version: 66.03
glider: 119
mission: 5
dive: 262
start: 12 5 108 3 13 39
data:
$ID,119
$MISSION,5
$DIVE,262
$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,-214629.94
$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,16
$R_STBD_OVSHOOT,34
$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
$GPS1,030656,4659.523,-12737.547,38,1.5,38,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-71.7
$GPS2,031245,4659.538,-12737.589,13,1.2,13,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.033
$KALMAN_X,-13156.1,-22.0,109.8,-188580.2,-103.5
$KALMAN_Y,329810.6,681.1,-86.9,-328549.6,1383.7
$MHEAD_RNG_PITCHd_Wd,241.8,28320,-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,-51.95,0.000,2,0.000,0.000,864,2215,2549
$GC,77,-0.67,-117.3,3.5,-4.0,5,121,12.23,2.45,-21.77,0.000,4,0.143,0.069,2647,780,3317
$GC,194,-0.43,-117.3,17.7,-11.7,15,200,0.32,2.22,0.00,0.000,6,0.080,0.041,2701,2196,3317
$GC,521,-0.43,-117.3,39.5,-6.6,46,525,0.00,2.30,0.00,0.000,4,0.000,0.058,2702,771,3317
$GC,567,-0.43,-117.3,43.1,-7.0,53,573,0.00,2.15,0.00,0.000,6,0.000,0.041,2702,2168,3317
$GC,911,-0.43,-117.3,68.2,-7.1,114,918,0.00,2.22,0.00,0.000,4,0.000,0.057,2701,772,3317
$GC,958,-0.50,-117.3,71.5,-7.0,122,964,0.00,2.05,0.00,0.000,6,0.000,0.041,2702,2108,3317
$GC,1292,-0.56,-117.3,91.6,-6.1,165,1297,0.12,2.47,0.00,0.000,4,0.061,0.061,2671,3605,3318
$GC,1336,-0.50,-117.3,95.0,-7.5,168,1342,0.00,2.38,0.00,0.000,6,0.000,0.041,2672,2088,3317
$GC,1664,-0.44,-117.3,118.1,-7.3,199,1669,0.17,2.53,0.00,0.000,4,0.080,0.062,2704,3605,3318
$GC,1720,-0.54,-117.3,121.6,-5.5,203,1726,0.00,2.28,0.00,0.000,6,0.000,0.041,2705,2154,3318
$GC,2046,-0.82,-117.3,144.4,-6.8,234,2051,0.43,2.42,0.00,0.000,4,0.042,0.063,2616,3602,3318
$GC,2132,-0.59,-117.3,152.6,-10.5,240,2136,0.32,2.03,0.00,0.000,6,0.078,0.042,2671,2318,3318
$GC,2458,-0.59,-117.3,172.8,-5.5,256,2462,0.00,2.53,0.00,0.000,4,0.000,0.063,2671,794,3318
$GC,2499,-0.63,-117.3,174.9,-5.1,258,2507,0.00,2.35,0.00,0.000,6,0.000,0.046,2671,2292,3318
$GC,2834,-0.63,-117.3,192.0,-5.1,274,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2292,3318
$GC,3144,-0.63,-117.3,208.8,-5.7,289,3148,0.00,2.42,0.00,0.000,4,0.000,0.061,2671,799,3318
$GC,3188,-0.69,-117.3,211.8,-6.7,291,3192,0.00,2.30,0.00,0.000,6,0.000,0.046,2671,2266,3318
$GC,3509,-0.69,-117.3,231.1,-6.2,307,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2266,3318
$GC,3819,-0.74,-117.3,248.4,-5.3,322,3824,0.15,2.40,0.00,0.000,4,0.056,0.061,2634,797,3318
$GC,3861,-0.65,-117.3,251.1,-7.1,324,3865,0.12,2.25,0.00,0.000,6,0.087,0.045,2656,2232,3318
$GC,4187,-0.65,-117.3,270.2,-5.9,340,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2233,3318
$GC,4497,-0.65,-117.3,288.1,-5.8,355,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2232,3318
$GC,4823,-0.65,-117.3,307.7,-6.0,367,4827,0.00,2.35,0.00,0.000,4,0.000,0.064,2656,802,3317
$GC,4855,-0.65,-117.3,309.8,-6.4,367,4859,0.00,2.22,0.00,0.000,6,0.000,0.046,2655,2219,3317
$GC,5187,-0.65,-117.3,330.4,-6.2,373,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2219,3316
$GC,5490,-0.65,-117.3,348.9,-6.1,378,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2219,3316
$GC,5793,-0.65,-117.3,366.8,-5.8,383,5797,0.00,2.35,0.00,0.000,4,0.000,0.067,2656,795,3316
