version: 66.03
glider: 119
mission: 5
dive: 185
start: 11 5 108 10 26 48
data:
$ID,119
$MISSION,5
$DIVE,185
$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,-213287.86
$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,15
$R_STBD_OVSHOOT,40
$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
$GPS1,102005,4704.089,-12747.912,40,1.2,49,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.2
$GPS2,102556,4704.111,-12747.895,13,1.1,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.113,-0.159
$KALMAN_X,-28164.9,207.0,-19.9,-186682.3,-721.5
$KALMAN_Y,183147.8,-649.2,-225.2,-171942.3,3319.5
$MHEAD_RNG_PITCHd_Wd,196.8,17081,-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,-61.65,0.000,2,0.000,0.000,862,2232,2798
$GC,87,-0.67,-117.3,3.8,-6.1,6,120,12.18,2.47,-11.45,0.000,4,0.142,0.072,2649,790,3318
$GC,204,-0.44,-117.3,21.7,-11.4,16,211,0.28,2.22,0.00,0.000,6,0.070,0.041,2699,2189,3318
$GC,534,-0.44,-117.3,46.8,-7.1,55,540,0.00,2.28,0.00,0.000,4,0.000,0.056,2699,774,3318
$GC,557,-0.44,-117.3,48.4,-6.8,59,563,0.00,2.22,0.00,0.000,6,0.000,0.041,2699,2204,3318
$GC,902,-0.68,-117.3,72.0,-6.5,120,909,0.22,2.28,0.00,0.000,4,0.044,0.053,2644,776,3318
$GC,949,-0.68,-117.3,75.5,-7.5,128,955,0.00,2.08,0.00,0.000,6,0.000,0.041,2644,2125,3318
$GC,1283,-0.54,-117.3,103.6,-8.2,164,1287,0.17,2.45,0.00,0.000,4,0.081,0.061,2677,3603,3318
$GC,1337,-0.54,-117.3,107.7,-7.2,168,1344,0.00,2.40,0.00,0.000,6,0.000,0.039,2678,2092,3318
$GC,1665,-0.58,-117.3,126.5,-5.6,199,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2092,3318
$GC,1983,-0.79,-117.3,141.6,-5.1,229,1985,0.28,0.00,0.00,0.000,6,0.045,0.000,2619,2093,3318
$GC,2294,-0.79,-117.3,165.3,-8.1,250,2297,0.00,2.17,0.00,0.000,4,0.000,0.064,2618,773,3319
$GC,2477,-0.66,-117.3,181.1,-8.8,258,2482,0.20,2.08,0.00,0.000,6,0.078,0.044,2652,2110,3318
$GC,2799,-0.66,-117.3,201.0,-6.1,274,2803,0.00,2.47,0.00,0.000,4,0.000,0.067,2652,3599,3318
$GC,2826,-0.66,-117.3,203.0,-7.0,275,2830,0.00,2.38,0.00,0.000,6,0.000,0.044,2652,2100,3318
$GC,3148,-0.66,-117.3,223.6,-6.7,291,3152,0.00,2.53,0.00,0.000,4,0.000,0.065,2652,3600,3318
$GC,3169,-0.66,-117.3,225.0,-6.5,292,3173,0.00,2.35,0.00,0.000,6,0.000,0.044,2652,2118,3318
$GC,3490,-0.66,-117.3,244.9,-5.9,308,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2117,3318
$GC,3799,-0.66,-117.3,262.4,-5.8,323,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2117,3318
$GC,4108,-0.66,-117.3,280.2,-5.7,338,4112,0.00,2.50,0.00,0.000,4,0.000,0.067,2652,3601,3318
$GC,4134,-0.66,-117.3,282.0,-6.4,339,4138,0.00,2.33,0.00,0.000,6,0.000,0.044,2653,2131,3317
$GC,4457,-0.66,-117.3,301.1,-6.1,355,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2127,3317
$GC,4758,-0.66,-117.3,318.8,-5.8,360,4762,0.00,2.47,0.00,0.000,4,0.000,0.067,2652,3601,3316
$GC,4797,-0.66,-117.3,321.2,-6.2,360,4800,0.00,2.30,0.00,0.000,6,0.000,0.044,2652,2146,3316
$GC,5123,-0.66,-117.3,338.1,-5.1,366,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2140,3316
$GC,5427,-0.66,-117.3,352.4,-4.7,371,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2140,3315
$GC,5729,-0.66,-117.3,367.6,-5.1,376,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2140,3315
$GC,6032,-0.66,-117.3,385.3,-5.9,381,6036,0.00,2.47,0.00,0.000,4,0.000,0.070,2652,3599,3315
$GC,6064,-0.66,-117.3,387.4,-6.8,381,6068,0.00,2.30,0.00,0.000,6,0.000,0.045,2652,2152,3315
