version: 66.03
glider: 119
mission: 5
dive: 30
start: 9 22 108 0 42 38
data:
$ID,119
$MISSION,5
$DIVE,30
$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,550
$T_MISSION,570
$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,-210261.73
$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,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
$GPS1,003625,4700.911,-12601.153,39,1.2,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.5
$GPS2,004145,4700.881,-12601.197,12,1.4,12,18.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.174,-0.100
$KALMAN_X,42356.5,-106.4,-509.2,-121554.6,5190.0
$KALMAN_Y,40687.0,889.3,-266.9,-36984.9,3297.1
$MHEAD_RNG_PITCHd_Wd,221.6,150064,-12.6,-6.000
$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,-0.72,-117.3,0.0,0.0,0,74,0.00,0.00,-51.95,0.000,2,0.000,0.000,863,2205,2631
$GC,77,-0.72,-117.3,3.2,-5.3,5,115,12.27,2.42,-15.85,0.000,4,0.148,0.090,2635,3608,3317
$GC,200,-0.37,-117.3,24.9,-16.0,16,207,0.47,2.30,0.00,0.000,6,0.087,0.057,2713,2195,3317
$GC,532,-0.55,-117.3,46.4,-5.9,57,538,0.15,2.30,0.00,0.000,4,0.057,0.069,2676,788,3318
$GC,579,-0.70,-117.3,50.4,-8.3,65,586,0.15,2.30,0.00,0.000,6,0.055,0.059,2642,2213,3319
$GC,923,-0.57,-117.3,79.5,-7.8,126,930,0.15,2.38,0.00,0.000,4,0.090,0.084,2671,3607,3320
$GC,959,-0.57,-117.3,82.1,-7.3,130,963,0.00,2.33,0.00,0.000,6,0.000,0.064,2672,2191,3320
$GC,1286,-0.64,-117.3,101.4,-6.3,160,1290,0.00,2.35,0.00,0.000,4,0.000,0.083,2672,796,3320
$GC,1349,-0.77,-117.3,105.7,-6.2,165,1354,0.20,2.33,0.00,0.000,6,0.051,0.069,2629,2198,3321
$GC,1673,-0.67,-117.3,133.6,-8.1,195,1678,0.12,2.40,0.00,0.000,4,0.094,0.082,2650,787,3321
$GC,1773,-0.67,-117.3,140.9,-6.8,203,1779,0.00,2.38,0.00,0.000,6,0.000,0.070,2650,2203,3320
$GC,2093,-0.67,-117.3,160.9,-6.5,226,2097,0.00,2.40,0.00,0.000,4,0.000,0.084,2650,789,3321
$GC,2142,-0.67,-117.3,164.2,-6.8,228,2146,0.00,2.35,0.00,0.000,6,0.000,0.071,2649,2205,3320
$GC,2464,-0.67,-117.3,183.8,-5.8,244,2467,0.00,2.38,0.00,0.000,4,0.000,0.084,2650,794,3320
$GC,2509,-0.67,-117.3,186.6,-6.4,246,2513,0.00,2.33,0.00,0.000,6,0.000,0.071,2650,2200,3320
$GC,2835,-0.67,-117.3,206.3,-6.2,262,2839,0.00,2.40,0.00,0.000,4,0.000,0.084,2650,789,3320
$GC,2874,-0.72,-117.3,208.9,-6.9,264,2878,0.00,2.35,0.00,0.000,6,0.000,0.072,2650,2204,3320
$GC,3201,-0.72,-117.3,230.6,-6.5,280,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2203,3320
$GC,3510,-0.72,-117.3,249.2,-5.7,295,3514,0.00,2.40,0.00,0.000,4,0.000,0.086,2650,796,3320
$GC,3560,-0.79,-117.3,252.2,-5.7,297,3564,0.00,2.33,0.00,0.000,6,0.000,0.074,2649,2199,3320
$GC,3876,-0.79,-117.3,269.8,-5.6,312,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3320
