version: 66.03
glider: 119
mission: 5
dive: 182
start: 11 4 108 5 16 18
data:
$ID,119
$MISSION,5
$DIVE,182
$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,-213226.73
$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,23
$R_STBD_OVSHOOT,47
$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
$GPS1,050602,4709.321,-12735.938,41,1.3,41,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.6
$GPS2,051526,4709.347,-12735.839,10,1.2,15,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,-0.143
$KALMAN_X,-27359.7,-93.6,271.6,-172248.9,-976.6
$KALMAN_Y,176692.4,-105.6,145.2,-156716.2,1917.4
$MHEAD_RNG_PITCHd_Wd,203.9,35085,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,85,0.00,0.00,-61.35,0.000,2,0.000,0.000,860,2226,2767
$GC,88,-0.67,-117.3,3.1,-4.5,6,121,12.18,2.30,-12.77,0.000,4,0.142,0.074,2648,3577,3318
$GC,229,-0.40,-117.3,23.2,-10.8,18,236,0.38,2.20,0.00,0.000,6,0.081,0.040,2711,2185,3318
$GC,557,-0.40,-117.3,46.8,-9.7,55,563,0.00,2.22,0.00,0.000,4,0.000,0.061,2710,791,3318
$GC,604,-0.46,-117.3,50.7,-8.4,63,610,0.00,2.15,0.00,0.000,6,0.000,0.040,2710,2178,3318
$GC,949,-0.54,-117.3,70.3,-5.1,124,955,0.15,0.00,0.00,0.000,6,0.053,0.000,2675,2178,3318
$GC,1282,-0.49,-117.3,93.7,-7.2,167,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2178,3318
$GC,1600,-0.49,-117.3,115.4,-7.1,197,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2178,3318
$GC,1918,-0.49,-117.3,136.9,-6.7,227,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2178,3318
$GC,2235,-0.49,-117.3,154.8,-5.6,253,2239,0.00,2.22,0.00,0.000,4,0.000,0.061,2675,800,3318
$GC,2262,-0.55,-117.3,156.6,-6.2,254,2266,0.00,2.17,0.00,0.000,6,0.000,0.043,2675,2200,3318
$GC,2586,-0.60,-117.3,175.9,-6.1,270,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3318
$GC,2893,-0.66,-117.3,195.0,-6.1,285,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3318
$GC,3202,-0.72,-117.3,212.3,-5.6,300,3207,0.17,2.28,0.00,0.000,4,0.054,0.061,2635,801,3318
$GC,3229,-0.67,-117.3,214.2,-7.3,301,3233,0.00,2.17,0.00,0.000,6,0.000,0.044,2635,2203,3318
$GC,3545,-0.56,-117.3,236.5,-6.9,316,3546,0.22,0.00,0.00,0.000,6,0.079,0.000,2675,2203,3318
$GC,3855,-0.63,-117.3,251.5,-4.7,331,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3318
$GC,4164,-0.71,-117.3,265.9,-4.9,346,4169,0.15,2.30,0.00,0.000,4,0.059,0.064,2637,802,3318
$GC,4196,-0.65,-117.3,268.2,-6.6,347,4203,0.00,2.17,0.00,0.000,6,0.000,0.044,2637,2175,3318
$GC,4513,-0.56,-117.3,288.7,-6.6,363,4515,0.22,0.00,0.00,0.000,6,0.077,0.000,2677,2174,3318
$GC,4820,-0.65,-117.3,303.6,-5.0,376,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2175,3317
$GC,5123,-0.74,-117.3,319.3,-5.2,381,5128,0.17,2.25,0.00,0.000,4,0.054,0.067,2636,800,3315
$GC,5167,-0.69,-117.3,322.5,-7.4,381,5171,0.00,2.12,0.00,0.000,6,0.000,0.044,2636,2160,3316
$GC,5487,-0.61,-117.3,345.4,-7.1,387,5489,0.17,0.00,0.00,0.000,6,0.083,0.000,2667,2161,3315
$GC,5790,-0.67,-117.3,362.3,-5.5,392,5794,0.00,2.25,0.00,0.000,4,0.000,0.070,2667,800,3315
$GC,5812,-0.74,-117.3,363.6,-5.7,392,5816,0.15,2.10,0.00,0.000,6,0.057,0.045,2635,2143,3315
$GC,6155,-0.66,-117.3,385.5,-6.4,398,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2143,3314
$GC,6460,-0.59,-117.3,405.0,-6.4,403,6461,0.20,0.00,0.00,0.000,6,0.081,0.000,2669,2143,3314
