version: 66.03
glider: 119
mission: 5
dive: 344
start: 1 3 109 5 25 8
data:
$ID,119
$MISSION,5
$DIVE,344
$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,-216033.12
$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,25
$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
$GPS1,051126,4725.464,-12710.465,47,1.7,47,18.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.8
$GPS2,052414,4725.364,-12710.535,15,1.6,15,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.128,-0.147
$KALMAN_X,-85015.6,-278.3,345.7,-82501.2,-178.7
$KALMAN_Y,450308.2,-123.1,-146.2,-400352.4,1708.9
$MHEAD_RNG_PITCHd_Wd,202.3,78167,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,75,0.00,0.00,-50.80,0.000,2,0.000,0.000,859,2220,2451
$GC,79,-0.67,-117.3,3.4,-3.3,5,132,12.35,2.40,-32.12,0.000,4,0.143,0.081,2651,3591,3316
$GC,171,-0.47,-117.3,9.9,-10.7,13,178,0.25,2.22,0.00,0.000,6,0.084,0.042,2692,2192,3317
$GC,498,-0.47,-117.3,32.8,-7.6,44,502,0.00,2.33,0.00,0.000,4,0.000,0.063,2692,790,3317
$GC,538,-0.47,-117.3,35.2,-5.6,47,542,0.00,2.15,0.00,0.000,6,0.000,0.045,2692,2161,3317
$GC,879,-0.47,-117.3,58.6,-7.4,100,886,0.00,2.42,0.00,0.000,4,0.000,0.069,2692,3597,3317
$GC,898,-0.47,-117.3,60.1,-7.6,103,904,0.00,2.25,0.00,0.000,6,0.000,0.043,2692,2176,3317
$GC,1240,-0.47,-117.3,82.9,-6.8,160,1244,0.00,2.28,0.00,0.000,4,0.000,0.063,2692,794,3317
$GC,1303,-0.58,-117.3,87.6,-7.4,165,1307,0.00,2.15,0.00,0.000,6,0.000,0.044,2692,2166,3317
$GC,1632,-0.83,-117.3,110.7,-6.8,195,1637,0.38,2.42,0.00,0.000,4,0.042,0.065,2610,3605,3317
$GC,1780,-0.57,-117.3,125.3,-10.3,207,1787,0.32,1.90,0.00,0.000,6,0.073,0.041,2670,2405,3317
$GC,2105,-0.57,-117.3,146.2,-5.7,238,2109,0.00,2.62,0.00,0.000,4,0.000,0.060,2670,805,3316
$GC,2179,-0.64,-117.3,150.7,-6.0,244,2183,0.00,2.45,0.00,0.000,6,0.000,0.045,2670,2361,3317
$GC,2495,-0.64,-117.3,168.1,-5.3,259,2499,0.00,2.53,0.00,0.000,4,0.000,0.061,2670,802,3317
$GC,2528,-0.69,-117.3,170.2,-6.0,260,2535,0.00,2.40,0.00,0.000,6,0.000,0.044,2670,2340,3317
$GC,2845,-0.69,-117.3,186.2,-5.3,276,2849,0.00,2.50,0.00,0.000,4,0.000,0.061,2670,801,3316
$GC,2878,-0.74,-117.3,188.1,-5.6,277,2885,0.17,2.35,0.00,0.000,6,0.051,0.044,2632,2312,3317
$GC,3194,-0.62,-117.3,209.2,-6.8,293,3199,0.15,2.47,0.00,0.000,4,0.085,0.062,2662,800,3317
$GC,3244,-0.62,-117.3,212.3,-6.0,295,3248,0.00,2.30,0.00,0.000,6,0.000,0.044,2661,2273,3317
$GC,3560,-0.62,-117.3,230.3,-6.0,310,3564,0.00,2.40,0.00,0.000,4,0.000,0.064,2661,803,3317
$GC,3587,-0.62,-117.3,232.1,-6.4,311,3591,0.00,2.25,0.00,0.000,6,0.000,0.044,2661,2245,3317
$GC,3915,-0.62,-117.3,252.3,-6.3,327,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2245,3317
$GC,4224,-0.62,-117.3,271.2,-6.1,342,4228,0.00,2.35,0.00,0.000,4,0.000,0.063,2661,806,3317
$GC,4245,-0.62,-117.3,272.6,-5.8,343,4249,0.00,2.22,0.00,0.000,6,0.000,0.045,2661,2225,3317
$GC,4573,-0.62,-117.3,292.2,-5.9,359,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2225,3317
$GC,4898,-0.62,-117.3,311.5,-6.0,369,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2226,3317
$GC,5203,-0.62,-117.3,329.0,-5.7,374,5207,0.00,2.35,0.00,0.000,4,0.000,0.065,2661,795,3316
$GC,5236,-0.67,-117.3,331.2,-6.8,374,5240,0.00,2.20,0.00,0.000,6,0.000,0.046,2661,2209,3317
$GC,5568,-0.67,-117.3,349.4,-5.5,380,5572,0.00,2.30,0.00,0.000,4,0.000,0.065,2661,799,3317
