version: 66.03
glider: 119
mission: 5
dive: 50
start: 9 29 108 19 51 24
data:
$ID,119
$MISSION,5
$DIVE,50
$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,-210597.38
$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,18
$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
$GPS1,194504,4655.963,-12715.941,36,1.8,38,18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.7
$GPS2,195032,4655.987,-12715.959,9,1.5,15,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.190,-0.045
$KALMAN_X,60150.3,-79.9,83.3,-234459.9,1473.5
$KALMAN_Y,101961.5,-136.2,347.9,-106893.5,2347.0
$MHEAD_RNG_PITCHd_Wd,238.0,56121,-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,-62.08,0.000,2,0.000,0.000,862,2205,2926
$GC,87,-0.67,-117.3,4.0,-7.5,6,113,12.35,2.45,-7.68,0.000,4,0.149,0.086,2648,788,3317
$GC,338,-0.46,-117.3,46.0,-10.4,33,345,0.30,2.28,0.00,0.000,6,0.079,0.054,2698,2210,3317
$GC,683,-0.52,-117.3,64.6,-5.2,94,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2211,3319
$GC,1029,-0.60,-117.3,83.0,-5.5,151,1031,0.15,0.00,0.00,0.000,6,0.055,0.000,2664,2211,3320
$GC,1348,-0.53,-117.3,106.9,-8.0,181,1353,0.00,2.40,0.00,0.000,4,0.000,0.079,2664,789,3320
$GC,1388,-0.53,-117.3,110.4,-8.2,184,1392,0.00,2.33,0.00,0.000,6,0.000,0.066,2664,2200,3320
$GC,1712,-0.53,-117.3,133.0,-5.8,214,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2200,3320
$GC,2041,-0.53,-117.3,153.1,-5.9,243,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2201,3320
$GC,2350,-0.53,-117.3,171.9,-6.4,258,2354,0.00,2.40,0.00,0.000,4,0.000,0.088,2664,3606,3321
$GC,2371,-0.53,-117.3,173.5,-6.9,259,2375,0.00,2.35,0.00,0.000,6,0.000,0.066,2664,2194,3320
$GC,2699,-0.53,-117.3,192.2,-5.3,275,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2190,3320
$GC,3007,-0.53,-117.3,208.8,-5.7,290,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2190,3320
$GC,3317,-0.57,-117.3,226.8,-5.6,305,3321,0.00,2.35,0.00,0.000,4,0.000,0.082,2664,795,3320
$GC,3344,-0.63,-117.3,228.5,-5.9,306,3347,0.00,2.33,0.00,0.000,6,0.000,0.068,2664,2206,3320
$GC,3665,-0.68,-117.3,244.6,-4.7,322,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2206,3319
$GC,3975,-0.74,-117.3,259.2,-4.6,337,3980,0.12,2.40,0.00,0.000,4,0.065,0.081,2636,795,3319
$GC,4001,-0.74,-117.3,260.9,-5.8,338,4005,0.00,2.35,0.00,0.000,6,0.000,0.069,2636,2199,3319
$GC,4323,-0.67,-117.3,281.2,-6.3,354,4327,0.00,2.40,0.00,0.000,4,0.000,0.084,2637,791,3318
$GC,4362,-0.61,-117.3,283.8,-6.5,356,4367,0.15,2.33,0.00,0.000,6,0.087,0.070,2662,2202,3318
$GC,4689,-0.66,-117.3,299.2,-4.7,372,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2202,3318
$GC,5013,-0.71,-117.3,315.3,-5.0,378,5017,0.00,2.42,0.00,0.000,4,0.000,0.085,2662,787,3317
$GC,5045,-0.78,-117.3,317.3,-6.0,378,5050,0.17,2.35,0.00,0.000,6,0.056,0.071,2626,2206,3318
$GC,5371,-0.68,-117.3,337.5,-6.1,384,5372,0.15,0.00,0.00,0.000,6,0.093,0.000,2652,2207,3316
$GC,5674,-0.68,-117.3,352.6,-5.0,389,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3316
$GC,5977,-0.68,-117.3,368.9,-5.5,394,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3315
$GC,6280,-0.68,-117.3,384.7,-5.1,399,6284,0.00,2.45,0.00,0.000,4,0.000,0.087,2652,787,3315
$GC,6317,-0.68,-117.3,386.9,-5.5,399,6322,0.00,2.35,0.00,0.000,6,0.000,0.072,2651,2198,3315
