323,5581,0.12,0.00,0.00,0.000,6,0.093,0.000,2655,2121,3315
$GC,5882,-0.65,-117.3,386.6,-5.7,328,5886,0.00,2.50,0.00,0.000,4,0.000,0.070,2655,3599,3315
$GC,5914,-0.65,-117.3,388.6,-6.4,328,5918,0.00,2.35,0.00,0.000,6,0.000,0.045,2655,2140,3315
$GC,6247,-0.65,-117.3,407.1,-5.5,334,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2140,3315
$GC,6550,-0.65,-117.3,421.8,-4.8,339,6554,0.00,2.45,0.00,0.000,4,0.000,0.069,2655,3597,3315
$GC,6577,-0.65,-117.3,423.1,-5.1,339,6581,0.00,2.28,0.00,0.000,6,0.000,0.047,2655,2162,3314
$GC,6914,-0.65,-117.3,439.4,-4.9,345,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2162,3314
$GC,7217,-0.65,-117.3,455.1,-5.2,350,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2162,3314
$GC,7521,-0.65,-117.3,469.4,-4.7,355,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2162,3313
$GC,7823,-0.65,-117.3,483.2,-4.6,360,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2162,3313
$GC,8126,-0.65,-117.3,498.8,-5.2,365,8131,0.00,2.42,0.00,0.000,4,0.000,0.071,2654,3595,3313
$GC,8149,-0.65,-117.3,500.1,-5.6,365,8153,0.00,2.30,0.00,0.000,6,0.000,0.047,2655,2153,3311
$GC,8485,-0.65,-117.3,518.6,-5.5,371,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2153,3311
$GC,8788,-0.65,-117.3,535.3,-5.5,376,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2152,3311
$GC,9093,-0.65,-117.3,552.4,-5.7,381,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2151,3310
$GC,9394,-0.65,-117.3,569.0,-5.5,386,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2150,3310
$GC,9698,-0.65,-117.3,584.9,-5.2,391,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2149,3310
$GC,10001,-0.65,-117.3,600.4,-5.2,396,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2149,3310
$GC,10304,-0.65,-117.3,615.8,-5.1,401,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2148,3310
$GC,10609,-0.69,-117.3,630.6,-4.9,406,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2147,3310
$GC,10910,-0.69,-117.3,644.3,-4.5,411,10914,0.00,2.35,0.00,0.000,4,0.000,0.091,2655,806,3310
$GC,10943,-0.75,-117.3,645.7,-4.4,411,10947,0.00,2.17,0.00,0.000,6,0.000,0.059,2655,2152,3309
$GC,11269,-0.79,-117.3,659.4,-4.2,417,11271,0.15,0.00,0.00,0.000,6,0.061,0.000,2623,2152,3309
$GC,11573,-0.70,-117.3,676.7,-5.8,422,11575,0.12,0.00,0.00,0.000,6,0.094,0.000,2644,2152,3310
$GC,11875,-0.70,-117.3,692.5,-5.2,427,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2152,3309
$GC,12177,-0.70,-117.3,710.1,-5.8,432,12179,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2152,3308
$GC,12481,-0.70,-117.3,728.2,-5.9,437,12485,0.00,2.35,0.00,0.000,4,0.000,0.091,2644,807,3308
$GC,12508,-0.70,-117.3,729.9,-6.4,437,12512,0.00,2.17,0.00,0.000,6,0.000,0.061,2644,2136,3309
$GC,12846,-0.70,-117.3,748.1,-5.3,443,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2136,3308
$GC,13149,-0.70,-117.3,763.3,-5.0,448,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2136,3308
$GC,13452,-0.70,-117.3,778.7,-5.1,453,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2137,3308
$GC,13755,-0.70,-117.3,794.7,-5.3,458,13760,0.00,2.55,0.00,0.000,4,0.000,0.089,2644,3605,3307
$GC,13782,-0.70,-117.3,796.2,-6.1,458,13786,0.00,2.35,0.00,0.000,6,0.000,0.050,2644,2143,3307
$GC,14120,-0.70,-117.3,813.7,-5.1,464,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3307
$GC,14424,-0.70,-117.3,828.7,-4.9,469,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3307
$GC,14726,-0.70,-117.3,842.0,-4.4,474,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3306
$GC,15029,-0.70,-117.3,854.5,-4.1,479,15034,0.00,2.55,0.00,0.000,4,0.000,0.087,2643,3599,3306
$GC,15056,-0.70,-117.3,855.8,-4.9,479,15061,0.00,2.30,0.00,0.000,6,0.000,0.051,2644,2173,3306
$GC,15394,-0.70,-117.3,870.1,-4.3,485,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2173,3305
$GC,15697,-0.70,-117.3,884.0,-4.7,490,15701,0.00,2.47,0.00,0.000,4,0.000,0.107,2644,793,3306
$GC,15735,-0.70,-117.3,885.9,-4.5,490,15739,0.00,2.25,0.00,0.000,6,0.000,0.067,2644,2152,3306
