version: 66.03
glider: 119
mission: 5
dive: 186
start: 11 5 108 20 1 32
data:
$ID,119
$MISSION,5
$DIVE,186
$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,-213323.8
$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,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
$GPS1,195137,4702.080,-12750.292,22,1.9,22,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.2
$GPS2,200041,4702.077,-12750.284,13,2.2,32,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.163,-0.106
$KALMAN_X,-27480.7,358.5,208.2,-190778.3,-720.9
$KALMAN_Y,184384.1,282.7,-458.6,-177641.2,1757.5
$MHEAD_RNG_PITCHd_Wd,218.3,12861,-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,-62.05,0.000,2,0.000,0.000,861,2228,2800
$GC,87,-0.67,-117.3,3.4,-4.4,6,120,12.15,2.47,-11.77,0.000,4,0.142,0.071,2648,777,3318
$GC,305,-0.45,-117.3,35.1,-10.7,25,312,0.25,2.25,0.00,0.000,6,0.074,0.041,2699,2192,3318
$GC,644,-0.40,-117.3,63.3,-7.8,79,651,0.00,2.28,0.00,0.000,4,0.000,0.055,2699,773,3318
$GC,668,-0.40,-117.3,65.0,-7.6,83,674,0.00,2.15,0.00,0.000,6,0.000,0.040,2700,2174,3318
$GC,1005,-0.40,-117.3,86.9,-5.9,134,1009,0.00,2.35,0.00,0.000,4,0.000,0.061,2699,3599,3318
$GC,1027,-0.44,-117.3,88.2,-5.9,135,1033,0.00,2.28,0.00,0.000,6,0.000,0.038,2699,2128,3318
$GC,1355,-0.50,-117.3,108.0,-6.3,166,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2126,3319
$GC,1682,-0.58,-117.3,125.9,-5.7,197,1686,0.15,2.47,0.00,0.000,4,0.054,0.063,2664,3595,3319
$GC,1721,-0.51,-117.3,128.9,-8.0,200,1726,0.12,2.28,0.00,0.000,6,0.089,0.041,2686,2147,3319
$GC,2047,-0.57,-117.3,147.4,-5.3,230,2051,0.00,2.45,0.00,0.000,4,0.000,0.064,2686,3599,3319
$GC,2086,-0.64,-117.3,149.8,-6.2,233,2092,0.12,2.20,0.00,0.000,6,0.061,0.043,2657,2200,3319
$GC,2408,-0.75,-117.3,172.7,-6.6,249,2412,0.00,2.30,0.00,0.000,4,0.000,0.063,2657,794,3319
$GC,2547,-0.75,-117.3,181.8,-6.6,255,2551,0.00,1.88,0.00,0.000,6,0.000,0.043,2657,1984,3319
$GC,2869,-0.85,-117.3,202.6,-6.7,271,2873,0.20,1.92,0.00,0.000,4,0.049,0.061,2609,792,3319
$GC,2884,-0.85,-117.3,203.9,-7.0,271,2891,0.00,2.47,0.00,0.000,6,0.000,0.045,2609,2353,3319
$GC,3201,-0.62,-117.3,231.9,-9.4,287,3206,0.28,2.58,0.00,0.000,4,0.081,0.063,2660,804,3318
$GC,3264,-0.62,-117.3,236.5,-7.5,290,3268,0.00,2.35,0.00,0.000,6,0.000,0.045,2660,2304,3319
$GC,3591,-0.62,-117.3,257.1,-6.0,306,3594,0.00,2.45,0.00,0.000,4,0.000,0.064,2660,795,3318
$GC,3617,-0.62,-117.3,258.8,-6.3,307,3622,0.00,2.35,0.00,0.000,6,0.000,0.045,2660,2296,3318
$GC,3945,-0.62,-117.3,276.5,-5.2,323,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2296,3317
$GC,4254,-0.62,-117.3,291.9,-5.0,338,4258,0.00,2.45,0.00,0.000,4,0.000,0.066,2660,799,3317
$GC,4294,-0.62,-117.3,294.0,-5.3,340,4298,0.00,2.30,0.00,0.000,6,0.000,0.045,2659,2273,3317
$GC,4662,-0.62,-117.3,313.3,-5.4,350,4666,0.00,2.42,0.00,0.000,4,0.000,0.067,2660,796,3316
$GC,4689,-0.62,-117.3,315.0,-6.1,350,4693,0.00,2.33,0.00,0.000,6,0.000,0.045,2660,2277,3316
$GC,5026,-0.62,-117.3,335.6,-6.1,356,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2278,3315
$GC,5330,-0.62,-117.3,352.9,-5.6,361,5335,0.00,2.42,0.00,0.000,4,0.000,0.068,2660,805,3315
$GC,5358,-0.62,-117.3,354.5,-5.4,361,5361,0.00,2.28,0.00,0.000,6,0.000,0.046,2660,2257,3315
