version: 66.03
glider: 119
mission: 5
dive: 28
start: 9 21 108 8 7 55
data:
$ID,119
$MISSION,5
$DIVE,28
$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,528
$T_MISSION,540
$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,150
$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,-210230.08
$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,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,080132,4659.073,-12556.922,36,1.6,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.1
$GPS2,080702,4659.050,-12556.900,13,1.2,13,18.5
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.189,-0.122
$KALMAN_X,34558.2,265.5,-85.7,-109100.1,3643.6
$KALMAN_Y,31364.6,-644.7,439.1,-30201.9,3882.2
$MHEAD_RNG_PITCHd_Wd,218.7,155492,-11.5,-6.250
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.70,-146.6,0.0,0.0,0,73,0.00,0.00,-51.53,0.000,2,0.000,0.000,864,2205,2628
$GC,76,-0.70,-146.6,3.0,-4.6,5,115,12.38,2.40,-18.80,0.000,4,0.151,0.092,2641,3610,3434
$GC,177,-0.36,-146.6,20.0,-15.4,14,184,0.47,2.30,0.00,0.000,6,0.087,0.060,2718,2196,3435
$GC,504,-0.74,-146.6,40.9,-6.9,46,511,0.43,2.40,0.00,0.000,4,0.049,0.078,2633,3613,3437
$GC,528,-1.00,-146.6,42.8,-7.0,50,535,0.28,2.30,0.00,0.000,6,0.050,0.058,2579,2185,3437
$GC,869,-0.60,-146.6,91.3,-12.5,103,874,0.47,2.35,0.00,0.000,4,0.087,0.081,2661,789,3438
$GC,919,-0.60,-146.6,95.4,-7.1,107,923,0.00,2.33,0.00,0.000,6,0.000,0.066,2661,2202,3438
$GC,1245,-0.60,-146.6,114.3,-6.4,137,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,3438
$GC,1564,-0.60,-146.6,132.9,-5.7,167,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,3438
$GC,1882,-0.64,-146.6,149.1,-5.3,197,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,3438
$GC,2191,-0.70,-146.6,167.1,-5.9,213,2195,0.00,2.42,0.00,0.000,4,0.000,0.094,2661,3606,3437
$GC,2218,-0.75,-146.6,168.9,-6.8,214,2223,0.15,2.33,0.00,0.000,6,0.060,0.071,2630,2200,3438
$GC,2534,-0.66,-146.6,192.9,-7.8,229,2538,0.12,2.38,0.00,0.000,4,0.094,0.085,2651,793,3438
$GC,2573,-0.66,-146.6,195.5,-6.8,231,2577,0.00,2.33,0.00,0.000,6,0.000,0.072,2651,2200,3438
$GC,2905,-0.66,-146.6,215.5,-5.6,247,2909,0.00,2.42,0.00,0.000,4,0.000,0.094,2650,3611,3438
$GC,2928,-0.66,-146.6,216.8,-5.7,248,2932,0.00,2.35,0.00,0.000,6,0.000,0.072,2651,2193,3437
$GC,3254,-0.66,-146.6,233.3,-4.7,264,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2190,3438
$GC,3564,-0.66,-146.6,250.6,-6.0,279,3569,0.00,2.45,0.00,0.000,4,0.000,0.095,2650,3604,3437
$GC,3582,-0.66,-146.6,251.7,-6.1,280,3586,0.00,2.33,0.00,0.000,6,0.000,0.073,2651,2201,3437
$GC,3909,-0.66,-146.6,271.9,-6.0,296,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,3437
$GC,4218,-0.66,-146.6,289.7,-5.6,311,4222,0.00,2.45,0.00,0.000,4,0.000,0.096,2650,3605,3436
$GC,4239,-0.66,-146.6,291.0,-6.2,312,4243,0.00,2.35,0.00,0.000,6,0.000,0.074,2650,2192,3436
$GC,4582,-0.66,-146.6,309.7,-5.3,323,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2188,3435
$GC,4886,-0.66,-146.6,325.0,-5.0,328,4890,0.00,2.47,0.00,0.000,4,0.000,0.097,2650,3608,3435
$GC,4913,-0.66,-146.6,326.6,-5.7,328,4917,0.00,2.35,0.00,0.000,6,0.000,0.075,2651,2198,3435
$GC,5250,-0.66,-146.6,345.2,-5.6,334,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2195,3435
$GC,5554,-0.70,-146.6,362.6,-5.7,339,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2195,3434
$GC,5857,-0.75,-146.6,379.4,-5.5,344,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2195,3435
$GC,6160,-0.79,-146.6,396.0,-5.5,349,6162,0.12,0.00,0.00,0.000,6,0.068,0.000,2624,2195,3434
