version: 66.03
glider: 119
mission: 5
dive: 253
start: 12 1 108 12 42 13
data:
$ID,119
$MISSION,5
$DIVE,253
$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,-214427.02
$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,41
$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
$GPS1,123539,4657.182,-12645.438,37,1.9,44,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.4
$GPS2,124121,4657.196,-12645.374,13,1.3,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.181,-0.072
$KALMAN_X,-5696.0,-123.0,-685.8,-129133.9,1120.3
$KALMAN_Y,310228.8,-559.2,-34.9,-312107.1,2894.4
$MHEAD_RNG_PITCHd_Wd,229.8,94400,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.28,0.000,2,0.000,0.000,861,2222,2501
$GC,77,-0.67,-117.3,3.2,-3.8,5,121,12.15,2.42,-25.00,0.000,4,0.140,0.070,2648,783,3315
$GC,283,-0.49,-117.3,24.1,-11.1,23,291,0.25,2.25,0.00,0.000,6,0.081,0.043,2690,2210,3315
$GC,617,-0.49,-117.3,51.0,-7.9,66,623,0.00,2.30,0.00,0.000,4,0.000,0.058,2690,777,3315
$GC,670,-0.49,-117.3,55.0,-7.6,75,676,0.00,2.15,0.00,0.000,6,0.000,0.042,2690,2168,3315
$GC,1015,-0.53,-117.3,75.7,-5.7,136,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2169,3315
$GC,1347,-0.59,-117.3,95.9,-5.9,173,1352,0.00,2.40,0.00,0.000,4,0.000,0.064,2689,3606,3315
$GC,1376,-0.65,-117.3,98.0,-6.7,175,1380,0.17,2.30,0.00,0.000,6,0.051,0.041,2651,2141,3315
$GC,1701,-0.56,-117.3,122.9,-6.1,205,1702,0.15,0.00,0.00,0.000,6,0.082,0.000,2677,2137,3315
$GC,2021,-0.63,-117.3,138.5,-5.4,235,2025,0.00,2.45,0.00,0.000,4,0.000,0.065,2677,3598,3315
$GC,2053,-0.69,-117.3,140.8,-6.3,237,2061,0.15,2.17,0.00,0.000,6,0.054,0.042,2643,2200,3315
$GC,2385,-0.62,-117.3,165.5,-7.1,259,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2195,3316
$GC,2692,-0.57,-117.3,185.6,-6.5,274,2697,0.15,2.35,0.00,0.000,4,0.083,0.063,2673,797,3315
$GC,2720,-0.63,-117.3,187.1,-5.0,275,2724,0.00,2.20,0.00,0.000,6,0.000,0.044,2673,2208,3315
$GC,3036,-0.71,-117.3,202.4,-5.2,290,3038,0.15,0.00,0.00,0.000,6,0.056,0.000,2638,2208,3315
$GC,3345,-0.65,-117.3,221.8,-6.1,305,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2208,3315
$GC,3654,-0.58,-117.3,241.4,-6.6,320,3659,0.15,2.30,0.00,0.000,4,0.083,0.064,2669,793,3315
$GC,3681,-0.64,-117.3,243.1,-5.8,321,3685,0.00,2.20,0.00,0.000,6,0.000,0.045,2669,2201,3315
$GC,4003,-0.72,-117.3,260.2,-5.6,337,4005,0.12,0.00,0.00,0.000,6,0.061,0.000,2639,2202,3315
$GC,4312,-0.66,-117.3,279.4,-6.1,352,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2202,3315
$GC,4621,-0.62,-117.3,298.9,-6.5,367,4623,0.15,0.00,0.00,0.000,6,0.082,0.000,2665,2202,3315
$GC,4966,-0.68,-117.3,316.0,-4.8,374,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2202,3315
$GC,5269,-0.75,-117.3,330.7,-4.9,379,5270,0.15,0.00,0.00,0.000,6,0.056,0.000,2632,2202,3314
$GC,5574,-0.67,-117.3,351.8,-7.1,384,5578,0.00,2.33,0.00,0.000,4,0.000,0.069,2631,799,3314
$GC,5595,-0.60,-117.3,353.7,-7.6,384,5600,0.20,2.17,0.00,0.000,6,0.077,0.046,2665,2189,3314
$GC,5932,-0.68,-117.3,373.7,-5.9,390,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2189,3314
$GC,6236,-0.76,-117.3,389.6,-5.2,395,6240,0.15,2.30,0.00,0.000,4,0.057,0.068,2629,805,3313
$GC,6268,-0.71,-117.3,391.7,-6.5,395,6272,0.00,2.15,0.00,0.000,6,0.000,0.046,2629,2181,3313
$GC,6602,-0.63,-117.3,412.9,-6.3,401,6607,0.15,2.38,0.00,0.000,4,0.085,0.069,2658,3604,3313
