version: 66.03
glider: 119
mission: 5
dive: 328
start: 12 27 108 20 46 9
data:
$ID,119
$MISSION,5
$DIVE,328
$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,-215772.97
$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,20
$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
$GPS1,203926,4759.529,-12617.722,40,1.6,40,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.4
$GPS2,204515,4759.558,-12617.706,10,1.6,10,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,-0.168
$KALMAN_X,-68509.0,-666.8,-589.5,-30905.5,-580.7
$KALMAN_Y,422633.4,362.0,669.2,-310650.0,2529.3
$MHEAD_RNG_PITCHd_Wd,191.5,169882,-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,-51.67,0.000,2,0.000,0.000,862,2213,2482
$GC,78,-0.67,-117.3,3.2,-3.0,5,126,12.27,2.40,-29.67,0.000,4,0.143,0.079,2648,3595,3316
$GC,201,-0.47,-117.3,13.9,-12.0,15,208,0.28,2.28,0.00,0.000,6,0.083,0.042,2693,2180,3317
$GC,529,-0.47,-117.3,38.0,-7.4,46,533,0.00,2.33,0.00,0.000,4,0.000,0.063,2693,799,3316
$GC,580,-0.47,-117.3,41.9,-7.4,52,587,0.00,2.15,0.00,0.000,6,0.000,0.044,2693,2181,3316
$GC,926,-0.52,-117.3,67.1,-6.6,113,932,0.00,2.40,0.00,0.000,4,0.000,0.068,2693,3607,3316
$GC,950,-0.59,-117.3,68.7,-6.2,117,956,0.00,2.33,0.00,0.000,6,0.000,0.042,2693,2146,3316
$GC,1293,-0.87,-117.3,88.5,-6.5,167,1298,0.43,2.22,0.00,0.000,4,0.042,0.061,2603,797,3316
$GC,1338,-0.62,-117.3,92.6,-9.5,170,1345,0.35,1.98,0.00,0.000,6,0.079,0.043,2663,2084,3316
$GC,1663,-0.62,-117.3,116.7,-6.3,201,1667,0.00,2.55,0.00,0.000,4,0.000,0.067,2663,3604,3316
$GC,1703,-0.62,-117.3,119.3,-6.4,204,1707,0.00,2.42,0.00,0.000,6,0.000,0.044,2663,2077,3316
$GC,2028,-0.62,-117.3,137.0,-5.3,234,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2076,3316
$GC,2355,-0.62,-117.3,154.7,-5.6,261,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2077,3316
$GC,2664,-0.62,-117.3,170.8,-5.4,276,2668,0.00,2.60,0.00,0.000,4,0.000,0.066,2663,3609,3316
$GC,2709,-0.62,-117.3,173.7,-6.4,278,2713,0.00,2.42,0.00,0.000,6,0.000,0.044,2663,2089,3316
$GC,3031,-0.62,-117.3,191.6,-5.5,294,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2089,3317
$GC,3340,-0.62,-117.3,210.7,-6.3,309,3344,0.00,2.60,0.00,0.000,4,0.000,0.066,2663,3604,3316
$GC,3384,-0.62,-117.3,213.7,-7.0,311,3388,0.00,2.42,0.00,0.000,6,0.000,0.044,2663,2101,3316
$GC,3704,-0.62,-117.3,234.1,-6.3,327,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2101,3316
$GC,4014,-0.62,-117.3,252.3,-5.6,342,4018,0.00,2.55,0.00,0.000,4,0.000,0.066,2663,3598,3316
$GC,4054,-0.62,-117.3,254.6,-6.0,344,4058,0.00,2.35,0.00,0.000,6,0.000,0.045,2663,2130,3316
$GC,4386,-0.62,-117.3,272.4,-5.7,360,4390,0.00,2.47,0.00,0.000,4,0.000,0.067,2663,3602,3316
$GC,4413,-0.62,-117.3,274.0,-6.0,361,4417,0.00,2.30,0.00,0.000,6,0.000,0.044,2664,2159,3316
$GC,4735,-0.62,-117.3,293.0,-5.8,377,4739,0.00,2.25,0.00,0.000,4,0.000,0.067,2663,804,3316
$GC,4762,-0.67,-117.3,294.7,-5.9,378,4766,0.00,2.10,0.00,0.000,6,0.000,0.044,2663,2155,3316
$GC,5114,-0.67,-117.3,314.6,-5.6,387,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2155,3316
$GC,5417,-0.67,-117.3,331.5,-5.5,392,5421,0.00,2.42,0.00,0.000,4,0.000,0.068,2663,3597,3316
$GC,5438,-0.67,-117.3,332.7,-5.6,392,5442,0.00,2.30,0.00,0.000,6,0.000,0.044,2663,2148,3316
$GC,5775,-0.67,-117.3,349.6,-4.9,398,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2143,3316
