version: 66.03
glider: 119
mission: 5
dive: 31
start: 9 22 108 9 34 55
data:
$ID,119
$MISSION,5
$DIVE,31
$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,550
$T_MISSION,570
$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,-210273.66
$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,20
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,092838,4701.120,-12603.602,30,0.9,30,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.4
$GPS2,093403,4701.112,-12603.542,8,1.7,8,18.5
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.201,-0.012
$KALMAN_X,45192.6,-332.9,-384.3,-127251.7,5088.6
$KALMAN_Y,45936.8,-758.3,-112.9,-40299.0,6877.9
$MHEAD_RNG_PITCHd_Wd,248.1,147108,-12.6,-6.000
$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,-0.72,-117.3,0.0,0.0,0,84,0.00,0.00,-62.05,0.000,2,0.000,0.000,864,2210,2941
$GC,87,-0.72,-117.3,4.3,-6.1,6,113,12.27,2.40,-7.28,0.000,4,0.152,0.087,2636,3599,3318
$GC,157,-0.36,-117.3,23.8,-17.8,12,164,0.50,2.30,0.00,0.000,6,0.085,0.058,2717,2186,3318
$GC,488,-0.67,-117.3,46.5,-6.4,51,495,0.32,2.30,0.00,0.000,4,0.048,0.070,2650,786,3319
$GC,603,-0.61,-117.3,55.9,-8.1,71,609,0.00,2.30,0.00,0.000,6,0.000,0.060,2649,2205,3319
$GC,953,-0.52,-117.3,81.1,-7.8,132,958,0.17,2.38,0.00,0.000,4,0.085,0.077,2682,796,3321
$GC,1015,-0.63,-117.3,85.5,-6.8,137,1019,0.00,2.30,0.00,0.000,6,0.000,0.068,2682,2199,3321
$GC,1342,-0.73,-117.3,103.6,-5.3,167,1346,0.17,2.40,0.00,0.000,4,0.056,0.091,2640,3606,3321
$GC,1392,-0.64,-117.3,107.4,-8.1,171,1396,0.00,2.33,0.00,0.000,6,0.000,0.067,2641,2192,3321
$GC,1717,-0.59,-117.3,126.9,-5.5,201,1722,0.15,2.33,0.00,0.000,4,0.088,0.083,2669,793,3321
$GC,1768,-0.70,-117.3,129.5,-5.6,205,1772,0.00,2.33,0.00,0.000,6,0.000,0.071,2670,2200,3321
$GC,2095,-0.78,-117.3,146.7,-5.8,235,2100,0.17,2.42,0.00,0.000,4,0.057,0.091,2628,3611,3321
$GC,2123,-0.73,-117.3,149.0,-8.2,237,2127,0.00,2.33,0.00,0.000,6,0.000,0.069,2628,2199,3321
$GC,2449,-0.63,-117.3,174.2,-7.2,253,2454,0.15,2.35,0.00,0.000,4,0.091,0.084,2657,791,3321
$GC,2481,-0.68,-117.3,176.3,-6.5,254,2488,0.00,2.35,0.00,0.000,6,0.000,0.071,2657,2199,3321
$GC,2798,-0.73,-117.3,192.8,-5.1,270,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3321
$GC,3107,-0.78,-117.3,209.8,-5.5,285,3112,0.15,2.40,0.00,0.000,4,0.061,0.084,2622,784,3321
$GC,3134,-0.73,-117.3,211.6,-7.0,286,3137,0.00,2.35,0.00,0.000,6,0.000,0.071,2622,2203,3321
$GC,3455,-0.62,-117.3,233.7,-7.1,302,3460,0.20,2.38,0.00,0.000,4,0.087,0.084,2660,794,3321
$GC,3482,-0.62,-117.3,235.5,-5.9,303,3486,0.00,2.33,0.00,0.000,6,0.000,0.072,2660,2200,3321
$GC,3804,-0.69,-117.3,253.4,-5.9,319,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2201,3321
$GC,4113,-0.76,-117.3,271.9,-6.1,334,4115,0.15,0.00,0.00,0.000,6,0.062,0.000,2628,2201,3321
$GC,4422,-0.71,-117.3,294.3,-7.1,349,4426,0.00,2.40,0.00,0.000,4,0.000,0.087,2628,791,3319
$GC,4454,-0.65,-117.3,296.7,-7.0,350,4461,0.15,2.33,0.00,0.000,6,0.091,0.073,2653,2199,3320
$GC,4765,-0.71,-117.3,313.3,-5.2,358,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2199,3319
$GC,5068,-0.75,-117.3,331.0,-5.9,363,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2199,3318
$GC,5371,-0.81,-117.3,348.7,-5.9,368,5376,0.17,2.40,0.00,0.000,4,0.060,0.087,2614,794,3319
