version: 66.03
glider: 119
mission: 5
dive: 184
start: 11 5 108 0 38 55
data:
$ID,119
$MISSION,5
$DIVE,184
$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,-213272.17
$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,11
$R_STBD_OVSHOOT,35
$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
$GPS1,003202,4706.357,-12743.571,37,1.2,37,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.5
$GPS2,003803,4706.339,-12743.559,10,1.1,10,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.151,-0.124
$KALMAN_X,-27696.5,-263.0,30.6,-181259.7,-48.3
$KALMAN_Y,181437.8,400.8,103.0,-167496.8,1364.6
$MHEAD_RNG_PITCHd_Wd,211.9,23856,-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,-61.67,0.000,2,0.000,0.000,859,2223,2781
$GC,87,-0.67,-117.3,3.3,-4.0,6,121,12.23,2.35,-12.30,0.000,4,0.143,0.074,2649,3599,3318
$GC,189,-0.42,-117.3,20.2,-12.9,15,194,0.35,2.25,0.00,0.000,6,0.076,0.039,2708,2176,3318
$GC,518,-0.42,-117.3,44.0,-7.0,50,524,0.00,2.25,0.00,0.000,4,0.000,0.060,2708,790,3318
$GC,564,-0.47,-117.3,47.1,-6.5,58,570,0.00,2.17,0.00,0.000,6,0.000,0.041,2708,2185,3317
$GC,908,-0.81,-117.3,69.6,-7.1,119,914,0.43,0.00,0.00,0.000,6,0.043,0.000,2619,2185,3317
$GC,1240,-0.55,-117.3,103.0,-11.2,160,1242,0.35,0.00,0.00,0.000,6,0.077,0.000,2679,2185,3318
$GC,1561,-0.55,-117.3,121.6,-4.7,190,1565,0.00,2.35,0.00,0.000,4,0.000,0.066,2679,3606,3319
$GC,1583,-0.59,-117.3,122.9,-4.6,191,1590,0.00,2.28,0.00,0.000,6,0.000,0.041,2680,2137,3319
$GC,1910,-0.66,-117.3,138.7,-4.8,222,1915,0.12,2.45,0.00,0.000,4,0.061,0.064,2650,3604,3318
$GC,1953,-0.66,-117.3,141.5,-6.8,225,1960,0.00,2.20,0.00,0.000,6,0.000,0.042,2650,2216,3318
$GC,2284,-0.66,-117.3,161.8,-6.2,248,2288,0.00,2.33,0.00,0.000,4,0.000,0.064,2650,800,3318
$GC,2349,-0.66,-117.3,166.4,-7.0,251,2354,0.00,2.17,0.00,0.000,6,0.000,0.043,2650,2177,3319
$GC,2677,-0.66,-117.3,186.7,-5.9,267,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2178,3318
$GC,2986,-0.66,-117.3,204.4,-5.6,282,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2178,3319
$GC,3295,-0.66,-117.3,222.2,-6.0,297,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2178,3319
$GC,3605,-0.66,-117.3,240.8,-5.8,312,3609,0.00,2.35,0.00,0.000,4,0.000,0.067,2650,3598,3318
$GC,3632,-0.66,-117.3,242.6,-6.2,313,3635,0.00,2.22,0.00,0.000,6,0.000,0.043,2650,2178,3318
$GC,3953,-0.66,-117.3,260.2,-5.4,329,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2171,3318
$GC,4262,-0.66,-117.3,277.1,-5.5,344,4266,0.00,2.40,0.00,0.000,4,0.000,0.067,2650,3608,3318
$GC,4294,-0.66,-117.3,279.1,-5.8,345,4300,0.00,2.22,0.00,0.000,6,0.000,0.044,2650,2211,3317
$GC,4610,-0.66,-117.3,296.1,-5.4,361,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,3317
$GC,4934,-0.66,-117.3,315.2,-6.0,369,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2205,3317
$GC,5237,-0.66,-117.3,333.3,-6.0,374,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2205,3316
$GC,5541,-0.66,-117.3,350.4,-5.6,379,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2206,3316
$GC,5844,-0.66,-117.3,366.5,-5.3,384,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2205,3316
$GC,6148,-0.66,-117.3,382.2,-5.2,389,6152,0.00,2.38,0.00,0.000,4,0.000,0.075,2650,801,3315
$GC,6175,-0.66,-117.3,383.9,-6.0,389,6179,0.00,2.25,0.00,0.000,6,0.000,0.048,2650,2207,3315
