version: 66.03
glider: 119
mission: 5
dive: 172
start: 10 31 108 5 49 49
data:
$ID,119
$MISSION,5
$DIVE,172
$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,-213032.2
$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,28
$R_STBD_OVSHOOT,44
$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
$GPS1,054310,4727.403,-12647.691,41,1.5,49,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.1
$GPS2,054856,4727.361,-12647.679,10,1.5,15,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.130,-0.146
$KALMAN_X,-16322.4,-58.9,454.9,-122638.9,-711.0
$KALMAN_Y,163415.3,-703.2,-521.0,-108800.3,2259.8
$MHEAD_RNG_PITCHd_Wd,203.0,104459,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-61.53,0.000,2,0.000,0.000,860,2234,2732
$GC,87,-0.67,-117.3,3.1,-5.0,6,121,12.20,2.42,-14.05,0.000,4,0.143,0.073,2649,789,3316
$GC,193,-0.41,-117.3,18.4,-11.5,15,200,0.35,2.20,0.00,0.000,6,0.083,0.042,2706,2184,3315
$GC,519,-0.41,-117.3,41.7,-7.5,48,525,0.00,2.25,0.00,0.000,4,0.000,0.058,2706,787,3316
$GC,542,-0.41,-117.3,43.5,-7.5,52,549,0.00,2.17,0.00,0.000,6,0.000,0.041,2706,2191,3315
$GC,886,-0.47,-117.3,65.5,-5.9,113,893,0.00,2.30,0.00,0.000,4,0.000,0.063,2706,3599,3316
$GC,927,-0.55,-117.3,67.8,-5.8,120,934,0.15,2.22,0.00,0.000,6,0.054,0.040,2672,2167,3315
$GC,1268,-0.50,-117.3,93.7,-8.1,166,1272,0.00,2.25,0.00,0.000,4,0.000,0.064,2672,796,3316
$GC,1312,-0.50,-117.3,97.6,-8.7,169,1319,0.00,2.17,0.00,0.000,6,0.000,0.043,2672,2174,3316
$GC,1639,-0.50,-117.3,119.0,-6.1,200,1643,0.00,2.22,0.00,0.000,4,0.000,0.061,2672,803,3316
$GC,1701,-0.55,-117.3,123.4,-6.8,205,1705,0.00,2.05,0.00,0.000,6,0.000,0.044,2672,2128,3316
$GC,2033,-0.55,-117.3,144.7,-6.1,236,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2128,3316
$GC,2355,-0.59,-117.3,161.3,-4.4,256,2359,0.00,2.15,0.00,0.000,4,0.000,0.063,2672,803,3316
$GC,2395,-0.66,-117.3,163.1,-4.7,258,2398,0.00,2.03,0.00,0.000,6,0.000,0.044,2673,2107,3316
$GC,2728,-0.71,-117.3,179.3,-5.2,274,2733,0.15,2.47,0.00,0.000,4,0.058,0.067,2635,3607,3316
$GC,2755,-0.62,-117.3,181.3,-7.3,275,2759,0.15,2.30,0.00,0.000,6,0.088,0.043,2660,2140,3316
$GC,3070,-0.62,-117.3,199.4,-5.6,290,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2137,3316
$GC,3380,-0.62,-117.3,218.3,-6.1,305,3384,0.00,2.42,0.00,0.000,4,0.000,0.067,2660,3599,3316
$GC,3419,-0.62,-117.3,220.9,-6.7,306,3426,0.00,2.25,0.00,0.000,6,0.000,0.044,2661,2162,3316
$GC,3735,-0.62,-117.3,238.6,-5.5,322,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2156,3316
$GC,4044,-0.62,-117.3,257.4,-6.4,337,4048,0.00,2.40,0.00,0.000,4,0.000,0.068,2660,3597,3315
$GC,4071,-0.62,-117.3,259.4,-6.7,338,4075,0.00,2.25,0.00,0.000,6,0.000,0.046,2661,2173,3315
$GC,4393,-0.62,-117.3,278.6,-5.9,354,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2168,3315
$GC,4702,-0.62,-117.3,297.7,-6.3,369,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2167,3315
$GC,5046,-0.62,-117.3,318.2,-5.9,376,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2168,3315
$GC,5349,-0.62,-117.3,335.9,-5.8,381,5353,0.00,2.40,0.00,0.000,4,0.000,0.071,2661,3595,3314
$GC,5375,-0.62,-117.3,337.5,-6.2,381,5379,0.00,2.28,0.00,0.000,6,0.000,0.047,2661,2184,3313
$GC,5714,-0.62,-117.3,357.7,-6.0,387,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3313
$GC,6015,-0.62,-117.3,374.9,-5.6,392,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3313
$GC,6319,-0.62,-117.3,392.7,-5.9,397,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3313
