version: 66.03
glider: 119
mission: 5
dive: 177
start: 11 2 108 5 28 37
data:
$ID,119
$MISSION,5
$DIVE,177
$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,-213145.91
$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,32
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,052125,4719.521,-12714.379,38,2.0,38,18.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.5
$GPS2,052745,4719.508,-12714.263,13,2.0,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.121,-0.153
$KALMAN_X,-22059.8,-146.8,243.0,-150194.0,-1297.9
$KALMAN_Y,168892.7,-161.8,-45.0,-129861.3,1946.9
$MHEAD_RNG_PITCHd_Wd,199.8,68136,-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,21,-0.67,-117.3,0.0,0.0,0,94,0.00,0.00,-71.53,0.000,2,0.000,0.000,859,2217,3042
$GC,97,-0.67,-117.3,4.6,-6.8,7,120,12.30,2.40,-5.35,0.000,4,0.145,0.075,2647,797,3316
$GC,183,-0.44,-117.3,24.0,-11.2,14,189,0.32,2.22,0.00,0.000,6,0.084,0.041,2700,2214,3316
$GC,513,-0.38,-117.3,50.7,-10.3,54,519,0.00,2.33,0.00,0.000,4,0.000,0.057,2700,796,3316
$GC,537,-0.33,-117.3,52.8,-9.0,58,544,0.15,2.17,0.00,0.000,6,0.084,0.041,2725,2192,3316
$GC,882,-0.61,-117.3,75.9,-6.8,119,888,0.30,2.22,0.00,0.000,4,0.043,0.053,2658,793,3316
$GC,1112,-0.52,-117.3,93.3,-7.8,144,1119,0.15,2.60,0.00,0.000,6,0.080,0.044,2684,2461,3316
$GC,1437,-0.52,-117.3,114.3,-5.5,175,1442,0.00,2.72,0.00,0.000,4,0.000,0.056,2684,797,3317
$GC,1539,-0.58,-117.3,120.1,-6.8,183,1546,0.00,2.42,0.00,0.000,6,0.000,0.044,2684,2359,3317
$GC,1866,-0.64,-117.3,141.0,-6.6,214,1870,0.12,2.53,0.00,0.000,4,0.060,0.057,2655,794,3317
$GC,1950,-0.64,-117.3,147.1,-6.9,221,1954,0.00,2.33,0.00,0.000,6,0.000,0.045,2655,2280,3317
$GC,2267,-0.58,-117.3,166.9,-6.1,238,2271,0.00,2.40,0.00,0.000,4,0.000,0.061,2654,798,3317
$GC,2294,-0.54,-117.3,168.8,-6.5,239,2299,0.15,2.30,0.00,0.000,6,0.081,0.044,2680,2269,3316
$GC,2611,-0.62,-117.3,184.3,-4.8,254,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2269,3317
$GC,2919,-0.69,-117.3,198.7,-4.8,269,2924,0.15,2.40,0.00,0.000,4,0.058,0.061,2644,794,3317
$GC,2952,-0.64,-117.3,200.8,-6.8,270,2958,0.00,2.33,0.00,0.000,6,0.000,0.044,2644,2293,3317
$GC,3268,-0.55,-117.3,221.3,-6.6,286,3272,0.15,2.45,0.00,0.000,4,0.085,0.064,2674,793,3317
$GC,3300,-0.62,-117.3,223.5,-5.8,287,3306,0.00,2.33,0.00,0.000,6,0.000,0.045,2673,2287,3317
$GC,3617,-0.68,-117.3,238.4,-4.6,303,3621,0.00,2.42,0.00,0.000,4,0.000,0.064,2674,799,3317
$GC,3667,-0.76,-117.3,240.9,-5.0,305,3671,0.22,2.28,0.00,0.000,6,0.048,0.045,2627,2250,3317
$GC,3983,-0.61,-117.3,261.6,-6.7,320,3987,0.17,2.38,0.00,0.000,4,0.083,0.065,2661,796,3317
$GC,4022,-0.61,-117.3,263.9,-5.1,322,4026,0.00,2.22,0.00,0.000,6,0.000,0.045,2661,2218,3317
$GC,4354,-0.61,-117.3,280.5,-5.2,338,4358,0.00,2.28,0.00,0.000,4,0.000,0.067,2661,3603,3316
$GC,4381,-0.61,-117.3,282.1,-6.3,339,4385,0.00,2.20,0.00,0.000,6,0.000,0.044,2661,2210,3316
$GC,4703,-0.61,-117.3,299.8,-5.6,355,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2204,3316
$GC,5026,-0.61,-117.3,317.6,-5.5,361,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2204,3315
$GC,5329,-0.61,-117.3,333.9,-5.4,366,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2204,3315
$GC,5633,-0.61,-117.3,350.5,-5.5,371,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2204,3314
$GC,5935,-0.61,-117.3,367.6,-5.6,376,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2203,3314
$GC,6239,-0.61,-117.3,383.6,-5.2,381,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2204,3314
$GC,6542,-0.61,-117.3,398.9,-5.1,386,6546,0.00,2.35,0.00,0.000,4,0.000,0.070,2660,3602,3314
