version: 66.03
glider: 119
mission: 5
dive: 37
start: 9 24 108 16 20 42
data:
$ID,119
$MISSION,5
$DIVE,37
$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,-210400.53
$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,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,161351,4659.650,-12618.360,28,1.7,41,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.3
$GPS2,161950,4659.708,-12618.323,9,1.6,15,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.138,-0.138
$KALMAN_X,53904.8,-88.0,-110.0,-155169.4,1086.3
$KALMAN_Y,69197.1,-398.6,-9.5,-66605.2,4989.7
$MHEAD_RNG_PITCHd_Wd,206.4,128425,-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,20,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-62.00,0.000,2,0.000,0.000,863,2211,2918
$GC,87,-0.67,-117.3,4.5,-8.3,6,113,12.38,2.45,-7.57,0.000,4,0.149,0.090,2650,794,3318
$GC,168,-0.36,-117.3,24.4,-13.1,13,175,0.43,2.33,0.00,0.000,6,0.082,0.057,2720,2223,3318
$GC,498,-0.68,-117.3,47.4,-7.9,52,504,0.35,2.35,0.00,0.000,4,0.044,0.064,2646,786,3319
$GC,539,-0.76,-117.3,51.1,-8.7,59,546,0.00,2.28,0.00,0.000,6,0.000,0.055,2646,2211,3319
$GC,883,-0.59,-117.3,81.2,-9.2,119,884,0.12,0.00,0.00,0.000,6,0.094,0.000,2667,2211,3320
$GC,1202,-0.53,-117.3,105.4,-7.1,149,1206,0.00,2.38,0.00,0.000,4,0.000,0.078,2667,789,3321
$GC,1224,-0.53,-117.3,107.2,-7.0,150,1230,0.00,2.35,0.00,0.000,6,0.000,0.066,2667,2201,3321
$GC,1550,-0.53,-117.3,131.3,-6.2,181,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3321
$GC,1867,-0.53,-117.3,148.3,-6.3,211,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3321
$GC,2188,-0.53,-117.3,166.7,-5.3,228,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3320
$GC,2498,-0.58,-117.3,181.5,-4.6,243,2502,0.00,2.40,0.00,0.000,4,0.000,0.083,2667,786,3321
$GC,2543,-0.65,-117.3,183.9,-5.1,245,2547,0.00,2.35,0.00,0.000,6,0.000,0.070,2667,2208,3321
$GC,2865,-0.71,-117.3,199.9,-4.8,261,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2208,3321
$GC,3174,-0.76,-117.3,211.7,-3.7,276,3179,0.15,2.42,0.00,0.000,4,0.061,0.082,2630,783,3320
$GC,3196,-0.76,-117.3,212.9,-5.1,277,3200,0.00,2.35,0.00,0.000,6,0.000,0.071,2630,2202,3320
$GC,3517,-0.65,-117.3,234.6,-7.4,293,3519,0.15,0.00,0.00,0.000,6,0.092,0.000,2656,2202,3320
$GC,3826,-0.65,-117.3,252.7,-5.7,308,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,3320
$GC,4135,-0.65,-117.3,269.9,-5.5,323,4139,0.00,2.40,0.00,0.000,4,0.000,0.084,2656,790,3319
$GC,4161,-0.65,-117.3,271.6,-6.0,324,4165,0.00,2.38,0.00,0.000,6,0.000,0.071,2656,2216,3319
$GC,4483,-0.65,-117.3,289.0,-5.4,340,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2216,3319
$GC,4810,-0.65,-117.3,308.2,-6.0,352,4814,0.00,2.45,0.00,0.000,4,0.000,0.086,2656,782,3318
$GC,4837,-0.69,-117.3,310.1,-6.7,352,4841,0.00,2.38,0.00,0.000,6,0.000,0.072,2656,2209,3318
$GC,5168,-0.69,-117.3,329.8,-5.9,358,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,3317
$GC,5471,-0.69,-117.3,344.9,-4.8,363,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,3317
$GC,5776,-0.69,-117.3,357.7,-4.2,368,5780,0.00,2.45,0.00,0.000,4,0.000,0.087,2656,782,3316
$GC,5815,-0.75,-117.3,359.5,-4.6,368,5820,0.00,2.38,0.00,0.000,6,0.000,0.073,2656,2208,3316
$GC,6136,-0.75,-117.3,373.1,-4.3,374,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2208,3316
