version: 66.03
glider: 119
mission: 5
dive: 36
start: 9 24 108 6 32 49
data:
$ID,119
$MISSION,5
$DIVE,36
$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,-210382.94
$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,13
$R_STBD_OVSHOOT,23
$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
$GPS1,062620,4700.972,-12615.463,38,2.0,38,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.9
$GPS2,063157,4700.964,-12615.427,14,1.4,14,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.118,-0.155
$KALMAN_X,53606.2,-394.2,-59.9,-150951.5,2420.9
$KALMAN_Y,66009.3,-171.9,-273.1,-61065.3,5558.9
$MHEAD_RNG_PITCHd_Wd,198.8,132094,-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,-62.03,0.000,2,0.000,0.000,863,2210,2852
$GC,87,-0.67,-117.3,3.6,-5.6,6,114,12.38,2.40,-9.57,0.000,4,0.150,0.082,2649,779,3316
$GC,198,-0.35,-117.3,25.6,-13.6,15,205,0.38,2.35,0.00,0.000,6,0.081,0.056,2718,2202,3316
$GC,532,-0.50,-117.3,47.8,-4.7,59,539,0.15,2.35,0.00,0.000,4,0.054,0.077,2681,3607,3317
$GC,557,-0.59,-117.3,49.1,-4.9,63,564,0.00,2.30,0.00,0.000,6,0.000,0.053,2681,2172,3317
$GC,902,-0.59,-117.3,71.3,-7.0,124,908,0.00,2.28,0.00,0.000,4,0.000,0.074,2681,792,3319
$GC,943,-0.59,-117.3,74.3,-7.4,131,949,0.00,2.30,0.00,0.000,6,0.000,0.062,2681,2208,3319
$GC,1277,-0.59,-117.3,96.3,-6.2,169,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2208,3319
$GC,1598,-0.65,-117.3,113.4,-4.4,199,1600,0.12,0.00,0.00,0.000,6,0.063,0.000,2652,2208,3319
$GC,1916,-0.61,-117.3,134.8,-7.4,229,1921,0.00,2.40,0.00,0.000,4,0.000,0.082,2652,793,3319
$GC,1978,-0.61,-117.3,139.8,-8.3,234,1983,0.00,2.33,0.00,0.000,6,0.000,0.070,2652,2198,3319
$GC,2308,-0.61,-117.3,161.9,-5.9,256,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3319
$GC,2617,-0.61,-117.3,179.4,-5.5,271,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3319
$GC,2927,-0.61,-117.3,196.1,-5.4,286,2931,0.00,2.38,0.00,0.000,4,0.000,0.082,2652,796,3319
$GC,2959,-0.61,-117.3,198.0,-6.2,287,2966,0.00,2.35,0.00,0.000,6,0.000,0.070,2652,2198,3319
$GC,3275,-0.61,-117.3,216.6,-5.9,303,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,3319
$GC,3584,-0.61,-117.3,233.9,-5.6,318,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,3318
$GC,3894,-0.61,-117.3,251.4,-5.7,333,3898,0.00,2.38,0.00,0.000,4,0.000,0.084,2652,802,3318
$GC,3926,-0.61,-117.3,253.5,-6.8,334,3933,0.00,2.35,0.00,0.000,6,0.000,0.070,2652,2201,3318
$GC,4242,-0.61,-117.3,271.0,-5.5,350,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,3317
$GC,4552,-0.61,-117.3,286.8,-5.1,365,4556,0.00,2.40,0.00,0.000,4,0.000,0.085,2652,793,3317
$GC,4579,-0.61,-117.3,288.3,-5.2,366,4583,0.00,2.35,0.00,0.000,6,0.000,0.072,2652,2208,3316
$GC,4933,-0.61,-117.3,307.2,-5.4,379,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,3316
$GC,5236,-0.61,-117.3,323.7,-5.4,384,5240,0.00,2.40,0.00,0.000,4,0.000,0.085,2652,803,3315
$GC,5265,-0.61,-117.3,325.3,-5.8,384,5269,0.00,2.33,0.00,0.000,6,0.000,0.072,2651,2202,3315
$GC,5596,-0.61,-117.3,341.1,-4.7,390,5600,0.00,2.40,0.00,0.000,4,0.000,0.087,2652,799,3315
$GC,5630,-0.61,-117.3,342.8,-5.2,390,5634,0.00,2.33,0.00,0.000,6,0.000,0.072,2652,2200,3315
$GC,5957,-0.61,-117.3,359.5,-5.2,396,5961,0.00,2.40,0.00,0.000,4,0.000,0.087,2652,800,3314