$GC,6635,-0.68,-117.3,414.9,-5.3,401,6639,0.00,2.25,0.00,0.000,6,0.000,0.045,2659,2169,3312
$GC,6968,-0.73,-117.3,431.6,-5.1,407,6972,0.00,2.28,0.00,0.000,4,0.000,0.074,2659,805,3312
$GC,6990,-0.81,-117.3,433.0,-5.5,407,6995,0.20,2.17,0.00,0.000,6,0.050,0.047,2617,2189,3312
$GC,7328,-0.69,-117.3,456.9,-7.2,413,7332,0.15,2.35,0.00,0.000,4,0.086,0.067,2645,3605,3311
$GC,7354,-0.69,-117.3,458.7,-6.5,413,7358,0.00,2.22,0.00,0.000,6,0.000,0.047,2646,2196,3312
$GC,7693,-0.69,-117.3,477.6,-5.5,419,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2195,3312
$GC,7995,-0.69,-117.3,492.9,-5.1,424,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2195,3312
$GC,8298,-0.69,-117.3,507.6,-4.8,429,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2195,3311
$GC,8601,-0.69,-117.3,522.4,-4.9,434,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2195,3311
$GC,8904,-0.69,-117.3,538.2,-5.3,439,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2194,3311
$GC,9207,-0.69,-117.3,555.1,-5.7,444,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2193,3310
$GC,9510,-0.69,-117.3,572.4,-5.7,449,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2192,3310
$GC,9813,-0.69,-117.3,589.6,-5.7,454,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2191,3309
$GC,10117,-0.69,-117.3,604.9,-5.0,459,10121,0.00,2.42,0.00,0.000,4,0.000,0.081,2646,801,3309
$GC,10138,-0.69,-117.3,606.0,-5.0,459,10142,0.00,2.20,0.00,0.000,6,0.000,0.050,2645,2184,3309
$GC,10481,-0.69,-117.3,620.0,-4.0,465,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2184,3309
$GC,10784,-0.69,-117.3,631.7,-3.9,470,10788,0.00,2.35,0.00,0.000,4,0.000,0.078,2646,792,3309
$GC,10806,-0.69,-117.3,632.6,-4.2,470,10810,0.00,2.15,0.00,0.000,6,0.000,0.051,2646,2143,3309
$GC,11149,-0.69,-117.3,647.9,-4.6,476,11153,0.00,2.45,0.00,0.000,4,0.000,0.075,2645,3603,3309
$GC,11164,-0.69,-117.3,648.8,-5.0,476,11169,0.00,2.33,0.00,0.000,6,0.000,0.049,2646,2144,3308
$GC,11513,-0.69,-117.3,667.9,-5.5,482,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2142,3308
$GC,11816,-0.69,-117.3,684.5,-5.4,487,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2142,3308
$GC,12122,-0.69,-117.3,700.3,-5.2,492,12126,0.00,2.47,0.00,0.000,4,0.000,0.074,2645,3598,3308
$GC,12142,-0.69,-117.3,701.7,-5.8,492,12147,0.00,2.30,0.00,0.000,6,0.000,0.050,2646,2158,3307
$GC,12486,-0.69,-117.3,718.6,-4.9,498,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3307
$GC,12791,-0.73,-117.3,733.2,-4.8,503,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2157,3307
$GC,13092,-0.78,-117.3,747.7,-4.8,508,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3307
$GC,13396,-0.82,-117.3,762.0,-4.7,513,13398,0.12,0.00,0.00,0.000,6,0.064,0.000,2617,2157,3306
$GC,13698,-0.75,-117.3,779.7,-5.9,518,13699,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2157,3306
$GC,14001,-0.66,-117.3,797.8,-6.0,523,14006,0.17,2.50,0.00,0.000,4,0.085,0.077,2650,3599,3307
$GC,14035,-0.72,-117.3,799.4,-5.2,523,14039,0.00,2.30,0.00,0.000,6,0.000,0.051,2651,2168,3306
$GC,14361,-0.79,-117.3,815.2,-4.8,529,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2167,3306
$GC,14664,-0.86,-117.3,829.1,-4.6,534,14666,0.20,0.00,0.00,0.000,6,0.054,0.000,2608,2167,3306
$GC,14967,-0.74,-117.3,847.3,-6.1,539,14972,0.15,2.50,0.00,0.000,4,0.090,0.078,2634,3606,3305
$GC,15005,-0.74,-117.3,849.5,-5.7,539,15009,0.00,2.30,0.00,0.000,6,0.000,0.049,2634,2185,3305
