version: 66.03
glider: 119
mission: 5
dive: 289
start: 12 15 108 9 27 33
data:
$ID,119
$MISSION,5
$DIVE,289
$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,-215121.02
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,091732,4733.040,-12711.061,40,1.3,41,18.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.7
$GPS2,092642,4733.050,-12710.975,14,1.8,23,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,-0.008
$KALMAN_X,-26219.7,215.5,-54.5,-141940.8,-2109.3
$KALMAN_Y,328815.4,-918.1,1.8,-263976.8,3136.8
$MHEAD_RNG_PITCHd_Wd,73.6,130648,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,75,0.00,0.00,-51.50,0.000,2,0.000,0.000,861,2167,2475
$GC,78,-0.67,-117.3,3.1,-3.2,5,121,12.15,0.00,-25.88,0.000,6,0.140,0.000,2647,2168,3318
$GC,440,-0.45,-117.3,39.4,-10.1,39,442,0.30,0.00,0.00,0.000,6,0.083,0.000,2698,2168,3318
$GC,777,-0.50,-117.3,61.1,-5.0,98,783,0.00,2.42,0.00,0.000,4,0.000,0.065,2697,3605,3318
$GC,808,-0.57,-117.3,62.4,-4.4,103,815,0.12,2.22,0.00,0.000,6,0.058,0.042,2669,2188,3318
$GC,1152,-0.57,-117.3,82.3,-5.3,160,1156,0.00,2.33,0.00,0.000,4,0.000,0.063,2669,799,3318
$GC,1224,-0.57,-117.3,86.2,-5.2,166,1230,0.00,2.05,0.00,0.000,6,0.000,0.044,2669,2098,3317
$GC,1552,-0.57,-117.3,104.1,-6.6,197,1557,0.00,2.55,0.00,0.000,4,0.000,0.066,2669,3597,3318
$GC,1615,-0.61,-117.3,108.8,-7.5,202,1619,0.00,2.33,0.00,0.000,6,0.000,0.042,2669,2137,3318
$GC,1941,-0.61,-117.3,128.6,-5.7,232,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2134,3318
$GC,2259,-0.66,-117.3,145.5,-5.6,262,2263,0.00,2.53,0.00,0.000,4,0.000,0.067,2669,3601,3318
$GC,2292,-0.71,-117.3,147.6,-5.9,264,2299,0.12,2.33,0.00,0.000,6,0.061,0.043,2640,2132,3317
$GC,2620,-0.63,-117.3,169.6,-6.8,282,2622,0.12,0.00,0.00,0.000,6,0.091,0.000,2662,2131,3317
$GC,2929,-0.63,-117.3,186.5,-5.4,297,2933,0.00,2.53,0.00,0.000,4,0.000,0.066,2661,3599,3318
$GC,2961,-0.63,-117.3,188.6,-6.1,298,2967,0.00,2.28,0.00,0.000,6,0.000,0.044,2662,2182,3318
$GC,3277,-0.63,-117.3,206.8,-6.1,314,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2176,3317
$GC,3587,-0.63,-117.3,225.9,-6.2,329,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2176,3317
$GC,3895,-0.63,-117.3,243.2,-5.4,344,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2176,3318
$GC,4205,-0.63,-117.3,259.9,-5.4,359,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2176,3318
$GC,4515,-0.68,-117.3,276.4,-5.3,374,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2176,3317
$GC,4824,-0.73,-117.3,292.1,-4.8,389,4828,0.00,2.40,0.00,0.000,4,0.000,0.069,2662,3598,3317
$GC,4857,-0.77,-117.3,294.0,-5.5,390,4863,0.17,2.20,0.00,0.000,6,0.054,0.045,2625,2203,3317
$GC,5209,-0.65,-117.3,317.1,-6.7,400,5213,0.15,2.38,0.00,0.000,4,0.088,0.069,2654,799,3317
$GC,5258,-0.65,-117.3,320.1,-5.9,400,5262,0.00,2.20,0.00,0.000,6,0.000,0.046,2654,2193,3317
$GC,5567,-0.65,-117.3,335.8,-5.1,405,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3317
$GC,5871,-0.65,-117.3,352.1,-5.4,410,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3316
$GC,6173,-0.65,-117.3,368.6,-5.4,415,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3316
$GC,6477,-0.65,-117.3,385.0,-5.5,420,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3316
$GC,6780,-0.65,-117.3,402.4,-5.7,425,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3316
$GC,7082,-0.65,-117.3,419.6,-5.7,430,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3315