$GC,6569,-0.61,-117.3,400.3,-5.5,386,6573,0.00,2.20,0.00,0.000,6,0.000,0.045,2661,2219,3313
$GC,6906,-0.61,-117.3,417.7,-5.1,392,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2214,3313
$GC,7209,-0.61,-117.3,433.2,-5.1,397,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2214,3312
$GC,7513,-0.61,-117.3,449.0,-5.2,402,7516,0.00,2.42,0.00,0.000,4,0.000,0.077,2661,800,3312
$GC,7540,-0.66,-117.3,450.6,-6.1,402,7544,0.00,2.22,0.00,0.000,6,0.000,0.051,2661,2204,3312
$GC,7877,-0.70,-117.3,469.6,-5.6,408,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2205,3311
$GC,8182,-0.74,-117.3,485.4,-5.2,413,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2205,3311
$GC,8485,-0.74,-117.3,501.2,-5.2,418,8489,0.00,2.38,0.00,0.000,4,0.000,0.080,2660,806,3311
$GC,8517,-0.81,-117.3,503.0,-5.9,418,8522,0.20,2.20,0.00,0.000,6,0.053,0.052,2619,2188,3311
$GC,8844,-0.67,-117.3,525.5,-7.0,424,8849,0.15,2.35,0.00,0.000,4,0.087,0.070,2649,3606,3310
$GC,8876,-0.67,-117.3,527.8,-6.5,424,8880,0.00,2.25,0.00,0.000,6,0.000,0.047,2649,2187,3310
$GC,9208,-0.67,-117.3,547.1,-5.7,430,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2186,3310
$GC,9512,-0.67,-117.3,563.1,-5.2,435,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2185,3309
$GC,9814,-0.67,-117.3,578.8,-5.1,440,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2185,3309
$GC,10117,-0.67,-117.3,594.7,-5.2,445,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2183,3309
$GC,10422,-0.67,-117.3,609.5,-4.8,450,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2183,3308
$GC,10723,-0.67,-117.3,624.2,-4.8,455,10727,0.00,2.40,0.00,0.000,4,0.000,0.087,2649,804,3308
$GC,10750,-0.67,-117.3,625.5,-5.2,455,10754,0.00,2.20,0.00,0.000,6,0.000,0.056,2649,2172,3308
$GC,11088,-0.67,-117.3,642.6,-5.1,461,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2172,3308
$GC,11391,-0.67,-117.3,659.3,-5.6,466,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2172,3307
$GC,11694,-0.67,-117.3,676.7,-5.8,471,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2172,3307
$GC,11997,-0.67,-117.3,694.0,-5.6,476,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2172,3307
$GC,12302,-0.67,-117.3,711.2,-5.7,481,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2172,3306
$GC,12604,-0.67,-117.3,728.0,-5.5,486,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2172,3306
$GC,12906,-0.67,-117.3,743.4,-5.0,491,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2172,3306
$GC,13209,-0.67,-117.3,756.6,-4.3,496,13214,0.00,2.38,0.00,0.000,4,0.000,0.090,2649,806,3306
$GC,13248,-0.67,-117.3,758.5,-4.3,496,13253,0.00,2.20,0.00,0.000,6,0.000,0.060,2649,2163,3305
$GC,13569,-0.67,-117.3,771.7,-4.2,502,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2163,3306
$GC,13872,-0.67,-117.3,784.7,-4.3,507,13873,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2163,3305
$GC,14175,-0.67,-117.3,798.8,-4.7,512,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2164,3305
$GC,14478,-0.67,-117.3,813.7,-4.9,517,14482,0.00,2.38,0.00,0.000,4,0.000,0.094,2649,807,3305
$GC,14523,-0.72,-117.3,816.0,-5.0,517,14527,0.00,2.17,0.00,0.000,6,0.000,0.062,2649,2139,3305
$GC,14848,-0.72,-117.3,830.6,-4.4,523,14853,0.00,2.58,0.00,0.000,4,0.000,0.092,2648,3602,3305
$GC,14870,-0.72,-117.3,831.6,-4.6,523,14874,0.00,2.38,0.00,0.000,6,0.000,0.051,2648,2138,3304
$GC,15207,-0.72,-117.3,845.3,-4.0,529,15212,0.00,2.38,0.00,0.000,4,0.000,0.100,2649,803,3305
$GC,15235,-0.76,-117.3,846.5,-4.8,529,15239,0.00,2.20,0.00,0.000,6,0.000,0.064,2649,2147,3304
