version: 66.03
glider: 119
mission: 5
dive: 183
start: 11 4 108 14 57 38
data:
$ID,119
$MISSION,5
$DIVE,183
$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,-213259.5
$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,32
$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
$GPS1,144700,4707.788,-12739.425,60,1.9,60,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.3
$GPS2,145647,4707.764,-12739.424,10,2.4,29,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.117,-0.156
$KALMAN_X,-27650.3,515.3,186.7,-177016.8,-2054.5
$KALMAN_Y,178811.4,-36.0,197.5,-161885.6,2124.9
$MHEAD_RNG_PITCHd_Wd,198.4,29701,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,85,0.00,0.00,-61.78,0.000,2,0.000,0.000,861,2216,2797
$GC,88,-0.67,-117.3,3.4,-4.8,6,121,12.25,2.35,-11.70,0.000,4,0.142,0.071,2649,3596,3319
$GC,156,-0.40,-117.3,16.0,-14.4,12,161,0.35,2.25,0.00,0.000,6,0.080,0.039,2707,2165,3319
$GC,480,-0.40,-117.3,39.2,-5.7,42,484,0.00,2.22,0.00,0.000,4,0.000,0.060,2708,803,3319
$GC,516,-0.47,-117.3,41.5,-6.6,46,522,0.00,2.15,0.00,0.000,6,0.000,0.040,2708,2184,3319
$GC,862,-0.56,-117.3,63.5,-4.9,107,868,0.15,0.00,0.00,0.000,6,0.052,0.000,2666,2185,3319
$GC,1199,-0.71,-117.3,88.4,-8.0,158,1203,0.00,2.33,0.00,0.000,4,0.000,0.061,2666,3601,3319
$GC,1283,-0.71,-117.3,95.3,-8.4,165,1287,0.00,2.28,0.00,0.000,6,0.000,0.038,2666,2139,3319
$GC,1609,-0.84,-117.3,121.6,-7.1,195,1614,0.25,2.42,0.00,0.000,4,0.044,0.061,2606,3598,3319
$GC,1732,-0.59,-117.3,133.3,-9.8,205,1739,0.35,2.75,0.00,0.000,6,0.077,0.044,2666,1853,3319
$GC,2066,-0.59,-117.3,152.8,-6.0,235,2071,0.00,2.90,0.00,0.000,4,0.000,0.063,2666,3603,3319
$GC,2121,-0.63,-117.3,156.5,-7.1,237,2128,0.00,2.67,0.00,0.000,6,0.000,0.044,2667,1913,3319
$GC,2437,-0.63,-117.3,174.3,-4.8,253,2442,0.00,2.80,0.00,0.000,4,0.000,0.064,2666,3595,3319
$GC,2504,-0.67,-117.3,177.8,-5.1,256,2509,0.00,2.55,0.00,0.000,6,0.000,0.044,2667,1983,3318
$GC,2826,-0.72,-117.3,194.4,-5.4,272,2831,0.12,2.70,0.00,0.000,4,0.062,0.064,2637,3600,3319
$GC,2876,-0.64,-117.3,198.1,-7.6,274,2881,0.12,2.47,0.00,0.000,6,0.091,0.045,2659,2040,3319
$GC,3191,-0.64,-117.3,216.6,-5.8,289,3196,0.00,2.60,0.00,0.000,4,0.000,0.065,2659,3601,3319
$GC,3224,-0.64,-117.3,218.7,-6.6,290,3231,0.00,2.47,0.00,0.000,6,0.000,0.046,2659,2029,3319
$GC,3541,-0.64,-117.3,236.3,-5.5,306,3545,0.00,2.62,0.00,0.000,4,0.000,0.065,2659,3603,3318
$GC,3567,-0.64,-117.3,238.1,-6.5,307,3571,0.00,2.45,0.00,0.000,6,0.000,0.045,2659,2056,3318
$GC,3889,-0.64,-117.3,254.0,-4.9,323,3893,0.00,2.58,0.00,0.000,4,0.000,0.066,2659,3595,3318
$GC,3921,-0.64,-117.3,255.8,-5.7,324,3928,0.00,2.42,0.00,0.000,6,0.000,0.045,2659,2085,3318
$GC,4237,-0.64,-117.3,270.3,-4.6,340,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2085,3317
$GC,4547,-0.64,-117.3,284.9,-4.7,355,4551,0.00,2.55,0.00,0.000,4,0.000,0.067,2659,3605,3317
$GC,4579,-0.64,-117.3,286.7,-5.5,356,4586,0.00,2.38,0.00,0.000,6,0.000,0.045,2659,2099,3316
$GC,4915,-0.68,-117.3,303.1,-4.9,371,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2099,3316
$GC,5218,-0.72,-117.3,318.6,-5.0,376,5222,0.00,2.50,0.00,0.000,4,0.000,0.067,2659,3595,3315
$GC,5244,-0.72,-117.3,320.1,-5.8,376,5248,0.00,2.35,0.00,0.000,6,0.000,0.045,2659,2108,3315
$GC,5582,-0.77,-117.3,337.0,-5.0,382,5587,0.15,2.50,0.00,0.000,4,0.061,0.066,2623,3599,3315
