version: 66.03
glider: 119
mission: 5
dive: 35
start: 9 23 108 21 0 59
data:
$ID,119
$MISSION,5
$DIVE,35
$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,-210366.78
$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
$GPS1,205437,4701.257,-12612.194,37,1.6,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.4
$GPS2,210007,4701.258,-12612.215,13,1.4,29,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,-0.139
$KALMAN_X,52952.1,-251.4,-385.1,-146050.4,3059.2
$KALMAN_Y,61730.4,-19.9,-569.5,-56084.4,4957.1
$MHEAD_RNG_PITCHd_Wd,206.2,136159,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-52.12,0.000,2,0.000,0.000,862,2190,2651
$GC,77,-0.67,-117.3,3.3,-5.7,5,110,12.35,2.38,-15.18,0.000,4,0.149,0.087,2649,789,3316
$GC,225,-0.36,-117.3,26.4,-13.1,18,230,0.43,2.30,0.00,0.000,6,0.084,0.058,2717,2207,3316
$GC,559,-0.50,-117.3,48.2,-4.6,63,565,0.15,0.00,0.00,0.000,6,0.055,0.000,2681,2207,3317
$GC,902,-0.50,-117.3,70.3,-7.4,124,908,0.00,2.35,0.00,0.000,4,0.000,0.072,2680,786,3318
$GC,954,-0.50,-117.3,74.1,-7.3,133,960,0.00,2.30,0.00,0.000,6,0.000,0.061,2681,2206,3319
$GC,1289,-0.50,-117.3,95.6,-6.0,172,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2205,3319
$GC,1609,-0.55,-117.3,111.7,-4.4,202,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2206,3320
$GC,1928,-0.62,-117.3,129.4,-5.0,232,1932,0.00,2.42,0.00,0.000,4,0.000,0.094,2680,3605,3319
$GC,1955,-0.72,-117.3,130.9,-4.5,234,1962,0.20,2.30,0.00,0.000,6,0.053,0.067,2639,2196,3319
$GC,2290,-0.62,-117.3,151.9,-6.3,265,2295,0.12,2.35,0.00,0.000,4,0.094,0.082,2660,795,3319
$GC,2316,-0.62,-117.3,153.7,-5.7,266,2321,0.00,2.30,0.00,0.000,6,0.000,0.069,2660,2197,3319
$GC,2638,-0.62,-117.3,169.0,-4.8,282,2642,0.00,2.42,0.00,0.000,4,0.000,0.092,2660,3608,3319
$GC,2659,-0.62,-117.3,170.1,-5.1,283,2663,0.00,2.33,0.00,0.000,6,0.000,0.069,2661,2197,3319
$GC,2986,-0.62,-117.3,187.8,-5.3,299,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2191,3319
$GC,3295,-0.62,-117.3,203.0,-4.6,314,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2191,3319
$GC,3605,-0.62,-117.3,218.5,-5.2,329,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2191,3319
$GC,3914,-0.62,-117.3,235.8,-5.8,344,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2191,3319
$GC,4224,-0.62,-117.3,253.0,-5.5,359,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2191,3318
$GC,4533,-0.66,-117.3,269.2,-5.2,374,4537,0.00,2.38,0.00,0.000,4,0.000,0.086,2661,789,3318
$GC,4565,-0.73,-117.3,271.0,-5.7,375,4572,0.00,2.33,0.00,0.000,6,0.000,0.071,2660,2204,3318
$GC,4882,-0.78,-117.3,287.2,-5.0,391,4884,0.15,0.00,0.00,0.000,6,0.062,0.000,2629,2205,3318
$GC,5208,-0.67,-117.3,308.1,-6.5,403,5213,0.15,2.40,0.00,0.000,4,0.091,0.085,2657,791,3317
$GC,5234,-0.67,-117.3,309.9,-6.2,403,5239,0.00,2.33,0.00,0.000,6,0.000,0.072,2657,2199,3317
$GC,5573,-0.67,-117.3,328.1,-5.5,409,5577,0.00,2.40,0.00,0.000,4,0.000,0.087,2657,794,3317
$GC,5596,-0.72,-117.3,329.3,-5.1,409,5600,0.00,2.33,0.00,0.000,6,0.000,0.073,2657,2199,3317
$GC,5933,-0.76,-117.3,346.6,-5.0,415,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3316
$GC,6236,-0.80,-117.3,360.6,-4.6,420,6241,0.15,2.42,0.00,0.000,4,0.061,0.087,2622,788,3316
$GC,6268,-0.71,-117.3,362.6,-6.1,420,6273,0.12,2.35,0.00,0.000,6,0.094,0.073,2643,2204,3316
$GC,6593,-0.71,-117.3,381.1,-5.8,426,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,3315
$GC,6896,-0.71,-117.3,399.4,-6.1,431,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,3315
