version: 66.03
glider: 119
mission: 5
dive: 231
start: 11 22 108 18 9 53
data:
$ID,119
$MISSION,5
$DIVE,231
$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,-214058.05
$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,29
$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
$GPS1,180301,4704.357,-12511.698,39,1.2,39,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.9
$GPS2,180902,4704.395,-12511.639,11,1.4,16,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.050,-0.188
$KALMAN_X,-24317.7,-773.7,-363.1,8251.4,4382.9
$KALMAN_Y,267265.6,-119.5,-1165.4,-255098.9,6881.5
$MHEAD_RNG_PITCHd_Wd,176.4,212806,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-52.05,0.000,2,0.000,0.000,861,2211,2555
$GC,77,-0.67,-117.3,3.2,-3.9,5,117,12.25,2.40,-21.27,0.000,4,0.143,0.073,2647,3600,3318
$GC,224,-0.42,-117.3,21.0,-11.9,18,231,0.35,2.22,0.00,0.000,6,0.080,0.039,2706,2186,3318
$GC,552,-0.42,-117.3,45.7,-6.7,56,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2186,3318
$GC,897,-0.71,-117.3,67.0,-6.8,117,903,0.30,2.28,0.00,0.000,4,0.044,0.057,2640,798,3317
$GC,1023,-0.58,-117.3,77.3,-8.3,139,1030,0.17,2.25,0.00,0.000,6,0.080,0.041,2670,2252,3318
$GC,1351,-0.58,-117.3,100.1,-6.4,173,1355,0.00,2.35,0.00,0.000,4,0.000,0.059,2670,801,3318
$GC,1417,-0.63,-117.3,104.4,-6.6,178,1423,0.00,2.20,0.00,0.000,6,0.000,0.042,2670,2200,3318
$GC,1744,-0.63,-117.3,125.1,-6.7,209,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3318
$GC,2060,-0.63,-117.3,144.2,-6.1,239,2064,0.00,2.33,0.00,0.000,4,0.000,0.064,2670,3599,3318
$GC,2100,-0.63,-117.3,146.9,-6.8,242,2104,0.00,2.22,0.00,0.000,6,0.000,0.041,2670,2184,3318
$GC,2417,-0.68,-117.3,166.4,-5.9,259,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2179,3318
$GC,2726,-0.72,-117.3,183.1,-5.1,274,2728,0.15,0.00,0.00,0.000,6,0.058,0.000,2637,2179,3318
$GC,3035,-0.62,-117.3,204.2,-7.0,289,3040,0.15,2.33,0.00,0.000,4,0.085,0.062,2666,799,3318
$GC,3085,-0.68,-117.3,207.3,-6.2,291,3089,0.00,2.15,0.00,0.000,6,0.000,0.043,2666,2186,3317
$GC,3400,-0.72,-117.3,224.8,-5.8,306,3402,0.12,0.00,0.00,0.000,6,0.064,0.000,2638,2186,3318
$GC,3710,-0.64,-117.3,248.6,-7.9,321,3712,0.12,0.00,0.00,0.000,6,0.091,0.000,2660,2186,3318
$GC,4019,-0.64,-117.3,268.1,-6.0,336,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2186,3318
$GC,4328,-0.64,-117.3,286.4,-5.9,351,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2186,3318
$GC,4636,-0.64,-117.3,304.4,-5.6,364,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2186,3318
$GC,4938,-0.64,-117.3,321.4,-5.6,369,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2186,3317
$GC,5241,-0.64,-117.3,338.8,-5.8,374,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2186,3317
$GC,5545,-0.64,-117.3,355.9,-5.6,379,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2186,3317
$GC,5848,-0.64,-117.3,372.0,-5.3,384,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2186,3317
$GC,6151,-0.64,-117.3,387.6,-5.2,389,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2186,3316
$GC,6456,-0.69,-117.3,402.8,-5.0,394,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2186,3316
$GC,6757,-0.73,-117.3,419.9,-5.7,399,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2186,3316
$GC,7061,-0.78,-117.3,437.1,-5.6,404,7063,0.15,0.00,0.00,0.000,6,0.060,0.000,2628,2186,3316
