version: 66.03
glider: 119
mission: 5
dive: 56
start: 10 2 108 4 39 30
data:
$ID,119
$MISSION,5
$DIVE,56
$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,-210711.66
$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,25
$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
$GPS1,043257,4656.789,-12742.055,27,3.5,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-59.7
$GPS2,043838,4656.799,-12742.063,9,1.4,14,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.194,-0.022
$KALMAN_X,68178.8,42.8,118.8,-275637.3,1707.7
$KALMAN_Y,111811.5,-130.6,-363.3,-114531.7,2180.4
$MHEAD_RNG_PITCHd_Wd,244.8,23418,-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,-61.88,0.000,2,0.000,0.000,862,2211,2898
$GC,87,-0.67,-117.3,3.7,-7.2,6,113,12.25,2.40,-8.40,0.000,4,0.143,0.084,2649,796,3317
$GC,202,-0.32,-117.3,28.6,-15.3,16,209,0.47,2.30,0.00,0.000,6,0.082,0.052,2726,2200,3317
$GC,538,-0.44,-117.3,52.0,-5.7,65,545,0.12,2.33,0.00,0.000,4,0.057,0.062,2697,788,3317
$GC,562,-0.55,-117.3,53.7,-6.1,69,569,0.00,2.28,0.00,0.000,6,0.000,0.052,2697,2201,3318
$GC,906,-0.55,-117.3,75.8,-6.7,130,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2202,3319
$GC,1237,-0.55,-117.3,95.7,-6.5,167,1241,0.00,2.35,0.00,0.000,4,0.000,0.071,2697,792,3320
$GC,1288,-0.61,-117.3,99.2,-7.0,171,1293,0.17,2.30,0.00,0.000,6,0.050,0.060,2658,2204,3320
$GC,1613,-0.49,-117.3,125.9,-7.7,201,1618,0.15,2.35,0.00,0.000,4,0.086,0.074,2687,793,3320
$GC,1641,-0.49,-117.3,127.8,-7.0,203,1645,0.00,2.30,0.00,0.000,6,0.000,0.062,2687,2201,3320
$GC,1967,-0.55,-117.3,144.8,-5.7,233,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2201,3320
$GC,2288,-0.72,-117.3,163.4,-6.4,253,2293,0.22,2.38,0.00,0.000,4,0.050,0.074,2634,788,3320
$GC,2343,-0.62,-117.3,167.9,-7.9,255,2350,0.15,2.30,0.00,0.000,6,0.087,0.065,2660,2199,3320
$GC,2658,-0.62,-117.3,189.0,-6.7,271,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2199,3320
$GC,2968,-0.62,-117.3,208.8,-6.2,286,2972,0.00,2.38,0.00,0.000,4,0.000,0.077,2661,787,3320
$GC,3000,-0.62,-117.3,210.9,-6.8,287,3007,0.00,2.35,0.00,0.000,6,0.000,0.065,2661,2197,3320
$GC,3316,-0.62,-117.3,230.1,-5.7,303,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3320
$GC,3625,-0.62,-117.3,248.4,-6.2,318,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3320
$GC,3935,-0.62,-117.3,268.8,-6.8,333,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3319
$GC,4244,-0.62,-117.3,291.1,-7.1,348,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3319
$GC,4569,-0.62,-117.3,311.8,-6.2,358,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3318
$GC,4874,-0.62,-117.3,330.3,-6.1,363,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3318
$GC,5175,-0.62,-117.3,347.7,-5.7,368,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2197,3317
$GC,5479,-0.62,-117.3,364.0,-5.3,373,5483,0.00,2.40,0.00,0.000,4,0.000,0.084,2661,794,3317
$GC,5505,-0.62,-117.3,365.5,-5.8,373,5509,0.00,2.33,0.00,0.000,6,0.000,0.068,2660,2200,3316
$GC,5843,-0.62,-117.3,382.2,-4.9,379,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2200,3316
$GC,6146,-0.62,-117.3,395.4,-4.3,384,6150,0.00,2.40,0.00,0.000,4,0.000,0.084,2661,797,3315
$GC,6178,-0.62,-117.3,396.8,-4.3,384,6182,0.00,2.33,0.00,0.000,6,0.000,0.069,2660,2201,3315
