version: 66.03
glider: 119
mission: 5
dive: 241
start: 11 26 108 17 38 54
data:
$ID,119
$MISSION,5
$DIVE,241
$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,-214245.64
$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,14
$R_STBD_OVSHOOT,36
$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
$GPS1,173208,4702.141,-12553.814,27,1.9,27,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.5
$GPS2,173802,4702.188,-12553.803,14,2.0,31,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.184,-0.063
$KALMAN_X,-19003.2,13.4,223.6,-51728.2,1108.8
$KALMAN_Y,288438.3,297.6,-246.7,-281731.0,2133.9
$MHEAD_RNG_PITCHd_Wd,232.6,159446,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-51.47,0.000,2,0.000,0.000,862,2226,2540
$GC,77,-0.67,-117.3,3.2,-3.8,5,120,12.23,2.45,-22.62,0.000,4,0.143,0.067,2647,786,3317
$GC,346,-0.46,-117.3,33.5,-12.7,29,351,0.30,2.20,0.00,0.000,6,0.078,0.039,2698,2207,3317
$GC,684,-0.46,-117.3,59.2,-6.7,81,690,0.00,2.28,0.00,0.000,4,0.000,0.054,2698,779,3317
$GC,764,-0.53,-117.3,63.7,-5.5,95,771,0.00,2.15,0.00,0.000,6,0.000,0.038,2698,2153,3317
$GC,1109,-0.79,-117.3,86.2,-6.7,149,1114,0.35,2.35,0.00,0.000,4,0.040,0.058,2618,3601,3317
$GC,1142,-0.59,-117.3,89.0,-8.5,151,1149,0.30,2.22,0.00,0.000,6,0.081,0.035,2669,2158,3317
$GC,1466,-0.59,-117.3,112.3,-7.2,182,1470,0.00,2.22,0.00,0.000,4,0.000,0.057,2669,806,3318
$GC,1506,-0.59,-117.3,114.9,-7.2,185,1510,0.00,2.12,0.00,0.000,6,0.000,0.040,2669,2184,3318
$GC,1831,-0.59,-117.3,132.8,-5.4,215,1835,0.00,2.33,0.00,0.000,4,0.000,0.062,2669,3604,3318
$GC,1881,-0.59,-117.3,135.8,-5.9,219,1885,0.00,2.17,0.00,0.000,6,0.000,0.038,2669,2214,3318
$GC,2215,-0.59,-117.3,155.4,-6.0,246,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3318
$GC,2524,-0.63,-117.3,172.2,-5.4,261,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3318
$GC,2834,-0.69,-117.3,189.3,-5.4,276,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2208,3318
$GC,3143,-0.75,-117.3,205.0,-4.8,291,3147,0.15,2.35,0.00,0.000,4,0.058,0.058,2632,797,3318
$GC,3163,-0.75,-117.3,206.2,-5.7,292,3167,0.00,2.20,0.00,0.000,6,0.000,0.041,2632,2193,3318
$GC,3491,-0.64,-117.3,228.2,-7.0,308,3496,0.15,2.25,0.00,0.000,4,0.085,0.060,2661,807,3318
$GC,3540,-0.64,-117.3,231.4,-6.4,310,3544,0.00,2.15,0.00,0.000,6,0.000,0.042,2661,2171,3318
$GC,3862,-0.64,-117.3,249.7,-5.4,326,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2171,3318
$GC,4171,-0.64,-117.3,265.4,-5.1,341,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2171,3318
$GC,4480,-0.64,-117.3,281.4,-5.2,356,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2171,3318
$GC,4789,-0.64,-117.3,298.4,-5.5,371,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2170,3317
$GC,5133,-0.64,-117.3,317.8,-5.7,378,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2171,3317
$GC,5437,-0.69,-117.3,335.0,-5.6,383,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2171,3317
$GC,5743,-0.73,-117.3,351.0,-5.3,388,5746,0.00,2.25,0.00,0.000,4,0.000,0.065,2661,803,3316
$GC,5787,-0.80,-117.3,353.8,-6.1,388,5792,0.20,2.10,0.00,0.000,6,0.051,0.043,2618,2154,3316
$GC,6103,-0.66,-117.3,376.1,-7.2,394,6108,0.15,2.40,0.00,0.000,4,0.087,0.064,2648,3606,3316
$GC,6135,-0.66,-117.3,378.4,-6.4,394,6139,0.00,2.28,0.00,0.000,6,0.000,0.041,2648,2158,3315
$GC,6467,-0.66,-117.3,397.2,-5.6,400,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2157,3315