$GC,6514,-0.66,-117.3,402.4,-5.5,395,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2207,3315
$GC,6816,-0.66,-117.3,419.3,-5.5,400,6820,0.00,2.35,0.00,0.000,4,0.000,0.074,2650,801,3314
$GC,6848,-0.71,-117.3,421.2,-6.1,400,6852,0.00,2.20,0.00,0.000,6,0.000,0.049,2650,2197,3314
$GC,7180,-0.71,-117.3,438.3,-5.1,406,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2196,3314
$GC,7484,-0.71,-117.3,452.3,-4.6,411,7488,0.00,2.35,0.00,0.000,4,0.000,0.076,2650,800,3314
$GC,7517,-0.75,-117.3,454.0,-5.1,411,7521,0.00,2.17,0.00,0.000,6,0.000,0.051,2650,2175,3314
$GC,7843,-0.75,-117.3,469.6,-4.9,417,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2175,3313
$GC,8146,-0.75,-117.3,485.7,-5.4,422,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2175,3313
$GC,8449,-0.75,-117.3,501.6,-5.2,427,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2175,3312
$GC,8752,-0.75,-117.3,517.5,-5.3,432,8756,0.00,2.33,0.00,0.000,4,0.000,0.081,2650,808,3312
$GC,8778,-0.81,-117.3,519.1,-6.0,432,8783,0.15,2.15,0.00,0.000,6,0.058,0.053,2619,2156,3311
$GC,9115,-0.71,-117.3,540.5,-6.4,438,9117,0.15,0.00,0.00,0.000,6,0.090,0.000,2644,2156,3311
$GC,9418,-0.71,-117.3,556.4,-5.1,443,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3311
$GC,9721,-0.71,-117.3,573.0,-5.5,448,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3310
$GC,10024,-0.71,-117.3,591.7,-6.2,453,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3310
$GC,10329,-0.71,-117.3,611.1,-6.4,458,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3310
$GC,10630,-0.71,-117.3,630.0,-6.2,463,10634,0.00,2.33,0.00,0.000,4,0.000,0.084,2644,801,3309
$GC,10651,-0.71,-117.3,631.4,-6.3,463,10656,0.00,2.17,0.00,0.000,6,0.000,0.055,2644,2140,3309
$GC,10996,-0.71,-117.3,650.4,-5.3,469,11000,0.00,2.50,0.00,0.000,4,0.000,0.080,2644,3608,3309
$GC,11017,-0.71,-117.3,651.6,-5.2,469,11021,0.00,2.33,0.00,0.000,6,0.000,0.049,2644,2151,3308
$GC,11360,-0.71,-117.3,667.3,-4.5,475,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2150,3308
$GC,11664,-0.71,-117.3,680.8,-4.4,480,11668,0.00,2.47,0.00,0.000,4,0.000,0.077,2644,3597,3308
$GC,11685,-0.71,-117.3,681.7,-4.2,480,11689,0.00,2.28,0.00,0.000,6,0.000,0.049,2644,2163,3308
$GC,12028,-0.71,-117.3,698.4,-5.0,486,12032,0.00,2.38,0.00,0.000,4,0.000,0.091,2644,800,3308
$GC,12056,-0.75,-117.3,700.0,-6.2,486,12060,0.00,2.20,0.00,0.000,6,0.000,0.057,2644,2169,3308
$GC,12387,-0.75,-117.3,717.9,-5.4,492,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,3307
$GC,12690,-0.75,-117.3,733.3,-5.0,497,12694,0.00,2.38,0.00,0.000,4,0.000,0.088,2644,797,3307
$GC,12723,-0.80,-117.3,735.0,-5.2,497,12727,0.00,2.17,0.00,0.000,6,0.000,0.058,2644,2147,3307
$GC,13049,-0.80,-117.3,750.3,-4.6,503,13054,0.00,2.47,0.00,0.000,4,0.000,0.082,2644,3602,3307
$GC,13082,-0.80,-117.3,752.0,-5.2,503,13086,0.00,2.30,0.00,0.000,6,0.000,0.051,2644,2158,3307
$GC,13414,-0.80,-117.3,766.9,-4.5,509,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3306
$GC,13717,-0.80,-117.3,780.4,-4.5,514,13721,0.00,2.38,0.00,0.000,4,0.000,0.093,2643,796,3307
$GC,13745,-0.85,-117.3,781.7,-4.7,514,13750,0.17,2.22,0.00,0.000,6,0.058,0.060,2608,2163,3307
$GC,14077,-0.74,-117.3,800.6,-5.8,520,14082,0.15,2.47,0.00,0.000,4,0.091,0.081,2636,3598,3305
