version: 66.03
glider: 119
mission: 5
dive: 158
start: 10 25 108 15 33 7
data:
$ID,119
$MISSION,5
$DIVE,158
$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,-212755.94
$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,11
$R_STBD_OVSHOOT,30
$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
$GPS1,152631,4755.124,-12548.052,40,1.3,40,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.7
$GPS2,153214,4755.112,-12548.100,15,1.8,15,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.165,-0.103
$KALMAN_X,-6549.3,194.4,-721.7,-56200.0,214.1
$KALMAN_Y,144572.4,882.2,-513.1,-40161.7,193.7
$MHEAD_RNG_PITCHd_Wd,219.3,195378,-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,-61.55,0.000,2,0.000,0.000,863,2223,2803
$GC,87,-0.67,-117.3,3.2,-4.2,6,118,12.43,2.35,-11.80,0.000,4,0.149,0.076,2648,3603,3317
$GC,250,-0.44,-117.3,25.7,-11.2,21,255,0.30,2.28,0.00,0.000,6,0.079,0.041,2699,2166,3317
$GC,582,-0.44,-117.3,51.5,-7.5,64,588,0.00,2.22,0.00,0.000,4,0.000,0.063,2699,797,3317
$GC,634,-0.54,-117.3,54.8,-6.5,73,640,0.00,2.08,0.00,0.000,6,0.000,0.042,2699,2137,3317
$GC,978,-0.84,-117.3,78.0,-6.7,134,984,0.43,2.17,0.00,0.000,4,0.041,0.058,2607,786,3317
$GC,1115,-0.60,-117.3,90.1,-9.7,149,1119,0.35,1.92,0.00,0.000,6,0.077,0.042,2667,2035,3317
$GC,1444,-0.60,-117.3,111.4,-6.4,180,1448,0.00,2.58,0.00,0.000,4,0.000,0.066,2667,3597,3317
$GC,1465,-0.60,-117.3,112.8,-6.3,181,1472,0.00,2.47,0.00,0.000,6,0.000,0.043,2667,2048,3317
$GC,1792,-0.60,-117.3,132.8,-5.9,212,1796,0.00,2.58,0.00,0.000,4,0.000,0.065,2667,3598,3317
$GC,1847,-0.65,-117.3,136.1,-5.7,216,1853,0.00,2.38,0.00,0.000,6,0.000,0.045,2666,2095,3317
$GC,2175,-0.70,-117.3,149.7,-4.0,247,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2094,3317
$GC,2491,-0.76,-117.3,166.1,-5.7,263,2496,0.15,2.53,0.00,0.000,4,0.057,0.067,2629,3601,3317
$GC,2531,-0.65,-117.3,168.9,-7.5,265,2536,0.15,2.35,0.00,0.000,6,0.086,0.044,2655,2112,3316
$GC,2857,-0.65,-117.3,188.5,-5.7,281,2861,0.00,2.47,0.00,0.000,4,0.000,0.067,2655,3597,3316
$GC,2878,-0.65,-117.3,189.8,-5.6,282,2882,0.00,2.35,0.00,0.000,6,0.000,0.044,2656,2113,3316
$GC,3205,-0.65,-117.3,208.4,-5.9,298,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2113,3317
$GC,3514,-0.65,-117.3,226.3,-5.8,313,3519,0.00,2.50,0.00,0.000,4,0.000,0.067,2655,3608,3316
$GC,3554,-0.65,-117.3,228.8,-6.7,315,3558,0.00,2.30,0.00,0.000,6,0.000,0.045,2656,2148,3317
$GC,3886,-0.65,-117.3,248.6,-6.0,331,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2142,3317
$GC,4196,-0.65,-117.3,266.2,-5.4,346,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2142,3316
$GC,4505,-0.65,-117.3,282.6,-4.9,361,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2142,3316
$GC,4814,-0.65,-117.3,296.9,-4.7,376,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2142,3316
$GC,5139,-0.65,-117.3,311.7,-4.6,384,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2142,3316
$GC,5442,-0.65,-117.3,325.6,-4.6,389,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2142,3316
$GC,5745,-0.69,-117.3,340.6,-5.0,394,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2142,3316
$GC,6050,-0.69,-117.3,356.3,-5.2,399,6054,0.00,2.45,0.00,0.000,4,0.000,0.071,2655,3604,3315
$GC,6077,-0.69,-117.3,358.0,-5.4,399,6081,0.00,2.28,0.00,0.000,6,0.000,0.046,2655,2166,3315
$GC,6415,-0.74,-117.3,374.1,-4.8,405,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2163,3315
