version: 66.03
glider: 119
mission: 5
dive: 44
start: 9 27 108 10 49 42
data:
$ID,119
$MISSION,5
$DIVE,44
$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,-210505.06
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,104327,4654.612,-12649.260,36,1.8,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.3
$GPS2,104850,4654.596,-12649.219,9,1.3,14,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.189,-0.048
$KALMAN_X,52771.6,116.8,430.6,-193839.9,-709.4
$KALMAN_Y,88703.7,-89.6,139.4,-96043.2,2583.0
$MHEAD_RNG_PITCHd_Wd,237.1,89960,-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,-61.85,0.000,2,0.000,0.000,862,2209,2945
$GC,87,-0.67,-117.3,4.3,-7.2,6,113,12.32,2.42,-7.10,0.000,4,0.148,0.087,2648,800,3316
$GC,164,-0.34,-117.3,23.8,-15.6,13,169,0.45,2.28,0.00,0.000,6,0.081,0.056,2721,2202,3316
$GC,495,-0.48,-117.3,46.4,-5.0,53,501,0.15,0.00,0.00,0.000,6,0.052,0.000,2683,2202,3317
$GC,838,-0.48,-117.3,68.7,-5.7,114,844,0.00,2.35,0.00,0.000,4,0.000,0.072,2683,786,3319
$GC,896,-0.48,-117.3,71.9,-5.5,124,902,0.00,2.28,0.00,0.000,6,0.000,0.061,2683,2199,3319
$GC,1234,-0.48,-117.3,92.5,-6.5,168,1238,0.00,2.38,0.00,0.000,4,0.000,0.076,2683,786,3320
$GC,1279,-0.52,-117.3,95.1,-6.2,172,1283,0.00,2.33,0.00,0.000,6,0.000,0.064,2683,2202,3320
$GC,1606,-0.52,-117.3,114.3,-6.0,202,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2202,3320
$GC,1923,-0.61,-117.3,130.7,-4.6,232,1927,0.00,2.38,0.00,0.000,4,0.000,0.081,2683,794,3320
$GC,1948,-0.74,-117.3,131.9,-5.0,234,1953,0.25,2.33,0.00,0.000,6,0.047,0.069,2631,2199,3320
$GC,2272,-0.60,-117.3,153.5,-7.0,262,2277,0.17,2.42,0.00,0.000,4,0.086,0.090,2664,3610,3320
$GC,2304,-0.60,-117.3,155.5,-5.1,263,2311,0.00,2.35,0.00,0.000,6,0.000,0.068,2664,2173,3320
$GC,2620,-0.60,-117.3,170.2,-4.6,279,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2169,3320
$GC,2929,-0.60,-117.3,186.9,-5.6,294,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2168,3320
$GC,3239,-0.60,-117.3,202.7,-4.9,309,3243,0.00,2.33,0.00,0.000,4,0.000,0.084,2664,793,3320
$GC,3261,-0.65,-117.3,203.9,-5.4,310,3265,0.00,2.33,0.00,0.000,6,0.000,0.069,2664,2204,3320
$GC,3582,-0.65,-117.3,221.1,-5.9,326,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2204,3320
$GC,3891,-0.69,-117.3,240.2,-6.2,341,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2204,3320
$GC,4200,-0.75,-117.3,260.1,-6.7,356,4202,0.15,0.00,0.00,0.000,6,0.061,0.000,2632,2204,3319
$GC,4510,-0.65,-117.3,285.4,-8.0,371,4515,0.12,2.42,0.00,0.000,4,0.094,0.084,2654,787,3318
$GC,4536,-0.65,-117.3,287.5,-7.9,372,4540,0.00,2.35,0.00,0.000,6,0.000,0.071,2653,2208,3318
$GC,4876,-0.65,-117.3,307.9,-5.9,385,4880,0.00,2.42,0.00,0.000,4,0.000,0.086,2654,794,3318
$GC,4902,-0.65,-117.3,309.5,-6.0,385,4906,0.00,2.35,0.00,0.000,6,0.000,0.072,2653,2194,3318
$GC,5240,-0.65,-117.3,327.9,-5.4,391,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2194,3317
$GC,5543,-0.65,-117.3,344.2,-5.4,396,5547,0.00,2.40,0.00,0.000,4,0.000,0.087,2653,794,3316
$GC,5569,-0.65,-117.3,345.7,-6.1,396,5574,0.00,2.35,0.00,0.000,6,0.000,0.073,2653,2205,3317
$GC,5907,-0.65,-117.3,364.0,-5.4,402,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,3316
$GC,6212,-0.65,-117.3,379.6,-5.2,407,6216,0.00,2.42,0.00,0.000,4,0.000,0.088,2654,796,3315
