version: 66.03
glider: 119
mission: 5
dive: 351
start: 1 6 109 1 2 42
data:
$ID,119
$MISSION,5
$DIVE,351
$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,-216162.72
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,005552,4709.128,-12739.756,73,1.1,73,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.6
$GPS2,010149,4709.176,-12739.862,10,1.3,10,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.161,-0.110
$KALMAN_X,-86065.3,-101.6,-387.5,-117953.0,14.8
$KALMAN_Y,453498.9,112.0,-12.8,-433887.9,124.7
$MHEAD_RNG_PITCHd_Wd,216.8,30590,-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,-117.3,0.0,0.0,0,65,0.00,0.00,-41.62,0.000,2,0.000,0.000,860,2212,2264
$GC,69,-0.67,-117.3,3.0,-3.2,4,133,12.30,2.38,-45.28,0.000,4,0.143,0.077,2648,3597,3315
$GC,150,-0.52,-117.3,6.7,-9.5,11,157,0.20,2.28,0.00,0.000,6,0.084,0.041,2681,2186,3315
$GC,479,-0.45,-117.3,34.6,-8.1,42,483,0.00,2.33,0.00,0.000,4,0.000,0.061,2681,799,3315
$GC,507,-0.45,-117.3,37.3,-8.6,44,511,0.00,2.20,0.00,0.000,6,0.000,0.044,2681,2200,3315
$GC,849,-0.39,-117.3,67.1,-8.4,101,856,0.15,2.28,0.00,0.000,4,0.085,0.059,2710,790,3315
$GC,885,-0.39,-117.3,69.8,-7.3,107,891,0.00,2.15,0.00,0.000,6,0.000,0.044,2710,2177,3315
$GC,1225,-0.68,-117.3,93.3,-6.5,151,1230,0.30,2.40,0.00,0.000,4,0.044,0.065,2644,3600,3315
$GC,1247,-0.80,-117.3,95.0,-7.3,152,1253,0.00,2.17,0.00,0.000,6,0.000,0.041,2644,2254,3315
$GC,1576,-0.67,-117.3,121.5,-6.6,183,1580,0.00,2.42,0.00,0.000,4,0.000,0.061,2644,801,3315
$GC,1706,-0.57,-117.3,130.3,-7.0,194,1711,0.17,2.22,0.00,0.000,6,0.079,0.044,2674,2227,3315
$GC,2036,-0.57,-117.3,148.8,-6.4,225,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3315
$GC,2347,-0.57,-117.3,164.7,-4.4,241,2351,0.00,2.33,0.00,0.000,4,0.000,0.068,2673,3604,3315
$GC,2379,-0.57,-117.3,166.7,-5.8,242,2384,0.00,2.25,0.00,0.000,6,0.000,0.041,2674,2191,3315
$GC,2702,-0.62,-117.3,184.0,-5.2,258,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2185,3315
$GC,3011,-0.67,-117.3,199.4,-4.7,273,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2185,3315
$GC,3321,-0.72,-117.3,214.7,-5.1,288,3323,0.15,0.00,0.00,0.000,6,0.058,0.000,2639,2185,3315
$GC,3630,-0.63,-117.3,236.8,-7.4,303,3632,0.12,0.00,0.00,0.000,6,0.090,0.000,2660,2185,3315
$GC,3938,-0.63,-117.3,255.1,-5.8,318,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2185,3315
$GC,4247,-0.63,-117.3,273.8,-6.2,333,4251,0.00,2.40,0.00,0.000,4,0.000,0.067,2660,3600,3315
$GC,4277,-0.63,-117.3,275.7,-6.8,334,4281,0.00,2.28,0.00,0.000,6,0.000,0.043,2661,2179,3315
$GC,4598,-0.63,-117.3,294.9,-5.7,350,4602,0.00,2.42,0.00,0.000,4,0.000,0.067,2660,3601,3315
$GC,4625,-0.63,-117.3,296.6,-6.5,351,4629,0.00,2.25,0.00,0.000,6,0.000,0.042,2661,2202,3315
$GC,4936,-0.63,-117.3,313.3,-5.3,358,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,5239,-0.63,-117.3,328.2,-4.9,363,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,5542,-0.63,-117.3,343.2,-5.0,368,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,5846,-0.63,-117.3,358.6,-5.1,373,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,6149,-0.63,-117.3,374.2,-5.2,378,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,6451,-0.63,-117.3,389.7,-5.0,383,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,6754,-0.63,-117.3,404.1,-4.8,388,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,7057,-0.63,-117.3,420.8,-5.6,393,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3315
$GC,7361,-0.63,-117.3,439.1,-6.1,398,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3314
