version: 66.03
glider: 119
mission: 5
dive: 238
start: 11 25 108 13 6 51
data:
$ID,119
$MISSION,5
$DIVE,238
$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,-214162.45
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,130007,4701.992,-12541.717,43,1.5,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.2
$GPS2,130557,4701.958,-12541.579,14,1.0,14,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.173,-0.089
$KALMAN_X,-22453.4,-169.8,-138.9,-32280.4,1726.1
$KALMAN_Y,280529.0,-79.7,-324.8,-273775.8,3113.3
$MHEAD_RNG_PITCHd_Wd,224.3,174872,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-62.05,0.000,2,0.000,0.000,862,2172,2787
$GC,87,-0.67,-117.3,3.5,-3.9,6,119,12.23,0.00,-12.45,0.000,6,0.143,0.000,2649,2172,3318
$GC,441,-0.38,-117.3,51.8,-12.7,47,448,0.35,2.30,0.00,0.000,4,0.084,0.057,2711,789,3318
$GC,466,-0.18,-117.3,54.2,-11.9,51,473,0.28,2.20,0.00,0.000,6,0.073,0.038,2758,2206,3317
$GC,811,-0.72,-117.3,78.9,-7.6,112,817,0.60,0.00,0.00,0.000,6,0.046,0.000,2642,2206,3318
$GC,1140,-0.72,-117.3,105.1,-7.9,144,1144,0.00,2.28,0.00,0.000,4,0.000,0.061,2642,3601,3318
$GC,1169,-0.64,-117.3,107.5,-8.4,146,1173,0.00,2.33,0.00,0.000,6,0.000,0.036,2642,2113,3318
$GC,1493,-0.51,-117.3,134.2,-7.7,176,1495,0.25,0.00,0.00,0.000,6,0.077,0.000,2686,2113,3318
$GC,1824,-0.59,-117.3,151.0,-5.1,206,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2112,3318
$GC,2132,-0.68,-117.3,168.9,-5.9,221,2134,0.17,0.00,0.00,0.000,6,0.052,0.000,2646,2112,3318
$GC,2441,-0.61,-117.3,191.1,-6.7,236,2446,0.12,2.50,0.00,0.000,4,0.087,0.061,2668,3595,3318
$GC,2457,-0.61,-117.3,192.3,-6.6,237,2461,0.00,2.28,0.00,0.000,6,0.000,0.038,2668,2152,3318
$GC,2784,-0.61,-117.3,209.5,-5.3,253,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2148,3318
$GC,3096,-0.61,-117.3,226.0,-5.4,268,3100,0.00,2.42,0.00,0.000,4,0.000,0.062,2668,3595,3318
$GC,3123,-0.61,-117.3,227.8,-6.6,269,3127,0.00,2.25,0.00,0.000,6,0.000,0.039,2668,2159,3317
$GC,3445,-0.61,-117.3,245.1,-5.2,285,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2154,3318
$GC,3754,-0.61,-117.3,260.2,-4.8,300,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2153,3318
$GC,4064,-0.65,-117.3,276.2,-5.3,315,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2153,3318
$GC,4373,-0.70,-117.3,292.3,-5.3,330,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2153,3318
$GC,4698,-0.75,-117.3,310.2,-5.5,340,4700,0.17,0.00,0.00,0.000,6,0.054,0.000,2630,2153,3317
$GC,5003,-0.64,-117.3,333.0,-7.6,345,5008,0.15,2.45,0.00,0.000,4,0.087,0.063,2659,3605,3317
$GC,5046,-0.64,-117.3,336.3,-7.1,345,5050,0.00,2.30,0.00,0.000,6,0.000,0.041,2659,2143,3317
$GC,5368,-0.64,-117.3,356.8,-6.3,351,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2140,3317
$GC,5670,-0.64,-117.3,374.8,-5.8,356,5674,0.00,2.45,0.00,0.000,4,0.000,0.064,2659,3597,3316
$GC,5696,-0.64,-117.3,376.5,-6.2,356,5700,0.00,2.25,0.00,0.000,6,0.000,0.041,2659,2165,3315
$GC,6039,-0.64,-117.3,394.5,-5.2,362,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2160,3315
$GC,6342,-0.64,-117.3,409.5,-4.9,367,6347,0.00,2.40,0.00,0.000,4,0.000,0.064,2658,3595,3315
$GC,6364,-0.64,-117.3,410.7,-5.4,367,6368,0.00,2.22,0.00,0.000,6,0.000,0.041,2659,2182,3315
$GC,6707,-0.64,-117.3,429.7,-5.6,373,6711,0.00,2.30,0.00,0.000,4,0.000,0.070,2659,807,3315
