version: 66.03
glider: 119
mission: 5
dive: 329
start: 12 28 108 6 31 25
data:
$ID,119
$MISSION,5
$DIVE,329
$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,-215786.48
$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,30
$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
$GPS1,062403,4758.065,-12623.027,41,1.9,49,18.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-67.9
$GPS2,063033,4758.106,-12623.080,11,1.3,11,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.089,-0.173
$KALMAN_X,-73501.3,-32.2,502.7,-34435.7,-4112.8
$KALMAN_Y,427838.4,-164.1,-646.8,-316710.7,5445.8
$MHEAD_RNG_PITCHd_Wd,134.0,162991,-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,-51.30,0.000,2,0.000,0.000,861,2225,2478
$GC,79,-0.67,-117.3,3.2,-3.5,5,125,12.35,2.40,-27.95,0.000,4,0.146,0.077,2650,3598,3317
$GC,235,-0.45,-117.3,17.1,-9.9,19,240,0.28,2.28,0.00,0.000,6,0.081,0.041,2696,2187,3317
$GC,561,-0.45,-117.3,39.7,-7.1,49,565,0.00,2.35,0.00,0.000,4,0.000,0.062,2696,795,3317
$GC,601,-0.45,-117.3,42.6,-7.1,55,607,0.00,2.17,0.00,0.000,6,0.000,0.044,2697,2183,3317
$GC,946,-0.53,-117.3,64.0,-5.7,116,952,0.00,2.22,0.00,0.000,4,0.000,0.061,2696,797,3317
$GC,981,-0.64,-117.3,66.0,-5.7,122,988,0.20,2.03,0.00,0.000,6,0.048,0.044,2653,2108,3317
$GC,1318,-0.56,-117.3,90.2,-6.3,169,1322,0.15,2.12,0.00,0.000,4,0.084,0.061,2682,792,3317
$GC,1345,-0.56,-117.3,91.8,-5.6,171,1351,0.00,2.03,0.00,0.000,6,0.000,0.044,2682,2110,3317
$GC,1672,-0.63,-117.3,110.7,-6.1,202,1677,0.00,2.53,0.00,0.000,4,0.000,0.067,2682,3602,3317
$GC,1717,-0.72,-117.3,113.8,-6.1,205,1724,0.22,2.33,0.00,0.000,6,0.048,0.043,2635,2131,3317
$GC,2042,-0.59,-117.3,140.8,-7.6,236,2044,0.20,0.00,0.00,0.000,6,0.081,0.000,2670,2131,3317
$GC,2366,-0.59,-117.3,159.7,-5.6,259,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2130,3317
$GC,2675,-0.59,-117.3,179.3,-6.5,274,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2130,3317
$GC,2985,-0.64,-117.3,199.3,-6.4,289,2989,0.00,2.50,0.00,0.000,4,0.000,0.066,2669,3597,3317
$GC,3014,-0.69,-117.3,201.3,-7.1,290,3018,0.00,2.30,0.00,0.000,6,0.000,0.043,2670,2146,3317
$GC,3330,-0.74,-117.3,220.0,-5.6,305,3331,0.17,0.00,0.00,0.000,6,0.054,0.000,2632,2141,3317
$GC,3639,-0.63,-117.3,242.1,-7.1,320,3641,0.17,0.00,0.00,0.000,6,0.084,0.000,2661,2141,3317
$GC,3948,-0.63,-117.3,260.5,-6.1,335,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2141,3317
$GC,4257,-0.63,-117.3,278.9,-5.7,350,4262,0.00,2.50,0.00,0.000,4,0.000,0.067,2661,3597,3317
$GC,4290,-0.63,-117.3,281.0,-6.2,351,4297,0.00,2.30,0.00,0.000,6,0.000,0.044,2662,2159,3317
$GC,4606,-0.63,-117.3,298.8,-5.5,367,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3317
$GC,4951,-0.63,-117.3,317.8,-5.5,374,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3317
$GC,5254,-0.63,-117.3,331.9,-4.6,379,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3317
$GC,5556,-0.63,-117.3,343.6,-3.8,384,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3317
$GC,5860,-0.63,-117.3,354.7,-3.7,389,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3317
$GC,6163,-0.63,-117.3,367.1,-4.1,394,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3316
$GC,6466,-0.63,-117.3,381.1,-4.6,399,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2153,3316
$GC,6769,-0.67,-117.3,394.5,-4.4,404,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2153,3316
