version: 66.03
glider: 119
mission: 5
dive: 243
start: 11 27 108 12 39 3
data:
$ID,119
$MISSION,5
$DIVE,243
$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,-214272.83
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,123232,4701.442,-12601.389,39,1.7,39,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.0
$GPS2,123809,4701.456,-12601.260,11,1.8,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.159,-0.113
$KALMAN_X,-15439.9,2.7,-119.7,-64357.2,1792.6
$KALMAN_Y,293481.1,-319.8,-76.9,-287671.5,3993.9
$MHEAD_RNG_PITCHd_Wd,216.1,150000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,73,0.00,0.00,-51.42,0.000,2,0.000,0.000,861,2216,2503
$GC,76,-0.67,-117.3,3.2,-3.8,5,120,12.18,2.38,-24.58,0.000,4,0.140,0.066,2648,788,3316
$GC,213,-0.46,-117.3,16.9,-10.6,17,218,0.30,2.22,0.00,0.000,6,0.081,0.041,2698,2204,3316
$GC,538,-0.46,-117.3,42.1,-7.6,49,544,0.00,2.28,0.00,0.000,4,0.000,0.057,2698,786,3316
$GC,579,-0.46,-117.3,44.8,-6.7,56,585,0.00,2.15,0.00,0.000,6,0.000,0.040,2698,2181,3316
$GC,922,-0.46,-117.3,70.5,-6.9,117,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2181,3316
$GC,1262,-0.53,-117.3,88.6,-4.9,163,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2181,3316
$GC,1580,-0.79,-117.3,110.3,-7.8,193,1585,0.35,2.38,0.00,0.000,4,0.039,0.063,2619,3608,3316
$GC,1744,-0.55,-117.3,126.2,-9.3,207,1749,0.32,2.28,0.00,0.000,6,0.075,0.041,2675,2172,3316
$GC,2069,-0.61,-117.3,143.5,-5.9,237,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2168,3316
$GC,2383,-0.67,-117.3,159.2,-4.4,258,2387,0.00,2.42,0.00,0.000,4,0.000,0.064,2674,3599,3316
$GC,2400,-0.73,-117.3,160.2,-4.5,259,2405,0.17,2.22,0.00,0.000,6,0.051,0.042,2636,2197,3316
$GC,2732,-0.64,-117.3,183.5,-7.6,275,2737,0.12,2.33,0.00,0.000,4,0.090,0.062,2658,805,3316
$GC,2778,-0.64,-117.3,186.8,-6.8,277,2781,0.00,2.17,0.00,0.000,6,0.000,0.044,2658,2206,3316
$GC,3099,-0.64,-117.3,206.0,-5.3,293,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2207,3316
$GC,3408,-0.64,-117.3,221.6,-5.0,308,3412,0.00,2.28,0.00,0.000,4,0.000,0.062,2658,801,3316
$GC,3434,-0.64,-117.3,223.0,-5.6,309,3438,0.00,2.15,0.00,0.000,6,0.000,0.044,2658,2179,3316
$GC,3762,-0.64,-117.3,239.8,-5.6,325,3766,0.00,2.40,0.00,0.000,4,0.000,0.066,2658,3604,3316
$GC,3783,-0.64,-117.3,241.2,-6.3,326,3787,0.00,2.25,0.00,0.000,6,0.000,0.043,2658,2205,3316
$GC,4110,-0.64,-117.3,261.3,-6.3,342,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,3316
$GC,4419,-0.64,-117.3,278.9,-5.1,357,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,3315
$GC,4729,-0.64,-117.3,293.6,-4.6,372,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,3316
$GC,5056,-0.64,-117.3,310.0,-5.1,382,5060,0.00,2.38,0.00,0.000,4,0.000,0.067,2658,800,3315
$GC,5083,-0.64,-117.3,311.8,-5.6,382,5087,0.00,2.20,0.00,0.000,6,0.000,0.044,2658,2193,3315
$GC,5421,-0.64,-117.3,330.8,-5.7,388,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2193,3315
$GC,5724,-0.64,-117.3,348.0,-5.7,393,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,3314
$GC,6027,-0.64,-117.3,365.0,-5.5,398,6031,0.00,2.30,0.00,0.000,4,0.000,0.069,2658,806,3314
$GC,6059,-0.69,-117.3,366.8,-6.0,398,6063,0.00,2.15,0.00,0.000,6,0.000,0.044,2658,2181,3314
$GC,6391,-0.69,-117.3,386.1,-5.8,404,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2181,3313
$GC,6694,-0.69,-117.3,404.4,-6.0,409,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2181,3313
