version: 66.03
glider: 119
mission: 5
dive: 349
start: 1 5 109 6 3 24
data:
$ID,119
$MISSION,5
$DIVE,349
$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,-216132.98
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,055542,4713.804,-12730.299,67,2.6,86,18.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-61.0
$GPS2,060232,4713.718,-12730.370,14,1.1,14,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.158,-0.115
$KALMAN_X,-84977.2,-336.3,148.6,-107351.3,324.3
$KALMAN_Y,453095.8,-15.7,-181.9,-424777.7,492.9
$MHEAD_RNG_PITCHd_Wd,215.3,45233,-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,23,-0.67,-117.3,0.0,0.0,0,75,0.00,0.00,-50.80,0.000,2,0.000,0.000,859,2222,2427
$GC,79,-0.67,-117.3,3.2,-3.1,5,128,12.32,2.42,-28.52,0.000,4,0.143,0.078,2647,3594,3317
$GC,230,-0.46,-117.3,18.1,-11.4,19,235,0.30,2.30,0.00,0.000,6,0.082,0.041,2697,2177,3317
$GC,559,-0.46,-117.3,44.9,-5.5,55,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2171,3317
$GC,903,-0.46,-117.3,68.7,-7.1,116,909,0.00,2.42,0.00,0.000,4,0.000,0.064,2697,3601,3317
$GC,921,-0.46,-117.3,70.1,-7.1,119,927,0.00,2.30,0.00,0.000,6,0.000,0.042,2697,2176,3317
$GC,1255,-0.46,-117.3,92.3,-6.3,163,1259,0.00,2.42,0.00,0.000,4,0.000,0.064,2697,3597,3317
$GC,1301,-0.53,-117.3,95.3,-6.6,167,1305,0.00,2.20,0.00,0.000,6,0.000,0.042,2697,2236,3317
$GC,1631,-0.61,-117.3,110.6,-4.4,197,1635,0.17,2.42,0.00,0.000,4,0.051,0.060,2656,799,3317
$GC,1698,-0.55,-117.3,115.1,-7.0,202,1704,0.12,2.17,0.00,0.000,6,0.087,0.044,2678,2206,3317
$GC,2022,-0.55,-117.3,136.6,-5.7,233,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2206,3317
$GC,2352,-0.60,-117.3,154.5,-5.1,260,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2206,3317
$GC,2659,-0.65,-117.3,170.6,-5.6,275,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2206,3318
$GC,2969,-0.72,-117.3,189.0,-5.9,290,2971,0.20,0.00,0.00,0.000,6,0.051,0.000,2634,2206,3317
$GC,3277,-0.60,-117.3,216.0,-8.6,305,3279,0.20,0.00,0.00,0.000,6,0.080,0.000,2668,2206,3317
$GC,3586,-0.60,-117.3,235.2,-5.8,320,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,3317
$GC,3896,-0.60,-117.3,251.5,-5.2,335,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,3317
$GC,4205,-0.60,-117.3,268.5,-5.5,350,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,3317
$GC,4514,-0.60,-117.3,285.6,-5.6,365,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,3317
$GC,4843,-0.64,-117.3,303.8,-5.2,379,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3317
$GC,5146,-0.70,-117.3,318.8,-4.9,384,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,3317
$GC,5449,-0.74,-117.3,332.9,-4.6,389,5454,0.15,2.30,0.00,0.000,4,0.058,0.061,2631,800,3317
$GC,5471,-0.74,-117.3,334.2,-5.7,389,5475,0.00,2.22,0.00,0.000,6,0.000,0.044,2631,2223,3317
$GC,5808,-0.63,-117.3,357.0,-6.8,395,5810,0.17,0.00,0.00,0.000,6,0.083,0.000,2661,2223,3317
$GC,6110,-0.63,-117.3,375.0,-5.9,400,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2223,3317
$GC,6414,-0.63,-117.3,393.4,-6.1,405,6418,0.00,2.35,0.00,0.000,4,0.000,0.066,2661,796,3317
$GC,6447,-0.67,-117.3,395.7,-6.5,405,6451,0.00,2.20,0.00,0.000,6,0.000,0.045,2661,2203,3317
$GC,6778,-0.67,-117.3,415.7,-5.9,411,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2203,3317
$GC,7082,-0.71,-117.3,432.6,-5.5,416,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2203,3317
$GC,7385,-0.71,-117.3,447.6,-4.9,421,7389,0.00,2.33,0.00,0.000,4,0.000,0.068,2661,793,3317
$GC,7419,-0.77,-117.3,449.4,-5.3,421,7424,0.17,2.20,0.00,0.000,6,0.054,0.046,2624,2199,3317
$GC,7750,-0.65,-117.3,472.0,-7.0,427,7752,0.17,0.00,0.00,0.000,6,0.084,0.000,2654,2199,3316
