version: 66.03
glider: 119
mission: 5
dive: 42
start: 9 26 108 15 38 49
data:
$ID,119
$MISSION,5
$DIVE,42
$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,-210474.86
$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,17
$R_STBD_OVSHOOT,20
$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
$GPS1,153208,4656.027,-12640.456,28,1.6,28,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-71.5
$GPS2,153757,4656.032,-12640.442,13,1.6,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.162,-0.108
$KALMAN_X,52392.1,-2.4,-111.0,-181700.4,-370.6
$KALMAN_Y,85592.0,-334.9,-816.0,-89058.3,4342.2
$MHEAD_RNG_PITCHd_Wd,217.8,100754,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-62.00,0.000,2,0.000,0.000,860,2213,2928
$GC,87,-0.67,-117.3,4.1,-7.0,6,113,12.32,2.45,-7.53,0.000,4,0.146,0.086,2649,789,3317
$GC,299,-0.35,-117.3,42.5,-13.8,26,306,0.43,2.28,0.00,0.000,6,0.083,0.056,2718,2203,3318
$GC,644,-0.70,-117.3,62.6,-6.8,87,651,0.38,2.35,0.00,0.000,4,0.043,0.066,2639,777,3319
$GC,708,-0.59,-117.3,68.0,-8.6,98,715,0.17,2.30,0.00,0.000,6,0.083,0.059,2669,2206,3319
$GC,1049,-0.53,-117.3,91.2,-5.4,144,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3320
$GC,1367,-0.53,-117.3,111.0,-7.1,174,1371,0.00,2.40,0.00,0.000,4,0.000,0.079,2669,785,3321
$GC,1401,-0.53,-117.3,113.7,-8.0,177,1405,0.00,2.33,0.00,0.000,6,0.000,0.067,2669,2197,3320
$GC,1725,-0.53,-117.3,134.8,-5.7,207,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3320
$GC,2042,-0.53,-117.3,152.9,-6.4,235,2047,0.00,2.42,0.00,0.000,4,0.000,0.093,2668,3603,3320
$GC,2069,-0.53,-117.3,154.9,-7.1,236,2074,0.00,2.35,0.00,0.000,6,0.000,0.067,2669,2197,3320
$GC,2392,-0.57,-117.3,175.1,-5.7,252,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2191,3320
$GC,2701,-0.62,-117.3,190.4,-4.7,267,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2191,3320
$GC,3010,-0.68,-117.3,206.3,-5.0,282,3014,0.00,2.38,0.00,0.000,4,0.000,0.083,2669,783,3320
$GC,3044,-0.77,-117.3,208.0,-5.3,283,3050,0.20,2.33,0.00,0.000,6,0.052,0.070,2627,2199,3320
$GC,3359,-0.64,-117.3,230.0,-7.1,299,3364,0.15,2.38,0.00,0.000,4,0.090,0.082,2656,793,3320
$GC,3391,-0.64,-117.3,232.2,-6.6,300,3398,0.00,2.35,0.00,0.000,6,0.000,0.070,2656,2198,3320
$GC,3707,-0.64,-117.3,251.5,-6.2,316,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2198,3320
$GC,4016,-0.64,-117.3,271.2,-6.1,331,4020,0.00,2.40,0.00,0.000,4,0.000,0.084,2656,788,3319
$GC,4042,-0.64,-117.3,272.9,-6.1,332,4047,0.00,2.38,0.00,0.000,6,0.000,0.070,2656,2202,3319
$GC,4369,-0.64,-117.3,291.5,-5.6,348,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,3319
$GC,4716,-0.64,-117.3,311.1,-5.6,359,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,3318
$GC,5021,-0.64,-117.3,327.2,-5.3,364,5026,0.00,2.42,0.00,0.000,4,0.000,0.086,2656,783,3317
$GC,5049,-0.64,-117.3,328.8,-5.1,364,5053,0.00,2.35,0.00,0.000,6,0.000,0.072,2656,2201,3317
$GC,5385,-0.64,-117.3,345.9,-5.0,370,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2201,3317
$GC,5689,-0.64,-117.3,360.4,-4.8,375,5693,0.00,2.42,0.00,0.000,4,0.000,0.087,2656,790,3317
$GC,5710,-0.64,-117.3,361.4,-4.8,375,5714,0.00,2.35,0.00,0.000,6,0.000,0.073,2656,2199,3317
$GC,6053,-0.64,-117.3,378.4,-5.0,381,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2200,3316
$GC,6356,-0.64,-117.3,393.4,-4.9,386,6360,0.00,2.42,0.00,0.000,4,0.000,0.089,2656,793,3315
$GC,6400,-0.70,-117.3,395.7,-5.0,386,6404,0.00,2.35,0.00,0.000,6,0.000,0.074,2656,2201,3315