$GC,5604,-0.71,-117.3,338.6,-6.9,382,5608,0.12,2.33,0.00,0.000,6,0.091,0.046,2644,2131,3315
$GC,5940,-0.71,-117.3,358.8,-6.0,388,5944,0.00,2.45,0.00,0.000,4,0.000,0.067,2644,3595,3315
$GC,5983,-0.71,-117.3,361.8,-7.1,388,5987,0.00,2.30,0.00,0.000,6,0.000,0.046,2644,2142,3314
$GC,6304,-0.71,-117.3,381.7,-6.3,394,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2142,3314
$GC,6609,-0.71,-117.3,400.5,-6.2,399,6613,0.00,2.45,0.00,0.000,4,0.000,0.069,2644,3599,3313
$GC,6652,-0.71,-117.3,403.6,-6.8,399,6656,0.00,2.28,0.00,0.000,6,0.000,0.046,2644,2166,3313
$GC,6973,-0.71,-117.3,423.5,-6.2,405,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2166,3313
$GC,7276,-0.71,-117.3,441.3,-5.8,410,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2165,3312
$GC,7579,-0.71,-117.3,457.6,-5.3,415,7583,0.00,2.40,0.00,0.000,4,0.000,0.069,2644,3594,3312
$GC,7611,-0.71,-117.3,459.7,-6.4,415,7615,0.00,2.22,0.00,0.000,6,0.000,0.046,2644,2203,3312
$GC,7944,-0.71,-117.3,476.6,-5.1,421,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,3311
$GC,8246,-0.71,-117.3,492.9,-5.4,426,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,3310
$GC,8549,-0.71,-117.3,510.9,-6.0,431,8553,0.00,2.42,0.00,0.000,4,0.000,0.082,2644,796,3310
$GC,8587,-0.71,-117.3,513.3,-6.9,431,8591,0.00,2.20,0.00,0.000,6,0.000,0.052,2644,2179,3310
$GC,8914,-0.71,-117.3,533.3,-6.2,437,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3310
$GC,9216,-0.71,-117.3,549.8,-5.4,442,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3309
$GC,9519,-0.71,-117.3,565.5,-5.2,447,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3309
$GC,9822,-0.71,-117.3,581.5,-5.3,452,9826,0.00,2.33,0.00,0.000,4,0.000,0.080,2644,805,3309
$GC,9849,-0.71,-117.3,582.9,-5.6,452,9853,0.00,2.20,0.00,0.000,6,0.000,0.054,2644,2164,3309
$GC,10189,-0.71,-117.3,600.8,-5.3,458,10194,0.00,2.42,0.00,0.000,4,0.000,0.077,2644,3600,3309
$GC,10216,-0.71,-117.3,602.4,-6.1,458,10221,0.00,2.33,0.00,0.000,6,0.000,0.048,2644,2153,3308
$GC,10554,-0.71,-117.3,620.1,-5.2,464,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2152,3309
$GC,10857,-0.71,-117.3,636.0,-5.3,469,10861,0.00,2.33,0.00,0.000,4,0.000,0.087,2644,806,3308
$GC,10891,-0.71,-117.3,638.0,-5.8,469,10895,0.00,2.15,0.00,0.000,6,0.000,0.055,2644,2151,3308
$GC,11219,-0.71,-117.3,655.0,-5.1,475,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3308
$GC,11520,-0.71,-117.3,669.9,-4.9,480,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3307
$GC,11824,-0.71,-117.3,684.0,-4.6,485,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2151,3307
$GC,12127,-0.71,-117.3,698.9,-5.0,490,12131,0.00,2.47,0.00,0.000,4,0.000,0.081,2644,3596,3307
$GC,12159,-0.71,-117.3,700.8,-5.8,490,12163,0.00,2.30,0.00,0.000,6,0.000,0.049,2644,2149,3306
$GC,12491,-0.71,-117.3,716.5,-4.7,496,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2149,3306
$GC,12795,-0.71,-117.3,730.5,-4.7,501,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2149,3306
$GC,13097,-0.71,-117.3,744.2,-4.5,506,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2149,3305
$GC,13400,-0.71,-117.3,757.8,-4.5,511,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2148,3306
$GC,13703,-0.71,-117.3,770.3,-4.1,516,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2148,3305
$GC,14007,-0.71,-117.3,782.0,-3.8,521,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2148,3305