$GC,8053,-0.65,-117.3,489.5,-5.8,432,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2199,3316
$GC,8356,-0.65,-117.3,507.2,-5.9,437,8360,0.00,2.40,0.00,0.000,4,0.000,0.073,2654,3606,3316
$GC,8383,-0.65,-117.3,508.9,-6.1,437,8387,0.00,2.28,0.00,0.000,6,0.000,0.045,2654,2187,3316
$GC,8720,-0.65,-117.3,529.9,-6.3,443,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2186,3316
$GC,9024,-0.65,-117.3,549.1,-6.3,448,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2186,3316
$GC,9326,-0.65,-117.3,566.4,-5.6,453,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2184,3315
$GC,9630,-0.65,-117.3,581.8,-5.1,458,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2184,3315
$GC,9933,-0.65,-117.3,597.4,-5.1,463,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2183,3315
$GC,10237,-0.65,-117.3,612.3,-4.9,468,10241,0.00,2.42,0.00,0.000,4,0.000,0.074,2654,798,3315
$GC,10264,-0.70,-117.3,613.8,-5.7,468,10268,0.00,2.17,0.00,0.000,6,0.000,0.049,2654,2177,3315
$GC,10603,-0.70,-117.3,630.0,-4.8,474,10607,0.00,2.47,0.00,0.000,4,0.000,0.074,2654,3606,3314
$GC,10625,-0.70,-117.3,631.1,-4.8,474,10629,0.00,2.33,0.00,0.000,6,0.000,0.047,2654,2167,3314
$GC,10963,-0.70,-117.3,646.5,-4.6,480,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2166,3314
$GC,11267,-0.70,-117.3,662.5,-5.4,485,11271,0.00,2.35,0.00,0.000,4,0.000,0.077,2654,793,3314
$GC,11294,-0.75,-117.3,664.3,-6.2,485,11298,0.00,2.17,0.00,0.000,6,0.000,0.049,2654,2168,3314
$GC,11626,-0.79,-117.3,685.0,-6.4,491,11628,0.15,0.00,0.00,0.000,6,0.059,0.000,2621,2168,3314
$GC,11929,-0.69,-117.3,708.0,-7.6,496,11931,0.15,0.00,0.00,0.000,6,0.088,0.000,2647,2168,3313
$GC,12232,-0.69,-117.3,725.9,-5.8,501,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3313
$GC,12535,-0.69,-117.3,742.7,-5.5,506,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3313
$GC,12838,-0.69,-117.3,759.4,-5.5,511,12842,0.00,2.30,0.00,0.000,4,0.000,0.074,2647,801,3313
$GC,12870,-0.69,-117.3,761.4,-6.3,511,12874,0.00,2.15,0.00,0.000,6,0.000,0.049,2647,2154,3313
$GC,13202,-0.69,-117.3,779.3,-5.4,517,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2154,3312
$GC,13506,-0.69,-117.3,794.4,-4.9,522,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2154,3312
$GC,13809,-0.69,-117.3,808.2,-4.5,527,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2154,3311
$GC,14112,-0.69,-117.3,821.7,-4.4,532,14116,0.00,2.30,0.00,0.000,4,0.000,0.075,2647,789,3312
$GC,14139,-0.69,-117.3,823.0,-5.0,532,14143,0.00,2.15,0.00,0.000,6,0.000,0.050,2647,2142,3312
$GC,14472,-0.69,-117.3,837.5,-4.4,538,14476,0.00,2.50,0.00,0.000,4,0.000,0.080,2647,3597,3312
$GC,14493,-0.69,-117.3,838.6,-4.8,538,14497,0.00,2.35,0.00,0.000,6,0.000,0.050,2647,2132,3312
$GC,14837,-0.69,-117.3,855.6,-5.0,544,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2131,3312
$GC,15139,-0.69,-117.3,872.0,-5.4,549,15140,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2131,3311
$GC,15442,-0.69,-117.3,888.4,-5.3,554,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2131,3312
$GC,15746,-0.69,-117.3,902.5,-4.6,559,15750,0.00,2.60,0.00,0.000,4,0.000,0.080,2647,3602,3311
$GC,15769,-0.69,-117.3,903.6,-4.6,559,15773,0.00,2.38,0.00,0.000,6,0.000,0.049,2647,2152,3311
$GC,16106,-0.69,-117.3,918.3,-4.3,565,16107,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2152,3311
$GC,16409,-0.69,-117.3,931.4,-4.3,570,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2151,3311
$GC,16712,-0.69,-117.3,945.6,-4.7,575,16713,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2151,3311
$GC,17015,-0.69,-117.3,959.5,-4.6,580,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2151,3311