$GC,5825,-0.65,-117.3,368.7,-6.1,383,5829,0.00,2.22,0.00,0.000,6,0.000,0.046,2656,2194,3316
$GC,6159,-0.65,-117.3,387.1,-5.6,389,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2194,3316
$GC,6460,-0.65,-117.3,405.8,-6.3,394,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2194,3315
$GC,6763,-0.65,-117.3,424.7,-6.2,399,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2194,3314
$GC,7066,-0.65,-117.3,442.7,-5.9,404,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2194,3314
$GC,7370,-0.65,-117.3,458.5,-5.1,409,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2194,3313
$GC,7672,-0.65,-117.3,473.7,-5.0,414,7677,0.00,2.33,0.00,0.000,4,0.000,0.073,2655,807,3313
$GC,7705,-0.65,-117.3,475.5,-5.6,414,7709,0.00,2.20,0.00,0.000,6,0.000,0.049,2655,2196,3313
$GC,8037,-0.65,-117.3,492.1,-4.9,420,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3313
$GC,8341,-0.65,-117.3,506.9,-4.9,425,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3313
$GC,8643,-0.65,-117.3,522.3,-5.1,430,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2196,3312
$GC,8947,-0.65,-117.3,538.3,-5.3,435,8951,0.00,2.35,0.00,0.000,4,0.000,0.076,2655,802,3312
$GC,8991,-0.70,-117.3,540.8,-5.3,435,8995,0.00,2.15,0.00,0.000,6,0.000,0.051,2655,2158,3312
$GC,9306,-0.70,-117.3,556.8,-5.0,441,9310,0.00,2.40,0.00,0.000,4,0.000,0.073,2655,3601,3312
$GC,9332,-0.70,-117.3,558.3,-5.9,441,9337,0.00,2.28,0.00,0.000,6,0.000,0.048,2656,2169,3311
$GC,9670,-0.70,-117.3,574.6,-4.9,447,9674,0.00,2.30,0.00,0.000,4,0.000,0.081,2655,805,3311
$GC,9698,-0.75,-117.3,576.1,-6.1,447,9702,0.00,2.17,0.00,0.000,6,0.000,0.051,2655,2178,3311
$GC,10030,-0.75,-117.3,592.2,-4.8,453,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2178,3311
$GC,10333,-0.75,-117.3,606.5,-4.6,458,10337,0.00,2.33,0.00,0.000,4,0.000,0.077,2655,802,3310
$GC,10366,-0.80,-117.3,608.2,-5.3,458,10371,0.17,2.15,0.00,0.000,6,0.055,0.051,2620,2155,3310
$GC,10693,-0.68,-117.3,628.6,-6.4,464,10697,0.15,2.45,0.00,0.000,4,0.089,0.074,2648,3607,3310
$GC,10730,-0.68,-117.3,631.2,-6.6,464,10735,0.00,2.28,0.00,0.000,6,0.000,0.048,2648,2182,3310
$GC,11057,-0.68,-117.3,649.4,-5.5,470,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2181,3310
$GC,11359,-0.68,-117.3,666.6,-5.7,475,11364,0.00,2.35,0.00,0.000,4,0.000,0.082,2648,802,3310
$GC,11391,-0.68,-117.3,668.6,-6.5,475,11395,0.00,2.20,0.00,0.000,6,0.000,0.052,2648,2180,3310
$GC,11723,-0.68,-117.3,687.7,-5.7,481,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2180,3309
$GC,12027,-0.68,-117.3,705.2,-5.8,486,12031,0.00,2.35,0.00,0.000,4,0.000,0.080,2648,798,3309
$GC,12059,-0.68,-117.3,707.2,-6.2,486,12063,0.00,2.20,0.00,0.000,6,0.000,0.054,2648,2169,3309
$GC,12392,-0.68,-117.3,726.0,-5.6,492,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2169,3309
$GC,12694,-0.68,-117.3,741.9,-5.2,497,12698,0.00,2.35,0.00,0.000,4,0.000,0.081,2648,793,3308
$GC,12722,-0.68,-117.3,743.4,-4.9,497,12726,0.00,2.17,0.00,0.000,6,0.000,0.054,2648,2150,3309
$GC,13059,-0.68,-117.3,759.1,-4.6,503,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2150,3308
$GC,13362,-0.68,-117.3,772.1,-4.3,508,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2150,3308
$GC,13665,-0.68,-117.3,784.8,-4.2,513,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2150,3308