$GC,16062,-0.70,-117.3,902.1,-5.0,496,16063,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2152,3306
$GC,16364,-0.70,-117.3,916.9,-4.9,501,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2153,3305
$GC,16667,-0.70,-117.3,930.9,-4.6,506,16668,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2153,3305
$GC,16970,-0.70,-117.3,943.5,-4.1,511,16974,0.00,2.47,0.00,0.000,4,0.000,0.107,2644,793,3305
$GC,16998,-0.70,-117.3,944.8,-4.1,511,17002,0.00,2.25,0.00,0.000,6,0.000,0.070,2644,2142,3305
$GC,17329,-0.70,-117.3,957.8,-3.9,517,17330,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3305
$GC,17632,-0.70,-117.3,970.6,-4.2,522,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3305
$GC,17937,-0.70,-117.3,984.0,-4.5,527,17938,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3305
$STATE,18054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18054,begin apogee
$GC,18060,-0.23,0.0,990.1,4.8,529,18166,0.60,0.00,102.70,1.493,6,0.073,0.000,2747,2203,2837
$STATE,18166,end apogee,CONTROL_FINISHED_OK
$STATE,18166,begin climb
$GC,18168,0.67,117.3,991.7,0.0,530,18285,1.12,0.00,112.05,1.445,6,0.048,0.000,2943,2203,2358
$GC,18590,0.46,117.3,969.7,7.3,536,18592,0.25,0.00,0.00,0.000,6,0.092,0.000,2903,2203,2358
$GC,18892,0.40,117.3,952.4,5.6,541,18896,0.00,2.58,0.00,0.000,4,0.000,0.114,2903,796,2358
$GC,18924,0.32,117.3,950.3,5.9,541,18929,0.20,2.35,0.00,0.000,6,0.091,0.072,2871,2199,2358
$GC,19250,0.40,131.9,934.1,5.0,547,19267,0.00,0.00,14.65,1.368,6,0.000,0.000,2871,2199,2299
$GC,19553,0.47,131.9,916.6,5.8,552,19558,0.17,2.53,0.00,0.000,4,0.058,0.105,2908,799,2299
$GC,19619,0.37,131.9,911.4,7.2,553,19624,0.15,2.30,0.00,0.000,6,0.094,0.068,2884,2184,2299
$GC,19979,0.37,131.9,886.2,7.1,559,19980,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2184,2299
$GC,20281,0.37,131.9,865.7,6.7,564,20285,0.00,2.47,0.00,0.000,4,0.000,0.102,2884,790,2299
$GC,20343,0.39,142.1,861.6,5.2,565,20359,0.00,2.28,11.23,1.312,6,0.000,0.065,2884,2175,2257
$GC,20709,0.45,149.4,841.5,5.3,571,20719,0.00,0.00,8.20,1.233,6,0.000,0.000,2884,2175,2228
$GC,21011,0.52,170.2,826.7,4.8,576,21040,0.15,2.47,21.33,1.360,4,0.061,0.099,2919,797,2141
$GC,21101,0.44,170.2,820.2,9.3,577,21106,0.12,2.28,0.00,0.000,6,0.097,0.064,2900,2161,2141
$GC,21444,0.44,170.2,798.5,6.4,583,21445,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2161,2141
$GC,21746,0.44,170.2,777.6,6.9,588,21751,0.00,2.40,0.00,0.000,4,0.000,0.096,2900,790,2141
$GC,21784,0.44,170.2,774.7,7.3,588,21789,0.00,2.22,0.00,0.000,6,0.000,0.061,2900,2139,2141
$GC,22111,0.44,170.2,750.9,7.3,594,22115,0.00,2.33,0.00,0.000,4,0.000,0.091,2900,798,2141
$GC,22149,0.44,170.2,748.0,7.2,594,22153,0.00,2.15,0.00,0.000,6,0.000,0.060,2900,2125,2141
$GC,22475,0.44,170.2,725.9,6.7,600,22476,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,2141
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$STATE,33847,end climb,SURFACE_DEPTH_REACHED
$STATE,33847,begin surface coast
$FINISH,0.3,1.024451
$STATE,33891,end surface coast,CONTROL_FINISHED_OK
$STATE,33891,begin surface
$SM_CCo,33911,36.78,0.808,0,0,1409,350.04
$SM_GC,1.62,0.00,0.00,36.78,0.000,0.000,0.808,860,2225,1409,-8.92,0.74,350.04
$IRIDIUM_FIX,4657.54,-12730.83,280198,101012
$TT8_MAMPS,0.027612
$HUMID,2021
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$TCM_TEMP,17.80
$XPDR_PINGS,5
$24V_AH,22.0,59.880
$10V_AH,10.5,41.926
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,32.325,196.175,360.500,36.775,0.000,29.590,25.615,202.805,10.500,0.000,0.000,16.634,2178.799,28401.840,580.836,2547.776,609.844,33.388,1858.708,0.000,2512.007,0.000,62.333
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,753.498,905.179,1170.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53710,1103
$CAP_FILE_SIZE,205870,0
$CFSIZE,260165632,246018048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041108,050602,4709.321,-12735.938,41,1.3,41,18.7