version: 66.03
glider: 119
mission: 5
dive: 57
start: 10 2 108 14 9 43
data:
$ID,119
$MISSION,5
$DIVE,57
$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,-210724.88
$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,15
$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
$GPS1,140256,4657.812,-12745.846,38,1.6,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-64.2
$GPS2,140851,4657.845,-12745.725,11,1.3,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.193,-0.027
$KALMAN_X,70232.9,169.6,294.3,-282619.5,1335.1
$KALMAN_Y,113985.8,208.9,-134.9,-115343.9,2202.3
$MHEAD_RNG_PITCHd_Wd,243.6,18467,-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,-61.90,0.000,2,0.000,0.000,861,2206,2887
$GC,87,-0.67,-117.3,3.3,-5.5,6,113,12.25,2.40,-8.55,0.000,4,0.144,0.081,2648,786,3317
$GC,209,-0.29,-117.3,26.9,-15.9,17,215,0.52,2.28,0.00,0.000,6,0.086,0.050,2733,2205,3317
$GC,545,-0.61,-117.3,51.1,-6.4,64,551,0.35,2.30,0.00,0.000,4,0.044,0.068,2659,3606,3318
$GC,593,-0.66,-117.3,54.9,-8.2,72,600,0.00,2.25,0.00,0.000,6,0.000,0.048,2659,2170,3318
$GC,940,-0.52,-117.3,83.7,-8.2,130,945,0.15,2.25,0.00,0.000,4,0.087,0.069,2688,804,3320
$GC,972,-0.52,-117.3,86.1,-6.9,132,979,0.00,2.25,0.00,0.000,6,0.000,0.055,2688,2191,3320
$GC,1298,-0.52,-117.3,106.6,-6.3,163,1302,0.00,2.30,0.00,0.000,4,0.000,0.071,2688,804,3320
$GC,1325,-0.52,-117.3,108.6,-7.0,165,1332,0.00,2.28,0.00,0.000,6,0.000,0.059,2688,2191,3321
$GC,1650,-0.52,-117.3,131.2,-6.8,196,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2191,3321
$GC,1971,-0.58,-117.3,148.7,-4.5,226,1975,0.00,2.33,0.00,0.000,4,0.000,0.075,2688,798,3320
$GC,2011,-0.68,-117.3,150.7,-4.8,229,2016,0.20,2.28,0.00,0.000,6,0.050,0.061,2645,2197,3320
$GC,2339,-0.58,-117.3,175.0,-7.0,245,2340,0.15,0.00,0.00,0.000,6,0.086,0.000,2671,2197,3320
$GC,2647,-0.68,-117.3,193.2,-5.9,260,2651,0.00,2.33,0.00,0.000,4,0.000,0.075,2671,803,3321
$GC,2691,-0.77,-117.3,195.9,-6.0,262,2695,0.22,2.30,0.00,0.000,6,0.048,0.064,2625,2210,3320
$GC,3017,-0.77,-117.3,219.0,-7.3,278,3021,0.00,2.35,0.00,0.000,4,0.000,0.076,2625,804,3320
$GC,3201,-0.66,-117.3,232.2,-7.2,286,3206,0.17,2.30,0.00,0.000,6,0.082,0.064,2654,2207,3320
$GC,3517,-0.66,-117.3,248.5,-5.1,301,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2207,3320
$GC,3826,-0.66,-117.3,265.6,-5.9,316,3830,0.00,2.35,0.00,0.000,4,0.000,0.077,2654,805,3320
$GC,3853,-0.66,-117.3,267.4,-6.7,317,3857,0.00,2.28,0.00,0.000,6,0.000,0.064,2653,2200,3319
$GC,4174,-0.66,-117.3,288.8,-6.9,333,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,3319
$GC,4481,-0.66,-117.3,307.9,-5.9,344,4485,0.00,2.35,0.00,0.000,4,0.000,0.079,2654,806,3319
$GC,4513,-0.66,-117.3,310.0,-6.2,344,4517,0.00,2.28,0.00,0.000,6,0.000,0.065,2653,2208,3319
$GC,4844,-0.66,-117.3,328.7,-5.7,350,4848,0.00,2.38,0.00,0.000,4,0.000,0.081,2654,801,3318
$GC,4865,-0.66,-117.3,330.0,-5.5,350,4870,0.00,2.33,0.00,0.000,6,0.000,0.066,2653,2198,3318
$GC,5208,-0.66,-117.3,349.7,-5.6,356,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2198,3318
$GC,5512,-0.66,-117.3,366.0,-5.3,361,5516,0.00,2.38,0.00,0.000,4,0.000,0.081,2654,800,3317
$GC,5544,-0.66,-117.3,367.8,-5.1,361,5548,0.00,2.30,0.00,0.000,6,0.000,0.066,2653,2200,3317
