version: 66.03
glider: 119
mission: 5
dive: 165
start: 10 28 108 11 0 55
data:
$ID,119
$MISSION,5
$DIVE,165
$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,-212883.61
$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,27
$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
$GPS1,105425,4741.288,-12618.693,40,1.2,41,18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.3
$GPS2,110003,4741.281,-12618.708,9,1.4,9,18.8
$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,-0.105
$KALMAN_X,-13376.2,119.1,-838.4,-87864.3,395.0
$KALMAN_Y,154071.8,0.6,1065.2,-75979.2,465.3
$MHEAD_RNG_PITCHd_Wd,218.7,149041,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.80,0.000,2,0.000,0.000,860,2211,3060
$GC,97,-0.67,-117.3,4.4,-5.9,7,120,12.35,2.50,-5.07,0.000,4,0.147,0.082,2649,780,3317
$GC,224,-0.45,-117.3,28.7,-11.5,18,229,0.30,2.22,0.00,0.000,6,0.082,0.042,2698,2202,3317
$GC,559,-0.51,-117.3,52.3,-5.5,65,565,0.00,2.30,0.00,0.000,4,0.000,0.064,2698,3603,3317
$GC,590,-0.57,-117.3,54.0,-5.6,70,597,0.12,2.15,0.00,0.000,6,0.058,0.040,2669,2226,3317
$GC,935,-0.52,-117.3,77.5,-7.1,131,941,0.00,2.33,0.00,0.000,4,0.000,0.061,2669,806,3317
$GC,970,-0.52,-117.3,79.9,-6.9,137,976,0.00,2.28,0.00,0.000,6,0.000,0.044,2669,2263,3317
$GC,1296,-0.52,-117.3,100.0,-6.0,168,1300,0.00,2.38,0.00,0.000,4,0.000,0.061,2669,803,3317
$GC,1373,-0.57,-117.3,104.8,-5.9,174,1380,0.00,2.17,0.00,0.000,6,0.000,0.044,2669,2177,3317
$GC,1700,-0.57,-117.3,125.7,-6.4,205,1704,0.00,2.25,0.00,0.000,4,0.000,0.061,2669,796,3317
$GC,1751,-0.64,-117.3,129.1,-7.1,209,1754,0.00,2.10,0.00,0.000,6,0.000,0.045,2669,2138,3317
$GC,2082,-0.64,-117.3,149.1,-6.1,240,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2139,3317
$GC,2392,-0.68,-117.3,165.7,-5.0,256,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2139,3317
$GC,2701,-0.73,-117.3,182.6,-5.5,271,2706,0.15,2.20,0.00,0.000,4,0.058,0.063,2632,793,3317
$GC,2733,-0.63,-117.3,185.0,-7.0,272,2740,0.17,2.05,0.00,0.000,6,0.081,0.044,2662,2117,3317
$GC,3050,-0.63,-117.3,202.7,-5.2,288,3054,0.00,2.45,0.00,0.000,4,0.000,0.069,2662,3601,3318
$GC,3082,-0.63,-117.3,204.7,-6.3,289,3089,0.00,2.35,0.00,0.000,6,0.000,0.045,2662,2128,3317
$GC,3398,-0.63,-117.3,220.3,-4.9,305,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2128,3317
$GC,3708,-0.63,-117.3,236.3,-5.4,320,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2128,3317
$GC,4017,-0.63,-117.3,254.1,-5.9,335,4020,0.00,2.20,0.00,0.000,4,0.000,0.069,2662,807,3317
$GC,4044,-0.68,-117.3,255.8,-6.5,336,4048,0.00,2.05,0.00,0.000,6,0.000,0.044,2662,2123,3317
$GC,4365,-0.68,-117.3,273.8,-5.6,352,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3317
$GC,4675,-0.68,-117.3,290.9,-5.8,367,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3317
$GC,5021,-0.72,-117.3,312.7,-6.5,378,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2123,3317
$GC,5324,-0.77,-117.3,332.2,-6.5,383,5326,0.15,0.00,0.00,0.000,6,0.059,0.000,2629,2123,3317
$GC,5628,-0.67,-117.3,352.4,-6.6,388,5633,0.12,2.47,0.00,0.000,4,0.092,0.069,2650,3605,3317
$GC,5660,-0.67,-117.3,354.3,-5.6,388,5664,0.00,2.40,0.00,0.000,6,0.000,0.045,2651,2087,3317
$GC,5992,-0.67,-117.3,370.7,-4.9,394,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2087,3316
$GC,6295,-0.67,-117.3,385.6,-4.9,399,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2087,3316
$GC,6598,-0.67,-117.3,399.8,-4.6,404,6603,0.00,2.53,0.00,0.000,4,0.000,0.069,2650,3596,3316
