version: 66.03
glider: 119
mission: 5
dive: 236
start: 11 24 108 18 5 1
data:
$ID,119
$MISSION,5
$DIVE,236
$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,-214129.55
$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,32
$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
$GPS1,175831,4703.776,-12533.104,37,1.4,37,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.8
$GPS2,180409,4703.796,-12533.013,11,1.7,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.177,-0.082
$KALMAN_X,-24522.6,183.0,132.8,-20017.2,264.2
$KALMAN_Y,277114.2,2.7,-309.4,-267064.8,2725.5
$MHEAD_RNG_PITCHd_Wd,226.6,185787,-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,-61.65,0.000,2,0.000,0.000,858,2222,2746
$GC,87,-0.67,-117.3,3.2,-3.7,6,121,12.25,2.38,-13.98,0.000,4,0.143,0.067,2648,799,3315
$GC,247,-0.46,-117.3,24.4,-9.9,20,252,0.30,2.17,0.00,0.000,6,0.081,0.040,2698,2195,3315
$GC,577,-0.46,-117.3,48.8,-6.5,61,584,0.00,2.22,0.00,0.000,4,0.000,0.054,2698,796,3316
$GC,626,-0.50,-117.3,51.7,-6.2,69,632,0.00,2.08,0.00,0.000,6,0.000,0.040,2698,2146,3316
$GC,969,-0.76,-117.3,74.1,-6.2,130,976,0.32,2.15,0.00,0.000,4,0.040,0.052,2624,793,3316
$GC,1130,-0.56,-117.3,89.7,-10.4,150,1135,0.30,2.58,0.00,0.000,6,0.073,0.042,2675,2446,3316
$GC,1456,-0.56,-117.3,112.6,-6.3,180,1460,0.00,2.65,0.00,0.000,4,0.000,0.054,2675,797,3316
$GC,1484,-0.56,-117.3,114.4,-7.0,182,1488,0.00,2.53,0.00,0.000,6,0.000,0.042,2675,2413,3316
$GC,1809,-0.60,-117.3,133.7,-5.3,212,1813,0.00,2.60,0.00,0.000,4,0.000,0.054,2675,792,3316
$GC,1864,-0.69,-117.3,136.9,-5.2,216,1871,0.15,2.38,0.00,0.000,6,0.054,0.043,2641,2327,3316
$GC,2187,-0.61,-117.3,158.9,-6.6,241,2192,0.15,2.47,0.00,0.000,4,0.083,0.056,2671,792,3316
$GC,2253,-0.68,-117.3,162.9,-6.0,244,2257,0.00,2.28,0.00,0.000,6,0.000,0.042,2671,2257,3316
$GC,2581,-0.73,-117.3,180.8,-5.6,260,2586,0.15,2.35,0.00,0.000,4,0.055,0.055,2633,795,3316
$GC,2630,-0.66,-117.3,184.5,-7.6,262,2635,0.12,2.22,0.00,0.000,6,0.084,0.042,2655,2229,3316
$GC,2951,-0.66,-117.3,204.9,-6.3,278,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2229,3316
$GC,3261,-0.66,-117.3,224.1,-6.2,293,3265,0.00,2.33,0.00,0.000,4,0.000,0.059,2655,786,3316
$GC,3304,-0.66,-117.3,227.1,-7.0,295,3308,0.00,2.25,0.00,0.000,6,0.000,0.043,2655,2213,3316
$GC,3631,-0.66,-117.3,247.8,-6.1,311,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2213,3316
$GC,3942,-0.66,-117.3,264.7,-5.2,326,3946,0.00,2.30,0.00,0.000,4,0.000,0.060,2655,793,3316
$GC,3969,-0.66,-117.3,266.4,-5.2,327,3973,0.00,2.20,0.00,0.000,6,0.000,0.043,2655,2208,3316
$GC,4285,-0.66,-117.3,282.2,-4.9,342,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2209,3316
$GC,4595,-0.66,-117.3,297.3,-5.0,357,4599,0.00,2.28,0.00,0.000,4,0.000,0.065,2655,3598,3316
$GC,4616,-0.66,-117.3,298.6,-5.4,358,4620,0.00,2.20,0.00,0.000,6,0.000,0.041,2655,2198,3315
$GC,4957,-0.66,-117.3,316.2,-5.2,365,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3315
$GC,5261,-0.66,-117.3,331.7,-5.1,370,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2193,3315
$GC,5564,-0.66,-117.3,347.1,-5.1,375,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2193,3315
$GC,5867,-0.66,-117.3,363.5,-5.4,380,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2193,3315
$GC,6169,-0.66,-117.3,381.4,-6.0,385,6174,0.00,2.33,0.00,0.000,4,0.000,0.065,2655,799,3314
