version: 66.03
glider: 119
mission: 5
dive: 41
start: 9 26 108 6 4 25
data:
$ID,119
$MISSION,5
$DIVE,41
$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,-210458.89
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,055807,4657.376,-12635.598,34,3.2,53,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.2
$GPS2,060333,4657.374,-12635.611,11,1.2,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.157,-0.116
$KALMAN_X,53071.2,-81.1,-236.7,-176064.6,16.1
$KALMAN_Y,83615.0,-306.7,-513.7,-84925.3,4429.1
$MHEAD_RNG_PITCHd_Wd,215.0,106699,-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,-61.97,0.000,2,0.000,0.000,865,2207,2917
$GC,87,-0.67,-117.3,3.8,-5.8,6,112,12.35,2.38,-7.88,0.000,4,0.146,0.084,2649,3606,3318
$GC,231,-0.36,-117.3,33.3,-13.6,18,238,0.43,2.28,0.00,0.000,6,0.083,0.054,2719,2194,3318
$GC,570,-0.50,-117.3,55.9,-6.4,71,577,0.15,2.30,0.00,0.000,4,0.052,0.067,2680,787,3318
$GC,624,-0.50,-117.3,60.1,-8.0,80,630,0.00,2.28,0.00,0.000,6,0.000,0.056,2680,2209,3319
$GC,966,-0.50,-117.3,81.4,-6.0,139,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2209,3320
$GC,1285,-0.50,-117.3,100.5,-5.6,169,1289,0.00,2.40,0.00,0.000,4,0.000,0.079,2680,787,3321
$GC,1305,-0.50,-117.3,101.9,-6.0,170,1312,0.00,2.35,0.00,0.000,6,0.000,0.065,2680,2198,3320
$GC,1634,-0.55,-117.3,119.0,-5.4,201,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2198,3320
$GC,1960,-0.62,-117.3,135.7,-5.5,232,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2198,3320
$GC,2286,-0.71,-117.3,155.1,-5.5,259,2290,0.15,2.38,0.00,0.000,4,0.058,0.081,2642,796,3320
$GC,2306,-0.71,-117.3,156.5,-6.5,260,2310,0.00,2.33,0.00,0.000,6,0.000,0.069,2642,2200,3320
$GC,2634,-0.62,-117.3,177.6,-6.6,276,2636,0.12,0.00,0.00,0.000,6,0.092,0.000,2664,2199,3320
$GC,2943,-0.62,-117.3,193.9,-5.1,291,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2200,3321
$GC,3252,-0.62,-117.3,211.6,-5.8,306,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2200,3321
$GC,3562,-0.62,-117.3,228.8,-5.4,321,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2199,3320
$GC,3870,-0.62,-117.3,246.4,-5.5,336,3875,0.00,2.40,0.00,0.000,4,0.000,0.084,2664,790,3319
$GC,3892,-0.67,-117.3,247.7,-5.5,337,3896,0.00,2.35,0.00,0.000,6,0.000,0.071,2664,2208,3319
$GC,4214,-0.71,-117.3,262.8,-4.5,353,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2208,3319
$GC,4523,-0.76,-117.3,277.1,-5.0,368,4528,0.15,2.42,0.00,0.000,4,0.061,0.084,2631,792,3318
$GC,4563,-0.67,-117.3,279.6,-7.0,370,4567,0.12,2.33,0.00,0.000,6,0.091,0.072,2652,2198,3318
$GC,4894,-0.67,-117.3,297.8,-5.1,386,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3318
$GC,5198,-0.67,-117.3,312.1,-4.6,393,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3317
$GC,5502,-0.67,-117.3,326.5,-4.8,398,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3317
$GC,5804,-0.67,-117.3,342.4,-5.3,403,5809,0.00,2.42,0.00,0.000,4,0.000,0.087,2651,787,3316
$GC,5837,-0.67,-117.3,344.3,-5.8,403,5841,0.00,2.38,0.00,0.000,6,0.000,0.072,2652,2209,3316
$GC,6169,-0.67,-117.3,364.7,-6.3,409,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2210,3316
$GC,6473,-0.67,-117.3,385.4,-6.9,414,6477,0.00,2.45,0.00,0.000,4,0.000,0.089,2652,792,3315
