version: 66.03
glider: 119
mission: 5
dive: 259
start: 12 3 108 22 36 57
data:
$ID,119
$MISSION,5
$DIVE,259
$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,-214586.84
$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,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
$GPS1,222655,4659.738,-12722.016,34,2.0,34,18.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.7
$GPS2,223605,4659.726,-12722.109,14,2.3,33,18.6
$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,-0.013
$KALMAN_X,-13025.7,299.6,151.0,-169517.9,-1258.8
$KALMAN_Y,322224.8,889.8,-53.6,-320861.0,570.9
$MHEAD_RNG_PITCHd_Wd,247.5,47861,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.33,0.000,2,0.000,0.000,860,2224,2552
$GC,77,-0.67,-117.3,3.2,-3.6,5,121,12.18,2.45,-23.05,0.000,4,0.141,0.071,2647,802,3317
$GC,193,-0.44,-117.3,15.9,-12.3,15,200,0.32,2.20,0.00,0.000,6,0.081,0.042,2701,2205,3317
$GC,520,-0.44,-117.3,41.0,-7.5,47,527,0.00,2.30,0.00,0.000,4,0.000,0.059,2701,788,3317
$GC,572,-0.44,-117.3,45.4,-8.1,56,578,0.00,2.15,0.00,0.000,6,0.000,0.041,2701,2167,3317
$GC,916,-0.44,-117.3,71.3,-6.5,117,922,0.00,2.38,0.00,0.000,4,0.000,0.061,2701,3606,3317
$GC,970,-0.49,-117.3,74.6,-6.3,126,976,0.00,2.12,0.00,0.000,6,0.000,0.039,2701,2250,3317
$GC,1301,-0.56,-117.3,92.7,-5.9,165,1306,0.12,2.40,0.00,0.000,4,0.060,0.058,2672,799,3317
$GC,1367,-0.56,-117.3,97.6,-7.3,170,1374,0.00,2.22,0.00,0.000,6,0.000,0.043,2671,2212,3317
$GC,1694,-0.56,-117.3,122.2,-7.0,201,1698,0.00,2.33,0.00,0.000,4,0.000,0.064,2671,3601,3317
$GC,1715,-0.56,-117.3,124.1,-7.6,202,1722,0.00,2.28,0.00,0.000,6,0.000,0.042,2672,2191,3317
$GC,2040,-0.56,-117.3,143.5,-5.3,233,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2185,3317
$GC,2364,-0.56,-117.3,160.7,-5.9,255,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2185,3317
$GC,2673,-0.56,-117.3,178.5,-5.7,270,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2184,3317
$GC,2983,-0.56,-117.3,193.8,-4.8,285,2987,0.00,2.40,0.00,0.000,4,0.000,0.065,2671,3601,3317
$GC,3000,-0.56,-117.3,194.7,-5.0,286,3004,0.00,2.30,0.00,0.000,6,0.000,0.043,2671,2161,3317
$GC,3327,-0.61,-117.3,211.8,-5.4,302,3332,0.00,2.45,0.00,0.000,4,0.000,0.065,2671,3606,3317
$GC,3354,-0.61,-117.3,213.5,-5.9,303,3358,0.00,2.25,0.00,0.000,6,0.000,0.042,2672,2190,3317
$GC,3677,-0.66,-117.3,232.2,-5.9,319,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2183,3317
$GC,3986,-0.72,-117.3,249.4,-5.3,334,3988,0.15,0.00,0.00,0.000,6,0.056,0.000,2637,2184,3317
$GC,4295,-0.63,-117.3,269.6,-6.4,349,4300,0.12,2.35,0.00,0.000,4,0.089,0.065,2659,800,3317
$GC,4321,-0.63,-117.3,271.4,-6.0,350,4325,0.00,2.17,0.00,0.000,6,0.000,0.044,2659,2196,3316
$GC,4644,-0.63,-117.3,288.0,-5.2,366,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2196,3316
$GC,4990,-0.63,-117.3,307.5,-5.8,379,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2196,3316
$GC,5294,-0.63,-117.3,325.2,-5.8,384,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2196,3315
$GC,5597,-0.63,-117.3,343.8,-6.2,389,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2196,3315
$GC,5901,-0.63,-117.3,361.8,-5.9,394,5906,0.00,2.38,0.00,0.000,4,0.000,0.069,2659,3603,3314
$GC,5917,-0.63,-117.3,362.8,-5.8,394,5921,0.00,2.33,0.00,0.000,6,0.000,0.044,2659,2152,3314
$GC,6268,-0.63,-117.3,381.8,-5.4,400,6272,0.00,2.47,0.00,0.000,4,0.000,0.067,2658,3609,3314
$GC,6289,-0.63,-117.3,383.2,-5.9,400,6293,0.00,2.28,0.00,0.000,6,0.000,0.044,2659,2184,3313