$GC,7200,-0.71,-117.3,419.6,-6.7,436,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,3314
$GC,7503,-0.71,-117.3,440.3,-6.8,441,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,3314
$GC,7807,-0.71,-117.3,459.6,-6.3,446,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,3313
$GC,8110,-0.71,-117.3,477.2,-5.8,451,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2203,3313
$GC,8412,-0.71,-117.3,494.6,-5.7,456,8416,0.00,2.45,0.00,0.000,4,0.000,0.094,2643,797,3313
$GC,8438,-0.71,-117.3,496.1,-5.9,456,8442,0.00,2.38,0.00,0.000,6,0.000,0.077,2643,2210,3313
$GC,8776,-0.71,-117.3,514.5,-5.4,462,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,3313
$GC,9080,-0.71,-117.3,530.9,-5.4,467,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2210,3312
$GC,9382,-0.71,-117.3,546.2,-5.0,472,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,3312
$GC,9685,-0.71,-117.3,560.3,-4.6,477,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,3312
$GC,9988,-0.71,-117.3,574.7,-4.7,482,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,3311
$GC,10291,-0.71,-117.3,590.5,-5.3,487,10296,0.00,2.53,0.00,0.000,4,0.000,0.101,2643,790,3312
$GC,10340,-0.71,-117.3,593.6,-6.0,487,10345,0.00,2.40,0.00,0.000,6,0.000,0.084,2642,2204,3311
$GC,10656,-0.71,-117.3,612.9,-6.2,493,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,3311
$GC,10958,-0.71,-117.3,631.7,-6.2,498,10963,0.00,2.53,0.00,0.000,4,0.000,0.104,2643,790,3310
$GC,10985,-0.71,-117.3,633.4,-6.8,498,10989,0.00,2.40,0.00,0.000,6,0.000,0.086,2642,2200,3310
$GC,11323,-0.71,-117.3,652.7,-5.6,504,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,3310
$GC,11626,-0.71,-117.3,668.4,-5.1,509,11630,0.00,2.47,0.00,0.000,4,0.000,0.097,2642,790,3309
$GC,11658,-0.71,-117.3,670.1,-5.2,509,11662,0.00,2.38,0.00,0.000,6,0.000,0.079,2643,2201,3309
$GC,11996,-0.71,-117.3,685.5,-4.5,515,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,3309
$GC,12299,-0.71,-117.3,699.0,-4.5,520,12303,0.00,2.47,0.00,0.000,4,0.000,0.098,2643,798,3309
$GC,12337,-0.75,-117.3,701.0,-4.8,520,12341,0.00,2.38,0.00,0.000,6,0.000,0.081,2642,2202,3309
$GC,12657,-0.75,-117.3,716.3,-4.8,526,12658,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,3309
$GC,12960,-0.75,-117.3,731.1,-4.9,531,12964,0.00,2.50,0.00,0.000,4,0.000,0.098,2643,788,3309
$GC,13009,-0.80,-117.3,733.6,-5.7,531,13013,0.00,2.38,0.00,0.000,6,0.000,0.081,2643,2201,3309
$GC,13318,-0.80,-117.3,747.0,-4.3,536,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,3309
$GC,13621,-0.80,-117.3,759.6,-4.0,541,13625,0.00,2.50,0.00,0.000,4,0.000,0.099,2643,787,3309
$GC,13659,-0.86,-117.3,761.4,-4.5,541,13664,0.17,2.40,0.00,0.000,6,0.058,0.081,2607,2200,3308
$GC,13979,-0.73,-117.3,779.8,-6.0,547,13984,0.15,2.62,0.00,0.000,4,0.097,0.124,2636,3609,3308
$GC,14000,-0.66,-117.3,781.1,-5.6,547,14004,0.00,2.38,0.00,0.000,6,0.000,0.082,2636,2207,3308
$GC,14343,-0.66,-117.3,799.2,-5.4,553,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,3308
$GC,14646,-0.66,-117.3,816.9,-5.9,558,14650,0.00,2.50,0.00,0.000,4,0.000,0.103,2636,787,3308
$GC,14678,-0.66,-117.3,819.0,-6.6,558,14682,0.00,2.40,0.00,0.000,6,0.000,0.082,2636,2200,3308
$GC,15009,-0.66,-117.3,838.6,-5.9,564,15011,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2199,3308
$GC,15314,-0.66,-117.3,855.3,-5.5,569,15318,0.00,2.50,0.00,0.000,4,0.000,0.100,2636,790,3307
$GC,15353,-0.66,-117.3,857.7,-6.0,569,15356,0.00,2.40,0.00,0.000,6,0.000,0.082,2636,2199,3307