$GC,4185,-0.84,-117.3,286.4,-5.1,327,4190,0.15,2.42,0.00,0.000,4,0.061,0.087,2614,788,3319
$GC,4212,-0.77,-117.3,288.2,-7.0,328,4216,0.00,2.35,0.00,0.000,6,0.000,0.074,2614,2199,3319
$GC,4571,-0.65,-117.3,312.0,-6.6,340,4576,0.20,2.42,0.00,0.000,4,0.088,0.087,2652,794,3319
$GC,4666,-0.74,-117.3,317.0,-5.3,341,4670,0.00,2.35,0.00,0.000,6,0.000,0.075,2652,2201,3319
$GC,4998,-0.80,-117.3,332.2,-4.6,347,4999,0.12,0.00,0.00,0.000,6,0.068,0.000,2624,2201,3318
$GC,5300,-0.73,-117.3,349.8,-5.9,352,5305,0.00,2.42,0.00,0.000,4,0.000,0.090,2624,797,3318
$GC,5344,-0.68,-117.3,352.5,-5.9,352,5349,0.15,2.35,0.00,0.000,6,0.091,0.075,2649,2203,3318
$GC,5664,-0.73,-117.3,367.9,-4.8,358,5669,0.00,2.42,0.00,0.000,4,0.000,0.090,2649,797,3318
$GC,5698,-0.79,-117.3,369.7,-5.2,358,5702,0.12,2.35,0.00,0.000,6,0.065,0.075,2623,2203,3318
$GC,6023,-0.73,-117.3,390.9,-6.7,364,6027,0.00,2.45,0.00,0.000,4,0.000,0.091,2623,789,3317
$GC,6072,-0.69,-117.3,394.5,-7.6,364,6077,0.15,2.38,0.00,0.000,6,0.090,0.076,2647,2206,3317
$GC,6383,-0.74,-117.3,412.8,-5.9,369,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,3317
$GC,6685,-0.80,-117.3,430.2,-5.7,374,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,3316
$GC,6988,-0.85,-117.3,446.0,-5.2,379,6993,0.15,2.45,0.00,0.000,4,0.064,0.091,2612,794,3316
$GC,7031,-0.77,-117.3,448.9,-7.2,379,7036,0.00,2.38,0.00,0.000,6,0.000,0.077,2612,2204,3316
$GC,7352,-0.66,-117.3,470.6,-6.8,385,7357,0.20,2.47,0.00,0.000,4,0.091,0.093,2650,788,3315
$GC,7385,-0.73,-117.3,472.5,-5.5,385,7389,0.00,2.38,0.00,0.000,6,0.000,0.077,2650,2201,3315
$GC,7710,-0.80,-117.3,489.4,-5.3,391,7715,0.15,2.45,0.00,0.000,4,0.063,0.094,2615,797,3315
$GC,7731,-0.80,-117.3,490.8,-6.6,391,7735,0.00,2.38,0.00,0.000,6,0.000,0.078,2615,2206,3315
$GC,8075,-0.71,-117.3,515.8,-7.4,397,8080,0.15,2.45,0.00,0.000,4,0.096,0.094,2644,800,3314
$GC,8113,-0.77,-117.3,518.4,-6.2,397,8117,0.00,2.35,0.00,0.000,6,0.000,0.079,2644,2201,3314
$GC,8439,-0.82,-117.3,538.1,-6.0,403,8444,0.12,2.47,0.00,0.000,4,0.069,0.095,2616,791,3314
$GC,8471,-0.77,-117.3,540.4,-7.1,403,8476,0.00,2.38,0.00,0.000,6,0.000,0.081,2617,2199,3314
$GC,8797,-0.70,-117.3,563.3,-7.0,409,8802,0.17,2.47,0.00,0.000,4,0.091,0.097,2648,797,3313
$GC,8836,-0.78,-117.3,565.6,-5.7,409,8840,0.00,2.38,0.00,0.000,6,0.000,0.082,2648,2201,3313
$GC,9158,-0.86,-117.3,581.6,-5.0,415,9163,0.17,2.47,0.00,0.000,4,0.061,0.097,2608,799,3313
$GC,9192,-0.78,-117.3,583.8,-6.9,415,9196,0.00,2.40,0.00,0.000,6,0.000,0.083,2608,2209,3313
$GC,9517,-0.68,-117.3,604.5,-6.3,421,9522,0.20,2.50,0.00,0.000,4,0.091,0.100,2645,790,3313
$GC,9573,-0.76,-117.3,607.2,-5.1,421,9579,0.00,2.42,0.00,0.000,6,0.000,0.085,2646,2206,3313