$GC,6716,-0.70,-117.3,412.0,-5.2,392,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2201,3315
$GC,7018,-0.70,-117.3,427.6,-5.2,397,7022,0.00,2.45,0.00,0.000,4,0.000,0.091,2656,787,3315
$GC,7039,-0.75,-117.3,429.0,-5.9,397,7043,0.00,2.38,0.00,0.000,6,0.000,0.075,2656,2205,3315
$GC,7382,-0.79,-117.3,446.9,-5.3,403,7387,0.15,2.45,0.00,0.000,4,0.061,0.090,2620,794,3315
$GC,7415,-0.70,-117.3,449.2,-7.4,403,7419,0.15,2.35,0.00,0.000,6,0.090,0.076,2645,2200,3314
$GC,7740,-0.70,-117.3,468.1,-5.7,409,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3314
$GC,8043,-0.70,-117.3,485.5,-5.8,414,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,3314
$GC,8347,-0.70,-117.3,503.3,-5.9,419,8351,0.00,2.47,0.00,0.000,4,0.000,0.095,2645,788,3313
$GC,8373,-0.70,-117.3,505.0,-6.0,419,8377,0.00,2.40,0.00,0.000,6,0.000,0.078,2645,2206,3313
$GC,8711,-0.70,-117.3,523.4,-5.4,425,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2207,3313
$GC,9014,-0.70,-117.3,539.9,-5.5,430,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,3311
$GC,9318,-0.70,-117.3,558.0,-6.0,435,9322,0.00,2.50,0.00,0.000,4,0.000,0.097,2645,790,3312
$GC,9350,-0.70,-117.3,560.1,-6.8,435,9354,0.00,2.42,0.00,0.000,6,0.000,0.080,2645,2199,3312
$GC,9683,-0.70,-117.3,578.9,-5.6,441,9687,0.00,2.47,0.00,0.000,4,0.000,0.097,2645,793,3312
$GC,9709,-0.70,-117.3,580.4,-5.5,441,9714,0.00,2.42,0.00,0.000,6,0.000,0.081,2645,2203,3312
$GC,10047,-0.70,-117.3,595.9,-4.5,447,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3311
$GC,10350,-0.70,-117.3,608.8,-4.3,452,10354,0.00,2.47,0.00,0.000,4,0.000,0.097,2645,796,3311
$GC,10388,-0.70,-117.3,610.6,-4.8,452,10392,0.00,2.38,0.00,0.000,6,0.000,0.081,2645,2206,3311
$GC,10711,-0.70,-117.3,626.5,-5.0,458,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,3311
$GC,11011,-0.70,-117.3,644.5,-6.0,463,11015,0.00,2.50,0.00,0.000,4,0.000,0.097,2645,790,3311
$GC,11037,-0.70,-117.3,646.2,-6.8,463,11042,0.00,2.40,0.00,0.000,6,0.000,0.081,2645,2201,3310
$GC,11375,-0.70,-117.3,666.6,-6.0,469,11379,0.00,2.47,0.00,0.000,4,0.000,0.097,2645,794,3311
$GC,11408,-0.70,-117.3,668.4,-5.7,469,11412,0.00,2.40,0.00,0.000,6,0.000,0.081,2645,2208,3310
$GC,11733,-0.70,-117.3,686.0,-5.3,475,11737,0.00,2.50,0.00,0.000,4,0.000,0.098,2645,795,3310
$GC,11760,-0.70,-117.3,687.5,-5.6,475,11764,0.00,2.40,0.00,0.000,6,0.000,0.081,2645,2198,3310
$GC,12099,-0.70,-117.3,703.5,-4.7,481,12104,0.00,2.47,0.00,0.000,4,0.000,0.098,2645,796,3310
$GC,12134,-0.74,-117.3,705.0,-4.9,481,12138,0.00,2.40,0.00,0.000,6,0.000,0.081,2645,2205,3309
$GC,12459,-0.74,-117.3,718.6,-4.0,487,12463,0.00,2.50,0.00,0.000,4,0.000,0.098,2645,793,3308
$GC,12481,-0.74,-117.3,719.5,-4.4,487,12485,0.00,2.40,0.00,0.000,6,0.000,0.081,2645,2203,3308
$GC,12823,-0.74,-117.3,733.7,-4.1,493,12827,0.00,2.50,0.00,0.000,4,0.000,0.099,2645,794,3308
$GC,12857,-0.79,-117.3,735.2,-5.3,493,12861,0.00,2.40,0.00,0.000,6,0.000,0.081,2645,2200,3308
$GC,13184,-0.83,-117.3,750.7,-4.8,499,13186,0.15,0.00,0.00,0.000,6,0.064,0.000,2613,2200,3308
$GC,13486,-0.73,-117.3,769.8,-6.4,504,13491,0.15,2.53,0.00,0.000,4,0.094,0.100,2642,789,3308
$GC,13512,-0.73,-117.3,771.4,-6.1,504,13517,0.00,2.42,0.00,0.000,6,0.000,0.083,2642,2206,3308
$GC,13850,-0.73,-117.3,789.2,-5.3,510,13854,0.00,2.53,0.00,0.000,4,0.000,0.102,2642,792,3308
$GC,13883,-0.78,-117.3,791.1,-5.4,510,13888,0.00,2.40,0.00,0.000,6,0.000,0.084,2642,2200,3308
$GC,14209,-0.78,-117.3,806.9,-4.8,516,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2200,3307
