version: 66.03
glider: 119
mission: 5
dive: 171
start: 10 30 108 20 35 7
data:
$ID,119
$MISSION,5
$DIVE,171
$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,-213014.19
$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,10
$R_STBD_OVSHOOT,43
$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
$GPS1,202822,4729.709,-12642.648,41,2.3,60,18.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.4
$GPS2,203415,4729.767,-12642.646,14,1.1,14,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.174,-0.088
$KALMAN_X,-15574.7,-312.1,58.3,-116377.5,500.1
$KALMAN_Y,163038.7,462.4,-18.2,-105643.9,-87.1
$MHEAD_RNG_PITCHd_Wd,224.5,112182,-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,-61.72,0.000,2,0.000,0.000,863,2225,2783
$GC,87,-0.67,-117.3,3.8,-6.5,6,120,12.18,2.50,-11.75,0.000,4,0.143,0.075,2648,776,3318
$GC,200,-0.38,-117.3,21.1,-11.9,16,205,0.40,2.22,0.00,0.000,6,0.083,0.043,2714,2185,3318
$GC,527,-0.38,-117.3,45.5,-8.8,51,533,0.00,2.28,0.00,0.000,4,0.000,0.058,2714,776,3318
$GC,568,-0.46,-117.3,48.2,-6.7,58,574,0.00,2.12,0.00,0.000,6,0.000,0.041,2714,2148,3318
$GC,912,-0.71,-117.3,70.2,-7.3,119,918,0.35,0.00,0.00,0.000,6,0.041,0.000,2637,2148,3318
$GC,1242,-0.71,-117.3,100.0,-7.9,159,1246,0.00,2.40,0.00,0.000,4,0.000,0.067,2636,3599,3319
$GC,1292,-0.52,-117.3,104.2,-8.6,163,1299,0.28,2.30,0.00,0.000,6,0.077,0.042,2684,2132,3318
$GC,1617,-0.52,-117.3,122.6,-5.6,194,1621,0.00,2.45,0.00,0.000,4,0.000,0.065,2683,3603,3319
$GC,1659,-0.57,-117.3,125.1,-6.5,197,1663,0.00,2.28,0.00,0.000,6,0.000,0.044,2684,2159,3319
$GC,1985,-0.76,-117.3,146.1,-5.5,227,1990,0.25,2.25,0.00,0.000,4,0.045,0.063,2626,790,3319
$GC,2204,-0.63,-117.3,161.9,-7.8,239,2209,0.20,2.78,0.00,0.000,6,0.079,0.048,2660,2550,3318
$GC,2530,-0.63,-117.3,181.4,-6.0,255,2535,0.00,2.88,0.00,0.000,4,0.000,0.061,2660,802,3318
$GC,2637,-0.63,-117.3,188.1,-6.4,260,2641,0.00,2.62,0.00,0.000,6,0.000,0.048,2660,2468,3318
$GC,2963,-0.63,-117.3,207.6,-5.5,276,2968,0.00,2.72,0.00,0.000,4,0.000,0.062,2660,806,3318
$GC,3035,-0.63,-117.3,211.4,-5.3,279,3039,0.00,2.53,0.00,0.000,6,0.000,0.047,2660,2409,3319
$GC,3351,-0.63,-117.3,228.5,-5.8,294,3355,0.00,2.62,0.00,0.000,4,0.000,0.064,2660,796,3318
$GC,3399,-0.63,-117.3,231.9,-6.9,296,3403,0.00,2.47,0.00,0.000,6,0.000,0.046,2660,2376,3318
$GC,3722,-0.63,-117.3,250.9,-5.8,312,3726,0.00,2.58,0.00,0.000,4,0.000,0.065,2660,798,3319
$GC,3783,-0.63,-117.3,254.7,-6.1,315,3787,0.00,2.38,0.00,0.000,6,0.000,0.046,2660,2312,3318
$GC,4110,-0.63,-117.3,274.5,-6.2,331,4114,0.00,2.47,0.00,0.000,4,0.000,0.066,2660,802,3318
$GC,4154,-0.63,-117.3,277.5,-6.6,333,4158,0.00,2.30,0.00,0.000,6,0.000,0.046,2660,2267,3318
$GC,4475,-0.63,-117.3,296.3,-5.6,349,4479,0.00,2.42,0.00,0.000,4,0.000,0.067,2660,796,3318
$GC,4520,-0.63,-117.3,298.6,-5.5,351,4524,0.00,2.22,0.00,0.000,6,0.000,0.046,2660,2220,3318
$GC,4855,-0.63,-117.3,315.6,-5.0,358,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2220,3318
$GC,5158,-0.63,-117.3,330.5,-4.9,363,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2220,3317
$GC,5461,-0.63,-117.3,346.1,-5.2,368,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2220,3317
$GC,5763,-0.63,-117.3,364.0,-5.9,373,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2220,3316
$GC,6068,-0.63,-117.3,382.4,-6.1,378,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2220,3316