$GC,5876,-0.66,-117.3,385.5,-5.4,367,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2201,3316
$GC,6181,-0.66,-117.3,402.7,-5.7,372,6185,0.00,2.40,0.00,0.000,4,0.000,0.084,2654,799,3316
$GC,6219,-0.66,-117.3,405.1,-6.0,372,6223,0.00,2.33,0.00,0.000,6,0.000,0.067,2654,2202,3316
$GC,6547,-0.78,-117.3,425.3,-6.3,378,6552,0.12,2.40,0.00,0.000,4,0.065,0.083,2626,803,3315
$GC,6720,-0.69,-117.3,436.8,-6.3,380,6724,0.12,2.33,0.00,0.000,6,0.092,0.069,2646,2202,3315
$GC,7047,-0.69,-117.3,452.9,-4.9,386,7051,0.00,2.40,0.00,0.000,4,0.000,0.086,2646,808,3314
$GC,7074,-0.69,-117.3,454.2,-5.0,386,7078,0.00,2.30,0.00,0.000,6,0.000,0.069,2646,2200,3314
$GC,7405,-0.69,-117.3,471.1,-5.2,392,7409,0.00,2.40,0.00,0.000,4,0.000,0.086,2646,803,3313
$GC,7432,-0.69,-117.3,472.7,-5.9,392,7436,0.00,2.35,0.00,0.000,6,0.000,0.069,2646,2202,3314
$GC,7770,-0.69,-117.3,490.3,-5.2,398,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2202,3313
$GC,8073,-0.69,-117.3,505.6,-5.0,403,8077,0.00,2.42,0.00,0.000,4,0.000,0.088,2646,806,3312
$GC,8099,-0.69,-117.3,507.1,-5.6,403,8103,0.00,2.30,0.00,0.000,6,0.000,0.071,2646,2199,3312
$GC,8437,-0.69,-117.3,524.0,-5.1,409,8441,0.00,2.40,0.00,0.000,4,0.000,0.087,2646,809,3311
$GC,8459,-0.69,-117.3,525.2,-5.4,409,8463,0.00,2.33,0.00,0.000,6,0.000,0.071,2646,2203,3311
$GC,8796,-0.69,-117.3,543.1,-5.3,415,8800,0.00,2.42,0.00,0.000,4,0.000,0.089,2646,809,3311
$GC,8840,-0.69,-117.3,545.7,-5.6,415,8844,0.00,2.35,0.00,0.000,6,0.000,0.073,2645,2218,3311
$GC,9160,-0.69,-117.3,563.4,-5.5,421,9165,0.00,2.45,0.00,0.000,4,0.000,0.090,2646,809,3311
$GC,9199,-0.69,-117.3,565.7,-6.1,421,9203,0.00,2.33,0.00,0.000,6,0.000,0.074,2646,2208,3311
$GC,9526,-0.69,-117.3,583.9,-5.6,427,9530,0.00,2.42,0.00,0.000,4,0.000,0.089,2645,809,3310
$GC,9558,-0.69,-117.3,585.8,-5.6,427,9562,0.00,2.35,0.00,0.000,6,0.000,0.072,2646,2194,3310
$GC,9892,-0.79,-117.3,606.9,-6.6,433,9896,0.00,2.42,0.00,0.000,4,0.000,0.090,2646,801,3310
$GC,10060,-0.86,-117.3,618.1,-6.6,435,10065,0.17,2.35,0.00,0.000,6,0.058,0.074,2610,2201,3310
$GC,10385,-0.86,-117.3,640.9,-7.0,441,10389,0.00,2.42,0.00,0.000,4,0.000,0.090,2610,808,3309
$GC,10502,-0.73,-117.3,648.8,-6.4,442,10507,0.17,2.35,0.00,0.000,6,0.088,0.074,2639,2203,3308
$GC,10811,-0.73,-117.3,665.1,-5.3,447,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,3309
$GC,11115,-0.73,-117.3,680.0,-4.9,452,11119,0.00,2.45,0.00,0.000,4,0.000,0.093,2639,809,3308
$GC,11147,-0.73,-117.3,681.7,-5.1,452,11151,0.00,2.33,0.00,0.000,6,0.000,0.074,2639,2201,3308
$GC,11479,-0.73,-117.3,696.8,-4.6,458,11483,0.00,2.45,0.00,0.000,4,0.000,0.094,2639,810,3308
$GC,11506,-0.73,-117.3,698.2,-4.6,458,11510,0.00,2.33,0.00,0.000,6,0.000,0.074,2639,2201,3308
$GC,11843,-0.73,-117.3,713.6,-4.6,464,11847,0.00,2.45,0.00,0.000,4,0.000,0.096,2639,810,3308
$GC,11870,-0.73,-117.3,714.9,-5.0,464,11874,0.00,2.33,0.00,0.000,6,0.000,0.077,2639,2202,3308
$GC,12208,-0.81,-117.3,734.6,-6.2,470,12213,0.00,2.47,0.00,0.000,4,0.000,0.097,2639,807,3308
$GC,12361,-0.86,-117.3,744.3,-6.7,472,12365,0.15,2.38,0.00,0.000,6,0.062,0.080,2608,2204,3307
$GC,12702,-0.86,-117.3,768.6,-7.2,478,12707,0.00,2.50,0.00,0.000,4,0.000,0.100,2608,805,3307
