version: 66.03
glider: 119
mission: 5
dive: 234
start: 11 23 108 22 41 15
data:
$ID,119
$MISSION,5
$DIVE,234
$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,-214099.73
$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,44
$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
$GPS1,223437,4704.112,-12524.239,26,1.3,26,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.2
$GPS2,224021,4704.156,-12524.213,11,1.4,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.177,-0.083
$KALMAN_X,-26612.4,282.9,352.9,-7133.2,-630.3
$KALMAN_Y,271742.1,-109.6,323.1,-261518.3,2698.1
$MHEAD_RNG_PITCHd_Wd,226.4,196919,-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,-117.3,0.0,0.0,0,73,0.00,0.00,-51.30,0.000,2,0.000,0.000,861,2226,2509
$GC,76,-0.67,-117.3,3.1,-3.7,5,120,12.23,2.38,-24.52,0.000,4,0.142,0.067,2648,786,3316
$GC,372,-0.44,-117.3,37.7,-10.3,31,379,0.28,2.22,0.00,0.000,6,0.077,0.041,2698,2192,3316
$GC,714,-0.49,-117.3,59.8,-6.1,90,721,0.00,2.33,0.00,0.000,4,0.000,0.061,2698,3601,3315
$GC,750,-0.55,-117.3,62.0,-5.9,96,756,0.00,2.17,0.00,0.000,6,0.000,0.038,2698,2212,3316
$GC,1093,-0.65,-117.3,81.2,-5.7,155,1097,0.17,2.33,0.00,0.000,4,0.051,0.056,2654,792,3316
$GC,1133,-0.59,-117.3,84.0,-7.6,158,1137,0.00,2.25,0.00,0.000,6,0.000,0.041,2654,2239,3316
$GC,1459,-0.50,-117.3,107.8,-7.6,188,1461,0.20,0.00,0.00,0.000,6,0.078,0.000,2689,2239,3316
$GC,1777,-0.72,-117.3,127.4,-7.5,218,1782,0.22,2.33,0.00,0.000,4,0.048,0.055,2636,794,3316
$GC,1866,-0.62,-117.3,134.3,-7.6,225,1873,0.10,2.22,0.00,0.000,6,0.071,0.043,2659,2204,3315
$GC,2191,-0.62,-117.3,154.3,-6.1,253,2195,0.00,2.28,0.00,0.000,4,0.000,0.058,2659,791,3315
$GC,2212,-0.62,-117.3,155.9,-6.2,254,2216,0.00,2.20,0.00,0.000,6,0.000,0.043,2659,2187,3316
$GC,2539,-0.62,-117.3,177.2,-7.0,270,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2187,3316
$GC,2849,-0.62,-117.3,196.7,-6.1,285,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2187,3316
$GC,3158,-0.62,-117.3,215.8,-6.1,300,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2187,3316
$GC,3467,-0.62,-117.3,234.5,-6.1,315,3471,0.00,2.33,0.00,0.000,4,0.000,0.064,2658,3605,3316
$GC,3499,-0.62,-117.3,236.6,-6.8,316,3506,0.00,2.25,0.00,0.000,6,0.000,0.038,2659,2192,3316
$GC,3815,-0.62,-117.3,255.8,-6.1,332,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2186,3316
$GC,4124,-0.62,-117.3,274.0,-5.8,347,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2186,3315
$GC,4434,-0.62,-117.3,290.3,-5.1,362,4438,0.00,2.38,0.00,0.000,4,0.000,0.063,2658,3599,3315
$GC,4452,-0.62,-117.3,291.4,-5.1,363,4456,0.00,2.17,0.00,0.000,6,0.000,0.039,2659,2210,3315
$GC,4800,-0.62,-117.3,311.0,-5.8,374,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2204,3315
$GC,5104,-0.62,-117.3,328.4,-5.7,379,5108,0.00,2.33,0.00,0.000,4,0.000,0.064,2659,801,3316
$GC,5131,-0.62,-117.3,329.9,-5.8,379,5135,0.00,2.20,0.00,0.000,6,0.000,0.044,2659,2211,3315
$GC,5462,-0.62,-117.3,346.7,-4.9,385,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2212,3315
$GC,5765,-0.62,-117.3,360.9,-4.6,390,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3315
$GC,6069,-0.62,-117.3,374.1,-4.4,395,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3314
$GC,6371,-0.62,-117.3,387.5,-4.4,400,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2211,3315
