version: 66.03
glider: 119
mission: 5
dive: 40
start: 9 25 108 20 16 54
data:
$ID,119
$MISSION,5
$DIVE,40
$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,-210445.64
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,201035,4659.120,-12631.496,69,1.8,84,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.9
$GPS2,201603,4659.123,-12631.479,14,1.6,14,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,-0.148
$KALMAN_X,53915.9,-279.4,-215.0,-171506.6,653.7
$KALMAN_Y,81147.4,-321.4,-78.3,-79656.1,5377.0
$MHEAD_RNG_PITCHd_Wd,202.2,111819,-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,-117.3,0.0,0.0,0,83,0.00,0.00,-61.28,0.000,2,0.000,0.000,862,2209,2920
$GC,86,-0.67,-117.3,4.0,-6.6,6,112,12.35,2.40,-7.80,0.000,4,0.149,0.090,2648,3605,3318
$GC,209,-0.34,-117.3,30.0,-15.6,17,215,0.45,2.30,0.00,0.000,6,0.084,0.055,2722,2188,3319
$GC,545,-0.63,-117.3,53.7,-7.2,64,551,0.30,2.28,0.00,0.000,4,0.047,0.066,2657,793,3320
$GC,586,-0.74,-117.3,56.9,-7.9,71,593,0.00,2.30,0.00,0.000,6,0.000,0.057,2657,2212,3320
$GC,926,-0.60,-117.3,85.6,-7.0,125,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3321
$GC,1244,-0.51,-117.3,108.5,-8.0,155,1249,0.17,2.40,0.00,0.000,4,0.082,0.079,2690,793,3321
$GC,1295,-0.61,-117.3,111.8,-6.3,159,1300,0.12,2.30,0.00,0.000,6,0.059,0.067,2661,2196,3321
$GC,1626,-0.56,-117.3,135.7,-6.5,190,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2195,3321
$GC,1942,-0.56,-117.3,155.0,-5.6,216,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2195,3321
$GC,2251,-0.56,-117.3,170.9,-4.9,231,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2195,3320
$GC,2561,-0.56,-117.3,187.6,-5.5,246,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2195,3321
$GC,2869,-0.56,-117.3,204.8,-5.6,261,2873,0.00,2.38,0.00,0.000,4,0.000,0.083,2661,796,3321
$GC,2909,-0.56,-117.3,207.1,-6.2,263,2913,0.00,2.33,0.00,0.000,6,0.000,0.071,2661,2203,3321
$GC,3242,-0.56,-117.3,226.2,-6.2,279,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2203,3321
$GC,3550,-0.56,-117.3,246.0,-6.7,294,3554,0.00,2.42,0.00,0.000,4,0.000,0.095,2661,3606,3320
$GC,3577,-0.56,-117.3,247.8,-6.6,295,3581,0.00,2.35,0.00,0.000,6,0.000,0.070,2661,2201,3320
$GC,3904,-0.56,-117.3,267.9,-5.6,311,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2198,3320
$GC,4214,-0.56,-117.3,283.0,-4.7,326,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2198,3319
$GC,4523,-0.56,-117.3,297.8,-5.0,341,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2198,3319
$GC,4827,-0.56,-117.3,314.2,-5.5,348,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2198,3319
$GC,5131,-0.56,-117.3,331.1,-5.5,353,5135,0.00,2.40,0.00,0.000,4,0.000,0.088,2661,791,3318
$GC,5151,-0.56,-117.3,332.4,-5.7,353,5156,0.00,2.38,0.00,0.000,6,0.000,0.073,2661,2198,3318
$GC,5496,-0.56,-117.3,350.6,-5.3,359,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2198,3318
$GC,5798,-0.56,-117.3,367.0,-5.4,364,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2198,3317
$GC,6101,-0.56,-117.3,384.3,-5.7,369,6105,0.00,2.42,0.00,0.000,4,0.000,0.089,2661,792,3317
$GC,6144,-0.62,-117.3,386.9,-6.3,369,6148,0.00,2.38,0.00,0.000,6,0.000,0.074,2661,2209,3317
$GC,6465,-0.62,-117.3,404.1,-5.3,375,6469,0.00,2.45,0.00,0.000,4,0.000,0.088,2661,789,3316
