version: 66.03
glider: 119
mission: 5
dive: 350
start: 1 5 109 15 27 8
data:
$ID,119
$MISSION,5
$DIVE,350
$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,-216148.44
$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,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
$GPS1,152024,4711.658,-12735.317,42,1.8,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.5
$GPS2,152614,4711.624,-12735.183,13,1.8,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,-0.139
$KALMAN_X,-85497.8,121.9,-191.5,-113024.7,-511.3
$KALMAN_Y,453492.0,-201.6,-148.2,-428902.4,1256.1
$MHEAD_RNG_PITCHd_Wd,206.0,38026,-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,-51.38,0.000,2,0.000,0.000,860,2218,2488
$GC,79,-0.67,-117.3,3.6,-3.5,5,125,12.27,2.45,-27.23,0.000,4,0.143,0.078,2645,3595,3317
$GC,282,-0.43,-117.3,24.6,-12.3,23,289,0.35,2.25,0.00,0.000,6,0.080,0.041,2704,2197,3317
$GC,614,-0.43,-117.3,46.5,-5.4,65,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2192,3317
$GC,958,-0.43,-117.3,64.3,-6.6,126,965,0.00,2.38,0.00,0.000,4,0.000,0.061,2704,798,3317
$GC,994,-0.48,-117.3,66.9,-6.8,132,1000,0.00,2.15,0.00,0.000,6,0.000,0.044,2704,2181,3317
$GC,1331,-0.72,-117.3,88.7,-6.9,180,1336,0.30,2.22,0.00,0.000,4,0.044,0.058,2636,788,3317
$GC,1372,-0.60,-117.3,91.8,-7.5,183,1376,0.17,2.03,0.00,0.000,6,0.082,0.043,2666,2092,3317
$GC,1697,-0.54,-117.3,115.4,-7.4,213,1702,0.00,2.58,0.00,0.000,4,0.000,0.067,2665,3597,3317
$GC,1743,-0.54,-117.3,118.9,-8.2,216,1750,0.00,2.35,0.00,0.000,6,0.000,0.042,2666,2142,3317
$GC,2070,-0.54,-117.3,142.6,-6.5,247,2074,0.00,2.50,0.00,0.000,4,0.000,0.065,2665,3602,3317
$GC,2122,-0.54,-117.3,146.2,-7.4,251,2126,0.00,2.28,0.00,0.000,6,0.000,0.043,2666,2200,3317
$GC,2449,-0.54,-117.3,166.9,-5.6,269,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2195,3317
$GC,2759,-0.54,-117.3,184.0,-5.7,284,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2194,3317
$GC,3069,-0.54,-117.3,202.1,-5.6,299,3073,0.00,2.42,0.00,0.000,4,0.000,0.067,2665,3601,3317
$GC,3109,-0.54,-117.3,204.4,-5.5,301,3113,0.00,2.25,0.00,0.000,6,0.000,0.043,2666,2221,3317
$GC,3441,-0.54,-117.3,221.8,-5.4,317,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2216,3317
$GC,3751,-0.54,-117.3,239.9,-6.2,332,3755,0.00,2.40,0.00,0.000,4,0.000,0.068,2665,3605,3317
$GC,3790,-0.54,-117.3,242.4,-7.0,333,3797,0.00,2.22,0.00,0.000,6,0.000,0.044,2666,2229,3316
$GC,4106,-0.54,-117.3,260.7,-5.7,349,4110,0.00,2.40,0.00,0.000,4,0.000,0.063,2666,796,3317
$GC,4139,-0.59,-117.3,262.8,-5.9,350,4145,0.00,2.25,0.00,0.000,6,0.000,0.046,2666,2241,3317
$GC,4456,-0.59,-117.3,280.6,-5.4,366,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2242,3317
$GC,4764,-0.59,-117.3,297.1,-5.2,381,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2242,3317
$GC,5069,-0.59,-117.3,314.0,-5.7,388,5073,0.00,2.35,0.00,0.000,4,0.000,0.062,2666,800,3316
$GC,5102,-0.65,-117.3,316.0,-6.2,388,5106,0.00,2.25,0.00,0.000,6,0.000,0.045,2665,2231,3317
$GC,5428,-0.69,-117.3,335.4,-6.0,394,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2231,3317
$GC,5733,-0.69,-117.3,353.2,-5.8,399,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2231,3317
$GC,6034,-0.69,-117.3,369.1,-5.2,404,6038,0.00,2.35,0.00,0.000,4,0.000,0.064,2666,795,3317
$GC,6073,-0.76,-117.3,371.2,-5.4,404,6078,0.17,2.20,0.00,0.000,6,0.052,0.046,2628,2201,3317
$GC,6393,-0.64,-117.3,394.2,-7.3,410,6398,0.17,2.40,0.00,0.000,4,0.084,0.068,2659,3603,3317
$GC,6420,-0.64,-117.3,396.2,-6.5,410,6425,0.00,2.25,0.00,0.000,6,0.000,0.044,2660,2196,3316
$GC,6758,-0.64,-117.3,414.6,-5.4,416,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2195,3317
