version: 66.03
glider: 119
mission: 5
dive: 237
start: 11 25 108 3 24 3
data:
$ID,119
$MISSION,5
$DIVE,237
$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,-214145.45
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,031738,4702.917,-12537.399,27,1.7,27,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.9
$GPS2,032309,4702.910,-12537.455,13,1.3,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.164,-0.106
$KALMAN_X,-23387.2,141.8,-195.3,-26394.8,795.8
$KALMAN_Y,278996.8,-275.2,-624.1,-269987.4,3667.9
$MHEAD_RNG_PITCHd_Wd,218.5,180123,-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,-51.40,0.000,2,0.000,0.000,858,2233,2521
$GC,76,-0.67,-117.3,3.1,-4.0,5,120,12.18,2.40,-24.00,0.000,4,0.140,0.067,2648,795,3315
$GC,166,-0.43,-117.3,11.9,-11.0,13,171,0.32,2.17,0.00,0.000,6,0.078,0.040,2702,2191,3315
$GC,491,-0.38,-117.3,37.3,-8.0,43,495,0.00,2.25,0.00,0.000,4,0.000,0.054,2702,788,3315
$GC,523,-0.38,-117.3,40.0,-7.8,45,530,0.00,2.17,0.00,0.000,6,0.000,0.038,2702,2175,3315
$GC,867,-0.38,-117.3,66.2,-6.9,106,873,0.00,2.20,0.00,0.000,4,0.000,0.054,2702,789,3315
$GC,947,-0.49,-117.3,71.3,-6.2,120,953,0.00,1.98,0.00,0.000,6,0.000,0.038,2702,2085,3316
$GC,1286,-0.72,-117.3,93.2,-6.8,163,1291,0.28,2.08,0.00,0.000,4,0.042,0.054,2637,786,3316
$GC,1348,-0.55,-117.3,98.4,-9.0,168,1353,0.25,2.55,0.00,0.000,6,0.075,0.041,2680,2429,3316
$GC,1674,-0.55,-117.3,120.0,-6.0,198,1679,0.00,2.62,0.00,0.000,4,0.000,0.054,2681,794,3316
$GC,1730,-0.61,-117.3,123.7,-6.4,202,1736,0.00,2.45,0.00,0.000,6,0.000,0.043,2681,2372,3316
$GC,2057,-0.65,-117.3,141.8,-5.3,233,2061,0.00,2.53,0.00,0.000,4,0.000,0.056,2680,795,3316
$GC,2090,-0.74,-117.3,143.8,-6.0,235,2097,0.22,2.38,0.00,0.000,6,0.046,0.044,2632,2329,3316
$GC,2419,-0.59,-117.3,170.8,-8.2,255,2424,0.17,2.47,0.00,0.000,4,0.081,0.058,2666,800,3315
$GC,2446,-0.59,-117.3,172.9,-7.3,256,2450,0.00,2.33,0.00,0.000,6,0.000,0.043,2666,2296,3316
$GC,2767,-0.59,-117.3,191.7,-5.5,272,2771,0.00,2.42,0.00,0.000,4,0.000,0.058,2666,789,3316
$GC,2794,-0.59,-117.3,193.3,-5.8,273,2798,0.00,2.33,0.00,0.000,6,0.000,0.043,2666,2286,3316
$GC,3117,-0.59,-117.3,211.6,-5.4,289,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2287,3316
$GC,3425,-0.59,-117.3,228.4,-5.6,304,3429,0.00,2.40,0.00,0.000,4,0.000,0.058,2666,797,3316
$GC,3451,-0.59,-117.3,230.1,-6.4,305,3455,0.00,2.33,0.00,0.000,6,0.000,0.044,2666,2268,3316
$GC,3773,-0.59,-117.3,249.2,-6.1,321,3777,0.00,2.38,0.00,0.000,4,0.000,0.059,2666,798,3316
$GC,3806,-0.63,-117.3,251.3,-6.4,322,3810,0.00,2.28,0.00,0.000,6,0.000,0.043,2666,2260,3316
$GC,4121,-0.63,-117.3,269.8,-5.9,337,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2260,3316
$GC,4431,-0.63,-117.3,287.3,-5.4,352,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2260,3316
$GC,4738,-0.63,-117.3,303.2,-5.1,365,4742,0.00,2.38,0.00,0.000,4,0.000,0.062,2666,802,3315
$GC,4776,-0.68,-117.3,305.3,-5.6,365,4780,0.00,2.25,0.00,0.000,6,0.000,0.044,2666,2246,3315
$GC,5103,-0.68,-117.3,321.0,-4.8,371,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2246,3315
$GC,5405,-0.68,-117.3,336.6,-5.2,376,5409,0.00,2.35,0.00,0.000,4,0.000,0.063,2666,802,3314
$GC,5443,-0.75,-117.3,338.7,-5.7,376,5448,0.15,2.22,0.00,0.000,6,0.055,0.044,2634,2229,3314