$GC,6675,-0.62,-117.3,401.7,-4.7,405,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2211,3314
$GC,6978,-0.62,-117.3,416.3,-4.8,410,6982,0.00,2.33,0.00,0.000,4,0.000,0.065,2659,801,3314
$GC,7011,-0.68,-117.3,418.0,-5.2,410,7015,0.00,2.17,0.00,0.000,6,0.000,0.044,2658,2195,3314
$GC,7337,-0.72,-117.3,434.5,-5.2,416,7341,0.00,2.30,0.00,0.000,4,0.000,0.067,2659,801,3313
$GC,7369,-0.78,-117.3,436.4,-6.2,416,7374,0.15,2.12,0.00,0.000,6,0.057,0.045,2626,2162,3313
$GC,7695,-0.68,-117.3,459.6,-7.2,422,7700,0.12,2.42,0.00,0.000,4,0.090,0.066,2647,3599,3312
$GC,7716,-0.63,-117.3,461.1,-6.9,422,7720,0.00,2.28,0.00,0.000,6,0.000,0.041,2648,2153,3312
$GC,8059,-0.63,-117.3,482.1,-6.1,428,8063,0.00,2.42,0.00,0.000,4,0.000,0.066,2647,3604,3312
$GC,8086,-0.63,-117.3,483.8,-6.4,428,8090,0.00,2.22,0.00,0.000,6,0.000,0.042,2647,2189,3312
$GC,8423,-0.63,-117.3,504.9,-6.3,434,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2188,3312
$GC,8726,-0.63,-117.3,523.1,-5.9,439,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2188,3312
$GC,9029,-0.63,-117.3,540.3,-5.6,444,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2187,3312
$GC,9333,-0.63,-117.3,557.0,-5.5,449,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2186,3311
$GC,9635,-0.63,-117.3,572.6,-5.0,454,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2185,3311
$GC,9938,-0.63,-117.3,587.5,-4.9,459,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2185,3311
$GC,10242,-0.63,-117.3,601.9,-4.7,464,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2184,3311
$GC,10545,-0.63,-117.3,615.9,-4.7,469,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2183,3310
$GC,10848,-0.63,-117.3,631.7,-5.3,474,10852,0.00,2.38,0.00,0.000,4,0.000,0.074,2647,799,3310
$GC,10874,-0.63,-117.3,633.3,-6.2,474,10879,0.00,2.20,0.00,0.000,6,0.000,0.049,2647,2169,3310
$GC,11214,-0.63,-117.3,651.1,-5.3,480,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2169,3309
$GC,11515,-0.63,-117.3,667.0,-5.3,485,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2169,3309
$GC,11817,-0.63,-117.3,684.3,-5.7,490,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3309
$GC,12121,-0.63,-117.3,701.6,-5.7,495,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3309
$GC,12424,-0.63,-117.3,717.1,-5.1,500,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2169,3309
$GC,12729,-0.63,-117.3,731.5,-4.8,505,12733,0.00,2.30,0.00,0.000,4,0.000,0.075,2648,804,3308
$GC,12762,-0.67,-117.3,733.2,-4.7,505,12765,0.00,2.15,0.00,0.000,6,0.000,0.051,2647,2160,3308
$GC,13093,-0.67,-117.3,749.1,-4.8,511,13097,0.00,2.42,0.00,0.000,4,0.000,0.079,2647,3599,3308
$GC,13120,-0.67,-117.3,750.6,-5.4,511,13124,0.00,2.30,0.00,0.000,6,0.000,0.045,2647,2155,3308
$GC,13464,-0.67,-117.3,768.8,-5.2,517,13468,0.00,2.30,0.00,0.000,4,0.000,0.080,2647,804,3308
$GC,13502,-0.73,-117.3,771.0,-5.6,517,13506,0.00,2.15,0.00,0.000,6,0.000,0.051,2647,2153,3308
$GC,13828,-0.73,-117.3,788.7,-5.4,523,13833,0.00,2.45,0.00,0.000,4,0.000,0.078,2647,3601,3308
$GC,13861,-0.73,-117.3,790.9,-6.6,523,13865,0.00,2.30,0.00,0.000,6,0.000,0.045,2647,2148,3307
$GC,14193,-0.73,-117.3,810.3,-5.9,529,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2147,3307
$GC,14497,-0.77,-117.3,826.9,-5.5,534,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2147,3307
