version: 66.03
glider: 119
mission: 5
dive: 162
start: 10 27 108 5 56 43
data:
$ID,119
$MISSION,5
$DIVE,162
$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,-212840.69
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,055007,4746.407,-12605.666,36,1.2,36,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.6
$GPS2,055550,4746.389,-12605.678,10,1.4,15,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.107,-0.163
$KALMAN_X,-12782.5,280.5,1051.7,-74066.0,-2454.3
$KALMAN_Y,149993.1,-338.0,-815.1,-60198.8,2115.2
$MHEAD_RNG_PITCHd_Wd,194.5,168021,-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,-61.55,0.000,2,0.000,0.000,862,2217,2773
$GC,87,-0.67,-117.3,3.1,-4.5,6,120,12.32,2.42,-12.93,0.000,4,0.146,0.077,2649,790,3317
$GC,346,-0.46,-117.3,34.7,-11.6,29,351,0.28,2.20,0.00,0.000,6,0.084,0.044,2694,2188,3317
$GC,686,-0.51,-117.3,59.7,-7.1,83,693,0.00,2.28,0.00,0.000,4,0.000,0.058,2694,795,3317
$GC,716,-0.58,-117.3,61.9,-6.9,88,722,0.00,2.20,0.00,0.000,6,0.000,0.043,2694,2211,3317
$GC,1059,-0.64,-117.3,81.3,-5.2,147,1061,0.20,0.00,0.00,0.000,6,0.048,0.000,2651,2211,3317
$GC,1379,-0.56,-117.3,103.3,-6.6,177,1384,0.15,2.33,0.00,0.000,4,0.084,0.061,2680,789,3317
$GC,1419,-0.63,-117.3,105.7,-5.7,180,1423,0.00,2.20,0.00,0.000,6,0.000,0.044,2680,2196,3317
$GC,1746,-0.70,-117.3,122.0,-5.2,210,1748,0.17,0.00,0.00,0.000,6,0.051,0.000,2641,2196,3317
$GC,2063,-0.62,-117.3,141.9,-5.9,240,2068,0.12,2.30,0.00,0.000,4,0.088,0.062,2663,788,3317
$GC,2092,-0.62,-117.3,143.6,-4.9,242,2096,0.00,2.17,0.00,0.000,6,0.000,0.044,2663,2182,3317
$GC,2411,-0.62,-117.3,159.4,-4.8,263,2415,0.00,2.35,0.00,0.000,4,0.000,0.070,2663,3601,3317
$GC,2437,-0.62,-117.3,161.0,-5.9,264,2441,0.00,2.28,0.00,0.000,6,0.000,0.044,2663,2166,3317
$GC,2759,-0.62,-117.3,178.1,-5.4,280,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2160,3317
$GC,3068,-0.62,-117.3,196.0,-6.1,295,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2160,3317
$GC,3377,-0.62,-117.3,214.9,-6.3,310,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2161,3317
$GC,3687,-0.62,-117.3,234.1,-6.0,325,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2160,3317
$GC,3997,-0.62,-117.3,250.9,-5.3,340,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2160,3317
$GC,4305,-0.62,-117.3,267.4,-5.2,355,4309,0.00,2.28,0.00,0.000,4,0.000,0.071,2663,806,3317
$GC,4333,-0.68,-117.3,269.0,-5.7,356,4336,0.00,2.15,0.00,0.000,6,0.000,0.045,2663,2186,3317
$GC,4654,-0.68,-117.3,286.7,-5.9,372,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2186,3317
$GC,5002,-0.72,-117.3,307.9,-6.0,385,5006,0.00,2.30,0.00,0.000,4,0.000,0.070,2663,796,3317
$GC,5052,-0.79,-117.3,310.9,-6.1,385,5056,0.20,2.15,0.00,0.000,6,0.050,0.047,2620,2170,3317
$GC,5361,-0.64,-117.3,336.1,-8.5,390,5363,0.22,0.00,0.00,0.000,6,0.080,0.000,2658,2170,3316
$GC,5663,-0.64,-117.3,354.4,-5.9,395,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2170,3316
$GC,5967,-0.64,-117.3,370.3,-5.2,400,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2170,3316
$GC,6270,-0.64,-117.3,386.5,-5.5,405,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2170,3315
$GC,6574,-0.64,-117.3,402.0,-5.2,410,6578,0.00,2.30,0.00,0.000,4,0.000,0.076,2658,806,3315
$GC,6606,-0.70,-117.3,404.0,-5.9,410,6610,0.00,2.12,0.00,0.000,6,0.000,0.050,2658,2155,3315
