version: 66.03
glider: 119
mission: 5
dive: 29
start: 9 21 108 16 25 3
data:
$ID,119
$MISSION,5
$DIVE,29
$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,-210247.28
$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,22
$R_STBD_OVSHOOT,17
$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
$GPS1,161901,4659.654,-12558.396,39,1.3,45,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.2
$GPS2,162409,4659.658,-12558.406,15,1.5,15,18.5
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.206,-0.090
$KALMAN_X,39251.3,-427.1,-44.2,-115090.2,5559.5
$KALMAN_Y,35346.9,151.7,651.3,-34083.6,2856.8
$MHEAD_RNG_PITCHd_Wd,227.9,153582,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.70,-146.6,0.0,0.0,0,73,0.00,0.00,-51.30,0.000,2,0.000,0.000,861,2190,2631
$GC,76,-0.70,-146.6,3.3,-5.5,5,115,12.35,2.42,-18.42,0.000,4,0.150,0.091,2639,3607,3436
$GC,176,-0.35,-146.6,20.6,-15.8,14,183,0.50,2.30,0.00,0.000,6,0.084,0.059,2720,2197,3436
$GC,503,-0.73,-146.6,41.3,-7.3,46,510,0.43,2.33,0.00,0.000,4,0.051,0.070,2637,786,3437
$GC,568,-0.69,-146.6,47.1,-8.9,57,575,0.00,2.30,0.00,0.000,6,0.000,0.059,2637,2205,3437
$GC,914,-0.53,-146.6,80.3,-8.9,118,919,0.22,2.38,0.00,0.000,4,0.082,0.076,2677,794,3438
$GC,993,-0.63,-146.6,86.0,-6.4,124,999,0.00,2.30,0.00,0.000,6,0.000,0.066,2678,2204,3438
$GC,1319,-0.72,-146.6,101.9,-4.8,155,1321,0.17,0.00,0.00,0.000,6,0.054,0.000,2639,2205,3438
$GC,1637,-0.85,-146.6,122.9,-7.0,185,1641,0.12,2.40,0.00,0.000,4,0.064,0.080,2609,784,3438
$GC,1767,-0.70,-146.6,133.9,-8.9,196,1772,0.20,2.35,0.00,0.000,6,0.084,0.070,2643,2202,3438
$GC,2089,-0.70,-146.6,156.1,-6.6,222,2093,0.00,2.38,0.00,0.000,4,0.000,0.082,2643,794,3438
$GC,2154,-0.70,-146.6,160.5,-6.7,225,2159,0.00,2.33,0.00,0.000,6,0.000,0.071,2643,2199,3438
$GC,2482,-0.70,-146.6,178.5,-5.8,241,2486,0.00,2.40,0.00,0.000,4,0.000,0.084,2643,783,3438
$GC,2514,-0.70,-146.6,180.5,-6.2,242,2521,0.00,2.35,0.00,0.000,6,0.000,0.071,2643,2210,3438
$GC,2832,-0.70,-146.6,200.4,-6.6,258,2836,0.00,2.40,0.00,0.000,4,0.000,0.084,2643,794,3438
$GC,2871,-0.70,-146.6,203.2,-7.4,260,2875,0.00,2.33,0.00,0.000,6,0.000,0.072,2643,2198,3438
$GC,3197,-0.70,-146.6,225.2,-7.1,276,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3438
$GC,3506,-0.70,-146.6,247.0,-6.9,291,3510,0.00,2.40,0.00,0.000,4,0.000,0.085,2643,789,3438
$GC,3545,-0.70,-146.6,249.6,-6.8,293,3550,0.00,2.35,0.00,0.000,6,0.000,0.073,2643,2201,3438
$GC,3878,-0.70,-146.6,272.8,-7.1,309,3882,0.00,2.40,0.00,0.000,4,0.000,0.086,2643,791,3438
$GC,3911,-0.70,-146.6,275.4,-7.4,310,3917,0.00,2.33,0.00,0.000,6,0.000,0.073,2643,2201,3437