$GC,6622,-0.62,-117.3,411.9,-6.3,402,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2178,3312
$GC,6925,-0.62,-117.3,428.4,-5.3,407,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2178,3312
$GC,7228,-0.62,-117.3,442.8,-4.7,412,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3312
$GC,7531,-0.62,-117.3,457.2,-4.8,417,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3312
$GC,7834,-0.62,-117.3,473.2,-5.3,422,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3311
$GC,8138,-0.67,-117.3,489.4,-5.3,427,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2178,3311
$GC,8441,-0.71,-117.3,505.3,-5.3,432,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2179,3310
$GC,8744,-0.77,-117.3,520.2,-4.8,437,8746,0.15,0.00,0.00,0.000,6,0.061,0.000,2629,2179,3310
$GC,9048,-0.68,-117.3,538.7,-6.1,442,9053,0.12,2.42,0.00,0.000,4,0.094,0.089,2650,799,3309
$GC,9092,-0.68,-117.3,541.5,-6.2,442,9096,0.00,2.20,0.00,0.000,6,0.000,0.056,2649,2172,3309
$GC,9414,-0.68,-117.3,557.9,-5.1,448,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2173,3309
$GC,9715,-0.68,-117.3,572.0,-4.6,453,9719,0.00,2.35,0.00,0.000,4,0.000,0.086,2650,804,3309
$GC,9737,-0.68,-117.3,573.1,-5.0,453,9741,0.00,2.20,0.00,0.000,6,0.000,0.057,2649,2175,3309
$GC,10075,-0.68,-117.3,589.7,-4.9,459,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2175,3309
$GC,10377,-0.68,-117.3,605.1,-5.2,464,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2175,3309
$GC,10680,-0.68,-117.3,621.9,-5.6,469,10684,0.00,2.38,0.00,0.000,4,0.000,0.087,2649,799,3309
$GC,10712,-0.68,-117.3,623.9,-6.4,469,10716,0.00,2.20,0.00,0.000,6,0.000,0.059,2649,2158,3309
$GC,11044,-0.68,-117.3,642.2,-5.5,475,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2158,3308
$GC,11347,-0.68,-117.3,660.5,-6.1,480,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2158,3308
$GC,11650,-0.68,-117.3,678.7,-6.0,485,11654,0.00,2.35,0.00,0.000,4,0.000,0.091,2650,807,3309
$GC,11687,-0.68,-117.3,681.2,-5.9,485,11691,0.00,2.17,0.00,0.000,6,0.000,0.062,2649,2145,3308
$GC,12014,-0.68,-117.3,697.9,-5.0,491,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3308
$GC,12317,-0.68,-117.3,711.9,-4.6,496,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2145,3308
$GC,12622,-0.68,-117.3,725.2,-4.4,501,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2145,3307
$GC,12923,-0.68,-117.3,739.6,-4.8,506,12927,0.00,2.35,0.00,0.000,4,0.000,0.094,2649,809,3307
$GC,12950,-0.68,-117.3,740.9,-6.2,506,12954,0.00,2.17,0.00,0.000,6,0.000,0.064,2649,2119,3307
$GC,13288,-0.68,-117.3,757.1,-4.7,512,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2119,3307
$GC,13591,-0.68,-117.3,771.2,-4.8,517,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2120,3307
$GC,13894,-0.68,-117.3,786.6,-5.2,522,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2120,3306
$GC,14198,-0.68,-117.3,803.0,-5.4,527,14202,0.00,2.60,0.00,0.000,4,0.000,0.094,2649,3595,3306
$GC,14224,-0.68,-117.3,804.7,-5.8,527,14228,0.00,2.40,0.00,0.000,6,0.000,0.054,2650,2117,3306
$GC,14562,-0.68,-117.3,822.0,-5.1,533,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2116,3306
$GC,14865,-0.72,-117.3,836.4,-4.6,538,14866,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2116,3305
$GC,15168,-0.77,-117.3,849.9,-4.5,543,15173,0.00,2.60,0.00,0.000,4,0.000,0.090,2649,3595,3305
$GC,15201,-0.77,-117.3,851.7,-4.6,543,15205,0.00,2.38,0.00,0.000,6,0.000,0.056,2649,2133,3305
$GC,15539,-0.77,-117.3,866.6,-4.4,549,15540,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2134,3305