$GC,5601,-0.71,-117.3,351.2,-5.6,380,5605,0.00,2.17,0.00,0.000,6,0.000,0.045,2661,2184,3317
$GC,5932,-0.71,-117.3,368.0,-5.1,386,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2184,3317
$GC,6237,-0.71,-117.3,383.9,-5.3,391,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2184,3317
$GC,6539,-0.71,-117.3,399.8,-5.3,396,6544,0.00,2.28,0.00,0.000,4,0.000,0.067,2661,803,3317
$GC,6583,-0.77,-117.3,402.5,-6.1,396,6588,0.17,2.10,0.00,0.000,6,0.055,0.045,2625,2147,3317
$GC,6904,-0.65,-117.3,425.2,-7.2,402,6909,0.15,2.42,0.00,0.000,4,0.086,0.069,2653,3604,3316
$GC,6931,-0.65,-117.3,427.1,-6.6,402,6935,0.00,2.30,0.00,0.000,6,0.000,0.045,2654,2141,3316
$GC,7263,-0.65,-117.3,445.1,-5.4,408,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2141,3317
$GC,7566,-0.65,-117.3,461.7,-5.5,413,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2141,3316
$GC,7869,-0.65,-117.3,479.0,-5.7,418,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2141,3315
$GC,8173,-0.65,-117.3,494.9,-5.3,423,8177,0.00,2.50,0.00,0.000,4,0.000,0.070,2653,3608,3315
$GC,8211,-0.65,-117.3,497.2,-5.8,423,8215,0.00,2.33,0.00,0.000,6,0.000,0.046,2653,2154,3315
$GC,8537,-0.65,-117.3,514.6,-5.4,429,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2154,3315
$GC,8840,-0.65,-117.3,531.7,-5.7,434,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2153,3315
$GC,9143,-0.65,-117.3,548.7,-5.6,439,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2153,3315
$GC,9446,-0.65,-117.3,566.0,-5.7,444,9450,0.00,2.33,0.00,0.000,4,0.000,0.077,2654,802,3315
$GC,9473,-0.69,-117.3,567.6,-5.9,444,9477,0.00,2.17,0.00,0.000,6,0.000,0.048,2653,2177,3315
$GC,9805,-0.69,-117.3,586.0,-5.5,450,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2176,3314
$GC,10109,-0.69,-117.3,600.9,-4.8,455,10113,0.00,2.30,0.00,0.000,4,0.000,0.073,2653,802,3314
$GC,10148,-0.73,-117.3,602.9,-5.4,455,10152,0.00,2.15,0.00,0.000,6,0.000,0.049,2653,2162,3314
$GC,10468,-0.73,-117.3,618.9,-5.1,461,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2162,3314
$GC,10772,-0.73,-117.3,634.5,-5.2,466,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2162,3314
$GC,11075,-0.73,-117.3,650.2,-5.2,471,11079,0.00,2.30,0.00,0.000,4,0.000,0.074,2654,792,3313
$GC,11103,-0.78,-117.3,651.8,-6.0,471,11107,0.12,2.12,0.00,0.000,6,0.062,0.049,2626,2134,3313
$GC,11435,-0.70,-117.3,672.4,-6.3,477,11439,0.00,2.50,0.00,0.000,4,0.000,0.074,2626,3607,3313
$GC,11462,-0.60,-117.3,674.3,-7.1,477,11467,0.22,2.35,0.00,0.000,6,0.080,0.049,2664,2141,3312
$GC,11794,-0.71,-117.3,690.7,-4.9,483,11798,0.00,2.50,0.00,0.000,4,0.000,0.073,2663,3600,3312
$GC,11817,-0.88,-117.3,692.1,-5.8,483,11822,0.30,2.33,0.00,0.000,6,0.046,0.049,2604,2155,3312
$GC,12154,-0.88,-117.3,715.3,-7.0,489,12158,0.00,2.33,0.00,0.000,4,0.000,0.078,2603,790,3312
$GC,12187,-0.77,-117.3,717.7,-6.8,489,12192,0.17,2.17,0.00,0.000,6,0.086,0.049,2633,2158,3312
$GC,12513,-0.71,-117.3,736.5,-5.8,495,12517,0.00,2.45,0.00,0.000,4,0.000,0.076,2632,3603,3312
$GC,12540,-0.65,-117.3,738.2,-7.0,495,12545,0.15,2.33,0.00,0.000,6,0.087,0.049,2657,2156,3312
$GC,12872,-0.71,-117.3,754.6,-4.9,501,12876,0.00,2.30,0.00,0.000,4,0.000,0.079,2657,798,3312
$GC,12899,-0.78,-117.3,756.1,-5.8,501,12904,0.15,2.17,0.00,0.000,6,0.055,0.051,2626,2166,3312
$GC,13232,-0.70,-117.3,775.6,-5.9,507,13236,0.12,2.45,0.00,0.000,4,0.091,0.075,2646,3607,3312
