version: 66.03
glider: 119
mission: 5
dive: 263
start: 12 5 108 12 44 7
data:
$ID,119
$MISSION,5
$DIVE,263
$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,-214645.94
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,123724,4659.362,-12742.572,39,1.3,46,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.6
$GPS2,124315,4659.334,-12742.557,12,1.3,12,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.163,-0.106
$KALMAN_X,-12673.4,27.6,234.5,-195508.7,153.3
$KALMAN_Y,332100.3,-852.4,-52.3,-329714.8,4144.8
$MHEAD_RNG_PITCHd_Wd,218.4,22067,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.30,0.000,2,0.000,0.000,861,2217,2750
$GC,88,-0.67,-117.3,3.2,-2.6,6,120,12.23,0.00,-14.48,0.000,6,0.143,0.000,2649,2217,3316
$GC,441,-0.41,-117.3,49.3,-12.2,45,448,0.30,2.38,0.00,0.000,4,0.083,0.059,2704,795,3316
$GC,494,-0.41,-117.3,53.8,-8.3,54,500,0.00,2.17,0.00,0.000,6,0.000,0.041,2704,2210,3316
$GC,838,-0.47,-117.3,78.3,-5.9,115,844,0.00,2.28,0.00,0.000,4,0.000,0.056,2704,787,3316
$GC,897,-0.60,-117.3,81.5,-5.5,123,901,0.20,2.10,0.00,0.000,6,0.048,0.041,2660,2144,3316
$GC,1222,-0.50,-117.3,108.1,-7.7,153,1226,0.15,2.42,0.00,0.000,4,0.084,0.061,2688,3598,3316
$GC,1254,-0.50,-117.3,110.4,-6.2,155,1261,0.00,2.33,0.00,0.000,6,0.000,0.041,2689,2122,3316
$GC,1583,-0.55,-117.3,129.1,-5.5,186,1587,0.00,2.50,0.00,0.000,4,0.000,0.064,2688,3602,3316
$GC,1627,-0.61,-117.3,132.1,-6.7,189,1634,0.10,2.28,0.00,0.000,6,0.045,0.042,2660,2184,3316
$GC,1960,-0.57,-117.3,156.5,-7.5,217,1964,0.00,2.30,0.00,0.000,4,0.000,0.064,2660,800,3316
$GC,2031,-0.57,-117.3,161.8,-6.8,220,2035,0.00,2.15,0.00,0.000,6,0.000,0.044,2660,2151,3316
$GC,2353,-0.57,-117.3,181.1,-6.1,236,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2151,3317
$GC,2663,-0.57,-117.3,199.1,-5.9,251,2667,0.00,2.42,0.00,0.000,4,0.000,0.067,2659,3605,3316
$GC,2689,-0.57,-117.3,200.9,-6.6,252,2693,0.00,2.30,0.00,0.000,6,0.000,0.043,2659,2154,3316
$GC,3011,-0.57,-117.3,219.8,-5.8,268,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2148,3316
$GC,3320,-0.57,-117.3,237.6,-5.8,283,3324,0.00,2.45,0.00,0.000,4,0.000,0.066,2660,3599,3316
$GC,3340,-0.57,-117.3,239.0,-6.4,284,3344,0.00,2.30,0.00,0.000,6,0.000,0.044,2660,2161,3316
$GC,3668,-0.57,-117.3,257.2,-5.5,300,3672,0.00,2.42,0.00,0.000,4,0.000,0.067,2660,3598,3316
$GC,3689,-0.57,-117.3,258.5,-5.9,301,3693,0.00,2.25,0.00,0.000,6,0.000,0.044,2660,2186,3316
$GC,4016,-0.57,-117.3,276.4,-5.8,317,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3316
$GC,4326,-0.57,-117.3,294.6,-5.8,332,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3316
$GC,4670,-0.57,-117.3,315.1,-6.0,341,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3315
$GC,4973,-0.57,-117.3,332.0,-5.5,346,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3315
$GC,5277,-0.57,-117.3,348.4,-5.5,351,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3314
$GC,5580,-0.57,-117.3,366.8,-6.1,356,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3314
$GC,5883,-0.57,-117.3,384.6,-5.9,361,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3314
$GC,6188,-0.57,-117.3,401.3,-5.5,366,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2181,3313
$GC,6490,-0.61,-117.3,416.6,-5.0,371,6494,0.00,2.38,0.00,0.000,4,0.000,0.073,2660,801,3313
