version: 66.03
glider: 119
mission: 5
dive: 45
start: 9 27 108 20 29 2
data:
$ID,119
$MISSION,5
$DIVE,45
$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,-210522.5
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,201911,4654.959,-12653.839,45,2.1,64,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-71.0
$GPS2,202809,4654.966,-12653.866,15,1.9,15,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.031
$KALMAN_X,53819.3,208.1,228.6,-200655.8,-238.8
$KALMAN_Y,90854.3,-27.0,345.8,-97785.0,1933.4
$MHEAD_RNG_PITCHd_Wd,242.2,84049,-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,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.78,0.000,2,0.000,0.000,861,2214,2951
$GC,87,-0.67,-117.3,3.8,-5.2,6,113,12.30,2.45,-7.20,0.000,4,0.146,0.089,2650,797,3318
$GC,305,-0.42,-117.3,43.0,-13.0,27,312,0.32,2.30,0.00,0.000,6,0.079,0.056,2704,2213,3319
$GC,650,-0.49,-117.3,64.1,-5.4,88,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2212,3320
$GC,994,-0.58,-117.3,84.6,-5.8,143,996,0.17,0.00,0.00,0.000,6,0.051,0.000,2665,2212,3320
$GC,1314,-0.51,-117.3,108.1,-7.7,173,1318,0.12,2.42,0.00,0.000,4,0.088,0.080,2687,783,3320
$GC,1364,-0.57,-117.3,111.9,-7.2,177,1369,0.00,2.33,0.00,0.000,6,0.000,0.067,2687,2197,3321
$GC,1690,-0.63,-117.3,130.8,-4.9,207,1694,0.12,2.40,0.00,0.000,4,0.062,0.081,2658,783,3321
$GC,1717,-0.63,-117.3,132.5,-6.3,209,1722,0.00,2.35,0.00,0.000,6,0.000,0.069,2658,2207,3320
$GC,2052,-0.63,-117.3,151.9,-6.4,239,2056,0.00,2.40,0.00,0.000,4,0.000,0.090,2658,3610,3320
$GC,2068,-0.63,-117.3,152.9,-6.4,240,2072,0.00,2.30,0.00,0.000,6,0.000,0.067,2658,2199,3320
$GC,2401,-0.63,-117.3,173.4,-6.0,256,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3321
$GC,2710,-0.63,-117.3,193.3,-6.8,271,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3320
$GC,3019,-0.63,-117.3,213.3,-6.6,286,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3320
$GC,3328,-0.63,-117.3,232.6,-5.9,301,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3319
$GC,3638,-0.63,-117.3,248.8,-4.9,316,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3318
$GC,3947,-0.63,-117.3,263.0,-4.5,331,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,3318
$GC,4256,-0.63,-117.3,279.6,-5.7,346,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3317
$GC,4565,-0.63,-117.3,297.7,-5.7,361,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2195,3317
$GC,4870,-0.63,-117.3,314.4,-5.5,368,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2194,3316
$GC,5173,-0.63,-117.3,330.5,-5.3,373,5177,0.00,2.40,0.00,0.000,4,0.000,0.088,2658,789,3316
$GC,5200,-0.68,-117.3,332.1,-5.4,373,5204,0.00,2.35,0.00,0.000,6,0.000,0.072,2658,2204,3316
$GC,5531,-0.68,-117.3,349.1,-5.1,379,5535,0.00,2.42,0.00,0.000,4,0.000,0.087,2658,789,3315
$GC,5554,-0.72,-117.3,350.4,-5.8,379,5558,0.00,2.35,0.00,0.000,6,0.000,0.073,2658,2204,3315
$GC,5891,-0.72,-117.3,366.7,-4.8,385,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2204,3315
$GC,6194,-0.72,-117.3,381.0,-4.8,390,6198,0.00,2.42,0.00,0.000,4,0.000,0.089,2658,796,3314
$GC,6227,-0.78,-117.3,382.7,-5.4,390,6232,0.15,2.35,0.00,0.000,6,0.059,0.074,2627,2202,3314
$GC,6553,-0.69,-117.3,402.8,-6.3,396,6555,0.12,0.00,0.00,0.000,6,0.097,0.000,2647,2203,3313
$GC,6855,-0.69,-117.3,419.9,-5.6,401,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2203,3313