$GC,5983,-0.61,-117.3,361.3,-6.1,396,5988,0.00,2.35,0.00,0.000,6,0.000,0.073,2652,2198,3314
$GC,6322,-0.61,-117.3,381.6,-6.1,402,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,3314
$GC,6624,-0.61,-117.3,399.4,-5.8,407,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,3313
$GC,6927,-0.61,-117.3,414.9,-5.0,412,6931,0.00,2.42,0.00,0.000,4,0.000,0.090,2652,799,3313
$GC,6972,-0.66,-117.3,417.1,-5.0,412,6976,0.00,2.35,0.00,0.000,6,0.000,0.074,2652,2205,3313
$GC,7286,-0.66,-117.3,430.7,-4.2,418,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2205,3313
$GC,7589,-0.66,-117.3,441.9,-3.6,423,7593,0.00,2.42,0.00,0.000,4,0.000,0.091,2652,803,3312
$GC,7628,-0.71,-117.3,443.3,-4.0,423,7632,0.00,2.35,0.00,0.000,6,0.000,0.075,2652,2209,3312
$GC,7948,-0.71,-117.3,455.8,-4.0,429,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2209,3312
$GC,8251,-0.71,-117.3,470.8,-5.1,434,8255,0.00,2.45,0.00,0.000,4,0.000,0.092,2652,802,3311
$GC,8284,-0.76,-117.3,472.9,-6.7,434,8288,0.00,2.33,0.00,0.000,6,0.000,0.076,2652,2199,3311
$GC,8610,-0.80,-117.3,491.7,-5.8,440,8614,0.15,2.45,0.00,0.000,4,0.064,0.092,2616,796,3311
$GC,8636,-0.73,-117.3,493.7,-7.8,440,8641,0.12,2.35,0.00,0.000,6,0.096,0.077,2637,2202,3311
$GC,8967,-0.73,-117.3,514.7,-6.3,446,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2202,3311
$GC,9270,-0.73,-117.3,533.0,-6.0,451,9274,0.00,2.45,0.00,0.000,4,0.000,0.096,2637,806,3310
$GC,9307,-0.73,-117.3,535.2,-6.0,451,9312,0.00,2.35,0.00,0.000,6,0.000,0.079,2637,2207,3310
$GC,9634,-0.73,-117.3,553.3,-5.5,457,9638,0.00,2.45,0.00,0.000,4,0.000,0.095,2637,807,3310
$GC,9660,-0.73,-117.3,554.7,-5.6,457,9665,0.00,2.35,0.00,0.000,6,0.000,0.080,2637,2204,3310
$GC,9998,-0.73,-117.3,571.5,-5.0,463,10002,0.00,2.47,0.00,0.000,4,0.000,0.097,2637,800,3310
$GC,10024,-0.73,-117.3,573.0,-5.4,463,10028,0.00,2.38,0.00,0.000,6,0.000,0.081,2637,2199,3310
$GC,10362,-0.73,-117.3,590.4,-5.2,469,10366,0.00,2.47,0.00,0.000,4,0.000,0.098,2637,797,3310
$GC,10400,-0.73,-117.3,592.8,-5.5,469,10404,0.00,2.40,0.00,0.000,6,0.000,0.083,2637,2199,3309
$GC,10721,-0.73,-117.3,611.2,-5.9,475,10726,0.00,2.47,0.00,0.000,4,0.000,0.100,2637,804,3309
$GC,10748,-0.73,-117.3,613.1,-6.2,475,10753,0.00,2.42,0.00,0.000,6,0.000,0.084,2637,2202,3309
$GC,11087,-0.73,-117.3,634.1,-6.2,481,11091,0.00,2.50,0.00,0.000,4,0.000,0.102,2637,800,3309
$GC,11113,-0.73,-117.3,636.0,-6.7,481,11118,0.00,2.42,0.00,0.000,6,0.000,0.087,2637,2199,3309
$GC,11452,-0.73,-117.3,655.6,-5.7,487,11456,0.00,2.50,0.00,0.000,4,0.000,0.106,2637,807,3308
$GC,11473,-0.73,-117.3,656.8,-5.3,487,11477,0.00,2.40,0.00,0.000,6,0.000,0.090,2636,2198,3308
$GC,11810,-0.73,-117.3,674.4,-5.2,493,11815,0.00,2.53,0.00,0.000,4,0.000,0.107,2637,800,3307
$GC,11837,-0.73,-117.3,675.7,-5.3,493,11842,0.00,2.38,0.00,0.000,6,0.000,0.082,2637,2202,3308
$GC,12175,-0.73,-117.3,691.3,-4.6,499,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2202,3308
$GC,12479,-0.73,-117.3,705.2,-4.6,504,12484,0.00,2.47,0.00,0.000,4,0.000,0.099,2637,806,3307
$GC,12535,-0.73,-117.3,708.2,-5.4,504,12541,0.00,2.38,0.00,0.000,6,0.000,0.082,2637,2209,3307
$GC,12844,-0.73,-117.3,723.0,-4.8,510,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2209,3307
