version: 66.03
glider: 119
mission: 5
dive: 247
start: 11 29 108 2 47 49
data:
$ID,119
$MISSION,5
$DIVE,247
$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,-214333.02
$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,36
$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
$GPS1,024107,4659.599,-12617.862,35,1.0,40,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.8
$GPS2,024657,4659.551,-12617.854,10,1.0,10,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.175,-0.086
$KALMAN_X,-11128.0,-209.4,-37.7,-89499.7,1502.8
$KALMAN_Y,302143.2,-175.8,-571.3,-299509.9,3123.3
$MHEAD_RNG_PITCHd_Wd,225.4,129018,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-51.67,0.000,2,0.000,0.000,859,2225,2541
$GC,77,-0.67,-117.3,3.0,-3.2,5,121,12.12,2.45,-24.48,0.000,4,0.138,0.071,2650,777,3315
$GC,144,-0.45,-117.3,8.5,-9.6,11,149,0.30,2.22,0.00,0.000,6,0.078,0.042,2700,2197,3315
$GC,470,-0.45,-117.3,34.0,-6.5,41,474,0.00,2.30,0.00,0.000,4,0.000,0.058,2700,775,3315
$GC,492,-0.45,-117.3,35.6,-6.8,42,498,0.00,2.22,0.00,0.000,6,0.000,0.042,2700,2184,3315
$GC,831,-0.45,-117.3,59.4,-6.4,97,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2184,3315
$GC,1174,-0.53,-117.3,78.8,-5.6,158,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2184,3315
$GC,1508,-0.74,-117.3,102.1,-6.8,191,1513,0.30,2.28,0.00,0.000,4,0.041,0.058,2631,772,3315
$GC,1765,-0.61,-117.3,123.6,-8.0,213,1772,0.15,2.25,0.00,0.000,6,0.068,0.044,2667,2198,3315
$GC,2090,-0.61,-117.3,141.4,-5.5,244,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2198,3315
$GC,2405,-0.61,-117.3,158.7,-5.4,267,2409,0.00,2.30,0.00,0.000,4,0.000,0.061,2667,776,3315
$GC,2432,-0.66,-117.3,160.3,-5.6,268,2436,0.00,2.22,0.00,0.000,6,0.000,0.044,2667,2209,3315
$GC,2748,-0.70,-117.3,177.9,-5.6,283,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2209,3315
$GC,3058,-0.70,-117.3,194.4,-5.2,298,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2209,3315
$GC,3367,-0.74,-117.3,210.9,-5.4,313,3369,0.15,0.00,0.00,0.000,6,0.055,0.000,2634,2209,3315
$GC,3676,-0.64,-117.3,232.2,-6.8,328,3678,0.15,0.00,0.00,0.000,6,0.084,0.000,2659,2209,3315
$GC,3985,-0.64,-117.3,248.7,-5.3,343,3989,0.00,2.35,0.00,0.000,4,0.000,0.064,2660,772,3315
$GC,4018,-0.68,-117.3,250.6,-6.3,344,4022,0.00,2.25,0.00,0.000,6,0.000,0.044,2660,2210,3315
$GC,4339,-0.68,-117.3,268.3,-5.7,360,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2210,3315
$GC,4649,-0.68,-117.3,286.4,-5.8,375,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2210,3315
$GC,4956,-0.68,-117.3,304.3,-5.6,388,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2210,3314
$GC,5259,-0.68,-117.3,320.2,-5.2,393,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2210,3314
$GC,5563,-0.68,-117.3,333.4,-4.3,398,5567,0.00,2.38,0.00,0.000,4,0.000,0.068,2660,776,3314
$GC,5585,-0.73,-117.3,334.4,-4.3,398,5589,0.00,2.22,0.00,0.000,6,0.000,0.045,2659,2199,3313
$GC,5922,-0.73,-117.3,348.5,-4.2,404,5926,0.00,2.35,0.00,0.000,4,0.000,0.070,2660,783,3313
$GC,5950,-0.77,-117.3,349.8,-4.4,404,5955,0.15,2.20,0.00,0.000,6,0.055,0.046,2628,2191,3313
$GC,6287,-0.67,-117.3,370.5,-6.3,410,6289,0.15,0.00,0.00,0.000,6,0.084,0.000,2653,2191,3312
$GC,6590,-0.67,-117.3,386.2,-5.1,415,6594,0.00,2.35,0.00,0.000,4,0.000,0.071,2653,776,3313
$GC,6622,-0.67,-117.3,387.9,-5.3,415,6626,0.00,2.17,0.00,0.000,6,0.000,0.047,2653,2165,3312