$GC,7158,-0.69,-117.3,436.6,-5.5,406,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2203,3313
$GC,7462,-0.69,-117.3,452.7,-5.3,411,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2203,3312
$GC,7765,-0.69,-117.3,469.3,-5.5,416,7769,0.00,2.47,0.00,0.000,4,0.000,0.094,2647,789,3312
$GC,7786,-0.69,-117.3,470.6,-5.7,416,7790,0.00,2.35,0.00,0.000,6,0.000,0.077,2647,2200,3312
$GC,8129,-0.69,-117.3,488.4,-5.1,422,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,3312
$GC,8434,-0.69,-117.3,503.2,-4.8,427,8438,0.00,2.47,0.00,0.000,4,0.000,0.096,2647,793,3311
$GC,8460,-0.69,-117.3,504.8,-5.1,427,8465,0.00,2.35,0.00,0.000,6,0.000,0.078,2647,2202,3311
$GC,8798,-0.69,-117.3,519.1,-4.2,433,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2202,3310
$GC,9101,-0.69,-117.3,531.1,-3.9,438,9105,0.00,2.47,0.00,0.000,4,0.000,0.097,2647,797,3310
$GC,9127,-0.69,-117.3,532.3,-4.6,438,9131,0.00,2.35,0.00,0.000,6,0.000,0.079,2647,2205,3310
$GC,9465,-0.69,-117.3,546.6,-4.3,444,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,3310
$GC,9768,-0.69,-117.3,560.2,-4.5,449,9772,0.00,2.50,0.00,0.000,4,0.000,0.098,2647,795,3310
$GC,9801,-0.69,-117.3,561.9,-6.0,449,9806,0.00,2.40,0.00,0.000,6,0.000,0.082,2647,2204,3309
$GC,10130,-0.69,-117.3,577.9,-4.9,455,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,3309
$GC,10430,-0.69,-117.3,594.0,-5.4,460,10434,0.00,2.50,0.00,0.000,4,0.000,0.097,2647,790,3309
$GC,10474,-0.74,-117.3,596.6,-5.9,460,10478,0.00,2.40,0.00,0.000,6,0.000,0.080,2647,2200,3309
$GC,10795,-0.74,-117.3,613.9,-5.4,466,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,3309
$GC,11098,-0.74,-117.3,629.5,-5.1,471,11102,0.00,2.47,0.00,0.000,4,0.000,0.097,2647,797,3309
$GC,11136,-0.79,-117.3,631.5,-5.6,471,11139,0.00,2.40,0.00,0.000,6,0.000,0.080,2647,2207,3309
$GC,11462,-0.79,-117.3,646.7,-4.6,477,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2207,3308
$GC,11765,-0.79,-117.3,659.7,-4.3,482,11769,0.00,2.50,0.00,0.000,4,0.000,0.097,2647,793,3308
$GC,11797,-0.84,-117.3,661.2,-4.6,482,11802,0.17,2.40,0.00,0.000,6,0.060,0.080,2612,2207,3308
$GC,12123,-0.72,-117.3,680.2,-5.9,488,12128,0.15,2.50,0.00,0.000,4,0.094,0.097,2640,797,3308
$GC,12144,-0.68,-117.3,681.4,-5.7,488,12149,0.00,2.38,0.00,0.000,6,0.000,0.080,2640,2200,3308
$GC,12482,-0.68,-117.3,699.5,-5.4,494,12486,0.00,2.50,0.00,0.000,4,0.000,0.098,2640,791,3307
$GC,12502,-0.68,-117.3,700.8,-5.9,494,12506,0.00,2.40,0.00,0.000,6,0.000,0.080,2640,2199,3307
$GC,12845,-0.68,-117.3,719.8,-5.5,500,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2200,3307
$GC,13149,-0.68,-117.3,735.3,-5.1,505,13153,0.00,2.50,0.00,0.000,4,0.000,0.098,2640,792,3306
$GC,13192,-0.68,-117.3,737.8,-6.3,505,13196,0.00,2.40,0.00,0.000,6,0.000,0.081,2640,2199,3306
$GC,13513,-0.68,-117.3,753.5,-4.9,511,13517,0.00,2.50,0.00,0.000,4,0.000,0.099,2640,796,3306
$GC,13545,-0.68,-117.3,755.3,-4.6,511,13549,0.00,2.40,0.00,0.000,6,0.000,0.082,2640,2200,3306
$GC,13871,-0.68,-117.3,770.7,-4.7,517,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2199,3306
$GC,14174,-0.68,-117.3,783.6,-4.2,522,14178,0.00,2.50,0.00,0.000,4,0.000,0.100,2640,798,3306
$GC,14213,-0.68,-117.3,785.3,-4.5,522,14217,0.00,2.42,0.00,0.000,6,0.000,0.083,2640,2208,3306