$GC,7072,-0.71,-117.3,409.0,-4.8,409,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2154,3316
$GC,7375,-0.76,-117.3,423.8,-4.9,414,7377,0.15,0.00,0.00,0.000,6,0.058,0.000,2629,2154,3316
$GC,7679,-0.67,-117.3,442.8,-6.3,419,7683,0.15,2.47,0.00,0.000,4,0.088,0.069,2657,3597,3315
$GC,7717,-0.67,-117.3,445.2,-5.9,419,7721,0.00,2.33,0.00,0.000,6,0.000,0.045,2657,2151,3315
$GC,8039,-0.67,-117.3,461.0,-4.9,425,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2151,3315
$GC,8342,-0.71,-117.3,476.8,-5.3,430,8346,0.00,2.45,0.00,0.000,4,0.000,0.069,2657,3599,3315
$GC,8368,-0.71,-117.3,478.6,-6.3,430,8372,0.00,2.28,0.00,0.000,6,0.000,0.046,2657,2168,3315
$GC,8706,-0.75,-117.3,497.8,-5.7,436,8710,0.00,2.30,0.00,0.000,4,0.000,0.075,2657,805,3315
$GC,8745,-0.82,-117.3,500.4,-6.6,436,8750,0.20,2.12,0.00,0.000,6,0.050,0.047,2616,2154,3315
$GC,9066,-0.67,-117.3,526.0,-8.2,442,9068,0.20,0.00,0.00,0.000,6,0.084,0.000,2649,2154,3314
$GC,9368,-0.67,-117.3,545.8,-6.4,447,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3314
$GC,9671,-0.67,-117.3,563.7,-5.8,452,9675,0.00,2.42,0.00,0.000,4,0.000,0.074,2649,3595,3314
$GC,9706,-0.67,-117.3,565.8,-6.3,452,9710,0.00,2.28,0.00,0.000,6,0.000,0.048,2649,2165,3313
$GC,10033,-0.67,-117.3,584.0,-5.6,458,10037,0.00,2.30,0.00,0.000,4,0.000,0.078,2649,797,3313
$GC,10059,-0.67,-117.3,585.7,-6.6,458,10063,0.00,2.17,0.00,0.000,6,0.000,0.050,2649,2167,3313
$GC,10397,-0.67,-117.3,604.7,-5.7,464,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2167,3313
$GC,10700,-0.67,-117.3,621.4,-5.5,469,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2168,3312
$GC,11003,-0.67,-117.3,636.8,-5.1,474,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2168,3312
$GC,11309,-0.67,-117.3,651.7,-4.9,479,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2167,3312
$GC,11610,-0.67,-117.3,666.8,-5.0,484,11614,0.00,2.45,0.00,0.000,4,0.000,0.074,2649,3605,3312
$GC,11659,-0.67,-117.3,669.7,-5.9,484,11663,0.00,2.28,0.00,0.000,6,0.000,0.048,2649,2185,3312
$GC,11975,-0.67,-117.3,686.6,-5.4,490,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2184,3312
$GC,12278,-0.67,-117.3,702.9,-5.4,495,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2184,3312
$GC,12581,-0.67,-117.3,719.8,-5.6,500,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2183,3311
$GC,12883,-0.67,-117.3,736.5,-5.6,505,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2184,3311
$GC,13188,-0.67,-117.3,750.7,-4.6,510,13192,0.00,2.38,0.00,0.000,4,0.000,0.080,2649,795,3311
$GC,13216,-0.72,-117.3,752.2,-5.1,510,13220,0.00,2.25,0.00,0.000,6,0.000,0.051,2648,2210,3311
$GC,13548,-0.72,-117.3,765.7,-4.0,516,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2210,3311
$GC,13850,-0.72,-117.3,777.3,-3.9,521,13855,0.00,2.38,0.00,0.000,4,0.000,0.077,2648,802,3311
$GC,13901,-0.79,-117.3,779.5,-4.0,521,13905,0.00,2.22,0.00,0.000,6,0.000,0.052,2649,2198,3311
$GC,14211,-0.79,-117.3,791.6,-3.9,526,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,3311
$GC,14513,-0.79,-117.3,803.4,-3.9,531,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,3311
$GC,14816,-0.79,-117.3,816.3,-4.3,536,14820,0.00,2.38,0.00,0.000,4,0.000,0.077,2649,795,3310
$GC,14850,-0.85,-117.3,818.0,-4.8,536,14855,0.17,2.20,0.00,0.000,6,0.054,0.052,2612,2175,3311
$GC,15182,-0.72,-117.3,838.0,-6.0,542,15187,0.15,2.45,0.00,0.000,4,0.091,0.079,2641,3606,3310