$GC,6948,-0.67,-117.3,404.6,-5.1,421,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3312
$GC,7251,-0.67,-117.3,421.6,-5.7,426,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2166,3312
$GC,7554,-0.67,-117.3,439.8,-6.0,431,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2166,3312
$GC,7858,-0.67,-117.3,456.4,-5.4,436,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2166,3312
$GC,8161,-0.67,-117.3,471.4,-5.0,441,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2166,3311
$GC,8464,-0.67,-117.3,485.8,-4.7,446,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2166,3311
$GC,8768,-0.67,-117.3,500.2,-4.7,451,8772,0.00,2.35,0.00,0.000,4,0.000,0.077,2653,779,3310
$GC,8796,-0.72,-117.3,501.7,-5.4,451,8799,0.00,2.20,0.00,0.000,6,0.000,0.051,2653,2161,3311
$GC,9127,-0.72,-117.3,516.9,-4.5,457,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2161,3309
$GC,9430,-0.72,-117.3,529.6,-4.2,462,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2161,3310
$GC,9733,-0.72,-117.3,542.1,-4.1,467,9737,0.00,2.35,0.00,0.000,4,0.000,0.078,2653,779,3308
$GC,9761,-0.77,-117.3,543.4,-4.6,467,9764,0.00,2.15,0.00,0.000,6,0.000,0.051,2653,2143,3309
$GC,10100,-0.81,-117.3,558.5,-4.6,473,10101,0.17,0.00,0.00,0.000,6,0.056,0.000,2615,2143,3309
$GC,10402,-0.69,-117.3,577.5,-6.4,478,10404,0.20,0.00,0.00,0.000,6,0.083,0.000,2649,2143,3309
$GC,10704,-0.69,-117.3,592.7,-5.0,483,10708,0.00,2.47,0.00,0.000,4,0.000,0.074,2649,3606,3308
$GC,10725,-0.69,-117.3,594.0,-5.6,483,10730,0.00,2.35,0.00,0.000,6,0.000,0.048,2650,2137,3309
$GC,11075,-0.69,-117.3,611.7,-5.1,489,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2137,3309
$GC,11379,-0.69,-117.3,627.0,-5.0,494,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3308
$GC,11681,-0.69,-117.3,643.2,-5.4,499,11685,0.00,2.53,0.00,0.000,4,0.000,0.073,2649,3604,3308
$GC,11707,-0.69,-117.3,644.8,-5.9,499,11711,0.00,2.33,0.00,0.000,6,0.000,0.049,2650,2148,3307
$GC,12045,-0.69,-117.3,662.4,-5.2,505,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3307
$GC,12349,-0.73,-117.3,675.7,-4.3,510,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3307
$GC,12651,-0.77,-117.3,688.5,-4.2,515,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3307
$GC,12955,-0.82,-117.3,702.0,-4.4,520,12957,0.15,0.00,0.00,0.000,6,0.058,0.000,2617,2147,3307
$GC,13257,-0.72,-117.3,719.7,-5.9,525,13259,0.15,0.00,0.00,0.000,6,0.089,0.000,2643,2146,3307
$GC,13560,-0.72,-117.3,735.0,-5.0,530,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2146,3306
$GC,13864,-0.72,-117.3,751.0,-5.3,535,13868,0.00,2.53,0.00,0.000,4,0.000,0.076,2642,3595,3306
$GC,13896,-0.72,-117.3,752.9,-6.2,535,13900,0.00,2.35,0.00,0.000,6,0.000,0.048,2642,2149,3305
$GC,14228,-0.72,-117.3,771.8,-5.8,541,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2148,3306
$GC,14531,-0.72,-117.3,789.1,-5.7,546,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2148,3305
$GC,14834,-0.72,-117.3,805.5,-5.4,551,14838,0.00,2.38,0.00,0.000,4,0.000,0.090,2642,786,3305
$GC,14861,-0.72,-117.3,807.0,-6.1,551,14865,0.00,2.28,0.00,0.000,6,0.000,0.056,2642,2179,3305
$GC,15199,-0.72,-117.3,823.7,-4.9,557,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2179,3305
$GC,15502,-0.72,-117.3,837.7,-4.5,562,15506,0.00,2.42,0.00,0.000,4,0.000,0.087,2642,780,3305
$GC,15535,-0.76,-117.3,839.2,-5.2,562,15539,0.00,2.25,0.00,0.000,6,0.000,0.057,2642,2170,3304