$GC,14532,-0.68,-117.3,798.4,-4.1,528,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2208,3305
$GC,14836,-0.68,-117.3,811.3,-4.3,533,14840,0.00,2.53,0.00,0.000,4,0.000,0.104,2640,789,3305
$GC,14862,-0.68,-117.3,812.6,-5.1,533,14866,0.00,2.40,0.00,0.000,6,0.000,0.084,2640,2200,3305
$GC,15200,-0.68,-117.3,827.7,-4.5,539,15205,0.00,2.53,0.00,0.000,4,0.000,0.104,2640,799,3305
$GC,15227,-0.68,-117.3,829.1,-5.6,539,15231,0.00,2.40,0.00,0.000,6,0.000,0.085,2640,2201,3304
$GC,15565,-0.68,-117.3,843.9,-4.4,545,15569,0.00,2.53,0.00,0.000,4,0.000,0.105,2641,799,3304
$GC,15592,-0.68,-117.3,845.3,-4.8,545,15596,0.00,2.40,0.00,0.000,6,0.000,0.087,2640,2198,3304
$GC,15923,-0.68,-117.3,860.8,-4.7,551,15927,0.00,2.53,0.00,0.000,4,0.000,0.106,2640,798,3304
$GC,15950,-0.72,-117.3,862.1,-5.4,551,15954,0.00,2.42,0.00,0.000,6,0.000,0.087,2640,2201,3304
$GC,16281,-0.72,-117.3,878.3,-4.9,557,16285,0.00,2.55,0.00,0.000,4,0.000,0.107,2640,795,3304
$GC,16313,-0.72,-117.3,880.0,-5.2,557,16317,0.00,2.42,0.00,0.000,6,0.000,0.088,2640,2201,3304
$GC,16645,-0.72,-117.3,896.5,-5.0,563,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,3304
$GC,16948,-0.72,-117.3,911.9,-5.0,568,16953,0.00,2.58,0.00,0.000,4,0.000,0.110,2640,792,3303
$GC,16981,-0.76,-117.3,913.7,-5.4,568,16986,0.00,2.45,0.00,0.000,6,0.000,0.090,2640,2200,3303
$GC,17307,-0.76,-117.3,929.6,-4.8,574,17311,0.00,2.58,0.00,0.000,4,0.000,0.110,2640,790,3303
$GC,17340,-0.81,-117.3,931.3,-5.0,574,17344,0.00,2.45,0.00,0.000,6,0.000,0.091,2640,2200,3303
$GC,17665,-0.93,-117.3,949.7,-5.9,580,17670,0.20,2.70,0.00,0.000,4,0.058,0.136,2596,3607,3303
$GC,17796,-0.77,-117.3,958.7,-7.9,582,17801,0.20,2.47,0.00,0.000,6,0.093,0.097,2628,2211,3303
$GC,18162,-0.77,-117.3,977.9,-5.2,588,18166,0.00,2.60,0.00,0.000,4,0.000,0.117,2628,786,3303
$GC,18188,-0.77,-117.3,979.5,-5.8,588,18192,0.00,2.45,0.00,0.000,6,0.000,0.092,2628,2200,3303
$STATE,18402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18402,begin apogee
$GC,18407,-0.23,0.0,990.5,5.1,592,18511,0.70,0.00,100.80,1.472,6,0.077,0.000,2747,2200,2837
$STATE,18511,end apogee,CONTROL_FINISHED_OK
$STATE,18512,begin climb
$GC,18514,0.67,117.3,991.8,0.0,593,18627,1.15,0.00,109.32,1.430,6,0.048,0.000,2945,2199,2358
$GC,18888,0.37,117.3,966.4,9.0,600,18893,0.35,2.70,0.00,0.000,4,0.095,0.125,2886,3606,2356
$GC,18920,0.26,117.3,963.8,7.0,600,18926,0.17,2.55,0.00,0.000,6,0.097,0.096,2860,2193,2356
$GC,19246,0.27,120.2,945.9,5.4,606,19255,0.00,2.55,4.03,0.887,4,0.000,0.117,2859,790,2346
$GC,19289,0.27,120.2,943.2,6.7,606,19294,0.00,2.47,0.00,0.000,6,0.000,0.091,2859,2206,2346
$GC,19615,0.27,120.2,923.4,6.1,612,19620,0.00,2.60,0.00,0.000,4,0.000,0.114,2859,789,2345
$GC,19659,0.27,120.2,920.5,7.4,612,19663,0.00,2.45,0.00,0.000,6,0.000,0.091,2859,2200,2345
$GC,19979,0.27,120.2,899.9,6.5,618,19984,0.00,2.60,0.00,0.000,4,0.000,0.114,2859,782,2345
$GC,20006,0.27,120.2,898.0,6.4,618,20010,0.00,2.45,0.00,0.000,6,0.000,0.090,2859,2200,2345
$GC,20344,0.27,120.2,877.1,6.2,624,20345,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2200,2345
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$STATE,33125,begin surface coast
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$STATE,33158,end surface coast,CONTROL_FINISHED_OK
$STATE,33158,begin surface
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