$GC,9882,-0.84,-117.3,620.7,-4.4,427,9884,0.15,0.00,0.00,0.000,6,0.065,0.000,2615,2206,3313
$GC,10185,-0.77,-117.3,639.6,-6.4,432,10189,0.00,2.53,0.00,0.000,4,0.000,0.105,2614,798,3312
$GC,10223,-0.72,-117.3,642.1,-6.8,432,10228,0.15,2.42,0.00,0.000,6,0.094,0.090,2639,2206,3312
$GC,10543,-0.76,-117.3,659.7,-5.5,438,10547,0.00,2.53,0.00,0.000,4,0.000,0.106,2640,800,3312
$GC,10587,-0.83,-117.3,662.4,-6.4,438,10591,0.00,2.40,0.00,0.000,6,0.000,0.088,2639,2202,3312
$GC,10908,-0.88,-117.3,680.1,-5.6,444,10913,0.15,2.47,0.00,0.000,4,0.065,0.097,2605,799,3312
$GC,10946,-0.79,-117.3,683.0,-7.5,444,10951,0.12,2.38,0.00,0.000,6,0.099,0.081,2625,2205,3311
$GC,11266,-0.79,-117.3,702.1,-5.9,450,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2205,3311
$GC,11569,-0.79,-117.3,719.5,-5.7,455,11573,0.00,2.50,0.00,0.000,4,0.000,0.100,2625,793,3311
$GC,11612,-0.79,-117.3,722.2,-6.2,455,11616,0.00,2.40,0.00,0.000,6,0.000,0.082,2625,2199,3311
$GC,11933,-0.79,-117.3,740.0,-5.6,461,11937,0.00,2.50,0.00,0.000,4,0.000,0.100,2625,791,3311
$GC,11977,-0.79,-117.3,742.4,-5.1,461,11981,0.00,2.40,0.00,0.000,6,0.000,0.082,2625,2200,3311
$GC,12291,-0.79,-117.3,760.0,-5.7,467,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2200,3310
$GC,12597,-0.79,-117.3,778.0,-5.9,472,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2200,3310
$GC,12897,-0.79,-117.3,796.8,-6.1,477,12901,0.00,2.50,0.00,0.000,4,0.000,0.101,2625,795,3310
$GC,12930,-0.79,-117.3,798.7,-5.9,477,12934,0.00,2.38,0.00,0.000,6,0.000,0.084,2625,2199,3310
$GC,13256,-0.79,-117.3,817.5,-5.7,483,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2200,3310
$GC,13559,-0.79,-117.3,834.9,-5.7,488,13563,0.00,2.50,0.00,0.000,4,0.000,0.102,2625,798,3309
$GC,13591,-0.79,-117.3,836.8,-6.0,488,13595,0.00,2.38,0.00,0.000,6,0.000,0.084,2625,2199,3309
$GC,13923,-0.79,-117.3,855.1,-5.5,494,13927,0.00,2.50,0.00,0.000,4,0.000,0.102,2625,796,3309
$GC,13950,-0.79,-117.3,856.8,-6.7,494,13954,0.00,2.40,0.00,0.000,6,0.000,0.085,2624,2202,3309
$GC,14288,-0.79,-117.3,875.2,-5.5,500,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2202,3309
$GC,14591,-0.79,-117.3,891.9,-5.5,505,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2202,3309
$GC,14894,-0.79,-117.3,908.7,-5.6,510,14898,0.00,2.53,0.00,0.000,4,0.000,0.105,2625,796,3309
$GC,14931,-0.79,-117.3,911.0,-6.1,510,14935,0.00,2.42,0.00,0.000,6,0.000,0.087,2624,2202,3309
$GC,15258,-0.79,-117.3,928.7,-5.4,516,15262,0.00,2.53,0.00,0.000,4,0.000,0.106,2625,798,3309
$GC,15279,-0.79,-117.3,929.9,-5.9,516,15283,0.00,2.40,0.00,0.000,6,0.000,0.087,2625,2201,3309
$GC,15616,-0.79,-117.3,946.6,-4.9,522,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2201,3309
