version: 66.03
glider: 119
mission: 5
dive: 178
start: 11 2 108 15 9 1
data:
$ID,119
$MISSION,5
$DIVE,178
$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,-213159.2
$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,12
$R_STBD_OVSHOOT,34
$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
$GPS1,150213,4717.392,-12718.406,43,1.4,49,18.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.3
$GPS2,150809,4717.385,-12718.396,11,1.2,11,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.093,-0.171
$KALMAN_X,-23342.5,493.0,34.4,-154572.5,-2871.0
$KALMAN_Y,170479.9,-83.5,-140.1,-135346.8,2358.8
$MHEAD_RNG_PITCHd_Wd,189.8,61628,-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,-61.80,0.000,2,0.000,0.000,862,2221,2818
$GC,87,-0.67,-117.3,3.8,-6.1,6,116,12.23,2.35,-10.57,0.000,4,0.143,0.071,2647,3597,3319
$GC,139,-0.30,-117.3,16.3,-18.5,11,144,0.50,2.25,0.00,0.000,6,0.081,0.039,2730,2176,3319
$GC,466,-0.39,-117.3,39.0,-6.3,41,470,0.00,2.28,0.00,0.000,4,0.000,0.061,2730,794,3319
$GC,489,-0.52,-117.3,40.5,-5.9,43,496,0.22,2.20,0.00,0.000,6,0.042,0.040,2680,2201,3319
$GC,834,-0.45,-117.3,70.8,-7.9,104,841,0.12,2.30,0.00,0.000,4,0.084,0.056,2702,791,3319
$GC,869,-0.45,-117.3,73.5,-7.4,110,876,0.00,2.10,0.00,0.000,6,0.000,0.040,2702,2161,3319
$GC,1207,-0.52,-117.3,92.6,-5.5,151,1211,0.00,2.20,0.00,0.000,4,0.000,0.058,2702,793,3319
$GC,1229,-0.61,-117.3,93.9,-5.8,152,1236,0.15,2.12,0.00,0.000,6,0.038,0.041,2662,2156,3320
$GC,1554,-0.53,-117.3,118.2,-6.5,183,1559,0.12,2.38,0.00,0.000,4,0.085,0.064,2684,3595,3320
$GC,1594,-0.58,-117.3,120.4,-4.9,186,1598,0.00,2.17,0.00,0.000,6,0.000,0.041,2684,2209,3320
$GC,1919,-0.66,-117.3,138.7,-5.5,216,1921,0.15,0.00,0.00,0.000,6,0.055,0.000,2650,2203,3320
$GC,2234,-0.59,-117.3,160.5,-7.2,239,2238,0.00,2.33,0.00,0.000,4,0.000,0.064,2650,794,3320
$GC,2266,-0.54,-117.3,163.0,-7.5,240,2274,0.17,2.25,0.00,0.000,6,0.076,0.044,2681,2237,3320
$GC,2583,-0.63,-117.3,180.2,-5.0,256,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2237,3320
$GC,2892,-0.85,-117.3,195.9,-6.1,271,2897,0.32,2.33,0.00,0.000,4,0.043,0.061,2608,801,3320
$GC,3075,-0.65,-117.3,212.3,-9.4,279,3080,0.22,1.95,0.00,0.000,6,0.070,0.044,2651,2045,3320
$GC,3396,-0.65,-117.3,234.3,-6.3,295,3400,0.00,2.58,0.00,0.000,4,0.000,0.067,2651,3603,3319
$GC,3435,-0.60,-117.3,236.8,-7.4,297,3440,0.00,2.42,0.00,0.000,6,0.000,0.045,2652,2072,3320
$GC,3762,-0.60,-117.3,255.9,-5.7,313,3766,0.00,2.55,0.00,0.000,4,0.000,0.065,2651,3600,3320
$GC,3801,-0.60,-117.3,258.3,-6.1,315,3805,0.00,2.38,0.00,0.000,6,0.000,0.044,2651,2106,3320
$GC,4133,-0.60,-117.3,279.5,-6.6,331,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2106,3320
$GC,4442,-0.60,-117.3,299.6,-6.6,346,4446,0.00,2.50,0.00,0.000,4,0.000,0.066,2651,3601,3319
$GC,4491,-0.60,-117.3,303.1,-7.3,347,4496,0.00,2.35,0.00,0.000,6,0.000,0.045,2652,2120,3319
$GC,4806,-0.60,-117.3,322.4,-6.1,353,4811,0.00,2.47,0.00,0.000,4,0.000,0.067,2651,3601,3319
$GC,4833,-0.60,-117.3,324.2,-7.0,353,4837,0.00,2.33,0.00,0.000,6,0.000,0.046,2651,2135,3318
$GC,5171,-0.60,-117.3,344.6,-6.1,359,5175,0.00,2.45,0.00,0.000,4,0.000,0.067,2651,3599,3317
$GC,5208,-0.60,-117.3,347.2,-6.9,359,5212,0.00,2.28,0.00,0.000,6,0.000,0.045,2651,2182,3317
$GC,5535,-0.60,-117.3,366.1,-5.8,365,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2176,3317
