version: 66.03
glider: 119
mission: 5
dive: 246
start: 11 28 108 17 16 27
data:
$ID,119
$MISSION,5
$DIVE,246
$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,-214319.53
$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,13
$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
$GPS1,171007,4700.081,-12613.177,51,1.5,51,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.6
$GPS2,171533,4700.135,-12613.125,11,1.1,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.182,-0.070
$KALMAN_X,-11872.8,-90.1,29.7,-82970.4,1603.1
$KALMAN_Y,300346.2,188.9,-577.1,-296989.8,2526.6
$MHEAD_RNG_PITCHd_Wd,230.3,134990,-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,20,-0.67,-117.3,0.0,0.0,0,73,0.00,0.00,-51.22,0.000,2,0.000,0.000,861,2215,2528
$GC,76,-0.67,-117.3,3.2,-4.0,5,120,12.25,2.45,-23.23,0.000,4,0.143,0.071,2648,775,3317
$GC,170,-0.45,-117.3,13.7,-11.6,13,177,0.32,2.25,0.00,0.000,6,0.084,0.044,2701,2199,3317
$GC,497,-0.45,-117.3,38.4,-7.5,44,501,0.00,2.30,0.00,0.000,4,0.000,0.058,2701,775,3317
$GC,525,-0.45,-117.3,40.8,-7.6,46,532,0.00,2.20,0.00,0.000,6,0.000,0.042,2701,2203,3317
$GC,870,-0.45,-117.3,66.1,-6.7,107,876,0.00,2.30,0.00,0.000,4,0.000,0.058,2701,769,3317
$GC,916,-0.50,-117.3,69.3,-7.0,115,923,0.00,2.22,0.00,0.000,6,0.000,0.042,2701,2183,3317
$GC,1258,-0.57,-117.3,89.4,-5.9,162,1262,0.12,2.28,0.00,0.000,4,0.059,0.058,2670,771,3317
$GC,1280,-0.57,-117.3,90.8,-6.4,164,1284,0.00,2.15,0.00,0.000,6,0.000,0.042,2671,2166,3317
$GC,1611,-0.57,-117.3,113.6,-6.3,195,1615,0.00,2.25,0.00,0.000,4,0.000,0.060,2671,775,3317
$GC,1651,-0.57,-117.3,115.9,-6.0,198,1655,0.00,2.15,0.00,0.000,6,0.000,0.043,2671,2160,3317
$GC,1983,-0.57,-117.3,134.2,-5.7,229,1987,0.00,2.42,0.00,0.000,4,0.000,0.066,2670,3603,3317
$GC,2011,-0.57,-117.3,136.1,-7.1,231,2015,0.00,2.35,0.00,0.000,6,0.000,0.042,2671,2127,3317
$GC,2335,-0.57,-117.3,154.7,-5.4,257,2339,0.00,2.50,0.00,0.000,4,0.000,0.064,2670,3602,3317
$GC,2374,-0.57,-117.3,157.0,-5.8,259,2378,0.00,2.30,0.00,0.000,6,0.000,0.044,2671,2164,3317
$GC,2707,-0.57,-117.3,175.6,-5.8,275,2711,0.00,2.42,0.00,0.000,4,0.000,0.066,2670,3597,3317
$GC,2733,-0.57,-117.3,177.5,-7.0,276,2737,0.00,2.25,0.00,0.000,6,0.000,0.044,2671,2210,3317
$GC,3055,-0.57,-117.3,195.1,-5.2,292,3059,0.00,2.35,0.00,0.000,4,0.000,0.066,2670,3600,3317
$GC,3079,-0.57,-117.3,196.3,-5.4,293,3083,0.00,2.17,0.00,0.000,6,0.000,0.044,2671,2231,3317
$GC,3401,-0.61,-117.3,212.5,-4.8,309,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3317
$GC,3709,-0.61,-117.3,227.5,-5.0,324,3713,0.00,2.40,0.00,0.000,4,0.000,0.066,2671,798,3317
$GC,3736,-0.66,-117.3,228.9,-5.3,325,3741,0.00,2.25,0.00,0.000,6,0.000,0.045,2671,2241,3317
$GC,4052,-0.71,-117.3,246.3,-5.9,340,4054,0.12,0.00,0.00,0.000,6,0.061,0.000,2642,2241,3317
$GC,4362,-0.63,-117.3,267.7,-6.5,355,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2241,3317
$GC,4671,-0.55,-117.3,287.1,-6.3,370,4676,0.17,2.38,0.00,0.000,4,0.081,0.066,2675,800,3317
$GC,4715,-0.64,-117.3,289.5,-5.1,372,4719,0.00,2.22,0.00,0.000,6,0.000,0.045,2676,2226,3317
$GC,5055,-0.72,-117.3,306.6,-5.2,385,5060,0.15,2.35,0.00,0.000,4,0.056,0.065,2638,799,3316
$GC,5082,-0.72,-117.3,308.4,-7.0,385,5086,0.00,2.25,0.00,0.000,6,0.000,0.045,2638,2214,3316
$GC,5421,-0.63,-117.3,329.9,-6.4,391,5423,0.12,0.00,0.00,0.000,6,0.088,0.000,2660,2214,3316