$GC,5695,-0.62,-117.3,372.8,-5.4,367,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2257,3314
$GC,5998,-0.62,-117.3,387.3,-4.7,372,6002,0.00,2.40,0.00,0.000,4,0.000,0.070,2660,805,3314
$GC,6026,-0.62,-117.3,388.8,-5.1,372,6030,0.00,2.25,0.00,0.000,6,0.000,0.048,2660,2237,3314
$GC,6357,-0.62,-117.3,404.6,-4.9,378,6361,0.00,2.38,0.00,0.000,4,0.000,0.071,2660,805,3314
$GC,6390,-0.67,-117.3,406.5,-5.9,378,6394,0.00,2.25,0.00,0.000,6,0.000,0.048,2660,2232,3314
$GC,6722,-0.67,-117.3,423.6,-5.2,384,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2232,3313
$GC,7025,-0.67,-117.3,439.0,-5.1,389,7029,0.00,2.38,0.00,0.000,4,0.000,0.072,2660,807,3313
$GC,7057,-0.73,-117.3,440.9,-5.8,389,7061,0.00,2.22,0.00,0.000,6,0.000,0.048,2660,2217,3313
$GC,7389,-0.73,-117.3,458.5,-5.3,395,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2218,3312
$GC,7692,-0.73,-117.3,474.4,-5.2,400,7696,0.00,2.35,0.00,0.000,4,0.000,0.074,2660,808,3311
$GC,7731,-0.78,-117.3,476.6,-5.9,400,7735,0.17,2.20,0.00,0.000,6,0.055,0.050,2624,2194,3311
$GC,8062,-0.67,-117.3,498.7,-6.8,406,8064,0.17,0.00,0.00,0.000,6,0.086,0.000,2654,2194,3310
$GC,8365,-0.67,-117.3,515.4,-5.5,411,8369,0.00,2.35,0.00,0.000,4,0.000,0.077,2654,797,3310
$GC,8397,-0.67,-117.3,517.3,-5.9,411,8401,0.00,2.20,0.00,0.000,6,0.000,0.051,2654,2161,3310
$GC,8731,-0.67,-117.3,534.2,-5.0,417,8735,0.00,2.42,0.00,0.000,4,0.000,0.074,2653,3599,3310
$GC,8758,-0.67,-117.3,535.6,-5.5,417,8762,0.00,2.28,0.00,0.000,6,0.000,0.047,2654,2163,3309
$GC,9096,-0.67,-117.3,551.1,-4.7,423,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2163,3309
$GC,9398,-0.67,-117.3,565.6,-4.8,428,9403,0.00,2.47,0.00,0.000,4,0.000,0.073,2654,3609,3309
$GC,9431,-0.67,-117.3,567.4,-5.8,428,9435,0.00,2.30,0.00,0.000,6,0.000,0.048,2653,2186,3309
$GC,9764,-0.67,-117.3,585.6,-5.6,434,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2186,3308
$GC,10066,-0.67,-117.3,603.3,-5.8,439,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2185,3308
$GC,10369,-0.67,-117.3,620.4,-5.7,444,10373,0.00,2.40,0.00,0.000,4,0.000,0.084,2654,795,3308
$GC,10401,-0.71,-117.3,622.4,-5.9,444,10405,0.00,2.20,0.00,0.000,6,0.000,0.054,2653,2172,3308
$GC,10733,-0.71,-117.3,639.8,-5.2,450,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2171,3308
$GC,11036,-0.71,-117.3,654.3,-4.8,455,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3307
$GC,11339,-0.71,-117.3,669.2,-5.0,460,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3307
$GC,11642,-0.71,-117.3,684.6,-5.1,465,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3306
$GC,11948,-0.71,-117.3,700.1,-5.1,470,11952,0.00,2.35,0.00,0.000,4,0.000,0.084,2654,800,3306
$GC,11981,-0.77,-117.3,702.2,-5.1,470,11985,0.00,2.15,0.00,0.000,6,0.000,0.055,2653,2147,3305
$GC,12312,-0.77,-117.3,718.0,-4.7,476,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2147,3306
$GC,12616,-0.77,-117.3,731.4,-4.4,481,12620,0.00,2.50,0.00,0.000,4,0.000,0.084,2653,3596,3305
$GC,12642,-0.77,-117.3,732.7,-4.3,481,12647,0.00,2.30,0.00,0.000,6,0.000,0.049,2654,2156,3305
$GC,12980,-0.81,-117.3,746.8,-4.2,487,12982,0.15,0.00,0.00,0.000,6,0.061,0.000,2622,2155,3305
$GC,13283,-0.72,-117.3,763.7,-5.6,492,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2155,3305