$GC,6439,-0.79,-117.3,387.3,-4.8,379,6444,0.15,2.45,0.00,0.000,4,0.061,0.087,2621,790,3316
$GC,6483,-0.70,-117.3,390.2,-7.2,379,6487,0.15,2.38,0.00,0.000,6,0.091,0.074,2645,2208,3316
$GC,6798,-0.70,-117.3,408.8,-6.0,385,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2208,3315
$GC,7100,-0.70,-117.3,426.3,-5.8,390,7105,0.00,2.45,0.00,0.000,4,0.000,0.091,2645,790,3315
$GC,7127,-0.70,-117.3,428.0,-6.1,390,7131,0.00,2.38,0.00,0.000,6,0.000,0.075,2645,2192,3315
$GC,7464,-0.70,-117.3,447.3,-5.7,396,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2193,3314
$GC,7768,-0.70,-117.3,462.7,-5.0,401,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2193,3313
$GC,8071,-0.70,-117.3,479.5,-5.7,406,8075,0.00,2.45,0.00,0.000,4,0.000,0.093,2645,787,3314
$GC,8103,-0.70,-117.3,481.5,-6.5,406,8107,0.00,2.38,0.00,0.000,6,0.000,0.076,2645,2199,3314
$GC,8435,-0.70,-117.3,501.2,-5.9,412,8440,0.00,2.45,0.00,0.000,4,0.000,0.094,2645,793,3313
$GC,8463,-0.70,-117.3,502.8,-6.0,412,8466,0.00,2.38,0.00,0.000,6,0.000,0.077,2645,2200,3313
$GC,8800,-0.70,-117.3,522.5,-5.8,418,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3313
$GC,9103,-0.70,-117.3,539.9,-5.7,423,9107,0.00,2.47,0.00,0.000,4,0.000,0.097,2645,789,3313
$GC,9141,-0.74,-117.3,542.3,-5.8,423,9145,0.00,2.40,0.00,0.000,6,0.000,0.079,2645,2206,3313
$GC,9467,-0.74,-117.3,560.4,-5.5,429,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,3311
$GC,9772,-0.74,-117.3,575.5,-4.9,434,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,3312
$GC,10073,-0.74,-117.3,590.3,-4.8,439,10077,0.00,2.50,0.00,0.000,4,0.000,0.099,2646,794,3312
$GC,10112,-0.79,-117.3,592.4,-5.6,439,10116,0.00,2.40,0.00,0.000,6,0.000,0.083,2645,2199,3312
$GC,10431,-0.79,-117.3,609.6,-5.5,445,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3312
$GC,10735,-0.79,-117.3,628.1,-6.1,450,10739,0.00,2.47,0.00,0.000,4,0.000,0.097,2645,793,3311
$GC,10778,-0.84,-117.3,631.0,-7.0,450,10783,0.15,2.40,0.00,0.000,6,0.061,0.080,2614,2207,3311
$GC,11094,-0.73,-117.3,651.8,-6.6,456,11099,0.15,2.50,0.00,0.000,4,0.096,0.095,2643,790,3311
$GC,11120,-0.73,-117.3,653.5,-5.6,456,11124,0.00,2.40,0.00,0.000,6,0.000,0.080,2643,2204,3310
$GC,11458,-0.73,-117.3,668.8,-4.5,462,11462,0.00,2.50,0.00,0.000,4,0.000,0.097,2643,786,3310
$GC,11479,-0.73,-117.3,669.9,-4.8,462,11483,0.00,2.40,0.00,0.000,6,0.000,0.081,2643,2199,3310
$GC,11816,-0.73,-117.3,684.1,-4.2,468,11820,0.00,2.50,0.00,0.000,4,0.000,0.097,2643,784,3310
$GC,11844,-0.78,-117.3,685.5,-5.1,468,11848,0.00,2.40,0.00,0.000,6,0.000,0.081,2643,2199,3310
$GC,12183,-0.78,-117.3,702.4,-5.1,474,12187,0.00,2.50,0.00,0.000,4,0.000,0.098,2643,784,3310
$GC,12217,-0.82,-117.3,704.3,-5.2,474,12221,0.00,2.40,0.00,0.000,6,0.000,0.081,2643,2199,3310
$GC,12543,-0.82,-117.3,722.7,-5.6,480,12547,0.00,2.50,0.00,0.000,4,0.000,0.098,2643,786,3309
$GC,12569,-0.82,-117.3,724.4,-6.0,480,12573,0.00,2.45,0.00,0.000,6,0.000,0.081,2643,2200,3309
$GC,12906,-0.82,-117.3,743.0,-5.5,486,12911,0.00,2.50,0.00,0.000,4,0.000,0.099,2643,788,3309
$GC,12940,-0.86,-117.3,744.9,-5.9,486,12945,0.17,2.40,0.00,0.000,6,0.057,0.082,2607,2202,3309
$GC,13265,-0.74,-117.3,765.9,-6.5,492,13270,0.17,2.53,0.00,0.000,4,0.094,0.098,2639,783,3309
$GC,13297,-0.74,-117.3,767.9,-6.2,492,13301,0.00,2.42,0.00,0.000,6,0.000,0.082,2638,2201,3309