$GC,6939,-0.74,-117.3,421.4,-5.2,416,6943,0.00,2.40,0.00,0.000,4,0.000,0.072,2658,3598,3315
$GC,6960,-0.78,-117.3,422.6,-5.8,416,6965,0.15,2.28,0.00,0.000,6,0.059,0.047,2626,2155,3314
$GC,7298,-0.68,-117.3,444.9,-6.7,422,7299,0.12,0.00,0.00,0.000,6,0.092,0.000,2647,2154,3314
$GC,7600,-0.68,-117.3,462.1,-5.6,427,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2154,3314
$GC,7903,-0.68,-117.3,479.2,-5.7,432,7907,0.00,2.33,0.00,0.000,4,0.000,0.081,2647,799,3313
$GC,7929,-0.68,-117.3,480.8,-6.2,432,7934,0.00,2.20,0.00,0.000,6,0.000,0.052,2647,2165,3313
$GC,8268,-0.68,-117.3,500.6,-5.9,438,8272,0.00,2.40,0.00,0.000,4,0.000,0.072,2647,3601,3313
$GC,8294,-0.68,-117.3,502.3,-6.0,438,8298,0.00,2.30,0.00,0.000,6,0.000,0.048,2648,2166,3313
$GC,8632,-0.68,-117.3,519.8,-5.0,444,8636,0.00,2.33,0.00,0.000,4,0.000,0.084,2647,810,3313
$GC,8670,-0.68,-117.3,521.6,-4.6,444,8674,0.00,2.17,0.00,0.000,6,0.000,0.054,2648,2172,3313
$GC,8997,-0.68,-117.3,534.9,-4.0,450,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2172,3313
$GC,9299,-0.68,-117.3,548.7,-4.7,455,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2172,3312
$GC,9602,-0.68,-117.3,565.5,-5.6,460,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2172,3312
$GC,9905,-0.68,-117.3,582.6,-5.6,465,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2172,3311
$GC,10209,-0.68,-117.3,598.7,-5.2,470,10213,0.00,2.35,0.00,0.000,4,0.000,0.084,2647,800,3312
$GC,10241,-0.73,-117.3,600.6,-5.4,470,10246,0.00,2.20,0.00,0.000,6,0.000,0.055,2647,2170,3312
$GC,10567,-0.73,-117.3,616.7,-4.9,476,10571,0.00,2.45,0.00,0.000,4,0.000,0.082,2647,3605,3311
$GC,10594,-0.73,-117.3,618.2,-5.8,476,10598,0.00,2.30,0.00,0.000,6,0.000,0.049,2647,2179,3310
$GC,10932,-0.73,-117.3,635.6,-5.1,482,10936,0.00,2.38,0.00,0.000,4,0.000,0.088,2647,796,3310
$GC,10959,-0.73,-117.3,637.0,-5.3,482,10964,0.00,2.22,0.00,0.000,6,0.000,0.057,2647,2186,3310
$GC,11298,-0.73,-117.3,654.9,-5.3,488,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2187,3310
$GC,11600,-0.73,-117.3,671.2,-5.4,493,11604,0.00,2.38,0.00,0.000,4,0.000,0.084,2647,799,3309
$GC,11627,-0.77,-117.3,672.7,-5.4,493,11631,0.00,2.20,0.00,0.000,6,0.000,0.058,2647,2165,3309
$GC,11958,-0.77,-117.3,690.2,-5.2,499,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2165,3309
$GC,12261,-0.77,-117.3,705.9,-5.2,504,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2165,3309
$GC,12564,-0.77,-117.3,721.1,-4.9,509,12568,0.00,2.35,0.00,0.000,4,0.000,0.086,2647,797,3309
$GC,12615,-0.82,-117.3,723.7,-5.2,509,12620,0.15,2.17,0.00,0.000,6,0.058,0.060,2615,2142,3310
$GC,12929,-0.71,-117.3,741.5,-5.7,515,12934,0.15,2.50,0.00,0.000,4,0.090,0.085,2644,3598,3309
$GC,12963,-0.71,-117.3,743.1,-4.8,515,12967,0.00,2.33,0.00,0.000,6,0.000,0.052,2644,2137,3309
$GC,13291,-0.71,-117.3,757.5,-4.4,521,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2138,3309
$GC,13592,-0.71,-117.3,771.7,-4.7,526,13596,0.00,2.33,0.00,0.000,4,0.000,0.096,2644,803,3308
$GC,13626,-0.76,-117.3,773.4,-5.4,526,13630,0.00,2.12,0.00,0.000,6,0.000,0.060,2644,2116,3308
$GC,13952,-0.87,-117.3,791.2,-5.6,532,13956,0.17,2.33,0.00,0.000,4,0.054,0.091,2603,793,3309
$GC,14063,-0.75,-117.3,798.2,-6.3,533,14067,0.20,1.80,0.00,0.000,6,0.082,0.061,2637,1905,3308
$GC,14383,-0.75,-117.3,813.6,-4.8,539,14387,0.00,2.90,0.00,0.000,4,0.000,0.087,2637,3599,3308
