version: 66.03
glider: 119
mission: 5
dive: 330
start: 12 28 108 16 9 56
data:
$ID,119
$MISSION,5
$DIVE,330
$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,-215803.97
$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,19
$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
$GPS1,160307,4756.469,-12622.507,34,0.9,34,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.3
$GPS2,160902,4756.476,-12622.527,10,1.4,15,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,-0.133
$KALMAN_X,-76564.1,253.2,766.3,-31254.0,-5219.4
$KALMAN_Y,431417.8,-83.0,-1086.5,-322928.2,5716.7
$MHEAD_RNG_PITCHd_Wd,208.0,161545,-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,-51.75,0.000,2,0.000,0.000,862,2225,2476
$GC,79,-0.67,-117.3,3.5,-3.6,5,123,12.25,2.45,-26.20,0.000,4,0.144,0.079,2645,3607,3317
$GC,196,-0.46,-117.3,15.1,-9.4,15,203,0.30,2.28,0.00,0.000,6,0.084,0.041,2695,2176,3317
$GC,524,-0.46,-117.3,39.3,-7.7,46,528,0.00,2.30,0.00,0.000,4,0.000,0.062,2695,795,3317
$GC,569,-0.46,-117.3,43.0,-7.7,53,576,0.00,2.15,0.00,0.000,6,0.000,0.044,2696,2172,3317
$GC,914,-0.52,-117.3,66.0,-5.9,114,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2172,3317
$GC,1258,-0.82,-117.3,86.8,-6.9,167,1263,0.38,2.22,0.00,0.000,4,0.041,0.059,2615,797,3317
$GC,1401,-0.62,-117.3,100.7,-9.9,179,1406,0.28,1.88,0.00,0.000,6,0.077,0.042,2662,2010,3317
$GC,1728,-0.62,-117.3,120.9,-6.2,209,1732,0.00,2.70,0.00,0.000,4,0.000,0.065,2661,3607,3317
$GC,1779,-0.62,-117.3,124.3,-6.5,213,1783,0.00,2.55,0.00,0.000,6,0.000,0.044,2662,2012,3317
$GC,2104,-0.62,-117.3,143.9,-6.0,243,2108,0.00,2.70,0.00,0.000,4,0.000,0.065,2661,3597,3317
$GC,2148,-0.62,-117.3,146.9,-6.4,246,2154,0.00,2.45,0.00,0.000,6,0.000,0.044,2661,2060,3317
$GC,2475,-0.62,-117.3,166.7,-6.1,265,2480,0.00,2.62,0.00,0.000,4,0.000,0.065,2660,3598,3317
$GC,2508,-0.62,-117.3,168.9,-6.4,266,2515,0.00,2.38,0.00,0.000,6,0.000,0.044,2662,2106,3317
$GC,2825,-0.62,-117.3,186.5,-5.2,282,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2106,3317
$GC,3134,-0.62,-117.3,202.1,-5.1,297,3138,0.00,2.55,0.00,0.000,4,0.000,0.066,2661,3607,3317
$GC,3173,-0.62,-117.3,204.3,-5.8,299,3177,0.00,2.40,0.00,0.000,6,0.000,0.044,2662,2110,3317
$GC,3500,-0.62,-117.3,222.0,-5.2,315,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2109,3317
$GC,3809,-0.62,-117.3,237.9,-5.4,330,3813,0.00,2.55,0.00,0.000,4,0.000,0.065,2661,3601,3317
$GC,3848,-0.62,-117.3,240.3,-6.0,332,3852,0.00,2.35,0.00,0.000,6,0.000,0.044,2661,2142,3317
$GC,4176,-0.62,-117.3,257.6,-5.2,348,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2137,3317
$GC,4485,-0.62,-117.3,273.0,-5.1,363,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2137,3317
$GC,4794,-0.62,-117.3,290.0,-5.6,378,4798,0.00,2.50,0.00,0.000,4,0.000,0.067,2661,3602,3317
$GC,4821,-0.62,-117.3,291.8,-6.4,379,4825,0.00,2.33,0.00,0.000,6,0.000,0.044,2662,2149,3317
$GC,5153,-0.62,-117.3,310.8,-5.7,389,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2144,3317
$GC,5456,-0.62,-117.3,328.5,-5.8,394,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2144,3317
$GC,5760,-0.66,-117.3,345.3,-5.5,399,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2143,3316
$GC,6063,-0.71,-117.3,363.5,-6.1,404,6067,0.00,2.50,0.00,0.000,4,0.000,0.068,2661,3598,3316
$GC,6084,-0.75,-117.3,364.9,-6.6,404,6089,0.12,2.30,0.00,0.000,6,0.062,0.045,2634,2166,3316
$GC,6421,-0.67,-117.3,387.9,-6.8,410,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2161,3316