$GC,15919,-0.79,-117.3,960.0,-4.4,527,15923,0.00,2.53,0.00,0.000,4,0.000,0.107,2625,800,3308
$GC,15952,-0.79,-117.3,961.5,-4.9,527,15956,0.00,2.42,0.00,0.000,6,0.000,0.088,2625,2199,3308
$GC,16278,-0.79,-117.3,974.8,-4.0,533,16283,0.00,2.53,0.00,0.000,4,0.000,0.107,2625,800,3308
$GC,16305,-0.79,-117.3,976.0,-4.5,533,16309,0.00,2.42,0.00,0.000,6,0.000,0.089,2625,2201,3308
$STATE,16645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16646,begin apogee
$GC,16650,-0.23,0.0,990.8,4.4,539,16755,0.73,0.00,101.43,1.478,6,0.081,0.000,2747,2201,2837
$STATE,16756,end apogee,CONTROL_FINISHED_OK
$STATE,16756,begin climb
$GC,16758,0.72,117.3,991.9,0.0,540,16873,1.20,2.95,107.53,1.428,4,0.050,0.139,2954,3604,2358
$GC,16947,0.38,117.3,980.3,12.0,543,16952,0.45,2.60,0.00,0.000,6,0.101,0.094,2887,2210,2358
$GC,17312,0.33,117.3,953.4,7.2,549,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2210,2357
$GC,17615,0.28,117.3,931.6,7.1,554,17620,0.15,2.58,0.00,0.000,4,0.103,0.109,2861,787,2356
$GC,17648,0.28,117.3,929.4,6.2,554,17652,0.00,2.47,0.00,0.000,6,0.000,0.088,2860,2208,2356
$GC,17980,0.34,123.8,910.2,5.8,560,17993,0.00,2.60,6.82,1.179,4,0.000,0.122,2860,3606,2332
$GC,18016,0.35,131.0,907.8,5.8,560,18031,0.00,2.45,7.93,1.215,6,0.000,0.089,2860,2190,2303
$GC,18347,0.42,131.0,887.6,6.2,566,18352,0.15,2.53,0.00,0.000,4,0.071,0.109,2893,785,2302
$GC,18402,0.32,131.0,883.6,8.1,566,18409,0.15,2.45,0.00,0.000,6,0.102,0.087,2871,2206,2302
$GC,18710,0.32,131.0,863.6,6.4,572,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2205,2302
$GC,19014,0.32,131.0,845.2,6.0,577,19015,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2205,2302
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$STATE,31428,end climb,SURFACE_DEPTH_REACHED
$STATE,31429,begin surface coast
$FINISH,0.2,1.023839
$STATE,31452,end surface coast,CONTROL_FINISHED_OK
$STATE,31452,begin surface
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$SM_GC,1.37,0.00,0.00,18.65,0.000,0.000,0.788,864,2205,1410,-8.91,0.14,350.04
$IRIDIUM_FIX,4644.93,-12606.75,161297,161632
$TT8_MAMPS,0.027612
$HUMID,2119
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$TCM_TEMP,17.60
$XPDR_PINGS,29
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$10V_AH,10.6,24.850
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$DEVICE_SECS,33.275,272.150,387.175,18.650,0.000,31.623,32.276,145.621,16.000,0.000,0.000,13.829,2199.342,25802.691,613.674,2665.261,523.424,33.399,1978.560,0.000,2612.886,0.000,56.666
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53712,1073
$CAP_FILE_SIZE,219296,0
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,220908,092838,4701.120,-12603.602,30,0.9,30,18.5