$GC,13147,-0.73,-117.3,737.3,-4.7,515,13148,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2209,3307
$GC,13452,-0.73,-117.3,751.4,-4.6,520,13457,0.00,2.50,0.00,0.000,4,0.000,0.100,2637,800,3307
$GC,13496,-0.73,-117.3,753.9,-5.1,520,13500,0.00,2.38,0.00,0.000,6,0.000,0.083,2637,2201,3306
$GC,13817,-0.73,-117.3,768.6,-4.6,526,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2201,3306
$GC,14120,-0.73,-117.3,782.9,-4.7,531,14124,0.00,2.47,0.00,0.000,4,0.000,0.100,2636,806,3306
$GC,14163,-0.73,-117.3,785.2,-5.2,531,14167,0.00,2.38,0.00,0.000,6,0.000,0.083,2637,2200,3306
$GC,14484,-0.73,-117.3,799.5,-4.4,537,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2200,3306
$GC,14787,-0.73,-117.3,812.4,-4.3,542,14791,0.00,2.50,0.00,0.000,4,0.000,0.100,2636,797,3305
$GC,14825,-0.73,-117.3,814.1,-4.8,542,14829,0.00,2.40,0.00,0.000,6,0.000,0.084,2637,2201,3305
$GC,15152,-0.73,-117.3,827.0,-4.0,548,15156,0.00,2.50,0.00,0.000,4,0.000,0.100,2636,799,3305
$GC,15184,-0.73,-117.3,828.3,-3.9,548,15188,0.00,2.40,0.00,0.000,6,0.000,0.084,2636,2206,3305
$GC,15510,-0.73,-117.3,842.1,-4.3,554,15511,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,3305
$GC,15813,-0.73,-117.3,855.9,-4.5,559,15817,0.00,2.50,0.00,0.000,4,0.000,0.101,2636,805,3305
$GC,15851,-0.73,-117.3,857.7,-4.6,559,15855,0.00,2.40,0.00,0.000,6,0.000,0.085,2637,2205,3305
$GC,16172,-0.73,-117.3,871.4,-4.2,565,16173,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2205,3305
$GC,16474,-0.73,-117.3,883.7,-4.0,570,16479,0.00,2.50,0.00,0.000,4,0.000,0.102,2637,806,3304
$GC,16524,-0.73,-117.3,885.7,-4.0,570,16528,0.00,2.42,0.00,0.000,6,0.000,0.086,2637,2207,3305
$GC,16839,-0.73,-117.3,897.7,-3.8,576,16840,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,3304
$GC,17142,-0.73,-117.3,910.4,-4.2,581,17146,0.00,2.53,0.00,0.000,4,0.000,0.103,2637,800,3304
$GC,17185,-0.73,-117.3,912.6,-4.9,581,17189,0.00,2.42,0.00,0.000,6,0.000,0.086,2636,2204,3304
$GC,17507,-0.73,-117.3,926.7,-4.5,587,17508,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2204,3304
$GC,17809,-0.73,-117.3,941.2,-4.8,592,17813,0.00,2.53,0.00,0.000,4,0.000,0.104,2637,801,3303
$GC,17852,-0.73,-117.3,943.6,-5.5,592,17856,0.00,2.40,0.00,0.000,6,0.000,0.087,2636,2199,3304
$GC,18173,-0.73,-117.3,959.8,-5.1,598,18177,0.00,2.50,0.00,0.000,4,0.000,0.104,2637,807,3304
$GC,18199,-0.73,-117.3,961.2,-6.1,598,18203,0.00,2.42,0.00,0.000,6,0.000,0.087,2637,2202,3303
$GC,18537,-0.73,-117.3,978.0,-5.0,604,18541,0.00,2.53,0.00,0.000,4,0.000,0.105,2636,803,3304
$GC,18563,-0.73,-117.3,979.3,-4.7,604,18567,0.00,2.42,0.00,0.000,6,0.000,0.087,2636,2201,3303
$STATE,18838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18838,begin apogee
$GC,18843,-0.23,0.0,993.0,4.9,609,18946,0.65,0.00,100.50,1.483,6,0.077,0.000,2747,2201,2838
$STATE,18947,end apogee,CONTROL_FINISHED_OK
$STATE,18947,begin climb
$GC,18949,0.67,117.3,994.6,0.0,610,19065,1.12,3.00,107.57,1.435,4,0.050,0.143,2942,3607,2358
$GC,19120,0.32,117.3,987.2,9.9,612,19126,0.45,2.58,0.00,0.000,6,0.094,0.093,2873,2219,2358
$GC,19435,0.27,117.3,967.5,6.1,618,19436,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2219,2357
$GC,19738,0.23,117.3,949.6,5.9,623,19743,0.15,2.60,0.00,0.000,4,0.101,0.107,2849,781,2356
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