version: 66.03
glider: 119
mission: 5
dive: 164
start: 10 28 108 1 26 43
data:
$ID,119
$MISSION,5
$DIVE,164
$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,-212872.02
$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,11
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,011926,4742.692,-12614.134,36,1.9,36,18.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.0
$GPS2,012551,4742.713,-12614.157,13,1.3,13,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.145,-0.131
$KALMAN_X,-12851.4,-51.8,-643.3,-82661.2,-441.2
$KALMAN_Y,152359.6,91.3,614.5,-71257.6,1369.3
$MHEAD_RNG_PITCHd_Wd,209.1,155337,-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,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,2,0.000,0.000,857,2225,2779
$GC,87,-0.67,-117.3,3.3,-5.3,6,120,12.38,2.47,-12.32,0.000,4,0.146,0.076,2650,784,3317
$GC,235,-0.50,-117.3,25.0,-12.7,19,240,0.22,2.22,0.00,0.000,6,0.082,0.044,2688,2201,3317
$GC,567,-0.50,-117.3,51.6,-6.9,62,573,0.00,2.33,0.00,0.000,4,0.000,0.059,2688,769,3317
$GC,636,-0.57,-117.3,55.8,-6.4,74,642,0.00,2.10,0.00,0.000,6,0.000,0.042,2688,2123,3317
$GC,981,-0.61,-117.3,77.8,-6.1,135,987,0.00,2.42,0.00,0.000,4,0.000,0.066,2687,3598,3318
$GC,1011,-0.66,-117.3,79.8,-6.4,140,1018,0.17,2.38,0.00,0.000,6,0.053,0.043,2651,2092,3318
$GC,1337,-0.57,-117.3,104.8,-7.3,171,1342,0.12,2.17,0.00,0.000,4,0.088,0.065,2672,779,3317
$GC,1365,-0.57,-117.3,106.9,-6.6,173,1368,0.00,2.03,0.00,0.000,6,0.000,0.044,2672,2087,3318
$GC,1698,-0.61,-117.3,128.6,-5.9,204,1703,0.00,2.53,0.00,0.000,4,0.000,0.067,2672,3606,3318
$GC,1731,-0.66,-117.3,130.8,-5.8,206,1738,0.00,2.40,0.00,0.000,6,0.000,0.044,2672,2081,3318
$GC,2060,-0.72,-117.3,147.4,-5.2,237,2066,0.15,0.00,0.00,0.000,6,0.058,0.000,2638,2081,3317
$GC,2387,-0.64,-117.3,171.8,-7.4,255,2392,0.12,2.55,0.00,0.000,4,0.090,0.065,2659,3605,3318
$GC,2438,-0.64,-117.3,175.4,-6.9,257,2442,0.00,2.38,0.00,0.000,6,0.000,0.045,2660,2106,3318
$GC,2754,-0.64,-117.3,194.0,-5.8,272,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2106,3318
$GC,3062,-0.64,-117.3,212.4,-6.4,287,3067,0.00,2.50,0.00,0.000,4,0.000,0.067,2659,3600,3318
$GC,3084,-0.64,-117.3,213.8,-6.4,288,3088,0.00,2.35,0.00,0.000,6,0.000,0.045,2660,2119,3318
$GC,3411,-0.64,-117.3,234.7,-6.1,304,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2119,3318
$GC,3720,-0.64,-117.3,252.4,-5.3,319,3725,0.00,2.47,0.00,0.000,4,0.000,0.067,2659,3599,3318
$GC,3742,-0.64,-117.3,253.6,-5.3,320,3746,0.00,2.30,0.00,0.000,6,0.000,0.045,2660,2146,3318
$GC,4070,-0.64,-117.3,269.3,-4.7,336,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2142,3318
$GC,4378,-0.64,-117.3,283.4,-4.6,351,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2142,3318
$GC,4687,-0.64,-117.3,299.9,-5.8,366,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2142,3317
$GC,5011,-0.64,-117.3,318.7,-5.7,372,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2142,3317
$GC,5315,-0.68,-117.3,335.2,-5.5,377,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2142,3317
$GC,5618,-0.72,-117.3,351.4,-5.4,382,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2141,3316
$GC,5921,-0.76,-117.3,366.0,-4.7,387,5923,0.15,0.00,0.00,0.000,6,0.058,0.000,2627,2141,3316
$GC,6225,-0.66,-117.3,384.2,-6.1,392,6227,0.15,0.00,0.00,0.000,6,0.087,0.000,2653,2141,3316