$GC,6523,-0.66,-117.3,418.5,-5.8,371,6527,0.00,2.17,0.00,0.000,6,0.000,0.048,2659,2183,3313
$GC,6849,-0.70,-117.3,433.6,-4.6,377,6853,0.00,2.30,0.00,0.000,4,0.000,0.071,2660,806,3313
$GC,6870,-0.75,-117.3,434.6,-4.7,377,6875,0.12,2.15,0.00,0.000,6,0.064,0.048,2633,2169,3313
$GC,7209,-0.67,-117.3,452.9,-5.4,383,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2169,3312
$GC,7510,-0.59,-117.3,470.9,-6.1,388,7512,0.20,0.00,0.00,0.000,6,0.082,0.000,2667,2169,3312
$GC,7814,-0.67,-117.3,486.0,-5.0,393,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2169,3312
$GC,8119,-0.75,-117.3,500.6,-4.8,398,8121,0.17,0.00,0.00,0.000,6,0.058,0.000,2630,2169,3312
$GC,8419,-0.67,-117.3,518.5,-6.0,403,8421,0.12,0.00,0.00,0.000,6,0.094,0.000,2651,2169,3310
$GC,8722,-0.67,-117.3,533.1,-4.8,408,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2169,3310
$GC,9025,-0.67,-117.3,548.2,-5.0,413,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2169,3310
$GC,9329,-0.67,-117.3,564.3,-5.4,418,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2169,3310
$GC,9633,-0.67,-117.3,580.6,-5.4,423,9637,0.00,2.42,0.00,0.000,4,0.000,0.075,2651,3596,3309
$GC,9654,-0.67,-117.3,582.0,-6.1,423,9659,0.00,2.33,0.00,0.000,6,0.000,0.048,2652,2147,3309
$GC,9998,-0.67,-117.3,601.4,-5.7,429,10002,0.00,2.30,0.00,0.000,4,0.000,0.083,2651,803,3309
$GC,10020,-0.67,-117.3,602.8,-5.8,429,10024,0.00,2.12,0.00,0.000,6,0.000,0.051,2651,2140,3309
$GC,10363,-0.67,-117.3,621.4,-5.4,435,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2140,3309
$GC,10666,-0.67,-117.3,636.8,-5.0,440,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3309
$GC,10970,-0.67,-117.3,652.2,-5.1,445,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3308
$GC,11273,-0.67,-117.3,668.0,-5.2,450,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3308
$GC,11577,-0.67,-117.3,683.8,-5.2,455,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3308
$GC,11878,-0.67,-117.3,698.2,-4.8,460,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3308
$GC,12182,-0.71,-117.3,713.0,-4.8,465,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3308
$GC,12485,-0.75,-117.3,729.3,-5.5,470,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2141,3307
$GC,12788,-0.79,-117.3,746.8,-5.8,475,12790,0.12,0.00,0.00,0.000,6,0.067,0.000,2624,2140,3307
$GC,13091,-0.72,-117.3,767.7,-6.9,480,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2141,3307
$GC,13394,-0.65,-117.3,787.2,-6.4,485,13399,0.15,2.47,0.00,0.000,4,0.091,0.079,2652,3594,3307
$GC,13427,-0.65,-117.3,789.2,-6.0,485,13431,0.00,2.35,0.00,0.000,6,0.000,0.049,2653,2130,3306
$GC,13759,-0.70,-117.3,805.3,-4.8,491,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2130,3306
$GC,14062,-0.75,-117.3,818.5,-4.3,496,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2130,3306
$GC,14366,-0.81,-117.3,832.1,-4.5,501,14368,0.17,0.00,0.00,0.000,6,0.058,0.000,2616,2130,3305
$GC,14669,-0.72,-117.3,850.0,-6.0,506,14671,0.15,0.00,0.00,0.000,6,0.092,0.000,2642,2130,3306
$GC,14971,-0.72,-117.3,865.5,-5.1,511,14976,0.00,2.58,0.00,0.000,4,0.000,0.081,2642,3605,3306
$GC,15016,-0.72,-117.3,868.0,-5.5,511,15020,0.00,2.35,0.00,0.000,6,0.000,0.050,2642,2155,3305