$GC,15681,-0.66,-117.3,875.1,-5.3,575,15682,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2200,3307
$GC,15982,-0.66,-117.3,891.5,-5.4,580,15986,0.00,2.53,0.00,0.000,4,0.000,0.101,2636,784,3307
$GC,16014,-0.66,-117.3,893.5,-6.1,580,16018,0.00,2.42,0.00,0.000,6,0.000,0.083,2636,2199,3307
$GC,16345,-0.66,-117.3,912.4,-5.7,586,16346,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2199,3307
$GC,16649,-0.66,-117.3,928.6,-5.3,591,16653,0.00,2.53,0.00,0.000,4,0.000,0.103,2636,787,3306
$GC,16692,-0.66,-117.3,931.1,-4.6,591,16696,0.00,2.42,0.00,0.000,6,0.000,0.084,2636,2199,3306
$GC,17007,-0.66,-117.3,946.5,-4.8,597,17008,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2200,3306
$GC,17310,-0.66,-117.3,959.9,-4.3,602,17314,0.00,2.53,0.00,0.000,4,0.000,0.104,2636,791,3306
$GC,17348,-0.70,-117.3,961.4,-4.2,602,17352,0.00,2.42,0.00,0.000,6,0.000,0.084,2636,2205,3305
$GC,17668,-0.70,-117.3,973.9,-3.8,608,17673,0.00,2.55,0.00,0.000,4,0.000,0.104,2636,783,3306
$GC,17690,-0.70,-117.3,974.7,-3.9,608,17694,0.00,2.42,0.00,0.000,6,0.000,0.084,2636,2200,3306
$GC,18033,-0.70,-117.3,988.0,-4.0,614,18034,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2199,3305
$STATE,18091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18091,begin apogee
$GC,18096,-0.23,0.0,990.3,4.0,615,18200,0.65,0.00,100.82,1.483,6,0.077,0.000,2746,2199,2837
$STATE,18201,end apogee,CONTROL_FINISHED_OK
$STATE,18201,begin climb
$GC,18203,0.67,117.3,991.6,0.0,616,18318,1.12,2.95,107.05,1.436,4,0.050,0.131,2942,3599,2358
$GC,18352,0.30,117.3,985.6,10.0,618,18357,0.50,2.60,0.00,0.000,6,0.100,0.092,2869,2204,2358
$GC,18689,0.30,117.9,966.6,5.5,624,18693,0.00,2.58,0.00,0.000,4,0.000,0.109,2869,789,2357
$GC,18721,0.24,117.9,964.7,5.6,624,18725,0.00,2.47,0.00,0.000,6,0.000,0.084,2869,2207,2357
$GC,19047,0.26,131.7,948.3,5.1,630,19062,0.00,0.00,13.77,1.353,6,0.000,0.000,2869,2208,2300
$GC,19350,0.26,131.7,930.7,5.9,635,19351,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2207,2300
$GC,19653,0.26,131.7,911.8,6.2,640,19657,0.00,2.58,0.00,0.000,4,0.000,0.107,2869,780,2300
$GC,19696,0.26,131.7,908.7,7.2,640,19700,0.00,2.45,0.00,0.000,6,0.000,0.085,2869,2204,2299
$GC,20016,0.26,131.7,886.5,7.0,646,20017,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2204,2299
$GC,20319,0.26,131.7,866.3,6.6,651,20321,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2204,2299
$GC,20622,0.26,131.7,847.7,6.1,656,20627,0.00,2.53,0.00,0.000,4,0.000,0.107,2869,787,2299
$GC,20677,0.26,131.7,844.2,6.6,656,20684,0.00,2.42,0.00,0.000,6,0.000,0.087,2869,2202,2298
$GC,20986,0.26,131.7,825.7,5.9,662,20988,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2202,2298
$GC,21290,0.26,131.7,808.9,5.5,667,21291,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2202,2298
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$STATE,33740,end climb,SURFACE_DEPTH_REACHED
$STATE,33740,begin surface coast
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$STATE,33764,end surface coast,CONTROL_FINISHED_OK
$STATE,33764,begin surface
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$DEVICE_SECS,31.150,210.100,417.775,0.000,0.000,28.474,23.979,149.121,16.250,0.000,0.000,31.864,2302.118,28049.367,596.091,2700.825,519.462,33.375,1913.229,0.000,2644.660,0.000,56.639
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$DATA_FILE_SIZE,60059,1199
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