$GC,5837,-0.60,-117.3,383.2,-5.6,370,5841,0.00,2.38,0.00,0.000,4,0.000,0.068,2651,3600,3316
$GC,5881,-0.60,-117.3,386.1,-6.5,370,5885,0.00,2.22,0.00,0.000,6,0.000,0.045,2652,2207,3316
$GC,6202,-0.60,-117.3,404.0,-5.6,376,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2201,3316
$GC,6505,-0.60,-117.3,420.0,-5.2,381,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,3316
$GC,6808,-0.60,-117.3,434.6,-4.8,386,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2201,3315
$GC,7111,-0.60,-117.3,449.8,-5.1,391,7116,0.00,2.35,0.00,0.000,4,0.000,0.070,2651,3602,3315
$GC,7137,-0.60,-117.3,451.5,-6.2,391,7142,0.00,2.25,0.00,0.000,6,0.000,0.048,2651,2208,3315
$GC,7481,-0.60,-117.3,472.3,-6.3,397,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3315
$GC,7784,-0.60,-117.3,492.8,-6.7,402,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3314
$GC,8087,-0.60,-117.3,513.3,-6.7,407,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2207,3314
$GC,8390,-0.60,-117.3,532.6,-6.3,412,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3314
$GC,8695,-0.60,-117.3,550.6,-5.9,417,8700,0.00,2.42,0.00,0.000,4,0.000,0.087,2651,801,3314
$GC,8739,-0.60,-117.3,553.4,-6.5,417,8743,0.00,2.30,0.00,0.000,6,0.000,0.054,2651,2238,3314
$GC,9060,-0.60,-117.3,571.0,-5.4,423,9064,0.00,2.42,0.00,0.000,4,0.000,0.081,2651,804,3313
$GC,9086,-0.60,-117.3,572.5,-5.7,423,9091,0.00,2.30,0.00,0.000,6,0.000,0.055,2651,2217,3313
$GC,9430,-0.60,-117.3,589.0,-4.7,429,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2217,3312
$GC,9733,-0.60,-117.3,601.9,-4.2,434,9738,0.00,2.42,0.00,0.000,4,0.000,0.084,2651,800,3311
$GC,9767,-0.65,-117.3,603.3,-4.1,434,9771,0.00,2.28,0.00,0.000,6,0.000,0.057,2651,2214,3312
$GC,10093,-0.65,-117.3,617.2,-4.3,440,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2214,3311
$GC,10396,-0.65,-117.3,631.8,-4.9,445,10400,0.00,2.42,0.00,0.000,4,0.000,0.086,2651,804,3311
$GC,10423,-0.65,-117.3,633.3,-5.2,445,10427,0.00,2.25,0.00,0.000,6,0.000,0.058,2651,2196,3311
$GC,10761,-0.65,-117.3,650.5,-5.0,451,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,3310
$GC,11063,-0.65,-117.3,665.8,-5.0,456,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,3310
$GC,11366,-0.65,-117.3,682.1,-5.4,461,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,3310
$GC,11669,-0.65,-117.3,699.5,-5.7,466,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,3310
$GC,11973,-0.65,-117.3,715.6,-5.2,471,11976,0.00,2.42,0.00,0.000,4,0.000,0.091,2651,800,3310
$GC,12006,-0.70,-117.3,717.4,-5.2,471,12010,0.00,2.25,0.00,0.000,6,0.000,0.062,2651,2182,3310
$GC,12337,-0.70,-117.3,732.4,-4.4,477,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3309
$GC,12640,-0.70,-117.3,745.5,-4.3,482,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3309
$GC,12943,-0.70,-117.3,758.9,-4.4,487,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3309
$GC,13246,-0.70,-117.3,772.5,-4.5,492,13247,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3308
$GC,13549,-0.70,-117.3,786.4,-4.6,497,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3308
$GC,13854,-0.74,-117.3,800.7,-4.7,502,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2182,3308
$GC,14156,-0.79,-117.3,816.0,-5.1,507,14158,0.12,0.00,0.00,0.000,6,0.067,0.000,2624,2182,3307
$GC,14459,-0.72,-117.3,834.4,-6.0,512,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2182,3307