$GC,4226,-0.70,-146.6,296.6,-6.1,326,4230,0.00,2.40,0.00,0.000,4,0.000,0.087,2643,794,3436
$GC,4252,-0.70,-146.6,298.3,-6.5,327,4257,0.00,2.38,0.00,0.000,6,0.000,0.074,2643,2200,3437
$GC,4594,-0.70,-146.6,319.6,-6.2,334,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,3436
$GC,4897,-0.70,-146.6,337.6,-5.9,339,4901,0.00,2.42,0.00,0.000,4,0.000,0.088,2643,786,3435
$GC,4935,-0.75,-146.6,340.1,-6.2,339,4940,0.00,2.35,0.00,0.000,6,0.000,0.074,2643,2201,3435
$GC,5256,-0.75,-146.6,358.7,-5.8,345,5260,0.00,2.42,0.00,0.000,4,0.000,0.088,2643,786,3435
$GC,5283,-0.75,-146.6,360.3,-6.0,345,5287,0.00,2.38,0.00,0.000,6,0.000,0.074,2643,2208,3435
$GC,5614,-0.75,-146.6,379.2,-5.7,351,5618,0.00,2.42,0.00,0.000,4,0.000,0.088,2643,794,3435
$GC,5635,-0.75,-146.6,380.4,-5.6,351,5639,0.00,2.35,0.00,0.000,6,0.000,0.075,2643,2200,3435
$GC,5978,-0.75,-146.6,399.2,-5.5,357,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,3435
$GC,6281,-0.75,-146.6,416.2,-5.6,362,6285,0.00,2.42,0.00,0.000,4,0.000,0.091,2643,795,3435
$GC,6325,-0.80,-146.6,418.9,-6.0,362,6329,0.00,2.35,0.00,0.000,6,0.000,0.076,2643,2201,3434
$GC,6639,-0.80,-146.6,437.3,-5.9,368,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,3433
$GC,6942,-0.80,-146.6,455.4,-5.9,373,6946,0.00,2.45,0.00,0.000,4,0.000,0.093,2643,789,3433
$GC,6981,-0.85,-146.6,457.8,-6.3,373,6985,0.15,2.35,0.00,0.000,6,0.060,0.077,2612,2200,3433
$GC,7301,-0.73,-146.6,481.0,-7.4,379,7305,0.15,2.45,0.00,0.000,4,0.094,0.092,2640,793,3432
$GC,7339,-0.73,-146.6,483.5,-6.2,379,7343,0.00,2.38,0.00,0.000,6,0.000,0.077,2640,2209,3432
$GC,7660,-0.73,-146.6,501.8,-5.7,385,7664,0.00,2.47,0.00,0.000,4,0.000,0.094,2640,789,3432
$GC,7692,-0.73,-146.6,503.7,-6.1,385,7696,0.00,2.38,0.00,0.000,6,0.000,0.077,2640,2199,3432
$GC,8024,-0.73,-146.6,523.9,-6.1,391,8028,0.00,2.45,0.00,0.000,4,0.000,0.095,2640,791,3432
$GC,8050,-0.73,-146.6,525.7,-6.4,391,8054,0.00,2.38,0.00,0.000,6,0.000,0.079,2640,2199,3432
$GC,8388,-0.73,-146.6,545.2,-5.7,397,8392,0.00,2.45,0.00,0.000,4,0.000,0.096,2640,796,3431
$GC,8409,-0.73,-146.6,546.5,-5.6,397,8413,0.00,2.38,0.00,0.000,6,0.000,0.080,2640,2203,3431
$GC,8746,-0.73,-146.6,565.8,-5.8,403,8750,0.00,2.47,0.00,0.000,4,0.000,0.097,2640,790,3431
$GC,8773,-0.77,-146.6,567.6,-6.1,403,8777,0.00,2.38,0.00,0.000,6,0.000,0.081,2640,2201,3432
$GC,9111,-0.77,-146.6,588.2,-6.2,409,9115,0.00,2.47,0.00,0.000,4,0.000,0.098,2639,795,3431
$GC,9143,-0.84,-146.6,590.3,-6.6,409,9147,0.00,2.38,0.00,0.000,6,0.000,0.083,2640,2199,3431
$GC,9476,-0.84,-146.6,610.0,-5.9,415,9481,0.12,2.50,0.00,0.000,4,0.071,0.099,2613,788,3431
$GC,9510,-0.78,-146.6,612.3,-7.6,415,9515,0.00,2.42,0.00,0.000,6,0.000,0.084,2613,2206,3431
