version: 66.03
glider: 119
mission: 5
dive: 169
start: 10 30 108 1 9 55
data:
$ID,119
$MISSION,5
$DIVE,169
$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,-212983.36
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,010237,4733.789,-12634.402,29,1.0,29,18.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.3
$GPS2,010903,4733.766,-12634.452,12,1.7,12,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.144,-0.132
$KALMAN_X,-14971.4,-366.0,-453.0,-106065.4,223.6
$KALMAN_Y,161415.1,-49.1,32.9,-96143.5,1870.9
$MHEAD_RNG_PITCHd_Wd,208.8,124843,-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,-61.75,0.000,2,0.000,0.000,862,2225,2777
$GC,87,-0.67,-117.3,3.7,-6.5,6,120,12.23,2.45,-12.18,0.000,4,0.145,0.074,2648,804,3318
$GC,132,-0.22,-117.3,12.7,-15.2,10,138,0.60,2.20,0.00,0.000,6,0.077,0.042,2748,2201,3318
$GC,459,-0.58,-117.3,34.7,-8.3,40,464,0.40,2.28,0.00,0.000,4,0.044,0.054,2665,796,3318
$GC,566,-0.47,-117.3,44.9,-9.5,53,573,0.17,2.47,0.00,0.000,6,0.079,0.044,2696,2380,3318
$GC,912,-0.47,-117.3,67.0,-6.3,114,919,0.00,2.55,0.00,0.000,4,0.000,0.058,2696,799,3318
$GC,1022,-0.54,-117.3,74.6,-7.1,133,1028,0.00,2.33,0.00,0.000,6,0.000,0.043,2696,2291,3318
$GC,1358,-0.78,-117.3,96.7,-6.9,171,1362,0.32,2.42,0.00,0.000,4,0.041,0.059,2623,800,3318
$GC,1536,-0.58,-117.3,112.2,-9.1,186,1543,0.22,1.92,0.00,0.000,6,0.070,0.045,2666,2024,3318
$GC,1860,-0.58,-117.3,131.8,-6.5,217,1865,0.00,2.62,0.00,0.000,4,0.000,0.067,2665,3603,3318
$GC,1881,-0.58,-117.3,133.3,-6.8,218,1888,0.00,2.50,0.00,0.000,6,0.000,0.044,2666,2053,3318
$GC,2217,-0.58,-117.3,154.3,-6.2,247,2222,0.00,2.60,0.00,0.000,4,0.000,0.066,2665,3609,3318
$GC,2272,-0.58,-117.3,158.2,-6.9,249,2279,0.00,2.47,0.00,0.000,6,0.000,0.046,2666,2075,3318
$GC,2589,-0.58,-117.3,176.8,-5.2,265,2593,0.00,2.55,0.00,0.000,4,0.000,0.066,2665,3599,3318
$GC,2609,-0.58,-117.3,178.2,-5.9,266,2614,0.00,2.35,0.00,0.000,6,0.000,0.044,2666,2122,3318
$GC,2937,-0.58,-117.3,196.9,-5.6,282,2941,0.00,2.47,0.00,0.000,4,0.000,0.067,2665,3602,3318
$GC,2959,-0.58,-117.3,198.3,-6.0,283,2963,0.00,2.33,0.00,0.000,6,0.000,0.045,2666,2131,3318
$GC,3280,-0.58,-117.3,216.1,-5.3,299,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2131,3318
$GC,3589,-0.58,-117.3,233.0,-5.5,314,3593,0.00,2.47,0.00,0.000,4,0.000,0.067,2666,3609,3318
$GC,3629,-0.58,-117.3,235.4,-6.1,316,3633,0.00,2.30,0.00,0.000,6,0.000,0.046,2666,2161,3318
$GC,3955,-0.58,-117.3,255.1,-6.2,332,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2155,3318
$GC,4264,-0.58,-117.3,273.9,-5.7,347,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2155,3318
$GC,4574,-0.58,-117.3,291.2,-5.6,362,4578,0.00,2.42,0.00,0.000,4,0.000,0.070,2665,3602,3318
$GC,4600,-0.58,-117.3,292.8,-6.4,363,4605,0.00,2.30,0.00,0.000,6,0.000,0.045,2666,2170,3318
$GC,4919,-0.58,-117.3,310.5,-5.5,373,4923,0.00,2.30,0.00,0.000,4,0.000,0.074,2666,803,3317
$GC,4946,-0.64,-117.3,312.3,-5.9,373,4950,0.00,2.15,0.00,0.000,6,0.000,0.048,2666,2174,3317
$GC,5284,-0.68,-117.3,329.1,-4.9,379,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2174,3317
$GC,5587,-0.72,-117.3,343.1,-4.6,384,5589,0.12,0.00,0.00,0.000,6,0.064,0.000,2638,2174,3317
$GC,5890,-0.65,-117.3,361.4,-6.1,389,5892,0.12,0.00,0.00,0.000,6,0.092,0.000,2659,2174,3316
$GC,6196,-0.65,-117.3,377.7,-5.4,394,6200,0.00,2.38,0.00,0.000,4,0.000,0.071,2659,3600,3316