$GC,6499,-0.67,-117.3,387.4,-6.8,414,6503,0.00,2.38,0.00,0.000,6,0.000,0.074,2652,2193,3315
$GC,6837,-0.67,-117.3,408.8,-6.2,420,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2193,3315
$GC,7141,-0.67,-117.3,425.3,-5.3,425,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2193,3315
$GC,7443,-0.67,-117.3,439.1,-4.4,430,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2193,3314
$GC,7749,-0.67,-117.3,450.8,-3.8,435,7753,0.00,2.42,0.00,0.000,4,0.000,0.092,2652,800,3314
$GC,7781,-0.67,-117.3,452.3,-4.6,435,7785,0.00,2.35,0.00,0.000,6,0.000,0.076,2652,2207,3314
$GC,8113,-0.67,-117.3,467.1,-4.7,441,8117,0.00,2.45,0.00,0.000,4,0.000,0.092,2652,796,3314
$GC,8139,-0.67,-117.3,468.6,-5.7,441,8143,0.00,2.38,0.00,0.000,6,0.000,0.077,2652,2209,3313
$GC,8482,-0.67,-117.3,488.1,-5.8,447,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2209,3313
$GC,8785,-0.67,-117.3,507.0,-6.2,452,8790,0.00,2.47,0.00,0.000,4,0.000,0.095,2652,799,3313
$GC,8818,-0.72,-117.3,509.2,-6.7,452,8822,0.00,2.38,0.00,0.000,6,0.000,0.078,2652,2206,3313
$GC,9150,-0.72,-117.3,529.7,-6.1,458,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2207,3312
$GC,9453,-0.72,-117.3,546.7,-5.6,463,9457,0.00,2.47,0.00,0.000,4,0.000,0.097,2652,800,3312
$GC,9491,-0.77,-117.3,548.6,-5.2,463,9496,0.00,2.38,0.00,0.000,6,0.000,0.080,2652,2201,3312
$GC,9811,-0.77,-117.3,562.7,-4.3,469,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,3312
$GC,10115,-0.77,-117.3,575.9,-4.4,474,10120,0.00,2.47,0.00,0.000,4,0.000,0.098,2652,800,3312
$GC,10160,-0.83,-117.3,578.1,-5.0,474,10165,0.17,2.38,0.00,0.000,6,0.060,0.082,2617,2198,3311
$GC,10474,-0.71,-117.3,598.0,-6.4,480,10476,0.15,0.00,0.00,0.000,6,0.093,0.000,2642,2198,3311
$GC,10777,-0.71,-117.3,614.0,-5.2,485,10781,0.00,2.50,0.00,0.000,4,0.000,0.101,2642,796,3311
$GC,10804,-0.71,-117.3,615.4,-5.6,485,10808,0.00,2.40,0.00,0.000,6,0.000,0.084,2642,2202,3311
$GC,11142,-0.71,-117.3,632.5,-5.1,491,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,3311
$GC,11445,-0.71,-117.3,648.0,-5.1,496,11449,0.00,2.50,0.00,0.000,4,0.000,0.097,2642,791,3310
$GC,11471,-0.71,-117.3,649.5,-6.0,496,11475,0.00,2.42,0.00,0.000,6,0.000,0.080,2642,2197,3310
$GC,11809,-0.71,-117.3,667.0,-5.1,502,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2197,3310
$GC,12112,-0.71,-117.3,682.0,-4.9,507,12116,0.00,2.47,0.00,0.000,4,0.000,0.098,2642,800,3310
$GC,12138,-0.71,-117.3,683.4,-5.5,507,12142,0.00,2.38,0.00,0.000,6,0.000,0.081,2642,2206,3310
$GC,12476,-0.71,-117.3,699.1,-4.7,513,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2206,3309
$GC,12779,-0.71,-117.3,713.1,-4.6,518,12783,0.00,2.50,0.00,0.000,4,0.000,0.098,2642,790,3308
$GC,12805,-0.71,-117.3,714.5,-5.2,518,12809,0.00,2.40,0.00,0.000,6,0.000,0.080,2642,2199,3308
$GC,13143,-0.71,-117.3,729.4,-4.4,524,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,3308
$GC,13446,-0.71,-117.3,743.6,-4.7,529,13450,0.00,2.50,0.00,0.000,4,0.000,0.099,2642,789,3308
$GC,13478,-0.71,-117.3,745.2,-4.9,529,13482,0.00,2.40,0.00,0.000,6,0.000,0.081,2642,2200,3308
$GC,13806,-0.71,-117.3,761.6,-5.1,535,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2200,3308
$GC,14108,-0.71,-117.3,777.4,-5.2,540,14112,0.00,2.50,0.00,0.000,4,0.000,0.099,2642,790,3308
