version: 66.03
glider: 119
mission: 5
dive: 168
start: 10 29 108 15 24 25
data:
$ID,119
$MISSION,5
$DIVE,168
$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,-212968.34
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,151717,4736.247,-12630.519,34,1.6,34,18.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.8
$GPS2,152334,4736.263,-12630.452,14,2.1,33,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.089,-0.174
$KALMAN_X,-14688.8,333.9,406.2,-102864.7,-1840.6
$KALMAN_Y,160528.3,-64.5,-664.5,-89919.0,3253.8
$MHEAD_RNG_PITCHd_Wd,188.3,131540,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.97,0.000,2,0.000,0.000,859,2214,3044
$GC,97,-0.67,-117.3,4.3,-6.0,7,120,12.43,2.38,-5.38,0.000,4,0.149,0.072,2648,3603,3317
$GC,125,1.25,-117.3,15.6,-35.4,9,133,2.55,2.25,0.00,0.000,6,0.081,0.042,3071,2193,3317
$GC,452,0.22,-117.3,43.7,-9.8,43,459,1.38,2.25,0.00,0.000,4,0.111,0.058,2853,796,3317
$GC,527,-0.53,-117.3,49.1,-6.1,56,534,0.93,2.00,0.00,0.000,6,0.055,0.044,2687,2081,3317
$GC,872,-0.81,-117.3,70.8,-8.2,117,879,0.32,2.10,0.00,0.000,4,0.048,0.058,2615,785,3317
$GC,959,-0.65,-117.3,78.7,-9.2,132,966,0.20,1.70,0.00,0.000,6,0.068,0.040,2654,1870,3317
$GC,1287,-0.65,-117.3,98.4,-5.3,164,1292,0.00,2.85,0.00,0.000,4,0.000,0.064,2654,3596,3317
$GC,1364,-0.65,-117.3,103.0,-6.1,170,1371,0.00,2.67,0.00,0.000,6,0.000,0.044,2654,1939,3317
$GC,1691,-0.65,-117.3,122.4,-5.8,201,1696,0.00,2.78,0.00,0.000,4,0.000,0.065,2654,3601,3317
$GC,1736,-0.65,-117.3,125.5,-6.7,204,1743,0.00,2.58,0.00,0.000,6,0.000,0.046,2654,1978,3317
$GC,2062,-0.65,-117.3,145.0,-6.4,235,2067,0.00,2.70,0.00,0.000,4,0.000,0.067,2654,3595,3317
$GC,2091,-0.65,-117.3,147.1,-7.1,237,2095,0.00,2.50,0.00,0.000,6,0.000,0.046,2654,2024,3317
$GC,2407,-0.65,-117.3,164.7,-5.3,254,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2024,3317
$GC,2717,-0.69,-117.3,181.3,-5.6,269,2721,0.00,2.62,0.00,0.000,4,0.000,0.067,2654,3594,3317
$GC,2749,-0.73,-117.3,183.4,-6.5,270,2756,0.00,2.45,0.00,0.000,6,0.000,0.046,2654,2051,3317
$GC,3066,-0.80,-117.3,199.5,-5.0,286,3068,0.15,0.00,0.00,0.000,6,0.057,0.000,2620,2051,3317
$GC,3375,-0.69,-117.3,219.1,-6.5,301,3380,0.15,2.60,0.00,0.000,4,0.085,0.066,2650,3599,3317
$GC,3424,-0.69,-117.3,222.3,-6.4,303,3428,0.00,2.45,0.00,0.000,6,0.000,0.046,2650,2066,3317
$GC,3746,-0.74,-117.3,241.0,-5.9,319,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2066,3317
$GC,4056,-0.78,-117.3,258.3,-5.4,334,4060,0.00,2.58,0.00,0.000,4,0.000,0.068,2650,3601,3317
$GC,4095,-0.82,-117.3,260.7,-6.6,336,4100,0.17,2.42,0.00,0.000,6,0.054,0.047,2612,2081,3317
$GC,4422,-0.69,-117.3,284.4,-7.4,352,4424,0.20,0.00,0.00,0.000,6,0.081,0.000,2647,2081,3317
$GC,4749,-0.69,-117.3,303.9,-5.9,366,4754,0.00,2.55,0.00,0.000,4,0.000,0.070,2647,3598,3317
$GC,4793,-0.69,-117.3,306.8,-6.6,366,4797,0.00,2.40,0.00,0.000,6,0.000,0.047,2646,2094,3317
$GC,5114,-0.69,-117.3,323.8,-5.2,372,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2093,3317
$GC,5417,-0.74,-117.3,338.5,-4.9,377,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2093,3316
$GC,5721,-0.78,-117.3,353.7,-5.0,382,5725,0.00,2.53,0.00,0.000,4,0.000,0.070,2646,3592,3316
$GC,5748,-0.82,-117.3,355.3,-6.0,382,5752,0.15,2.35,0.00,0.000,6,0.058,0.047,2614,2121,3316
$GC,6080,-0.71,-117.3,377.6,-6.8,388,6082,0.15,0.00,0.00,0.000,6,0.088,0.000,2640,2120,3316
