version: 66.03
glider: 119
mission: 5
dive: 187
start: 11 6 108 5 21 55
data:
$ID,119
$MISSION,5
$DIVE,187
$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,-213340.88
$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,39
$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
$GPS1,051526,4701.445,-12754.781,38,1.5,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.5
$GPS2,052102,4701.469,-12754.698,14,1.5,14,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.153,-0.121
$KALMAN_X,-26793.8,-226.6,421.4,-196665.6,463.2
$KALMAN_Y,186820.5,105.1,-20.3,-181481.3,2314.9
$MHEAD_RNG_PITCHd_Wd,213.0,7228,-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,-61.55,0.000,2,0.000,0.000,859,2234,2813
$GC,87,-0.67,-117.3,3.7,-5.8,6,120,12.20,2.50,-11.02,0.000,4,0.142,0.071,2648,776,3318
$GC,278,-0.44,-117.3,30.7,-11.9,23,283,0.32,2.20,0.00,0.000,6,0.079,0.040,2702,2194,3318
$GC,614,-0.44,-117.3,55.5,-6.6,73,621,0.00,2.28,0.00,0.000,4,0.000,0.055,2702,773,3318
$GC,655,-0.44,-117.3,58.4,-7.0,80,661,0.00,2.17,0.00,0.000,6,0.000,0.039,2702,2181,3319
$GC,999,-0.73,-117.3,79.1,-6.1,141,1006,0.30,2.25,0.00,0.000,4,0.042,0.053,2633,766,3318
$GC,1027,-0.73,-117.3,81.3,-7.4,145,1034,0.00,2.12,0.00,0.000,6,0.000,0.039,2633,2126,3318
$GC,1355,-0.53,-117.3,109.8,-9.3,176,1359,0.25,2.42,0.00,0.000,4,0.076,0.061,2679,3597,3319
$GC,1387,-0.53,-117.3,112.2,-6.2,178,1393,0.00,2.38,0.00,0.000,6,0.000,0.040,2680,2098,3319
$GC,1713,-0.53,-117.3,130.5,-6.7,209,1718,0.00,2.50,0.00,0.000,4,0.000,0.063,2679,3601,3319
$GC,1757,-0.59,-117.3,133.8,-7.4,212,1764,0.00,2.28,0.00,0.000,6,0.000,0.042,2680,2139,3319
$GC,2082,-0.81,-117.3,155.3,-6.4,239,2086,0.28,2.22,0.00,0.000,4,0.044,0.061,2617,773,3319
$GC,2301,-0.67,-117.3,172.1,-7.1,249,2306,0.20,2.80,0.00,0.000,6,0.079,0.047,2651,2548,3319
$GC,2628,-0.67,-117.3,190.0,-5.5,265,2633,0.00,2.90,0.00,0.000,4,0.000,0.060,2651,780,3320
$GC,2766,-0.67,-117.3,198.9,-6.3,271,2771,0.00,2.65,0.00,0.000,6,0.000,0.047,2651,2463,3319
$GC,3088,-0.67,-117.3,219.4,-6.6,287,3093,0.00,2.78,0.00,0.000,4,0.000,0.062,2651,777,3319
$GC,3181,-0.67,-117.3,225.3,-6.3,291,3185,0.00,2.53,0.00,0.000,6,0.000,0.045,2651,2390,3319
$GC,3501,-0.67,-117.3,244.8,-5.8,307,3506,0.00,2.62,0.00,0.000,4,0.000,0.063,2651,774,3318
$GC,3573,-0.67,-117.3,249.1,-5.8,310,3577,0.00,2.45,0.00,0.000,6,0.000,0.045,2651,2339,3319
$GC,3895,-0.67,-117.3,266.6,-5.3,326,3899,0.00,2.55,0.00,0.000,4,0.000,0.065,2651,774,3318
$GC,3950,-0.67,-117.3,269.9,-6.0,328,3957,0.00,2.40,0.00,0.000,6,0.000,0.045,2651,2293,3318
$GC,4267,-0.67,-117.3,287.8,-5.9,344,4271,0.00,2.47,0.00,0.000,4,0.000,0.066,2651,776,3317
$GC,4293,-0.67,-117.3,289.6,-6.6,345,4297,0.00,2.35,0.00,0.000,6,0.000,0.044,2651,2284,3317
$GC,4652,-0.67,-117.3,311.8,-6.2,357,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2284,3316
$GC,4955,-0.67,-117.3,330.2,-6.0,362,4959,0.00,2.47,0.00,0.000,4,0.000,0.067,2651,773,3316
$GC,4998,-0.67,-117.3,333.0,-6.0,362,5002,0.00,2.33,0.00,0.000,6,0.000,0.045,2651,2263,3316
$GC,5320,-0.67,-117.3,351.4,-5.7,368,5324,0.00,2.42,0.00,0.000,4,0.000,0.067,2651,783,3315
$GC,5353,-0.67,-117.3,353.4,-6.3,368,5357,0.00,2.30,0.00,0.000,6,0.000,0.045,2651,2232,3316
$GC,5685,-0.67,-117.3,370.9,-5.2,374,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2232,3315
$GC,5988,-0.67,-117.3,386.6,-5.2,379,5992,0.00,2.40,0.00,0.000,4,0.000,0.070,2651,776,3315