$GC,13586,-0.63,-117.3,781.5,-5.9,497,13591,0.20,2.53,0.00,0.000,4,0.086,0.081,2657,3595,3305
$GC,13619,-0.69,-117.3,783.3,-4.6,497,13623,0.00,2.28,0.00,0.000,6,0.000,0.050,2658,2174,3305
$GC,13945,-0.75,-117.3,798.5,-4.7,503,13949,0.00,2.40,0.00,0.000,4,0.000,0.090,2658,801,3305
$GC,13972,-0.82,-117.3,799.9,-5.2,503,13977,0.20,2.20,0.00,0.000,6,0.054,0.058,2617,2157,3305
$GC,14309,-0.73,-117.3,820.6,-6.2,509,14311,0.12,0.00,0.00,0.000,6,0.094,0.000,2638,2158,3305
$GC,14613,-0.73,-117.3,836.7,-5.2,514,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2157,3304
$GC,14916,-0.73,-117.3,852.2,-5.1,519,14920,0.00,2.38,0.00,0.000,4,0.000,0.091,2639,796,3304
$GC,14954,-0.73,-117.3,854.4,-6.1,519,14958,0.00,2.22,0.00,0.000,6,0.000,0.061,2638,2139,3304
$GC,15280,-0.73,-117.3,871.0,-5.1,525,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2139,3304
$GC,15583,-0.73,-117.3,886.0,-4.9,530,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2139,3304
$GC,15889,-0.73,-117.3,900.7,-4.9,535,15893,0.00,2.35,0.00,0.000,4,0.000,0.093,2639,801,3304
$GC,15921,-0.73,-117.3,902.6,-5.6,535,15925,0.00,2.17,0.00,0.000,6,0.000,0.062,2638,2112,3304
$GC,16253,-0.73,-117.3,919.5,-5.2,541,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2112,3304
$GC,16556,-0.73,-117.3,935.4,-5.2,546,16558,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2112,3304
$GC,16860,-0.73,-117.3,951.2,-5.2,551,16861,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2112,3303
$GC,17162,-0.73,-117.3,966.5,-5.0,556,17164,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2112,3304
$GC,17466,-0.73,-117.3,981.7,-5.0,561,17470,0.00,2.65,0.00,0.000,4,0.000,0.097,2637,3598,3303
$GC,17492,-0.73,-117.3,983.1,-5.9,561,17496,0.00,2.42,0.00,0.000,6,0.000,0.060,2639,2146,3303
$STATE,17645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17646,begin apogee
$GC,17651,-0.23,0.0,990.7,4.8,564,17756,0.65,0.00,102.03,1.499,6,0.074,0.000,2749,2212,2837
$STATE,17757,end apogee,CONTROL_FINISHED_OK
$STATE,17757,begin climb
$GC,17759,0.67,117.3,992.0,0.0,565,17879,1.15,2.70,112.22,1.447,4,0.048,0.092,2946,3603,2358
$GC,17906,0.38,117.3,987.4,8.6,568,17912,0.40,2.50,0.00,0.000,6,0.097,0.064,2888,2217,2358
$GC,18249,0.38,117.3,967.0,5.8,574,18253,0.00,2.55,0.00,0.000,4,0.000,0.107,2888,787,2358
$GC,18287,0.39,126.9,964.5,5.2,574,18302,0.00,2.35,10.55,1.302,6,0.000,0.067,2887,2195,2319
$GC,18606,0.39,126.9,945.3,6.0,579,18610,0.00,2.50,0.00,0.000,4,0.000,0.100,2887,787,2319
$GC,18638,0.39,126.9,943.3,6.2,579,18642,0.00,2.25,0.00,0.000,6,0.000,0.065,2888,2150,2319
$GC,18970,0.39,126.9,924.3,5.7,585,18971,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2150,2319
$GC,19273,0.39,127.5,907.7,5.5,590,19277,0.00,2.40,0.00,0.000,4,0.000,0.099,2887,787,2319
$GC,19322,0.40,132.9,904.9,5.3,590,19334,0.00,2.20,7.20,1.216,6,0.000,0.064,2888,2130,2295
$GC,19636,0.40,132.9,887.2,5.6,596,19638,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2130,2295
$GC,19940,0.40,138.6,870.9,5.3,601,19949,0.00,0.00,7.20,1.214,6,0.000,0.000,2887,2130,2271
$GC,20242,0.40,138.6,854.0,5.6,606,20246,0.00,2.35,0.00,0.000,4,0.000,0.097,2888,787,2271
$GC,20292,0.40,138.6,851.1,6.1,606,20296,0.00,2.20,0.00,0.000,6,0.000,0.062,2888,2115,2271
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