$GC,6486,-0.66,-117.3,405.2,-4.9,375,6491,0.00,2.35,0.00,0.000,6,0.000,0.074,2661,2201,3316
$GC,6823,-0.66,-117.3,420.6,-4.4,381,6828,0.00,2.42,0.00,0.000,4,0.000,0.090,2661,797,3315
$GC,6862,-0.72,-117.3,422.3,-4.9,381,6866,0.00,2.35,0.00,0.000,6,0.000,0.074,2661,2205,3316
$GC,7182,-0.76,-117.3,435.1,-4.0,387,7184,0.15,0.00,0.00,0.000,6,0.062,0.000,2628,2206,3315
$GC,7486,-0.66,-117.3,451.1,-5.3,392,7491,0.15,2.45,0.00,0.000,4,0.091,0.089,2657,795,3315
$GC,7529,-0.66,-117.3,453.4,-5.0,392,7533,0.00,2.35,0.00,0.000,6,0.000,0.075,2657,2199,3315
$GC,7850,-0.66,-117.3,468.1,-4.6,398,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3315
$GC,8153,-0.66,-117.3,482.3,-4.7,403,8157,0.00,2.45,0.00,0.000,4,0.000,0.093,2657,789,3314
$GC,8180,-0.70,-117.3,483.7,-5.3,403,8184,0.00,2.38,0.00,0.000,6,0.000,0.077,2657,2206,3314
$GC,8512,-0.70,-117.3,500.6,-5.1,409,8516,0.00,2.45,0.00,0.000,4,0.000,0.093,2657,799,3314
$GC,8556,-0.76,-117.3,503.2,-5.6,409,8561,0.12,2.35,0.00,0.000,6,0.062,0.077,2630,2206,3313
$GC,8870,-0.68,-117.3,523.5,-6.5,415,8872,0.12,0.00,0.00,0.000,6,0.095,0.000,2651,2205,3313
$GC,9173,-0.68,-117.3,540.3,-5.5,420,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3313
$GC,9476,-0.68,-117.3,557.5,-5.7,425,9480,0.00,2.47,0.00,0.000,4,0.000,0.097,2651,801,3312
$GC,9502,-0.68,-117.3,559.2,-6.3,425,9507,0.00,2.38,0.00,0.000,6,0.000,0.078,2651,2197,3312
$GC,9841,-0.68,-117.3,578.8,-5.7,431,9845,0.00,2.47,0.00,0.000,4,0.000,0.097,2651,790,3312
$GC,9867,-0.68,-117.3,580.6,-5.9,431,9871,0.00,2.42,0.00,0.000,6,0.000,0.080,2651,2199,3312
$GC,10204,-0.68,-117.3,599.4,-5.5,437,10209,0.00,2.47,0.00,0.000,4,0.000,0.097,2651,795,3312
$GC,10237,-0.72,-117.3,601.4,-6.3,437,10241,0.00,2.40,0.00,0.000,6,0.000,0.082,2651,2201,3312
$GC,10569,-0.72,-117.3,620.3,-5.7,443,10573,0.00,2.47,0.00,0.000,4,0.000,0.097,2651,792,3312
$GC,10601,-0.72,-117.3,622.3,-6.0,443,10605,0.00,2.38,0.00,0.000,6,0.000,0.081,2651,2204,3312
$GC,10933,-0.72,-117.3,639.7,-5.2,449,10937,0.00,2.47,0.00,0.000,4,0.000,0.096,2651,794,3311
$GC,10971,-0.77,-117.3,641.8,-5.8,449,10975,0.00,2.40,0.00,0.000,6,0.000,0.080,2651,2208,3311
$GC,11297,-0.77,-117.3,656.4,-4.5,455,11301,0.00,2.47,0.00,0.000,4,0.000,0.097,2651,799,3311
$GC,11324,-0.77,-117.3,657.6,-4.1,455,11328,0.00,2.38,0.00,0.000,6,0.000,0.081,2651,2207,3311
$GC,11661,-0.77,-117.3,671.7,-4.2,461,11665,0.00,2.47,0.00,0.000,4,0.000,0.097,2651,800,3311
$GC,11705,-0.82,-117.3,673.9,-4.9,461,11710,0.15,2.38,0.00,0.000,6,0.062,0.081,2621,2200,3311
$GC,12019,-0.71,-117.3,692.8,-6.2,467,12024,0.12,2.58,0.00,0.000,4,0.096,0.117,2641,3607,3311
$GC,12040,-0.65,-117.3,694.2,-6.1,467,12045,0.00,2.35,0.00,0.000,6,0.000,0.081,2641,2206,3311
$GC,12383,-0.65,-117.3,711.9,-5.1,473,12387,0.00,2.50,0.00,0.000,4,0.000,0.101,2642,784,3310
$GC,12410,-0.65,-117.3,713.4,-5.3,473,12414,0.00,2.40,0.00,0.000,6,0.000,0.081,2641,2206,3310
$GC,12749,-0.65,-117.3,729.6,-4.8,479,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2206,3310
$GC,13051,-0.65,-117.3,743.1,-4.5,484,13055,0.00,2.53,0.00,0.000,4,0.000,0.099,2642,781,3310
$GC,13083,-0.65,-117.3,744.8,-4.7,484,13087,0.00,2.42,0.00,0.000,6,0.000,0.081,2642,2204,3310
