version: 66.03
glider: 119
mission: 5
dive: 55
start: 10 1 108 19 16 37
data:
$ID,119
$MISSION,5
$DIVE,55
$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,-210694.55
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,190727,4656.228,-12738.200,34,1.6,53,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-64.7
$GPS2,191545,4656.271,-12738.166,11,1.4,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.195,-0.001
$KALMAN_X,66394.1,-10.3,-139.9,-268608.2,1395.2
$KALMAN_Y,110280.3,-14.7,44.3,-114500.0,1444.4
$MHEAD_RNG_PITCHd_Wd,251.1,28429,-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,-61.97,0.000,2,0.000,0.000,862,2208,2926
$GC,87,-0.67,-117.3,3.4,-5.6,6,113,12.32,2.42,-7.88,0.000,4,0.146,0.081,2649,790,3317
$GC,310,-0.43,-117.3,40.8,-11.0,26,317,0.32,2.28,0.00,0.000,6,0.077,0.051,2703,2212,3317
$GC,656,-0.48,-117.3,63.0,-5.8,87,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2212,3319
$GC,995,-0.54,-117.3,84.4,-6.9,142,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2211,3320
$GC,1314,-0.62,-117.3,105.4,-6.2,172,1316,0.20,0.00,0.00,0.000,6,0.050,0.000,2659,2211,3320
$GC,1633,-0.51,-117.3,131.3,-8.1,202,1638,0.15,2.40,0.00,0.000,4,0.086,0.075,2686,787,3320
$GC,1696,-0.56,-117.3,135.4,-6.5,207,1700,0.00,2.33,0.00,0.000,6,0.000,0.064,2685,2206,3320
$GC,2021,-0.61,-117.3,152.2,-5.1,235,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2206,3320
$GC,2329,-0.68,-117.3,168.3,-5.2,250,2331,0.17,0.00,0.00,0.000,6,0.054,0.000,2647,2206,3320
$GC,2638,-0.61,-117.3,189.0,-6.9,265,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2206,3320
$GC,2947,-0.55,-117.3,211.7,-7.6,280,2952,0.15,2.40,0.00,0.000,4,0.087,0.077,2677,784,3319
$GC,2980,-0.64,-117.3,213.9,-6.1,281,2986,0.00,2.33,0.00,0.000,6,0.000,0.064,2677,2209,3319
$GC,3296,-0.72,-117.3,229.3,-4.6,297,3298,0.17,0.00,0.00,0.000,6,0.055,0.000,2639,2209,3319
$GC,3605,-0.63,-117.3,249.2,-6.7,312,3610,0.12,2.38,0.00,0.000,4,0.092,0.077,2660,793,3319
$GC,3659,-0.63,-117.3,252.7,-6.3,314,3667,0.00,2.33,0.00,0.000,6,0.000,0.065,2660,2193,3319
$GC,3975,-0.63,-117.3,272.5,-6.5,330,3979,0.00,2.40,0.00,0.000,4,0.000,0.088,2660,3605,3318
$GC,4015,-0.63,-117.3,275.3,-7.5,332,4019,0.00,2.30,0.00,0.000,6,0.000,0.064,2660,2197,3318
$GC,4341,-0.63,-117.3,296.7,-6.5,348,4345,0.00,2.35,0.00,0.000,4,0.000,0.081,2660,796,3317
$GC,4362,-0.63,-117.3,298.2,-6.5,349,4366,0.00,2.33,0.00,0.000,6,0.000,0.066,2660,2193,3317
$GC,4703,-0.63,-117.3,318.9,-6.0,356,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2193,3317
$GC,5008,-0.63,-117.3,335.3,-5.3,361,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2193,3316
$GC,5310,-0.63,-117.3,350.4,-5.0,366,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2193,3315
$GC,5613,-0.63,-117.3,365.5,-5.0,371,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2193,3315
$GC,5916,-0.63,-117.3,381.6,-5.4,376,5920,0.00,2.40,0.00,0.000,4,0.000,0.084,2659,789,3314
$GC,5943,-0.67,-117.3,383.2,-6.5,376,5947,0.00,2.33,0.00,0.000,6,0.000,0.068,2660,2199,3314
$GC,6275,-0.67,-117.3,402.3,-5.7,382,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,3313
$GC,6577,-0.67,-117.3,418.3,-5.2,387,6581,0.00,2.40,0.00,0.000,4,0.000,0.084,2660,799,3313
$GC,6616,-0.72,-117.3,420.5,-5.8,387,6620,0.00,2.33,0.00,0.000,6,0.000,0.069,2659,2200,3313