$GC,6370,-0.63,-117.3,400.4,-5.9,383,6375,0.00,2.38,0.00,0.000,4,0.000,0.073,2660,798,3315
$GC,6397,-0.63,-117.3,402.0,-6.0,383,6401,0.00,2.25,0.00,0.000,6,0.000,0.049,2660,2202,3315
$GC,6735,-0.63,-117.3,419.8,-5.2,389,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2203,3315
$GC,7038,-0.63,-117.3,433.9,-4.7,394,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2203,3314
$GC,7341,-0.63,-117.3,449.1,-5.1,399,7345,0.00,2.35,0.00,0.000,4,0.000,0.077,2660,807,3314
$GC,7374,-0.68,-117.3,451.0,-5.5,399,7378,0.00,2.20,0.00,0.000,6,0.000,0.051,2660,2196,3313
$GC,7699,-0.68,-117.3,469.2,-5.7,405,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2196,3313
$GC,8002,-0.68,-117.3,487.1,-5.9,410,8007,0.00,2.35,0.00,0.000,4,0.000,0.078,2660,812,3313
$GC,8041,-0.73,-117.3,489.5,-5.5,410,8045,0.00,2.17,0.00,0.000,6,0.000,0.052,2660,2179,3313
$GC,8367,-0.73,-117.3,507.6,-5.5,416,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2179,3313
$GC,8670,-0.73,-117.3,522.2,-4.7,421,8674,0.00,2.33,0.00,0.000,4,0.000,0.081,2659,810,3312
$GC,8704,-0.79,-117.3,523.9,-5.3,421,8708,0.17,2.15,0.00,0.000,6,0.055,0.054,2624,2155,3312
$GC,9035,-0.67,-117.3,545.8,-6.8,427,9036,0.15,0.00,0.00,0.000,6,0.089,0.000,2649,2155,3312
$GC,9339,-0.67,-117.3,564.5,-6.1,432,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2155,3312
$GC,9640,-0.67,-117.3,582.5,-5.9,437,9645,0.00,2.47,0.00,0.000,4,0.000,0.080,2649,3606,3312
$GC,9667,-0.67,-117.3,584.1,-6.0,437,9671,0.00,2.33,0.00,0.000,6,0.000,0.048,2649,2145,3311
$GC,10006,-0.67,-117.3,601.6,-5.1,443,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2143,3311
$GC,10308,-0.67,-117.3,616.1,-4.8,448,10312,0.00,2.47,0.00,0.000,4,0.000,0.077,2649,3598,3311
$GC,10329,-0.67,-117.3,617.2,-5.0,448,10333,0.00,2.33,0.00,0.000,6,0.000,0.048,2649,2138,3310
$GC,10672,-0.67,-117.3,635.5,-5.4,454,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2137,3310
$GC,10975,-0.67,-117.3,654.0,-6.1,459,10979,0.00,2.50,0.00,0.000,4,0.000,0.078,2649,3597,3310
$GC,11001,-0.67,-117.3,655.7,-6.5,459,11005,0.00,2.30,0.00,0.000,6,0.000,0.049,2649,2152,3309
$GC,11339,-0.67,-117.3,676.8,-6.2,465,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2151,3309
$GC,11641,-0.67,-117.3,695.4,-6.2,470,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2150,3309
$GC,11946,-0.67,-117.3,713.7,-6.0,475,11950,0.00,2.50,0.00,0.000,4,0.000,0.081,2649,3600,3309
$GC,11985,-0.67,-117.3,716.0,-5.9,475,11989,0.00,2.30,0.00,0.000,6,0.000,0.050,2649,2154,3309
$GC,12306,-0.67,-117.3,732.5,-5.1,481,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3309
$GC,12608,-0.67,-117.3,746.9,-4.7,486,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3309
$GC,12911,-0.67,-117.3,758.2,-3.7,491,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2153,3309
$GC,13214,-0.67,-117.3,768.4,-3.4,496,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2152,3309
$GC,13517,-0.67,-117.3,779.6,-3.7,501,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2153,3309
$GC,13820,-0.67,-117.3,793.0,-4.5,506,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2153,3308
$GC,14123,-0.67,-117.3,808.5,-5.2,511,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2153,3308
$GC,14427,-0.67,-117.3,825.1,-5.5,516,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2152,3308
$GC,14729,-0.67,-117.3,842.3,-5.7,521,14733,0.00,2.55,0.00,0.000,4,0.000,0.088,2649,3596,3308