$GC,6725,-0.59,-117.3,408.9,-6.9,415,6727,0.20,0.00,0.00,0.000,6,0.081,0.000,2668,2161,3316
$GC,7028,-0.67,-117.3,426.1,-5.7,420,7032,0.00,2.30,0.00,0.000,4,0.000,0.071,2668,808,3316
$GC,7061,-0.76,-117.3,428.3,-6.6,420,7066,0.17,2.10,0.00,0.000,6,0.051,0.045,2630,2152,3315
$GC,7388,-0.68,-117.3,452.1,-7.3,426,7390,0.12,0.00,0.00,0.000,6,0.088,0.000,2651,2152,3315
$GC,7690,-0.68,-117.3,469.3,-5.6,431,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2152,3315
$GC,7993,-0.68,-117.3,485.8,-5.5,436,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2153,3315
$GC,8297,-0.68,-117.3,502.1,-5.4,441,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2153,3315
$GC,8600,-0.68,-117.3,516.9,-4.9,446,8604,0.00,2.45,0.00,0.000,4,0.000,0.071,2651,3598,3315
$GC,8645,-0.68,-117.3,519.4,-4.6,446,8649,0.00,2.33,0.00,0.000,6,0.000,0.047,2651,2151,3314
$GC,8971,-0.68,-117.3,534.8,-4.8,452,8975,0.00,2.30,0.00,0.000,4,0.000,0.075,2651,803,3314
$GC,9004,-0.68,-117.3,536.6,-5.4,452,9008,0.00,2.12,0.00,0.000,6,0.000,0.048,2651,2155,3314
$GC,9330,-0.68,-117.3,551.8,-4.7,458,9334,0.00,2.45,0.00,0.000,4,0.000,0.073,2651,3609,3314
$GC,9352,-0.68,-117.3,552.9,-4.8,458,9356,0.00,2.35,0.00,0.000,6,0.000,0.048,2651,2141,3314
$GC,9690,-0.68,-117.3,569.8,-5.0,464,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2140,3313
$GC,9993,-0.68,-117.3,585.6,-5.2,469,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2139,3313
$GC,10297,-0.68,-117.3,601.1,-5.1,474,10301,0.00,2.50,0.00,0.000,4,0.000,0.071,2651,3608,3313
$GC,10324,-0.68,-117.3,602.6,-6.0,474,10328,0.00,2.33,0.00,0.000,6,0.000,0.048,2651,2155,3312
$GC,10656,-0.68,-117.3,621.2,-5.7,480,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2154,3312
$GC,10959,-0.68,-117.3,639.4,-6.0,485,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2153,3312
$GC,11263,-0.68,-117.3,657.3,-5.9,490,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2152,3312
$GC,11566,-0.72,-117.3,673.0,-5.1,495,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2152,3312
$GC,11869,-0.72,-117.3,687.3,-4.8,500,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2152,3312
$GC,12173,-0.76,-117.3,700.8,-4.5,505,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2152,3312
$GC,12474,-0.76,-117.3,715.8,-4.9,510,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2151,3311
$GC,12779,-0.81,-117.3,732.4,-5.5,515,12784,0.15,2.35,0.00,0.000,4,0.059,0.076,2615,802,3311
$GC,12807,-0.74,-117.3,734.3,-7.8,515,12811,0.12,2.17,0.00,0.000,6,0.090,0.051,2636,2178,3311
$GC,13145,-0.74,-117.3,755.7,-6.3,521,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2178,3311
$GC,13446,-0.74,-117.3,773.2,-5.7,526,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2178,3311
$GC,13750,-0.74,-117.3,789.5,-5.3,531,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2178,3311
$GC,14053,-0.74,-117.3,805.5,-5.3,536,14057,0.00,2.45,0.00,0.000,4,0.000,0.077,2636,3600,3311
$GC,14092,-0.74,-117.3,807.8,-6.3,536,14096,0.00,2.28,0.00,0.000,6,0.000,0.049,2636,2191,3310
$GC,14419,-0.74,-117.3,825.0,-5.3,542,14423,0.00,2.40,0.00,0.000,4,0.000,0.081,2636,792,3310
$GC,14446,-0.74,-117.3,826.7,-5.9,542,14450,0.00,2.22,0.00,0.000,6,0.000,0.051,2636,2193,3310
$GC,14778,-0.74,-117.3,845.0,-5.6,548,14779,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2193,3310
$GC,15081,-0.74,-117.3,861.7,-5.5,553,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2193,3309
