version: 66.03
glider: 119
mission: 5
dive: 239
start: 11 25 108 22 30 55
data:
$ID,119
$MISSION,5
$DIVE,239
$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,-214177.92
$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,42
$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
$GPS1,222328,4702.186,-12545.866,27,2.2,46,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.2
$GPS2,223003,4702.252,-12545.887,13,1.3,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186,-0.059
$KALMAN_X,-22057.5,81.7,5.3,-38509.3,687.8
$KALMAN_Y,283152.4,285.6,431.2,-276992.7,1984.4
$MHEAD_RNG_PITCHd_Wd,233.8,169444,-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,-51.70,0.000,2,0.000,0.000,859,2231,2541
$GC,77,-0.67,-117.3,3.2,-4.0,5,119,12.23,2.35,-22.40,0.000,4,0.141,0.072,2647,3588,3317
$GC,175,-0.44,-117.3,14.4,-12.2,14,182,0.32,2.25,0.00,0.000,6,0.077,0.037,2701,2162,3317
$GC,502,-0.44,-117.3,37.7,-7.3,45,506,0.00,2.17,0.00,0.000,4,0.000,0.056,2701,801,3317
$GC,530,-0.44,-117.3,39.9,-7.9,47,534,0.00,2.12,0.00,0.000,6,0.000,0.038,2702,2174,3317
$GC,873,-0.51,-117.3,64.6,-6.2,107,879,0.00,2.20,0.00,0.000,4,0.000,0.053,2701,789,3317
$GC,947,-0.62,-117.3,69.4,-6.3,120,954,0.20,1.98,0.00,0.000,6,0.046,0.038,2656,2087,3317
$GC,1282,-0.68,-117.3,94.0,-7.5,164,1286,0.00,2.05,0.00,0.000,4,0.000,0.054,2656,796,3317
$GC,1327,-0.68,-117.3,97.4,-7.4,168,1331,0.00,2.65,0.00,0.000,6,0.000,0.041,2656,2495,3318
$GC,1655,-0.61,-117.3,120.4,-7.1,198,1660,0.00,2.80,0.00,0.000,4,0.000,0.055,2656,795,3318
$GC,1695,-0.61,-117.3,123.5,-7.2,201,1699,0.00,2.62,0.00,0.000,6,0.000,0.042,2656,2475,3318
$GC,2021,-0.61,-117.3,145.5,-6.8,231,2026,0.00,2.78,0.00,0.000,4,0.000,0.056,2656,795,3318
$GC,2106,-0.61,-117.3,151.4,-6.7,238,2110,0.00,2.53,0.00,0.000,6,0.000,0.044,2656,2407,3317
$GC,2432,-0.61,-117.3,172.6,-6.5,254,2436,0.00,2.60,0.00,0.000,4,0.000,0.057,2656,790,3318
$GC,2493,-0.61,-117.3,176.7,-6.6,257,2498,0.00,2.42,0.00,0.000,6,0.000,0.043,2656,2345,3317
$GC,2820,-0.61,-117.3,196.2,-5.9,273,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2345,3318
$GC,3129,-0.61,-117.3,215.3,-6.3,288,3134,0.00,2.50,0.00,0.000,4,0.000,0.058,2656,796,3318
$GC,3194,-0.66,-117.3,219.4,-6.6,291,3198,0.00,2.38,0.00,0.000,6,0.000,0.044,2656,2315,3318
$GC,3520,-0.66,-117.3,240.1,-5.8,307,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2315,3317
$GC,3830,-0.66,-117.3,258.6,-6.0,322,3834,0.00,2.47,0.00,0.000,4,0.000,0.060,2656,792,3318
$GC,3897,-0.72,-117.3,262.9,-6.4,325,3901,0.00,2.33,0.00,0.000,6,0.000,0.044,2656,2283,3317
$GC,4218,-0.72,-117.3,279.8,-5.0,341,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2284,3317
$GC,4528,-0.72,-117.3,295.4,-4.9,356,4531,0.00,2.42,0.00,0.000,4,0.000,0.062,2656,796,3317
$GC,4561,-0.76,-117.3,297.1,-5.1,357,4565,0.12,2.30,0.00,0.000,6,0.061,0.044,2628,2271,3316
$GC,4916,-0.67,-117.3,320.2,-6.7,365,4921,0.15,2.42,0.00,0.000,4,0.084,0.062,2654,794,3316
$GC,4971,-0.67,-117.3,323.7,-6.4,365,4977,0.00,2.22,0.00,0.000,6,0.000,0.043,2653,2221,3316
$GC,5280,-0.67,-117.3,341.6,-5.8,371,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2221,3316
$GC,5583,-0.67,-117.3,358.9,-5.7,376,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2221,3315
$GC,5888,-0.67,-117.3,376.3,-5.7,381,5892,0.00,2.33,0.00,0.000,4,0.000,0.064,2654,802,3315