$GC,6244,-0.65,-117.3,381.5,-5.3,407,6248,0.00,2.33,0.00,0.000,6,0.000,0.074,2653,2201,3316
$GC,6576,-0.65,-117.3,397.5,-4.8,413,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2201,3315
$GC,6879,-0.65,-117.3,413.4,-5.3,418,6883,0.00,2.42,0.00,0.000,4,0.000,0.090,2653,797,3314
$GC,6912,-0.70,-117.3,415.4,-6.3,418,6917,0.00,2.35,0.00,0.000,6,0.000,0.074,2653,2204,3315
$GC,7240,-0.70,-117.3,433.9,-5.6,424,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2204,3314
$GC,7541,-0.70,-117.3,449.2,-4.9,429,7545,0.00,2.45,0.00,0.000,4,0.000,0.091,2653,791,3314
$GC,7574,-0.75,-117.3,450.8,-5.2,429,7579,0.00,2.38,0.00,0.000,6,0.000,0.075,2653,2209,3314
$GC,7900,-0.75,-117.3,466.3,-4.8,435,7904,0.00,2.45,0.00,0.000,4,0.000,0.092,2653,796,3313
$GC,7922,-0.79,-117.3,467.4,-4.9,435,7927,0.15,2.35,0.00,0.000,6,0.064,0.076,2623,2200,3313
$GC,8258,-0.69,-117.3,489.1,-6.6,441,8263,0.12,2.47,0.00,0.000,4,0.096,0.099,2644,3607,3313
$GC,8280,-0.64,-117.3,490.5,-6.3,441,8284,0.00,2.33,0.00,0.000,6,0.000,0.076,2645,2204,3313
$GC,8622,-0.64,-117.3,507.9,-4.9,447,8626,0.00,2.45,0.00,0.000,4,0.000,0.097,2645,793,3312
$GC,8649,-0.64,-117.3,509.2,-5.2,447,8653,0.00,2.38,0.00,0.000,6,0.000,0.077,2644,2204,3312
$GC,8987,-0.64,-117.3,524.1,-4.4,453,8991,0.00,2.47,0.00,0.000,4,0.000,0.094,2644,793,3312
$GC,9013,-0.64,-117.3,525.3,-5.1,453,9017,0.00,2.38,0.00,0.000,6,0.000,0.078,2644,2202,3312
$GC,9345,-0.64,-117.3,542.0,-5.2,459,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,3312
$GC,9648,-0.64,-117.3,559.9,-6.0,464,9652,0.00,2.50,0.00,0.000,4,0.000,0.097,2644,785,3311
$GC,9674,-0.64,-117.3,561.8,-6.7,464,9678,0.00,2.40,0.00,0.000,6,0.000,0.081,2644,2199,3311
$GC,10011,-0.64,-117.3,582.3,-6.1,470,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2199,3311
$GC,10315,-0.64,-117.3,598.5,-5.2,475,10319,0.00,2.50,0.00,0.000,4,0.000,0.097,2644,786,3311
$GC,10347,-0.64,-117.3,600.3,-5.5,475,10351,0.00,2.40,0.00,0.000,6,0.000,0.081,2644,2199,3310
$GC,10679,-0.64,-117.3,615.8,-4.5,481,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2198,3310
$GC,10984,-0.64,-117.3,628.8,-4.3,486,10988,0.00,2.50,0.00,0.000,4,0.000,0.098,2644,788,3310
$GC,11017,-0.64,-117.3,630.4,-4.3,486,11022,0.00,2.40,0.00,0.000,6,0.000,0.081,2644,2200,3310
$GC,11343,-0.64,-117.3,645.2,-4.6,492,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,3310
$GC,11646,-0.64,-117.3,660.6,-5.2,497,11651,0.00,2.50,0.00,0.000,4,0.000,0.100,2644,794,3309
$GC,11679,-0.64,-117.3,662.4,-5.5,497,11683,0.00,2.38,0.00,0.000,6,0.000,0.083,2644,2199,3310
$GC,12011,-0.64,-117.3,679.6,-5.1,503,12016,0.00,2.53,0.00,0.000,4,0.000,0.101,2644,786,3310
$GC,12039,-0.69,-117.3,681.2,-5.4,503,12043,0.00,2.42,0.00,0.000,6,0.000,0.084,2644,2201,3310
$GC,12370,-0.69,-117.3,698.4,-5.2,509,12374,0.00,2.53,0.00,0.000,4,0.000,0.104,2644,792,3309
$GC,12390,-0.69,-117.3,699.6,-5.6,509,12395,0.00,2.40,0.00,0.000,6,0.000,0.085,2644,2200,3309
$GC,12734,-0.69,-117.3,718.1,-5.4,515,12738,0.00,2.53,0.00,0.000,4,0.000,0.105,2644,796,3309
$GC,12772,-0.73,-117.3,720.2,-5.8,515,12776,0.00,2.40,0.00,0.000,6,0.000,0.087,2644,2199,3309
$GC,13092,-0.73,-117.3,737.5,-5.4,521,13096,0.00,2.55,0.00,0.000,4,0.000,0.107,2644,787,3309