$GC,15566,-0.76,-117.3,859.0,-3.8,535,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2147,3304
$GC,15869,-0.76,-117.3,871.0,-3.9,540,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2147,3304
$GC,16172,-0.76,-117.3,883.8,-4.3,545,16173,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2146,3304
$GC,16475,-0.76,-117.3,896.2,-4.0,550,16476,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2147,3304
$GC,16779,-0.76,-117.3,909.3,-4.4,555,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3304
$GC,17082,-0.81,-117.3,923.2,-4.5,560,17087,0.12,2.42,0.00,0.000,4,0.066,0.103,2622,799,3304
$GC,17109,-0.76,-117.3,924.8,-5.9,560,17117,0.00,2.22,0.00,0.000,6,0.000,0.068,2622,2136,3304
$GC,17448,-0.69,-117.3,944.4,-5.8,566,17450,0.15,0.00,0.00,0.000,6,0.089,0.000,2647,2137,3304
$GC,17752,-0.69,-117.3,959.1,-4.9,571,17756,0.00,2.60,0.00,0.000,4,0.000,0.097,2647,3595,3304
$GC,17772,-0.69,-117.3,960.3,-6.4,571,17777,0.00,2.42,0.00,0.000,6,0.000,0.062,2647,2146,3303
$GC,18117,-0.73,-117.3,977.6,-5.1,577,18118,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2146,3303
$STATE,18416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18417,begin apogee
$GC,18422,-0.23,0.0,992.3,4.9,582,18527,0.57,0.00,102.15,1.492,6,0.070,0.000,2747,2210,2838
$STATE,18528,end apogee,CONTROL_FINISHED_OK
$STATE,18528,begin climb
$GC,18530,0.67,117.3,993.8,0.0,583,18653,1.12,2.75,111.60,1.442,4,0.048,0.094,2943,3593,2358
$GC,18686,0.38,117.3,988.4,8.1,585,18692,0.38,2.50,0.00,0.000,6,0.091,0.067,2887,2211,2358
$GC,19017,0.38,117.3,968.7,5.9,591,19022,0.00,2.60,0.00,0.000,4,0.000,0.117,2886,789,2358
$GC,19056,0.34,117.3,966.5,5.6,591,19060,0.00,2.35,0.00,0.000,6,0.000,0.071,2887,2184,2359
$GC,19382,0.34,117.3,948.4,5.5,597,19383,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2184,2358
$GC,19685,0.35,125.3,932.4,5.2,602,19699,0.00,2.55,8.90,1.278,4,0.000,0.107,2887,783,2327
$GC,19732,0.35,125.3,929.7,6.1,602,19737,0.00,2.30,0.00,0.000,6,0.000,0.067,2887,2170,2325
$GC,20053,0.35,125.9,912.2,5.5,608,20055,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2170,2326
$GC,20357,0.35,126.9,895.6,5.5,613,20361,0.00,2.47,0.00,0.000,4,0.000,0.104,2886,780,2326
$GC,20395,0.37,146.3,893.5,4.9,613,20420,0.00,2.28,20.38,1.397,6,0.000,0.065,2887,2165,2241
$GC,20780,0.37,146.3,871.2,5.8,620,20784,0.00,2.45,0.00,0.000,4,0.000,0.100,2887,784,2240
$GC,20829,0.37,146.3,868.0,6.6,620,20833,0.00,2.22,0.00,0.000,6,0.000,0.064,2886,2134,2240
$GC,21143,0.37,146.3,849.8,5.7,626,21145,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2135,2240
$GC,21446,0.37,146.3,832.9,5.6,631,21450,0.00,2.38,0.00,0.000,4,0.000,0.098,2887,784,2240
$GC,21501,0.37,146.3,829.6,5.6,631,21508,0.00,2.17,0.00,0.000,6,0.000,0.063,2887,2101,2240
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$STATE,34249,end climb,SURFACE_DEPTH_REACHED
$STATE,34249,begin surface coast
$FINISH,0.4,1.024419
$STATE,34271,end surface coast,CONTROL_FINISHED_OK
$STATE,34271,begin surface
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$TT8_MAMPS,0.027612
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$10V_AH,10.5,41.407
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$DEVICE_SECS,30.625,221.075,358.875,35.600,0.000,23.361,27.132,208.598,9.000,0.000,0.000,14.930,2280.908,28491.473,580.899,2736.868,607.437,33.381,1948.521,0.000,2690.054,0.000,56.653
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$DATA_FILE_SIZE,56830,1144
$CAP_FILE_SIZE,215959,0
$CFSIZE,260165632,246358016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021108,150213,4717.392,-12718.406,43,1.4,49,18.7