$GC,15861,-0.76,-117.3,852.8,-4.2,568,15862,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2170,3304
$GC,16164,-0.76,-117.3,865.9,-4.3,573,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2171,3305
$GC,16467,-0.76,-117.3,879.4,-4.5,578,16471,0.00,2.42,0.00,0.000,4,0.000,0.090,2642,781,3305
$GC,16494,-0.76,-117.3,880.6,-5.4,578,16498,0.00,2.22,0.00,0.000,6,0.000,0.058,2642,2154,3304
$GC,16832,-0.76,-117.3,896.4,-4.7,584,16833,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2154,3305
$GC,17134,-0.76,-117.3,911.6,-5.0,589,17135,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2154,3305
$GC,17440,-0.80,-117.3,927.1,-5.1,594,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2154,3304
$GC,17740,-0.80,-117.3,942.3,-5.0,599,17742,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2155,3304
$GC,18044,-0.80,-117.3,956.7,-4.7,604,18045,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2155,3304
$GC,18347,-0.80,-117.3,971.5,-4.9,609,18351,0.00,2.42,0.00,0.000,4,0.000,0.094,2642,783,3303
$GC,18368,-0.85,-117.3,972.7,-6.2,609,18372,0.15,2.22,0.00,0.000,6,0.058,0.061,2610,2146,3304
$STATE,18702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18702,begin apogee
$GC,18708,-0.23,0.0,993.5,6.3,615,18814,0.80,0.00,102.93,1.504,6,0.076,0.000,2745,2201,2837
$STATE,18815,end apogee,CONTROL_FINISHED_OK
$STATE,18815,begin climb
$GC,18817,0.67,117.3,994.9,0.0,616,18939,1.17,2.78,114.10,1.460,4,0.047,0.088,2946,3595,2358
$GC,18967,0.38,117.3,991.5,6.3,619,18972,0.40,2.53,0.00,0.000,6,0.089,0.057,2886,2193,2358
$GC,19310,0.40,129.3,973.5,5.1,625,19335,0.00,2.53,15.45,1.217,4,0.000,0.100,2885,788,2308
$GC,19391,0.40,129.3,968.7,6.3,626,19395,0.00,2.30,0.00,0.000,6,0.000,0.063,2886,2156,2308
$GC,19740,0.40,129.3,948.3,5.9,632,19741,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2157,2308
$GC,20042,0.40,129.3,930.0,6.1,637,20043,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2157,2308
$GC,20345,0.40,129.3,911.7,6.1,642,20347,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2156,2308
$GC,20648,0.40,129.3,894.0,5.8,647,20652,0.00,2.38,0.00,0.000,4,0.000,0.093,2886,787,2308
$GC,20692,0.40,129.3,891.3,6.7,647,20696,0.00,2.17,0.00,0.000,6,0.000,0.058,2886,2134,2308
$GC,21013,0.40,129.3,872.9,5.8,653,21014,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2134,2308
$GC,21316,0.40,129.3,856.1,5.6,658,21317,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2134,2308
$GC,21619,0.44,132.7,839.6,5.4,663,21626,0.00,0.00,4.60,1.002,6,0.000,0.000,2886,2134,2296
$GC,21923,0.49,137.7,823.4,5.3,668,21936,0.00,2.38,6.45,1.166,4,0.000,0.088,2886,784,2274
$GC,21970,0.49,137.7,820.7,5.9,668,21974,0.00,2.17,0.00,0.000,6,0.000,0.056,2886,2114,2274
$GC,22291,0.56,147.1,803.9,5.2,674,22304,0.17,0.00,10.27,1.285,6,0.057,0.000,2922,2114,2237
$GC,22594,0.49,147.1,782.4,7.2,679,22598,0.00,2.53,0.00,0.000,4,0.000,0.080,2922,3602,2237
$GC,22633,0.38,147.1,779.2,8.6,679,22638,0.22,2.42,0.00,0.000,6,0.091,0.054,2886,2108,2237
$GC,22953,0.45,147.9,761.2,5.5,685,22957,0.00,2.25,0.00,0.000,4,0.000,0.088,2886,789,2237
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$STATE,35331,begin surface coast
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$STATE,35356,end surface coast,CONTROL_FINISHED_OK
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