$GC,6761,-0.67,-117.3,419.6,-4.7,408,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2143,3314
$GC,7065,-0.74,-117.3,433.2,-4.5,413,7067,0.17,0.00,0.00,0.000,6,0.056,0.000,2632,2143,3313
$GC,7368,-0.66,-117.3,451.6,-6.1,418,7373,0.12,2.42,0.00,0.000,4,0.091,0.068,2653,3596,3313
$GC,7400,-0.66,-117.3,453.7,-5.8,418,7404,0.00,2.33,0.00,0.000,6,0.000,0.047,2653,2125,3312
$GC,7732,-0.66,-117.3,470.7,-5.1,424,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2125,3312
$GC,8035,-0.66,-117.3,486.7,-5.3,429,8039,0.00,2.47,0.00,0.000,4,0.000,0.069,2653,3596,3312
$GC,8056,-0.66,-117.3,488.0,-5.9,429,8061,0.00,2.35,0.00,0.000,6,0.000,0.046,2653,2120,3311
$GC,8400,-0.66,-117.3,505.3,-5.0,435,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2119,3311
$GC,8703,-0.66,-117.3,521.0,-5.2,440,8707,0.00,2.50,0.00,0.000,4,0.000,0.069,2653,3602,3310
$GC,8735,-0.66,-117.3,522.8,-5.7,440,8739,0.00,2.33,0.00,0.000,6,0.000,0.047,2653,2146,3310
$GC,9067,-0.66,-117.3,540.2,-5.3,446,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2146,3310
$GC,9371,-0.66,-117.3,556.9,-5.6,451,9375,0.00,2.33,0.00,0.000,4,0.000,0.087,2653,805,3310
$GC,9398,-0.71,-117.3,558.5,-6.0,451,9402,0.00,2.15,0.00,0.000,6,0.000,0.054,2653,2149,3310
$GC,9736,-0.71,-117.3,576.9,-5.4,457,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2149,3309
$GC,10038,-0.71,-117.3,592.5,-5.2,462,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2149,3309
$GC,10341,-0.71,-117.3,608.1,-5.1,467,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2149,3309
$GC,10645,-0.75,-117.3,623.3,-5.0,472,10649,0.00,2.47,0.00,0.000,4,0.000,0.077,2653,3602,3309
$GC,10666,-0.75,-117.3,624.5,-5.6,472,10670,0.00,2.33,0.00,0.000,6,0.000,0.048,2653,2145,3309
$GC,11015,-0.79,-117.3,642.6,-5.3,478,11017,0.12,0.00,0.00,0.000,6,0.066,0.000,2625,2144,3309
$GC,11318,-0.71,-117.3,662.0,-6.4,483,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2144,3308
$GC,11621,-0.64,-117.3,681.7,-6.4,488,11626,0.15,2.47,0.00,0.000,4,0.088,0.077,2654,3596,3308
$GC,11648,-0.64,-117.3,683.3,-5.8,488,11652,0.00,2.30,0.00,0.000,6,0.000,0.048,2655,2152,3307
$GC,11987,-0.69,-117.3,701.1,-5.3,494,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2152,3308
$GC,12289,-0.75,-117.3,716.7,-5.2,499,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2151,3307
$GC,12592,-0.80,-117.3,732.2,-5.1,504,12597,0.15,2.38,0.00,0.000,4,0.061,0.091,2623,796,3307
$GC,12613,-0.80,-117.3,733.7,-6.1,504,12617,0.00,2.20,0.00,0.000,6,0.000,0.058,2623,2156,3307
$GC,12956,-0.72,-117.3,754.7,-6.1,510,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2156,3306
$GC,13259,-0.65,-117.3,772.1,-5.6,515,13261,0.20,0.00,0.00,0.000,6,0.081,0.000,2657,2156,3306
$GC,13565,-0.78,-117.3,785.3,-4.4,520,13569,0.15,2.38,0.00,0.000,4,0.058,0.088,2621,794,3306
$GC,13626,-0.78,-117.3,788.7,-5.1,521,13630,0.00,2.05,0.00,0.000,6,0.000,0.061,2621,2061,3306
$GC,13999,-0.78,-117.3,807.9,-5.3,527,14003,0.00,2.20,0.00,0.000,4,0.000,0.091,2621,798,3305
$GC,14140,-0.73,-117.3,815.4,-4.8,529,14145,0.00,2.65,0.00,0.000,6,0.000,0.061,2621,2411,3305
$GC,14496,-0.65,-117.3,833.8,-5.3,535,14501,0.17,2.83,0.00,0.000,4,0.084,0.087,2654,795,3305
$GC,14569,-0.75,-117.3,837.3,-4.4,536,14573,0.00,2.53,0.00,0.000,6,0.000,0.063,2654,2334,3305