$GC,6632,-0.63,-117.3,402.3,-5.6,406,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2182,3313
$GC,6935,-0.63,-117.3,419.5,-5.7,411,6939,0.00,2.40,0.00,0.000,4,0.000,0.068,2658,3598,3313
$GC,6961,-0.63,-117.3,421.2,-6.9,411,6966,0.00,2.28,0.00,0.000,6,0.000,0.046,2659,2202,3313
$GC,7299,-0.63,-117.3,442.4,-6.4,417,7303,0.00,2.35,0.00,0.000,4,0.000,0.072,2659,802,3312
$GC,7320,-0.63,-117.3,443.9,-6.7,417,7324,0.00,2.22,0.00,0.000,6,0.000,0.046,2659,2216,3313
$GC,7663,-0.63,-117.3,465.4,-6.2,423,7667,0.00,2.35,0.00,0.000,4,0.000,0.071,2659,805,3312
$GC,7695,-0.68,-117.3,467.6,-6.7,423,7699,0.00,2.17,0.00,0.000,6,0.000,0.048,2659,2183,3312
$GC,8027,-0.68,-117.3,486.1,-5.5,429,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2184,3312
$GC,8331,-0.68,-117.3,502.2,-5.3,434,8335,0.00,2.33,0.00,0.000,4,0.000,0.072,2659,793,3312
$GC,8363,-0.74,-117.3,504.1,-5.7,434,8367,0.00,2.15,0.00,0.000,6,0.000,0.048,2659,2159,3312
$GC,8696,-0.74,-117.3,520.1,-4.8,440,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2159,3312
$GC,8998,-0.74,-117.3,534.2,-4.6,445,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2160,3311
$GC,9302,-0.79,-117.3,549.1,-4.9,450,9304,0.15,0.00,0.00,0.000,6,0.060,0.000,2626,2159,3311
$GC,9604,-0.68,-117.3,567.9,-6.3,455,9606,0.15,0.00,0.00,0.000,6,0.087,0.000,2651,2159,3310
$GC,9909,-0.68,-117.3,583.4,-5.1,460,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2160,3310
$GC,10211,-0.68,-117.3,598.7,-5.0,465,10215,0.00,2.30,0.00,0.000,4,0.000,0.077,2651,796,3310
$GC,10238,-0.68,-117.3,600.2,-5.5,465,10242,0.00,2.15,0.00,0.000,6,0.000,0.051,2651,2151,3310
$GC,10570,-0.68,-117.3,616.9,-5.1,471,10574,0.00,2.42,0.00,0.000,4,0.000,0.074,2651,3598,3309
$GC,10597,-0.68,-117.3,618.5,-5.9,471,10602,0.00,2.33,0.00,0.000,6,0.000,0.049,2651,2158,3309
$GC,10936,-0.68,-117.3,635.9,-5.1,477,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2157,3309
$GC,11238,-0.68,-117.3,652.6,-5.6,482,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2157,3309
$GC,11541,-0.68,-117.3,670.2,-5.8,487,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2155,3308
$GC,11844,-0.68,-117.3,688.0,-5.8,492,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2155,3309
$GC,12147,-0.68,-117.3,704.0,-5.2,497,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2155,3308
$GC,12450,-0.68,-117.3,718.0,-4.6,502,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2155,3308
$GC,12754,-0.68,-117.3,731.7,-4.5,507,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2154,3308
$GC,13056,-0.68,-117.3,746.0,-4.7,512,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2154,3307
$GC,13360,-0.68,-117.3,761.2,-5.0,517,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2153,3307
$GC,13663,-0.68,-117.3,776.8,-5.2,522,13668,0.00,2.38,0.00,0.000,4,0.000,0.083,2651,798,3307
$GC,13687,-0.73,-117.3,778.2,-5.3,522,13691,0.00,2.15,0.00,0.000,6,0.000,0.052,2651,2146,3307
$GC,14025,-0.77,-117.3,796.7,-5.5,528,14029,0.00,2.50,0.00,0.000,4,0.000,0.080,2651,3598,3307
$GC,14045,-0.77,-117.3,798.0,-6.1,528,14049,0.00,2.35,0.00,0.000,6,0.000,0.050,2651,2140,3307
$GC,14389,-0.77,-117.3,816.1,-5.3,534,14390,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2140,3307
$GC,14692,-0.81,-117.3,830.6,-4.7,539,14694,0.15,0.00,0.00,0.000,6,0.060,0.000,2619,2140,3307
$GC,14995,-0.72,-117.3,847.5,-5.6,544,14997,0.12,0.00,0.00,0.000,6,0.094,0.000,2640,2139,3306