$GC,5393,-0.81,-117.3,350.3,-6.7,368,5397,0.00,2.35,0.00,0.000,6,0.000,0.074,2615,2205,3318
$GC,5730,-0.69,-117.3,375.5,-7.5,374,5735,0.15,2.40,0.00,0.000,4,0.095,0.087,2644,794,3318
$GC,5763,-0.69,-117.3,377.6,-5.9,374,5767,0.00,2.35,0.00,0.000,6,0.000,0.074,2644,2203,3318
$GC,6095,-0.69,-117.3,395.2,-5.2,380,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,3317
$GC,6398,-0.69,-117.3,410.0,-4.9,385,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,3317
$GC,6701,-0.69,-117.3,423.9,-4.6,390,6705,0.00,2.42,0.00,0.000,4,0.000,0.091,2644,796,3317
$GC,6730,-0.69,-117.3,425.3,-5.4,390,6734,0.00,2.35,0.00,0.000,6,0.000,0.076,2644,2201,3316
$GC,7061,-0.69,-117.3,441.4,-4.9,396,7065,0.00,2.42,0.00,0.000,4,0.000,0.092,2644,794,3316
$GC,7082,-0.69,-117.3,442.6,-5.4,396,7086,0.00,2.35,0.00,0.000,6,0.000,0.075,2644,2199,3316
$GC,7425,-0.69,-117.3,460.8,-5.4,402,7429,0.00,2.45,0.00,0.000,4,0.000,0.092,2643,786,3316
$GC,7451,-0.73,-117.3,462.4,-6.1,402,7455,0.00,2.38,0.00,0.000,6,0.000,0.076,2644,2199,3316
$GC,7789,-0.73,-117.3,479.8,-5.1,408,7793,0.00,2.45,0.00,0.000,4,0.000,0.094,2644,786,3315
$GC,7816,-0.78,-117.3,481.2,-5.4,408,7820,0.00,2.38,0.00,0.000,6,0.000,0.077,2644,2202,3315
$GC,8147,-0.78,-117.3,497.2,-4.8,414,8151,0.00,2.45,0.00,0.000,4,0.000,0.094,2644,793,3315
$GC,8169,-0.83,-117.3,498.3,-5.2,414,8174,0.15,2.38,0.00,0.000,6,0.061,0.078,2613,2205,3315
$GC,8505,-0.73,-117.3,519.2,-6.2,420,8507,0.15,0.00,0.00,0.000,6,0.094,0.000,2638,2205,3314
$GC,8808,-0.73,-117.3,535.3,-5.3,425,8812,0.00,2.47,0.00,0.000,4,0.000,0.097,2638,789,3314
$GC,8852,-0.73,-117.3,538.0,-5.9,425,8857,0.00,2.40,0.00,0.000,6,0.000,0.081,2638,2205,3314
$GC,9167,-0.73,-117.3,556.2,-5.8,431,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2205,3314
$GC,9470,-0.73,-117.3,573.7,-5.8,436,9474,0.00,2.47,0.00,0.000,4,0.000,0.097,2638,796,3313
$GC,9508,-0.73,-117.3,576.1,-6.1,436,9512,0.00,2.40,0.00,0.000,6,0.000,0.082,2638,2205,3313
$GC,9834,-0.73,-117.3,594.5,-5.6,442,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2206,3313
$GC,10137,-0.73,-117.3,611.6,-5.7,447,10141,0.00,2.50,0.00,0.000,4,0.000,0.100,2638,793,3313
$GC,10186,-0.78,-117.3,614.5,-6.1,447,10190,0.00,2.40,0.00,0.000,6,0.000,0.085,2638,2205,3314
$GC,10501,-0.78,-117.3,632.5,-5.8,453,10505,0.00,2.50,0.00,0.000,4,0.000,0.103,2638,798,3313
$GC,10539,-0.83,-117.3,634.9,-6.6,453,10543,0.00,2.40,0.00,0.000,6,0.000,0.088,2638,2202,3313
$GC,10859,-0.83,-117.3,653.8,-5.9,459,10864,0.00,2.53,0.00,0.000,4,0.000,0.106,2638,791,3313
$GC,10893,-0.88,-117.3,655.7,-5.5,459,10898,0.17,2.45,0.00,0.000,6,0.061,0.091,2604,2206,3313
$GC,11219,-0.76,-117.3,678.0,-6.8,465,11224,0.15,2.50,0.00,0.000,4,0.096,0.100,2632,797,3313
$GC,11280,-0.76,-117.3,681.9,-5.8,466,11285,0.00,2.40,0.00,0.000,6,0.000,0.082,2632,2205,3313
$GC,11652,-0.76,-117.3,701.4,-5.1,472,11656,0.00,2.50,0.00,0.000,4,0.000,0.099,2632,787,3312
$GC,11684,-0.76,-117.3,703.3,-5.9,472,11688,0.00,2.40,0.00,0.000,6,0.000,0.081,2632,2200,3312
$GC,12016,-0.76,-117.3,719.8,-5.0,478,12020,0.00,2.50,0.00,0.000,4,0.000,0.100,2632,787,3312
$GC,12048,-0.76,-117.3,721.7,-5.0,478,12052,0.00,2.40,0.00,0.000,6,0.000,0.082,2632,2204,3312
$GC,12374,-0.76,-117.3,739.1,-5.4,484,12378,0.00,2.50,0.00,0.000,4,0.000,0.100,2632,789,3312