$GC,14512,-0.78,-117.3,820.6,-4.6,521,14517,0.00,2.53,0.00,0.000,4,0.000,0.104,2642,790,3307
$GC,14568,-0.84,-117.3,823.2,-4.7,521,14575,0.15,2.42,0.00,0.000,6,0.062,0.086,2612,2198,3307
$GC,14877,-0.73,-117.3,841.5,-6.0,527,14879,0.17,0.00,0.00,0.000,6,0.091,0.000,2641,2198,3307
$GC,15180,-0.73,-117.3,857.2,-5.2,532,15184,0.00,2.53,0.00,0.000,4,0.000,0.107,2641,799,3307
$GC,15206,-0.73,-117.3,858.9,-5.9,532,15210,0.00,2.40,0.00,0.000,6,0.000,0.086,2641,2201,3307
$GC,15545,-0.73,-117.3,877.2,-5.5,538,15549,0.00,2.55,0.00,0.000,4,0.000,0.107,2641,790,3307
$GC,15577,-0.73,-117.3,879.2,-6.5,538,15581,0.00,2.42,0.00,0.000,6,0.000,0.087,2641,2201,3306
$GC,15910,-0.87,-117.3,901.0,-6.9,544,15915,0.15,2.55,0.00,0.000,4,0.061,0.107,2606,797,3306
$GC,16088,-0.78,-117.3,914.0,-6.6,546,16093,0.12,2.45,0.00,0.000,6,0.098,0.091,2625,2208,3306
$GC,16402,-0.78,-117.3,932.6,-5.9,552,16403,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2208,3305
$GC,16706,-0.78,-117.3,947.9,-5.0,557,16710,0.00,2.58,0.00,0.000,4,0.000,0.112,2626,798,3306
$GC,16738,-0.78,-117.3,949.5,-5.1,557,16742,0.00,2.45,0.00,0.000,6,0.000,0.092,2625,2208,3306
$GC,17063,-0.78,-117.3,965.3,-4.8,563,17064,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2208,3305
$GC,17368,-0.78,-117.3,980.4,-5.0,568,17372,0.00,2.60,0.00,0.000,4,0.000,0.114,2626,793,3305
$GC,17400,-0.78,-117.3,982.3,-6.4,568,17404,0.00,2.45,0.00,0.000,6,0.000,0.094,2625,2200,3305
$STATE,17608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17608,begin apogee
$GC,17613,-0.23,0.0,992.9,5.1,572,17718,0.73,0.00,101.30,1.491,6,0.077,0.000,2749,2200,2837
$STATE,17718,end apogee,CONTROL_FINISHED_OK
$STATE,17718,begin climb
$GC,17721,0.67,117.3,994.0,0.0,573,17836,1.15,2.88,107.90,1.407,4,0.050,0.126,2944,3605,2358
$GC,17892,0.30,117.3,986.3,9.4,576,17898,0.50,2.60,0.00,0.000,6,0.095,0.094,2869,2211,2359
$GC,18212,0.30,117.3,966.5,5.9,582,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2211,2357
$GC,18515,0.30,117.3,948.1,6.1,587,18516,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2211,2357
$GC,18818,0.30,117.3,929.4,6.2,592,18822,0.00,2.60,0.00,0.000,4,0.000,0.119,2869,3606,2357
$GC,18867,0.26,117.3,925.9,6.2,592,18872,0.00,2.47,0.00,0.000,6,0.000,0.092,2869,2195,2357
$GC,19176,0.26,117.3,907.1,6.0,597,19177,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2195,2356
$GC,19479,0.26,117.3,889.3,5.8,602,19480,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2195,2356
$GC,19782,0.26,117.3,872.1,5.7,607,19786,0.00,2.60,0.00,0.000,4,0.000,0.114,2869,3607,2356
$GC,19826,0.22,118.4,869.4,5.5,607,19831,0.12,2.45,0.00,0.000,6,0.100,0.089,2850,2194,2356
$GC,20140,0.30,139.9,854.3,4.8,613,20166,0.00,2.55,20.20,1.341,4,0.000,0.116,2849,786,2265
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$STATE,34295,end climb,SURFACE_DEPTH_REACHED
$STATE,34296,begin surface coast
$FINISH,0.2,1.023869
$STATE,34318,end surface coast,CONTROL_FINISHED_OK
$STATE,34318,begin surface
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$10V_AH,10.6,26.419
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$DEVICE_SECS,30.875,253.600,401.600,11.425,0.000,30.664,28.110,169.051,16.250,0.000,0.000,15.341,2350.067,28347.846,599.948,2826.805,562.414,33.372,2020.653,0.000,2777.613,0.000,56.645
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59948,1193
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$GPS,270908,011238,4654.916,-12644.623,40,1.0,40,18.5