version: 66.03
glider: 119
mission: 5
dive: 179
start: 11 3 108 0 34 25
data:
$ID,119
$MISSION,5
$DIVE,179
$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,-213175.22
$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,40
$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
$GPS1,002453,4715.000,-12722.773,49,1.3,49,18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.6
$GPS2,003333,4714.969,-12722.706,13,1.2,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.148,-0.127
$KALMAN_X,-24334.6,-493.5,-77.5,-157930.9,-311.6
$KALMAN_Y,171831.5,221.4,-107.1,-141507.4,1237.2
$MHEAD_RNG_PITCHd_Wd,210.8,54657,-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,-61.75,0.000,2,0.000,0.000,864,2233,2788
$GC,87,-0.67,-117.3,3.5,-5.2,6,118,12.27,2.30,-12.00,0.000,4,0.144,0.072,2645,3594,3318
$GC,136,-0.31,-117.3,13.2,-15.3,11,141,0.50,2.20,0.00,0.000,6,0.075,0.039,2729,2197,3318
$GC,464,-0.44,-117.3,34.1,-5.3,41,469,0.15,2.30,0.00,0.000,4,0.051,0.058,2690,790,3318
$GC,496,-0.44,-117.3,36.6,-7.0,43,503,0.00,2.17,0.00,0.000,6,0.000,0.039,2690,2171,3318
$GC,837,-0.44,-117.3,59.6,-6.0,100,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2171,3318
$GC,1185,-0.50,-117.3,81.3,-5.5,160,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2171,3318
$GC,1505,-0.57,-117.3,99.3,-5.1,190,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2171,3318
$GC,1823,-0.67,-117.3,117.7,-5.3,220,1828,0.17,2.38,0.00,0.000,4,0.051,0.066,2646,3602,3318
$GC,1843,-0.67,-117.3,119.3,-6.6,221,1850,0.00,2.25,0.00,0.000,6,0.000,0.042,2647,2183,3318
$GC,2171,-0.61,-117.3,139.9,-5.7,252,2175,0.00,2.28,0.00,0.000,4,0.000,0.064,2646,795,3318
$GC,2199,-0.57,-117.3,141.8,-6.2,254,2204,0.15,2.12,0.00,0.000,6,0.081,0.044,2673,2159,3318
$GC,2522,-0.64,-117.3,156.8,-4.3,277,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2159,3319
$GC,2829,-0.86,-117.3,174.4,-6.3,292,2834,0.30,2.20,0.00,0.000,4,0.044,0.061,2606,802,3318
$GC,2960,-0.69,-117.3,185.1,-9.1,298,2965,0.25,1.77,0.00,0.000,6,0.078,0.042,2650,1956,3318
$GC,3293,-0.69,-117.3,208.7,-7.3,314,3297,0.00,2.70,0.00,0.000,4,0.000,0.065,2650,3603,3318
$GC,3370,-0.69,-117.3,214.7,-7.1,317,3376,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2013,3318
$GC,3686,-0.69,-117.3,234.1,-5.6,333,3690,0.00,2.62,0.00,0.000,4,0.000,0.065,2649,3598,3318
$GC,3734,-0.69,-117.3,236.9,-5.6,335,3738,0.00,2.42,0.00,0.000,6,0.000,0.045,2650,2056,3318
$GC,4057,-0.69,-117.3,253.9,-5.3,351,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2055,3318
$GC,4365,-0.69,-117.3,271.5,-5.8,366,4369,0.00,2.58,0.00,0.000,4,0.000,0.067,2649,3597,3317
$GC,4404,-0.69,-117.3,274.2,-5.9,368,4408,0.00,2.42,0.00,0.000,6,0.000,0.045,2650,2070,3316
$GC,4730,-0.69,-117.3,295.4,-6.6,384,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2070,3316
$GC,5054,-0.69,-117.3,316.7,-6.6,392,5059,0.00,2.55,0.00,0.000,4,0.000,0.067,2649,3597,3316
$GC,5094,-0.69,-117.3,319.3,-6.3,392,5098,0.00,2.38,0.00,0.000,6,0.000,0.045,2650,2097,3315
$GC,5415,-0.69,-117.3,337.8,-5.8,398,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2097,3315
$GC,5716,-0.69,-117.3,355.2,-5.8,403,5721,0.00,2.53,0.00,0.000,4,0.000,0.067,2649,3605,3315
$GC,5754,-0.69,-117.3,357.8,-6.6,403,5758,0.00,2.35,0.00,0.000,6,0.000,0.045,2650,2120,3315
$GC,6081,-0.69,-117.3,377.1,-5.9,409,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2120,3315