$GC,9836,-0.68,-146.6,633.0,-6.2,421,9841,0.17,2.53,0.00,0.000,4,0.093,0.102,2646,793,3430
$GC,9865,-0.68,-146.6,634.6,-5.5,421,9869,0.00,2.42,0.00,0.000,6,0.000,0.087,2645,2205,3430
$GC,10196,-0.75,-146.6,648.8,-4.3,427,10200,0.00,2.53,0.00,0.000,4,0.000,0.104,2646,789,3430
$GC,10229,-0.84,-146.6,650.5,-5.2,427,10234,0.15,2.45,0.00,0.000,6,0.062,0.089,2615,2205,3430
$GC,10555,-0.77,-146.6,670.2,-6.2,433,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2205,3429
$GC,10857,-0.69,-146.6,691.6,-7.1,438,10862,0.15,2.47,0.00,0.000,4,0.094,0.097,2644,797,3429
$GC,10890,-0.76,-146.6,693.8,-6.9,438,10894,0.00,2.38,0.00,0.000,6,0.000,0.081,2644,2202,3429
$GC,11216,-0.83,-146.6,713.5,-6.0,444,11221,0.15,2.50,0.00,0.000,4,0.064,0.097,2609,790,3429
$GC,11248,-0.77,-146.6,716.0,-7.9,444,11253,0.12,2.40,0.00,0.000,6,0.094,0.081,2630,2208,3429
$GC,11573,-0.77,-146.6,737.0,-6.4,450,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2208,3429
$GC,11876,-0.77,-146.6,756.4,-6.4,455,11881,0.00,2.50,0.00,0.000,4,0.000,0.099,2630,794,3429
$GC,11909,-0.77,-146.6,758.7,-6.4,455,11913,0.00,2.40,0.00,0.000,6,0.000,0.082,2630,2201,3429
$GC,12241,-0.77,-146.6,779.3,-6.1,461,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2201,3429
$GC,12544,-0.77,-146.6,796.2,-5.6,466,12548,0.00,2.50,0.00,0.000,4,0.000,0.100,2630,792,3428
$GC,12588,-0.82,-146.6,798.7,-5.9,466,12592,0.00,2.40,0.00,0.000,6,0.000,0.083,2630,2199,3428
$GC,12902,-0.82,-146.6,814.5,-5.0,472,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2199,3428
$GC,13205,-0.82,-146.6,829.3,-4.8,477,13209,0.00,2.50,0.00,0.000,4,0.000,0.101,2630,797,3427
$GC,13244,-0.86,-146.6,831.4,-5.5,477,13248,0.00,2.40,0.00,0.000,6,0.000,0.084,2630,2198,3427
$GC,13564,-0.86,-146.6,847.9,-5.2,483,13568,0.00,2.50,0.00,0.000,4,0.000,0.101,2630,794,3427
$GC,13591,-0.86,-146.6,849.6,-6.2,483,13595,0.00,2.42,0.00,0.000,6,0.000,0.084,2630,2205,3428
$GC,13928,-0.86,-146.6,869.5,-6.0,489,13932,0.00,2.53,0.00,0.000,4,0.000,0.102,2630,788,3427
$GC,13966,-0.91,-146.6,872.1,-6.2,489,13971,0.15,2.42,0.00,0.000,6,0.063,0.084,2599,2200,3427
$GC,14286,-0.78,-146.6,897.6,-8.1,495,14291,0.15,2.53,0.00,0.000,4,0.099,0.102,2624,790,3426
$GC,14314,-0.78,-146.6,899.8,-7.8,495,14319,0.00,2.42,0.00,0.000,6,0.000,0.085,2624,2199,3427
$GC,14650,-0.78,-146.6,922.1,-6.5,501,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2199,3426
$GC,14954,-0.78,-146.6,940.4,-6.0,506,14958,0.00,2.50,0.00,0.000,4,0.000,0.104,2624,800,3426
$GC,15003,-0.78,-146.6,943.2,-5.6,506,15007,0.00,2.40,0.00,0.000,6,0.000,0.087,2624,2201,3426