$GC,7364,-0.69,-117.3,458.0,-7.0,409,7368,0.12,2.30,0.00,0.000,4,0.091,0.072,2649,812,3315
$GC,7390,-0.69,-117.3,459.7,-6.5,409,7394,0.00,2.15,0.00,0.000,6,0.000,0.047,2648,2159,3315
$GC,7729,-0.69,-117.3,476.5,-4.8,415,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2159,3315
$GC,8031,-0.69,-117.3,490.4,-4.5,420,8035,0.00,2.42,0.00,0.000,4,0.000,0.069,2648,3608,3314
$GC,8057,-0.69,-117.3,491.8,-5.7,420,8062,0.00,2.33,0.00,0.000,6,0.000,0.044,2649,2166,3314
$GC,8395,-0.69,-117.3,507.4,-4.6,426,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3314
$GC,8699,-0.69,-117.3,521.6,-4.8,431,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3314
$GC,9001,-0.69,-117.3,535.1,-4.5,436,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3313
$GC,9304,-0.69,-117.3,549.2,-4.6,441,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2165,3313
$GC,9607,-0.69,-117.3,562.9,-4.5,446,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2164,3313
$GC,9911,-0.69,-117.3,578.8,-5.3,451,9915,0.00,2.45,0.00,0.000,4,0.000,0.069,2649,3604,3313
$GC,9943,-0.69,-117.3,580.7,-6.5,451,9947,0.00,2.30,0.00,0.000,6,0.000,0.045,2649,2170,3313
$GC,10275,-0.69,-117.3,599.7,-5.8,457,10279,0.00,2.35,0.00,0.000,4,0.000,0.080,2649,795,3312
$GC,10308,-0.73,-117.3,601.9,-6.9,457,10311,0.00,2.20,0.00,0.000,6,0.000,0.050,2648,2182,3312
$GC,10639,-0.73,-117.3,620.4,-5.6,463,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2182,3312
$GC,10943,-0.73,-117.3,635.2,-4.8,468,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2182,3312
$GC,11245,-0.73,-117.3,648.7,-4.4,473,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2182,3312
$GC,11549,-0.73,-117.3,662.2,-4.4,478,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2182,3311
$GC,11853,-0.73,-117.3,676.3,-4.7,483,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2182,3311
$GC,12155,-0.73,-117.3,690.9,-4.8,488,12159,0.00,2.33,0.00,0.000,4,0.000,0.077,2649,803,3310
$GC,12188,-0.78,-117.3,692.5,-5.6,488,12191,0.00,2.22,0.00,0.000,6,0.000,0.051,2648,2201,3310
$GC,12520,-0.78,-117.3,708.6,-4.8,494,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,3310
$GC,12822,-0.78,-117.3,723.7,-5.0,499,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,3310
$GC,13126,-0.82,-117.3,737.7,-4.6,504,13131,0.15,2.38,0.00,0.000,4,0.061,0.076,2612,802,3310
$GC,13164,-0.73,-117.3,739.8,-5.8,504,13169,0.15,2.20,0.00,0.000,6,0.088,0.052,2638,2182,3310
$GC,13485,-0.73,-117.3,754.8,-4.6,510,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2183,3309
$GC,13787,-0.73,-117.3,768.7,-4.4,515,13791,0.00,2.42,0.00,0.000,4,0.000,0.080,2637,3602,3309
$GC,13819,-0.73,-117.3,770.4,-5.6,515,13823,0.00,2.25,0.00,0.000,6,0.000,0.048,2637,2199,3309
$GC,14151,-0.73,-117.3,786.9,-5.0,521,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3309
$GC,14454,-0.73,-117.3,803.4,-5.5,526,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3309
$GC,14757,-0.73,-117.3,819.6,-5.3,531,14758,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3309
$GC,15060,-0.73,-117.3,835.9,-5.4,536,15065,0.00,2.40,0.00,0.000,4,0.000,0.083,2637,796,3309
$GC,15095,-0.73,-117.3,837.9,-6.2,536,15099,0.00,2.22,0.00,0.000,6,0.000,0.054,2637,2186,3309
$GC,15422,-0.73,-117.3,855.6,-5.5,542,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2186,3308