$GC,6510,-0.62,-117.3,412.2,-4.6,390,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2201,3314
$GC,6815,-0.62,-117.3,427.3,-5.1,395,6819,0.00,2.42,0.00,0.000,4,0.000,0.086,2661,795,3314
$GC,6842,-0.62,-117.3,429.0,-5.2,395,6847,0.00,2.33,0.00,0.000,6,0.000,0.070,2661,2203,3314
$GC,7180,-0.62,-117.3,446.1,-5.1,401,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2203,3313
$GC,7482,-0.62,-117.3,463.0,-5.6,406,7487,0.00,2.42,0.00,0.000,4,0.000,0.087,2661,799,3312
$GC,7510,-0.66,-117.3,464.6,-6.3,406,7514,0.00,2.33,0.00,0.000,6,0.000,0.071,2660,2199,3312
$GC,7848,-0.66,-117.3,484.9,-6.1,412,7852,0.00,2.42,0.00,0.000,4,0.000,0.088,2661,799,3312
$GC,7881,-0.71,-117.3,487.2,-7.1,412,7885,0.00,2.33,0.00,0.000,6,0.000,0.071,2660,2201,3312
$GC,8213,-0.71,-117.3,507.4,-6.1,418,8217,0.00,2.45,0.00,0.000,4,0.000,0.090,2661,794,3311
$GC,8253,-0.77,-117.3,509.9,-6.3,418,8258,0.15,2.35,0.00,0.000,6,0.061,0.072,2630,2199,3311
$GC,8575,-0.67,-117.3,532.2,-6.9,424,8577,0.12,0.00,0.00,0.000,6,0.097,0.000,2651,2199,3311
$GC,8876,-0.67,-117.3,548.9,-5.3,429,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,3310
$GC,9179,-0.67,-117.3,564.0,-4.9,434,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,3310
$GC,9482,-0.67,-117.3,579.1,-5.0,439,9486,0.00,2.45,0.00,0.000,4,0.000,0.092,2651,799,3310
$GC,9510,-0.67,-117.3,580.5,-4.7,439,9514,0.00,2.38,0.00,0.000,6,0.000,0.073,2650,2209,3310
$GC,9841,-0.67,-117.3,596.7,-4.8,445,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2209,3309
$GC,10144,-0.67,-117.3,611.0,-4.7,450,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2210,3309
$GC,10450,-0.67,-117.3,625.8,-4.9,455,10454,0.00,2.47,0.00,0.000,4,0.000,0.091,2651,793,3309
$GC,10484,-0.67,-117.3,627.7,-5.2,455,10488,0.00,2.38,0.00,0.000,6,0.000,0.073,2650,2209,3309
$GC,10809,-0.67,-117.3,643.8,-4.9,461,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2210,3308
$GC,11112,-0.67,-117.3,659.8,-5.3,466,11117,0.00,2.47,0.00,0.000,4,0.000,0.091,2651,799,3308
$GC,11147,-0.67,-117.3,661.8,-6.3,466,11151,0.00,2.35,0.00,0.000,6,0.000,0.073,2650,2200,3308
$GC,11473,-0.67,-117.3,679.9,-5.6,472,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3308
$GC,11775,-0.67,-117.3,697.0,-5.6,477,11779,0.00,2.47,0.00,0.000,4,0.000,0.092,2651,792,3308
$GC,11807,-0.67,-117.3,698.8,-6.1,477,11811,0.00,2.38,0.00,0.000,6,0.000,0.072,2650,2206,3308
$GC,12139,-0.80,-117.3,719.0,-6.2,483,12144,0.15,2.47,0.00,0.000,4,0.061,0.091,2618,799,3307
$GC,12312,-0.72,-117.3,730.5,-6.0,485,12317,0.12,2.38,0.00,0.000,6,0.094,0.074,2640,2203,3307
$GC,12633,-0.72,-117.3,747.3,-5.1,491,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,3307
$GC,12935,-0.72,-117.3,762.1,-4.8,496,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,3307
$GC,13239,-0.72,-117.3,777.0,-4.9,501,13244,0.00,2.50,0.00,0.000,4,0.000,0.096,2640,797,3306
$GC,13289,-0.72,-117.3,779.7,-5.5,501,13293,0.00,2.40,0.00,0.000,6,0.000,0.076,2640,2208,3306
$GC,13598,-0.72,-117.3,795.5,-5.1,506,13602,0.00,2.50,0.00,0.000,4,0.000,0.096,2640,800,3306
$GC,13637,-0.72,-117.3,797.6,-5.2,506,13641,0.00,2.35,0.00,0.000,6,0.000,0.077,2640,2198,3306
$GC,13957,-0.72,-117.3,814.1,-5.1,512,13961,0.00,2.50,0.00,0.000,4,0.000,0.098,2640,796,3306