$GC,7663,-0.63,-117.3,457.6,-6.2,403,7668,0.00,2.38,0.00,0.000,4,0.000,0.069,2660,797,3314
$GC,7702,-0.68,-117.3,460.1,-6.6,403,7706,0.00,2.25,0.00,0.000,6,0.000,0.046,2660,2228,3314
$GC,8023,-0.68,-117.3,479.4,-6.0,409,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2229,3314
$GC,8327,-0.73,-117.3,496.9,-5.8,414,8331,0.00,2.38,0.00,0.000,4,0.000,0.071,2661,796,3314
$GC,8354,-0.79,-117.3,498.6,-6.8,414,8359,0.17,2.20,0.00,0.000,6,0.053,0.048,2624,2194,3313
$GC,8691,-0.67,-117.3,524.6,-7.9,420,8693,0.15,0.00,0.00,0.000,6,0.086,0.000,2649,2195,3313
$GC,8994,-0.67,-117.3,544.7,-6.6,425,8998,0.00,2.40,0.00,0.000,4,0.000,0.074,2649,3607,3313
$GC,9016,-0.67,-117.3,546.0,-6.3,425,9020,0.00,2.28,0.00,0.000,6,0.000,0.047,2649,2187,3312
$GC,9353,-0.67,-117.3,565.2,-5.5,431,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2187,3313
$GC,9656,-0.67,-117.3,579.3,-4.7,436,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2186,3312
$GC,9960,-0.67,-117.3,592.5,-4.3,441,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2185,3311
$GC,10264,-0.67,-117.3,606.1,-4.6,446,10268,0.00,2.42,0.00,0.000,4,0.000,0.073,2649,3601,3312
$GC,10290,-0.67,-117.3,607.7,-5.5,446,10295,0.00,2.28,0.00,0.000,6,0.000,0.047,2649,2191,3311
$GC,10630,-0.67,-117.3,626.7,-5.8,452,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2190,3311
$GC,10931,-0.67,-117.3,646.7,-6.6,457,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3311
$GC,11234,-0.67,-117.3,666.1,-6.3,462,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3311
$GC,11537,-0.67,-117.3,682.7,-5.4,467,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2188,3310
$GC,11841,-0.67,-117.3,697.2,-4.7,472,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2187,3310
$GC,12144,-0.67,-117.3,710.4,-4.4,477,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2187,3311
$GC,12447,-0.67,-117.3,724.3,-4.6,482,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2187,3310
$GC,12750,-0.67,-117.3,739.0,-4.8,487,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2186,3310
$GC,13054,-0.67,-117.3,755.4,-5.5,492,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2186,3310
$GC,13356,-0.67,-117.3,772.5,-5.7,497,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2186,3310
$GC,13659,-0.67,-117.3,789.5,-5.6,502,13663,0.00,2.42,0.00,0.000,4,0.000,0.076,2649,799,3310
$GC,13686,-0.67,-117.3,791.0,-5.8,502,13690,0.00,2.20,0.00,0.000,6,0.000,0.051,2649,2179,3310
$GC,14030,-0.67,-117.3,807.8,-4.8,508,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2179,3310
$GC,14333,-0.67,-117.3,822.1,-4.7,513,14337,0.00,2.33,0.00,0.000,4,0.000,0.075,2649,798,3309
$GC,14368,-0.71,-117.3,823.9,-5.6,513,14372,0.00,2.17,0.00,0.000,6,0.000,0.051,2649,2165,3310
$GC,14695,-0.71,-117.3,841.7,-5.5,519,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2165,3309
$GC,14997,-0.71,-117.3,858.7,-5.7,524,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3309
$GC,15301,-0.71,-117.3,874.7,-5.2,529,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3309
$GC,15604,-0.71,-117.3,888.8,-4.6,534,15605,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3309
$GC,15908,-0.71,-117.3,902.3,-4.4,539,15912,0.00,2.33,0.00,0.000,4,0.000,0.077,2649,793,3308
$GC,15941,-0.77,-117.3,903.8,-4.6,539,15945,0.00,2.17,0.00,0.000,6,0.000,0.053,2649,2151,3308
$GC,16269,-0.81,-117.3,918.0,-4.3,545,16270,0.12,0.00,0.00,0.000,6,0.063,0.000,2621,2151,3308
$GC,16571,-0.72,-117.3,933.8,-5.2,550,16576,0.00,2.53,0.00,0.000,4,0.000,0.083,2621,3598,3308