$GC,6770,-0.66,-117.3,414.7,-5.8,405,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2157,3314
$GC,7073,-0.66,-117.3,432.4,-5.8,410,7077,0.00,2.45,0.00,0.000,4,0.000,0.065,2648,3595,3314
$GC,7093,-0.66,-117.3,433.8,-6.4,410,7098,0.00,2.30,0.00,0.000,6,0.000,0.041,2648,2146,3314
$GC,7437,-0.66,-117.3,452.9,-5.5,416,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2145,3314
$GC,7740,-0.66,-117.3,469.4,-5.4,421,7744,0.00,2.47,0.00,0.000,4,0.000,0.065,2648,3602,3314
$GC,7761,-0.66,-117.3,470.8,-6.2,421,7766,0.00,2.30,0.00,0.000,6,0.000,0.042,2647,2151,3313
$GC,8105,-0.66,-117.3,490.8,-5.9,427,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2151,3313
$GC,8408,-0.66,-117.3,507.9,-5.6,432,8412,0.00,2.47,0.00,0.000,4,0.000,0.066,2648,3605,3313
$GC,8428,-0.66,-117.3,509.1,-5.5,432,8433,0.00,2.28,0.00,0.000,6,0.000,0.041,2648,2187,3313
$GC,8773,-0.66,-117.3,526.6,-5.0,438,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2187,3312
$GC,9075,-0.66,-117.3,541.4,-4.8,443,9079,0.00,2.35,0.00,0.000,4,0.000,0.075,2648,806,3313
$GC,9108,-0.66,-117.3,542.8,-4.9,443,9112,0.00,2.15,0.00,0.000,6,0.000,0.047,2648,2175,3313
$GC,9441,-0.66,-117.3,558.8,-4.8,449,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2175,3312
$GC,9742,-0.66,-117.3,574.0,-5.0,454,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2175,3311
$GC,10045,-0.66,-117.3,590.5,-5.5,459,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2175,3310
$GC,10348,-0.66,-117.3,607.2,-5.5,464,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2175,3310
$GC,10651,-0.66,-117.3,624.8,-5.8,469,10656,0.00,2.30,0.00,0.000,4,0.000,0.073,2648,801,3310
$GC,10677,-0.66,-117.3,626.6,-6.3,469,10681,0.00,2.15,0.00,0.000,6,0.000,0.048,2648,2149,3310
$GC,11020,-0.66,-117.3,647.0,-6.0,475,11024,0.00,2.42,0.00,0.000,4,0.000,0.072,2647,3598,3310
$GC,11047,-0.66,-117.3,648.8,-6.0,475,11051,0.00,2.28,0.00,0.000,6,0.000,0.044,2648,2160,3310
$GC,11385,-0.66,-117.3,667.6,-5.4,481,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2159,3310
$GC,11688,-0.66,-117.3,683.0,-5.1,486,11689,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2158,3310
$GC,11991,-0.66,-117.3,698.7,-5.2,491,11995,0.00,2.33,0.00,0.000,4,0.000,0.080,2648,801,3310
$GC,12021,-0.71,-117.3,700.3,-5.7,491,12025,0.00,2.17,0.00,0.000,6,0.000,0.050,2648,2173,3309
$GC,12352,-0.71,-117.3,717.5,-5.1,497,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2173,3309
$GC,12655,-0.75,-117.3,733.2,-5.2,502,12659,0.00,2.33,0.00,0.000,4,0.000,0.077,2647,799,3309
$GC,12689,-0.81,-117.3,735.2,-5.2,502,12694,0.12,2.17,0.00,0.000,6,0.062,0.051,2620,2167,3309
$GC,13014,-0.73,-117.3,755.4,-6.2,508,13018,0.00,2.45,0.00,0.000,4,0.000,0.076,2620,3608,3308
$GC,13041,-0.64,-117.3,757.3,-7.6,508,13046,0.22,2.33,0.00,0.000,6,0.083,0.045,2658,2146,3308
$GC,13374,-0.81,-117.3,775.3,-5.7,514,13379,0.15,2.47,0.00,0.000,4,0.058,0.074,2620,3598,3309
$GC,13418,-0.75,-117.3,778.3,-6.5,514,13421,0.00,2.15,0.00,0.000,6,0.000,0.044,2620,2233,3308
$GC,13739,-0.81,-117.3,799.3,-6.7,520,13743,0.00,2.42,0.00,0.000,4,0.000,0.081,2620,799,3308
$GC,13917,-0.76,-117.3,810.8,-5.8,522,13921,0.00,1.90,0.00,0.000,6,0.000,0.051,2620,1996,3308
$GC,14238,-0.69,-117.3,830.3,-6.1,528,14243,0.15,2.72,0.00,0.000,4,0.088,0.075,2649,3602,3308
$GC,14300,-0.75,-117.3,833.8,-5.7,529,14304,0.00,2.50,0.00,0.000,6,0.000,0.046,2649,2032,3307
$GC,14666,-0.80,-117.3,852.6,-5.2,535,14671,0.12,2.70,0.00,0.000,4,0.064,0.074,2622,3601,3307