$GC,14762,-0.65,-117.3,852.5,-6.0,517,14764,0.20,0.00,0.00,0.000,6,0.082,0.000,2658,2182,3307
$GC,15065,-0.78,-117.3,867.2,-4.9,522,15067,0.15,0.00,0.00,0.000,6,0.059,0.000,2625,2182,3307
$GC,15368,-0.84,-117.3,885.5,-6.0,527,15372,0.00,2.50,0.00,0.000,4,0.000,0.107,2625,805,3306
$GC,15527,-0.80,-117.3,894.4,-5.0,529,15530,0.00,1.90,0.00,0.000,6,0.000,0.072,2625,1941,3306
$GC,15870,-0.74,-117.3,911.6,-5.0,535,15875,0.00,2.95,0.00,0.000,4,0.000,0.096,2625,3606,3306
$GC,15975,-0.67,-117.3,917.6,-5.7,536,15980,0.15,2.65,0.00,0.000,6,0.089,0.064,2650,2012,3305
$GC,16296,-0.72,-117.3,930.6,-4.1,542,16301,0.00,2.80,0.00,0.000,4,0.000,0.090,2649,3598,3306
$GC,16335,-0.72,-117.3,932.3,-4.3,542,16339,0.00,2.58,0.00,0.000,6,0.000,0.064,2649,2048,3306
$GC,16655,-0.77,-117.3,945.1,-4.0,548,16656,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2047,3305
$GC,16958,-0.86,-117.3,958.1,-4.3,553,16964,0.17,2.78,0.00,0.000,4,0.056,0.091,2608,3603,3305
$GC,17047,-0.71,-117.3,963.7,-7.3,554,17052,0.20,2.55,0.00,0.000,6,0.087,0.067,2640,2074,3305
$GC,17386,-0.71,-117.3,978.6,-4.4,560,17387,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2074,3305
$STATE,17685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17685,begin apogee
$GC,17691,-0.23,0.0,992.2,4.5,565,17796,0.62,0.00,102.45,1.491,6,0.074,0.000,2748,2200,2838
$STATE,17797,end apogee,CONTROL_FINISHED_OK
$STATE,17797,begin climb
$GC,17799,0.67,117.3,993.5,0.0,566,17915,1.12,0.00,112.28,1.442,6,0.047,0.000,2942,2200,2358
$GC,18164,0.47,117.3,973.1,7.6,572,18166,0.25,0.00,0.00,0.000,6,0.089,0.000,2903,2200,2358
$GC,18467,0.41,117.3,955.6,5.7,577,18472,0.00,2.58,0.00,0.000,4,0.000,0.118,2903,810,2358
$GC,18506,0.32,117.3,953.2,6.5,577,18511,0.20,2.35,0.00,0.000,6,0.092,0.074,2870,2203,2358
$GC,18826,0.42,152.5,939.1,4.4,583,18861,0.00,0.00,33.35,1.430,6,0.000,0.000,2871,2202,2215
$GC,19129,0.55,170.3,924.3,4.9,588,19154,0.22,2.62,18.70,1.382,4,0.054,0.114,2919,811,2142
$GC,19245,0.45,170.3,915.7,7.2,589,19249,0.00,2.30,0.00,0.000,6,0.000,0.071,2919,2178,2142
$GC,19560,0.40,170.3,892.3,7.4,595,19561,0.17,0.00,0.00,0.000,6,0.091,0.000,2890,2178,2142
$GC,19862,0.46,170.3,871.8,6.8,600,19866,0.00,2.47,0.00,0.000,4,0.000,0.108,2890,798,2142
$GC,19911,0.46,170.3,868.1,9.2,600,19916,0.00,2.28,0.00,0.000,6,0.000,0.067,2890,2158,2142
$GC,20227,0.51,170.3,847.9,6.3,606,20231,0.00,2.42,0.00,0.000,4,0.000,0.106,2890,800,2142
$GC,20265,0.51,170.3,845.2,5.9,606,20269,0.00,2.20,0.00,0.000,6,0.000,0.067,2890,2135,2142
$GC,20591,0.58,170.3,824.7,6.3,612,20596,0.17,2.38,0.00,0.000,4,0.058,0.103,2929,801,2142
$GC,20623,0.46,170.3,822.0,8.7,612,20628,0.15,2.17,0.00,0.000,6,0.094,0.066,2903,2127,2142
$GC,20955,0.46,170.3,798.5,7.0,618,20956,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,2142
$GC,21258,0.46,170.3,777.1,7.0,623,21262,0.00,2.35,0.00,0.000,4,0.000,0.100,2904,800,2142
$GC,21290,0.46,170.3,774.5,7.8,623,21294,0.00,2.17,0.00,0.000,6,0.000,0.064,2903,2113,2142
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$STATE,33174,end climb,SURFACE_DEPTH_REACHED
$STATE,33174,begin surface coast
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$STATE,33197,end surface coast,CONTROL_FINISHED_OK
$STATE,33197,begin surface
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