$GC,14104,-0.74,-117.3,802.2,-5.1,520,14108,0.00,2.30,0.00,0.000,6,0.000,0.051,2637,2164,3306
$GC,14435,-0.74,-117.3,818.5,-5.0,526,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2163,3306
$GC,14738,-0.74,-117.3,833.8,-5.0,531,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2163,3306
$GC,15041,-0.74,-117.3,849.1,-5.1,536,15045,0.00,2.40,0.00,0.000,4,0.000,0.097,2637,801,3305
$GC,15079,-0.74,-117.3,851.3,-5.6,536,15083,0.00,2.17,0.00,0.000,6,0.000,0.061,2637,2137,3306
$GC,15405,-0.74,-117.3,868.3,-5.2,542,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2137,3306
$GC,15708,-0.74,-117.3,884.4,-5.4,547,15709,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2137,3305
$GC,16011,-0.74,-117.3,899.5,-5.0,552,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2137,3305
$GC,16315,-0.74,-117.3,913.5,-4.5,557,16319,0.00,2.58,0.00,0.000,4,0.000,0.091,2637,3601,3305
$GC,16341,-0.74,-117.3,914.9,-4.9,557,16345,0.00,2.35,0.00,0.000,6,0.000,0.054,2637,2146,3305
$GC,16680,-0.74,-117.3,928.7,-4.0,563,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3305
$GC,16982,-0.74,-117.3,939.8,-3.6,568,16983,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3305
$GC,17286,-0.74,-117.3,950.6,-3.6,573,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3305
$GC,17588,-0.74,-117.3,961.6,-3.7,578,17589,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3305
$GC,17891,-0.74,-117.3,973.1,-3.9,583,17892,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3304
$GC,18194,-0.74,-117.3,985.9,-4.3,588,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3304
$STATE,18313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18313,begin apogee
$GC,18318,-0.23,0.0,991.4,4.5,590,18435,0.65,0.00,104.55,1.473,6,0.071,0.000,2749,2199,2837
$STATE,18436,end apogee,CONTROL_FINISHED_OK
$STATE,18436,begin climb
$GC,18438,0.67,117.3,995.1,0.0,592,18554,1.10,0.00,112.12,1.449,6,0.044,0.000,2943,2199,2358
$GC,18859,0.43,117.3,967.1,8.2,598,18864,0.28,2.50,0.00,0.000,4,0.094,0.090,2896,3595,2358
$GC,18926,0.33,117.3,962.1,6.8,599,18931,0.15,2.35,0.00,0.000,6,0.097,0.061,2872,2200,2358
$GC,19285,0.34,129.0,943.5,5.1,605,19304,0.00,2.60,12.35,1.345,4,0.000,0.106,2872,782,2311
$GC,19351,0.34,129.0,939.7,6.2,606,19355,0.00,2.35,0.00,0.000,6,0.000,0.066,2873,2196,2310
$GC,19715,0.34,129.0,918.9,5.8,612,19720,0.00,2.47,0.00,0.000,4,0.000,0.099,2873,783,2310
$GC,19759,0.34,129.0,916.1,6.3,612,19763,0.00,2.30,0.00,0.000,6,0.000,0.064,2872,2180,2310
$GC,20080,0.34,129.0,896.9,6.0,618,20084,0.00,2.45,0.00,0.000,4,0.000,0.097,2873,785,2310
$GC,20123,0.34,129.0,893.9,5.7,618,20127,0.00,2.28,0.00,0.000,6,0.000,0.064,2872,2154,2309
$GC,20443,0.34,129.0,874.2,6.2,624,20444,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2155,2309
$GC,20747,0.34,129.0,854.5,6.5,629,20751,0.00,2.40,0.00,0.000,4,0.000,0.095,2872,781,2310
$GC,20790,0.34,129.0,851.4,6.6,629,20794,0.00,2.20,0.00,0.000,6,0.000,0.061,2873,2117,2310
$GC,21110,0.34,129.0,831.0,6.5,635,21111,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2117,2309
$GC,21413,0.34,129.0,811.8,6.3,640,21414,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2117,2309
$GC,21717,0.34,129.0,793.2,6.1,645,21718,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2117,2309
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