$GC,13978,-0.72,-117.3,815.1,-5.1,512,13982,0.00,2.35,0.00,0.000,6,0.000,0.077,2640,2201,3306
$GC,14321,-0.72,-117.3,832.8,-5.2,518,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,3306
$GC,14624,-0.72,-117.3,847.6,-4.8,523,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,3306
$GC,14927,-0.72,-117.3,861.1,-4.4,528,14931,0.00,2.53,0.00,0.000,4,0.000,0.102,2639,800,3305
$GC,14954,-0.72,-117.3,862.3,-4.5,528,14958,0.00,2.38,0.00,0.000,6,0.000,0.079,2640,2201,3306
$GC,15298,-0.72,-117.3,877.6,-4.5,534,15302,0.00,2.53,0.00,0.000,4,0.000,0.101,2640,796,3305
$GC,15336,-0.72,-117.3,879.5,-5.0,534,15340,0.00,2.40,0.00,0.000,6,0.000,0.081,2640,2208,3305
$GC,15662,-0.72,-117.3,894.3,-4.5,540,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2208,3305
$GC,15965,-0.72,-117.3,908.4,-4.7,545,15969,0.00,2.55,0.00,0.000,4,0.000,0.104,2640,796,3305
$GC,16003,-0.72,-117.3,910.2,-5.2,545,16007,0.00,2.40,0.00,0.000,6,0.000,0.082,2640,2202,3305
$GC,16330,-0.72,-117.3,926.1,-4.9,551,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2202,3305
$GC,16632,-0.72,-117.3,941.4,-5.0,556,16636,0.00,2.55,0.00,0.000,4,0.000,0.107,2640,802,3305
$GC,16664,-0.72,-117.3,943.1,-6.1,556,16668,0.00,2.40,0.00,0.000,6,0.000,0.083,2640,2206,3305
$GC,16996,-0.72,-117.3,960.0,-5.1,562,17000,0.00,2.58,0.00,0.000,4,0.000,0.107,2640,792,3305
$GC,17028,-0.72,-117.3,961.8,-5.4,562,17032,0.00,2.40,0.00,0.000,6,0.000,0.085,2640,2201,3304
$GC,17355,-0.72,-117.3,978.0,-5.0,568,17359,0.00,2.55,0.00,0.000,4,0.000,0.108,2640,802,3304
$GC,17381,-0.72,-117.3,979.5,-5.9,568,17385,0.00,2.40,0.00,0.000,6,0.000,0.086,2640,2200,3304
$STATE,17595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17595,begin apogee
$GC,17600,-0.23,0.0,990.3,5.0,572,17704,0.62,0.00,101.22,1.483,6,0.076,0.000,2746,2200,2837
$STATE,17705,end apogee,CONTROL_FINISHED_OK
$STATE,17705,begin climb
$GC,17707,0.67,117.3,991.9,0.0,573,17824,1.17,2.90,109.22,1.437,4,0.049,0.129,2946,3603,2358
$GC,17858,0.34,117.3,986.8,8.5,576,17863,0.47,2.60,0.00,0.000,6,0.097,0.091,2876,2215,2358
$GC,18200,0.34,117.3,967.3,5.6,582,18204,0.00,2.65,0.00,0.000,4,0.000,0.114,2876,783,2356
$GC,18254,0.34,117.3,964.0,6.5,582,18261,0.00,2.47,0.00,0.000,6,0.000,0.084,2876,2200,2356
$GC,18564,0.34,117.3,946.1,5.9,588,18568,0.00,2.60,0.00,0.000,4,0.000,0.110,2876,786,2356
$GC,18596,0.34,119.1,944.1,5.4,588,18600,0.00,2.45,0.00,0.000,6,0.000,0.084,2876,2200,2355
$GC,18922,0.34,119.1,925.1,5.9,594,18926,0.00,2.58,0.00,0.000,4,0.000,0.116,2875,3606,2355
$GC,18954,0.34,119.1,923.1,6.2,594,18958,0.00,2.45,0.00,0.000,6,0.000,0.088,2876,2193,2355
$GC,19285,0.34,119.1,904.1,5.7,600,19290,0.00,2.53,0.00,0.000,4,0.000,0.112,2876,790,2355
$GC,19329,0.34,119.1,901.4,5.9,600,19333,0.00,2.42,0.00,0.000,6,0.000,0.084,2876,2209,2354
$GC,19649,0.34,119.1,883.7,5.6,606,19654,0.00,2.58,0.00,0.000,4,0.000,0.108,2876,789,2355
$GC,19687,0.34,119.1,881.4,7.3,606,19692,0.00,2.42,0.00,0.000,6,0.000,0.084,2876,2204,2354
$GC,20014,0.34,119.1,863.0,5.7,612,20018,0.00,2.58,0.00,0.000,4,0.000,0.107,2876,785,2354
$GC,20051,0.34,119.1,860.7,6.1,612,20055,0.00,2.42,0.00,0.000,6,0.000,0.084,2876,2204,2354
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$STATE,33685,begin surface
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