$GC,17319,-0.69,-117.3,973.3,-4.6,585,17320,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2150,3311
$GC,17621,-0.69,-117.3,987.2,-4.6,590,17622,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2150,3310
$STATE,17679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17679,begin apogee
$GC,17685,-0.23,0.0,990.0,4.6,591,17793,0.60,0.00,105.05,1.507,6,0.072,0.000,2749,2206,2837
$STATE,17794,end apogee,CONTROL_FINISHED_OK
$STATE,17794,begin climb
$GC,17797,0.67,117.3,991.4,0.0,592,17923,1.10,0.00,118.32,1.445,6,0.044,0.000,2942,2206,2358
$GC,18227,0.47,117.3,966.0,8.2,600,18229,0.22,0.00,0.00,0.000,6,0.091,0.000,2906,2206,2358
$GC,18529,0.42,117.3,945.6,6.6,605,18530,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2206,2358
$GC,18832,0.36,117.3,925.4,6.7,610,18837,0.15,2.47,0.00,0.000,4,0.094,0.081,2877,796,2358
$GC,18884,0.36,117.3,922.3,6.7,610,18888,0.00,2.25,0.00,0.000,6,0.000,0.054,2877,2202,2358
$GC,19193,0.42,125.0,905.9,5.3,615,19208,0.00,2.42,8.77,1.286,4,0.000,0.081,2877,800,2326
$GC,19241,0.42,125.0,903.1,6.3,615,19245,0.00,2.20,0.00,0.000,6,0.000,0.054,2877,2174,2327
$GC,19563,0.49,131.7,886.1,5.3,621,19574,0.15,0.00,8.00,1.256,6,0.060,0.000,2909,2174,2300
$GC,19865,0.44,131.7,867.3,6.2,626,19867,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2174,2300
$GC,20168,0.44,131.7,848.4,6.2,631,20169,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2174,2300
$GC,20471,0.44,131.7,829.9,6.0,636,20475,0.00,2.33,0.00,0.000,4,0.000,0.081,2909,800,2300
$GC,20521,0.36,131.7,826.8,6.6,636,20526,0.17,2.17,0.00,0.000,6,0.089,0.054,2881,2157,2300
$GC,20831,0.46,153.8,811.7,4.8,641,20859,0.00,2.33,21.70,1.379,4,0.000,0.079,2880,800,2210
$GC,20889,0.51,155.0,808.7,5.5,641,20895,0.15,2.12,0.00,0.000,6,0.056,0.052,2912,2120,2210
$GC,21198,0.51,155.0,789.1,6.4,647,21200,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2120,2210
$GC,21501,0.51,155.0,767.7,7.2,652,21502,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2120,2210
$GC,21804,0.51,155.0,745.1,7.5,657,21805,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2120,2210
$GC,22107,0.51,155.0,723.6,7.1,662,22108,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2121,2210
$GC,22411,0.51,155.0,702.3,7.0,667,22412,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2121,2210
$GC,22713,0.51,155.0,681.3,6.9,672,22717,0.00,2.22,0.00,0.000,4,0.000,0.076,2912,796,2210
$GC,22769,0.45,155.0,677.2,6.8,672,22775,0.00,2.08,0.00,0.000,6,0.000,0.051,2912,2104,2210
$GC,23078,0.45,155.0,657.1,6.5,678,23079,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2104,2210
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$STATE,33245,end climb,SURFACE_DEPTH_REACHED
$STATE,33245,begin surface coast
$FINISH,1.2,1.025199
$STATE,33268,end surface coast,CONTROL_FINISHED_OK
$STATE,33268,begin surface
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$IRIDIUM_FIX,4700.70,-12656.00,310398,202000
$TT8_MAMPS,0.027612
$HUMID,2014
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$TCM_TEMP,16.50
$XPDR_PINGS,0
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$10V_AH,10.3,63.890
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$DEVICE_SECS,29.175,158.625,349.925,45.850,0.000,24.306,23.879,221.530,8.750,0.000,0.000,15.564,2196.651,27771.256,590.063,2478.698,696.633,33.391,1788.553,0.000,2443.110,0.000,56.639
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,791.237,935.576,1284.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56835,1156
$CAP_FILE_SIZE,191061,0
$CFSIZE,260165632,231653376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050109,152024,4711.658,-12735.317,42,1.8,42,18.7