$GC,14693,-0.74,-117.3,854.4,-6.2,535,14698,0.00,2.42,0.00,0.000,6,0.000,0.047,2622,2080,3306
$GC,15025,-0.68,-117.3,874.9,-6.2,541,15030,0.15,2.60,0.00,0.000,4,0.089,0.076,2649,3602,3306
$GC,15058,-0.74,-117.3,876.8,-4.7,541,15063,0.00,2.40,0.00,0.000,6,0.000,0.048,2651,2093,3306
$GC,15391,-0.83,-117.3,892.8,-4.8,547,15396,0.15,2.60,0.00,0.000,4,0.060,0.077,2614,3601,3306
$GC,15434,-0.73,-117.3,895.4,-5.9,547,15439,0.12,2.30,0.00,0.000,6,0.092,0.047,2636,2150,3306
$GC,15750,-0.85,-117.3,911.6,-5.3,553,15754,0.00,2.33,0.00,0.000,4,0.000,0.087,2635,802,3306
$GC,15885,-0.92,-117.3,918.6,-4.9,555,15889,0.20,1.83,0.00,0.000,6,0.051,0.056,2594,1943,3306
$GC,16251,-0.87,-117.3,940.2,-6.0,561,16255,0.00,2.00,0.00,0.000,4,0.000,0.089,2594,789,3306
$GC,16509,-0.72,-117.3,956.8,-7.3,564,16514,0.28,2.22,0.00,0.000,6,0.081,0.058,2639,2164,3306
$GC,16818,-0.72,-117.3,970.1,-4.3,569,16822,0.00,2.38,0.00,0.000,4,0.000,0.087,2639,796,3306
$GC,16856,-0.72,-117.3,971.8,-5.0,569,16860,0.00,2.22,0.00,0.000,6,0.000,0.058,2639,2168,3306
$GC,17177,-0.72,-117.3,985.9,-4.5,575,17178,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2168,3306
$STATE,17295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17295,begin apogee
$GC,17301,-0.23,0.0,991.1,4.4,577,17408,0.62,0.00,103.53,1.500,6,0.073,0.000,2746,2205,2837
$STATE,17409,end apogee,CONTROL_FINISHED_OK
$STATE,17409,begin climb
$GC,17411,0.67,117.3,992.4,0.0,578,17534,1.12,2.67,114.07,1.457,4,0.047,0.085,2943,3598,2358
$GC,17602,0.40,117.3,984.2,8.8,581,17607,0.35,2.42,0.00,0.000,6,0.088,0.056,2890,2214,2358
$GC,17967,0.40,117.3,961.5,6.1,587,17971,0.00,2.50,0.00,0.000,4,0.000,0.094,2890,782,2358
$GC,18022,0.34,117.3,957.8,6.1,587,18028,0.00,2.30,0.00,0.000,6,0.000,0.058,2890,2196,2358
$GC,18331,0.34,117.3,938.9,6.1,593,18332,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2195,2358
$GC,18634,0.34,117.3,918.8,6.7,598,18635,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2196,2358
$GC,18937,0.34,117.3,899.1,6.4,603,18941,0.00,2.42,0.00,0.000,4,0.000,0.087,2890,781,2358
$GC,18981,0.29,117.3,896.3,6.0,603,18985,0.15,2.25,0.00,0.000,6,0.092,0.055,2866,2180,2358
$GC,19296,0.38,130.9,880.2,5.1,609,19315,0.00,2.42,13.75,1.361,4,0.000,0.084,2866,784,2303
$GC,19343,0.45,140.3,877.6,5.2,609,19361,0.17,2.20,10.98,1.307,6,0.058,0.053,2901,2151,2264
$GC,19662,0.45,140.3,858.2,6.1,615,19666,0.00,2.47,0.00,0.000,4,0.000,0.080,2901,3606,2264
$GC,19712,0.39,140.3,855.0,5.7,615,19716,0.00,2.35,0.00,0.000,6,0.000,0.050,2902,2148,2264
$GC,20021,0.39,140.3,837.4,5.7,620,20022,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,2264
$GC,20324,0.39,140.3,820.0,5.7,625,20328,0.00,2.33,0.00,0.000,4,0.000,0.084,2901,787,2264
$GC,20356,0.33,140.3,817.8,6.0,625,20361,0.17,2.17,0.00,0.000,6,0.091,0.051,2873,2157,2264
$GC,20688,0.43,157.7,801.5,5.0,631,20712,0.00,2.40,16.98,1.350,4,0.000,0.079,2873,781,2194
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$STATE,33223,end climb,SURFACE_DEPTH_REACHED
$STATE,33223,begin surface coast
$FINISH,0.7,1.013074
$STATE,33260,end surface coast,CONTROL_FINISHED_OK
$STATE,33260,begin surface
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$DEVICE_SECS,31.925,249.875,352.175,45.100,0.000,27.371,29.010,155.096,9.000,0.000,0.000,32.866,2362.189,27129.861,590.653,3007.382,579.021,33.380,2071.771,0.000,2937.636,0.000,56.666
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