$GC,6078,-0.67,-117.3,364.4,-4.8,403,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2143,3316
$GC,6382,-0.71,-117.3,380.6,-5.4,408,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2142,3316
$GC,6684,-0.76,-117.3,397.8,-5.8,413,6686,0.15,0.00,0.00,0.000,6,0.058,0.000,2630,2142,3316
$GC,6987,-0.66,-117.3,417.6,-6.6,418,6989,0.15,0.00,0.00,0.000,6,0.088,0.000,2656,2142,3315
$GC,7291,-0.66,-117.3,431.9,-4.7,423,7295,0.00,2.50,0.00,0.000,4,0.000,0.071,2655,3601,3315
$GC,7313,-0.66,-117.3,433.1,-5.1,423,7317,0.00,2.33,0.00,0.000,6,0.000,0.045,2656,2162,3315
$GC,7650,-0.66,-117.3,450.0,-5.0,429,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2162,3315
$GC,7952,-0.66,-117.3,467.5,-5.9,434,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2162,3315
$GC,8256,-0.66,-117.3,485.9,-6.0,439,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2162,3314
$GC,8560,-0.66,-117.3,502.5,-5.5,444,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2163,3314
$GC,8862,-0.66,-117.3,517.4,-4.9,449,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2162,3314
$GC,9165,-0.66,-117.3,531.7,-4.7,454,9169,0.00,2.35,0.00,0.000,4,0.000,0.074,2656,795,3314
$GC,9209,-0.72,-117.3,534.0,-5.6,454,9213,0.00,2.17,0.00,0.000,6,0.000,0.048,2656,2174,3314
$GC,9524,-0.72,-117.3,549.3,-5.0,460,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2174,3313
$GC,9827,-0.72,-117.3,564.8,-5.2,465,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2174,3313
$GC,10130,-0.72,-117.3,580.3,-5.1,470,10134,0.00,2.30,0.00,0.000,4,0.000,0.073,2655,798,3313
$GC,10158,-0.77,-117.3,581.7,-5.5,470,10162,0.12,2.15,0.00,0.000,6,0.061,0.049,2628,2158,3313
$GC,10490,-0.69,-117.3,600.6,-5.6,476,10495,0.12,2.45,0.00,0.000,4,0.091,0.073,2649,3610,3312
$GC,10522,-0.69,-117.3,602.6,-6.2,476,10526,0.00,2.30,0.00,0.000,6,0.000,0.048,2649,2169,3312
$GC,10855,-0.69,-117.3,620.0,-5.4,482,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2168,3312
$GC,11157,-0.69,-117.3,635.8,-5.2,487,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2168,3312
$GC,11461,-0.69,-117.3,652.2,-5.5,492,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2167,3312
$GC,11763,-0.69,-117.3,669.6,-5.8,497,11767,0.00,2.33,0.00,0.000,4,0.000,0.077,2648,801,3312
$GC,11790,-0.69,-117.3,671.3,-7.0,497,11794,0.00,2.15,0.00,0.000,6,0.000,0.050,2649,2157,3312
$GC,12122,-0.69,-117.3,690.7,-5.9,503,12126,0.00,2.28,0.00,0.000,4,0.000,0.075,2649,800,3312
$GC,12148,-0.69,-117.3,692.3,-6.0,503,12152,0.00,2.12,0.00,0.000,6,0.000,0.050,2649,2138,3312
$GC,12486,-0.69,-117.3,709.5,-5.0,509,12488,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3311
$GC,12790,-0.69,-117.3,724.4,-4.9,514,12794,0.00,2.25,0.00,0.000,4,0.000,0.076,2649,800,3311
$GC,12817,-0.69,-117.3,725.7,-5.0,514,12821,0.00,2.10,0.00,0.000,6,0.000,0.051,2649,2124,3311
$GC,13148,-0.69,-117.3,744.0,-5.6,520,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2124,3311
$GC,13452,-0.69,-117.3,762.0,-5.9,525,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2124,3311
$GC,13756,-0.69,-117.3,780.7,-6.1,530,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2124,3311
$GC,14057,-0.69,-117.3,798.2,-5.7,535,14059,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2124,3311
$GC,14361,-0.69,-117.3,813.3,-4.9,540,14365,0.00,2.53,0.00,0.000,4,0.000,0.080,2648,3608,3311
$GC,14388,-0.69,-117.3,814.7,-5.4,540,14392,0.00,2.38,0.00,0.000,6,0.000,0.050,2649,2128,3310