$GC,7061,-0.64,-117.3,430.3,-5.2,421,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2195,3317
$GC,7365,-0.64,-117.3,446.5,-5.3,426,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2195,3316
$GC,7667,-0.64,-117.3,462.5,-5.3,431,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2195,3316
$GC,7971,-0.64,-117.3,477.9,-5.1,436,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2194,3316
$GC,8273,-0.64,-117.3,493.2,-5.1,441,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2194,3317
$GC,8578,-0.68,-117.3,508.6,-5.1,446,8582,0.00,2.38,0.00,0.000,4,0.000,0.071,2660,803,3316
$GC,8600,-0.73,-117.3,509.6,-4.5,446,8604,0.00,2.17,0.00,0.000,6,0.000,0.047,2660,2178,3315
$GC,8946,-0.78,-117.3,526.4,-4.9,452,8950,0.15,2.30,0.00,0.000,4,0.059,0.069,2624,797,3315
$GC,8973,-0.71,-117.3,528.3,-7.0,452,8978,0.12,2.12,0.00,0.000,6,0.088,0.048,2644,2147,3315
$GC,9310,-0.71,-117.3,547.2,-5.6,458,9314,0.00,2.47,0.00,0.000,4,0.000,0.073,2644,3602,3315
$GC,9348,-0.71,-117.3,549.6,-6.3,458,9352,0.00,2.30,0.00,0.000,6,0.000,0.047,2644,2159,3314
$GC,9680,-0.71,-117.3,567.1,-5.2,464,9684,0.00,2.33,0.00,0.000,4,0.000,0.074,2644,791,3315
$GC,9703,-0.71,-117.3,568.3,-5.4,464,9707,0.00,2.17,0.00,0.000,6,0.000,0.049,2644,2167,3315
$GC,10040,-0.71,-117.3,586.5,-5.5,470,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2168,3314
$GC,10343,-0.71,-117.3,603.6,-5.7,475,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2168,3314
$GC,10647,-0.71,-117.3,621.9,-6.1,480,10651,0.00,2.28,0.00,0.000,4,0.000,0.071,2644,802,3314
$GC,10681,-0.71,-117.3,624.2,-7.2,480,10685,0.00,2.15,0.00,0.000,6,0.000,0.049,2644,2158,3314
$GC,11006,-0.71,-117.3,644.0,-6.0,486,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3314
$GC,11310,-0.71,-117.3,660.9,-5.6,491,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3313
$GC,11616,-0.71,-117.3,676.6,-5.1,496,11620,0.00,2.28,0.00,0.000,4,0.000,0.073,2644,800,3313
$GC,11655,-0.71,-117.3,678.8,-5.1,496,11658,0.00,2.12,0.00,0.000,6,0.000,0.050,2644,2140,3313
$GC,11975,-0.71,-117.3,694.8,-5.0,502,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2140,3313
$GC,12278,-0.71,-117.3,710.4,-5.2,507,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2140,3312
$GC,12583,-0.71,-117.3,725.7,-5.1,512,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2140,3312
$GC,12884,-0.71,-117.3,740.3,-4.8,517,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2140,3312
$GC,13188,-0.71,-117.3,755.5,-5.1,522,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2140,3312
$GC,13491,-0.71,-117.3,771.2,-5.1,527,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2141,3312
$GC,13794,-0.71,-117.3,786.4,-5.0,532,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2141,3311
$GC,14098,-0.71,-117.3,801.4,-5.0,537,14102,0.00,2.25,0.00,0.000,4,0.000,0.074,2644,802,3311
$GC,14130,-0.71,-117.3,803.5,-5.6,537,14134,0.00,2.12,0.00,0.000,6,0.000,0.050,2644,2133,3311
$GC,14463,-0.71,-117.3,821.3,-5.4,543,14468,0.00,2.55,0.00,0.000,4,0.000,0.078,2644,3599,3311
$GC,14502,-0.71,-117.3,823.8,-6.2,543,14506,0.00,2.38,0.00,0.000,6,0.000,0.049,2644,2139,3311
$GC,14823,-0.71,-117.3,841.1,-5.4,549,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2139,3311
$GC,15126,-0.71,-117.3,857.3,-5.3,554,15130,0.00,2.30,0.00,0.000,4,0.000,0.081,2644,793,3311
$GC,15159,-0.71,-117.3,859.2,-5.4,554,15163,0.00,2.12,0.00,0.000,6,0.000,0.050,2644,2131,3311
$GC,15486,-0.71,-117.3,876.5,-5.3,560,15490,0.00,2.53,0.00,0.000,4,0.000,0.081,2644,3602,3311
$GC,15512,-0.71,-117.3,878.1,-6.1,560,15516,0.00,2.33,0.00,0.000,6,0.000,0.050,2644,2145,3311