$GC,13409,-0.65,-117.3,759.7,-4.6,490,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2205,3310
$GC,13712,-0.65,-117.3,774.9,-5.0,495,13717,0.00,2.53,0.00,0.000,4,0.000,0.100,2642,783,3309
$GC,13749,-0.65,-117.3,777.1,-5.7,495,13754,0.00,2.42,0.00,0.000,6,0.000,0.082,2641,2201,3310
$GC,14082,-0.65,-117.3,794.4,-5.3,501,14086,0.00,2.53,0.00,0.000,4,0.000,0.101,2642,783,3309
$GC,14102,-0.65,-117.3,795.7,-5.7,501,14106,0.00,2.42,0.00,0.000,6,0.000,0.082,2642,2206,3309
$GC,14446,-0.65,-117.3,813.5,-5.2,507,14450,0.00,2.53,0.00,0.000,4,0.000,0.101,2642,790,3309
$GC,14472,-0.65,-117.3,815.0,-5.3,507,14476,0.00,2.42,0.00,0.000,6,0.000,0.084,2642,2206,3309
$GC,14804,-0.65,-117.3,831.1,-4.8,513,14805,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2206,3309
$GC,15107,-0.65,-117.3,843.9,-4.2,518,15111,0.00,2.55,0.00,0.000,4,0.000,0.103,2642,785,3309
$GC,15150,-0.65,-117.3,845.9,-4.5,518,15155,0.00,2.42,0.00,0.000,6,0.000,0.085,2641,2199,3309
$GC,15465,-0.65,-117.3,857.6,-3.7,524,15469,0.00,2.53,0.00,0.000,4,0.000,0.104,2642,792,3308
$GC,15492,-0.65,-117.3,858.7,-4.3,524,15496,0.00,2.42,0.00,0.000,6,0.000,0.085,2641,2204,3308
$GC,15830,-0.65,-117.3,871.5,-3.9,530,15834,0.00,2.55,0.00,0.000,4,0.000,0.104,2642,785,3308
$GC,15856,-0.65,-117.3,872.6,-4.8,530,15861,0.00,2.45,0.00,0.000,6,0.000,0.085,2641,2206,3308
$GC,16188,-0.65,-117.3,887.6,-4.7,536,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2207,3308
$GC,16491,-0.65,-117.3,904.3,-5.6,541,16495,0.00,2.58,0.00,0.000,4,0.000,0.107,2641,783,3307
$GC,16540,-0.69,-117.3,907.4,-6.3,541,16544,0.00,2.45,0.00,0.000,6,0.000,0.087,2641,2208,3307
$GC,16849,-0.69,-117.3,925.3,-5.8,546,16851,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2208,3307
$GC,17152,-0.69,-117.3,941.3,-5.2,551,17156,0.00,2.58,0.00,0.000,4,0.000,0.108,2641,787,3307
$GC,17195,-0.69,-117.3,943.6,-6.0,551,17199,0.00,2.42,0.00,0.000,6,0.000,0.088,2641,2201,3307
$GC,17516,-0.69,-117.3,958.7,-4.7,557,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,3307
$GC,17819,-0.69,-117.3,971.8,-4.3,562,17823,0.00,2.58,0.00,0.000,4,0.000,0.110,2642,786,3307
$GC,17851,-0.69,-117.3,973.1,-4.1,562,17855,0.00,2.45,0.00,0.000,6,0.000,0.090,2641,2206,3306
$GC,18178,-0.69,-117.3,985.8,-3.8,568,18182,0.00,2.58,0.00,0.000,4,0.000,0.110,2641,791,3306
$GC,18204,-0.69,-117.3,986.8,-3.2,568,18208,0.00,2.45,0.00,0.000,6,0.000,0.091,2641,2208,3306
$STATE,18291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18291,begin apogee
$GC,18296,-0.23,0.0,990.2,3.7,570,18400,0.62,0.00,101.40,1.486,6,0.075,0.000,2748,2208,2837
$STATE,18401,end apogee,CONTROL_FINISHED_OK
$STATE,18401,begin climb
$GC,18403,0.67,117.3,991.2,0.0,571,18519,1.15,2.90,107.68,1.434,4,0.048,0.134,2945,3605,2358
$GC,18552,0.32,117.3,983.6,10.0,574,18558,0.47,2.65,0.00,0.000,6,0.094,0.094,2875,2198,2359
$GC,18894,0.32,117.3,961.1,6.4,580,18896,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2198,2357
$GC,19198,0.32,117.3,943.3,5.8,585,19199,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2197,2357
$GC,19501,0.32,117.3,926.6,5.5,590,19502,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2198,2357
$GC,19804,0.35,137.4,911.6,4.9,595,19824,0.00,0.00,18.52,1.386,6,0.000,0.000,2875,2197,2277
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