version: 66.03
glider: 119
mission: 5
dive: 343
start: 1 2 109 19 44 20
data:
$ID,119
$MISSION,5
$DIVE,343
$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,-216015.78
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,193736,4727.634,-12706.216,28,1.1,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-64.8
$GPS2,194326,4727.653,-12706.146,13,1.1,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,-0.139
$KALMAN_X,-84718.5,119.2,292.4,-77599.3,-378.6
$KALMAN_Y,449112.5,331.4,-196.8,-395335.4,1044.6
$MHEAD_RNG_PITCHd_Wd,205.6,85145,-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,-117.3,0.0,0.0,0,75,0.00,0.00,-51.40,0.000,2,0.000,0.000,861,2218,2455
$GC,79,-0.67,-117.3,3.4,-3.0,5,127,12.25,2.38,-27.42,0.000,4,0.143,0.077,2646,3597,3316
$GC,201,-0.47,-117.3,15.9,-11.6,16,208,0.30,2.22,0.00,0.000,6,0.084,0.043,2696,2180,3316
$GC,529,-0.47,-117.3,35.5,-5.8,47,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2174,3316
$GC,870,-0.47,-117.3,59.3,-6.9,101,876,0.00,2.25,0.00,0.000,4,0.000,0.063,2696,800,3316
$GC,927,-0.47,-117.3,63.4,-7.1,111,934,0.00,2.12,0.00,0.000,6,0.000,0.044,2696,2160,3316
$GC,1274,-0.55,-117.3,83.9,-5.7,167,1277,0.00,2.38,0.00,0.000,4,0.000,0.067,2695,3601,3316
$GC,1308,-0.64,-117.3,86.0,-6.2,170,1313,0.20,2.22,0.00,0.000,6,0.049,0.043,2653,2178,3316
$GC,1633,-0.56,-117.3,108.6,-6.7,200,1638,0.12,2.25,0.00,0.000,4,0.090,0.062,2674,800,3316
$GC,1674,-0.61,-117.3,111.0,-5.7,203,1678,0.00,2.17,0.00,0.000,6,0.000,0.044,2674,2190,3316
$GC,1999,-0.61,-117.3,129.1,-5.4,233,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2189,3316
$GC,2320,-0.79,-117.3,146.5,-5.4,263,2325,0.22,2.35,0.00,0.000,4,0.048,0.066,2621,3599,3316
$GC,2428,-0.62,-117.3,154.2,-7.8,270,2433,0.25,2.80,0.00,0.000,6,0.081,0.044,2664,1848,3317
$GC,2756,-0.62,-117.3,171.2,-5.3,286,2761,0.00,2.95,0.00,0.000,4,0.000,0.065,2663,3601,3316
$GC,2811,-0.62,-117.3,174.4,-5.6,288,2817,0.00,2.67,0.00,0.000,6,0.000,0.046,2664,1910,3316
$GC,3127,-0.62,-117.3,192.5,-5.8,304,3132,0.00,2.85,0.00,0.000,4,0.000,0.065,2663,3605,3316
$GC,3167,-0.62,-117.3,195.2,-6.8,306,3171,0.00,2.65,0.00,0.000,6,0.000,0.046,2664,1941,3316
$GC,3493,-0.62,-117.3,214.1,-5.9,322,3498,0.00,2.80,0.00,0.000,4,0.000,0.065,2663,3604,3316
$GC,3549,-0.62,-117.3,217.8,-6.7,324,3555,0.00,2.55,0.00,0.000,6,0.000,0.045,2664,2013,3316
$GC,3866,-0.62,-117.3,234.9,-5.3,340,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2014,3316
$GC,4174,-0.62,-117.3,252.3,-5.8,355,4178,0.00,2.67,0.00,0.000,4,0.000,0.066,2663,3601,3316
$GC,4236,-0.62,-117.3,256.3,-6.6,358,4240,0.00,2.53,0.00,0.000,6,0.000,0.046,2664,2030,3316
$GC,4564,-0.62,-117.3,276.2,-5.9,374,4568,0.00,2.65,0.00,0.000,4,0.000,0.067,2663,3597,3316
$GC,4590,-0.62,-117.3,278.1,-6.7,375,4594,0.00,2.42,0.00,0.000,6,0.000,0.045,2664,2077,3316
$GC,4907,-0.62,-117.3,295.4,-5.2,390,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2077,3316
$GC,5252,-0.62,-117.3,313.0,-5.0,399,5256,0.00,2.58,0.00,0.000,4,0.000,0.067,2663,3601,3316
$GC,5291,-0.62,-117.3,315.2,-5.4,399,5295,0.00,2.40,0.00,0.000,6,0.000,0.045,2664,2097,3316
$GC,5611,-0.66,-117.3,330.8,-4.8,405,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2097,3316
$GC,5915,-0.70,-117.3,345.5,-4.9,410,5919,0.00,2.53,0.00,0.000,4,0.000,0.067,2663,3597,3316
$GC,5937,-0.70,-117.3,346.8,-5.4,410,5941,0.00,2.38,0.00,0.000,6,0.000,0.046,2664,2114,3316
$GC,6275,-0.74,-117.3,364.0,-5.1,416,6276,0.15,0.00,0.00,0.000,6,0.058,0.000,2631,2113,3316
$GC,6579,-0.64,-117.3,384.9,-7.1,421,6584,0.15,2.53,0.00,0.000,4,0.087,0.067,2659,3598,3316