$GC,15298,-0.72,-117.3,862.8,-5.2,549,15299,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2139,3306
$GC,15601,-0.72,-117.3,879.8,-5.7,554,15605,0.00,2.55,0.00,0.000,4,0.000,0.081,2640,3594,3306
$GC,15633,-0.72,-117.3,881.9,-6.7,554,15637,0.00,2.33,0.00,0.000,6,0.000,0.049,2640,2168,3305
$GC,15966,-0.72,-117.3,901.8,-6.0,560,15970,0.00,2.40,0.00,0.000,4,0.000,0.087,2640,800,3305
$GC,15998,-0.72,-117.3,904.0,-6.7,560,16002,0.00,2.17,0.00,0.000,6,0.000,0.054,2640,2151,3305
$GC,16329,-0.72,-117.3,922.6,-5.5,566,16334,0.00,2.50,0.00,0.000,4,0.000,0.083,2639,3600,3305
$GC,16347,-0.72,-117.3,923.4,-5.2,566,16351,0.00,2.35,0.00,0.000,6,0.000,0.051,2640,2138,3305
$GC,16690,-0.72,-117.3,939.5,-4.5,572,16694,0.00,2.53,0.00,0.000,4,0.000,0.082,2639,3602,3305
$GC,16712,-0.72,-117.3,940.6,-4.8,572,16716,0.00,2.28,0.00,0.000,6,0.000,0.051,2640,2177,3305
$GC,17049,-0.72,-117.3,955.0,-4.3,578,17053,0.00,2.40,0.00,0.000,4,0.000,0.092,2640,793,3305
$GC,17070,-0.72,-117.3,956.0,-3.8,578,17074,0.00,2.22,0.00,0.000,6,0.000,0.057,2640,2172,3305
$GC,17408,-0.72,-117.3,970.2,-4.2,584,17412,0.00,2.47,0.00,0.000,4,0.000,0.085,2639,3602,3305
$GC,17423,-0.72,-117.3,970.9,-4.2,584,17427,0.00,2.33,0.00,0.000,6,0.000,0.051,2640,2160,3304
$GC,17772,-0.72,-117.3,985.2,-4.0,590,17776,0.00,2.40,0.00,0.000,4,0.000,0.094,2639,789,3305
$GC,17799,-0.72,-117.3,986.5,-5.5,590,17803,0.00,2.20,0.00,0.000,6,0.000,0.059,2639,2150,3305
$STATE,17891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17891,begin apogee
$GC,17897,-0.23,0.0,990.4,4.3,592,18003,0.62,0.00,103.22,1.505,6,0.074,0.000,2746,2205,2837
$STATE,18003,end apogee,CONTROL_FINISHED_OK
$STATE,18004,begin climb
$GC,18006,0.67,117.3,991.4,0.0,593,18143,1.17,2.70,117.90,1.426,4,0.048,0.084,2946,3592,2358
$GC,18172,0.38,117.3,986.4,7.5,596,18178,0.40,2.45,0.00,0.000,6,0.090,0.056,2886,2211,2359
$GC,18498,0.38,119.3,967.9,5.4,602,18503,0.00,2.50,0.00,0.000,4,0.000,0.098,2886,786,2358
$GC,18576,0.38,119.3,963.2,6.4,603,18580,0.00,2.22,0.00,0.000,6,0.000,0.061,2886,2154,2359
$GC,18930,0.39,125.2,944.5,5.3,609,18941,0.00,0.00,9.23,1.295,6,0.000,0.000,2886,2154,2326
$GC,19233,0.39,125.2,927.4,5.6,614,19237,0.00,2.38,0.00,0.000,4,0.000,0.091,2886,785,2326
$GC,19260,0.39,125.2,925.7,7.4,614,19264,0.00,2.17,0.00,0.000,6,0.000,0.058,2886,2137,2326
$GC,19598,0.39,125.2,906.7,5.6,620,19602,0.00,2.50,0.00,0.000,4,0.000,0.083,2886,3605,2326
$GC,19641,0.39,125.2,903.9,6.9,620,19645,0.00,2.40,0.00,0.000,6,0.000,0.055,2886,2124,2326
$GC,19962,0.39,130.0,886.5,5.3,626,19970,0.00,0.00,6.35,1.176,6,0.000,0.000,2886,2123,2306
$GC,20332,0.40,131.4,866.6,5.5,632,20336,0.00,2.30,0.00,0.000,4,0.000,0.090,2886,778,2306
$GC,20376,0.40,131.4,864.1,6.3,632,20380,0.00,2.15,0.00,0.000,6,0.000,0.055,2886,2099,2306
$GC,20697,0.41,142.8,847.4,5.1,638,20712,0.00,0.00,13.35,1.348,6,0.000,0.000,2886,2100,2254
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$STATE,34530,end climb,SURFACE_DEPTH_REACHED
$STATE,34530,begin surface coast
$FINISH,0.9,1.003537
$STATE,34575,end surface coast,CONTROL_FINISHED_OK
$STATE,34575,begin surface
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$DEVICE_SECS,28.750,257.125,370.025,38.625,0.000,57.374,48.593,227.661,9.500,0.000,0.000,35.925,2345.763,28627.566,627.295,2841.881,729.270,33.385,2055.593,0.000,2771.508,0.000,60.887
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$DATA_FILE_SIZE,59942,1183
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