$GC,15233,-0.72,-117.3,840.6,-5.1,542,15237,0.00,2.28,0.00,0.000,6,0.000,0.050,2641,2192,3309
$GC,15543,-0.72,-117.3,855.0,-4.7,547,15547,0.00,2.40,0.00,0.000,4,0.000,0.081,2641,788,3309
$GC,15570,-0.72,-117.3,856.5,-5.3,547,15574,0.00,2.25,0.00,0.000,6,0.000,0.052,2641,2196,3310
$GC,15902,-0.72,-117.3,872.6,-4.9,553,15903,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2196,3309
$GC,16205,-0.72,-117.3,888.7,-5.3,558,16206,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2196,3309
$GC,16508,-0.72,-117.3,904.4,-5.1,563,16512,0.00,2.38,0.00,0.000,4,0.000,0.079,2641,800,3309
$GC,16535,-0.72,-117.3,906.0,-6.1,563,16539,0.00,2.22,0.00,0.000,6,0.000,0.054,2641,2187,3309
$GC,16873,-0.72,-117.3,924.1,-5.3,569,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2187,3309
$GC,17176,-0.72,-117.3,939.9,-5.2,574,17177,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2187,3309
$GC,17481,-0.72,-117.3,955.3,-5.1,579,17482,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2187,3308
$GC,17782,-0.72,-117.3,970.2,-4.9,584,17787,0.00,2.38,0.00,0.000,4,0.000,0.081,2641,801,3308
$GC,17816,-0.72,-117.3,971.8,-4.7,584,17820,0.00,2.22,0.00,0.000,6,0.000,0.054,2641,2184,3308
$GC,18142,-0.72,-117.3,986.0,-4.2,590,18143,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2184,3307
$STATE,18260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18260,begin apogee
$GC,18266,-0.23,0.0,991.0,4.2,592,18374,0.62,0.00,104.62,1.512,6,0.074,0.000,2748,2184,2837
$STATE,18374,end apogee,CONTROL_FINISHED_OK
$STATE,18374,begin climb
$GC,18377,0.67,117.3,992.1,0.0,593,18586,1.12,2.67,138.25,1.277,4,0.046,0.084,2943,3605,2358
$GC,18681,0.41,117.3,974.6,9.9,597,18688,0.32,2.35,0.00,0.000,6,0.091,0.054,2894,2207,2358
$GC,18991,0.41,117.3,951.9,7.2,603,18995,0.00,2.45,0.00,0.000,4,0.000,0.091,2894,790,2358
$GC,19041,0.36,117.3,948.2,6.7,603,19045,0.00,2.25,0.00,0.000,6,0.000,0.056,2893,2186,2358
$GC,19350,0.36,117.3,928.2,6.3,608,19351,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2186,2358
$GC,19653,0.36,117.3,911.2,5.5,613,19654,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2187,2358
$GC,19956,0.38,133.8,895.9,5.0,618,19980,0.00,2.47,16.88,1.391,4,0.000,0.085,2894,783,2291
$GC,20014,0.38,133.8,892.7,5.9,618,20020,0.00,2.30,0.00,0.000,6,0.000,0.056,2893,2203,2291
$GC,20324,0.39,136.7,876.1,5.4,624,20333,0.00,2.42,4.68,1.017,4,0.000,0.084,2894,790,2279
$GC,20385,0.39,140.8,872.6,5.4,625,20395,0.00,2.17,5.40,1.089,6,0.000,0.056,2893,2138,2263
$GC,20750,0.39,140.8,850.8,6.2,631,20753,0.00,2.28,0.00,0.000,4,0.000,0.084,2893,790,2263
$GC,20782,0.39,140.8,848.5,7.1,631,20786,0.00,2.12,0.00,0.000,6,0.000,0.055,2894,2110,2263
$GC,21120,0.39,140.8,825.6,6.9,637,21124,0.00,2.53,0.00,0.000,4,0.000,0.081,2893,3603,2263
$GC,21147,0.39,140.8,823.5,7.9,637,21151,0.00,2.42,0.00,0.000,6,0.000,0.054,2894,2097,2263
$GC,21478,0.39,140.8,800.4,7.0,643,21479,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2098,2263
$GC,21781,0.39,140.8,779.4,6.7,648,21782,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2098,2263
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$STATE,34136,end climb,SURFACE_DEPTH_REACHED
$STATE,34136,begin surface coast
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$STATE,34160,end surface coast,CONTROL_FINISHED_OK
$STATE,34161,begin surface
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