version: 66.03
glider: 119
mission: 5
dive: 53
start: 10 1 108 0 16 55
data:
$ID,119
$MISSION,5
$DIVE,53
$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,-210664.36
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,001007,4656.022,-12729.237,34,1.8,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-67.5
$GPS2,001603,4656.064,-12729.222,14,1.4,14,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186,-0.060
$KALMAN_X,64167.7,-231.0,-23.5,-254972.5,1866.3
$KALMAN_Y,107355.4,-188.6,-210.5,-111530.2,3047.8
$MHEAD_RNG_PITCHd_Wd,233.6,39552,-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,-62.03,0.000,2,0.000,0.000,861,2216,2931
$GC,87,-0.67,-117.3,3.8,-6.7,6,113,12.23,2.45,-7.62,0.000,4,0.144,0.087,2648,791,3318
$GC,191,-0.37,-117.3,25.9,-13.7,15,198,0.35,2.30,0.00,0.000,6,0.081,0.052,2715,2202,3318
$GC,524,-0.50,-117.3,47.9,-5.2,59,531,0.12,2.33,0.00,0.000,4,0.057,0.063,2685,779,3319
$GC,588,-0.54,-117.3,51.9,-6.4,70,594,0.00,2.28,0.00,0.000,6,0.000,0.054,2685,2203,3319
$GC,933,-0.54,-117.3,75.4,-6.4,131,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2203,3320
$GC,1269,-0.54,-117.3,96.1,-5.6,168,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2203,3320
$GC,1584,-0.54,-117.3,114.0,-5.4,198,1588,0.00,2.38,0.00,0.000,4,0.000,0.077,2685,789,3321
$GC,1619,-0.60,-117.3,115.8,-5.2,201,1623,0.00,2.30,0.00,0.000,6,0.000,0.064,2685,2198,3320
$GC,1944,-0.67,-117.3,133.9,-6.0,231,1948,0.15,2.40,0.00,0.000,4,0.057,0.085,2647,3610,3321
$GC,1960,-0.67,-117.3,135.1,-6.3,232,1964,0.00,2.33,0.00,0.000,6,0.000,0.063,2648,2185,3321
$GC,2294,-0.60,-117.3,158.3,-6.5,257,2298,0.12,2.33,0.00,0.000,4,0.090,0.078,2670,793,3321
$GC,2356,-0.67,-117.3,161.8,-5.6,260,2360,0.00,2.30,0.00,0.000,6,0.000,0.065,2669,2199,3321
$GC,2683,-0.72,-117.3,174.9,-3.5,276,2685,0.15,0.00,0.00,0.000,6,0.058,0.000,2636,2199,3321
$GC,2992,-0.63,-117.3,195.3,-7.6,291,2994,0.15,0.00,0.00,0.000,6,0.089,0.000,2662,2199,3320
$GC,3301,-0.63,-117.3,213.4,-5.1,306,3305,0.00,2.38,0.00,0.000,4,0.000,0.079,2662,787,3320
$GC,3334,-0.68,-117.3,215.1,-5.4,307,3340,0.00,2.30,0.00,0.000,6,0.000,0.065,2662,2202,3320
$GC,3649,-0.68,-117.3,230.3,-4.9,323,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2202,3320
$GC,3958,-0.72,-117.3,247.0,-5.7,338,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2202,3320
$GC,4268,-0.77,-117.3,264.8,-5.5,353,4272,0.15,2.38,0.00,0.000,4,0.059,0.079,2626,797,3319
$GC,4317,-0.67,-117.3,268.4,-7.6,355,4322,0.15,2.30,0.00,0.000,6,0.088,0.067,2650,2199,3319
$GC,4633,-0.67,-117.3,286.4,-5.3,370,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,3319
$GC,4940,-0.67,-117.3,303.9,-5.8,383,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,3318
$GC,5243,-0.67,-117.3,321.3,-5.8,388,5247,0.00,2.38,0.00,0.000,4,0.000,0.081,2651,799,3318
$GC,5280,-0.67,-117.3,323.6,-6.0,388,5285,0.00,2.33,0.00,0.000,6,0.000,0.067,2650,2219,3318
$GC,5607,-0.67,-117.3,341.7,-5.5,394,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2220,3317
$GC,5910,-0.67,-117.3,359.7,-6.0,399,5914,0.00,2.42,0.00,0.000,4,0.000,0.084,2650,795,3317
$GC,5942,-0.67,-117.3,361.9,-6.8,399,5946,0.00,2.35,0.00,0.000,6,0.000,0.069,2650,2197,3316