$GC,15842,-0.81,-117.3,878.6,-4.0,554,15844,0.15,0.00,0.00,0.000,6,0.061,0.000,2617,2134,3304
$GC,16145,-0.71,-117.3,893.2,-4.8,559,16147,0.15,0.00,0.00,0.000,6,0.091,0.000,2643,2133,3305
$GC,16449,-0.71,-117.3,903.8,-3.5,564,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2133,3305
$GC,16751,-0.71,-117.3,915.2,-3.8,569,16755,0.00,2.60,0.00,0.000,4,0.000,0.093,2642,3595,3305
$GC,16772,-0.71,-117.3,916.2,-3.8,569,16776,0.00,2.38,0.00,0.000,6,0.000,0.061,2643,2154,3304
$GC,17115,-0.71,-117.3,930.4,-4.2,575,17116,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2154,3304
$GC,17418,-0.71,-117.3,945.7,-5.2,580,17422,0.00,2.50,0.00,0.000,4,0.000,0.115,2643,787,3304
$GC,17451,-0.71,-117.3,947.6,-5.9,580,17455,0.00,2.28,0.00,0.000,6,0.000,0.071,2642,2147,3304
$GC,17783,-0.71,-117.3,966.4,-5.8,586,17784,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2147,3304
$GC,18087,-0.71,-117.3,984.5,-6.0,591,18088,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2148,3303
$STATE,18205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18205,begin apogee
$GC,18210,-0.23,0.0,991.4,5.8,593,18315,0.60,0.00,102.00,1.495,6,0.072,0.000,2747,2198,2837
$STATE,18316,end apogee,CONTROL_FINISHED_OK
$STATE,18316,begin climb
$GC,18318,0.67,117.3,993.6,0.0,594,18441,1.12,2.80,111.35,1.447,4,0.047,0.097,2942,3599,2358
$GC,18480,0.40,117.3,989.6,8.0,596,18485,0.35,2.55,0.00,0.000,6,0.088,0.070,2889,2202,2358
$GC,18806,0.40,121.8,971.9,5.4,602,18817,0.00,2.60,6.18,1.134,4,0.000,0.120,2889,789,2339
$GC,18873,0.35,121.8,967.8,5.9,603,18877,0.00,2.35,0.00,0.000,6,0.000,0.076,2889,2169,2339
$GC,19238,0.35,121.8,946.2,6.0,609,19239,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2169,2339
$GC,19541,0.35,121.8,928.8,5.7,614,19545,0.00,2.50,0.00,0.000,4,0.000,0.112,2889,789,2339
$GC,19603,0.30,121.8,924.9,6.4,615,19607,0.15,2.30,0.00,0.000,6,0.094,0.072,2865,2169,2338
$GC,19973,0.41,153.9,908.3,4.5,621,20009,0.12,2.55,30.10,1.426,4,0.067,0.108,2892,782,2208
$GC,20048,0.41,153.9,904.0,5.9,622,20052,0.00,2.30,0.00,0.000,6,0.000,0.068,2892,2128,2208
$GC,20403,0.41,153.9,883.8,5.7,628,20406,0.00,2.42,0.00,0.000,4,0.000,0.107,2892,782,2208
$GC,20474,0.42,159.6,879.4,5.3,629,20486,0.00,2.15,6.88,1.183,6,0.000,0.067,2892,2080,2186
$GC,20834,0.42,159.6,859.4,5.5,635,20838,0.00,2.62,0.00,0.000,4,0.000,0.087,2892,3602,2186
$GC,20860,0.42,159.6,857.9,5.7,635,20865,0.00,2.53,0.00,0.000,6,0.000,0.062,2892,2075,2186
$GC,21198,0.42,159.6,838.3,5.9,641,21202,0.00,2.30,0.00,0.000,4,0.000,0.108,2892,782,2186
$GC,21247,0.42,159.6,834.8,6.9,641,21251,0.00,2.12,0.00,0.000,6,0.000,0.063,2892,2067,2186
$GC,21562,0.42,159.6,814.2,6.6,647,21564,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2068,2186
$GC,21865,0.42,159.6,794.2,6.5,652,21869,0.00,2.28,0.00,0.000,4,0.000,0.102,2892,781,2186
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$STATE,34177,end climb,SURFACE_DEPTH_REACHED
$STATE,34177,begin surface coast
$FINISH,0.8,1.024498
$STATE,34183,end surface coast,CONTROL_FINISHED_OK
$STATE,34183,begin surface
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$DEVICE_SECS,28.100,203.950,377.175,27.300,0.000,22.374,25.614,174.033,9.500,0.000,0.000,17.394,2246.161,28501.090,588.577,2666.133,568.221,33.388,1921.445,0.000,2621.594,0.000,59.547
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$DATA_FILE_SIZE,56865,1161
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