$GC,6625,-0.67,-117.3,401.2,-5.3,404,6630,0.00,2.35,0.00,0.000,6,0.000,0.047,2651,2105,3316
$GC,6963,-0.67,-117.3,417.1,-4.8,410,6967,0.00,2.50,0.00,0.000,4,0.000,0.071,2650,3600,3316
$GC,6989,-0.67,-117.3,418.6,-5.7,410,6993,0.00,2.33,0.00,0.000,6,0.000,0.047,2650,2138,3316
$GC,7328,-0.67,-117.3,435.6,-5.1,416,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2138,3316
$GC,7631,-0.67,-117.3,451.1,-5.1,421,7635,0.00,2.45,0.00,0.000,4,0.000,0.071,2650,3606,3315
$GC,7652,-0.67,-117.3,452.3,-5.4,421,7656,0.00,2.30,0.00,0.000,6,0.000,0.048,2651,2145,3315
$GC,7995,-0.67,-117.3,470.8,-5.4,427,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2144,3315
$GC,8299,-0.67,-117.3,486.5,-5.1,432,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2145,3315
$GC,8602,-0.67,-117.3,500.8,-4.7,437,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2145,3315
$GC,8904,-0.67,-117.3,516.1,-5.0,442,8908,0.00,2.47,0.00,0.000,4,0.000,0.073,2650,3603,3315
$GC,8931,-0.67,-117.3,517.8,-5.9,442,8935,0.00,2.33,0.00,0.000,6,0.000,0.048,2650,2143,3314
$GC,9269,-0.67,-117.3,535.3,-5.3,448,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2143,3314
$GC,9573,-0.67,-117.3,550.0,-4.8,453,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2142,3314
$GC,9875,-0.67,-117.3,563.8,-4.6,458,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2142,3314
$GC,10179,-0.67,-117.3,577.6,-4.5,463,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2140,3314
$GC,10481,-0.67,-117.3,592.3,-4.9,468,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2139,3313
$GC,10784,-0.67,-117.3,607.9,-5.2,473,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2139,3313
$GC,11087,-0.67,-117.3,624.1,-5.3,478,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2138,3312
$GC,11390,-0.71,-117.3,641.0,-5.6,483,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2138,3312
$GC,11694,-0.75,-117.3,658.2,-5.7,488,11698,0.00,2.55,0.00,0.000,4,0.000,0.083,2650,3603,3311
$GC,11714,-0.75,-117.3,659.4,-5.7,488,11719,0.00,2.33,0.00,0.000,6,0.000,0.048,2650,2158,3311
$GC,12058,-0.80,-117.3,678.7,-5.7,494,12060,0.12,0.00,0.00,0.000,6,0.065,0.000,2623,2157,3311
$GC,12361,-0.72,-117.3,699.3,-6.9,499,12363,0.12,0.00,0.00,0.000,6,0.094,0.000,2644,2156,3311
$GC,12664,-0.72,-117.3,716.5,-5.7,504,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3311
$GC,12969,-0.72,-117.3,731.9,-4.9,509,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3311
$GC,13270,-0.72,-117.3,745.5,-4.3,514,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2155,3310
$GC,13574,-0.72,-117.3,757.0,-3.7,519,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2154,3310
$GC,13876,-0.72,-117.3,769.1,-4.0,524,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2155,3310
$GC,14179,-0.72,-117.3,783.0,-4.6,529,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2154,3310
$GC,14483,-0.72,-117.3,797.7,-4.9,534,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2154,3309
$GC,14786,-0.72,-117.3,812.3,-4.7,539,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2154,3309
$GC,15090,-0.72,-117.3,827.8,-5.1,544,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2154,3309
$GC,15392,-0.72,-117.3,843.1,-5.0,549,15396,0.00,2.45,0.00,0.000,4,0.000,0.101,2644,795,3309
$GC,15424,-0.76,-117.3,844.8,-5.1,549,15429,0.00,2.25,0.00,0.000,6,0.000,0.066,2643,2161,3309
$GC,15751,-0.76,-117.3,859.8,-4.5,555,15755,0.00,2.42,0.00,0.000,4,0.000,0.099,2644,804,3309