$GC,6020,-0.67,-117.3,388.4,-5.6,379,6024,0.00,2.30,0.00,0.000,6,0.000,0.046,2651,2221,3315
$GC,6352,-0.67,-117.3,404.5,-4.8,385,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2221,3314
$GC,6655,-0.67,-117.3,419.4,-4.9,390,6659,0.00,2.40,0.00,0.000,4,0.000,0.072,2651,777,3314
$GC,6687,-0.71,-117.3,421.2,-5.6,390,6691,0.00,2.28,0.00,0.000,6,0.000,0.048,2651,2223,3314
$GC,7019,-0.71,-117.3,437.9,-5.0,396,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2223,3314
$GC,7323,-0.71,-117.3,452.7,-4.9,401,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2223,3313
$GC,7625,-0.71,-117.3,467.8,-5.0,406,7629,0.00,2.42,0.00,0.000,4,0.000,0.075,2651,776,3312
$GC,7669,-0.76,-117.3,470.2,-5.4,406,7673,0.00,2.28,0.00,0.000,6,0.000,0.050,2651,2216,3312
$GC,7985,-0.76,-117.3,485.1,-4.6,412,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2216,3311
$GC,8287,-0.76,-117.3,499.2,-4.6,417,8291,0.00,2.42,0.00,0.000,4,0.000,0.077,2651,776,3310
$GC,8314,-0.82,-117.3,500.7,-5.3,417,8319,0.17,2.22,0.00,0.000,6,0.056,0.051,2614,2182,3310
$GC,8645,-0.70,-117.3,522.5,-6.8,423,8647,0.17,0.00,0.00,0.000,6,0.085,0.000,2645,2182,3310
$GC,8948,-0.70,-117.3,540.2,-5.8,428,8952,0.00,2.38,0.00,0.000,4,0.000,0.079,2645,777,3310
$GC,8991,-0.70,-117.3,542.8,-5.9,428,8995,0.00,2.20,0.00,0.000,6,0.000,0.052,2645,2145,3310
$GC,9311,-0.70,-117.3,560.5,-5.5,434,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2145,3310
$GC,9617,-0.70,-117.3,576.6,-5.2,439,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2144,3309
$GC,9918,-0.70,-117.3,591.0,-4.7,444,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2144,3309
$GC,10221,-0.70,-117.3,603.0,-3.9,449,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2145,3309
$GC,10524,-0.70,-117.3,615.1,-4.0,454,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2144,3308
$GC,10827,-0.70,-117.3,628.1,-4.3,459,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2145,3308
$GC,11131,-0.70,-117.3,641.3,-4.3,464,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2145,3308
$GC,11433,-0.70,-117.3,654.9,-4.5,469,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2144,3308
$GC,11736,-0.70,-117.3,668.5,-4.6,474,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2144,3307
$GC,12041,-0.70,-117.3,682.0,-4.5,479,12045,0.00,2.50,0.00,0.000,4,0.000,0.083,2644,3602,3306
$GC,12069,-0.70,-117.3,683.3,-4.6,479,12073,0.00,2.30,0.00,0.000,6,0.000,0.048,2645,2149,3306
$GC,12406,-0.70,-117.3,698.6,-4.6,485,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2149,3306
$GC,12709,-0.70,-117.3,712.0,-4.4,490,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2149,3306
$GC,13013,-0.70,-117.3,724.3,-4.0,495,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2148,3306
$GC,13315,-0.70,-117.3,737.0,-4.2,500,13319,0.00,2.35,0.00,0.000,4,0.000,0.091,2644,786,3305
$GC,13337,-0.74,-117.3,738.2,-5.1,500,13342,0.00,2.25,0.00,0.000,6,0.000,0.058,2644,2178,3306
$GC,13680,-0.74,-117.3,754.9,-5.0,506,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2178,3305
$GC,13984,-0.78,-117.3,769.8,-4.9,511,13988,0.00,2.42,0.00,0.000,4,0.000,0.088,2644,777,3305
$GC,14011,-0.84,-117.3,771.3,-4.9,511,14015,0.15,2.22,0.00,0.000,6,0.061,0.058,2613,2168,3305
$GC,14347,-0.75,-117.3,791.6,-6.1,517,14349,0.12,0.00,0.00,0.000,6,0.094,0.000,2634,2168,3305
$GC,14651,-0.75,-117.3,807.1,-5.1,522,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2168,3305