$GC,6197,-0.70,-117.3,383.3,-7.2,385,6201,0.00,2.17,0.00,0.000,6,0.000,0.042,2654,2199,3314
$GC,6528,-0.70,-117.3,404.8,-6.6,391,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2199,3314
$GC,6831,-0.70,-117.3,424.5,-6.4,396,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2199,3313
$GC,7134,-0.74,-117.3,442.5,-5.8,401,7138,0.00,2.30,0.00,0.000,4,0.000,0.067,2655,809,3313
$GC,7178,-0.80,-117.3,445.1,-6.6,401,7183,0.17,2.15,0.00,0.000,6,0.053,0.044,2617,2186,3313
$GC,7492,-0.68,-117.3,467.4,-7.1,407,7497,0.15,2.38,0.00,0.000,4,0.087,0.065,2646,3605,3313
$GC,7519,-0.68,-117.3,469.1,-6.1,407,7523,0.00,2.28,0.00,0.000,6,0.000,0.041,2647,2188,3313
$GC,7856,-0.68,-117.3,487.8,-5.5,413,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2188,3313
$GC,8159,-0.68,-117.3,504.2,-5.4,418,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2188,3312
$GC,8462,-0.68,-117.3,520.5,-5.4,423,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2187,3312
$GC,8765,-0.68,-117.3,537.3,-5.5,428,8769,0.00,2.40,0.00,0.000,4,0.000,0.067,2647,3598,3311
$GC,8792,-0.68,-117.3,538.9,-6.0,428,8796,0.00,2.25,0.00,0.000,6,0.000,0.042,2647,2189,3312
$GC,9130,-0.68,-117.3,557.0,-5.3,434,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2188,3312
$GC,9433,-0.68,-117.3,572.6,-5.2,439,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2187,3311
$GC,9736,-0.68,-117.3,587.2,-4.8,444,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2186,3311
$GC,10040,-0.68,-117.3,601.2,-4.6,449,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2187,3310
$GC,10342,-0.68,-117.3,615.1,-4.6,454,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2185,3309
$GC,10645,-0.68,-117.3,630.9,-5.3,459,10649,0.00,2.38,0.00,0.000,4,0.000,0.075,2647,794,3310
$GC,10678,-0.73,-117.3,632.9,-5.9,459,10683,0.00,2.20,0.00,0.000,6,0.000,0.049,2647,2186,3309
$GC,11005,-0.73,-117.3,651.1,-5.6,465,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2186,3309
$GC,11307,-0.73,-117.3,669.0,-5.9,470,11311,0.00,2.33,0.00,0.000,4,0.000,0.074,2647,798,3310
$GC,11339,-0.78,-117.3,671.1,-6.8,470,11343,0.00,2.17,0.00,0.000,6,0.000,0.049,2646,2170,3309
$GC,11671,-0.78,-117.3,690.1,-5.7,476,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2170,3309
$GC,11974,-0.78,-117.3,706.3,-5.4,481,11978,0.00,2.30,0.00,0.000,4,0.000,0.076,2647,804,3309
$GC,12012,-0.84,-117.3,708.5,-6.4,481,12016,0.17,2.15,0.00,0.000,6,0.055,0.050,2610,2155,3309
$GC,12338,-0.72,-117.3,731.3,-7.0,487,12343,0.15,2.45,0.00,0.000,4,0.090,0.074,2639,3604,3309
$GC,12376,-0.72,-117.3,733.8,-6.1,487,12380,0.00,2.30,0.00,0.000,6,0.000,0.044,2639,2154,3309
$GC,12703,-0.72,-117.3,750.6,-5.1,493,12707,0.00,2.47,0.00,0.000,4,0.000,0.073,2638,3604,3309
$GC,12735,-0.72,-117.3,752.5,-5.6,493,12739,0.00,2.25,0.00,0.000,6,0.000,0.046,2639,2191,3308
$GC,13067,-0.72,-117.3,769.6,-5.2,499,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2190,3308
$GC,13371,-0.72,-117.3,786.0,-5.4,504,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2191,3308
$GC,13674,-0.72,-117.3,801.5,-5.1,509,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2190,3308
$GC,13977,-0.72,-117.3,817.6,-5.3,514,13981,0.00,2.38,0.00,0.000,4,0.000,0.080,2639,803,3307
$GC,14009,-0.72,-117.3,819.6,-5.4,514,14013,0.00,2.20,0.00,0.000,6,0.000,0.051,2639,2178,3307
$GC,14341,-0.72,-117.3,837.3,-5.4,520,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2178,3307