$GC,14750,-0.67,-117.3,843.5,-5.3,521,14754,0.00,2.30,0.00,0.000,6,0.000,0.051,2649,2174,3307
$GC,15093,-0.67,-117.3,862.2,-5.4,527,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2173,3308
$GC,15396,-0.67,-117.3,878.4,-5.3,532,15400,0.00,2.42,0.00,0.000,4,0.000,0.097,2649,801,3307
$GC,15429,-0.73,-117.3,880.4,-5.2,532,15433,0.00,2.20,0.00,0.000,6,0.000,0.063,2649,2148,3307
$GC,15755,-0.73,-117.3,897.0,-5.1,538,15756,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2148,3307
$GC,16059,-0.73,-117.3,912.1,-4.9,543,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2148,3307
$GC,16363,-0.77,-117.3,926.2,-4.7,548,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2148,3307
$GC,16665,-0.81,-117.3,940.9,-4.9,553,16667,0.12,0.00,0.00,0.000,6,0.066,0.000,2622,2148,3307
$GC,16969,-0.73,-117.3,959.5,-6.2,558,16971,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2149,3306
$GC,17271,-0.66,-117.3,979.1,-6.5,563,17276,0.15,2.45,0.00,0.000,4,0.092,0.104,2651,804,3306
$GC,17297,-0.66,-117.3,980.7,-6.4,563,17301,0.00,2.28,0.00,0.000,6,0.000,0.069,2650,2152,3306
$STATE,17511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17511,begin apogee
$GC,17517,-0.23,0.0,992.4,5.4,567,17623,0.57,0.00,102.45,1.492,6,0.073,0.000,2749,2205,2837
$STATE,17623,end apogee,CONTROL_FINISHED_OK
$STATE,17623,begin climb
$GC,17625,0.67,117.3,994.3,0.0,568,17743,1.15,0.00,111.20,1.445,6,0.047,0.000,2946,2205,2358
$GC,18060,0.45,117.3,965.9,8.7,576,18062,0.30,0.00,0.00,0.000,6,0.094,0.000,2898,2205,2358
$GC,18362,0.39,117.3,943.7,7.2,581,18364,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2205,2358
$GC,18665,0.35,117.3,922.0,7.1,586,18667,0.12,0.00,0.00,0.000,6,0.100,0.000,2878,2205,2358
$GC,18968,0.35,117.3,903.4,6.1,591,18972,0.00,2.50,0.00,0.000,4,0.000,0.104,2878,792,2358
$GC,19000,0.35,117.3,901.4,5.6,591,19004,0.00,2.30,0.00,0.000,6,0.000,0.065,2878,2191,2357
$GC,19332,0.35,117.3,883.0,5.5,597,19333,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2191,2357
$GC,19635,0.37,130.4,867.4,5.1,602,19654,0.00,2.47,13.18,1.338,4,0.000,0.099,2878,807,2305
$GC,19722,0.38,140.7,862.5,5.2,603,19738,0.00,2.15,10.93,1.295,6,0.000,0.064,2878,2113,2263
$GC,20064,0.44,140.7,842.5,5.9,609,20065,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2113,2263
$GC,20367,0.50,140.7,824.7,5.9,614,20369,0.15,0.00,0.00,0.000,6,0.061,0.000,2909,2113,2263
$GC,20670,0.46,140.7,802.5,7.4,619,20672,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2113,2263
$GC,20973,0.41,140.7,779.7,7.5,624,20974,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2113,2263
$GC,21276,0.37,140.7,758.1,7.1,629,21281,0.15,2.58,0.00,0.000,4,0.093,0.084,2880,3610,2263
$GC,21314,0.37,140.7,755.5,6.6,629,21318,0.00,2.42,0.00,0.000,6,0.000,0.056,2881,2122,2263
$GC,21641,0.43,141.4,737.5,5.5,635,21645,0.00,2.30,0.00,0.000,4,0.000,0.098,2881,803,2263
$GC,21685,0.46,162.9,735.1,4.8,635,21711,0.00,2.12,21.15,1.315,6,0.000,0.058,2881,2120,2172
$GC,22066,0.56,178.5,715.4,5.0,642,22096,0.17,2.38,18.00,1.163,4,0.058,0.091,2922,796,2109
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$STATE,32738,end climb,SURFACE_DEPTH_REACHED
$STATE,32738,begin surface coast
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$STATE,32761,begin surface
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