version: 66.03
glider: 119
mission: 5
dive: 254
start: 12 1 108 22 18 9
data:
$ID,119
$MISSION,5
$DIVE,254
$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,-214444.02
$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,36
$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
$GPS1,221128,4657.131,-12652.006,31,2.2,50,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.8
$GPS2,221715,4657.143,-12652.029,14,1.6,14,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.194,0.018
$KALMAN_X,-7337.4,-485.5,-608.4,-135614.5,904.9
$KALMAN_Y,311189.2,603.6,328.8,-314699.4,-279.3
$MHEAD_RNG_PITCHd_Wd,256.8,86014,-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,-61.97,0.000,2,0.000,0.000,860,2215,2771
$GC,87,-0.67,-117.3,3.6,-4.5,6,120,12.23,2.45,-12.95,0.000,4,0.143,0.074,2650,782,3319
$GC,241,-0.46,-117.3,24.1,-11.0,19,248,0.28,2.22,0.00,0.000,6,0.079,0.042,2696,2200,3319
$GC,572,-0.46,-117.3,51.6,-8.0,62,579,0.00,2.30,0.00,0.000,4,0.000,0.058,2696,770,3319
$GC,609,-0.46,-117.3,54.2,-7.5,68,615,0.00,2.15,0.00,0.000,6,0.000,0.041,2696,2162,3318
$GC,955,-0.51,-117.3,77.7,-5.6,129,961,0.00,2.38,0.00,0.000,4,0.000,0.062,2696,3597,3319
$GC,1002,-0.58,-117.3,80.7,-6.5,136,1006,0.00,2.22,0.00,0.000,6,0.000,0.039,2696,2187,3319
$GC,1329,-0.64,-117.3,98.9,-5.5,166,1334,0.15,2.30,0.00,0.000,4,0.054,0.060,2657,802,3319
$GC,1369,-0.57,-117.3,101.7,-7.8,169,1373,0.00,2.17,0.00,0.000,6,0.000,0.042,2657,2201,3319
$GC,1695,-0.50,-117.3,124.5,-6.7,199,1700,0.15,2.28,0.00,0.000,4,0.082,0.059,2687,799,3319
$GC,1763,-0.63,-117.3,128.0,-4.5,204,1770,0.12,2.12,0.00,0.000,6,0.058,0.044,2657,2177,3319
$GC,2088,-0.63,-117.3,148.6,-6.8,235,2092,0.00,2.40,0.00,0.000,4,0.000,0.065,2656,3603,3319
$GC,2110,-0.63,-117.3,150.3,-7.3,236,2116,0.00,2.28,0.00,0.000,6,0.000,0.042,2657,2162,3319
$GC,2427,-0.63,-117.3,169.4,-5.8,252,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2157,3320
$GC,2735,-0.63,-117.3,186.2,-5.2,267,2739,0.00,2.45,0.00,0.000,4,0.000,0.065,2656,3607,3319
$GC,2767,-0.63,-117.3,187.9,-5.4,268,2774,0.00,2.25,0.00,0.000,6,0.000,0.043,2657,2185,3319
$GC,3083,-0.63,-117.3,203.8,-5.5,284,3088,0.00,2.40,0.00,0.000,4,0.000,0.065,2656,3606,3319
$GC,3116,-0.63,-117.3,205.8,-6.1,285,3123,0.00,2.25,0.00,0.000,6,0.000,0.044,2657,2186,3319
$GC,3432,-0.63,-117.3,223.9,-5.6,301,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2181,3319
$GC,3741,-0.63,-117.3,241.0,-5.5,316,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2180,3319
$GC,4051,-0.63,-117.3,258.9,-5.8,331,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2180,3319
$GC,4360,-0.63,-117.3,277.2,-5.9,346,4364,0.00,2.40,0.00,0.000,4,0.000,0.067,2656,3604,3319
$GC,4381,-0.63,-117.3,278.7,-6.4,347,4385,0.00,2.22,0.00,0.000,6,0.000,0.044,2657,2226,3318
$GC,4709,-0.63,-117.3,298.2,-5.9,363,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2221,3318
$GC,5052,-0.63,-117.3,320.4,-6.5,370,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2221,3318
$GC,5355,-0.63,-117.3,340.2,-6.5,375,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2221,3318
$GC,5658,-0.63,-117.3,357.9,-5.8,380,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2221,3317
$GC,5962,-0.63,-117.3,373.8,-5.2,385,5966,0.00,2.33,0.00,0.000,4,0.000,0.068,2656,3597,3317