$GC,6384,-0.69,-117.3,394.2,-5.6,414,6388,0.00,2.47,0.00,0.000,4,0.000,0.067,2649,3595,3315
$GC,6411,-0.69,-117.3,395.8,-6.2,414,6415,0.00,2.30,0.00,0.000,6,0.000,0.045,2650,2137,3315
$GC,6748,-0.69,-117.3,412.9,-5.1,420,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3314
$GC,7051,-0.69,-117.3,429.2,-5.4,425,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3314
$GC,7354,-0.69,-117.3,445.8,-5.4,430,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3313
$GC,7658,-0.69,-117.3,462.0,-5.3,435,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3314
$GC,7962,-0.69,-117.3,478.8,-5.6,440,7966,0.00,2.47,0.00,0.000,4,0.000,0.071,2649,3602,3313
$GC,7988,-0.69,-117.3,480.7,-6.7,440,7992,0.00,2.33,0.00,0.000,6,0.000,0.047,2650,2137,3312
$GC,8327,-0.69,-117.3,500.6,-5.9,446,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3312
$GC,8629,-0.69,-117.3,517.4,-5.5,451,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2136,3311
$GC,8932,-0.69,-117.3,532.2,-4.8,456,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3311
$GC,9236,-0.73,-117.3,546.7,-4.8,461,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2136,3310
$GC,9539,-0.78,-117.3,562.0,-5.1,466,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2135,3310
$GC,9842,-0.83,-117.3,579.0,-5.6,471,9843,0.17,0.00,0.00,0.000,6,0.055,0.000,2612,2134,3310
$GC,10147,-0.71,-117.3,600.9,-7.3,476,10152,0.15,2.50,0.00,0.000,4,0.088,0.074,2641,3598,3310
$GC,10190,-0.71,-117.3,604.0,-7.0,476,10195,0.00,2.30,0.00,0.000,6,0.000,0.048,2641,2156,3310
$GC,10511,-0.71,-117.3,623.3,-6.0,482,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2155,3310
$GC,10814,-0.71,-117.3,641.7,-6.1,487,10818,0.00,2.45,0.00,0.000,4,0.000,0.074,2641,3596,3309
$GC,10834,-0.71,-117.3,643.1,-6.4,487,10839,0.00,2.30,0.00,0.000,6,0.000,0.049,2641,2166,3308
$GC,11177,-0.71,-117.3,662.2,-5.5,493,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2165,3309
$GC,11482,-0.71,-117.3,677.7,-5.0,498,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2165,3308
$GC,11784,-0.71,-117.3,692.4,-4.8,503,11789,0.00,2.38,0.00,0.000,4,0.000,0.091,2641,795,3308
$GC,11817,-0.71,-117.3,694.1,-5.3,503,11821,0.00,2.22,0.00,0.000,6,0.000,0.059,2641,2168,3308
$GC,12149,-0.71,-117.3,710.3,-5.0,509,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2168,3308
$GC,12455,-0.71,-117.3,725.6,-5.1,514,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2168,3308
$GC,12755,-0.71,-117.3,740.3,-4.8,519,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2168,3308
$GC,13058,-0.71,-117.3,755.3,-4.9,524,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2168,3307
$GC,13362,-0.71,-117.3,770.7,-5.1,529,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2168,3307
$GC,13664,-0.71,-117.3,785.5,-4.8,534,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2168,3306
$GC,13967,-0.71,-117.3,799.8,-4.7,539,13972,0.00,2.40,0.00,0.000,4,0.000,0.092,2641,798,3306
$GC,14006,-0.77,-117.3,801.8,-5.7,539,14010,0.00,2.20,0.00,0.000,6,0.000,0.061,2641,2145,3306
$GC,14332,-0.77,-117.3,816.9,-4.6,545,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2146,3306
$GC,14635,-0.77,-117.3,830.6,-4.5,550,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2145,3306
$GC,14939,-0.81,-117.3,844.6,-4.6,555,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2145,3305