$GC,13629,-0.74,-117.3,783.4,-4.6,498,13633,0.00,2.50,0.00,0.000,4,0.000,0.100,2639,792,3308
$GC,13656,-0.74,-117.3,784.8,-5.1,498,13661,0.00,2.40,0.00,0.000,6,0.000,0.084,2638,2206,3308
$GC,13996,-0.74,-117.3,800.8,-4.8,504,14000,0.00,2.53,0.00,0.000,4,0.000,0.100,2639,784,3308
$GC,14023,-0.74,-117.3,802.4,-5.6,504,14028,0.00,2.45,0.00,0.000,6,0.000,0.084,2638,2201,3308
$GC,14361,-0.74,-117.3,817.7,-4.5,510,14365,0.00,2.50,0.00,0.000,4,0.000,0.100,2638,794,3308
$GC,14387,-0.74,-117.3,818.8,-4.7,510,14392,0.00,2.42,0.00,0.000,6,0.000,0.084,2638,2204,3308
$GC,14719,-0.74,-117.3,832.4,-4.0,516,14723,0.00,2.53,0.00,0.000,4,0.000,0.101,2638,787,3307
$GC,14745,-0.74,-117.3,833.5,-4.1,516,14749,0.00,2.42,0.00,0.000,6,0.000,0.084,2638,2206,3307
$GC,15083,-0.74,-117.3,846.4,-3.8,522,15087,0.00,2.53,0.00,0.000,4,0.000,0.101,2639,789,3307
$GC,15110,-0.74,-117.3,847.5,-3.9,522,15114,0.00,2.42,0.00,0.000,6,0.000,0.084,2638,2207,3307
$GC,15447,-0.74,-117.3,861.5,-4.2,528,15451,0.00,2.53,0.00,0.000,4,0.000,0.101,2638,790,3307
$GC,15480,-0.78,-117.3,863.1,-4.6,528,15484,0.00,2.42,0.00,0.000,6,0.000,0.084,2638,2201,3307
$GC,15805,-0.90,-117.3,881.7,-6.1,534,15810,0.15,2.50,0.00,0.000,4,0.064,0.100,2603,790,3306
$GC,15957,-0.81,-117.3,892.4,-7.9,536,15961,0.00,2.45,0.00,0.000,6,0.000,0.087,2603,2205,3307
$GC,16299,-0.68,-117.3,916.9,-7.2,542,16304,0.22,2.55,0.00,0.000,4,0.091,0.103,2645,793,3306
$GC,16320,-0.68,-117.3,918.2,-6.1,542,16324,0.00,2.42,0.00,0.000,6,0.000,0.085,2644,2199,3306
$GC,16664,-0.74,-117.3,937.5,-5.6,548,16668,0.00,2.53,0.00,0.000,4,0.000,0.104,2644,793,3306
$GC,16702,-0.82,-117.3,939.7,-5.7,548,16706,0.00,2.42,0.00,0.000,6,0.000,0.087,2644,2199,3306
$GC,17022,-0.98,-117.3,958.6,-6.1,554,17027,0.30,2.55,0.00,0.000,4,0.052,0.103,2582,787,3306
$GC,17240,-0.78,-117.3,974.4,-8.1,557,17245,0.28,2.45,0.00,0.000,6,0.092,0.089,2626,2202,3306
$STATE,17580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17580,begin apogee
$GC,17585,-0.23,0.0,990.5,4.6,563,17689,0.73,0.00,101.15,1.480,6,0.080,0.000,2749,2202,2837
$STATE,17690,end apogee,CONTROL_FINISHED_OK
$STATE,17690,begin climb
$GC,17692,0.67,117.3,991.4,0.0,564,17808,1.12,3.00,107.35,1.430,4,0.049,0.145,2944,3607,2358
$GC,17882,0.31,117.3,979.7,10.8,567,17887,0.47,2.62,0.00,0.000,6,0.098,0.094,2873,2199,2359
$GC,18247,0.31,117.3,954.8,6.6,573,18248,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2358
$GC,18550,0.27,117.3,936.3,6.1,578,18551,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2357
$GC,18853,0.27,117.3,919.2,5.6,583,18854,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2357
$GC,19156,0.28,122.3,902.9,5.3,588,19164,0.00,0.00,5.85,1.121,6,0.000,0.000,2873,2199,2338
$GC,19459,0.28,122.3,884.8,6.0,593,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2338
$GC,19762,0.28,122.3,865.5,6.4,598,19763,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2338
$GC,20065,0.28,122.3,846.3,6.4,603,20066,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,2338
$GC,20368,0.28,122.3,827.9,6.0,608,20369,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2199,2337
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$STATE,33277,end climb,SURFACE_DEPTH_REACHED
$STATE,33277,begin surface coast
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