$GC,6527,-0.66,-117.3,400.4,-5.3,397,6531,0.00,2.45,0.00,0.000,4,0.000,0.071,2652,3597,3315
$GC,6549,-0.66,-117.3,401.6,-5.4,397,6553,0.00,2.33,0.00,0.000,6,0.000,0.046,2653,2129,3315
$GC,6892,-0.66,-117.3,418.6,-4.9,403,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2128,3315
$GC,7195,-0.66,-117.3,433.6,-4.9,408,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2128,3314
$GC,7498,-0.66,-117.3,446.6,-4.2,413,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2129,3314
$GC,7801,-0.66,-117.3,460.6,-4.7,418,7805,0.00,2.47,0.00,0.000,4,0.000,0.071,2652,3597,3314
$GC,7833,-0.66,-117.3,462.5,-5.8,418,7837,0.00,2.30,0.00,0.000,6,0.000,0.047,2653,2151,3313
$GC,8165,-0.66,-117.3,480.5,-5.6,424,8169,0.00,2.33,0.00,0.000,4,0.000,0.084,2653,798,3313
$GC,8192,-0.71,-117.3,482.1,-6.6,424,8196,0.00,2.20,0.00,0.000,6,0.000,0.051,2652,2185,3313
$GC,8530,-0.71,-117.3,499.3,-4.9,430,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2185,3313
$GC,8832,-0.71,-117.3,513.5,-4.6,435,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2185,3313
$GC,9136,-0.71,-117.3,526.5,-4.3,440,9140,0.00,2.35,0.00,0.000,4,0.000,0.081,2653,803,3313
$GC,9169,-0.76,-117.3,528.1,-4.8,440,9173,0.00,2.17,0.00,0.000,6,0.000,0.052,2653,2174,3312
$GC,9495,-0.81,-117.3,543.6,-4.9,446,9497,0.15,0.00,0.00,0.000,6,0.058,0.000,2620,2174,3312
$GC,9798,-0.71,-117.3,563.3,-6.6,451,9803,0.15,2.42,0.00,0.000,4,0.087,0.076,2649,3601,3312
$GC,9830,-0.71,-117.3,565.5,-6.5,451,9834,0.00,2.28,0.00,0.000,6,0.000,0.048,2649,2200,3312
$GC,10162,-0.71,-117.3,584.4,-5.8,457,10166,0.00,2.42,0.00,0.000,4,0.000,0.086,2649,789,3312
$GC,10200,-0.76,-117.3,586.8,-6.3,457,10204,0.00,2.22,0.00,0.000,6,0.000,0.055,2649,2175,3312
$GC,10526,-0.91,-117.3,607.9,-6.7,463,10531,0.22,2.35,0.00,0.000,4,0.051,0.080,2598,799,3312
$GC,10710,-0.74,-117.3,622.2,-8.2,465,10715,0.17,1.85,0.00,0.000,6,0.076,0.057,2632,1932,3312
$GC,11025,-0.74,-117.3,640.3,-5.7,471,11029,0.00,2.83,0.00,0.000,4,0.000,0.080,2632,3598,3311
$GC,11091,-0.69,-117.3,644.2,-6.3,472,11095,0.00,2.58,0.00,0.000,6,0.000,0.052,2632,1990,3310
$GC,11450,-0.69,-117.3,661.9,-4.9,478,11455,0.00,2.75,0.00,0.000,4,0.000,0.079,2632,3596,3310
$GC,11512,-0.65,-117.3,665.2,-5.7,479,11517,0.15,2.47,0.00,0.000,6,0.088,0.052,2656,2055,3310
$GC,11877,-0.72,-117.3,680.8,-4.4,485,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2055,3310
$GC,12180,-0.81,-117.3,696.2,-5.1,490,12185,0.15,2.67,0.00,0.000,4,0.056,0.081,2618,3606,3309
$GC,12207,-0.81,-117.3,698.0,-6.5,490,12211,0.00,2.40,0.00,0.000,6,0.000,0.051,2618,2100,3309
$GC,12545,-0.72,-117.3,719.5,-6.4,496,12547,0.12,0.00,0.00,0.000,6,0.093,0.000,2639,2100,3310
$GC,12848,-0.72,-117.3,735.8,-5.3,501,12852,0.00,2.60,0.00,0.000,4,0.000,0.084,2639,3599,3310
$GC,12885,-0.72,-117.3,738.1,-5.6,501,12889,0.00,2.38,0.00,0.000,6,0.000,0.052,2639,2122,3309
$GC,13212,-0.72,-117.3,754.3,-4.9,507,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2122,3309
$GC,13515,-0.72,-117.3,768.3,-4.6,512,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2122,3309
$GC,13818,-0.72,-117.3,783.0,-4.9,517,13819,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2122,3309
$GC,14121,-0.72,-117.3,798.1,-4.9,522,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2121,3309