$GC,6936,-0.72,-117.3,436.7,-5.0,393,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2200,3312
$GC,7240,-0.72,-117.3,451.3,-4.8,398,7244,0.00,2.42,0.00,0.000,4,0.000,0.086,2660,795,3311
$GC,7261,-0.77,-117.3,452.4,-5.0,398,7266,0.15,2.35,0.00,0.000,6,0.062,0.071,2629,2206,3311
$GC,7598,-0.68,-117.3,471.5,-5.7,404,7603,0.12,2.45,0.00,0.000,4,0.095,0.086,2650,793,3310
$GC,7619,-0.68,-117.3,472.7,-5.2,404,7623,0.00,2.35,0.00,0.000,6,0.000,0.071,2649,2203,3311
$GC,7956,-0.68,-117.3,488.6,-4.7,410,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,3310
$GC,8259,-0.68,-117.3,502.7,-4.7,415,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,3310
$GC,8562,-0.68,-117.3,517.4,-4.9,420,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2203,3309
$GC,8866,-0.68,-117.3,532.7,-5.1,425,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,3309
$GC,9169,-0.68,-117.3,550.2,-5.9,430,9173,0.00,2.47,0.00,0.000,4,0.000,0.094,2649,796,3309
$GC,9196,-0.68,-117.3,552.0,-7.0,430,9200,0.00,2.38,0.00,0.000,6,0.000,0.074,2650,2217,3308
$GC,9533,-0.68,-117.3,572.7,-6.2,436,9538,0.00,2.47,0.00,0.000,4,0.000,0.090,2650,798,3308
$GC,9566,-0.68,-117.3,574.8,-6.2,436,9570,0.00,2.38,0.00,0.000,6,0.000,0.073,2649,2211,3308
$GC,9898,-0.68,-117.3,594.2,-5.8,442,9902,0.00,2.45,0.00,0.000,4,0.000,0.089,2650,800,3308
$GC,9924,-0.68,-117.3,595.9,-6.4,442,9928,0.00,2.38,0.00,0.000,6,0.000,0.072,2649,2214,3308
$GC,10262,-0.68,-117.3,614.4,-5.5,448,10266,0.00,2.47,0.00,0.000,4,0.000,0.090,2650,796,3307
$GC,10288,-0.68,-117.3,616.0,-5.6,448,10292,0.00,2.38,0.00,0.000,6,0.000,0.073,2650,2197,3307
$GC,10627,-0.68,-117.3,631.4,-4.4,454,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2197,3307
$GC,10929,-0.68,-117.3,643.9,-4.2,459,10933,0.00,2.45,0.00,0.000,4,0.000,0.091,2650,793,3307
$GC,10967,-0.73,-117.3,645.7,-4.3,459,10971,0.00,2.38,0.00,0.000,6,0.000,0.072,2650,2211,3307
$GC,11287,-0.73,-117.3,659.2,-4.2,465,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2211,3306
$GC,11590,-0.73,-117.3,672.9,-4.6,470,11594,0.00,2.47,0.00,0.000,4,0.000,0.091,2650,795,3306
$GC,11617,-0.73,-117.3,674.3,-5.1,470,11621,0.00,2.35,0.00,0.000,6,0.000,0.072,2650,2201,3306
$GC,11954,-0.73,-117.3,691.0,-5.1,476,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2201,3306
$GC,12257,-0.73,-117.3,707.3,-5.3,481,12261,0.00,2.47,0.00,0.000,4,0.000,0.091,2650,789,3306
$GC,12290,-0.77,-117.3,709.1,-5.8,481,12294,0.00,2.38,0.00,0.000,6,0.000,0.072,2650,2204,3306
$GC,12623,-0.77,-117.3,727.2,-5.5,487,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3306
$GC,12925,-0.77,-117.3,744.9,-5.9,492,12929,0.00,2.47,0.00,0.000,4,0.000,0.092,2650,794,3306
$GC,12974,-0.83,-117.3,748.1,-6.8,492,12979,0.17,2.38,0.00,0.000,6,0.058,0.073,2615,2202,3306
$GC,13283,-0.71,-117.3,770.2,-7.2,497,13285,0.17,0.00,0.00,0.000,6,0.091,0.000,2644,2202,3305
$GC,13587,-0.71,-117.3,787.0,-5.5,502,13591,0.00,2.47,0.00,0.000,4,0.000,0.093,2644,793,3305
$GC,13619,-0.71,-117.3,788.9,-6.5,502,13623,0.00,2.38,0.00,0.000,6,0.000,0.074,2644,2204,3305
$GC,13951,-0.71,-117.3,804.3,-4.5,508,13955,0.00,2.47,0.00,0.000,4,0.000,0.093,2645,797,3304
$GC,13978,-0.71,-117.3,805.5,-4.9,508,13982,0.00,2.38,0.00,0.000,6,0.000,0.074,2644,2204,3305
$GC,14315,-0.71,-117.3,820.1,-4.2,514,14319,0.00,2.47,0.00,0.000,4,0.000,0.093,2644,799,3304
$GC,14348,-0.71,-117.3,821.6,-4.8,514,14352,0.00,2.38,0.00,0.000,6,0.000,0.074,2644,2206,3304