$GC,14151,-0.71,-117.3,780.1,-5.9,540,14155,0.00,2.42,0.00,0.000,6,0.000,0.081,2642,2209,3308
$GC,14472,-0.71,-117.3,797.6,-5.5,546,14476,0.00,2.53,0.00,0.000,4,0.000,0.100,2642,790,3308
$GC,14498,-0.71,-117.3,798.9,-5.6,546,14502,0.00,2.40,0.00,0.000,6,0.000,0.081,2642,2201,3308
$GC,14836,-0.71,-117.3,816.0,-5.0,552,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,3308
$GC,15139,-0.71,-117.3,829.5,-4.4,557,15143,0.00,2.50,0.00,0.000,4,0.000,0.100,2642,800,3307
$GC,15166,-0.71,-117.3,830.7,-4.8,557,15169,0.00,2.40,0.00,0.000,6,0.000,0.082,2642,2201,3307
$GC,15503,-0.71,-117.3,845.2,-4.3,563,15507,0.00,2.50,0.00,0.000,4,0.000,0.101,2642,801,3307
$GC,15524,-0.71,-117.3,846.1,-4.5,563,15528,0.00,2.40,0.00,0.000,6,0.000,0.083,2642,2204,3307
$GC,15861,-0.71,-117.3,860.3,-4.2,569,15865,0.00,2.53,0.00,0.000,4,0.000,0.102,2642,794,3307
$GC,15895,-0.75,-117.3,861.7,-4.3,569,15899,0.00,2.42,0.00,0.000,6,0.000,0.084,2642,2207,3307
$GC,16221,-0.75,-117.3,874.7,-4.0,575,16222,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2207,3307
$GC,16523,-0.75,-117.3,886.2,-3.8,580,16528,0.00,2.53,0.00,0.000,4,0.000,0.104,2642,800,3307
$GC,16562,-0.80,-117.3,887.9,-4.6,580,16566,0.00,2.40,0.00,0.000,6,0.000,0.085,2642,2199,3306
$GC,16883,-0.94,-117.3,903.5,-5.1,586,16888,0.22,2.53,0.00,0.000,4,0.054,0.103,2592,799,3306
$GC,17084,-0.77,-117.3,916.3,-6.8,589,17089,0.22,2.42,0.00,0.000,6,0.090,0.088,2628,2200,3306
$GC,17443,-0.77,-117.3,934.2,-5.0,595,17448,0.00,2.53,0.00,0.000,4,0.000,0.106,2629,802,3306
$GC,17482,-0.77,-117.3,936.2,-5.4,595,17486,0.00,2.40,0.00,0.000,6,0.000,0.087,2628,2202,3306
$GC,17808,-0.77,-117.3,953.3,-5.3,601,17809,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2202,3305
$GC,18111,-0.77,-117.3,969.8,-5.4,606,18115,0.00,2.53,0.00,0.000,4,0.000,0.108,2629,802,3305
$GC,18160,-0.77,-117.3,972.8,-5.5,606,18165,0.00,2.42,0.00,0.000,6,0.000,0.089,2629,2207,3305
$STATE,18467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18467,begin apogee
$GC,18472,-0.23,0.0,990.7,5.8,611,18576,0.70,0.00,101.35,1.484,6,0.076,0.000,2748,2207,2837
$STATE,18577,end apogee,CONTROL_FINISHED_OK
$STATE,18577,begin climb
$GC,18580,0.67,117.3,992.4,0.0,612,18695,1.17,2.95,107.97,1.436,4,0.051,0.140,2946,3604,2358
$GC,18734,0.30,117.3,987.7,9.3,615,18740,0.52,2.60,0.00,0.000,6,0.096,0.094,2868,2213,2358
$GC,19072,0.31,126.0,969.8,5.2,621,19082,0.00,0.00,9.20,1.259,6,0.000,0.000,2868,2213,2323
$GC,19374,0.31,126.0,952.2,5.9,626,19375,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2214,2322
$GC,19677,0.31,126.0,933.4,6.2,631,19682,0.00,2.58,0.00,0.000,4,0.000,0.112,2868,789,2322
$GC,19710,0.31,126.0,931.1,7.3,631,19714,0.00,2.45,0.00,0.000,6,0.000,0.088,2868,2208,2322
$GC,20041,0.31,126.0,909.8,6.4,637,20046,0.00,2.58,0.00,0.000,4,0.000,0.109,2868,789,2322
$GC,20085,0.31,126.0,906.8,7.1,637,20089,0.00,2.45,0.00,0.000,6,0.000,0.087,2868,2208,2322
$GC,20406,0.31,126.0,887.3,6.1,643,20410,0.00,2.60,0.00,0.000,4,0.000,0.123,2868,3610,2322
$GC,20437,0.31,126.0,885.1,6.7,643,20442,0.00,2.45,0.00,0.000,6,0.000,0.088,2868,2191,2322
$GC,20769,0.31,126.0,866.0,5.6,649,20770,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2190,2321
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