$GC,7385,-0.65,-117.3,436.8,-5.7,435,7389,0.00,2.33,0.00,0.000,4,0.000,0.072,2654,795,3316
$GC,7419,-0.70,-117.3,438.9,-6.0,435,7423,0.00,2.15,0.00,0.000,6,0.000,0.048,2654,2165,3315
$GC,7752,-0.70,-117.3,457.1,-5.5,441,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2165,3315
$GC,8053,-0.70,-117.3,473.5,-5.4,446,8058,0.00,2.42,0.00,0.000,4,0.000,0.071,2653,3596,3315
$GC,8086,-0.70,-117.3,475.4,-5.2,446,8090,0.00,2.28,0.00,0.000,6,0.000,0.046,2654,2165,3314
$GC,8413,-0.70,-117.3,492.8,-5.3,452,8417,0.00,2.33,0.00,0.000,4,0.000,0.076,2654,796,3314
$GC,8445,-0.76,-117.3,494.8,-5.9,452,8449,0.00,2.17,0.00,0.000,6,0.000,0.049,2654,2173,3314
$GC,8772,-0.81,-117.3,513.0,-5.6,458,8777,0.15,2.42,0.00,0.000,4,0.061,0.071,2617,3597,3314
$GC,8816,-0.67,-117.3,516.2,-7.6,458,8821,0.20,2.25,0.00,0.000,6,0.081,0.048,2651,2180,3314
$GC,9132,-0.67,-117.3,534.0,-5.6,464,9136,0.00,2.33,0.00,0.000,4,0.000,0.080,2651,804,3314
$GC,9172,-0.73,-117.3,536.3,-5.8,464,9176,0.00,2.12,0.00,0.000,6,0.000,0.050,2651,2150,3314
$GC,9495,-0.73,-117.3,552.4,-5.0,470,9499,0.00,2.45,0.00,0.000,4,0.000,0.073,2650,3605,3313
$GC,9527,-0.73,-117.3,554.3,-5.4,470,9531,0.00,2.30,0.00,0.000,6,0.000,0.048,2651,2148,3313
$GC,9859,-0.73,-117.3,569.7,-4.6,476,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2147,3313
$GC,10162,-0.73,-117.3,583.5,-4.5,481,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2146,3313
$GC,10466,-0.73,-117.3,596.8,-4.4,486,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2145,3312
$GC,10768,-0.73,-117.3,609.8,-4.3,491,10773,0.00,2.53,0.00,0.000,4,0.000,0.074,2651,3608,3312
$GC,10807,-0.73,-117.3,611.6,-4.4,491,10811,0.00,2.33,0.00,0.000,6,0.000,0.048,2651,2161,3312
$GC,11128,-0.87,-117.3,629.3,-5.9,497,11132,0.20,2.50,0.00,0.000,4,0.054,0.073,2604,3602,3312
$GC,11263,-0.69,-117.3,639.7,-8.3,499,11268,0.25,1.90,0.00,0.000,6,0.082,0.048,2646,2411,3312
$GC,11623,-0.69,-117.3,661.0,-5.9,505,11628,0.00,2.72,0.00,0.000,4,0.000,0.080,2646,799,3311
$GC,11718,-0.74,-117.3,667.0,-6.5,506,11722,0.00,2.45,0.00,0.000,6,0.000,0.054,2645,2320,3311
$GC,12050,-0.74,-117.3,687.0,-6.1,512,12054,0.00,2.58,0.00,0.000,4,0.000,0.077,2646,801,3311
$GC,12094,-0.79,-117.3,689.9,-7.0,512,12098,0.00,2.38,0.00,0.000,6,0.000,0.054,2646,2282,3311
$GC,12408,-0.79,-117.3,708.6,-6.0,518,12409,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2283,3311
$GC,12714,-0.79,-117.3,725.2,-5.4,523,12718,0.00,2.53,0.00,0.000,4,0.000,0.079,2646,796,3311
$GC,12764,-0.84,-117.3,728.0,-5.2,523,12769,0.17,2.35,0.00,0.000,6,0.054,0.055,2610,2258,3311
$GC,13074,-0.71,-117.3,747.2,-6.3,528,13078,0.15,2.47,0.00,0.000,4,0.090,0.079,2638,799,3311
$GC,13112,-0.71,-117.3,749.3,-5.0,528,13116,0.00,2.28,0.00,0.000,6,0.000,0.054,2638,2217,3311
$GC,13432,-0.71,-117.3,764.1,-4.7,534,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2217,3311
$GC,13737,-0.71,-117.3,778.6,-4.8,539,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2217,3311
$GC,14038,-0.71,-117.3,793.6,-5.0,544,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2217,3310
$GC,14341,-0.71,-117.3,809.4,-5.3,549,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2217,3310
$GC,14645,-0.71,-117.3,826.1,-5.5,554,14649,0.00,2.42,0.00,0.000,4,0.000,0.082,2638,802,3309
$GC,14672,-0.71,-117.3,827.6,-5.3,554,14676,0.00,2.25,0.00,0.000,6,0.000,0.055,2638,2198,3309