$GC,6998,-0.69,-117.3,420.1,-5.1,414,7002,0.00,2.30,0.00,0.000,4,0.000,0.071,2658,805,3312
$GC,7037,-0.76,-117.3,422.2,-5.1,414,7041,0.00,2.12,0.00,0.000,6,0.000,0.046,2657,2159,3313
$GC,7357,-0.80,-117.3,437.0,-4.7,420,7359,0.17,0.00,0.00,0.000,6,0.054,0.000,2619,2159,3312
$GC,7660,-0.68,-117.3,458.5,-7.3,425,7662,0.17,0.00,0.00,0.000,6,0.084,0.000,2650,2160,3312
$GC,7965,-0.68,-117.3,478.4,-6.6,430,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2160,3312
$GC,8265,-0.68,-117.3,497.4,-6.2,435,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2160,3312
$GC,8569,-0.68,-117.3,515.1,-5.8,440,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2159,3311
$GC,8872,-0.68,-117.3,532.2,-5.6,445,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2159,3311
$GC,9175,-0.68,-117.3,548.4,-5.3,450,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2160,3310
$GC,9478,-0.68,-117.3,565.6,-5.7,455,9482,0.00,2.33,0.00,0.000,4,0.000,0.079,2650,798,3310
$GC,9505,-0.68,-117.3,567.3,-6.2,455,9509,0.00,2.17,0.00,0.000,6,0.000,0.050,2650,2148,3310
$GC,9842,-0.68,-117.3,587.7,-6.0,461,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3309
$GC,10145,-0.68,-117.3,605.1,-5.7,466,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2149,3309
$GC,10449,-0.68,-117.3,620.0,-4.8,471,10453,0.00,2.28,0.00,0.000,4,0.000,0.077,2650,807,3309
$GC,10476,-0.73,-117.3,621.4,-5.2,471,10480,0.00,2.10,0.00,0.000,6,0.000,0.051,2650,2132,3309
$GC,10814,-0.73,-117.3,635.1,-4.0,477,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2132,3309
$GC,11117,-0.78,-117.3,647.5,-4.2,482,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2132,3308
$GC,11420,-0.82,-117.3,661.2,-4.6,487,11422,0.15,0.00,0.00,0.000,6,0.059,0.000,2617,2132,3308
$GC,11723,-0.73,-117.3,680.0,-6.3,492,11725,0.12,0.00,0.00,0.000,6,0.091,0.000,2638,2132,3308
$GC,12026,-0.73,-117.3,696.3,-5.3,497,12030,0.00,2.50,0.00,0.000,4,0.000,0.076,2638,3601,3308
$GC,12047,-0.73,-117.3,697.5,-5.4,497,12051,0.00,2.38,0.00,0.000,6,0.000,0.049,2638,2125,3308
$GC,12384,-0.73,-117.3,715.2,-5.3,503,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2125,3308
$GC,12688,-0.73,-117.3,731.8,-5.5,508,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2125,3308
$GC,12990,-0.73,-117.3,748.7,-5.6,513,12994,0.00,2.55,0.00,0.000,4,0.000,0.075,2638,3600,3307
$GC,13018,-0.73,-117.3,750.3,-6.4,513,13023,0.00,2.35,0.00,0.000,6,0.000,0.049,2638,2135,3307
$GC,13350,-0.73,-117.3,769.8,-5.9,519,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2134,3306
$GC,13653,-0.73,-117.3,788.0,-6.0,524,13657,0.00,2.55,0.00,0.000,4,0.000,0.076,2638,3602,3306
$GC,13674,-0.73,-117.3,789.4,-5.9,524,13678,0.00,2.35,0.00,0.000,6,0.000,0.049,2638,2150,3306
$GC,14017,-0.73,-117.3,809.4,-5.8,530,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2150,3306
$GC,14323,-0.73,-117.3,825.9,-5.4,535,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2150,3306
$GC,14623,-0.73,-117.3,841.9,-5.2,540,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2150,3306
$GC,14926,-0.73,-117.3,858.2,-5.4,545,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2149,3306
$GC,15229,-0.73,-117.3,874.6,-5.4,550,15231,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2149,3305
$GC,15533,-0.73,-117.3,889.5,-4.9,555,15537,0.00,2.38,0.00,0.000,4,0.000,0.088,2638,794,3305
$GC,15570,-0.73,-117.3,891.4,-5.8,555,15575,0.00,2.22,0.00,0.000,6,0.000,0.056,2638,2154,3305