$GC,6733,-0.64,-117.3,431.4,-6.1,373,6737,0.00,2.17,0.00,0.000,6,0.000,0.044,2659,2180,3315
$GC,7072,-0.64,-117.3,451.0,-5.9,379,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2180,3315
$GC,7374,-0.64,-117.3,468.9,-6.0,384,7378,0.00,2.28,0.00,0.000,4,0.000,0.069,2659,803,3315
$GC,7401,-0.68,-117.3,470.6,-6.0,384,7404,0.00,2.15,0.00,0.000,6,0.000,0.044,2659,2180,3314
$GC,7738,-0.68,-117.3,490.1,-5.8,390,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2180,3314
$GC,8041,-0.68,-117.3,507.4,-5.7,395,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2180,3314
$GC,8344,-0.68,-117.3,522.9,-5.1,400,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2180,3314
$GC,8647,-0.68,-117.3,537.3,-4.7,405,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2179,3313
$GC,8953,-0.72,-117.3,550.8,-4.4,410,8957,0.00,2.30,0.00,0.000,4,0.000,0.073,2659,800,3313
$GC,8986,-0.78,-117.3,552.5,-4.7,410,8990,0.15,2.12,0.00,0.000,6,0.059,0.047,2627,2166,3312
$GC,9317,-0.69,-117.3,572.5,-6.2,416,9319,0.12,0.00,0.00,0.000,6,0.091,0.000,2648,2166,3311
$GC,9620,-0.69,-117.3,588.7,-5.4,421,9624,0.00,2.38,0.00,0.000,4,0.000,0.071,2648,3598,3311
$GC,9663,-0.69,-117.3,591.2,-5.7,421,9667,0.00,2.22,0.00,0.000,6,0.000,0.044,2648,2209,3311
$GC,9985,-0.69,-117.3,608.8,-5.6,427,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2207,3311
$GC,10287,-0.69,-117.3,624.9,-5.3,432,10292,0.00,2.38,0.00,0.000,4,0.000,0.076,2648,799,3311
$GC,10319,-0.69,-117.3,626.6,-5.3,432,10323,0.00,2.17,0.00,0.000,6,0.000,0.049,2648,2174,3311
$GC,10657,-0.69,-117.3,644.9,-5.4,438,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2174,3310
$GC,10959,-0.69,-117.3,662.1,-5.7,443,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2174,3310
$GC,11264,-0.69,-117.3,677.5,-5.0,448,11268,0.00,2.33,0.00,0.000,4,0.000,0.074,2648,790,3310
$GC,11291,-0.69,-117.3,678.9,-5.5,448,11295,0.00,2.17,0.00,0.000,6,0.000,0.050,2648,2161,3310
$GC,11629,-0.69,-117.3,694.2,-4.5,454,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2161,3310
$GC,11931,-0.69,-117.3,708.1,-4.5,459,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2161,3310
$GC,12234,-0.69,-117.3,722.0,-4.7,464,12239,0.00,2.45,0.00,0.000,4,0.000,0.075,2648,3606,3309
$GC,12255,-0.69,-117.3,723.2,-5.0,464,12259,0.00,2.33,0.00,0.000,6,0.000,0.045,2648,2139,3309
$GC,12599,-0.69,-117.3,740.0,-4.9,470,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2139,3309
$GC,12901,-0.69,-117.3,756.4,-5.4,475,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2139,3309
$GC,13204,-0.69,-117.3,772.1,-5.2,480,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2138,3309
$GC,13508,-0.69,-117.3,787.7,-5.2,485,13512,0.00,2.50,0.00,0.000,4,0.000,0.075,2647,3597,3309
$GC,13529,-0.69,-117.3,788.8,-5.4,485,13533,0.00,2.33,0.00,0.000,6,0.000,0.045,2648,2142,3308
$GC,13865,-0.69,-117.3,806.2,-5.2,491,13867,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2141,3307
$GC,14168,-0.69,-117.3,823.2,-5.6,496,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2141,3307
$GC,14472,-0.69,-117.3,840.4,-5.7,501,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2141,3307
$GC,14774,-0.69,-117.3,857.7,-5.7,506,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2141,3307
$GC,15078,-0.69,-117.3,874.5,-5.5,511,15082,0.00,2.50,0.00,0.000,4,0.000,0.077,2648,3594,3307