$GC,14954,-0.75,-117.3,822.0,-4.9,527,14958,0.00,2.42,0.00,0.000,4,0.000,0.092,2634,784,3305
$GC,14986,-0.75,-117.3,823.7,-4.6,527,14990,0.00,2.22,0.00,0.000,6,0.000,0.060,2634,2151,3304
$GC,15319,-0.75,-117.3,839.5,-4.8,533,15320,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2151,3305
$GC,15621,-0.75,-117.3,854.6,-5.0,538,15622,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2151,3304
$GC,15924,-0.75,-117.3,870.7,-5.3,543,15928,0.00,2.42,0.00,0.000,4,0.000,0.096,2634,780,3304
$GC,15963,-0.75,-117.3,872.9,-5.0,543,15967,0.00,2.20,0.00,0.000,6,0.000,0.061,2634,2129,3304
$GC,16284,-0.75,-117.3,889.9,-5.3,549,16288,0.00,2.58,0.00,0.000,4,0.000,0.091,2634,3597,3304
$GC,16304,-0.75,-117.3,891.1,-5.6,549,16309,0.00,2.42,0.00,0.000,6,0.000,0.054,2634,2122,3304
$GC,16649,-0.75,-117.3,908.9,-5.1,555,16654,0.00,2.58,0.00,0.000,4,0.000,0.085,2634,3597,3304
$GC,16682,-0.75,-117.3,910.9,-6.0,555,16686,0.00,2.35,0.00,0.000,6,0.000,0.056,2634,2142,3304
$GC,17016,-0.75,-117.3,927.2,-4.9,561,17017,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2141,3304
$GC,17317,-0.75,-117.3,942.3,-5.1,566,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2141,3304
$GC,17620,-0.75,-117.3,957.0,-4.8,571,17624,0.00,2.45,0.00,0.000,4,0.000,0.107,2634,787,3304
$GC,17641,-0.75,-117.3,958.0,-4.6,571,17645,0.00,2.25,0.00,0.000,6,0.000,0.065,2634,2151,3304
$GC,17978,-0.75,-117.3,973.3,-4.4,577,17979,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2151,3303
$GC,18281,-0.75,-117.3,986.6,-4.3,582,18283,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2151,3303
$STATE,18400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18400,begin apogee
$GC,18406,-0.23,0.0,991.7,4.3,584,18511,0.68,0.00,102.53,1.498,6,0.074,0.000,2749,2203,2837
$STATE,18512,end apogee,CONTROL_FINISHED_OK
$STATE,18512,begin climb
$GC,18514,0.67,117.3,992.8,0.0,585,18632,1.15,0.00,112.55,1.447,6,0.045,0.000,2946,2203,2357
$GC,18949,0.42,117.3,962.2,9.1,593,18954,0.30,2.50,0.00,0.000,4,0.093,0.091,2895,3606,2358
$GC,19012,0.31,117.3,957.5,7.3,594,19017,0.15,2.35,0.00,0.000,6,0.098,0.063,2871,2214,2358
$GC,19376,0.33,129.1,938.0,5.1,600,19395,0.00,2.62,12.30,1.345,4,0.000,0.108,2871,783,2310
$GC,19442,0.33,129.1,934.3,6.4,601,19446,0.00,2.35,0.00,0.000,6,0.000,0.064,2871,2202,2310
$GC,19807,0.38,139.6,915.5,5.2,607,19820,0.00,0.00,11.30,1.333,6,0.000,0.000,2870,2203,2268
$GC,20110,0.43,141.7,899.1,5.4,612,20120,0.12,2.53,3.97,0.907,4,0.065,0.101,2897,780,2259
$GC,20148,0.35,141.7,896.6,5.6,612,20152,0.00,2.30,0.00,0.000,6,0.000,0.062,2897,2189,2259
$GC,20473,0.35,141.7,874.8,6.8,618,20474,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2189,2259
$GC,20776,0.35,141.7,854.0,6.9,623,20780,0.00,2.47,0.00,0.000,4,0.000,0.099,2898,781,2259
$GC,20820,0.27,141.7,850.9,7.5,623,20824,0.22,2.28,0.00,0.000,6,0.089,0.061,2861,2183,2259
$GC,21135,0.37,153.5,834.6,5.1,629,21154,0.00,2.50,12.32,1.325,4,0.000,0.094,2860,780,2211
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$STATE,34824,end climb,SURFACE_DEPTH_REACHED
$STATE,34825,begin surface coast
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$STATE,34837,end surface coast,CONTROL_FINISHED_OK
$STATE,34837,begin surface
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$DATA_FILE_SIZE,59967,1179
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