version: 66.03
glider: 119
mission: 5
dive: 58
start: 10 2 108 23 28 13
data:
$ID,119
$MISSION,5
$DIVE,58
$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,-210738.11
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,232137,4658.467,-12748.902,43,1.8,43,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.0
$GPS2,232721,4658.469,-12748.986,11,1.6,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.035
$KALMAN_X,73118.2,117.2,308.0,-289593.7,1944.5
$KALMAN_Y,115994.6,-159.1,340.4,-116300.7,2274.4
$MHEAD_RNG_PITCHd_Wd,241.0,14197,-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,-117.3,0.0,0.0,0,89,0.00,0.00,-66.95,0.000,2,0.000,0.000,859,2221,3067
$GC,92,-0.67,-117.3,4.6,-8.8,7,115,12.35,2.42,-4.53,0.000,4,0.146,0.087,2646,790,3316
$GC,127,0.76,-117.3,18.8,-38.2,10,138,1.92,2.28,0.00,0.000,6,0.085,0.051,2960,2206,3316
$GC,458,-0.02,-117.3,43.4,-9.1,44,465,0.90,2.30,0.00,0.000,4,0.058,0.061,2797,789,3318
$GC,686,-0.47,-117.3,60.8,-7.6,84,693,0.57,2.25,0.00,0.000,6,0.042,0.052,2690,2202,3318
$GC,1028,-0.69,-117.3,83.0,-6.5,141,1033,0.20,2.33,0.00,0.000,4,0.050,0.064,2642,787,3319
$GC,1094,-0.54,-117.3,88.3,-7.9,146,1101,0.17,2.30,0.00,0.000,6,0.070,0.057,2677,2197,3320
$GC,1419,-0.49,-117.3,111.6,-7.4,177,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2197,3320
$GC,1738,-0.49,-117.3,131.9,-5.7,207,1742,0.00,2.35,0.00,0.000,4,0.000,0.074,2677,789,3320
$GC,1804,-0.49,-117.3,136.4,-7.2,212,1811,0.00,2.33,0.00,0.000,6,0.000,0.062,2677,2198,3320
$GC,2128,-0.49,-117.3,155.5,-5.9,239,2132,0.00,2.38,0.00,0.000,4,0.000,0.084,2677,3604,3320
$GC,2149,-0.49,-117.3,157.0,-6.0,240,2153,0.00,2.28,0.00,0.000,6,0.000,0.060,2677,2198,3320
$GC,2477,-0.54,-117.3,174.1,-5.0,256,2481,0.00,2.33,0.00,0.000,4,0.000,0.077,2677,793,3320
$GC,2499,-0.61,-117.3,175.3,-4.9,257,2504,0.00,2.30,0.00,0.000,6,0.000,0.063,2677,2208,3320
$GC,2821,-0.67,-117.3,191.2,-5.1,273,2823,0.12,0.00,0.00,0.000,6,0.062,0.000,2649,2207,3320
$GC,3130,-0.62,-117.3,212.7,-6.9,288,3134,0.00,2.38,0.00,0.000,4,0.000,0.076,2649,788,3320
$GC,3162,-0.62,-117.3,215.1,-7.5,289,3168,0.00,2.33,0.00,0.000,6,0.000,0.063,2649,2196,3320
$GC,3478,-0.56,-117.3,235.7,-6.5,305,3483,0.15,2.35,0.00,0.000,4,0.087,0.076,2678,796,3320
$GC,3506,-0.62,-117.3,237.2,-5.3,306,3510,0.00,2.30,0.00,0.000,6,0.000,0.064,2678,2208,3320
$GC,3822,-0.71,-117.3,252.2,-4.8,321,3826,0.15,2.38,0.00,0.000,4,0.058,0.076,2642,795,3319
$GC,3842,-0.71,-117.3,253.5,-5.8,322,3847,0.00,2.33,0.00,0.000,6,0.000,0.064,2642,2198,3319
$GC,4170,-0.64,-117.3,277.6,-7.9,338,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2198,3319
$GC,4479,-0.57,-117.3,299.8,-6.8,353,4481,0.17,0.00,0.00,0.000,6,0.086,0.000,2672,2198,3318
$GC,4803,-0.64,-117.3,317.5,-5.5,359,4807,0.00,2.38,0.00,0.000,4,0.000,0.079,2673,790,3318
$GC,4829,-0.73,-117.3,319.0,-5.5,359,4834,0.17,2.33,0.00,0.000,6,0.055,0.065,2636,2208,3318
$GC,5161,-0.65,-117.3,342.0,-7.0,365,5163,0.12,0.00,0.00,0.000,6,0.094,0.000,2657,2208,3317
$GC,5464,-0.65,-117.3,359.3,-5.6,370,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2208,3317
$GC,5769,-0.65,-117.3,375.1,-5.3,375,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2208,3316
$GC,6069,-0.65,-117.3,392.8,-5.9,380,6074,0.00,2.40,0.00,0.000,4,0.000,0.082,2657,799,3316
$GC,6114,-0.69,-117.3,395.7,-6.9,380,6118,0.00,2.30,0.00,0.000,6,0.000,0.067,2657,2200,3315
$GC,6428,-0.69,-117.3,415.3,-6.2,386,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3315