$GC,6228,-0.65,-117.3,379.8,-5.9,394,6232,0.00,2.25,0.00,0.000,6,0.000,0.046,2659,2197,3315
$GC,6560,-0.65,-117.3,397.1,-5.1,400,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2192,3315
$GC,6863,-0.65,-117.3,412.3,-5.0,405,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2192,3315
$GC,7167,-0.65,-117.3,427.3,-4.9,410,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2192,3315
$GC,7469,-0.65,-117.3,442.9,-5.1,415,7473,0.00,2.38,0.00,0.000,4,0.000,0.072,2659,3598,3314
$GC,7490,-0.65,-117.3,444.1,-5.5,415,7494,0.00,2.22,0.00,0.000,6,0.000,0.047,2659,2201,3314
$GC,7833,-0.65,-117.3,462.5,-5.4,421,7837,0.00,2.40,0.00,0.000,4,0.000,0.083,2659,800,3314
$GC,7860,-0.69,-117.3,464.1,-6.1,421,7864,0.00,2.22,0.00,0.000,6,0.000,0.053,2659,2202,3314
$GC,8198,-0.69,-117.3,481.7,-5.2,427,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2202,3313
$GC,8501,-0.69,-117.3,495.7,-4.5,432,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2202,3313
$GC,8804,-0.69,-117.3,508.4,-4.2,437,8808,0.00,2.38,0.00,0.000,4,0.000,0.082,2659,809,3313
$GC,8837,-0.74,-117.3,509.7,-5.2,437,8841,0.00,2.20,0.00,0.000,6,0.000,0.054,2659,2184,3313
$GC,9163,-0.79,-117.3,523.7,-4.4,443,9165,0.17,0.00,0.00,0.000,6,0.056,0.000,2622,2184,3312
$GC,9466,-0.67,-117.3,542.6,-6.4,448,9468,0.17,0.00,0.00,0.000,6,0.087,0.000,2652,2185,3312
$GC,9769,-0.67,-117.3,559.1,-5.4,453,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3312
$GC,10072,-0.67,-117.3,576.0,-5.6,458,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3311
$GC,10375,-0.67,-117.3,592.6,-5.5,463,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3311
$GC,10678,-0.67,-117.3,608.7,-5.3,468,10682,0.00,2.38,0.00,0.000,4,0.000,0.085,2652,806,3311
$GC,10705,-0.67,-117.3,610.3,-5.7,468,10710,0.00,2.22,0.00,0.000,6,0.000,0.058,2652,2167,3311
$GC,11045,-0.67,-117.3,627.2,-4.9,474,11049,0.00,2.45,0.00,0.000,4,0.000,0.082,2651,3598,3311
$GC,11060,-0.67,-117.3,628.1,-5.1,474,11065,0.00,2.30,0.00,0.000,6,0.000,0.049,2652,2162,3310
$GC,11409,-0.67,-117.3,645.3,-4.9,480,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2161,3310
$GC,11712,-0.67,-117.3,659.8,-4.8,485,11716,0.00,2.38,0.00,0.000,4,0.000,0.093,2651,794,3310
$GC,11733,-0.67,-117.3,661.0,-5.7,485,11738,0.00,2.25,0.00,0.000,6,0.000,0.059,2651,2167,3310
$GC,12078,-0.67,-117.3,676.5,-4.5,491,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2168,3309
$GC,12380,-0.67,-117.3,689.6,-4.3,496,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2168,3309
$GC,12683,-0.67,-117.3,702.8,-4.4,501,12687,0.00,2.38,0.00,0.000,4,0.000,0.091,2651,803,3309
$GC,12721,-0.72,-117.3,704.6,-4.6,501,12725,0.00,2.20,0.00,0.000,6,0.000,0.061,2651,2158,3309
$GC,13042,-0.72,-117.3,719.9,-4.8,507,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2158,3309
$GC,13345,-0.72,-117.3,735.1,-5.1,512,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2158,3309
$GC,13649,-0.72,-117.3,750.5,-5.1,517,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2157,3309
$GC,13951,-0.76,-117.3,765.7,-5.0,522,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2158,3309
$GC,14256,-0.80,-117.3,780.6,-4.9,527,14258,0.15,0.00,0.00,0.000,6,0.061,0.000,2620,2158,3309
$GC,14557,-0.71,-117.3,797.7,-5.7,532,14559,0.15,0.00,0.00,0.000,6,0.092,0.000,2645,2158,3308