$GC,5723,-0.63,-117.3,345.2,-5.1,396,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2214,3315
$GC,6026,-0.63,-117.3,361.6,-5.5,401,6030,0.00,2.35,0.00,0.000,4,0.000,0.069,2660,794,3315
$GC,6052,-0.63,-117.3,363.3,-6.6,401,6056,0.00,2.25,0.00,0.000,6,0.000,0.047,2660,2204,3315
$GC,6390,-0.63,-117.3,383.5,-6.0,407,6394,0.00,2.35,0.00,0.000,4,0.000,0.070,2659,3601,3315
$GC,6411,-0.63,-117.3,384.9,-6.5,407,6415,0.00,2.22,0.00,0.000,6,0.000,0.045,2660,2210,3314
$GC,6753,-0.63,-117.3,406.3,-6.2,413,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2204,3314
$GC,7059,-0.63,-117.3,425.2,-6.3,418,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2204,3313
$GC,7360,-0.63,-117.3,444.9,-6.5,423,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2204,3313
$GC,7663,-0.63,-117.3,462.6,-5.7,428,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2204,3313
$GC,7967,-0.63,-117.3,477.8,-4.9,433,7971,0.00,2.42,0.00,0.000,4,0.000,0.075,2660,806,3312
$GC,7999,-0.68,-117.3,479.7,-5.6,433,8003,0.00,2.20,0.00,0.000,6,0.000,0.049,2660,2200,3312
$GC,8331,-0.68,-117.3,496.0,-4.9,439,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2200,3312
$GC,8635,-0.68,-117.3,511.2,-5.0,444,8639,0.00,2.35,0.00,0.000,4,0.000,0.076,2659,802,3312
$GC,8662,-0.73,-117.3,512.7,-5.7,444,8666,0.00,2.17,0.00,0.000,6,0.000,0.050,2659,2176,3312
$GC,9000,-0.77,-117.3,529.3,-4.9,450,9002,0.15,0.00,0.00,0.000,6,0.058,0.000,2627,2177,3312
$GC,9303,-0.67,-117.3,548.7,-6.5,455,9308,0.15,2.42,0.00,0.000,4,0.086,0.071,2656,3608,3312
$GC,9343,-0.67,-117.3,551.0,-5.5,455,9347,0.00,2.25,0.00,0.000,6,0.000,0.048,2656,2196,3311
$GC,9663,-0.67,-117.3,567.5,-5.1,461,9667,0.00,2.38,0.00,0.000,4,0.000,0.081,2656,802,3311
$GC,9691,-0.72,-117.3,569.1,-5.6,461,9694,0.00,2.20,0.00,0.000,6,0.000,0.051,2656,2191,3311
$GC,10028,-0.72,-117.3,585.2,-4.7,467,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2192,3311
$GC,10331,-0.72,-117.3,599.6,-4.7,472,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2191,3311
$GC,10634,-0.72,-117.3,613.8,-4.7,477,10638,0.00,2.35,0.00,0.000,4,0.000,0.077,2655,802,3310
$GC,10667,-0.76,-117.3,615.5,-5.5,477,10671,0.00,2.17,0.00,0.000,6,0.000,0.051,2655,2165,3310
$GC,10992,-0.90,-117.3,634.2,-6.1,483,10997,0.25,2.45,0.00,0.000,4,0.047,0.073,2599,3605,3310
$GC,11139,-0.68,-117.3,645.8,-8.1,485,11143,0.30,1.85,0.00,0.000,6,0.080,0.047,2650,2434,3309
$GC,11487,-0.68,-117.3,664.6,-5.3,491,11491,0.00,2.78,0.00,0.000,4,0.000,0.081,2650,802,3309
$GC,11564,-0.72,-117.3,669.2,-6.1,492,11568,0.00,2.50,0.00,0.000,6,0.000,0.054,2649,2357,3309
$GC,11912,-0.72,-117.3,687.9,-5.4,498,11917,0.00,2.65,0.00,0.000,4,0.000,0.079,2650,797,3309
$GC,11974,-0.77,-117.3,691.7,-6.2,499,11978,0.00,2.40,0.00,0.000,6,0.000,0.054,2650,2289,3309
$GC,12344,-0.77,-117.3,712.4,-5.5,505,12349,0.00,2.55,0.00,0.000,4,0.000,0.081,2650,796,3309
$GC,12394,-0.82,-117.3,715.4,-6.2,505,12399,0.15,2.33,0.00,0.000,6,0.056,0.055,2617,2242,3309
$GC,12704,-0.71,-117.3,737.0,-7.1,510,12705,0.15,0.00,0.00,0.000,6,0.088,0.000,2643,2242,3308
$GC,13006,-0.71,-117.3,753.9,-5.6,515,13011,0.00,2.47,0.00,0.000,4,0.000,0.081,2643,798,3309
$GC,13056,-0.71,-117.3,756.9,-5.1,515,13060,0.00,2.33,0.00,0.000,6,0.000,0.056,2643,2237,3309
$GC,13371,-0.71,-117.3,773.5,-5.2,521,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2237,3308