$GC,6274,-0.67,-117.3,381.6,-5.8,405,6278,0.00,2.40,0.00,0.000,4,0.000,0.084,2651,791,3316
$GC,6300,-0.67,-117.3,383.1,-6.0,405,6304,0.00,2.33,0.00,0.000,6,0.000,0.069,2650,2199,3315
$GC,6639,-0.67,-117.3,400.6,-5.1,411,6643,0.00,2.40,0.00,0.000,4,0.000,0.085,2651,799,3315
$GC,6666,-0.67,-117.3,402.3,-5.4,411,6670,0.00,2.33,0.00,0.000,6,0.000,0.070,2651,2209,3315
$GC,7003,-0.67,-117.3,419.7,-5.1,417,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2209,3315
$GC,7306,-0.67,-117.3,434.9,-5.0,422,7310,0.00,2.42,0.00,0.000,4,0.000,0.086,2650,799,3314
$GC,7344,-0.73,-117.3,436.9,-5.6,422,7348,0.00,2.33,0.00,0.000,6,0.000,0.071,2651,2200,3314
$GC,7670,-0.73,-117.3,455.0,-5.7,428,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2200,3314
$GC,7973,-0.73,-117.3,473.7,-6.2,433,7977,0.00,2.42,0.00,0.000,4,0.000,0.087,2650,792,3313
$GC,8011,-0.77,-117.3,476.2,-6.4,433,8015,0.00,2.35,0.00,0.000,6,0.000,0.072,2650,2198,3313
$GC,8336,-0.77,-117.3,496.1,-6.0,439,8340,0.00,2.42,0.00,0.000,4,0.000,0.089,2650,799,3313
$GC,8363,-0.77,-117.3,497.8,-6.5,439,8367,0.00,2.38,0.00,0.000,6,0.000,0.073,2650,2216,3313
$GC,8701,-0.77,-117.3,515.3,-5.0,445,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2216,3313
$GC,9004,-0.77,-117.3,529.1,-4.6,450,9008,0.00,2.47,0.00,0.000,4,0.000,0.091,2651,800,3312
$GC,9048,-0.84,-117.3,531.3,-4.5,450,9052,0.17,2.35,0.00,0.000,6,0.056,0.074,2615,2202,3312
$GC,9363,-0.72,-117.3,550.6,-6.3,456,9367,0.15,2.42,0.00,0.000,4,0.094,0.091,2640,800,3311
$GC,9389,-0.72,-117.3,552.3,-6.0,456,9393,0.00,2.35,0.00,0.000,6,0.000,0.074,2639,2200,3312
$GC,9727,-0.72,-117.3,570.1,-5.3,462,9731,0.00,2.45,0.00,0.000,4,0.000,0.091,2640,795,3311
$GC,9759,-0.72,-117.3,572.0,-5.9,462,9763,0.00,2.38,0.00,0.000,6,0.000,0.075,2640,2204,3311
$GC,10091,-0.72,-117.3,588.7,-5.0,468,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,3310
$GC,10394,-0.72,-117.3,603.1,-4.7,473,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2204,3310
$GC,10697,-0.72,-117.3,617.8,-4.9,478,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2204,3310
$GC,11000,-0.72,-117.3,633.9,-5.4,483,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2205,3309
$GC,11304,-0.72,-117.3,651.5,-5.8,488,11308,0.00,2.47,0.00,0.000,4,0.000,0.092,2640,791,3309
$GC,11330,-0.72,-117.3,653.3,-6.8,488,11334,0.00,2.38,0.00,0.000,6,0.000,0.074,2640,2207,3309
$GC,11667,-0.72,-117.3,673.3,-5.9,494,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2207,3309
$GC,11971,-0.72,-117.3,689.6,-5.3,499,11975,0.00,2.47,0.00,0.000,4,0.000,0.093,2639,792,3308
$GC,12003,-0.72,-117.3,691.3,-5.6,499,12007,0.00,2.38,0.00,0.000,6,0.000,0.075,2639,2201,3308
$GC,12341,-0.72,-117.3,706.9,-4.5,505,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,3308
$GC,12644,-0.72,-117.3,720.0,-4.3,510,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,3308
$GC,12947,-0.72,-117.3,734.2,-4.8,515,12952,0.00,2.47,0.00,0.000,4,0.000,0.096,2640,801,3308
$GC,12997,-0.72,-117.3,737.1,-5.7,515,13001,0.00,2.38,0.00,0.000,6,0.000,0.077,2640,2200,3307
$GC,13312,-0.84,-117.3,756.9,-6.6,521,13316,0.00,2.55,0.00,0.000,4,0.000,0.113,2639,3606,3307
$GC,13417,-0.88,-117.3,764.1,-7.0,522,13422,0.17,2.35,0.00,0.000,6,0.060,0.078,2605,2209,3307