$GC,6731,-0.69,-117.3,432.0,-5.3,391,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3315
$GC,7034,-0.69,-117.3,445.9,-4.6,396,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,3314
$GC,7338,-0.69,-117.3,459.8,-4.7,401,7342,0.00,2.42,0.00,0.000,4,0.000,0.085,2657,792,3313
$GC,7364,-0.73,-117.3,461.3,-5.6,401,7369,0.00,2.33,0.00,0.000,6,0.000,0.068,2657,2198,3314
$GC,7703,-0.73,-117.3,480.1,-5.7,407,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3313
$GC,8005,-0.73,-117.3,496.6,-5.4,412,8009,0.00,2.42,0.00,0.000,4,0.000,0.087,2657,793,3312
$GC,8032,-0.77,-117.3,498.1,-5.4,412,8037,0.15,2.35,0.00,0.000,6,0.059,0.069,2626,2210,3312
$GC,8363,-0.67,-117.3,517.8,-5.9,418,8365,0.15,0.00,0.00,0.000,6,0.093,0.000,2651,2210,3312
$GC,8666,-0.67,-117.3,530.8,-4.3,423,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2210,3311
$GC,8969,-0.67,-117.3,543.4,-4.2,428,8973,0.00,2.45,0.00,0.000,4,0.000,0.089,2651,800,3311
$GC,8995,-0.67,-117.3,544.5,-4.3,428,8999,0.00,2.33,0.00,0.000,6,0.000,0.071,2651,2207,3311
$GC,9333,-0.67,-117.3,559.0,-4.4,434,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3310
$GC,9636,-0.67,-117.3,572.5,-4.5,439,9640,0.00,2.45,0.00,0.000,4,0.000,0.088,2651,796,3310
$GC,9662,-0.67,-117.3,573.8,-5.0,439,9666,0.00,2.35,0.00,0.000,6,0.000,0.071,2651,2200,3310
$GC,10005,-0.67,-117.3,590.1,-4.8,445,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3309
$GC,10309,-0.67,-117.3,605.6,-5.1,450,10313,0.00,2.42,0.00,0.000,4,0.000,0.089,2652,799,3309
$GC,10330,-0.67,-117.3,607.0,-5.7,450,10334,0.00,2.35,0.00,0.000,6,0.000,0.071,2651,2206,3309
$GC,10674,-0.67,-117.3,625.3,-5.3,456,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3309
$GC,10976,-0.67,-117.3,641.7,-5.4,461,10980,0.00,2.45,0.00,0.000,4,0.000,0.089,2651,799,3308
$GC,11014,-0.71,-117.3,643.9,-5.6,461,11018,0.00,2.35,0.00,0.000,6,0.000,0.071,2651,2205,3308
$GC,11334,-0.71,-117.3,661.8,-5.6,467,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,3308
$GC,11638,-0.71,-117.3,678.0,-5.3,472,11643,0.00,2.45,0.00,0.000,4,0.000,0.090,2651,799,3308
$GC,11665,-0.71,-117.3,679.6,-5.8,472,11669,0.00,2.35,0.00,0.000,6,0.000,0.071,2651,2204,3308
$GC,12003,-0.71,-117.3,696.7,-5.0,478,12007,0.00,2.45,0.00,0.000,4,0.000,0.091,2651,800,3307
$GC,12036,-0.76,-117.3,698.4,-5.0,478,12040,0.00,2.35,0.00,0.000,6,0.000,0.072,2651,2204,3307
$GC,12361,-0.76,-117.3,713.6,-4.6,484,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3307
$GC,12665,-0.76,-117.3,727.1,-4.4,489,12670,0.00,2.47,0.00,0.000,4,0.000,0.094,2652,800,3307
$GC,12710,-0.82,-117.3,729.3,-4.7,489,12715,0.15,2.38,0.00,0.000,6,0.061,0.074,2621,2207,3307
$GC,13024,-0.72,-117.3,747.8,-6.0,495,13029,0.12,2.50,0.00,0.000,4,0.096,0.094,2641,799,3306
$GC,13057,-0.72,-117.3,749.6,-5.0,495,13061,0.00,2.35,0.00,0.000,6,0.000,0.075,2641,2200,3306
$GC,13383,-0.72,-117.3,765.5,-4.8,501,13387,0.00,2.50,0.00,0.000,4,0.000,0.097,2641,790,3306
$GC,13410,-0.72,-117.3,766.9,-5.3,501,13414,0.00,2.38,0.00,0.000,6,0.000,0.077,2641,2201,3306
$GC,13747,-0.72,-117.3,782.7,-4.6,507,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,3306
$GC,14050,-0.72,-117.3,796.6,-4.6,512,14054,0.00,2.50,0.00,0.000,4,0.000,0.099,2642,800,3306
$GC,14105,-0.72,-117.3,799.4,-5.4,512,14111,0.00,2.38,0.00,0.000,6,0.000,0.078,2641,2209,3306
$GC,14414,-0.72,-117.3,812.4,-4.2,518,14418,0.00,2.55,0.00,0.000,4,0.000,0.116,2641,3605,3306
$GC,14442,-0.72,-117.3,813.7,-4.7,518,14447,0.00,2.38,0.00,0.000,6,0.000,0.080,2641,2209,3306