$GC,6717,-0.79,-117.3,391.1,-5.8,410,6722,0.15,2.42,0.00,0.000,4,0.059,0.069,2618,3605,3314
$GC,6744,-0.69,-117.3,393.2,-8.1,410,6749,0.17,2.22,0.00,0.000,6,0.084,0.045,2647,2198,3314
$GC,7082,-0.69,-117.3,415.6,-6.6,416,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2193,3314
$GC,7384,-0.69,-117.3,433.1,-5.7,421,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2193,3313
$GC,7687,-0.69,-117.3,447.5,-4.6,426,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2193,3313
$GC,7990,-0.69,-117.3,462.8,-5.1,431,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2193,3313
$GC,8293,-0.69,-117.3,480.5,-5.8,436,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2193,3313
$GC,8596,-0.69,-117.3,496.4,-5.1,441,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2193,3313
$GC,8900,-0.69,-117.3,512.4,-5.4,446,8904,0.00,2.40,0.00,0.000,4,0.000,0.084,2648,799,3313
$GC,8922,-0.74,-117.3,513.7,-5.5,446,8926,0.00,2.20,0.00,0.000,6,0.000,0.054,2647,2180,3313
$GC,9259,-0.74,-117.3,531.3,-5.2,452,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2180,3312
$GC,9562,-0.74,-117.3,546.7,-5.1,457,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2180,3312
$GC,9865,-0.74,-117.3,563.3,-5.5,462,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2180,3312
$GC,10169,-0.74,-117.3,580.3,-5.6,467,10173,0.00,2.35,0.00,0.000,4,0.000,0.082,2647,803,3312
$GC,10213,-0.80,-117.3,583.1,-6.4,467,10217,0.00,2.17,0.00,0.000,6,0.000,0.056,2648,2155,3312
$GC,10536,-0.84,-117.3,601.2,-5.6,473,10541,0.15,2.45,0.00,0.000,4,0.061,0.081,2611,3597,3311
$GC,10574,-0.70,-117.3,603.9,-8.2,473,10579,0.20,2.30,0.00,0.000,6,0.082,0.049,2645,2144,3310
$GC,10894,-0.70,-117.3,619.9,-4.8,479,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2143,3310
$GC,11197,-0.70,-117.3,634.5,-4.8,484,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2142,3310
$GC,11500,-0.70,-117.3,648.7,-4.7,489,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2142,3310
$GC,11803,-0.70,-117.3,663.9,-5.1,494,11807,0.00,2.53,0.00,0.000,4,0.000,0.084,2644,3602,3310
$GC,11824,-0.70,-117.3,665.2,-5.7,494,11828,0.00,2.33,0.00,0.000,6,0.000,0.049,2645,2147,3310
$GC,12168,-0.74,-117.3,683.2,-5.2,500,12169,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2147,3309
$GC,12471,-0.78,-117.3,696.5,-4.3,505,12475,0.00,2.33,0.00,0.000,4,0.000,0.094,2645,806,3310
$GC,12498,-0.83,-117.3,697.7,-4.5,505,12503,0.15,2.17,0.00,0.000,6,0.057,0.061,2613,2141,3309
$GC,12836,-0.73,-117.3,715.8,-5.5,511,12841,0.15,2.53,0.00,0.000,4,0.089,0.085,2642,3605,3309
$GC,12874,-0.73,-117.3,718.0,-4.9,511,12878,0.00,2.33,0.00,0.000,6,0.000,0.053,2642,2152,3308
$GC,13196,-0.73,-117.3,733.2,-4.7,517,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2152,3309
$GC,13498,-0.73,-117.3,747.7,-4.8,522,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2152,3308
$GC,13801,-0.73,-117.3,761.3,-4.5,527,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2152,3308
$GC,14104,-0.73,-117.3,775.1,-4.6,532,14109,0.00,2.38,0.00,0.000,4,0.000,0.100,2642,803,3308
$GC,14128,-0.77,-117.3,776.2,-4.9,532,14132,0.00,2.20,0.00,0.000,6,0.000,0.063,2642,2152,3308
$GC,14465,-0.77,-117.3,793.2,-5.1,538,14469,0.00,2.53,0.00,0.000,4,0.000,0.092,2641,3607,3307
$GC,14497,-0.77,-117.3,795.2,-6.4,538,14501,0.00,2.35,0.00,0.000,6,0.000,0.058,2642,2161,3307