$GC,6464,-0.71,-146.6,416.0,-6.6,354,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2195,3434
$GC,6766,-0.62,-146.6,436.7,-6.9,359,6767,0.22,0.00,0.00,0.000,6,0.084,0.000,2662,2195,3433
$GC,7071,-0.81,-146.6,452.7,-5.4,364,7076,0.17,2.42,0.00,0.000,4,0.061,0.093,2621,794,3433
$GC,7120,-0.81,-146.6,456.3,-7.0,364,7124,0.00,2.35,0.00,0.000,6,0.000,0.077,2621,2199,3433
$GC,7438,-0.90,-146.6,476.4,-6.5,370,7442,0.00,2.42,0.00,0.000,4,0.000,0.092,2621,796,3432
$GC,7543,-0.90,-146.6,483.0,-5.9,371,7547,0.00,2.35,0.00,0.000,6,0.000,0.078,2620,2199,3432
$GC,7866,-1.00,-146.6,502.9,-6.3,377,7871,0.17,2.45,0.00,0.000,4,0.061,0.093,2580,791,3432
$GC,7995,-0.77,-146.6,513.7,-9.4,379,8000,0.30,2.38,0.00,0.000,6,0.086,0.078,2629,2202,3432
$GC,8360,-0.73,-146.6,537.8,-6.6,385,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2202,3432
$GC,8663,-0.68,-146.6,558.8,-6.9,390,8667,0.00,2.47,0.00,0.000,4,0.000,0.097,2630,794,3431
$GC,8689,-0.68,-146.6,560.7,-6.8,390,8694,0.12,2.40,0.00,0.000,6,0.092,0.081,2650,2195,3431
$GC,9027,-0.75,-146.6,580.4,-5.8,396,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2195,3431
$GC,9330,-0.82,-146.6,596.9,-5.4,401,9335,0.15,2.47,0.00,0.000,4,0.064,0.099,2615,789,3431
$GC,9368,-0.76,-146.6,599.6,-6.5,401,9372,0.00,2.40,0.00,0.000,6,0.000,0.083,2615,2207,3431
$GC,9694,-0.66,-146.6,620.3,-6.3,407,9696,0.22,0.00,0.00,0.000,6,0.087,0.000,2653,2207,3431
$GC,9997,-0.83,-146.6,634.9,-5.0,412,10002,0.15,2.53,0.00,0.000,4,0.064,0.103,2617,795,3430
$GC,10080,-0.83,-146.6,640.1,-6.8,413,10085,0.00,2.45,0.00,0.000,6,0.000,0.089,2617,2202,3430
$GC,10429,-0.92,-146.6,662.4,-6.5,419,10433,0.00,2.53,0.00,0.000,4,0.000,0.107,2617,792,3430
$GC,10439,-0.99,-146.6,663.1,-6.6,419,10444,0.17,2.42,0.00,0.000,6,0.061,0.091,2582,2203,3430
$GC,10788,-0.75,-146.6,693.3,-9.1,425,10794,0.28,2.60,0.00,0.000,4,0.091,0.125,2631,3606,3429
$GC,10923,-0.75,-146.6,703.0,-6.7,427,10927,0.00,2.38,0.00,0.000,6,0.000,0.083,2631,2206,3429
$GC,11288,-0.75,-146.6,725.2,-6.1,433,11293,0.00,2.50,0.00,0.000,4,0.000,0.103,2631,784,3429
$GC,11327,-0.75,-146.6,727.8,-6.2,433,11331,0.00,2.42,0.00,0.000,6,0.000,0.081,2631,2211,3429
$GC,11652,-0.75,-146.6,747.8,-6.2,439,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2211,3429
$GC,11955,-0.75,-146.6,766.9,-6.3,444,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2211,3429
$GC,12259,-0.75,-146.6,784.2,-5.6,449,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2211,3429
$GC,12562,-0.75,-146.6,799.0,-4.8,454,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2211,3428
$GC,12865,-0.75,-146.6,812.4,-4.4,459,12869,0.00,2.53,0.00,0.000,4,0.000,0.101,2631,790,3428
$GC,12897,-0.75,-146.6,813.9,-4.8,459,12901,0.00,2.42,0.00,0.000,6,0.000,0.083,2631,2209,3428
$GC,13229,-0.75,-146.6,829.1,-4.6,465,13233,0.00,2.53,0.00,0.000,4,0.000,0.102,2631,786,3427
$GC,13255,-0.75,-146.6,830.5,-5.2,465,13259,0.00,2.40,0.00,0.000,6,0.000,0.084,2631,2201,3427
$GC,13593,-0.75,-146.6,848.7,-5.6,471,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,3427
$GC,13895,-0.75,-146.6,868.4,-6.6,476,13900,0.00,2.53,0.00,0.000,4,0.000,0.102,2631,783,3427
$GC,13922,-0.75,-146.6,870.4,-6.8,476,13926,0.00,2.40,0.00,0.000,6,0.000,0.084,2631,2201,3427
$GC,14259,-0.75,-146.6,894.3,-7.2,482,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3427
$GC,14564,-0.75,-146.6,916.1,-7.2,487,14568,0.00,2.53,0.00,0.000,4,0.000,0.104,2631,789,3426
$GC,14602,-0.80,-146.6,919.1,-7.9,487,14607,0.00,2.42,0.00,0.000,6,0.000,0.085,2631,2202,3426
$GC,14924,-0.80,-146.6,941.2,-6.8,493,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2202,3426