$GC,14680,-0.71,-117.3,835.7,-4.2,520,14684,0.00,2.47,0.00,0.000,4,0.000,0.094,2644,800,3304
$GC,14713,-0.71,-117.3,837.1,-4.7,520,14718,0.00,2.38,0.00,0.000,6,0.000,0.075,2644,2207,3304
$GC,15041,-0.71,-117.3,851.8,-4.5,526,15043,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2207,3304
$GC,15342,-0.71,-117.3,866.5,-4.9,531,15346,0.00,2.50,0.00,0.000,4,0.000,0.095,2644,796,3304
$GC,15387,-0.76,-117.3,868.9,-5.0,531,15391,0.00,2.38,0.00,0.000,6,0.000,0.076,2645,2200,3303
$GC,15701,-0.88,-117.3,887.3,-6.1,537,15706,0.15,2.47,0.00,0.000,4,0.061,0.094,2608,799,3304
$GC,15936,-0.77,-117.3,903.5,-5.9,540,15941,0.12,2.38,0.00,0.000,6,0.097,0.078,2628,2202,3304
$GC,16262,-0.72,-117.3,922.2,-5.7,546,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2202,3303
$GC,16565,-0.68,-117.3,939.7,-5.8,551,16569,0.12,2.53,0.00,0.000,4,0.098,0.100,2648,800,3303
$GC,16609,-0.74,-117.3,942.2,-5.3,551,16613,0.00,2.40,0.00,0.000,6,0.000,0.080,2649,2206,3303
$GC,16923,-0.90,-117.3,959.5,-5.7,557,16928,0.20,2.53,0.00,0.000,4,0.056,0.100,2603,801,3302
$GC,17130,-0.77,-117.3,972.6,-6.7,560,17135,0.17,2.40,0.00,0.000,6,0.090,0.082,2631,2201,3302
$GC,17484,-0.77,-117.3,989.4,-4.7,566,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3302
$STATE,17542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17543,begin apogee
$GC,17547,-0.23,0.0,992.3,4.7,567,17651,0.68,0.00,100.85,1.482,6,0.075,0.000,2745,2201,2837
$STATE,17652,end apogee,CONTROL_FINISHED_OK
$STATE,17652,begin climb
$GC,17654,0.67,117.3,993.4,0.0,568,17771,1.17,2.88,108.50,1.436,4,0.050,0.123,2946,3603,2358
$GC,17821,0.33,117.3,985.9,9.9,571,17826,0.47,2.55,0.00,0.000,6,0.092,0.087,2875,2215,2359
$GC,18146,0.33,117.3,967.1,5.6,577,18151,0.00,2.60,0.00,0.000,4,0.000,0.107,2875,786,2357
$GC,18173,0.29,117.3,965.6,5.7,577,18178,0.00,2.45,0.00,0.000,6,0.000,0.080,2874,2201,2356
$GC,18505,0.29,120.0,947.6,5.4,583,18514,0.00,2.55,3.70,0.836,4,0.000,0.105,2875,789,2348
$GC,18548,0.24,120.0,945.0,6.3,583,18552,0.00,2.42,0.00,0.000,6,0.000,0.081,2875,2209,2348
$GC,18868,0.24,120.0,926.1,5.9,589,18873,0.12,2.58,0.00,0.000,4,0.098,0.104,2854,783,2348
$GC,18894,0.24,120.0,924.5,5.6,589,18899,0.00,2.40,0.00,0.000,6,0.000,0.081,2854,2199,2348
$GC,19232,0.31,120.0,905.6,5.6,595,19237,0.00,2.55,0.00,0.000,4,0.000,0.104,2854,780,2347
$GC,19287,0.31,120.0,902.3,6.2,595,19294,0.00,2.42,0.00,0.000,6,0.000,0.081,2854,2206,2347
$GC,19597,0.37,120.0,884.9,5.6,601,19602,0.12,2.55,0.00,0.000,4,0.067,0.102,2881,786,2347
$GC,19646,0.31,120.0,881.7,6.9,601,19650,0.00,2.40,0.00,0.000,6,0.000,0.081,2881,2202,2346
$GC,19955,0.31,120.0,862.4,6.2,606,19956,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2202,2347
$GC,20258,0.31,120.0,844.5,5.9,611,20262,0.00,2.55,0.00,0.000,4,0.000,0.104,2881,780,2347
$GC,20302,0.24,120.0,841.9,6.5,611,20306,0.17,2.40,0.00,0.000,6,0.094,0.080,2853,2200,2346
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$STATE,33226,end climb,SURFACE_DEPTH_REACHED
$STATE,33226,begin surface coast
$FINISH,-0.0,1.023867
$STATE,33251,end surface coast,CONTROL_FINISHED_OK
$STATE,33251,begin surface
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$10V_AH,10.6,28.200
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$DATA_FILE_SIZE,56850,1139
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