$GC,14828,-0.77,-117.3,813.6,-5.5,544,14832,0.00,2.42,0.00,0.000,4,0.000,0.104,2642,794,3307
$GC,14850,-0.82,-117.3,814.9,-5.2,544,14854,0.00,2.22,0.00,0.000,6,0.000,0.065,2642,2162,3307
$GC,15193,-0.97,-117.3,835.8,-6.3,550,15198,0.25,2.45,0.00,0.000,4,0.049,0.099,2586,792,3307
$GC,15428,-0.79,-117.3,854.2,-8.4,553,15432,0.22,1.80,0.00,0.000,6,0.084,0.069,2623,1884,3306
$GC,15760,-0.75,-117.3,873.0,-5.5,559,15764,0.00,3.00,0.00,0.000,4,0.000,0.092,2623,3601,3306
$GC,15877,-0.70,-117.3,879.5,-5.2,560,15882,0.12,2.67,0.00,0.000,6,0.093,0.067,2643,1993,3305
$GC,16186,-0.75,-117.3,892.7,-4.3,565,16191,0.00,2.83,0.00,0.000,4,0.000,0.091,2643,3598,3306
$GC,16230,-0.80,-117.3,895.0,-6.0,565,16234,0.00,2.58,0.00,0.000,6,0.000,0.067,2643,2053,3305
$GC,16547,-0.86,-117.3,909.5,-4.6,571,16553,0.15,2.75,0.00,0.000,4,0.059,0.092,2607,3603,3306
$GC,16569,-0.80,-117.3,911.0,-5.8,571,16573,0.00,2.53,0.00,0.000,6,0.000,0.068,2607,2088,3305
$GC,16912,-0.70,-117.3,931.3,-6.0,577,16914,0.22,0.00,0.00,0.000,6,0.084,0.000,2645,2087,3305
$GC,17216,-0.76,-117.3,943.5,-3.9,582,17217,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2088,3305
$GC,17520,-0.89,-117.3,956.5,-4.5,587,17525,0.17,2.72,0.00,0.000,4,0.057,0.099,2603,3602,3305
$GC,17637,-0.75,-117.3,963.2,-6.3,588,17641,0.20,2.05,0.00,0.000,6,0.087,0.069,2635,2379,3305
$GC,17953,-0.75,-117.3,975.9,-4.1,594,17958,0.00,2.85,0.00,0.000,4,0.000,0.111,2635,800,3304
$GC,18026,-0.79,-117.3,979.5,-5.2,595,18030,0.00,2.55,0.00,0.000,6,0.000,0.073,2635,2312,3304
$STATE,18256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18256,begin apogee
$GC,18261,-0.23,0.0,990.8,4.9,599,18367,0.65,0.00,102.15,1.495,6,0.075,0.000,2747,2187,2837
$STATE,18367,end apogee,CONTROL_FINISHED_OK
$STATE,18367,begin climb
$GC,18369,0.67,117.3,992.4,0.0,600,18488,1.15,2.80,110.57,1.446,4,0.044,0.098,2946,3599,2358
$GC,18611,0.36,117.3,979.1,8.9,604,18616,0.43,2.45,0.00,0.000,6,0.092,0.075,2881,2215,2358
$GC,18931,0.36,117.3,960.9,5.5,610,18935,0.00,2.62,0.00,0.000,4,0.000,0.116,2881,779,2358
$GC,19008,0.29,117.3,956.2,6.3,611,19012,0.00,2.35,0.00,0.000,6,0.000,0.074,2880,2166,2358
$GC,19362,0.29,117.3,935.7,5.9,617,19364,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2166,2358
$GC,19665,0.29,117.3,917.7,6.0,622,19669,0.00,2.50,0.00,0.000,4,0.000,0.110,2881,779,2357
$GC,19714,0.22,117.3,914.3,6.7,622,19719,0.20,2.28,0.00,0.000,6,0.089,0.071,2848,2148,2357
$GC,20024,0.33,129.6,898.4,5.1,627,20044,0.12,2.47,12.45,1.339,4,0.064,0.108,2875,787,2308
$GC,20072,0.29,129.6,895.4,6.6,627,20075,0.00,2.22,0.00,0.000,6,0.000,0.070,2875,2120,2307
$GC,20392,0.29,129.6,876.1,6.0,633,20393,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2120,2307
$GC,20695,0.30,135.2,859.9,5.3,638,20704,0.00,0.00,7.00,1.193,6,0.000,0.000,2875,2120,2285
$GC,20998,0.31,150.4,844.6,5.0,643,21016,0.00,0.00,14.60,1.341,6,0.000,0.000,2875,2121,2224
$GC,21367,0.36,150.4,824.4,5.7,649,21368,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2120,2224
$GC,21670,0.40,150.4,806.5,5.9,654,21674,0.00,2.38,0.00,0.000,4,0.000,0.103,2875,786,2224
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$STATE,33962,end climb,SURFACE_DEPTH_REACHED
$STATE,33962,begin surface coast
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$STATE,33986,begin surface
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