$GC,15225,-0.80,-146.6,960.8,-6.5,498,15229,0.00,2.53,0.00,0.000,4,0.000,0.105,2631,792,3426
$GC,15263,-0.86,-146.6,963.4,-6.6,498,15267,0.00,2.42,0.00,0.000,6,0.000,0.086,2631,2201,3426
$GC,15583,-0.86,-146.6,982.8,-6.0,504,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3425
$STATE,15763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15763,begin apogee
$GC,15768,-0.23,0.0,992.8,5.6,507,15898,0.68,0.00,126.90,1.471,6,0.078,0.000,2746,2201,2837
$STATE,15898,end apogee,CONTROL_FINISHED_OK
$STATE,15898,begin climb
$GC,15900,0.70,146.6,996.9,0.0,509,16039,1.23,0.00,135.05,1.423,6,0.048,0.000,2954,2200,2239
$GC,16309,0.39,146.6,962.4,10.9,516,16314,0.40,2.67,0.00,0.000,4,0.097,0.120,2888,3607,2239
$GC,16420,0.28,146.6,952.6,7.1,517,16425,0.17,2.47,0.00,0.000,6,0.097,0.089,2861,2202,2240
$GC,16735,0.29,158.3,933.8,5.9,523,16753,0.00,2.60,11.85,1.304,4,0.000,0.108,2861,787,2191
$GC,16782,0.29,158.3,930.7,6.6,523,16786,0.00,2.45,0.00,0.000,6,0.000,0.085,2861,2205,2191
$GC,17103,0.34,165.3,911.3,6.1,529,17117,0.00,2.58,7.40,1.194,4,0.000,0.107,2861,789,2163
$GC,17145,0.37,187.6,908.3,5.6,529,17171,0.00,2.42,20.98,1.358,6,0.000,0.086,2861,2201,2072
$GC,17531,0.45,187.6,883.6,6.5,536,17536,0.17,2.55,0.00,0.000,4,0.062,0.106,2900,789,2071
$GC,17580,0.34,187.6,879.2,8.5,536,17585,0.15,2.42,0.00,0.000,6,0.100,0.086,2876,2200,2071
$GC,17889,0.34,187.6,855.4,7.7,541,17893,0.00,2.55,0.00,0.000,4,0.000,0.107,2876,783,2071
$GC,17932,0.34,187.6,851.7,8.1,541,17936,0.00,2.42,0.00,0.000,6,0.000,0.086,2876,2200,2071
$GC,18253,0.34,187.6,828.3,7.2,547,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2201,2071
$GC,18556,0.34,187.6,808.5,6.4,552,18560,0.00,2.53,0.00,0.000,4,0.000,0.107,2876,788,2070
$GC,18622,0.36,197.3,804.3,6.0,553,18636,0.00,2.42,9.65,1.243,6,0.000,0.086,2876,2207,2032
$GC,18987,0.42,220.2,783.8,5.6,559,19009,0.00,0.00,20.33,1.320,6,0.000,0.000,2876,2207,1939
$GC,19290,0.50,238.6,766.7,5.7,564,19315,0.15,2.60,17.25,1.288,4,0.066,0.106,2909,795,1863
$GC,19355,0.42,238.6,761.4,8.5,565,19359,0.00,2.45,0.00,0.000,6,0.000,0.086,2909,2200,1863
$GC,19719,0.42,238.6,728.4,9.2,571,19723,0.00,2.55,0.00,0.000,4,0.000,0.106,2909,782,1863
$GC,19752,0.34,238.6,725.1,10.1,571,19756,0.20,2.45,0.00,0.000,6,0.094,0.084,2877,2206,1863
$GC,20077,0.42,238.6,698.3,8.2,577,20081,0.00,2.53,0.00,0.000,4,0.000,0.104,2877,790,1863
$GC,20109,0.48,238.6,695.5,8.8,577,20114,0.15,2.40,0.00,0.000,6,0.064,0.084,2907,2202,1863
$GC,20434,0.48,238.6,665.0,9.4,583,20439,0.00,2.53,0.00,0.000,4,0.000,0.104,2907,781,1863
$GC,20468,0.43,238.6,661.8,9.7,583,20472,0.00,2.42,0.00,0.000,6,0.000,0.084,2907,2202,1863
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$STATE,29325,end climb,SURFACE_DEPTH_REACHED
$STATE,29325,begin surface coast
$FINISH,0.2,1.023710
$STATE,29347,end surface coast,CONTROL_FINISHED_OK
$STATE,29348,begin surface
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$HUMID,2149
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$10V_AH,10.6,24.603
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$DEVICE_SECS,32.925,253.750,412.600,15.500,0.000,24.913,40.269,150.566,15.000,0.000,0.000,16.307,2075.044,23898.365,650.068,2571.922,510.933,33.357,1931.567,0.000,2519.869,0.000,56.639
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$DATA_FILE_SIZE,50507,1004
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$CFSIZE,260165632,257286144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
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