$GC,6382,-0.71,-117.3,393.8,-5.2,393,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2120,3316
$GC,6686,-0.71,-117.3,408.5,-4.8,398,6690,0.00,2.47,0.00,0.000,4,0.000,0.070,2640,3592,3316
$GC,6726,-0.71,-117.3,410.4,-4.4,398,6730,0.00,2.33,0.00,0.000,6,0.000,0.047,2640,2128,3315
$GC,7046,-0.71,-117.3,424.6,-4.4,404,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2128,3315
$GC,7349,-0.71,-117.3,439.1,-4.8,409,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2128,3315
$GC,7652,-0.71,-117.3,454.3,-5.1,414,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2128,3314
$GC,7955,-0.71,-117.3,470.1,-5.2,419,7960,0.00,2.47,0.00,0.000,4,0.000,0.072,2640,3592,3314
$GC,7976,-0.71,-117.3,471.4,-5.7,419,7981,0.00,2.33,0.00,0.000,6,0.000,0.048,2640,2150,3314
$GC,8320,-0.71,-117.3,489.5,-5.3,425,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2150,3314
$GC,8623,-0.71,-117.3,505.8,-5.4,430,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2150,3313
$GC,8927,-0.71,-117.3,521.9,-5.3,435,8931,0.00,2.45,0.00,0.000,4,0.000,0.074,2640,3591,3313
$GC,8953,-0.71,-117.3,523.5,-5.5,435,8957,0.00,2.28,0.00,0.000,6,0.000,0.048,2640,2176,3313
$GC,9291,-0.87,-117.3,543.1,-5.9,441,9296,0.15,2.42,0.00,0.000,4,0.059,0.072,2602,3602,3313
$GC,9432,-0.74,-117.3,552.5,-7.1,443,9437,0.20,2.80,0.00,0.000,6,0.086,0.052,2636,1868,3312
$GC,9786,-0.74,-117.3,568.6,-4.5,449,9790,0.00,2.90,0.00,0.000,4,0.000,0.073,2636,3591,3312
$GC,9869,-0.74,-117.3,572.6,-5.0,450,9873,0.00,2.62,0.00,0.000,6,0.000,0.052,2636,1954,3312
$GC,10211,-0.74,-117.3,587.8,-4.5,456,10216,0.00,2.78,0.00,0.000,4,0.000,0.075,2636,3598,3312
$GC,10273,-0.74,-117.3,591.0,-5.9,457,10277,0.00,2.53,0.00,0.000,6,0.000,0.053,2636,2029,3311
$GC,10638,-0.74,-117.3,607.6,-4.5,463,10642,0.00,2.67,0.00,0.000,4,0.000,0.077,2636,3590,3311
$GC,10676,-0.74,-117.3,609.5,-4.9,463,10680,0.00,2.45,0.00,0.000,6,0.000,0.051,2636,2065,3312
$GC,10996,-0.74,-117.3,624.0,-4.5,469,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2064,3311
$GC,11300,-0.74,-117.3,636.7,-4.2,474,11304,0.00,2.62,0.00,0.000,4,0.000,0.079,2636,3598,3311
$GC,11355,-0.74,-117.3,639.3,-5.3,474,11361,0.00,2.45,0.00,0.000,6,0.000,0.053,2636,2080,3311
$GC,11664,-0.74,-117.3,652.0,-4.2,480,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2080,3311
$GC,11967,-0.74,-117.3,665.0,-4.4,485,11971,0.00,2.60,0.00,0.000,4,0.000,0.080,2636,3590,3310
$GC,12010,-0.74,-117.3,667.3,-4.9,485,12014,0.00,2.35,0.00,0.000,6,0.000,0.051,2636,2124,3310
$GC,12332,-0.74,-117.3,683.7,-5.2,491,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2124,3310
$GC,12634,-0.74,-117.3,700.6,-5.6,496,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2123,3310
$GC,12937,-0.74,-117.3,716.9,-5.4,501,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2123,3310
$GC,13240,-0.74,-117.3,731.1,-4.6,506,13244,0.00,2.58,0.00,0.000,4,0.000,0.084,2636,3598,3310
$GC,13267,-0.74,-117.3,732.4,-4.6,506,13271,0.00,2.35,0.00,0.000,6,0.000,0.051,2636,2134,3309
$GC,13605,-0.87,-117.3,749.7,-5.5,512,13610,0.15,2.53,0.00,0.000,4,0.059,0.083,2599,3590,3308
$GC,13761,-0.74,-117.3,759.7,-6.1,514,13766,0.17,1.85,0.00,0.000,6,0.076,0.050,2632,2442,3308
$GC,14111,-0.74,-117.3,776.1,-4.7,520,14115,0.00,2.85,0.00,0.000,4,0.000,0.092,2633,807,3308