$GC,15331,-0.74,-117.3,865.0,-4.7,545,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2184,3305
$GC,15634,-0.74,-117.3,879.5,-4.9,550,15639,0.00,2.42,0.00,0.000,4,0.000,0.090,2633,792,3305
$GC,15656,-0.74,-117.3,880.6,-4.3,550,15661,0.00,2.25,0.00,0.000,6,0.000,0.054,2634,2194,3305
$GC,15994,-0.74,-117.3,897.0,-4.8,556,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2194,3305
$GC,16297,-0.74,-117.3,910.7,-4.5,561,16301,0.00,2.42,0.00,0.000,4,0.000,0.084,2633,3606,3305
$GC,16319,-0.74,-117.3,911.7,-4.5,561,16323,0.00,2.28,0.00,0.000,6,0.000,0.050,2633,2188,3304
$GC,16656,-0.74,-117.3,928.2,-5.0,567,16657,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2188,3304
$GC,16959,-0.74,-117.3,944.2,-5.3,572,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2188,3304
$GC,17261,-0.74,-117.3,961.2,-5.6,577,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2188,3304
$GC,17565,-0.74,-117.3,978.8,-5.8,582,17566,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2188,3304
$STATE,17805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17805,begin apogee
$GC,17810,-0.23,0.0,992.1,5.5,586,17916,0.68,0.00,102.97,1.506,6,0.073,0.000,2749,2187,2837
$STATE,17917,end apogee,CONTROL_FINISHED_OK
$STATE,17917,begin climb
$GC,17919,0.67,117.3,993.9,0.0,587,18042,1.15,2.80,114.22,1.469,4,0.044,0.084,2947,3592,2358
$GC,18064,0.36,117.3,990.2,6.8,590,18069,0.45,2.50,0.00,0.000,6,0.091,0.056,2881,2210,2358
$GC,18412,0.36,117.3,967.4,6.6,596,18416,0.00,2.53,0.00,0.000,4,0.000,0.099,2881,778,2358
$GC,18474,0.36,117.3,963.0,8.1,597,18477,0.00,2.28,0.00,0.000,6,0.000,0.060,2881,2170,2358
$GC,18844,0.36,117.3,937.3,6.9,603,18845,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2170,2358
$GC,19147,0.36,117.3,917.2,6.6,608,19151,0.00,2.40,0.00,0.000,4,0.000,0.092,2881,787,2358
$GC,19196,0.31,117.3,913.9,6.6,608,19200,0.00,2.20,0.00,0.000,6,0.000,0.058,2881,2151,2358
$GC,19511,0.31,117.3,894.9,5.9,614,19512,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2151,2358
$GC,19814,0.31,117.3,877.9,5.6,619,19815,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2151,2358
$GC,20117,0.33,128.9,862.3,5.1,624,20136,0.00,2.42,12.43,1.345,4,0.000,0.088,2881,777,2310
$GC,20165,0.35,143.6,859.7,5.0,624,20185,0.00,2.20,15.10,1.355,6,0.000,0.055,2881,2141,2251
$GC,20551,0.35,143.6,837.9,5.7,631,20553,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2140,2251
$GC,20854,0.35,143.6,820.5,5.7,636,20855,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2141,2251
$GC,21157,0.35,143.6,802.8,5.8,641,21161,0.00,2.33,0.00,0.000,4,0.000,0.084,2881,781,2251
$GC,21212,0.35,143.6,799.4,6.4,641,21218,0.00,2.15,0.00,0.000,6,0.000,0.054,2881,2124,2251
$GC,21521,0.35,143.6,780.8,6.0,647,21525,0.00,2.30,0.00,0.000,4,0.000,0.084,2881,778,2251
$GC,21559,0.35,143.6,778.3,6.6,647,21563,0.00,2.08,0.00,0.000,6,0.000,0.054,2881,2082,2251
$GC,21885,0.35,143.6,759.9,5.6,653,21886,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2082,2251
$GC,22189,0.35,150.2,743.9,5.3,658,22198,0.00,0.00,7.57,1.187,6,0.000,0.000,2881,2082,2224
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$STATE,33963,end climb,SURFACE_DEPTH_REACHED
$STATE,33963,begin surface coast
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$STATE,33996,end surface coast,CONTROL_FINISHED_OK
$STATE,33996,begin surface
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