$GC,5764,-0.64,-117.3,361.7,-7.4,382,5769,0.15,2.35,0.00,0.000,4,0.086,0.062,2663,799,3314
$GC,5790,-0.64,-117.3,363.6,-6.6,382,5794,0.00,2.17,0.00,0.000,6,0.000,0.043,2663,2194,3314
$GC,6128,-0.64,-117.3,382.3,-5.5,388,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2195,3313
$GC,6431,-0.64,-117.3,396.7,-4.7,393,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2195,3313
$GC,6735,-0.64,-117.3,410.1,-4.4,398,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2195,3313
$GC,7037,-0.64,-117.3,424.7,-4.9,403,7041,0.00,2.30,0.00,0.000,4,0.000,0.067,2663,799,3313
$GC,7075,-0.71,-117.3,426.9,-5.5,403,7079,0.00,2.17,0.00,0.000,6,0.000,0.044,2663,2190,3312
$GC,7401,-0.71,-117.3,443.4,-5.0,409,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2190,3312
$GC,7705,-0.75,-117.3,457.0,-4.4,414,7710,0.15,2.30,0.00,0.000,4,0.058,0.066,2626,802,3312
$GC,7748,-0.66,-117.3,459.8,-7.0,414,7753,0.17,2.12,0.00,0.000,6,0.081,0.044,2656,2158,3312
$GC,8069,-0.66,-117.3,475.5,-4.9,420,8073,0.00,2.42,0.00,0.000,4,0.000,0.068,2655,3605,3312
$GC,8097,-0.66,-117.3,477.0,-5.4,420,8101,0.00,2.30,0.00,0.000,6,0.000,0.042,2655,2146,3312
$GC,8428,-0.66,-117.3,493.7,-5.1,426,8432,0.00,2.25,0.00,0.000,4,0.000,0.071,2656,800,3312
$GC,8455,-0.66,-117.3,495.2,-5.7,426,8459,0.00,2.12,0.00,0.000,6,0.000,0.044,2656,2138,3311
$GC,8793,-0.66,-117.3,513.7,-5.5,432,8797,0.00,2.42,0.00,0.000,4,0.000,0.067,2655,3608,3311
$GC,8814,-0.66,-117.3,515.0,-5.7,432,8819,0.00,2.30,0.00,0.000,6,0.000,0.044,2656,2140,3309
$GC,9159,-0.66,-117.3,533.7,-5.4,438,9162,0.00,2.22,0.00,0.000,4,0.000,0.074,2655,802,3310
$GC,9186,-0.70,-117.3,535.3,-5.8,438,9190,0.00,2.10,0.00,0.000,6,0.000,0.046,2655,2139,3310
$GC,9523,-0.70,-117.3,553.4,-5.4,444,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2139,3309
$GC,9826,-0.70,-117.3,568.8,-5.1,449,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2139,3309
$GC,10129,-0.70,-117.3,585.4,-5.5,454,10133,0.00,2.42,0.00,0.000,4,0.000,0.070,2655,3601,3309
$GC,10155,-0.70,-117.3,587.1,-6.8,454,10159,0.00,2.33,0.00,0.000,6,0.000,0.044,2656,2143,3309
$GC,10494,-0.70,-117.3,605.9,-5.6,460,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2142,3309
$GC,10796,-0.70,-117.3,624.2,-6.2,465,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2141,3309
$GC,11099,-0.70,-117.3,642.8,-6.1,470,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2141,3309
$GC,11403,-0.74,-117.3,659.7,-5.5,475,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2141,3309
$GC,11705,-0.74,-117.3,674.1,-4.6,480,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2140,3308
$GC,12009,-0.79,-117.3,687.0,-4.3,485,12011,0.15,0.00,0.00,0.000,6,0.060,0.000,2624,2139,3308
$GC,12311,-0.70,-117.3,704.3,-5.8,490,12313,0.12,0.00,0.00,0.000,6,0.092,0.000,2644,2139,3308
$GC,12615,-0.70,-117.3,720.1,-5.3,495,12619,0.00,2.50,0.00,0.000,4,0.000,0.074,2644,3599,3308
$GC,12635,-0.70,-117.3,721.4,-5.7,495,12640,0.00,2.33,0.00,0.000,6,0.000,0.044,2644,2133,3307
$GC,12979,-0.70,-117.3,741.0,-5.8,501,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2132,3307
$GC,13281,-0.70,-117.3,759.6,-6.2,506,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2132,3307
$GC,13586,-0.70,-117.3,777.1,-5.8,511,13590,0.00,2.53,0.00,0.000,4,0.000,0.075,2644,3600,3307