$GC,15312,-0.78,-146.6,957.9,-4.7,511,15316,0.00,2.53,0.00,0.000,4,0.000,0.104,2624,794,3426
$GC,15339,-0.78,-146.6,959.1,-4.7,511,15343,0.00,2.45,0.00,0.000,6,0.000,0.087,2624,2208,3426
$GC,15670,-0.78,-146.6,973.2,-4.2,517,15674,0.00,2.55,0.00,0.000,4,0.000,0.105,2624,789,3426
$GC,15703,-0.78,-146.6,974.7,-4.8,517,15707,0.00,2.45,0.00,0.000,6,0.000,0.087,2624,2204,3426
$STATE,16032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16033,begin apogee
$GC,16037,-0.23,0.0,990.4,4.8,523,16167,0.73,0.00,126.80,1.474,6,0.078,0.000,2747,2205,2837
$STATE,16168,end apogee,CONTROL_FINISHED_OK
$STATE,16168,begin climb
$GC,16170,0.70,146.6,994.1,0.0,525,16314,1.17,2.80,134.27,1.426,4,0.049,0.106,2950,801,2239
$GC,16336,0.36,146.6,986.0,9.4,527,16341,0.45,2.60,0.00,0.000,6,0.095,0.086,2882,2199,2238
$GC,16650,0.30,146.6,963.4,7.0,533,16655,0.00,2.75,0.00,0.000,4,0.000,0.139,2882,3607,2238
$GC,16683,0.22,146.6,960.8,7.9,533,16688,0.20,2.50,0.00,0.000,6,0.093,0.091,2851,2201,2238
$GC,17009,0.31,164.2,941.8,5.7,539,17032,0.00,2.62,16.52,1.357,4,0.000,0.108,2851,783,2166
$GC,17049,0.43,216.7,939.3,4.8,539,17104,0.22,2.47,46.65,1.391,6,0.058,0.085,2894,2204,1953
$GC,17437,0.43,216.7,906.5,8.7,546,17441,0.00,2.60,0.00,0.000,4,0.000,0.119,2894,3610,1951
$GC,17469,0.43,216.7,903.2,9.7,546,17473,0.00,2.47,0.00,0.000,6,0.000,0.089,2894,2196,1952
$GC,17800,0.43,216.7,874.3,8.7,552,17805,0.00,2.53,0.00,0.000,4,0.000,0.110,2894,786,1950
$GC,17839,0.37,216.7,870.6,9.5,552,17843,0.00,2.42,0.00,0.000,6,0.000,0.087,2894,2200,1949
$GC,18158,0.37,216.7,841.8,9.1,558,18163,0.00,2.55,0.00,0.000,4,0.000,0.116,2894,3606,1949
$GC,18191,0.37,216.7,838.4,9.0,558,18195,0.00,2.42,0.00,0.000,6,0.000,0.089,2894,2200,1950
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$STATE,29352,end climb,SURFACE_DEPTH_REACHED
$STATE,29353,begin surface coast
$FINISH,0.4,1.023712
$STATE,29375,end surface coast,CONTROL_FINISHED_OK
$STATE,29375,begin surface
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$TT8_MAMPS,0.027612
$HUMID,2159
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$TCM_TEMP,17.70
$XPDR_PINGS,24
$24V_AH,22.5,38.975
$10V_AH,10.6,24.723
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$DEVICE_SECS,30.775,263.525,414.375,8.625,0.000,30.926,24.355,140.823,14.750,0.000,0.000,16.579,2055.929,24007.312,610.162,2536.865,496.363,33.399,1913.017,0.000,2485.275,0.000,56.659
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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,50527,1012
$CAP_FILE_SIZE,199789,0
$CFSIZE,260165632,257208320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,220908,003625,4700.911,-12601.153,39,1.2,40,18.5