$GC,14860,-0.71,-117.3,811.2,-4.4,537,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3308
$GC,15163,-0.71,-117.3,823.9,-4.2,542,15165,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3307
$GC,15466,-0.71,-117.3,837.8,-4.6,547,15467,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3307
$GC,15772,-0.71,-117.3,853.1,-5.1,552,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3308
$GC,16072,-0.71,-117.3,870.8,-5.9,557,16076,0.00,2.47,0.00,0.000,4,0.000,0.106,2645,796,3307
$GC,16098,-0.71,-117.3,872.4,-6.1,557,16102,0.00,2.25,0.00,0.000,6,0.000,0.069,2645,2146,3307
$GC,16436,-0.71,-117.3,892.9,-6.1,563,16437,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2147,3307
$GC,16739,-0.71,-117.3,909.7,-5.5,568,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2147,3307
$GC,17042,-0.71,-117.3,924.7,-4.9,573,17043,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2147,3307
$GC,17346,-0.71,-117.3,938.3,-4.4,578,17350,0.00,2.62,0.00,0.000,4,0.000,0.102,2645,3602,3306
$GC,17366,-0.71,-117.3,939.3,-4.9,578,17371,0.00,2.38,0.00,0.000,6,0.000,0.063,2645,2165,3306
$GC,17710,-0.71,-117.3,953.5,-4.1,584,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2164,3305
$GC,18013,-0.71,-117.3,966.5,-4.4,589,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2164,3305
$GC,18317,-0.71,-117.3,980.7,-4.7,594,18322,0.00,2.53,0.00,0.000,4,0.000,0.117,2645,795,3306
$GC,18338,-0.71,-117.3,981.9,-5.8,594,18343,0.00,2.33,0.00,0.000,6,0.000,0.076,2645,2148,3305
$STATE,18498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18498,begin apogee
$GC,18503,-0.23,0.0,991.0,5.8,597,18609,0.60,0.00,102.32,1.495,6,0.068,0.000,2750,2198,2837
$STATE,18609,end apogee,CONTROL_FINISHED_OK
$STATE,18609,begin climb
$GC,18612,0.67,117.3,993.8,0.0,598,18734,1.10,2.80,111.35,1.448,4,0.047,0.098,2942,3595,2358
$GC,18796,0.40,117.3,987.5,8.4,600,18803,0.35,2.53,0.00,0.000,6,0.093,0.072,2890,2204,2358
$GC,19105,0.41,121.8,970.6,5.4,606,19116,0.00,2.62,6.10,1.130,4,0.000,0.121,2890,789,2339
$GC,19144,0.35,121.8,968.4,6.1,606,19148,0.00,2.38,0.00,0.000,6,0.000,0.077,2890,2180,2339
$GC,19464,0.35,121.8,950.2,5.7,612,19465,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2180,2339
$GC,19767,0.35,121.8,933.3,5.5,617,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2180,2339
$GC,20070,0.35,121.8,916.0,5.7,622,20071,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2180,2339
$GC,20373,0.35,121.8,896.4,6.6,627,20377,0.00,2.53,0.00,0.000,4,0.000,0.112,2890,786,2339
$GC,20406,0.31,121.8,893.9,6.7,627,20411,0.12,2.30,0.00,0.000,6,0.098,0.071,2870,2169,2337
$GC,20733,0.37,121.8,873.0,6.4,633,20734,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2169,2338
$GC,21035,0.43,121.8,854.6,6.0,638,21040,0.12,2.50,0.00,0.000,4,0.064,0.107,2898,779,2338
$GC,21079,0.35,121.8,851.4,6.9,638,21083,0.12,2.22,0.00,0.000,6,0.097,0.067,2878,2131,2338
$GC,21400,0.35,121.8,832.1,6.0,644,21404,0.00,2.53,0.00,0.000,4,0.000,0.090,2877,3602,2338
$GC,21443,0.35,121.8,829.2,6.4,644,21447,0.00,2.40,0.00,0.000,6,0.000,0.062,2878,2134,2338
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$STATE,34831,begin surface coast
$FINISH,0.2,1.024485
$STATE,34864,end surface coast,CONTROL_FINISHED_OK
$STATE,34864,begin surface
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$DATA_FILE_SIZE,59915,1197
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