$GC,14720,-0.69,-117.3,830.3,-4.7,546,14721,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2128,3310
$GC,15023,-0.69,-117.3,846.1,-5.2,551,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2128,3310
$GC,15326,-0.69,-117.3,862.2,-5.4,556,15330,0.00,2.28,0.00,0.000,4,0.000,0.082,2649,802,3309
$GC,15354,-0.74,-117.3,863.8,-5.6,556,15358,0.00,2.15,0.00,0.000,6,0.000,0.051,2649,2152,3309
$GC,15687,-0.78,-117.3,881.1,-5.2,562,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2152,3309
$GC,15990,-0.83,-117.3,895.6,-4.7,567,15994,0.15,2.30,0.00,0.000,4,0.061,0.077,2613,802,3309
$GC,16029,-0.73,-117.3,898.0,-6.2,567,16033,0.15,2.10,0.00,0.000,6,0.087,0.052,2638,2119,3309
$GC,16354,-0.73,-117.3,914.5,-5.1,573,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2119,3309
$GC,16659,-0.73,-117.3,930.1,-5.2,578,16664,0.00,2.53,0.00,0.000,4,0.000,0.082,2638,3598,3308
$GC,16687,-0.73,-117.3,931.7,-6.4,578,16691,0.00,2.35,0.00,0.000,6,0.000,0.051,2638,2130,3309
$GC,17024,-0.73,-117.3,949.3,-5.2,584,17025,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2129,3308
$GC,17327,-0.73,-117.3,965.1,-5.2,589,17329,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2130,3308
$GC,17631,-0.73,-117.3,980.5,-5.0,594,17632,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2130,3308
$STATE,17870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17870,begin apogee
$GC,17877,-0.23,0.0,992.3,4.9,598,17984,0.65,0.00,104.35,1.513,6,0.074,0.000,2749,2213,2837
$STATE,17985,end apogee,CONTROL_FINISHED_OK
$STATE,17985,begin climb
$GC,17988,0.67,117.3,993.6,0.0,599,18118,1.12,2.78,117.68,1.453,4,0.046,0.086,2944,797,2358
$GC,18159,0.40,117.3,989.0,8.5,602,18164,0.35,2.45,0.00,0.000,6,0.091,0.057,2891,2203,2358
$GC,18479,0.40,117.3,969.5,6.1,608,18481,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2203,2358
$GC,18782,0.40,117.3,951.3,6.0,613,18786,0.00,2.40,0.00,0.000,4,0.000,0.085,2891,799,2359
$GC,18815,0.40,117.3,949.1,6.8,613,18819,0.00,2.25,0.00,0.000,6,0.000,0.055,2891,2195,2358
$GC,19147,0.40,117.3,929.9,5.7,619,19149,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2195,2358
$GC,19450,0.40,121.0,913.4,5.4,624,19457,0.00,0.00,5.25,1.097,6,0.000,0.000,2891,2195,2343
$GC,19753,0.43,146.1,899.0,4.7,629,19782,0.00,2.42,24.58,1.425,4,0.000,0.083,2890,802,2241
$GC,19834,0.44,148.5,894.8,5.4,630,19844,0.00,2.22,4.30,0.956,6,0.000,0.054,2891,2170,2230
$GC,20188,0.45,155.6,876.4,5.3,636,20202,0.00,2.38,8.20,1.254,4,0.000,0.082,2891,802,2202
$GC,20236,0.45,160.7,873.7,5.3,636,20252,0.00,2.15,6.68,1.174,6,0.000,0.054,2891,2137,2181
$GC,20555,0.51,160.7,854.1,6.3,642,20557,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2137,2181
$GC,20858,0.56,160.7,833.6,6.8,647,20863,0.15,2.28,0.00,0.000,4,0.061,0.080,2926,799,2181
$GC,20896,0.44,160.7,830.6,7.9,647,20901,0.17,2.12,0.00,0.000,6,0.093,0.054,2897,2126,2181
$GC,21216,0.44,160.7,807.9,7.0,653,21218,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2127,2181
$GC,21519,0.44,160.7,787.5,6.7,658,21520,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2127,2181
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$STATE,34501,end climb,SURFACE_DEPTH_REACHED
$STATE,34501,begin surface coast
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$STATE,34506,begin surface
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