$GC,5910,-0.67,-117.3,377.8,-6.1,381,5914,0.00,2.20,0.00,0.000,6,0.000,0.043,2654,2214,3315
$GC,6253,-0.67,-117.3,395.9,-5.2,387,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2214,3314
$GC,6557,-0.67,-117.3,410.4,-4.8,392,6561,0.00,2.33,0.00,0.000,4,0.000,0.066,2653,805,3314
$GC,6579,-0.67,-117.3,411.6,-4.7,392,6583,0.00,2.22,0.00,0.000,6,0.000,0.044,2653,2224,3314
$GC,6923,-0.67,-117.3,428.7,-5.0,398,6927,0.00,2.35,0.00,0.000,4,0.000,0.066,2654,799,3313
$GC,6956,-0.72,-117.3,430.6,-5.2,398,6960,0.00,2.17,0.00,0.000,6,0.000,0.044,2653,2194,3313
$GC,7282,-0.76,-117.3,448.0,-5.3,404,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2194,3313
$GC,7585,-0.80,-117.3,464.8,-5.6,409,7587,0.15,0.00,0.00,0.000,6,0.059,0.000,2621,2194,3313
$GC,7889,-0.70,-117.3,486.2,-7.2,414,7891,0.12,0.00,0.00,0.000,6,0.090,0.000,2643,2194,3312
$GC,8190,-0.70,-117.3,504.0,-5.8,419,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2194,3312
$GC,8493,-0.70,-117.3,521.4,-5.8,424,8498,0.00,2.33,0.00,0.000,4,0.000,0.072,2643,803,3312
$GC,8521,-0.70,-117.3,523.2,-6.5,424,8524,0.00,2.15,0.00,0.000,6,0.000,0.047,2643,2168,3312
$GC,8858,-0.70,-117.3,542.9,-5.9,430,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2168,3312
$GC,9161,-0.70,-117.3,560.5,-5.7,435,9165,0.00,2.42,0.00,0.000,4,0.000,0.071,2643,3605,3311
$GC,9181,-0.70,-117.3,561.8,-6.2,435,9186,0.00,2.28,0.00,0.000,6,0.000,0.044,2643,2184,3310
$GC,9525,-0.70,-117.3,580.4,-5.5,441,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2183,3310
$GC,9828,-0.70,-117.3,596.5,-5.3,446,9832,0.00,2.35,0.00,0.000,4,0.000,0.076,2643,791,3310
$GC,9854,-0.70,-117.3,598.1,-5.8,446,9858,0.00,2.20,0.00,0.000,6,0.000,0.048,2643,2167,3310
$GC,10192,-0.70,-117.3,617.2,-5.7,452,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3310
$GC,10495,-0.70,-117.3,634.3,-5.6,457,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3310
$GC,10799,-0.70,-117.3,650.1,-5.2,462,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3310
$GC,11101,-0.70,-117.3,665.0,-4.9,467,11105,0.00,2.42,0.00,0.000,4,0.000,0.072,2643,3604,3309
$GC,11129,-0.70,-117.3,666.4,-5.2,467,11133,0.00,2.30,0.00,0.000,6,0.000,0.045,2643,2151,3309
$GC,11460,-0.70,-117.3,682.4,-4.8,473,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2150,3309
$GC,11763,-0.70,-117.3,696.4,-4.6,478,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2149,3309
$GC,12066,-0.70,-117.3,710.6,-4.7,483,12070,0.00,2.50,0.00,0.000,4,0.000,0.073,2643,3606,3309
$GC,12087,-0.70,-117.3,711.7,-4.9,483,12091,0.00,2.25,0.00,0.000,6,0.000,0.044,2643,2185,3308
$GC,12424,-0.70,-117.3,728.0,-4.9,489,12428,0.00,2.35,0.00,0.000,4,0.000,0.079,2643,797,3308
$GC,12451,-0.70,-117.3,729.4,-5.0,489,12455,0.00,2.17,0.00,0.000,6,0.000,0.049,2643,2171,3308
$GC,12789,-0.70,-117.3,745.5,-4.8,495,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2172,3308
$GC,13091,-0.70,-117.3,759.3,-4.5,500,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2172,3308
$GC,13394,-0.70,-117.3,772.9,-4.4,505,13398,0.00,2.33,0.00,0.000,4,0.000,0.077,2643,795,3308
$GC,13428,-0.75,-117.3,774.4,-4.7,505,13431,0.00,2.17,0.00,0.000,6,0.000,0.050,2643,2158,3307
$GC,13759,-0.75,-117.3,789.3,-4.5,511,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2158,3307
$GC,14062,-0.75,-117.3,804.5,-5.0,516,14066,0.00,2.45,0.00,0.000,4,0.000,0.078,2642,3597,3307