$GC,13737,-0.88,-117.3,789.2,-8.0,528,13741,0.00,2.50,0.00,0.000,4,0.000,0.104,2605,792,3307
$GC,13763,-0.83,-117.3,791.5,-8.5,528,13768,0.00,2.38,0.00,0.000,6,0.000,0.081,2605,2198,3307
$GC,14095,-0.70,-117.3,816.7,-7.6,534,14097,0.22,0.00,0.00,0.000,6,0.089,0.000,2643,2199,3307
$GC,14398,-0.70,-117.3,834.3,-5.7,539,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2198,3307
$GC,14702,-0.70,-117.3,850.1,-5.2,544,14706,0.00,2.55,0.00,0.000,4,0.000,0.104,2643,786,3307
$GC,14735,-0.76,-117.3,851.8,-4.6,544,14739,0.00,2.42,0.00,0.000,6,0.000,0.083,2642,2201,3307
$GC,15060,-0.90,-117.3,869.2,-5.5,550,15065,0.17,2.53,0.00,0.000,4,0.057,0.104,2603,793,3307
$GC,15168,-0.78,-117.3,875.5,-5.4,551,15172,0.15,2.42,0.00,0.000,6,0.092,0.085,2627,2200,3306
$GC,15487,-0.78,-117.3,890.9,-4.7,557,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2200,3306
$GC,15790,-0.78,-117.3,904.9,-4.6,562,15795,0.00,2.58,0.00,0.000,4,0.000,0.108,2628,786,3306
$GC,15823,-0.78,-117.3,906.4,-4.8,562,15827,0.00,2.42,0.00,0.000,6,0.000,0.087,2628,2199,3306
$GC,16155,-0.78,-117.3,923.2,-5.2,568,16159,0.00,2.62,0.00,0.000,4,0.000,0.124,2628,3606,3306
$GC,16181,-0.78,-117.3,924.7,-5.0,568,16187,0.00,2.42,0.00,0.000,6,0.000,0.090,2628,2204,3306
$GC,16518,-0.78,-117.3,943.5,-5.6,574,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2204,3306
$GC,16821,-0.78,-117.3,959.9,-5.4,579,16826,0.00,2.58,0.00,0.000,4,0.000,0.113,2628,784,3306
$GC,16848,-0.78,-117.3,961.4,-5.9,579,16852,0.00,2.45,0.00,0.000,6,0.000,0.089,2628,2203,3306
$GC,17186,-0.78,-117.3,978.7,-5.1,585,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2203,3306
$STATE,17426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17426,begin apogee
$GC,17431,-0.23,0.0,990.8,4.9,589,17535,0.70,0.00,101.47,1.480,6,0.077,0.000,2746,2203,2837
$STATE,17536,end apogee,CONTROL_FINISHED_OK
$STATE,17536,begin climb
$GC,17538,0.67,117.3,992.1,0.0,590,17655,1.15,2.85,108.78,1.433,4,0.049,0.122,2944,3605,2358
$GC,17723,0.32,117.3,982.6,9.5,592,17729,0.47,2.62,0.00,0.000,6,0.096,0.094,2873,2203,2358
$GC,18088,0.32,117.3,960.0,6.0,598,18092,0.00,2.62,0.00,0.000,4,0.000,0.115,2873,780,2357
$GC,18126,0.26,117.3,957.7,6.8,598,18130,0.00,2.47,0.00,0.000,6,0.000,0.087,2873,2199,2356
$GC,18446,0.26,118.3,940.1,5.5,604,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2200,2356
$GC,18749,0.28,138.0,925.1,4.9,609,18770,0.00,0.00,19.05,1.381,6,0.000,0.000,2873,2200,2274
$GC,19052,0.31,159.1,910.5,4.8,614,19078,0.00,2.60,20.27,1.378,4,0.000,0.112,2873,787,2187
$GC,19112,0.31,159.1,907.4,5.6,615,19116,0.00,2.47,0.00,0.000,6,0.000,0.087,2873,2199,2187
$GC,19476,0.31,161.8,887.9,5.4,621,19485,0.00,2.55,4.03,0.897,4,0.000,0.112,2873,787,2177
$GC,19536,0.31,161.8,884.1,6.0,621,19543,0.00,2.45,0.00,0.000,6,0.000,0.087,2873,2207,2176
$GC,19846,0.31,161.8,866.1,5.9,627,19850,0.00,2.58,0.00,0.000,4,0.000,0.110,2873,787,2177
$GC,19883,0.31,161.8,863.8,6.6,627,19887,0.00,2.42,0.00,0.000,6,0.000,0.086,2873,2203,2176
$GC,20209,0.31,161.8,845.0,5.7,633,20214,0.00,2.58,0.00,0.000,4,0.000,0.110,2873,780,2176
$GC,20258,0.31,161.8,841.9,6.6,633,20263,0.00,2.45,0.00,0.000,6,0.000,0.086,2873,2208,2176
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