$GC,6646,-0.68,-117.3,403.1,-5.0,405,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3315
$GC,6947,-0.68,-117.3,418.4,-5.0,410,6951,0.00,2.42,0.00,0.000,4,0.000,0.089,2652,798,3314
$GC,6985,-0.73,-117.3,420.5,-5.8,410,6989,0.00,2.35,0.00,0.000,6,0.000,0.072,2652,2204,3314
$GC,7311,-0.73,-117.3,437.1,-5.1,416,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3314
$GC,7615,-0.73,-117.3,452.4,-5.0,421,7619,0.00,2.45,0.00,0.000,4,0.000,0.091,2652,799,3313
$GC,7647,-0.78,-117.3,454.2,-5.9,421,7651,0.00,2.35,0.00,0.000,6,0.000,0.074,2651,2200,3314
$GC,7979,-0.78,-117.3,470.4,-4.9,427,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,3313
$GC,8282,-0.78,-117.3,484.4,-4.6,432,8286,0.00,2.45,0.00,0.000,4,0.000,0.092,2652,797,3313
$GC,8331,-0.84,-117.3,486.9,-4.8,432,8336,0.20,2.35,0.00,0.000,6,0.055,0.075,2611,2200,3313
$GC,8640,-0.70,-117.3,505.6,-6.2,437,8642,0.20,0.00,0.00,0.000,6,0.089,0.000,2645,2200,3313
$GC,8943,-0.70,-117.3,520.9,-5.0,442,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,3312
$GC,9248,-0.70,-117.3,538.2,-5.8,447,9252,0.00,2.47,0.00,0.000,4,0.000,0.096,2645,793,3312
$GC,9286,-0.70,-117.3,540.6,-7.0,447,9290,0.00,2.35,0.00,0.000,6,0.000,0.077,2645,2199,3312
$GC,9613,-0.70,-117.3,559.6,-5.8,453,9617,0.00,2.45,0.00,0.000,4,0.000,0.094,2645,797,3312
$GC,9634,-0.70,-117.3,561.1,-6.8,453,9639,0.00,2.38,0.00,0.000,6,0.000,0.076,2645,2204,3311
$GC,9978,-0.70,-117.3,581.1,-5.9,459,9982,0.00,2.47,0.00,0.000,4,0.000,0.094,2645,790,3311
$GC,10015,-0.70,-117.3,583.4,-6.0,459,10020,0.00,2.40,0.00,0.000,6,0.000,0.077,2644,2210,3311
$GC,10342,-0.70,-117.3,601.6,-5.5,465,10347,0.00,2.47,0.00,0.000,4,0.000,0.094,2645,797,3311
$GC,10381,-0.74,-117.3,603.8,-6.2,465,10385,0.00,2.38,0.00,0.000,6,0.000,0.077,2645,2205,3311
$GC,10701,-0.74,-117.3,619.9,-4.9,471,10705,0.00,2.47,0.00,0.000,4,0.000,0.094,2644,793,3311
$GC,10734,-0.74,-117.3,621.6,-5.0,471,10738,0.00,2.38,0.00,0.000,6,0.000,0.077,2644,2201,3311
$GC,11066,-0.74,-117.3,637.2,-4.7,477,11070,0.00,2.47,0.00,0.000,4,0.000,0.095,2645,791,3309
$GC,11087,-0.74,-117.3,638.2,-5.1,477,11091,0.00,2.38,0.00,0.000,6,0.000,0.077,2645,2200,3310
$GC,11424,-0.74,-117.3,655.0,-5.0,483,11428,0.00,2.47,0.00,0.000,4,0.000,0.096,2645,796,3310
$GC,11456,-0.78,-117.3,656.5,-5.5,483,11460,0.00,2.38,0.00,0.000,6,0.000,0.077,2644,2200,3309
$GC,11788,-0.78,-117.3,672.5,-4.8,489,11792,0.00,2.47,0.00,0.000,4,0.000,0.096,2645,798,3309
$GC,11820,-0.82,-117.3,674.2,-5.7,489,11825,0.12,2.38,0.00,0.000,6,0.065,0.077,2618,2200,3309
$GC,12146,-0.74,-117.3,693.0,-5.8,495,12151,0.12,2.50,0.00,0.000,4,0.096,0.096,2638,792,3309
$GC,12173,-0.74,-117.3,694.5,-5.2,495,12177,0.00,2.40,0.00,0.000,6,0.000,0.078,2638,2205,3309
$GC,12504,-0.74,-117.3,710.8,-4.9,501,12508,0.00,2.50,0.00,0.000,4,0.000,0.097,2638,795,3308
$GC,12541,-0.74,-117.3,712.8,-5.6,501,12546,0.00,2.40,0.00,0.000,6,0.000,0.080,2638,2202,3308
$GC,12868,-0.74,-117.3,729.0,-4.9,507,12872,0.00,2.50,0.00,0.000,4,0.000,0.099,2638,799,3309
$GC,12900,-0.74,-117.3,730.7,-5.1,507,12904,0.00,2.38,0.00,0.000,6,0.000,0.081,2638,2199,3308
$GC,13232,-0.74,-117.3,746.6,-4.7,513,13236,0.00,2.50,0.00,0.000,4,0.000,0.100,2638,799,3308