$GC,14644,-0.72,-117.3,853.3,-5.2,525,14645,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2179,3306
$GC,14948,-0.72,-117.3,868.6,-5.0,530,14949,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2179,3306
$GC,15250,-0.72,-117.3,883.7,-5.0,535,15252,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2179,3306
$GC,15554,-0.72,-117.3,899.9,-5.4,540,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2179,3306
$GC,15856,-0.72,-117.3,917.5,-5.8,545,15860,0.00,2.38,0.00,0.000,4,0.000,0.083,2639,794,3306
$GC,15895,-0.76,-117.3,919.9,-6.4,545,15899,0.00,2.22,0.00,0.000,6,0.000,0.054,2639,2177,3306
$GC,16217,-0.76,-117.3,937.5,-5.5,551,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2178,3306
$GC,16519,-0.76,-117.3,953.1,-5.1,556,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2178,3306
$GC,16822,-0.76,-117.3,968.1,-4.9,561,16826,0.00,2.40,0.00,0.000,4,0.000,0.087,2639,795,3306
$GC,16844,-0.80,-117.3,969.0,-4.3,561,16848,0.00,2.20,0.00,0.000,6,0.000,0.056,2638,2156,3305
$GC,17186,-0.80,-117.3,983.9,-4.2,567,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2156,3305
$STATE,17366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17366,begin apogee
$GC,17372,-0.23,0.0,990.6,3.8,570,17478,0.62,0.00,103.35,1.496,6,0.071,0.000,2746,2207,2837
$STATE,17479,end apogee,CONTROL_FINISHED_OK
$STATE,17479,begin climb
$GC,17481,0.67,117.3,991.3,0.0,571,17603,1.15,2.67,113.65,1.451,4,0.044,0.085,2945,3584,2358
$GC,17636,0.35,117.3,983.9,8.5,574,17642,0.45,2.42,0.00,0.000,6,0.090,0.054,2878,2209,2358
$GC,17973,0.35,117.3,961.2,6.6,580,17978,0.00,2.47,0.00,0.000,4,0.000,0.094,2878,785,2358
$GC,18028,0.35,117.3,957.7,7.1,580,18035,0.00,2.28,0.00,0.000,6,0.000,0.056,2878,2184,2358
$GC,18338,0.35,118.3,940.7,5.5,586,18339,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2184,2358
$GC,18641,0.38,141.4,926.1,4.8,591,18670,0.00,2.50,23.70,1.418,4,0.000,0.087,2878,782,2260
$GC,18699,0.40,158.4,923.2,5.0,591,18723,0.00,2.22,17.38,1.364,6,0.000,0.054,2878,2142,2191
$GC,19073,0.47,162.2,903.1,5.4,598,19084,0.12,2.35,5.55,1.099,4,0.064,0.086,2905,780,2175
$GC,19117,0.39,162.2,900.2,7.3,598,19121,0.00,2.12,0.00,0.000,6,0.000,0.054,2905,2097,2175
$GC,19432,0.39,162.2,880.5,6.3,604,19436,0.00,2.55,0.00,0.000,4,0.000,0.079,2905,3599,2175
$GC,19475,0.33,162.2,877.2,6.8,604,19480,0.20,2.42,0.00,0.000,6,0.094,0.052,2874,2102,2175
$GC,19790,0.42,172.3,860.7,5.2,610,19814,0.00,2.30,13.30,1.146,4,0.000,0.086,2873,781,2135
$GC,19849,0.48,172.3,857.1,6.0,610,19855,0.17,2.10,0.00,0.000,6,0.057,0.051,2909,2093,2134
$GC,20158,0.48,172.3,834.3,7.5,616,20162,0.00,2.55,0.00,0.000,4,0.000,0.077,2909,3599,2135
$GC,20207,0.42,172.3,830.0,8.6,616,20212,0.00,2.45,0.00,0.000,6,0.000,0.051,2909,2083,2134
$GC,20516,0.42,172.3,804.8,8.2,621,20517,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2084,2134
$GC,20819,0.42,172.3,780.2,8.1,626,20823,0.00,2.58,0.00,0.000,4,0.000,0.072,2909,3601,2134
$GC,20857,0.37,172.3,776.8,8.7,626,20862,0.17,2.42,0.00,0.000,6,0.096,0.051,2882,2093,2134
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$STATE,33014,end climb,SURFACE_DEPTH_REACHED
$STATE,33014,begin surface coast
$FINISH,0.7,1.022287
$STATE,33038,end surface coast,CONTROL_FINISHED_OK
$STATE,33038,begin surface
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$10V_AH,10.4,49.131
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