$GC,15331,-0.72,-117.3,884.0,-5.1,517,15335,0.00,2.38,0.00,0.000,4,0.000,0.088,2642,793,3305
$GC,15358,-0.72,-117.3,885.7,-5.5,517,15363,0.00,2.22,0.00,0.000,6,0.000,0.056,2642,2151,3305
$GC,15698,-0.72,-117.3,903.5,-5.3,523,15699,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3305
$GC,15999,-0.72,-117.3,918.7,-5.0,528,16000,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3305
$GC,16302,-0.72,-117.3,932.3,-4.4,533,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3305
$GC,16605,-0.72,-117.3,945.1,-4.2,538,16609,0.00,2.38,0.00,0.000,4,0.000,0.090,2642,792,3305
$GC,16633,-0.72,-117.3,946.3,-5.3,538,16637,0.00,2.20,0.00,0.000,6,0.000,0.059,2641,2151,3305
$GC,16970,-0.72,-117.3,960.5,-4.2,544,16971,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3305
$GC,17273,-0.72,-117.3,973.2,-4.3,549,17274,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3304
$GC,17576,-0.72,-117.3,987.0,-4.6,554,17577,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3305
$STATE,17695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17695,begin apogee
$GC,17701,-0.23,0.0,993.0,4.8,556,17807,0.62,0.00,103.32,1.505,6,0.074,0.000,2749,2203,2837
$STATE,17808,end apogee,CONTROL_FINISHED_OK
$STATE,17808,begin climb
$GC,17810,0.67,117.3,994.4,0.0,557,17931,1.15,0.00,115.22,1.460,6,0.044,0.000,2946,2203,2358
$GC,18241,0.44,117.3,970.4,7.6,565,18246,0.28,2.45,0.00,0.000,4,0.094,0.087,2900,3598,2358
$GC,18303,0.36,117.3,966.4,6.9,566,18308,0.12,2.30,0.00,0.000,6,0.099,0.058,2880,2210,2358
$GC,18668,0.40,151.6,949.8,4.4,572,18713,0.00,2.55,34.95,1.379,4,0.000,0.100,2880,788,2218
$GC,18747,0.42,165.0,945.9,5.1,573,18773,0.00,2.33,16.20,1.211,6,0.000,0.059,2881,2189,2164
$GC,19088,0.49,165.0,927.1,5.5,579,19093,0.12,2.45,0.00,0.000,4,0.067,0.092,2906,788,2164
$GC,19121,0.43,165.0,924.7,7.5,579,19125,0.00,2.25,0.00,0.000,6,0.000,0.059,2906,2174,2164
$GC,19447,0.43,165.0,900.8,7.5,585,19451,0.00,2.42,0.00,0.000,4,0.000,0.093,2906,779,2164
$GC,19474,0.38,165.0,898.6,8.2,585,19478,0.15,2.20,0.00,0.000,6,0.093,0.058,2882,2138,2164
$GC,19811,0.45,165.0,876.6,6.5,591,19814,0.00,2.33,0.00,0.000,4,0.000,0.090,2882,789,2164
$GC,19849,0.45,165.0,873.8,6.8,591,19853,0.00,2.15,0.00,0.000,6,0.000,0.057,2882,2126,2164
$GC,20181,0.52,165.0,853.2,6.2,597,20183,0.15,0.00,0.00,0.000,6,0.063,0.000,2914,2127,2164
$GC,20484,0.52,165.0,830.9,7.4,602,20485,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2127,2164
$GC,20787,0.52,165.0,808.6,7.4,607,20788,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2127,2164
$GC,21090,0.52,165.0,786.5,7.3,612,21091,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2128,2164
$GC,21393,0.52,165.0,765.1,7.1,617,21397,0.00,2.50,0.00,0.000,4,0.000,0.080,2914,3606,2164
$GC,21436,0.45,165.0,761.6,8.3,617,21441,0.00,2.47,0.00,0.000,6,0.000,0.055,2914,2082,2164
$GC,21751,0.45,165.0,738.9,7.2,623,21752,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2082,2164
$GC,22055,0.45,165.0,716.1,7.5,628,22058,0.00,2.25,0.00,0.000,4,0.000,0.089,2914,783,2164
$GC,22093,0.37,165.0,713.0,8.2,628,22098,0.20,2.10,0.00,0.000,6,0.090,0.054,2881,2101,2163
$GC,22414,0.46,165.0,693.4,6.0,634,22418,0.00,2.25,0.00,0.000,4,0.000,0.084,2881,780,2163
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