$GC,15241,-0.81,-117.3,859.1,-4.8,560,15246,0.00,2.55,0.00,0.000,4,0.000,0.091,2641,3602,3305
$GC,15263,-0.81,-117.3,860.1,-5.1,560,15267,0.00,2.33,0.00,0.000,6,0.000,0.051,2641,2150,3305
$GC,15601,-0.85,-117.3,875.9,-4.6,566,15603,0.15,0.00,0.00,0.000,6,0.061,0.000,2608,2149,3305
$GC,15903,-0.75,-117.3,893.0,-5.7,571,15908,0.15,2.42,0.00,0.000,4,0.091,0.102,2638,797,3305
$GC,15936,-0.75,-117.3,894.5,-4.4,571,15940,0.00,2.25,0.00,0.000,6,0.000,0.064,2637,2161,3305
$GC,16261,-0.75,-117.3,908.1,-4.1,577,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2161,3305
$GC,16564,-0.75,-117.3,920.2,-4.0,582,16569,0.00,2.45,0.00,0.000,4,0.000,0.100,2638,796,3305
$GC,16598,-0.80,-117.3,921.7,-4.7,582,16602,0.00,2.22,0.00,0.000,6,0.000,0.067,2638,2143,3305
$GC,16924,-0.80,-117.3,935.5,-4.3,588,16925,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2142,3305
$GC,17227,-0.80,-117.3,948.9,-4.5,593,17228,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2142,3304
$GC,17530,-0.80,-117.3,963.9,-5.0,598,17534,0.00,2.58,0.00,0.000,4,0.000,0.095,2637,3599,3304
$GC,17556,-0.80,-117.3,965.5,-5.6,598,17560,0.00,2.40,0.00,0.000,6,0.000,0.060,2638,2129,3304
$GC,17896,-0.84,-117.3,982.3,-5.0,604,17897,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2129,3304
$STATE,18073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18073,begin apogee
$GC,18079,-0.23,0.0,991.4,5.0,607,18184,0.62,0.00,102.68,1.494,6,0.067,0.000,2746,2209,2837
$STATE,18185,end apogee,CONTROL_FINISHED_OK
$STATE,18185,begin climb
$GC,18187,0.67,117.3,993.0,0.0,608,18305,1.15,0.00,112.03,1.443,6,0.043,0.000,2945,2209,2357
$GC,18622,0.41,117.3,963.4,8.9,616,18627,0.30,2.47,0.00,0.000,4,0.094,0.091,2894,3599,2357
$GC,18666,0.31,117.3,959.8,6.8,616,18671,0.17,2.30,0.00,0.000,6,0.097,0.064,2867,2234,2357
$GC,18980,0.31,117.3,941.8,5.7,622,18985,0.00,2.58,0.00,0.000,4,0.000,0.110,2866,792,2357
$GC,19030,0.31,117.3,938.7,6.8,622,19034,0.00,2.35,0.00,0.000,6,0.000,0.067,2867,2211,2357
$GC,19345,0.31,117.3,920.9,5.7,628,19349,0.00,2.53,0.00,0.000,4,0.000,0.104,2866,781,2357
$GC,19394,0.31,117.3,917.9,5.9,628,19398,0.00,2.30,0.00,0.000,6,0.000,0.066,2866,2178,2356
$GC,19709,0.31,117.3,900.4,5.5,634,19713,0.00,2.45,0.00,0.000,4,0.000,0.100,2867,790,2357
$GC,19752,0.31,117.3,897.7,7.2,634,19756,0.00,2.20,0.00,0.000,6,0.000,0.064,2867,2115,2356
$GC,20073,0.31,117.3,880.2,5.5,640,20077,0.00,2.53,0.00,0.000,4,0.000,0.087,2866,3601,2356
$GC,20110,0.31,117.3,877.7,6.4,640,20115,0.00,2.42,0.00,0.000,6,0.000,0.058,2867,2112,2356
$GC,20437,0.31,117.3,858.4,6.0,646,20441,0.00,2.33,0.00,0.000,4,0.000,0.102,2867,788,2356
$GC,20475,0.31,117.3,855.9,6.8,646,20479,0.00,2.20,0.00,0.000,6,0.000,0.063,2866,2121,2355
$GC,20802,0.35,117.3,836.5,5.9,652,20803,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2122,2355
$GC,21104,0.35,117.3,819.3,5.6,657,21108,0.00,2.55,0.00,0.000,4,0.000,0.084,2866,3609,2356
$GC,21141,0.35,117.3,816.9,5.9,657,21145,0.00,2.45,0.00,0.000,6,0.000,0.056,2867,2100,2355
$GC,21468,0.39,119.7,799.1,5.4,663,21470,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,2355
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$STATE,34674,end climb,SURFACE_DEPTH_REACHED
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$STATE,34707,begin surface
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