$GC,14924,-0.91,-117.3,856.1,-5.5,542,14929,0.25,2.22,0.00,0.000,4,0.051,0.091,2599,3604,3305
$GC,14996,-0.71,-117.3,861.2,-7.2,543,15002,0.25,2.83,0.00,0.000,6,0.081,0.058,2640,1877,3305
$GC,15352,-0.71,-117.3,879.6,-5.2,549,15357,0.00,2.97,0.00,0.000,4,0.000,0.083,2640,3600,3304
$GC,15440,-0.71,-117.3,884.8,-5.2,550,15445,0.00,2.65,0.00,0.000,6,0.000,0.057,2641,1973,3305
$GC,15785,-0.71,-117.3,902.9,-5.3,556,15789,0.00,2.83,0.00,0.000,4,0.000,0.085,2640,3600,3305
$GC,15839,-0.71,-117.3,906.2,-6.0,556,15845,0.00,2.55,0.00,0.000,6,0.000,0.058,2640,2041,3304
$GC,16149,-0.71,-117.3,921.9,-5.1,562,16153,0.00,2.72,0.00,0.000,4,0.000,0.087,2640,3599,3304
$GC,16181,-0.71,-117.3,923.7,-5.6,562,16185,0.00,2.50,0.00,0.000,6,0.000,0.059,2640,2078,3304
$GC,16507,-0.71,-117.3,940.1,-5.1,568,16512,0.00,2.65,0.00,0.000,4,0.000,0.087,2640,3596,3305
$GC,16534,-0.71,-117.3,941.6,-5.3,568,16539,0.00,2.42,0.00,0.000,6,0.000,0.059,2640,2117,3304
$GC,16874,-0.71,-117.3,958.8,-5.0,574,16878,0.00,2.60,0.00,0.000,4,0.000,0.089,2640,3596,3304
$GC,16900,-0.71,-117.3,960.2,-4.9,574,16904,0.00,2.40,0.00,0.000,6,0.000,0.061,2640,2134,3304
$GC,17240,-0.71,-117.3,977.6,-5.2,580,17241,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2133,3304
$STATE,17478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17478,begin apogee
$GC,17483,-0.23,0.0,990.6,5.3,584,17589,0.62,0.00,102.53,1.493,6,0.072,0.000,2747,2201,2837
$STATE,17590,end apogee,CONTROL_FINISHED_OK
$STATE,17590,begin climb
$GC,17592,0.67,117.3,992.4,0.0,585,17712,1.15,2.70,112.28,1.443,4,0.044,0.092,2944,3595,2357
$GC,17744,0.35,117.3,988.6,9.1,588,17750,0.43,2.47,0.00,0.000,6,0.095,0.064,2883,2216,2357
$GC,18082,0.36,120.4,970.0,5.4,594,18091,0.00,2.60,4.60,0.979,4,0.000,0.111,2882,783,2346
$GC,18130,0.36,120.4,966.9,6.1,594,18134,0.00,2.35,0.00,0.000,6,0.000,0.069,2882,2182,2346
$GC,18445,0.36,120.4,948.8,5.8,600,18446,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2182,2346
$GC,18748,0.36,120.4,930.9,5.9,605,18749,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2182,2346
$GC,19051,0.36,120.4,913.9,5.6,610,19052,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2182,2346
$GC,19354,0.37,128.4,897.9,5.2,615,19368,0.00,2.50,8.93,1.279,4,0.000,0.103,2882,776,2313
$GC,19408,0.37,128.4,894.7,6.2,615,19412,0.00,2.30,0.00,0.000,6,0.000,0.064,2882,2178,2312
$GC,19724,0.37,134.3,878.0,5.3,621,19737,0.00,2.50,7.07,1.203,4,0.000,0.097,2882,784,2289
$GC,19766,0.38,141.7,875.5,5.3,621,19780,0.00,2.25,8.73,1.253,6,0.000,0.064,2882,2152,2259
$GC,20091,0.38,141.7,856.8,5.8,627,20095,0.00,2.50,0.00,0.000,4,0.000,0.086,2882,3608,2259
$GC,20124,0.38,141.7,854.5,7.0,627,20128,0.00,2.40,0.00,0.000,6,0.000,0.057,2882,2138,2259
$GC,20455,0.38,141.7,833.7,6.4,633,20459,0.00,2.35,0.00,0.000,4,0.000,0.098,2882,787,2259
$GC,20489,0.38,141.7,831.6,6.5,633,20493,0.00,2.22,0.00,0.000,6,0.000,0.061,2882,2159,2259
$GC,20815,0.38,141.7,811.6,6.0,639,20816,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2159,2259
$GC,21118,0.43,141.7,794.5,5.6,644,21120,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2159,2259
$GC,21421,0.43,143.1,778.0,5.5,649,21425,0.00,2.38,0.00,0.000,4,0.000,0.092,2882,786,2259
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