$GC,6623,-0.64,-117.3,388.1,-6.6,421,6627,0.00,2.38,0.00,0.000,6,0.000,0.046,2659,2128,3316
$GC,6939,-0.64,-117.3,407.1,-6.1,427,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2126,3316
$GC,7242,-0.64,-117.3,426.2,-6.3,432,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2127,3316
$GC,7544,-0.64,-117.3,445.5,-6.4,437,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2127,3315
$GC,7847,-0.64,-117.3,463.0,-5.7,442,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2127,3315
$GC,8150,-0.64,-117.3,479.0,-5.2,447,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2127,3315
$GC,8454,-0.64,-117.3,493.9,-4.9,452,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2127,3315
$GC,8757,-0.64,-117.3,508.8,-5.0,457,8761,0.00,2.53,0.00,0.000,4,0.000,0.071,2659,3605,3315
$GC,8792,-0.64,-117.3,510.6,-5.7,457,8796,0.00,2.35,0.00,0.000,6,0.000,0.046,2659,2144,3315
$GC,9121,-0.68,-117.3,527.1,-5.0,463,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2144,3314
$GC,9421,-0.73,-117.3,542.3,-5.0,468,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2143,3314
$GC,9725,-0.78,-117.3,556.8,-4.8,473,9727,0.15,0.00,0.00,0.000,6,0.058,0.000,2626,2142,3314
$GC,10028,-0.68,-117.3,575.8,-6.4,478,10030,0.12,0.00,0.00,0.000,6,0.092,0.000,2648,2141,3314
$GC,10330,-0.68,-117.3,592.3,-5.4,483,10334,0.00,2.50,0.00,0.000,4,0.000,0.072,2648,3599,3313
$GC,10363,-0.68,-117.3,594.3,-6.5,483,10367,0.00,2.35,0.00,0.000,6,0.000,0.047,2648,2146,3313
$GC,10689,-0.68,-117.3,612.0,-5.4,489,10693,0.00,2.30,0.00,0.000,4,0.000,0.077,2648,800,3313
$GC,10721,-0.68,-117.3,614.0,-6.0,489,10725,0.00,2.12,0.00,0.000,6,0.000,0.049,2648,2140,3313
$GC,11053,-0.68,-117.3,633.0,-5.8,495,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2140,3313
$GC,11357,-0.68,-117.3,650.6,-5.7,500,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2140,3312
$GC,11660,-0.68,-117.3,667.3,-5.5,505,11663,0.00,2.47,0.00,0.000,4,0.000,0.075,2648,3603,3312
$GC,11686,-0.68,-117.3,668.8,-5.8,505,11690,0.00,2.35,0.00,0.000,6,0.000,0.048,2648,2139,3312
$GC,12030,-0.68,-117.3,685.7,-4.8,511,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2138,3312
$GC,12333,-0.68,-117.3,698.9,-4.3,516,12337,0.00,2.28,0.00,0.000,4,0.000,0.078,2648,800,3312
$GC,12363,-0.68,-117.3,700.1,-4.2,516,12367,0.00,2.12,0.00,0.000,6,0.000,0.050,2648,2138,3312
$GC,12695,-0.68,-117.3,714.1,-4.2,522,12699,0.00,2.47,0.00,0.000,4,0.000,0.076,2647,3604,3312
$GC,12723,-0.68,-117.3,715.4,-5.0,522,12726,0.00,2.33,0.00,0.000,6,0.000,0.049,2648,2146,3311
$GC,13062,-0.68,-117.3,730.7,-4.6,528,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2145,3312
$GC,13363,-0.68,-117.3,746.7,-5.3,533,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2145,3312
$GC,13666,-0.68,-117.3,763.6,-5.6,538,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2145,3311
$GC,13970,-0.68,-117.3,780.4,-5.5,543,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2144,3311
$GC,14272,-0.68,-117.3,795.9,-5.1,548,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2144,3311
$GC,14577,-0.68,-117.3,810.5,-4.8,553,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2144,3311
$GC,14878,-0.68,-117.3,824.4,-4.6,558,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2144,3311
$GC,15182,-0.68,-117.3,837.9,-4.4,563,15183,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2143,3311
$GC,15486,-0.68,-117.3,853.1,-5.0,568,15487,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2142,3311
$GC,15788,-0.68,-117.3,869.3,-5.4,573,15789,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2142,3311
$GC,16092,-0.68,-117.3,886.1,-5.5,578,16097,0.00,2.53,0.00,0.000,4,0.000,0.081,2648,3595,3311