$GC,13674,-0.71,-117.3,788.0,-4.8,526,13678,0.00,2.47,0.00,0.000,4,0.000,0.084,2642,801,3308
$GC,13718,-0.71,-117.3,790.3,-5.2,526,13722,0.00,2.28,0.00,0.000,6,0.000,0.057,2642,2210,3308
$GC,14044,-0.71,-117.3,805.1,-4.6,532,14048,0.00,2.42,0.00,0.000,4,0.000,0.084,2643,803,3308
$GC,14082,-0.71,-117.3,806.9,-5.0,532,14086,0.00,2.22,0.00,0.000,6,0.000,0.057,2643,2181,3308
$GC,14408,-0.71,-117.3,823.6,-5.1,538,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2181,3307
$GC,14711,-0.71,-117.3,839.4,-5.3,543,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2181,3307
$GC,15014,-0.71,-117.3,856.8,-5.7,548,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,3307
$GC,15317,-0.71,-117.3,874.6,-5.9,553,15318,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,3306
$GC,15620,-0.71,-117.3,892.4,-5.8,558,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2183,3306
$GC,15923,-0.71,-117.3,909.0,-5.5,563,15925,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2183,3306
$GC,16226,-0.71,-117.3,924.1,-4.9,568,16230,0.00,2.42,0.00,0.000,4,0.000,0.091,2643,802,3306
$GC,16254,-0.71,-117.3,925.5,-4.9,568,16258,0.00,2.22,0.00,0.000,6,0.000,0.059,2642,2166,3306
$GC,16597,-0.71,-117.3,941.6,-4.6,574,16598,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3306
$GC,16901,-0.71,-117.3,955.8,-4.7,579,16903,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3306
$GC,17203,-0.71,-117.3,969.2,-4.4,584,17204,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2166,3306
$GC,17506,-0.71,-117.3,982.3,-4.4,589,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2166,3306
$STATE,17685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17685,begin apogee
$GC,17691,-0.23,0.0,990.5,4.5,592,17808,0.62,0.00,105.60,1.483,6,0.073,0.000,2750,2209,2837
$STATE,17809,end apogee,CONTROL_FINISHED_OK
$STATE,17809,begin climb
$GC,17811,0.67,117.3,993.8,0.0,594,17934,1.12,2.72,113.93,1.465,4,0.046,0.088,2946,3595,2358
$GC,17962,0.38,117.3,988.0,8.4,596,17968,0.40,2.47,0.00,0.000,6,0.087,0.059,2886,2215,2358
$GC,18299,0.39,122.4,969.5,5.3,602,18313,0.00,2.60,6.88,1.193,4,0.000,0.103,2886,786,2337
$GC,18365,0.40,130.8,965.8,5.2,603,18379,0.00,2.28,9.35,1.285,6,0.000,0.062,2886,2168,2303
$GC,18734,0.41,138.4,946.5,5.3,609,18748,0.00,2.47,8.85,1.285,4,0.000,0.096,2886,786,2272
$GC,18771,0.41,138.4,944.3,5.7,609,18775,0.00,2.22,0.00,0.000,6,0.000,0.060,2886,2130,2272
$GC,19104,0.45,139.8,926.2,5.5,615,19105,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2130,2272
$GC,19406,0.45,139.8,908.8,5.7,620,19410,0.00,2.35,0.00,0.000,4,0.000,0.094,2886,780,2272
$GC,19456,0.45,139.8,905.7,6.2,620,19460,0.00,2.20,0.00,0.000,6,0.000,0.058,2885,2123,2272
$GC,19771,0.50,139.8,887.5,5.8,626,19773,0.12,0.00,0.00,0.000,6,0.064,0.000,2913,2122,2272
$GC,20074,0.45,139.8,867.7,6.5,631,20079,0.00,2.53,0.00,0.000,4,0.000,0.082,2913,3604,2272
$GC,20113,0.36,139.8,864.7,6.6,631,20118,0.20,2.45,0.00,0.000,6,0.094,0.058,2881,2095,2272
$GC,20433,0.43,142.6,847.3,5.4,637,20441,0.00,0.00,5.75,1.126,6,0.000,0.000,2881,2095,2255
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$STATE,33715,end climb,SURFACE_DEPTH_REACHED
$STATE,33716,begin surface coast
$FINISH,0.9,1.024615
$STATE,33749,end surface coast,CONTROL_FINISHED_OK
$STATE,33749,begin surface
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