$GC,12843,-0.73,-117.3,778.1,-6.4,480,12848,0.17,2.38,0.00,0.000,6,0.087,0.081,2637,2204,3307
$GC,13197,-0.73,-117.3,797.3,-5.4,486,13201,0.00,2.50,0.00,0.000,4,0.000,0.102,2637,812,3307
$GC,13223,-0.73,-117.3,798.8,-5.7,486,13228,0.00,2.35,0.00,0.000,6,0.000,0.081,2637,2198,3307
$GC,13561,-0.80,-117.3,818.1,-5.9,492,13565,0.00,2.50,0.00,0.000,4,0.000,0.103,2637,809,3306
$GC,13724,-0.85,-117.3,827.6,-6.3,494,13729,0.12,2.40,0.00,0.000,6,0.066,0.084,2611,2200,3307
$GC,14055,-0.85,-117.3,849.1,-6.6,500,14059,0.00,2.50,0.00,0.000,4,0.000,0.105,2611,812,3306
$GC,14201,-0.73,-117.3,858.5,-6.4,502,14206,0.17,2.40,0.00,0.000,6,0.087,0.085,2640,2201,3306
$GC,14549,-0.82,-117.3,879.2,-6.1,508,14553,0.00,2.53,0.00,0.000,4,0.000,0.107,2640,811,3306
$GC,14738,-0.89,-117.3,889.9,-5.1,510,14745,0.20,2.40,0.00,0.000,6,0.055,0.087,2601,2205,3306
$GC,15047,-0.83,-117.3,909.6,-6.4,516,15052,0.00,2.55,0.00,0.000,4,0.000,0.109,2600,809,3305
$GC,15159,-0.67,-117.3,916.7,-6.3,517,15164,0.30,2.42,0.00,0.000,6,0.082,0.089,2649,2206,3306
$GC,15474,-0.80,-117.3,933.1,-5.4,523,15479,0.12,2.58,0.00,0.000,4,0.064,0.111,2622,807,3306
$GC,15625,-0.80,-117.3,941.7,-5.6,525,15629,0.00,2.45,0.00,0.000,6,0.000,0.091,2622,2205,3306
$GC,15967,-0.80,-117.3,961.6,-5.8,531,15971,0.00,2.58,0.00,0.000,4,0.000,0.115,2622,813,3305
$GC,15976,-0.80,-117.3,962.0,-5.9,531,15980,0.00,2.40,0.00,0.000,6,0.000,0.091,2622,2199,3305
$GC,16330,-0.80,-117.3,982.7,-5.9,537,16335,0.00,2.58,0.00,0.000,4,0.000,0.118,2622,814,3305
$GC,16430,-0.80,-117.3,988.5,-6.2,538,16435,0.00,2.42,0.00,0.000,6,0.000,0.095,2622,2199,3305
$STATE,16518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16518,begin apogee
$GC,16523,-0.23,0.0,993.5,5.8,540,16627,0.73,0.00,101.57,1.483,6,0.074,0.000,2747,2199,2837
$STATE,16628,end apogee,CONTROL_FINISHED_OK
$STATE,16628,begin climb
$GC,16630,0.67,117.3,995.9,0.0,541,16747,1.12,2.88,109.07,1.436,4,0.048,0.123,2943,810,2358
$GC,16825,0.36,117.3,986.9,8.0,543,16830,0.40,2.58,0.00,0.000,6,0.092,0.093,2882,2200,2356
$GC,17179,0.31,117.3,966.8,5.5,549,17180,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2201,2356
$GC,17482,0.27,123.0,950.6,5.3,554,17496,0.15,2.60,6.32,1.144,4,0.096,0.119,2855,813,2334
$GC,17529,0.29,146.0,948.3,4.8,554,17558,0.00,2.42,21.85,1.388,6,0.000,0.091,2854,2203,2241
$GC,17913,0.45,150.5,927.7,5.4,561,17927,0.20,2.62,6.10,1.131,4,0.056,0.131,2897,3606,2222
$GC,18011,0.35,150.5,921.1,7.0,562,18015,0.00,2.45,0.00,0.000,6,0.000,0.094,2898,2218,2222
$GC,18342,0.29,150.5,899.6,6.5,568,18347,0.17,2.60,0.00,0.000,4,0.093,0.117,2865,787,2222
$GC,18396,0.29,150.5,896.3,6.8,568,18403,0.00,2.45,0.00,0.000,6,0.000,0.088,2866,2209,2222
$GC,18706,0.39,150.5,877.7,6.2,574,18710,0.00,2.55,0.00,0.000,4,0.000,0.117,2865,3612,2222
$GC,18902,0.39,150.5,865.3,6.4,577,18906,0.00,2.47,0.00,0.000,6,0.000,0.091,2866,2190,2222
$GC,19266,0.51,150.5,842.6,6.3,583,19271,0.20,2.58,0.00,0.000,4,0.058,0.110,2910,3607,2222
$GC,19338,0.36,150.5,837.2,7.0,584,19343,0.20,2.42,0.00,0.000,6,0.097,0.090,2879,2201,2222
$GC,19691,0.36,150.5,815.6,6.1,590,19696,0.00,2.53,0.00,0.000,4,0.000,0.111,2879,789,2221
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