$GC,16114,-0.68,-117.3,887.5,-5.8,578,16119,0.00,2.33,0.00,0.000,6,0.000,0.048,2648,2146,3310
$GC,16452,-0.68,-117.3,905.8,-5.4,584,16456,0.00,2.53,0.00,0.000,4,0.000,0.079,2647,3601,3309
$GC,16490,-0.68,-117.3,908.0,-5.8,584,16494,0.00,2.25,0.00,0.000,6,0.000,0.049,2647,2210,3309
$GC,16818,-0.80,-117.3,927.0,-6.1,590,16823,0.12,2.42,0.00,0.000,4,0.064,0.081,2619,792,3309
$GC,16980,-0.74,-117.3,937.8,-6.8,592,16985,0.00,2.85,0.00,0.000,6,0.000,0.057,2619,2543,3309
$GC,17312,-0.65,-117.3,958.2,-6.2,598,17317,0.17,2.97,0.00,0.000,4,0.086,0.077,2653,799,3309
$GC,17379,-0.75,-117.3,961.8,-5.8,599,17384,0.00,2.75,0.00,0.000,6,0.000,0.057,2652,2499,3309
$GC,17739,-0.81,-117.3,979.0,-4.9,605,17744,0.15,2.92,0.00,0.000,4,0.060,0.077,2617,793,3309
$GC,17852,-0.75,-117.3,986.0,-6.2,606,17856,0.00,2.58,0.00,0.000,6,0.000,0.058,2616,2378,3309
$STATE,17921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17921,begin apogee
$GC,17928,-0.23,0.0,990.3,6.2,608,18036,0.77,0.00,105.00,1.507,6,0.077,0.000,2747,2189,2837
$STATE,18036,end apogee,CONTROL_FINISHED_OK
$STATE,18037,begin climb
$GC,18040,0.67,117.3,991.5,0.0,609,18167,1.12,0.00,117.88,1.446,6,0.050,0.000,2941,2188,2358
$GC,18472,0.47,117.3,966.4,8.1,617,18474,0.22,0.00,0.00,0.000,6,0.091,0.000,2905,2189,2358
$GC,18773,0.42,117.3,946.6,6.5,622,18777,0.00,2.45,0.00,0.000,4,0.000,0.084,2904,3601,2358
$GC,18818,0.33,117.3,943.5,6.4,622,18822,0.20,2.25,0.00,0.000,6,0.094,0.054,2873,2216,2358
$GC,19133,0.40,124.5,926.7,5.3,628,19147,0.00,2.45,8.55,1.278,4,0.000,0.087,2872,800,2329
$GC,19200,0.48,148.0,923.1,4.8,629,19230,0.17,2.20,23.62,1.414,6,0.056,0.055,2908,2167,2232
$GC,19568,0.48,148.0,898.8,6.6,635,19569,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2167,2232
$GC,19871,0.48,148.0,879.4,6.4,640,19875,0.00,2.35,0.00,0.000,4,0.000,0.084,2908,786,2232
$GC,19898,0.43,148.0,877.6,6.9,640,19902,0.00,2.22,0.00,0.000,6,0.000,0.055,2908,2174,2232
$GC,20236,0.43,148.0,855.8,6.5,646,20237,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2174,2232
$GC,20539,0.43,148.0,834.1,7.2,651,20542,0.00,2.35,0.00,0.000,4,0.000,0.083,2908,790,2232
$GC,20572,0.37,148.0,831.3,7.7,651,20577,0.15,2.20,0.00,0.000,6,0.094,0.055,2884,2164,2232
$GC,20904,0.44,148.0,809.0,6.8,657,20908,0.00,2.33,0.00,0.000,4,0.000,0.081,2884,790,2232
$GC,20942,0.44,148.0,806.2,7.8,657,20945,0.00,2.15,0.00,0.000,6,0.000,0.053,2884,2140,2232
$GC,21268,0.50,148.0,786.1,6.0,663,21273,0.12,2.28,0.00,0.000,4,0.064,0.079,2911,795,2232
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$STATE,33815,end climb,SURFACE_DEPTH_REACHED
$STATE,33815,begin surface coast
$FINISH,1.4,1.025273
$STATE,33849,end surface coast,CONTROL_FINISHED_OK
$STATE,33849,begin surface
$SM_CCo,33871,66.47,0.834,0,0,1404,351.27
$SM_GC,2.02,0.00,0.00,66.47,0.000,0.000,0.834,859,2220,1404,-8.92,0.57,351.27
$IRIDIUM_FIX,4710.21,-12701.11,290398,101007
$TT8_MAMPS,0.027612
$HUMID,1994
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$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,21.5,84.992
$10V_AH,10.3,63.077
$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
$DEVICE_SECS,29.100,193.325,318.775,66.475,0.000,30.510,23.523,157.779,9.250,0.000,0.000,15.372,2314.395,28002.949,576.128,2723.037,660.929,33.380,1899.072,0.000,2684.152,0.000,59.456
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,823.494,982.661,1363.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59970,1204
$CAP_FILE_SIZE,202522,0
$CFSIZE,260165632,232161280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030109,051126,4725.464,-12710.465,47,1.7,47,18.7