$GC,15778,-0.80,-117.3,861.1,-5.1,555,15782,0.00,2.20,0.00,0.000,6,0.000,0.067,2643,2138,3309
$GC,16110,-0.95,-117.3,877.8,-5.3,561,16115,0.25,2.60,0.00,0.000,4,0.050,0.095,2589,3603,3309
$GC,16263,-0.72,-117.3,888.2,-7.1,563,16267,0.30,2.05,0.00,0.000,6,0.084,0.059,2638,2354,3307
$GC,16605,-0.72,-117.3,903.3,-4.4,569,16609,0.00,2.80,0.00,0.000,4,0.000,0.104,2638,802,3307
$GC,16667,-0.76,-117.3,906.3,-4.7,570,16671,0.00,2.50,0.00,0.000,6,0.000,0.069,2638,2306,3307
$GC,17032,-0.76,-117.3,924.3,-5.0,576,17036,0.00,2.72,0.00,0.000,4,0.000,0.104,2638,802,3307
$GC,17070,-0.81,-117.3,926.5,-5.8,576,17074,0.00,2.45,0.00,0.000,6,0.000,0.070,2639,2267,3307
$GC,17390,-0.81,-117.3,944.0,-5.6,582,17394,0.00,2.65,0.00,0.000,4,0.000,0.104,2637,804,3307
$GC,17422,-0.88,-117.3,946.2,-6.9,582,17427,0.17,2.40,0.00,0.000,6,0.056,0.071,2603,2234,3307
$GC,17747,-0.88,-117.3,970.7,-7.7,588,17748,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2234,3307
$STATE,18048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18048,begin apogee
$GC,18054,-0.23,0.0,994.6,7.9,593,18159,0.85,0.00,102.55,1.498,6,0.071,0.000,2748,2234,2837
$STATE,18160,end apogee,CONTROL_FINISHED_OK
$STATE,18160,begin climb
$GC,18162,0.67,117.3,998.0,0.0,594,18278,1.12,0.00,111.38,1.450,6,0.045,0.000,2944,2234,2358
$GC,18527,0.42,117.3,980.2,7.4,600,18532,0.28,2.70,0.00,0.000,4,0.094,0.119,2897,804,2358
$GC,18565,0.32,117.3,977.6,5.7,600,18570,0.17,2.40,0.00,0.000,6,0.094,0.076,2870,2200,2358
$GC,18885,0.32,117.3,959.2,5.9,606,18890,0.00,2.55,0.00,0.000,4,0.000,0.111,2870,800,2358
$GC,18952,0.32,117.3,954.8,7.8,607,18956,0.00,2.25,0.00,0.000,6,0.000,0.073,2869,2138,2358
$GC,19317,0.32,117.3,929.2,7.1,613,19318,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2138,2358
$GC,19620,0.32,117.3,907.3,7.2,618,19624,0.00,2.40,0.00,0.000,4,0.000,0.108,2869,804,2358
$GC,19669,0.32,117.3,903.7,7.0,618,19673,0.00,2.22,0.00,0.000,6,0.000,0.069,2870,2127,2357
$GC,19984,0.32,117.3,883.2,6.4,624,19985,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2127,2357
$GC,20286,0.32,117.3,865.8,5.7,629,20288,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2127,2357
$GC,20590,0.33,127.2,850.0,5.2,634,20605,0.00,2.35,10.43,1.299,4,0.000,0.104,2869,803,2317
$GC,20651,0.34,134.4,846.7,5.3,635,20665,0.00,2.12,8.38,1.236,6,0.000,0.067,2870,2095,2287
$GC,21021,0.42,150.7,828.1,5.0,641,21041,0.00,2.33,15.90,1.344,4,0.000,0.100,2870,798,2221
$GC,21075,0.50,178.6,825.4,4.6,641,21109,0.20,2.10,27.23,1.351,6,0.055,0.064,2909,2065,2108
$GC,21447,0.50,178.6,799.5,7.1,648,21451,0.00,2.67,0.00,0.000,4,0.000,0.088,2909,3608,2108
$GC,21496,0.44,178.6,795.5,8.9,648,21500,0.00,2.50,0.00,0.000,6,0.000,0.062,2909,2094,2108
$GC,21805,0.44,178.6,773.3,7.1,653,21809,0.00,2.60,0.00,0.000,4,0.000,0.083,2909,3605,2108
$GC,21871,0.37,178.6,767.8,8.2,654,21876,0.17,2.40,0.00,0.000,6,0.092,0.060,2881,2142,2108
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$STATE,32866,end climb,SURFACE_DEPTH_REACHED
$STATE,32866,begin surface coast
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$STATE,32878,end surface coast,CONTROL_FINISHED_OK
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$DEVICE_SECS,31.400,244.025,357.300,41.625,0.000,28.707,28.673,161.959,9.250,0.000,0.000,10.967,2268.124,27040.268,617.500,2781.881,561.924,33.379,2001.495,0.000,2735.906,0.000,56.653
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