$GC,14448,-0.75,-117.3,817.2,-6.1,540,14452,0.00,2.67,0.00,0.000,6,0.000,0.057,2637,1960,3307
$GC,14814,-0.75,-117.3,834.7,-4.7,546,14819,0.00,2.85,0.00,0.000,4,0.000,0.084,2637,3598,3308
$GC,14876,-0.75,-117.3,837.7,-5.0,547,14880,0.00,2.58,0.00,0.000,6,0.000,0.060,2637,2026,3307
$GC,15242,-0.75,-117.3,854.3,-4.6,553,15243,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2026,3307
$GC,15543,-0.75,-117.3,867.6,-4.3,558,15548,0.00,2.78,0.00,0.000,4,0.000,0.089,2637,3604,3307
$GC,15587,-0.75,-117.3,869.8,-5.3,558,15591,0.00,2.58,0.00,0.000,6,0.000,0.061,2637,2042,3306
$GC,15902,-0.75,-117.3,883.3,-4.3,564,15906,0.00,2.72,0.00,0.000,4,0.000,0.088,2636,3596,3306
$GC,15929,-0.75,-117.3,884.7,-5.0,564,15933,0.00,2.50,0.00,0.000,6,0.000,0.061,2637,2063,3306
$GC,16266,-0.75,-117.3,899.2,-4.5,570,16270,0.00,2.67,0.00,0.000,4,0.000,0.089,2636,3598,3306
$GC,16315,-0.75,-117.3,901.8,-5.1,570,16319,0.00,2.45,0.00,0.000,6,0.000,0.061,2637,2110,3305
$GC,16630,-0.75,-117.3,914.0,-3.8,576,16635,0.00,2.62,0.00,0.000,4,0.000,0.091,2636,3605,3305
$GC,16658,-0.75,-117.3,915.3,-4.2,576,16661,0.00,2.42,0.00,0.000,6,0.000,0.061,2637,2131,3306
$GC,16995,-0.75,-117.3,927.9,-3.8,582,16996,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2131,3306
$GC,17298,-0.75,-117.3,939.6,-3.9,587,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2131,3305
$GC,17602,-0.75,-117.3,952.7,-4.3,592,17606,0.00,2.40,0.00,0.000,4,0.000,0.108,2637,799,3305
$GC,17634,-0.75,-117.3,954.3,-5.2,592,17638,0.00,2.17,0.00,0.000,6,0.000,0.068,2637,2110,3305
$GC,17966,-0.75,-117.3,969.5,-4.6,598,17970,0.00,2.62,0.00,0.000,4,0.000,0.096,2636,3598,3305
$GC,17998,-0.75,-117.3,971.2,-6.0,598,18002,0.00,2.45,0.00,0.000,6,0.000,0.065,2637,2124,3305
$GC,18330,-0.75,-117.3,986.5,-4.5,604,18331,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2124,3305
$STATE,18449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18449,begin apogee
$GC,18454,-0.23,0.0,991.9,4.5,606,18559,0.65,0.00,102.07,1.497,6,0.076,0.000,2747,2204,2837
$STATE,18560,end apogee,CONTROL_FINISHED_OK
$STATE,18560,begin climb
$GC,18562,0.67,117.3,993.2,0.0,607,18677,1.15,0.00,111.55,1.449,6,0.045,0.000,2945,2203,2358
$GC,18935,0.41,117.3,966.2,9.4,614,18940,0.30,2.47,0.00,0.000,4,0.091,0.094,2894,3596,2358
$GC,19024,0.32,117.3,958.6,8.5,615,19028,0.15,2.25,0.00,0.000,6,0.100,0.066,2871,2268,2358
$GC,19366,0.32,117.3,936.3,6.4,621,19370,0.00,2.58,0.00,0.000,4,0.000,0.107,2871,806,2358
$GC,19443,0.32,117.3,931.3,6.8,622,19447,0.00,2.35,0.00,0.000,6,0.000,0.068,2871,2218,2358
$GC,19798,0.32,118.4,911.7,5.5,628,19802,0.00,2.50,0.00,0.000,4,0.000,0.101,2871,807,2358
$GC,19847,0.32,118.4,908.8,6.0,628,19851,0.00,2.28,0.00,0.000,6,0.000,0.067,2871,2183,2357
$GC,20162,0.33,129.6,892.5,5.1,634,20177,0.00,0.00,12.57,1.343,6,0.000,0.000,2871,2183,2308
$GC,20466,0.39,141.3,876.8,5.1,639,20484,0.00,2.53,12.10,1.332,4,0.000,0.100,2871,797,2261
$GC,20508,0.40,152.2,874.4,5.2,639,20524,0.00,2.28,11.57,1.299,6,0.000,0.066,2871,2162,2216
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$STATE,33596,end climb,SURFACE_DEPTH_REACHED
$STATE,33596,begin surface coast
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$STATE,33629,begin surface
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