$GC,13118,-0.77,-117.3,739.1,-5.9,521,13122,0.00,2.42,0.00,0.000,6,0.000,0.087,2644,2202,3309
$GC,13450,-0.77,-117.3,756.4,-5.2,527,13454,0.00,2.55,0.00,0.000,4,0.000,0.107,2644,795,3308
$GC,13482,-0.82,-117.3,758.2,-5.7,527,13487,0.12,2.42,0.00,0.000,6,0.066,0.088,2619,2204,3308
$GC,13809,-0.74,-117.3,777.6,-6.0,533,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2205,3308
$GC,14111,-0.66,-117.3,795.0,-5.8,538,14116,0.17,2.58,0.00,0.000,4,0.088,0.110,2652,795,3308
$GC,14144,-0.74,-117.3,796.9,-4.8,538,14148,0.00,2.45,0.00,0.000,6,0.000,0.091,2652,2205,3308
$GC,14469,-0.88,-117.3,813.1,-5.2,544,14474,0.20,2.58,0.00,0.000,4,0.058,0.110,2607,795,3307
$GC,14570,-0.76,-117.3,819.2,-6.4,545,14575,0.15,2.45,0.00,0.000,6,0.094,0.094,2631,2206,3307
$GC,14895,-0.76,-117.3,834.9,-4.8,551,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2206,3307
$GC,15198,-0.76,-117.3,849.2,-4.7,556,15203,0.00,2.60,0.00,0.000,4,0.000,0.114,2631,792,3307
$GC,15237,-0.76,-117.3,851.4,-5.5,556,15241,0.00,2.45,0.00,0.000,6,0.000,0.094,2631,2198,3307
$GC,15563,-0.76,-117.3,867.9,-5.1,562,15564,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2198,3306
$GC,15866,-0.76,-117.3,882.3,-4.8,567,15870,0.00,2.60,0.00,0.000,4,0.000,0.115,2631,789,3306
$GC,15898,-0.76,-117.3,884.0,-5.3,567,15903,0.00,2.47,0.00,0.000,6,0.000,0.095,2631,2204,3306
$GC,16224,-0.76,-117.3,898.4,-4.4,573,16226,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2204,3306
$GC,16528,-0.76,-117.3,911.6,-4.4,578,16532,0.00,2.58,0.00,0.000,4,0.000,0.117,2631,796,3306
$GC,16573,-0.76,-117.3,913.7,-5.0,578,16577,0.00,2.47,0.00,0.000,6,0.000,0.097,2631,2201,3306
$GC,16890,-0.76,-117.3,927.1,-4.2,584,16891,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2201,3305
$GC,17190,-0.76,-117.3,940.0,-4.3,589,17195,0.00,2.62,0.00,0.000,4,0.000,0.117,2631,787,3305
$GC,17239,-0.76,-117.3,942.4,-6.1,589,17244,0.00,2.47,0.00,0.000,6,0.000,0.097,2630,2200,3305
$GC,17555,-0.76,-117.3,957.6,-4.9,595,17556,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2200,3305
$GC,17858,-0.76,-117.3,973.0,-5.1,600,17862,0.00,2.62,0.00,0.000,4,0.000,0.120,2631,793,3305
$GC,17884,-0.76,-117.3,974.5,-5.3,600,17889,0.00,2.47,0.00,0.000,6,0.000,0.098,2631,2199,3305
$STATE,18214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18214,begin apogee
$GC,18219,-0.23,0.0,991.1,5.0,606,18323,0.68,0.00,101.22,1.470,6,0.077,0.000,2746,2200,2837
$STATE,18324,end apogee,CONTROL_FINISHED_OK
$STATE,18324,begin climb
$GC,18326,0.67,117.3,992.3,0.0,607,18442,1.12,2.97,108.20,1.427,4,0.050,0.137,2941,3608,2358
$GC,18487,0.32,117.3,985.6,10.2,608,18492,0.45,2.67,0.00,0.000,6,0.095,0.104,2875,2209,2358
$GC,18807,0.28,117.3,964.8,6.4,614,18812,0.00,2.67,0.00,0.000,4,0.000,0.122,2874,785,2356
$GC,18834,0.22,117.3,963.1,6.7,614,18839,0.15,2.53,0.00,0.000,6,0.097,0.095,2851,2200,2356
$GC,19165,0.27,117.3,944.2,5.7,620,19166,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2200,2356
$GC,19468,0.32,117.3,927.0,5.7,625,19472,0.00,2.65,0.00,0.000,4,0.000,0.120,2851,780,2355
$GC,19522,0.32,117.3,923.6,7.2,625,19529,0.00,2.50,0.00,0.000,6,0.000,0.095,2851,2201,2355
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