$GC,14310,-0.75,-117.3,794.0,-4.0,526,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2148,3305
$GC,14613,-0.75,-117.3,806.6,-4.2,531,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2148,3305
$GC,14917,-0.79,-117.3,821.1,-4.8,536,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2147,3305
$GC,15219,-0.84,-117.3,836.3,-5.1,541,15221,0.15,0.00,0.00,0.000,6,0.061,0.000,2613,2146,3305
$GC,15522,-0.74,-117.3,855.4,-6.3,546,15524,0.12,0.00,0.00,0.000,6,0.096,0.000,2634,2147,3305
$GC,15825,-0.74,-117.3,871.2,-5.2,551,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2147,3304
$GC,16129,-0.74,-117.3,885.6,-4.6,556,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2146,3304
$GC,16431,-0.74,-117.3,898.3,-4.2,561,16433,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2146,3304
$GC,16734,-0.74,-117.3,909.9,-3.8,566,16739,0.00,2.60,0.00,0.000,4,0.000,0.092,2634,3598,3304
$GC,16756,-0.74,-117.3,910.7,-3.9,566,16760,0.00,2.30,0.00,0.000,6,0.000,0.052,2634,2179,3304
$GC,17099,-0.74,-117.3,924.3,-4.0,572,17103,0.00,2.47,0.00,0.000,4,0.000,0.098,2634,794,3304
$GC,17126,-0.74,-117.3,925.6,-4.8,572,17130,0.00,2.28,0.00,0.000,6,0.000,0.064,2634,2176,3304
$GC,17464,-0.74,-117.3,939.9,-4.3,578,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2176,3304
$GC,17767,-0.74,-117.3,953.1,-4.4,583,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2176,3304
$GC,18070,-0.74,-117.3,967.3,-4.7,588,18074,0.00,2.47,0.00,0.000,4,0.000,0.100,2634,794,3304
$GC,18108,-0.74,-117.3,969.3,-5.5,588,18112,0.00,2.25,0.00,0.000,6,0.000,0.067,2634,2151,3303
$GC,18434,-0.74,-117.3,984.1,-4.5,594,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2151,3303
$STATE,18613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18614,begin apogee
$GC,18619,-0.23,0.0,992.5,4.6,597,18725,0.65,0.00,102.32,1.494,6,0.072,0.000,2746,2203,2837
$STATE,18725,end apogee,CONTROL_FINISHED_OK
$STATE,18725,begin climb
$GC,18728,0.67,117.3,993.6,0.0,598,18847,1.17,2.72,112.05,1.448,4,0.044,0.094,2949,3593,2358
$GC,18869,0.33,117.3,988.7,7.4,601,18874,0.50,2.53,0.00,0.000,6,0.090,0.064,2875,2206,2358
$GC,19217,0.33,117.3,968.6,5.6,607,19221,0.00,2.58,0.00,0.000,4,0.000,0.107,2874,786,2358
$GC,19254,0.33,117.3,966.4,6.5,607,19259,0.00,2.38,0.00,0.000,6,0.000,0.069,2875,2202,2358
$GC,19581,0.35,131.1,949.5,5.1,613,19597,0.00,0.00,14.00,1.364,6,0.000,0.000,2874,2203,2302
$GC,19884,0.37,148.9,934.6,4.9,618,19914,0.00,2.55,20.38,1.290,4,0.000,0.101,2874,787,2229
$GC,19970,0.39,162.9,930.0,5.1,619,19989,0.00,2.33,14.60,1.351,6,0.000,0.066,2875,2181,2172
$GC,20312,0.47,173.8,912.4,5.2,625,20337,0.15,2.53,14.07,1.167,4,0.061,0.101,2909,778,2128
$GC,20387,0.37,173.8,907.1,7.9,626,20392,0.15,2.30,0.00,0.000,6,0.094,0.065,2885,2159,2128
$GC,20741,0.37,173.8,886.6,5.7,632,20742,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2159,2128
$GC,21044,0.37,173.8,868.1,6.1,637,21048,0.00,2.42,0.00,0.000,4,0.000,0.099,2884,781,2128
$GC,21081,0.37,173.8,865.7,6.5,637,21085,0.00,2.20,0.00,0.000,6,0.000,0.062,2884,2130,2128
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$STATE,34314,end climb,SURFACE_DEPTH_REACHED
$STATE,34314,begin surface coast
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$STATE,34336,end surface coast,CONTROL_FINISHED_OK
$STATE,34336,begin surface
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