$GC,13968,-0.68,-117.3,798.3,-4.5,518,13972,0.00,2.33,0.00,0.000,4,0.000,0.082,2648,794,3308
$GC,14002,-0.68,-117.3,800.1,-5.1,518,14006,0.00,2.17,0.00,0.000,6,0.000,0.055,2648,2146,3308
$GC,14339,-0.68,-117.3,817.3,-5.2,524,14340,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2146,3308
$GC,14643,-0.68,-117.3,833.9,-5.5,529,14644,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2146,3307
$GC,14945,-0.68,-117.3,850.0,-5.3,534,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2146,3307
$GC,15248,-0.68,-117.3,864.7,-4.8,539,15252,0.00,2.33,0.00,0.000,4,0.000,0.084,2648,800,3307
$GC,15282,-0.72,-117.3,866.5,-5.3,539,15286,0.00,2.15,0.00,0.000,6,0.000,0.057,2648,2131,3307
$GC,15614,-0.72,-117.3,879.8,-3.9,545,15615,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2131,3307
$GC,15916,-0.72,-117.3,889.7,-3.2,550,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2131,3306
$GC,16221,-0.76,-117.3,901.1,-3.8,555,16222,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2131,3306
$GC,16523,-0.81,-117.3,915.0,-4.7,560,16525,0.12,0.00,0.00,0.000,6,0.066,0.000,2622,2131,3306
$GC,16826,-0.73,-117.3,933.8,-6.3,565,16830,0.00,2.55,0.00,0.000,4,0.000,0.087,2621,3595,3305
$GC,16853,-0.64,-117.3,935.7,-7.5,565,16857,0.22,2.38,0.00,0.000,6,0.083,0.051,2659,2131,3305
$GC,17191,-0.81,-117.3,955.4,-6.1,571,17196,0.17,2.58,0.00,0.000,4,0.059,0.083,2617,3601,3305
$GC,17292,-0.70,-117.3,962.4,-7.2,572,17296,0.15,1.92,0.00,0.000,6,0.090,0.050,2643,2399,3305
$GC,17624,-0.70,-117.3,979.8,-5.2,578,17628,0.00,2.78,0.00,0.000,4,0.000,0.091,2643,805,3305
$GC,17708,-0.74,-117.3,984.3,-5.6,579,17712,0.00,2.53,0.00,0.000,6,0.000,0.060,2642,2351,3305
$STATE,17865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17866,begin apogee
$GC,17871,-0.23,0.0,992.1,4.8,582,17988,0.60,0.00,105.72,1.483,6,0.074,0.000,2745,2195,2837
$STATE,17989,end apogee,CONTROL_FINISHED_OK
$STATE,17989,begin climb
$GC,17991,0.67,117.3,995.4,0.0,584,18110,1.17,0.00,115.53,1.460,6,0.049,0.000,2946,2195,2358
$GC,18412,0.46,117.3,966.4,8.6,591,18414,0.28,0.00,0.00,0.000,6,0.089,0.000,2901,2195,2358
$GC,18714,0.41,117.3,945.6,6.8,596,18718,0.00,2.42,0.00,0.000,4,0.000,0.095,2901,805,2358
$GC,18753,0.34,117.3,942.7,7.2,596,18758,0.15,2.30,0.00,0.000,6,0.095,0.061,2877,2216,2358
$GC,19073,0.39,117.3,924.7,5.5,602,19078,0.00,2.45,0.00,0.000,4,0.000,0.091,2877,803,2358
$GC,19117,0.39,117.3,922.1,7.4,602,19121,0.00,2.22,0.00,0.000,6,0.000,0.059,2877,2174,2358
$GC,19439,0.47,135.4,906.3,4.9,608,19459,0.12,0.00,18.23,1.401,6,0.066,0.000,2904,2174,2285
$GC,19741,0.47,135.4,889.2,5.6,613,19745,0.00,2.38,0.00,0.000,4,0.000,0.089,2904,804,2285
$GC,19791,0.41,135.4,886.2,5.9,613,19795,0.00,2.20,0.00,0.000,6,0.000,0.058,2904,2156,2285
$GC,20106,0.41,136.6,868.9,5.5,619,20110,0.00,2.47,0.00,0.000,4,0.000,0.084,2903,3609,2285
$GC,20158,0.36,136.6,865.7,6.7,619,20163,0.15,2.33,0.00,0.000,6,0.094,0.054,2879,2175,2285
$GC,20472,0.45,164.8,851.1,4.6,625,20507,0.00,2.45,28.15,1.402,4,0.000,0.090,2879,800,2165
$GC,20575,0.52,164.8,845.5,5.5,626,20579,0.17,2.15,0.00,0.000,6,0.058,0.054,2914,2126,2165
$GC,20900,0.52,164.8,823.0,7.1,632,20901,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2126,2165
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