$GC,5990,-0.63,-117.3,375.3,-5.8,385,5994,0.00,2.15,0.00,0.000,6,0.000,0.044,2657,2250,3316
$GC,6321,-0.63,-117.3,392.9,-5.4,391,6326,0.00,2.45,0.00,0.000,4,0.000,0.072,2657,802,3316
$GC,6348,-0.63,-117.3,394.4,-5.8,391,6353,0.00,2.28,0.00,0.000,6,0.000,0.048,2657,2230,3316
$GC,6688,-0.63,-117.3,414.0,-5.8,397,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2230,3316
$GC,6989,-0.63,-117.3,430.6,-5.4,402,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2230,3315
$GC,7292,-0.63,-117.3,446.0,-5.1,407,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2230,3315
$GC,7595,-0.63,-117.3,462.1,-5.4,412,7599,0.00,2.40,0.00,0.000,4,0.000,0.073,2657,795,3315
$GC,7617,-0.63,-117.3,463.4,-6.2,412,7621,0.00,2.30,0.00,0.000,6,0.000,0.049,2656,2244,3315
$GC,7960,-0.63,-117.3,481.9,-5.3,418,7964,0.00,2.40,0.00,0.000,4,0.000,0.073,2656,805,3315
$GC,7981,-0.67,-117.3,483.2,-5.6,418,7985,0.00,2.25,0.00,0.000,6,0.000,0.049,2656,2223,3315
$GC,8325,-0.67,-117.3,500.0,-4.9,424,8329,0.00,2.38,0.00,0.000,4,0.000,0.074,2657,806,3314
$GC,8353,-0.71,-117.3,501.4,-4.9,424,8357,0.00,2.20,0.00,0.000,6,0.000,0.049,2656,2199,3314
$GC,8684,-0.71,-117.3,516.4,-4.4,430,8688,0.00,2.35,0.00,0.000,4,0.000,0.074,2657,796,3314
$GC,8706,-0.76,-117.3,517.5,-5.0,430,8710,0.00,2.17,0.00,0.000,6,0.000,0.050,2656,2170,3313
$GC,9043,-0.76,-117.3,532.5,-4.5,436,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2170,3313
$GC,9346,-0.76,-117.3,548.2,-5.3,441,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2170,3313
$GC,9649,-0.80,-117.3,565.4,-5.7,446,9653,0.15,2.30,0.00,0.000,4,0.058,0.075,2619,806,3312
$GC,9670,-0.76,-117.3,567.0,-7.0,446,9674,0.00,2.17,0.00,0.000,6,0.000,0.051,2619,2174,3313
$GC,10013,-0.64,-117.3,590.5,-6.8,452,10018,0.20,2.42,0.00,0.000,4,0.082,0.074,2655,3609,3312
$GC,10034,-0.64,-117.3,591.8,-5.7,452,10038,0.00,2.30,0.00,0.000,6,0.000,0.048,2656,2175,3311
$GC,10378,-0.69,-117.3,607.5,-4.6,458,10382,0.00,2.38,0.00,0.000,4,0.000,0.082,2655,800,3311
$GC,10400,-0.74,-117.3,608.7,-5.0,458,10404,0.00,2.15,0.00,0.000,6,0.000,0.051,2656,2153,3312
$GC,10738,-0.79,-117.3,624.7,-4.8,464,10740,0.15,0.00,0.00,0.000,6,0.058,0.000,2623,2153,3310
$GC,11041,-0.69,-117.3,645.4,-7.0,469,11045,0.12,2.30,0.00,0.000,4,0.091,0.078,2643,796,3310
$GC,11062,-0.69,-117.3,646.8,-6.6,469,11066,0.00,2.17,0.00,0.000,6,0.000,0.054,2644,2133,3311
$GC,11411,-0.69,-117.3,668.4,-6.2,475,11415,0.00,2.50,0.00,0.000,4,0.000,0.077,2644,3608,3310
$GC,11443,-0.69,-117.3,670.6,-7.4,475,11448,0.00,2.35,0.00,0.000,6,0.000,0.050,2644,2147,3310
$GC,11769,-0.69,-117.3,689.9,-5.9,481,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2147,3310
$GC,12073,-0.69,-117.3,706.5,-5.4,486,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2147,3310
$GC,12376,-0.69,-117.3,721.5,-4.9,491,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2146,3310
$GC,12679,-0.69,-117.3,735.5,-4.6,496,12684,0.00,2.53,0.00,0.000,4,0.000,0.077,2644,3602,3310
$GC,12717,-0.69,-117.3,737.6,-5.6,496,12722,0.00,2.35,0.00,0.000,6,0.000,0.050,2644,2157,3309
$GC,13044,-0.69,-117.3,753.2,-4.8,502,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3309
$GC,13347,-0.69,-117.3,768.6,-5.1,507,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3309