$GC,14077,-0.75,-117.3,805.4,-5.2,516,14082,0.00,2.30,0.00,0.000,6,0.000,0.046,2643,2147,3306
$GC,14426,-0.80,-117.3,824.6,-5.7,522,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2148,3306
$GC,14729,-0.84,-117.3,841.7,-5.6,527,14731,0.15,0.00,0.00,0.000,6,0.061,0.000,2610,2147,3306
$GC,15034,-0.74,-117.3,862.7,-7.0,532,15036,0.15,0.00,0.00,0.000,6,0.087,0.000,2636,2147,3306
$GC,15336,-0.74,-117.3,879.3,-5.4,537,15337,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2147,3305
$GC,15638,-0.74,-117.3,894.2,-4.9,542,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2147,3306
$GC,15941,-0.74,-117.3,907.9,-4.4,547,15946,0.00,2.55,0.00,0.000,4,0.000,0.080,2636,3601,3305
$GC,15957,-0.74,-117.3,908.6,-4.2,547,15961,0.00,2.33,0.00,0.000,6,0.000,0.046,2636,2148,3305
$GC,16306,-0.74,-117.3,923.7,-4.4,553,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2149,3305
$GC,16609,-0.74,-117.3,937.8,-4.6,558,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2148,3305
$GC,16913,-0.74,-117.3,951.2,-4.4,563,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2148,3305
$GC,17215,-0.74,-117.3,965.7,-4.8,568,17216,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2148,3305
$GC,17519,-0.74,-117.3,981.2,-5.1,573,17520,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2148,3305
$STATE,17699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17699,begin apogee
$GC,17705,-0.23,0.0,990.0,4.9,576,17812,0.65,0.00,103.62,1.499,6,0.073,0.000,2747,2206,2837
$STATE,17812,end apogee,CONTROL_FINISHED_OK
$STATE,17812,begin climb
$GC,17814,0.67,117.3,991.2,0.0,577,17938,1.12,2.70,114.45,1.453,4,0.044,0.082,2943,3592,2358
$GC,17965,0.35,117.3,986.6,8.9,579,17971,0.43,2.47,0.00,0.000,6,0.088,0.054,2880,2208,2358
$GC,18302,0.35,117.3,966.4,5.9,585,18306,0.00,2.50,0.00,0.000,4,0.000,0.093,2879,785,2358
$GC,18357,0.35,117.3,962.9,6.6,585,18363,0.00,2.28,0.00,0.000,6,0.000,0.055,2880,2182,2358
$GC,18666,0.35,117.3,943.6,6.3,591,18667,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2182,2358
$GC,18969,0.35,117.3,923.7,6.5,596,18973,0.00,2.40,0.00,0.000,4,0.000,0.087,2879,788,2358
$GC,19023,0.35,117.3,919.9,5.7,596,19029,0.00,2.22,0.00,0.000,6,0.000,0.055,2880,2153,2358
$GC,19333,0.35,117.3,900.9,6.2,602,19337,0.00,2.47,0.00,0.000,4,0.000,0.080,2879,3600,2358
$GC,19366,0.35,117.3,898.7,5.7,602,19370,0.00,2.35,0.00,0.000,6,0.000,0.051,2880,2142,2358
$GC,19691,0.36,121.2,880.8,5.4,608,19701,0.00,2.30,5.40,1.101,4,0.000,0.086,2879,783,2341
$GC,19729,0.39,145.9,878.7,4.7,608,19758,0.00,2.17,24.05,1.402,6,0.000,0.052,2880,2147,2242
$GC,20120,0.41,165.5,859.5,4.9,615,20141,0.00,0.00,19.70,1.378,6,0.000,0.000,2879,2147,2163
$GC,20423,0.47,165.5,842.8,5.5,620,20425,0.12,0.00,0.00,0.000,6,0.066,0.000,2906,2147,2162
$GC,20725,0.47,165.5,823.3,6.5,625,20726,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2147,2163
$GC,21029,0.47,165.5,804.1,6.3,630,21033,0.00,2.33,0.00,0.000,4,0.000,0.084,2906,781,2163
$GC,21062,0.41,165.5,801.8,7.1,630,21065,0.00,2.15,0.00,0.000,6,0.000,0.051,2906,2133,2162
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$STATE,32662,end climb,SURFACE_DEPTH_REACHED
$STATE,32662,begin surface coast
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$STATE,32688,end surface coast,CONTROL_FINISHED_OK
$STATE,32688,begin surface
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