$GC,14210,-0.78,-117.3,781.6,-6.0,521,14215,0.00,2.55,0.00,0.000,6,0.000,0.063,2632,2360,3308
$GC,14537,-0.78,-117.3,798.7,-5.4,527,14541,0.00,2.72,0.00,0.000,4,0.000,0.091,2632,804,3308
$GC,14581,-0.83,-117.3,801.3,-5.3,527,14585,0.00,2.50,0.00,0.000,6,0.000,0.064,2632,2324,3307
$GC,14894,-0.83,-117.3,819.2,-5.7,533,14899,0.00,2.67,0.00,0.000,4,0.000,0.093,2632,807,3307
$GC,14938,-0.88,-117.3,821.9,-5.8,533,14943,0.12,2.40,0.00,0.000,6,0.065,0.065,2606,2262,3307
$GC,15253,-0.80,-117.3,843.3,-6.9,539,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2262,3307
$GC,15556,-0.72,-117.3,863.5,-6.6,544,15561,0.17,2.62,0.00,0.000,4,0.085,0.098,2639,803,3307
$GC,15606,-0.80,-117.3,866.2,-5.5,544,15610,0.00,2.38,0.00,0.000,6,0.000,0.067,2639,2235,3307
$GC,15916,-0.96,-117.3,882.3,-5.3,549,15921,0.22,2.58,0.00,0.000,4,0.051,0.098,2588,802,3307
$GC,16117,-0.83,-117.3,894.1,-5.6,552,16121,0.17,1.95,0.00,0.000,6,0.085,0.069,2617,1973,3306
$GC,16482,-0.83,-117.3,909.1,-4.1,558,16487,0.00,2.85,0.00,0.000,4,0.000,0.094,2617,3600,3306
$GC,16553,-0.83,-117.3,912.5,-4.6,559,16558,0.00,2.62,0.00,0.000,6,0.000,0.065,2617,2024,3306
$GC,16910,-0.83,-117.3,928.0,-4.3,565,16914,0.00,2.80,0.00,0.000,4,0.000,0.092,2617,3608,3306
$GC,16937,-0.78,-117.3,929.4,-4.8,565,16941,0.00,2.58,0.00,0.000,6,0.000,0.067,2617,2062,3305
$GC,17268,-0.78,-117.3,944.1,-4.4,571,17272,0.00,2.72,0.00,0.000,4,0.000,0.094,2616,3606,3306
$GC,17300,-0.74,-117.3,945.7,-4.7,571,17305,0.00,2.55,0.00,0.000,6,0.000,0.067,2617,2084,3306
$GC,17626,-0.74,-117.3,960.9,-4.7,577,17631,0.00,2.70,0.00,0.000,4,0.000,0.095,2617,3606,3306
$GC,17654,-0.74,-117.3,962.3,-4.9,577,17658,0.00,2.53,0.00,0.000,6,0.000,0.069,2617,2100,3305
$GC,17986,-0.74,-117.3,978.2,-4.8,583,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2099,3305
$STATE,18286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18286,begin apogee
$GC,18292,-0.23,0.0,992.2,4.6,588,18397,0.77,0.00,102.40,1.495,6,0.074,0.000,2749,2210,2837
$STATE,18398,end apogee,CONTROL_FINISHED_OK
$STATE,18398,begin climb
$GC,18400,0.67,117.3,993.2,0.0,589,18516,1.15,0.00,111.93,1.450,6,0.045,0.000,2948,2210,2358
$GC,18772,0.39,117.3,966.9,9.3,596,18774,0.40,0.00,0.00,0.000,6,0.089,0.000,2884,2210,2359
$GC,19075,0.34,117.3,948.6,5.9,601,19076,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2210,2358
$GC,19378,0.29,117.3,930.9,5.8,606,19383,0.12,2.58,0.00,0.000,4,0.100,0.110,2864,804,2358
$GC,19415,0.29,117.3,928.7,6.7,606,19420,0.00,2.33,0.00,0.000,6,0.000,0.071,2863,2198,2357
$GC,19742,0.30,128.2,911.8,5.2,612,19761,0.00,2.50,11.38,1.330,4,0.000,0.105,2864,799,2313
$GC,19794,0.30,128.2,908.8,5.6,612,19798,0.00,2.30,0.00,0.000,6,0.000,0.069,2864,2160,2313
$GC,20110,0.35,136.5,892.3,5.2,618,20120,0.00,0.00,8.95,1.279,6,0.000,0.000,2864,2160,2280
$GC,20413,0.42,144.6,876.5,5.2,623,20428,0.12,2.45,9.30,1.281,4,0.066,0.106,2891,802,2247
$GC,20472,0.33,144.6,872.6,6.6,623,20479,0.00,2.22,0.00,0.000,6,0.000,0.068,2891,2141,2247
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$STATE,34518,begin surface coast
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$STATE,34564,end surface coast,CONTROL_FINISHED_OK
$STATE,34564,begin surface
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$DATA_FILE_SIZE,56901,1165
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