$GC,15003,-0.71,-117.3,845.1,-5.2,560,15007,0.00,2.40,0.00,0.000,4,0.000,0.083,2638,3606,3309
$GC,15030,-0.71,-117.3,846.7,-5.5,560,15035,0.00,2.28,0.00,0.000,6,0.000,0.051,2638,2201,3309
$GC,15368,-0.71,-117.3,863.4,-4.9,566,15373,0.00,2.42,0.00,0.000,4,0.000,0.087,2638,799,3309
$GC,15407,-0.71,-117.3,865.6,-6.1,566,15411,0.00,2.25,0.00,0.000,6,0.000,0.055,2638,2198,3309
$GC,15729,-0.71,-117.3,881.3,-4.9,572,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3309
$GC,16030,-0.71,-117.3,897.1,-5.3,577,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3309
$GC,16333,-0.71,-117.3,913.6,-5.5,582,16337,0.00,2.42,0.00,0.000,4,0.000,0.086,2638,795,3309
$GC,16372,-0.75,-117.3,916.0,-6.2,582,16376,0.00,2.22,0.00,0.000,6,0.000,0.057,2638,2170,3309
$GC,16697,-0.75,-117.3,934.6,-5.8,588,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2170,3309
$GC,17003,-0.75,-117.3,952.4,-5.9,593,17004,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2170,3308
$GC,17303,-0.75,-117.3,969.4,-5.5,598,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2170,3308
$GC,17607,-0.75,-117.3,985.2,-5.2,603,17608,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2170,3308
$STATE,17725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17725,begin apogee
$GC,17731,-0.23,0.0,991.4,5.1,605,17838,0.65,0.00,104.62,1.509,6,0.074,0.000,2749,2170,2837
$STATE,17839,end apogee,CONTROL_FINISHED_OK
$STATE,17839,begin climb
$GC,17842,0.67,117.3,993.0,0.0,606,17964,1.12,0.00,115.28,1.473,6,0.045,0.000,2945,2170,2357
$GC,18269,0.44,117.3,967.6,8.1,613,18274,0.25,2.50,0.00,0.000,4,0.092,0.086,2901,3601,2358
$GC,18336,0.36,127.7,962.6,5.2,614,18361,0.12,2.30,13.62,1.165,6,0.101,0.058,2882,2201,2315
$GC,18698,0.36,127.7,941.9,5.6,620,18702,0.00,2.45,0.00,0.000,4,0.000,0.096,2881,783,2315
$GC,18742,0.36,127.7,939.2,5.6,620,18746,0.00,2.28,0.00,0.000,6,0.000,0.059,2882,2182,2315
$GC,19063,0.36,127.7,920.8,5.7,626,19067,0.00,2.40,0.00,0.000,4,0.000,0.091,2881,792,2315
$GC,19096,0.36,127.7,918.9,7.3,626,19100,0.00,2.20,0.00,0.000,6,0.000,0.059,2881,2152,2315
$GC,19428,0.36,127.7,900.2,5.5,632,19429,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2152,2315
$GC,19731,0.37,131.1,883.9,5.4,637,19737,0.00,0.00,4.62,1.027,6,0.000,0.000,2882,2153,2302
$GC,20035,0.38,137.8,868.0,5.3,642,20049,0.00,2.38,7.97,1.256,4,0.000,0.089,2882,797,2275
$GC,20078,0.38,139.6,865.5,5.4,642,20081,0.00,2.20,0.00,0.000,6,0.000,0.058,2882,2155,2275
$GC,20404,0.42,141.4,847.8,5.4,648,20411,0.00,0.00,5.32,1.097,6,0.000,0.000,2882,2155,2260
$GC,20708,0.46,142.0,831.2,5.5,653,20712,0.00,2.35,0.00,0.000,4,0.000,0.087,2881,783,2261
$GC,20742,0.47,150.2,829.2,5.2,653,20757,0.10,2.17,9.75,1.285,6,0.070,0.056,2903,2138,2224
$GC,21066,0.47,150.2,809.1,6.3,659,21067,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,2224
$GC,21369,0.47,150.2,789.9,6.3,664,21370,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,2224
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$STATE,33826,end climb,SURFACE_DEPTH_REACHED
$STATE,33826,begin surface coast
$FINISH,1.2,1.025136
$STATE,33838,end surface coast,CONTROL_FINISHED_OK
$STATE,33838,begin surface
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$DEVICE_SECS,29.525,219.750,351.000,49.200,0.000,50.994,53.633,231.139,10.000,0.000,0.000,24.559,2319.752,28013.342,585.321,2762.872,763.234,33.378,1957.937,0.000,2714.122,0.000,56.633
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