$GC,14774,-0.72,-117.3,826.3,-3.7,524,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2209,3306
$GC,15077,-0.72,-117.3,837.7,-3.8,529,15081,0.00,2.53,0.00,0.000,4,0.000,0.105,2640,790,3305
$GC,15109,-0.72,-117.3,839.0,-3.6,529,15113,0.00,2.40,0.00,0.000,6,0.000,0.080,2641,2207,3305
$GC,15436,-0.72,-117.3,851.7,-3.9,535,15440,0.00,2.55,0.00,0.000,4,0.000,0.101,2641,786,3305
$GC,15474,-0.72,-117.3,853.3,-4.1,535,15478,0.00,2.40,0.00,0.000,6,0.000,0.081,2641,2203,3305
$GC,15800,-0.72,-117.3,867.7,-4.5,541,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,3305
$GC,16103,-0.72,-117.3,882.8,-5.0,546,16107,0.00,2.55,0.00,0.000,4,0.000,0.104,2641,791,3305
$GC,16123,-0.72,-117.3,884.1,-5.9,546,16128,0.00,2.40,0.00,0.000,6,0.000,0.082,2641,2203,3305
$GC,16468,-0.72,-117.3,901.7,-5.2,552,16472,0.00,2.55,0.00,0.000,4,0.000,0.105,2641,793,3305
$GC,16495,-0.72,-117.3,903.2,-5.2,552,16499,0.00,2.40,0.00,0.000,6,0.000,0.083,2641,2200,3304
$GC,16826,-0.72,-117.3,919.1,-4.7,558,16827,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2200,3304
$GC,17129,-0.72,-117.3,933.7,-4.8,563,17133,0.00,2.58,0.00,0.000,4,0.000,0.107,2641,788,3304
$GC,17178,-0.72,-117.3,936.4,-5.2,563,17182,0.00,2.42,0.00,0.000,6,0.000,0.085,2641,2202,3304
$GC,17488,-0.72,-117.3,951.4,-4.8,568,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2202,3304
$GC,17790,-0.72,-117.3,965.8,-4.8,573,17791,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,3304
$GC,18095,-0.72,-117.3,980.1,-4.7,578,18099,0.00,2.60,0.00,0.000,4,0.000,0.110,2641,790,3303
$GC,18129,-0.72,-117.3,981.8,-5.1,578,18133,0.00,2.45,0.00,0.000,6,0.000,0.087,2641,2202,3303
$STATE,18330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18330,begin apogee
$GC,18335,-0.23,0.0,991.1,4.5,582,18440,0.62,0.00,101.32,1.483,6,0.075,0.000,2748,2202,2837
$STATE,18440,end apogee,CONTROL_FINISHED_OK
$STATE,18440,begin climb
$GC,18442,0.67,117.3,992.2,0.0,583,18559,1.15,2.88,109.22,1.436,4,0.048,0.122,2942,3606,2358
$GC,18598,0.35,117.3,985.2,8.7,586,18604,0.43,2.62,0.00,0.000,6,0.094,0.091,2880,2201,2358
$GC,18935,0.35,117.3,962.4,6.7,592,18936,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2201,2357
$GC,19238,0.35,117.3,942.6,6.5,597,19239,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2201,2356
$GC,19541,0.35,117.3,924.6,5.9,602,19546,0.00,2.55,0.00,0.000,4,0.000,0.113,2879,784,2355
$GC,19580,0.30,121.3,922.2,5.4,602,19589,0.00,2.45,4.55,0.984,6,0.000,0.085,2879,2209,2342
$GC,19905,0.31,127.0,904.7,5.3,608,19914,0.00,0.00,6.93,1.188,6,0.000,0.000,2879,2209,2319
$GC,20208,0.31,130.1,888.4,5.4,613,20218,0.00,2.55,4.53,0.987,4,0.000,0.110,2879,783,2306
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$STATE,34517,end climb,SURFACE_DEPTH_REACHED
$STATE,34518,begin surface coast
$FINISH,-0.1,1.023887
$STATE,34540,end surface coast,CONTROL_FINISHED_OK
$STATE,34540,begin surface
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$TCM_TEMP,18.30
$XPDR_PINGS,27
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$10V_AH,10.6,28.619
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$DEVICE_SECS,33.650,294.150,369.225,31.500,0.000,30.003,26.131,168.229,15.500,0.000,0.000,12.616,2356.220,28480.104,637.378,2862.856,585.384,33.379,2095.474,0.000,2821.029,0.000,56.644
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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,56795,1160
$CAP_FILE_SIZE,232020,0
$CFSIZE,260165632,254562304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,031008,090603,4658.465,-12753.198,39,1.2,39,18.6