$GC,13650,-0.69,-117.3,784.8,-5.4,512,13652,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3309
$GC,13954,-0.69,-117.3,801.5,-5.4,517,13958,0.00,2.50,0.00,0.000,4,0.000,0.080,2644,3598,3309
$GC,13980,-0.69,-117.3,803.3,-6.2,517,13984,0.00,2.30,0.00,0.000,6,0.000,0.050,2644,2175,3308
$GC,14318,-0.69,-117.3,821.8,-5.4,523,14322,0.00,2.40,0.00,0.000,4,0.000,0.089,2644,795,3308
$GC,14340,-0.69,-117.3,823.2,-5.8,523,14344,0.00,2.25,0.00,0.000,6,0.000,0.057,2644,2188,3308
$GC,14683,-0.69,-117.3,840.9,-5.2,529,14687,0.00,2.40,0.00,0.000,4,0.000,0.085,2644,795,3308
$GC,14709,-0.69,-117.3,842.3,-6.1,529,14713,0.00,2.22,0.00,0.000,6,0.000,0.058,2644,2171,3308
$GC,15048,-0.69,-117.3,859.3,-5.0,535,15052,0.00,2.45,0.00,0.000,4,0.000,0.083,2644,3599,3308
$GC,15069,-0.69,-117.3,860.3,-4.6,535,15073,0.00,2.30,0.00,0.000,6,0.000,0.051,2644,2168,3308
$GC,15413,-0.69,-117.3,876.8,-4.8,541,15414,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2167,3307
$GC,15715,-0.69,-117.3,890.4,-4.4,546,15719,0.00,2.38,0.00,0.000,4,0.000,0.091,2644,792,3307
$GC,15750,-0.69,-117.3,891.9,-4.6,546,15754,0.00,2.25,0.00,0.000,6,0.000,0.058,2644,2181,3308
$GC,16077,-0.69,-117.3,907.0,-4.7,552,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2181,3308
$GC,16378,-0.69,-117.3,922.4,-5.1,557,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2181,3307
$GC,16682,-0.69,-117.3,938.1,-5.2,562,16686,0.00,2.42,0.00,0.000,4,0.000,0.091,2643,792,3307
$GC,16703,-0.69,-117.3,939.4,-5.5,562,16707,0.00,2.25,0.00,0.000,6,0.000,0.060,2644,2169,3307
$GC,17052,-0.69,-117.3,957.0,-5.1,568,17053,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,3307
$GC,17355,-0.69,-117.3,971.9,-4.8,573,17356,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,3306
$GC,17658,-0.69,-117.3,985.7,-4.5,578,17659,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,3306
$STATE,17777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17777,begin apogee
$GC,17782,-0.23,0.0,990.8,4.4,580,17899,0.60,0.00,105.55,1.483,6,0.073,0.000,2747,2169,2837
$STATE,17900,end apogee,CONTROL_FINISHED_OK
$STATE,17900,begin climb
$GC,17902,0.67,117.3,993.7,0.0,582,18026,1.12,2.78,114.20,1.467,4,0.046,0.087,2944,3598,2358
$GC,18036,0.44,117.3,988.8,6.9,584,18042,0.32,2.50,0.00,0.000,6,0.092,0.057,2897,2213,2358
$GC,18390,0.44,117.3,966.0,6.4,590,18391,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2213,2358
$GC,18693,0.44,117.3,947.0,6.2,595,18695,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2212,2358
$GC,18996,0.44,117.3,927.7,6.4,600,18997,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2213,2358
$GC,19299,0.44,117.3,907.9,6.6,605,19304,0.00,2.50,0.00,0.000,4,0.000,0.098,2897,786,2358
$GC,19332,0.38,117.3,905.5,6.9,605,19336,0.00,2.28,0.00,0.000,6,0.000,0.058,2897,2193,2358
$GC,19658,0.38,117.3,883.6,6.8,611,19659,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2193,2358
$GC,19961,0.38,117.3,862.8,6.8,616,19965,0.00,2.42,0.00,0.000,4,0.000,0.084,2897,3602,2358
$GC,19993,0.33,117.3,860.4,6.6,616,19998,0.15,2.33,0.00,0.000,6,0.097,0.055,2873,2167,2358
$GC,20319,0.40,117.3,842.1,5.5,622,20323,0.00,2.35,0.00,0.000,4,0.000,0.091,2873,799,2357
$GC,20374,0.41,132.9,838.9,5.0,622,20394,0.00,2.15,15.55,1.360,6,0.000,0.056,2873,2144,2295
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