$GC,12413,-0.76,-117.3,741.3,-5.5,484,12416,0.00,2.40,0.00,0.000,6,0.000,0.082,2632,2200,3312
$GC,12739,-0.76,-117.3,758.9,-5.4,490,12743,0.00,2.50,0.00,0.000,4,0.000,0.100,2632,790,3311
$GC,12760,-0.76,-117.3,760.0,-5.5,490,12764,0.00,2.40,0.00,0.000,6,0.000,0.082,2632,2202,3311
$GC,13102,-0.76,-117.3,779.1,-5.6,496,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2202,3311
$GC,13405,-0.76,-117.3,796.1,-5.6,501,13410,0.00,2.50,0.00,0.000,4,0.000,0.101,2632,796,3310
$GC,13472,-0.81,-117.3,799.9,-5.6,502,13477,0.00,2.40,0.00,0.000,6,0.000,0.084,2631,2199,3310
$GC,13837,-0.81,-117.3,818.1,-4.9,508,13841,0.00,2.50,0.00,0.000,4,0.000,0.101,2632,794,3310
$GC,13869,-0.81,-117.3,819.6,-4.3,508,13873,0.00,2.40,0.00,0.000,6,0.000,0.084,2631,2199,3310
$GC,14195,-0.86,-117.3,834.7,-4.6,514,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2199,3310
$GC,14499,-1.01,-117.3,853.4,-6.3,519,14504,0.25,2.53,0.00,0.000,4,0.058,0.101,2578,787,3309
$GC,14672,-0.82,-117.3,867.4,-7.7,521,14677,0.25,2.42,0.00,0.000,6,0.091,0.086,2618,2203,3309
$GC,14992,-0.82,-117.3,888.3,-6.5,527,14996,0.00,2.53,0.00,0.000,4,0.000,0.104,2619,793,3309
$GC,15018,-0.82,-117.3,890.1,-7.7,527,15022,0.00,2.42,0.00,0.000,6,0.000,0.086,2619,2201,3309
$GC,15355,-0.82,-117.3,912.0,-6.5,533,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2201,3309
$GC,15660,-0.82,-117.3,930.6,-6.1,538,15664,0.00,2.53,0.00,0.000,4,0.000,0.106,2618,798,3308
$GC,15714,-0.82,-117.3,933.9,-6.0,538,15720,0.00,2.45,0.00,0.000,6,0.000,0.088,2618,2207,3308
$GC,16024,-0.82,-117.3,951.3,-5.6,544,16029,0.00,2.55,0.00,0.000,4,0.000,0.107,2619,797,3308
$GC,16068,-0.82,-117.3,953.9,-6.3,544,16072,0.00,2.45,0.00,0.000,6,0.000,0.088,2618,2205,3308
$GC,16389,-0.82,-117.3,970.8,-5.2,550,16393,0.00,2.55,0.00,0.000,4,0.000,0.107,2619,793,3308
$GC,16438,-0.82,-117.3,973.5,-5.6,550,16442,0.00,2.45,0.00,0.000,6,0.000,0.089,2619,2201,3308
$GC,16747,-0.82,-117.3,989.5,-5.2,555,16751,0.00,2.55,0.00,0.000,4,0.000,0.108,2619,793,3308
$STATE,16755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16755,begin apogee
$GC,16763,-0.23,0.0,990.1,5.2,555,16870,0.73,0.00,100.90,1.478,6,0.081,0.000,2743,2199,2837
$STATE,16870,end apogee,CONTROL_FINISHED_OK
$STATE,16870,begin climb
$GC,16872,0.72,117.3,992.8,0.0,557,16988,1.23,3.00,107.25,1.431,4,0.050,0.141,2954,3604,2359
$GC,17051,0.38,117.3,982.5,10.2,559,17056,0.47,2.60,0.00,0.000,6,0.100,0.094,2884,2211,2358
$GC,17359,0.38,117.3,962.4,6.3,564,17361,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2211,2357
$GC,17663,0.38,119.3,944.3,5.9,569,17667,0.00,2.58,0.00,0.000,4,0.000,0.110,2884,787,2356
$GC,17706,0.32,119.3,941.6,6.1,569,17710,0.00,2.45,0.00,0.000,6,0.000,0.088,2884,2203,2355
$GC,18021,0.34,133.1,924.2,5.5,575,18037,0.00,0.00,14.57,1.353,6,0.000,0.000,2884,2203,2295
$GC,18324,0.35,143.5,907.1,5.6,580,18340,0.00,2.60,11.02,1.309,4,0.000,0.122,2884,3610,2250
$GC,18373,0.35,143.5,903.9,6.6,580,18377,0.00,2.47,0.00,0.000,6,0.000,0.089,2884,2194,2250
$GC,18688,0.35,143.5,883.9,6.4,586,18689,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2194,2250
$GC,18991,0.35,143.5,862.7,7.0,591,18992,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2194,2250
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