$GC,15385,-0.74,-117.3,878.8,-5.6,558,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,3309
$GC,15687,-0.74,-117.3,895.7,-5.6,563,15691,0.00,2.40,0.00,0.000,4,0.000,0.080,2636,788,3309
$GC,15737,-0.74,-117.3,898.8,-6.1,563,15741,0.00,2.20,0.00,0.000,6,0.000,0.053,2636,2161,3309
$GC,16052,-0.74,-117.3,916.3,-5.5,569,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2162,3309
$GC,16355,-0.74,-117.3,932.7,-5.4,574,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2161,3309
$GC,16659,-0.74,-117.3,948.0,-5.0,579,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2162,3308
$GC,16961,-0.74,-117.3,962.5,-4.8,584,16966,0.00,2.35,0.00,0.000,4,0.000,0.081,2636,789,3308
$GC,17001,-0.74,-117.3,964.6,-5.1,584,17004,0.00,2.17,0.00,0.000,6,0.000,0.054,2636,2140,3308
$GC,17323,-0.74,-117.3,980.5,-5.0,590,17327,0.00,2.53,0.00,0.000,4,0.000,0.084,2636,3598,3308
$GC,17350,-0.74,-117.3,982.2,-4.9,590,17354,0.00,2.35,0.00,0.000,6,0.000,0.051,2637,2129,3308
$STATE,17563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17563,begin apogee
$GC,17570,-0.23,0.0,993.1,5.0,594,17677,0.65,0.00,104.62,1.509,6,0.074,0.000,2746,2214,2837
$STATE,17678,end apogee,CONTROL_FINISHED_OK
$STATE,17678,begin climb
$GC,17681,0.67,117.3,994.6,0.0,595,17801,1.12,0.00,115.75,1.462,6,0.048,0.000,2942,2214,2358
$GC,18113,0.48,117.3,970.8,7.7,603,18118,0.20,2.40,0.00,0.000,4,0.092,0.081,2907,3594,2358
$GC,18175,0.39,117.3,966.0,7.9,604,18179,0.00,2.22,0.00,0.000,6,0.000,0.054,2907,2238,2358
$GC,18541,0.33,117.3,941.8,6.6,610,18546,0.17,2.47,0.00,0.000,4,0.091,0.087,2874,797,2358
$GC,18613,0.33,117.3,937.3,6.4,611,18617,0.00,2.28,0.00,0.000,6,0.000,0.056,2874,2208,2358
$GC,18974,0.39,117.3,915.8,6.0,617,18978,0.00,2.40,0.00,0.000,4,0.000,0.084,2874,791,2358
$GC,19012,0.39,117.3,913.3,6.1,617,19016,0.00,2.25,0.00,0.000,6,0.000,0.056,2874,2188,2357
$GC,19345,0.46,117.3,893.4,6.0,623,19347,0.12,0.00,0.00,0.000,6,0.065,0.000,2902,2188,2357
$GC,19647,0.46,117.3,873.7,6.5,628,19651,0.00,2.38,0.00,0.000,4,0.000,0.083,2901,785,2357
$GC,19698,0.39,117.3,870.1,6.0,628,19702,0.00,2.22,0.00,0.000,6,0.000,0.056,2901,2173,2357
$GC,20018,0.39,117.3,849.2,6.5,634,20022,0.00,2.35,0.00,0.000,4,0.000,0.084,2901,793,2357
$GC,20051,0.33,117.3,847.0,6.9,634,20055,0.17,2.17,0.00,0.000,6,0.090,0.055,2873,2153,2357
$GC,20377,0.42,132.0,830.2,5.0,640,20394,0.00,0.00,14.95,1.356,6,0.000,0.000,2873,2152,2298
$GC,20680,0.57,175.8,817.4,4.1,645,20724,0.28,0.00,41.78,1.385,6,0.051,0.000,2928,2152,2120
$GC,20982,0.51,175.8,797.0,6.9,650,20987,0.00,2.47,0.00,0.000,4,0.000,0.079,2928,3606,2120
$GC,21022,0.41,175.8,793.8,8.8,650,21027,0.22,2.33,0.00,0.000,6,0.087,0.054,2891,2169,2120
$GC,21342,0.48,175.8,774.5,6.0,656,21343,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2169,2120
$GC,21646,0.56,175.8,753.4,7.0,661,21647,0.15,0.00,0.00,0.000,6,0.060,0.000,2923,2169,2120
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$STATE,32847,end climb,SURFACE_DEPTH_REACHED
$STATE,32848,begin surface coast
$FINISH,1.2,1.025173
$STATE,32891,end surface coast,CONTROL_FINISHED_OK
$STATE,32892,begin surface
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$HUMID,2003
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$TCM_TEMP,16.40
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$DATA_FILE_SIZE,56823,1149
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