$GC,13601,-0.70,-117.3,778.3,-5.7,511,13605,0.00,2.30,0.00,0.000,6,0.000,0.045,2644,2169,3306
$GC,13950,-0.70,-117.3,796.9,-5.3,517,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2168,3306
$GC,14253,-0.70,-117.3,812.1,-5.0,522,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2168,3306
$GC,14558,-0.70,-117.3,825.9,-4.6,527,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2168,3306
$GC,14859,-0.70,-117.3,840.3,-4.7,532,14860,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2168,3305
$GC,15162,-0.70,-117.3,854.8,-4.9,537,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2168,3305
$GC,15465,-0.70,-117.3,869.9,-5.0,542,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2167,3305
$GC,15768,-0.70,-117.3,884.9,-5.0,547,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2167,3305
$GC,16071,-0.70,-117.3,899.0,-4.6,552,16072,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2167,3305
$GC,16374,-0.70,-117.3,912.7,-4.6,557,16376,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2166,3305
$GC,16678,-0.70,-117.3,928.0,-5.1,562,16679,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2167,3305
$GC,16981,-0.70,-117.3,943.5,-5.2,567,16985,0.00,2.40,0.00,0.000,4,0.000,0.084,2644,794,3305
$GC,17014,-0.70,-117.3,945.4,-5.2,567,17018,0.00,2.22,0.00,0.000,6,0.000,0.054,2644,2177,3305
$GC,17351,-0.70,-117.3,962.5,-5.1,573,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2177,3305
$GC,17655,-0.70,-117.3,977.7,-5.0,578,17656,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2177,3305
$STATE,17894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17894,begin apogee
$GC,17899,-0.23,0.0,990.0,5.1,582,18005,0.60,0.00,103.28,1.496,6,0.075,0.000,2746,2177,2837
$STATE,18006,end apogee,CONTROL_FINISHED_OK
$STATE,18006,begin climb
$GC,18008,0.67,117.3,991.8,0.0,583,18131,1.12,2.78,113.82,1.451,4,0.048,0.086,2942,3597,2358
$GC,18165,0.39,117.3,988.1,6.6,585,18170,0.35,2.50,0.00,0.000,6,0.093,0.055,2890,2209,2358
$GC,18496,0.40,125.7,970.4,5.2,591,18510,0.00,2.53,9.82,1.288,4,0.000,0.095,2890,779,2324
$GC,18563,0.41,131.9,966.7,5.3,592,18577,0.00,2.30,7.80,1.223,6,0.000,0.057,2890,2186,2299
$GC,18932,0.41,131.9,944.3,6.2,598,18933,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,2299
$GC,19235,0.41,131.9,925.2,6.3,603,19239,0.00,2.40,0.00,0.000,4,0.000,0.088,2890,779,2299
$GC,19273,0.41,131.9,922.6,6.6,603,19277,0.00,2.22,0.00,0.000,6,0.000,0.055,2890,2159,2299
$GC,19600,0.41,131.9,903.5,5.8,609,19601,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2159,2299
$GC,19902,0.41,131.9,884.6,6.3,614,19906,0.00,2.35,0.00,0.000,4,0.000,0.087,2890,786,2299
$GC,19936,0.41,131.9,882.4,6.4,614,19940,0.00,2.15,0.00,0.000,6,0.000,0.054,2890,2133,2298
$GC,20262,0.41,131.9,862.9,5.9,620,20263,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2133,2298
$GC,20565,0.41,131.9,845.1,5.9,625,20569,0.00,2.47,0.00,0.000,4,0.000,0.079,2890,3599,2298
$GC,20603,0.41,131.9,842.7,5.7,625,20607,0.00,2.40,0.00,0.000,6,0.000,0.051,2890,2106,2298
$GC,20930,0.43,143.3,825.5,5.1,631,20943,0.00,0.00,11.88,1.312,6,0.000,0.000,2890,2106,2252
$GC,21232,0.43,143.9,809.0,5.5,636,21233,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2106,2252
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