$GC,15098,-0.69,-117.3,875.7,-6.0,511,15103,0.00,2.28,0.00,0.000,6,0.000,0.045,2648,2157,3306
$GC,15442,-0.69,-117.3,892.5,-4.8,517,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2156,3306
$GC,15745,-0.69,-117.3,906.7,-4.7,522,15749,0.00,2.33,0.00,0.000,4,0.000,0.084,2648,803,3306
$GC,15772,-0.73,-117.3,908.0,-4.9,522,15776,0.00,2.17,0.00,0.000,6,0.000,0.053,2648,2164,3306
$GC,16103,-0.78,-117.3,922.4,-4.3,528,16105,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2165,3306
$GC,16406,-0.82,-117.3,935.4,-4.2,533,16411,0.15,2.35,0.00,0.000,4,0.061,0.083,2611,801,3306
$GC,16433,-0.75,-117.3,936.9,-5.9,533,16437,0.12,2.17,0.00,0.000,6,0.091,0.054,2633,2150,3306
$GC,16772,-0.75,-117.3,951.9,-4.4,539,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2150,3306
$GC,17073,-0.75,-117.3,965.7,-4.6,544,17075,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2150,3306
$GC,17377,-0.75,-117.3,980.8,-5.0,549,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2150,3306
$STATE,17556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17556,begin apogee
$GC,17562,-0.23,0.0,991.8,5.9,552,17679,0.68,0.00,105.55,1.476,6,0.073,0.000,2748,2206,2837
$STATE,17680,end apogee,CONTROL_FINISHED_OK
$STATE,17680,begin climb
$GC,17682,0.67,117.3,996.2,0.0,554,17805,1.12,2.70,113.68,1.453,4,0.048,0.084,2944,3595,2358
$GC,17816,0.47,142.2,993.4,4.7,556,17863,0.28,2.47,30.98,1.261,6,0.090,0.052,2905,2218,2257
$GC,18166,0.47,142.2,972.8,6.0,561,18170,0.00,2.53,0.00,0.000,4,0.000,0.097,2904,789,2257
$GC,18209,0.41,142.2,969.9,6.7,561,18213,0.00,2.30,0.00,0.000,6,0.000,0.058,2904,2195,2257
$GC,18529,0.41,142.2,949.7,6.5,567,18530,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2195,2257
$GC,18832,0.41,142.2,929.0,6.8,572,18833,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2195,2257
$GC,19136,0.41,142.2,908.0,6.9,577,19140,0.00,2.42,0.00,0.000,4,0.000,0.090,2904,788,2257
$GC,19191,0.36,142.2,904.1,7.7,577,19198,0.15,2.22,0.00,0.000,6,0.094,0.055,2880,2177,2257
$GC,19500,0.43,142.2,886.3,5.7,583,19504,0.00,2.38,0.00,0.000,4,0.000,0.085,2880,786,2257
$GC,19545,0.51,168.8,883.7,4.7,583,19576,0.15,2.15,25.70,1.410,6,0.060,0.054,2911,2133,2148
$GC,19924,0.51,168.8,858.4,6.7,590,19929,0.00,2.47,0.00,0.000,4,0.000,0.079,2911,3598,2148
$GC,19962,0.51,168.8,855.4,7.5,590,19967,0.00,2.40,0.00,0.000,6,0.000,0.052,2911,2114,2148
$GC,20289,0.51,168.8,833.3,6.8,596,20290,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2114,2148
$GC,20592,0.51,168.8,811.9,7.0,601,20593,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2114,2148
$GC,20895,0.51,168.8,789.4,7.4,606,20896,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2114,2148
$GC,21198,0.51,168.8,767.3,7.3,611,21199,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2114,2148
$GC,21501,0.51,168.8,746.0,7.0,616,21505,0.00,2.53,0.00,0.000,4,0.000,0.073,2911,3601,2148
$GC,21539,0.51,168.8,743.1,7.6,616,21543,0.00,2.35,0.00,0.000,6,0.000,0.051,2912,2134,2147
$GC,21866,0.51,168.8,721.4,6.7,622,21870,0.00,2.28,0.00,0.000,4,0.000,0.084,2911,786,2147
$GC,21904,0.51,168.8,718.5,7.3,622,21908,0.00,2.15,0.00,0.000,6,0.000,0.050,2911,2150,2147
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$STATE,33248,begin surface
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