$GC,15897,-0.73,-117.3,905.7,-4.4,561,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2154,3305
$GC,16200,-0.73,-117.3,918.6,-4.3,566,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2153,3305
$GC,16503,-0.73,-117.3,931.9,-4.4,571,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2154,3305
$GC,16806,-0.73,-117.3,945.9,-4.7,576,16810,0.00,2.35,0.00,0.000,4,0.000,0.087,2638,800,3305
$GC,16838,-0.73,-117.3,947.6,-5.9,576,16842,0.00,2.22,0.00,0.000,6,0.000,0.058,2638,2154,3304
$GC,17171,-0.73,-117.3,963.2,-4.6,582,17172,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2154,3304
$GC,17474,-0.73,-117.3,977.9,-4.9,587,17478,0.00,2.38,0.00,0.000,4,0.000,0.089,2638,793,3304
$GC,17507,-0.77,-117.3,979.6,-5.1,587,17511,0.00,2.20,0.00,0.000,6,0.000,0.059,2638,2147,3304
$STATE,17769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17770,begin apogee
$GC,17775,-0.23,0.0,992.7,5.0,592,17881,0.62,0.00,103.05,1.506,6,0.071,0.000,2746,2203,2837
$STATE,17882,end apogee,CONTROL_FINISHED_OK
$STATE,17882,begin climb
$GC,17884,0.67,117.3,994.4,0.0,593,18006,1.12,0.00,114.65,1.461,6,0.046,0.000,2942,2203,2358
$GC,18309,0.48,117.3,970.4,7.7,600,18311,0.22,0.00,0.00,0.000,6,0.091,0.000,2906,2203,2357
$GC,18612,0.43,117.3,951.4,6.2,605,18613,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2203,2358
$GC,18916,0.37,117.3,932.4,6.3,610,18917,0.15,0.00,0.00,0.000,6,0.097,0.000,2882,2203,2358
$GC,19218,0.37,120.0,915.9,5.4,615,19227,0.00,2.42,4.18,0.955,4,0.000,0.089,2882,803,2347
$GC,19273,0.37,120.0,912.7,6.1,615,19277,0.00,2.22,0.00,0.000,6,0.000,0.057,2882,2166,2347
$GC,19589,0.41,120.0,895.4,5.5,621,19593,0.00,2.35,0.00,0.000,4,0.000,0.086,2882,796,2347
$GC,19615,0.41,120.0,893.8,5.8,621,19619,0.00,2.20,0.00,0.000,6,0.000,0.056,2882,2142,2347
$GC,19953,0.45,120.0,874.0,6.0,627,19957,0.00,2.30,0.00,0.000,4,0.000,0.084,2882,796,2347
$GC,19992,0.45,120.0,871.6,6.0,627,19996,0.00,2.12,0.00,0.000,6,0.000,0.055,2882,2118,2347
$GC,20318,0.45,120.0,852.9,5.7,633,20319,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2118,2347
$GC,20622,0.50,120.0,835.4,5.8,638,20626,0.12,2.28,0.00,0.000,4,0.066,0.083,2909,789,2347
$GC,20676,0.41,120.0,831.5,6.9,638,20682,0.00,2.10,0.00,0.000,6,0.000,0.055,2909,2104,2347
$GC,20986,0.35,120.0,810.5,6.8,644,20991,0.15,2.58,0.00,0.000,4,0.094,0.080,2880,3609,2347
$GC,21048,0.35,120.0,806.3,5.8,645,21052,0.00,2.42,0.00,0.000,6,0.000,0.054,2880,2106,2346
$GC,21413,0.42,132.6,787.1,5.1,651,21428,0.00,0.00,12.98,1.322,6,0.000,0.000,2880,2106,2296
$GC,21717,0.51,149.0,771.9,5.0,656,21736,0.15,0.00,16.62,1.333,6,0.061,0.000,2911,2106,2229
$GC,22019,0.51,149.0,753.6,6.1,661,22020,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2106,2229
$GC,22322,0.51,149.0,735.3,6.0,666,22326,0.00,2.25,0.00,0.000,4,0.000,0.085,2912,790,2229
$GC,22355,0.45,149.0,733.1,6.5,666,22359,0.00,2.10,0.00,0.000,6,0.000,0.051,2912,2112,2229
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$STATE,34193,end climb,SURFACE_DEPTH_REACHED
$STATE,34193,begin surface coast
$FINISH,0.7,1.024648
$STATE,34215,end surface coast,CONTROL_FINISHED_OK
$STATE,34215,begin surface
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$10V_AH,10.4,50.063
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$DATA_FILE_SIZE,60031,1190
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