$GC,16616,-0.62,-117.3,936.7,-7.2,550,16621,0.25,2.33,0.00,0.000,6,0.079,0.051,2662,2159,3308
$GC,16932,-0.77,-117.3,951.3,-4.8,556,16937,0.15,2.53,0.00,0.000,4,0.058,0.081,2625,3605,3308
$GC,17005,-0.70,-117.3,955.7,-4.9,557,17010,0.12,2.00,0.00,0.000,6,0.091,0.048,2645,2345,3307
$GC,17361,-0.82,-117.3,974.9,-5.4,563,17366,0.12,2.22,0.00,0.000,4,0.064,0.083,2616,3605,3307
$GC,17383,-0.82,-117.3,976.2,-5.3,563,17387,0.00,2.85,0.00,0.000,6,0.000,0.053,2616,1850,3307
$STATE,17662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17662,begin apogee
$GC,17669,-0.23,0.0,991.8,5.6,568,17785,0.77,0.00,106.50,1.486,6,0.074,0.000,2748,2206,2838
$STATE,17786,end apogee,CONTROL_FINISHED_OK
$STATE,17786,begin climb
$GC,17788,0.67,117.3,995.2,0.0,570,17912,1.12,2.72,115.90,1.470,4,0.045,0.082,2944,3597,2359
$GC,18098,0.41,117.3,973.3,9.4,574,18103,0.32,2.30,0.00,0.000,6,0.093,0.056,2893,2206,2358
$GC,18413,0.41,117.3,952.4,6.5,580,18414,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2207,2359
$GC,18715,0.41,117.3,934.0,6.1,585,18719,0.00,2.40,0.00,0.000,4,0.000,0.087,2893,789,2358
$GC,18772,0.36,117.3,930.6,7.0,585,18776,0.00,2.25,0.00,0.000,6,0.000,0.055,2893,2193,2358
$GC,19081,0.36,117.7,913.6,5.5,590,19082,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2193,2358
$GC,19384,0.37,126.0,897.9,5.2,595,19396,0.00,0.00,9.75,1.315,6,0.000,0.000,2894,2193,2323
$GC,19687,0.38,131.1,881.6,5.3,600,19701,0.00,2.45,6.88,1.210,4,0.000,0.083,2894,788,2302
$GC,19736,0.39,137.9,878.8,5.3,600,19752,0.00,2.22,8.27,1.256,6,0.000,0.055,2894,2171,2273
$GC,20055,0.39,137.9,860.9,5.6,606,20056,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2171,2273
$GC,20358,0.39,137.9,843.5,5.8,611,20359,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2171,2273
$GC,20661,0.39,137.9,824.5,6.3,616,20665,0.00,2.33,0.00,0.000,4,0.000,0.081,2893,794,2273
$GC,20733,0.39,137.9,819.6,7.1,617,20737,0.00,2.15,0.00,0.000,6,0.000,0.054,2894,2142,2273
$GC,21087,0.39,137.9,796.7,6.4,623,21088,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2143,2273
$GC,21390,0.39,137.9,777.5,6.4,628,21392,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2142,2273
$GC,21694,0.39,137.9,759.1,6.1,633,21698,0.00,2.28,0.00,0.000,4,0.000,0.078,2893,792,2273
$GC,21726,0.39,137.9,757.0,6.1,633,21730,0.00,2.12,0.00,0.000,6,0.000,0.052,2894,2129,2273
$GC,22064,0.39,137.9,737.7,5.7,639,22065,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,2273
$GC,22367,0.39,137.9,720.3,5.7,644,22368,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,2273
$GC,22670,0.39,137.9,700.8,6.5,649,22674,0.00,2.47,0.00,0.000,4,0.000,0.078,2893,3605,2273
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$STATE,33511,end climb,SURFACE_DEPTH_REACHED
$STATE,33511,begin surface coast
$FINISH,1.2,1.012852
$STATE,33532,end surface coast,CONTROL_FINISHED_OK
$STATE,33532,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1995
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$TCM_TEMP,16.50
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$10V_AH,10.3,64.157
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$DEVICE_SECS,29.575,180.200,362.100,42.300,0.000,26.227,24.533,170.432,8.750,0.000,0.000,13.654,2212.583,27889.576,582.506,2592.211,664.895,33.384,1867.349,0.000,2553.959,0.000,56.645
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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,56741,1142
$CAP_FILE_SIZE,198819,0
$CFSIZE,260165632,231477248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060109,102413,4707.064,-12745.575,40,1.3,53,18.7