$GC,14424,-0.72,-117.3,813.8,-5.2,527,14428,0.00,2.58,0.00,0.000,4,0.000,0.087,2638,3595,3309
$GC,14461,-0.72,-117.3,816.0,-5.7,527,14466,0.00,2.35,0.00,0.000,6,0.000,0.054,2639,2140,3308
$GC,14788,-0.72,-117.3,831.6,-4.7,533,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2140,3309
$GC,15091,-0.72,-117.3,845.7,-4.7,538,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2140,3308
$GC,15394,-0.72,-117.3,860.4,-4.9,543,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2140,3308
$GC,15698,-0.72,-117.3,876.7,-5.4,548,15699,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2141,3308
$GC,16000,-0.72,-117.3,892.3,-5.1,553,16005,0.00,2.58,0.00,0.000,4,0.000,0.093,2639,3595,3307
$GC,16022,-0.72,-117.3,893.7,-6.2,553,16026,0.00,2.35,0.00,0.000,6,0.000,0.058,2639,2158,3307
$GC,16365,-0.72,-117.3,911.3,-5.2,559,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2158,3307
$GC,16670,-0.72,-117.3,927.1,-5.2,564,16671,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2157,3306
$GC,16971,-0.72,-117.3,941.8,-4.9,569,16972,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2157,3306
$GC,17274,-0.72,-117.3,956.6,-4.9,574,17278,0.00,2.47,0.00,0.000,4,0.000,0.110,2639,796,3306
$GC,17307,-0.72,-117.3,958.2,-5.1,574,17311,0.00,2.28,0.00,0.000,6,0.000,0.069,2639,2161,3306
$GC,17639,-0.72,-117.3,973.6,-4.6,580,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2161,3306
$GC,17942,-0.72,-117.3,987.4,-4.6,585,17943,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2161,3305
$STATE,18000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18000,begin apogee
$GC,18006,-0.23,0.0,990.1,4.5,586,18111,0.62,0.00,102.18,1.496,6,0.073,0.000,2746,2202,2837
$STATE,18111,end apogee,CONTROL_FINISHED_OK
$STATE,18112,begin climb
$GC,18114,0.67,117.3,991.5,0.0,587,18236,1.12,2.83,110.68,1.447,4,0.046,0.100,2943,3605,2358
$GC,18275,0.37,117.3,984.9,8.5,589,18280,0.40,2.53,0.00,0.000,6,0.089,0.070,2883,2211,2358
$GC,18600,0.37,117.3,963.5,6.5,595,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2210,2358
$GC,18904,0.37,117.3,944.1,6.4,600,18905,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2210,2358
$GC,19207,0.37,117.3,925.7,6.0,605,19211,0.00,2.55,0.00,0.000,4,0.000,0.111,2883,781,2358
$GC,19252,0.32,117.3,922.7,6.5,605,19256,0.00,2.30,0.00,0.000,6,0.000,0.067,2883,2176,2358
$GC,19566,0.32,117.3,903.5,6.1,611,19570,0.00,2.47,0.00,0.000,4,0.000,0.092,2883,3607,2358
$GC,19610,0.27,117.3,900.7,7.6,611,19615,0.15,2.35,0.00,0.000,6,0.097,0.063,2859,2177,2358
$GC,19925,0.38,143.2,885.7,4.7,617,19954,0.12,2.50,24.15,1.407,4,0.064,0.108,2886,789,2253
$GC,20004,0.38,143.2,881.0,5.7,618,20008,0.00,2.33,0.00,0.000,6,0.000,0.064,2886,2181,2253
$GC,20359,0.38,143.2,860.0,6.0,624,20360,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2182,2253
$GC,20661,0.38,143.2,840.6,6.5,629,20666,0.00,2.47,0.00,0.000,4,0.000,0.102,2886,789,2253
$GC,20723,0.38,143.2,836.4,7.7,630,20727,0.00,2.25,0.00,0.000,6,0.000,0.064,2886,2160,2252
$GC,21087,0.38,143.2,813.9,6.1,636,21088,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2160,2252
$GC,21390,0.38,143.2,794.1,6.6,641,21394,0.00,2.42,0.00,0.000,4,0.000,0.099,2886,786,2252
$GC,21445,0.38,143.2,790.1,7.2,641,21452,0.00,2.22,0.00,0.000,6,0.000,0.062,2886,2135,2252
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