$GC,15851,-0.71,-117.3,896.6,-5.5,566,15855,0.00,2.30,0.00,0.000,4,0.000,0.079,2644,793,3311
$GC,15883,-0.71,-117.3,898.6,-6.2,566,15887,0.00,2.17,0.00,0.000,6,0.000,0.051,2644,2151,3311
$GC,16215,-0.71,-117.3,917.1,-5.6,572,16217,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3311
$GC,16518,-0.71,-117.3,935.0,-5.9,577,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3311
$GC,16823,-0.71,-117.3,952.9,-5.9,582,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3310
$GC,17124,-0.71,-117.3,970.2,-5.7,587,17126,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3310
$GC,17430,-0.71,-117.3,986.5,-5.3,592,17434,0.00,2.33,0.00,0.000,4,0.000,0.080,2644,792,3310
$GC,17470,-0.75,-117.3,988.7,-5.7,592,17474,0.00,2.17,0.00,0.000,6,0.000,0.054,2645,2135,3310
$STATE,17545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17545,begin apogee
$GC,17552,-0.23,0.0,992.7,5.1,594,17660,0.60,0.00,104.97,1.507,6,0.075,0.000,2745,2203,2837
$STATE,17660,end apogee,CONTROL_FINISHED_OK
$STATE,17661,begin climb
$GC,17663,0.67,117.3,994.2,0.0,595,17783,1.15,0.00,116.25,1.461,6,0.048,0.000,2945,2203,2358
$GC,18094,0.47,117.3,968.0,8.2,603,18096,0.25,0.00,0.00,0.000,6,0.088,0.000,2904,2203,2358
$GC,18396,0.42,117.3,948.7,6.4,608,18401,0.00,2.40,0.00,0.000,4,0.000,0.084,2904,805,2358
$GC,18435,0.35,117.3,946.1,6.5,608,18440,0.17,2.25,0.00,0.000,6,0.087,0.056,2876,2202,2358
$GC,18756,0.42,127.2,929.3,5.2,614,18774,0.00,0.00,11.02,1.337,6,0.000,0.000,2876,2203,2318
$GC,19059,0.50,130.7,912.9,5.4,619,19070,0.15,2.40,5.28,1.104,4,0.059,0.081,2911,793,2304
$GC,19143,0.41,130.7,907.1,7.4,620,19148,0.12,2.25,0.00,0.000,6,0.097,0.056,2891,2184,2304
$GC,19486,0.41,130.7,887.1,5.8,626,19490,0.00,2.35,0.00,0.000,4,0.000,0.081,2891,797,2304
$GC,19530,0.41,130.7,884.4,6.1,626,19533,0.00,2.17,0.00,0.000,6,0.000,0.055,2891,2152,2304
$GC,19850,0.41,130.7,865.8,5.8,632,19851,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2152,2304
$GC,20153,0.41,130.7,847.7,5.9,637,20157,0.00,2.30,0.00,0.000,4,0.000,0.080,2891,790,2304
$GC,20198,0.41,130.7,844.9,7.0,637,20202,0.00,2.15,0.00,0.000,6,0.000,0.054,2891,2131,2304
$GC,20513,0.41,131.0,827.5,5.5,643,20514,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2131,2304
$GC,20816,0.41,131.0,810.1,5.8,648,20820,0.00,2.25,0.00,0.000,4,0.000,0.079,2891,797,2304
$GC,20849,0.41,131.0,808.0,6.1,648,20852,0.00,2.10,0.00,0.000,6,0.000,0.053,2891,2110,2304
$GC,21181,0.41,131.0,788.4,5.9,654,21182,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2110,2303
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$STATE,33917,end climb,SURFACE_DEPTH_REACHED
$STATE,33918,begin surface coast
$FINISH,1.2,1.025271
$STATE,33943,end surface coast,CONTROL_FINISHED_OK
$STATE,33943,begin surface
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$SM_GC,2.15,0.00,0.00,45.75,0.000,0.000,0.838,861,2212,1409,-8.92,0.34,350.04
$IRIDIUM_FIX,4657.54,-12732.76,010498,060636
$TT8_MAMPS,0.028379
$HUMID,2011
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$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,21.5,86.159
$10V_AH,10.3,64.026
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$DEVICE_SECS,29.625,207.500,356.000,45.750,0.000,28.801,26.684,157.206,8.750,0.000,0.000,14.829,2297.477,28046.773,609.662,2716.849,680.853,33.385,1952.675,0.000,2684.245,0.000,58.291
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.659,960.771,1309.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56944,1181
$CAP_FILE_SIZE,208514,0
$CFSIZE,260165632,231555072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060109,005552,4709.128,-12739.756,73,1.1,73,18.7