$GC,15724,-0.73,-117.3,870.3,-4.7,547,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2186,3308
$GC,16027,-0.73,-117.3,883.9,-4.5,552,16031,0.00,2.38,0.00,0.000,4,0.000,0.082,2638,802,3308
$GC,16060,-0.73,-117.3,885.6,-5.0,552,16064,0.00,2.22,0.00,0.000,6,0.000,0.055,2637,2179,3308
$GC,16393,-0.73,-117.3,901.9,-4.9,558,16394,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2180,3308
$GC,16695,-0.73,-117.3,917.4,-5.2,563,16699,0.00,2.45,0.00,0.000,4,0.000,0.087,2637,3599,3307
$GC,16727,-0.73,-117.3,919.4,-6.2,563,16731,0.00,2.25,0.00,0.000,6,0.000,0.050,2637,2189,3307
$GC,17065,-0.73,-117.3,937.4,-5.4,569,17069,0.00,2.40,0.00,0.000,4,0.000,0.090,2637,798,3306
$GC,17086,-0.73,-117.3,938.7,-6.3,569,17090,0.00,2.28,0.00,0.000,6,0.000,0.056,2637,2185,3306
$GC,17430,-0.73,-117.3,955.6,-4.8,575,17434,0.00,2.40,0.00,0.000,4,0.000,0.087,2637,801,3306
$GC,17462,-0.73,-117.3,957.2,-4.9,575,17466,0.00,2.22,0.00,0.000,6,0.000,0.058,2637,2171,3306
$GC,17794,-0.73,-117.3,971.7,-4.2,581,17795,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2171,3306
$GC,18097,-0.73,-117.3,984.9,-4.3,586,18102,0.00,2.40,0.00,0.000,4,0.000,0.091,2637,800,3306
$GC,18136,-0.73,-117.3,986.7,-5.4,586,18140,0.00,2.20,0.00,0.000,6,0.000,0.059,2637,2153,3306
$STATE,18211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18211,begin apogee
$GC,18216,-0.23,0.0,990.4,4.7,588,18334,0.65,0.00,106.28,1.474,6,0.074,0.000,2748,2208,2836
$STATE,18334,end apogee,CONTROL_FINISHED_OK
$STATE,18335,begin climb
$GC,18337,0.67,117.3,993.8,0.0,590,18458,1.15,2.78,114.65,1.449,4,0.044,0.095,2946,800,2358
$GC,18492,0.37,117.3,988.0,7.0,592,18497,0.43,2.47,0.00,0.000,6,0.089,0.061,2883,2202,2358
$GC,18812,0.37,117.3,969.7,5.6,598,18813,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2202,2358
$GC,19115,0.37,117.3,951.4,6.1,603,19119,0.00,2.45,0.00,0.000,4,0.000,0.091,2882,790,2358
$GC,19147,0.37,117.3,949.3,6.4,603,19151,0.00,2.28,0.00,0.000,6,0.000,0.059,2882,2187,2358
$GC,19479,0.37,117.3,929.6,5.9,609,19480,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2188,2358
$GC,19782,0.37,117.3,912.3,5.7,614,19783,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2188,2358
$GC,20085,0.37,118.9,895.5,5.5,619,20086,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2188,2358
$GC,20389,0.39,134.4,880.0,5.0,624,20407,0.00,0.00,17.05,1.384,6,0.000,0.000,2882,2188,2289
$GC,20691,0.40,144.2,864.2,5.2,629,20709,0.00,0.00,11.02,1.311,6,0.000,0.000,2882,2188,2250
$GC,20994,0.41,151.6,848.2,5.3,634,21008,0.00,2.45,8.90,1.258,4,0.000,0.087,2882,796,2218
$GC,21054,0.41,151.6,844.7,5.9,634,21060,0.00,2.28,0.00,0.000,6,0.000,0.055,2882,2177,2218
$GC,21364,0.46,151.6,827.5,5.6,640,21365,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2177,2218
$GC,21667,0.50,153.4,810.9,5.4,645,21669,0.15,0.00,0.00,0.000,6,0.062,0.000,2914,2177,2218
$GC,21970,0.45,153.4,790.5,6.7,650,21971,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2177,2218
$GC,22273,0.39,153.4,769.4,7.0,655,22275,0.17,0.00,0.00,0.000,6,0.091,0.000,2884,2177,2218
$GC,22576,0.44,153.4,752.3,5.6,660,22577,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2177,2218
$GC,22879,0.48,153.4,734.3,5.9,665,22880,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2177,2218
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