$GC,14800,-0.81,-117.3,841.2,-4.7,539,14802,0.15,0.00,0.00,0.000,6,0.061,0.000,2616,2147,3307
$GC,15102,-0.72,-117.3,858.0,-5.6,544,15104,0.15,0.00,0.00,0.000,6,0.090,0.000,2641,2147,3306
$GC,15405,-0.72,-117.3,872.3,-4.6,549,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2147,3306
$GC,15708,-0.72,-117.3,885.6,-4.3,554,15710,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2146,3306
$GC,16012,-0.72,-117.3,898.3,-4.2,559,16016,0.00,2.53,0.00,0.000,4,0.000,0.081,2641,3597,3305
$GC,16045,-0.72,-117.3,899.8,-5.1,559,16050,0.00,2.28,0.00,0.000,6,0.000,0.046,2641,2173,3305
$GC,16371,-0.72,-117.3,914.0,-4.5,565,16375,0.00,2.38,0.00,0.000,4,0.000,0.085,2640,798,3305
$GC,16398,-0.72,-117.3,915.5,-6.0,565,16403,0.00,2.25,0.00,0.000,6,0.000,0.054,2641,2177,3305
$GC,16738,-0.72,-117.3,930.3,-4.4,571,16739,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2177,3305
$GC,17039,-0.72,-117.3,941.5,-3.6,576,17043,0.00,2.38,0.00,0.000,4,0.000,0.084,2641,797,3305
$GC,17066,-0.72,-117.3,942.7,-4.6,576,17070,0.00,2.22,0.00,0.000,6,0.000,0.056,2641,2173,3305
$GC,17403,-0.72,-117.3,954.1,-3.3,582,17405,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2173,3305
$GC,17706,-0.72,-117.3,963.5,-3.2,587,17707,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2173,3305
$GC,18009,-0.72,-117.3,974.6,-3.7,592,18010,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2173,3304
$GC,18312,-0.72,-117.3,987.1,-4.2,597,18316,0.00,2.40,0.00,0.000,4,0.000,0.089,2641,796,3304
$GC,18339,-0.72,-117.3,988.5,-5.5,597,18344,0.00,2.25,0.00,0.000,6,0.000,0.058,2641,2163,3304
$STATE,18432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18432,begin apogee
$GC,18438,-0.23,0.0,992.6,4.4,599,18544,0.62,0.00,103.30,1.502,6,0.074,0.000,2747,2209,2837
$STATE,18545,end apogee,CONTROL_FINISHED_OK
$STATE,18545,begin climb
$GC,18547,0.67,117.3,993.9,0.0,600,18684,1.17,2.70,117.75,1.417,4,0.048,0.084,2947,3591,2358
$GC,18708,0.39,117.3,989.7,8.7,603,18713,0.40,2.45,0.00,0.000,6,0.091,0.054,2888,2211,2358
$GC,19039,0.39,117.3,970.8,5.7,609,19043,0.00,2.50,0.00,0.000,4,0.000,0.095,2887,785,2358
$GC,19105,0.39,117.3,966.6,6.9,610,19109,0.00,2.25,0.00,0.000,6,0.000,0.058,2887,2164,2358
$GC,19470,0.39,120.8,946.5,5.4,616,19481,0.00,2.38,5.45,1.103,4,0.000,0.088,2888,788,2343
$GC,19508,0.39,120.8,944.1,6.3,616,19512,0.00,2.25,0.00,0.000,6,0.000,0.058,2887,2155,2343
$GC,19834,0.39,120.8,925.2,5.9,622,19835,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2155,2343
$GC,20137,0.39,120.8,905.7,6.4,627,20138,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2155,2343
$GC,20440,0.39,120.8,888.4,5.6,632,20441,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2156,2343
$GC,20743,0.39,120.8,871.1,5.7,637,20744,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2156,2343
$GC,21046,0.42,140.1,856.0,4.9,642,21067,0.00,0.00,18.98,1.390,6,0.000,0.000,2888,2156,2265
$GC,21350,0.49,159.7,841.4,4.9,647,21375,0.00,2.42,19.05,1.368,4,0.000,0.085,2887,789,2187
$GC,21430,0.49,159.7,836.8,5.5,648,21435,0.00,2.22,0.00,0.000,6,0.000,0.053,2888,2136,2187
$GC,21786,0.56,167.0,818.2,5.3,654,21800,0.15,2.35,8.93,1.245,4,0.062,0.085,2923,789,2156
$GC,21879,0.46,167.0,811.5,7.4,655,21883,0.12,2.03,0.00,0.000,6,0.097,0.053,2903,2054,2156
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