$GC,6396,-0.66,-117.3,407.1,-5.9,387,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2152,3315
$GC,6699,-0.70,-117.3,424.0,-5.5,392,6703,0.00,2.45,0.00,0.000,4,0.000,0.068,2652,3598,3314
$GC,6725,-0.70,-117.3,425.6,-6.3,392,6729,0.00,2.25,0.00,0.000,6,0.000,0.045,2652,2184,3314
$GC,7063,-0.74,-117.3,441.5,-4.7,398,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2183,3314
$GC,7366,-0.79,-117.3,455.5,-4.6,403,7368,0.15,0.00,0.00,0.000,6,0.061,0.000,2621,2182,3313
$GC,7670,-0.70,-117.3,475.2,-6.7,408,7672,0.15,0.00,0.00,0.000,6,0.088,0.000,2646,2182,3313
$GC,7972,-0.70,-117.3,493.5,-6.1,413,7976,0.00,2.42,0.00,0.000,4,0.000,0.071,2646,3605,3312
$GC,7998,-0.70,-117.3,495.2,-6.8,413,8002,0.00,2.25,0.00,0.000,6,0.000,0.047,2646,2214,3312
$GC,8336,-0.70,-117.3,514.5,-5.7,419,8340,0.00,2.45,0.00,0.000,4,0.000,0.084,2646,799,3311
$GC,8379,-0.74,-117.3,517.1,-5.9,419,8384,0.00,2.22,0.00,0.000,6,0.000,0.053,2646,2199,3311
$GC,8694,-0.74,-117.3,533.6,-5.2,425,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2199,3311
$GC,8997,-0.74,-117.3,547.5,-4.5,430,9001,0.00,2.38,0.00,0.000,4,0.000,0.081,2646,803,3310
$GC,9019,-0.74,-117.3,548.5,-4.6,430,9023,0.00,2.17,0.00,0.000,6,0.000,0.054,2646,2166,3310
$GC,9356,-0.74,-117.3,562.9,-4.3,436,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2166,3310
$GC,9660,-0.74,-117.3,576.0,-4.4,441,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2166,3310
$GC,9962,-0.74,-117.3,590.4,-4.8,446,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2166,3310
$GC,10266,-0.78,-117.3,605.8,-5.1,451,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2166,3309
$GC,10569,-0.83,-117.3,621.6,-5.2,456,10571,0.15,0.00,0.00,0.000,6,0.061,0.000,2615,2166,3309
$GC,10872,-0.73,-117.3,641.1,-6.5,461,10874,0.12,0.00,0.00,0.000,6,0.094,0.000,2636,2166,3309
$GC,11175,-0.73,-117.3,656.8,-5.1,466,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3308
$GC,11478,-0.73,-117.3,671.4,-4.9,471,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3308
$GC,11781,-0.73,-117.3,685.8,-4.8,476,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3308
$GC,12084,-0.73,-117.3,699.9,-4.6,481,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3307
$GC,12387,-0.73,-117.3,715.1,-5.1,486,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3307
$GC,12690,-0.73,-117.3,730.0,-4.9,491,12694,0.00,2.38,0.00,0.000,4,0.000,0.091,2636,806,3307
$GC,12723,-0.73,-117.3,731.6,-5.0,491,12727,0.00,2.20,0.00,0.000,6,0.000,0.061,2636,2151,3307
$GC,13055,-0.73,-117.3,747.7,-4.8,497,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2151,3306
$GC,13358,-0.73,-117.3,762.0,-4.7,502,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3306
$GC,13664,-0.73,-117.3,777.3,-5.1,507,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3306
$GC,13964,-0.73,-117.3,794.2,-5.6,512,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3305
$GC,14267,-0.73,-117.3,812.2,-5.9,517,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3305
$GC,14570,-0.73,-117.3,829.2,-5.6,522,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3305
$GC,14873,-0.73,-117.3,844.4,-5.0,527,14875,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3305
$GC,15178,-0.73,-117.3,858.4,-4.6,532,15179,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3305
$GC,15480,-0.73,-117.3,871.3,-4.2,537,15484,0.00,2.58,0.00,0.000,4,0.000,0.092,2636,3605,3305