$GC,13264,-0.70,-117.3,777.5,-5.7,507,13268,0.00,2.33,0.00,0.000,6,0.000,0.050,2646,2152,3312
$GC,13591,-0.70,-117.3,792.5,-4.5,513,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2151,3311
$GC,13894,-0.70,-117.3,805.5,-4.3,518,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2151,3311
$GC,14197,-0.70,-117.3,818.7,-4.3,523,14201,0.00,2.33,0.00,0.000,4,0.000,0.080,2646,792,3311
$GC,14225,-0.74,-117.3,820.0,-4.5,523,14229,0.00,2.17,0.00,0.000,6,0.000,0.051,2646,2157,3312
$GC,14563,-0.74,-117.3,835.0,-4.4,529,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2157,3311
$GC,14865,-0.74,-117.3,848.7,-4.6,534,14866,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2157,3311
$GC,15168,-0.74,-117.3,862.7,-4.6,539,15173,0.00,2.50,0.00,0.000,4,0.000,0.080,2646,3605,3311
$GC,15191,-0.74,-117.3,863.6,-4.3,539,15195,0.00,2.33,0.00,0.000,6,0.000,0.049,2646,2159,3311
$GC,15528,-0.74,-117.3,878.5,-4.4,545,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2159,3311
$GC,15831,-0.74,-117.3,891.6,-4.3,550,15835,0.00,2.35,0.00,0.000,4,0.000,0.082,2646,792,3310
$GC,15864,-0.79,-117.3,893.2,-5.1,550,15868,0.00,2.15,0.00,0.000,6,0.000,0.051,2646,2141,3311
$GC,16196,-0.79,-117.3,908.3,-4.5,556,16197,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2141,3311
$GC,16498,-0.79,-117.3,922.7,-4.8,561,16500,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2141,3311
$GC,16802,-0.79,-117.3,937.6,-5.0,566,16803,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2141,3310
$GC,17108,-0.79,-117.3,952.9,-5.0,571,17109,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2141,3310
$GC,17408,-0.79,-117.3,968.5,-5.2,576,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2141,3310
$GC,17711,-0.79,-117.3,983.8,-5.0,581,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2141,3310
$STATE,17890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17890,begin apogee
$GC,17896,-0.23,0.0,992.7,4.9,584,18004,0.60,0.00,105.25,1.509,6,0.074,0.000,2749,2207,2837
$STATE,18005,end apogee,CONTROL_FINISHED_OK
$STATE,18005,begin climb
$GC,18008,0.67,117.3,994.4,0.0,585,18218,1.12,2.65,139.00,1.283,4,0.047,0.082,2944,3602,2358
$GC,18291,0.41,117.3,983.6,9.3,589,18297,0.35,2.40,0.00,0.000,6,0.093,0.054,2891,2207,2358
$GC,18617,0.41,117.3,963.6,6.1,595,18621,0.00,2.42,0.00,0.000,4,0.000,0.090,2891,782,2358
$GC,18680,0.36,117.3,959.5,6.3,596,18684,0.00,2.25,0.00,0.000,6,0.000,0.056,2891,2175,2358
$GC,19045,0.36,117.3,937.0,6.2,602,19049,0.00,2.35,0.00,0.000,4,0.000,0.084,2891,787,2358
$GC,19084,0.36,117.3,934.3,6.5,602,19088,0.00,2.20,0.00,0.000,6,0.000,0.056,2891,2154,2358
$GC,19416,0.36,117.3,913.6,6.2,608,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2155,2357
$GC,19719,0.36,117.3,895.0,6.1,613,19723,0.00,2.33,0.00,0.000,4,0.000,0.083,2891,787,2358
$GC,19769,0.36,117.3,891.8,6.7,613,19773,0.00,2.10,0.00,0.000,6,0.000,0.055,2891,2109,2357
$GC,20089,0.36,117.3,873.6,5.6,619,20093,0.00,2.55,0.00,0.000,4,0.000,0.082,2891,3609,2358
$GC,20133,0.36,117.8,870.9,5.5,619,20137,0.00,2.45,0.00,0.000,6,0.000,0.054,2891,2093,2357
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$STATE,34314,end climb,SURFACE_DEPTH_REACHED
$STATE,34314,begin surface coast
$FINISH,1.1,1.016317
$STATE,34337,end surface coast,CONTROL_FINISHED_OK
$STATE,34337,begin surface
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