$GC,13258,-0.74,-117.3,747.9,-4.9,513,13263,0.00,2.38,0.00,0.000,6,0.000,0.082,2638,2200,3308
$GC,13596,-0.74,-117.3,763.1,-4.4,519,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2200,3308
$GC,13900,-0.74,-117.3,776.2,-4.3,524,13904,0.00,2.53,0.00,0.000,4,0.000,0.103,2638,796,3308
$GC,13943,-0.74,-117.3,778.3,-4.6,524,13947,0.00,2.40,0.00,0.000,6,0.000,0.084,2638,2203,3308
$GC,14264,-0.74,-117.3,792.9,-4.6,530,14268,0.00,2.53,0.00,0.000,4,0.000,0.104,2638,799,3307
$GC,14296,-0.74,-117.3,794.4,-4.8,530,14300,0.00,2.40,0.00,0.000,6,0.000,0.084,2638,2204,3307
$GC,14628,-0.74,-117.3,810.0,-4.7,536,14632,0.00,2.53,0.00,0.000,4,0.000,0.105,2638,800,3307
$GC,14660,-0.74,-117.3,811.6,-4.9,536,14664,0.00,2.40,0.00,0.000,6,0.000,0.084,2638,2206,3308
$GC,14987,-0.74,-117.3,826.6,-4.6,542,14991,0.00,2.55,0.00,0.000,4,0.000,0.106,2638,797,3307
$GC,15025,-0.74,-117.3,828.7,-5.2,542,15029,0.00,2.40,0.00,0.000,6,0.000,0.086,2638,2200,3307
$GC,15345,-0.74,-117.3,843.5,-4.6,548,15350,0.00,2.55,0.00,0.000,4,0.000,0.107,2638,794,3307
$GC,15384,-0.74,-117.3,845.4,-4.7,548,15388,0.00,2.42,0.00,0.000,6,0.000,0.087,2638,2202,3307
$GC,15710,-0.74,-117.3,859.8,-4.4,554,15714,0.00,2.55,0.00,0.000,4,0.000,0.108,2638,800,3306
$GC,15742,-0.74,-117.3,861.3,-5.1,554,15746,0.00,2.40,0.00,0.000,6,0.000,0.087,2638,2201,3307
$GC,16075,-0.74,-117.3,875.8,-4.4,560,16079,0.00,2.55,0.00,0.000,4,0.000,0.109,2638,800,3307
$GC,16112,-0.74,-117.3,877.7,-5.4,560,16116,0.00,2.42,0.00,0.000,6,0.000,0.088,2638,2209,3307
$GC,16439,-0.74,-117.3,892.8,-4.7,566,16443,0.00,2.58,0.00,0.000,4,0.000,0.109,2638,792,3306
$GC,16482,-0.78,-117.3,895.1,-5.7,566,16486,0.00,2.42,0.00,0.000,6,0.000,0.090,2638,2201,3306
$GC,16797,-0.78,-117.3,911.2,-5.2,572,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2201,3306
$GC,17101,-0.78,-117.3,926.7,-5.1,577,17105,0.00,2.58,0.00,0.000,4,0.000,0.112,2638,798,3306
$GC,17150,-0.83,-117.3,929.5,-4.6,577,17155,0.00,2.45,0.00,0.000,6,0.000,0.091,2638,2201,3306
$GC,17459,-0.95,-117.3,946.8,-5.7,582,17464,0.22,2.58,0.00,0.000,4,0.054,0.111,2589,800,3306
$GC,17656,-0.78,-117.3,960.4,-7.0,585,17661,0.22,2.45,0.00,0.000,6,0.093,0.094,2625,2201,3305
$GC,18021,-0.78,-117.3,979.4,-5.2,591,18025,0.00,2.60,0.00,0.000,4,0.000,0.114,2625,793,3305
$GC,18082,-0.78,-117.3,982.7,-5.7,592,18086,0.00,2.47,0.00,0.000,6,0.000,0.094,2625,2203,3305
$STATE,18262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18262,begin apogee
$GC,18267,-0.23,0.0,991.8,5.0,595,18372,0.73,0.00,101.47,1.481,6,0.079,0.000,2747,2203,2837
$STATE,18372,end apogee,CONTROL_FINISHED_OK
$STATE,18372,begin climb
$GC,18375,0.67,117.3,993.1,0.0,596,18491,1.17,2.92,108.75,1.437,4,0.049,0.133,2947,3606,2358
$GC,18536,0.30,117.3,985.5,10.8,599,18541,0.52,2.62,0.00,0.000,6,0.099,0.097,2870,2213,2358
$GC,18867,0.30,117.3,964.9,6.0,605,18871,0.00,2.65,0.00,0.000,4,0.000,0.117,2870,787,2356
$GC,18899,0.27,131.5,963.0,5.1,605,18919,0.00,2.50,13.70,1.329,6,0.000,0.091,2869,2202,2301
$GC,19228,0.27,131.5,942.6,6.1,611,19230,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2202,2301
$GC,19531,0.27,131.5,923.9,6.2,616,19536,0.00,2.60,0.00,0.000,4,0.000,0.116,2869,783,2300
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