$GC,15506,-0.73,-117.3,872.5,-4.5,537,15511,0.00,2.38,0.00,0.000,6,0.000,0.052,2636,2142,3304
$GC,15838,-0.73,-117.3,887.1,-4.4,543,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2142,3305
$GC,16142,-0.73,-117.3,901.8,-4.9,548,16146,0.00,2.58,0.00,0.000,4,0.000,0.085,2636,3597,3304
$GC,16168,-0.73,-117.3,903.4,-6.2,548,16172,0.00,2.35,0.00,0.000,6,0.000,0.053,2636,2153,3304
$GC,16506,-0.73,-117.3,920.4,-5.0,554,16507,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2153,3304
$GC,16809,-0.73,-117.3,935.5,-5.0,559,16810,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2153,3304
$GC,17113,-0.73,-117.3,951.8,-5.4,564,17114,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3304
$GC,17415,-0.73,-117.3,967.8,-5.3,569,17416,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3304
$GC,17720,-0.73,-117.3,983.9,-5.3,574,17721,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2152,3304
$STATE,17837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17837,begin apogee
$GC,17842,-0.23,0.0,990.1,5.2,576,17948,0.65,0.00,102.55,1.494,6,0.071,0.000,2748,2204,2837
$STATE,17949,end apogee,CONTROL_FINISHED_OK
$STATE,17949,begin climb
$GC,17951,0.67,117.3,991.7,0.0,577,18068,1.15,0.00,112.25,1.447,6,0.044,0.000,2945,2204,2357
$GC,18386,0.41,117.3,963.3,8.6,585,18392,0.30,2.50,0.00,0.000,4,0.094,0.090,2894,3600,2357
$GC,18430,0.30,117.3,959.7,7.7,585,18435,0.17,2.35,0.00,0.000,6,0.097,0.063,2867,2218,2358
$GC,18745,0.31,125.6,943.1,5.2,591,18759,0.00,2.60,9.10,1.275,4,0.000,0.113,2867,789,2325
$GC,18815,0.31,125.6,939.0,5.9,592,18819,0.00,2.35,0.00,0.000,6,0.000,0.068,2867,2183,2325
$GC,19181,0.32,128.3,919.3,5.4,598,19187,0.00,0.00,4.60,1.002,6,0.000,0.000,2866,2183,2313
$GC,19485,0.36,131.8,902.8,5.4,603,19494,0.00,2.50,4.75,1.025,4,0.000,0.105,2867,782,2299
$GC,19527,0.36,131.8,900.3,7.7,603,19531,0.00,2.30,0.00,0.000,6,0.000,0.065,2867,2180,2299
$GC,19848,0.41,133.0,882.8,5.5,609,19850,0.12,0.00,0.00,0.000,6,0.067,0.000,2894,2180,2299
$GC,20151,0.37,133.0,864.2,6.2,614,20152,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2180,2299
$GC,20454,0.32,133.0,845.2,6.3,619,20456,0.15,0.00,0.00,0.000,6,0.094,0.000,2869,2180,2299
$GC,20757,0.36,133.0,828.2,5.7,624,20761,0.00,2.45,0.00,0.000,4,0.000,0.100,2869,788,2299
$GC,20812,0.36,133.0,824.6,7.3,624,20818,0.00,2.25,0.00,0.000,6,0.000,0.063,2869,2152,2299
$GC,21122,0.41,133.0,807.0,5.7,630,21123,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2152,2299
$GC,21425,0.46,134.0,790.3,5.5,635,21432,0.15,0.00,3.97,0.890,6,0.061,0.000,2901,2152,2290
$GC,21728,0.40,134.0,771.9,6.0,640,21729,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2152,2289
$GC,22031,0.34,134.0,753.5,6.2,645,22036,0.15,2.40,0.00,0.000,4,0.096,0.094,2877,779,2290
$GC,22075,0.34,134.0,750.8,5.9,645,22079,0.00,2.20,0.00,0.000,6,0.000,0.061,2876,2139,2290
$GC,22395,0.34,134.0,733.0,5.6,651,22396,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2139,2290
$GC,22698,0.34,134.0,714.7,6.1,656,22699,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2139,2290
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$STATE,33752,end climb,SURFACE_DEPTH_REACHED
$STATE,33752,begin surface coast
$FINISH,0.8,1.024438
$STATE,33774,end surface coast,CONTROL_FINISHED_OK
$STATE,33775,begin surface
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