version: 66.03
glider: 119
mission: 5
dive: 59
start: 10 3 108 9 12 59
data:
$ID,119
$MISSION,5
$DIVE,59
$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,-210769.91
$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
$GPS1,090603,4658.465,-12753.198,39,1.2,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-71.3
$GPS2,091208,4658.426,-12753.131,12,1.0,29,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.195,-0.008
$KALMAN_X,75435.9,-77.1,-140.5,-296493.4,2439.3
$KALMAN_Y,117448.6,-158.0,58.9,-117547.0,1833.0
$MHEAD_RNG_PITCHd_Wd,248.9,9153,-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,-117.3,0.0,0.0,0,83,0.00,0.00,-61.28,0.000,2,0.000,0.000,861,2189,2900
$GC,86,-0.67,-117.3,3.6,-7.1,6,112,12.38,2.35,-8.27,0.000,4,0.148,0.085,2649,796,3317
$GC,321,-0.37,-117.3,43.7,-12.9,29,328,0.40,2.25,0.00,0.000,6,0.077,0.052,2715,2206,3317
$GC,665,-0.47,-117.3,63.7,-5.8,90,671,0.00,2.30,0.00,0.000,4,0.000,0.071,2715,3606,3319
$GC,695,-0.57,-117.3,65.4,-5.5,95,702,0.22,2.22,0.00,0.000,6,0.044,0.049,2667,2193,3319
$GC,1031,-0.47,-117.3,92.8,-8.3,142,1035,0.15,2.30,0.00,0.000,4,0.084,0.070,2696,800,3320
$GC,1097,-0.56,-117.3,97.5,-6.4,147,1103,0.00,2.25,0.00,0.000,6,0.000,0.058,2696,2203,3320
$GC,1423,-0.61,-117.3,116.6,-5.4,178,1428,0.15,2.35,0.00,0.000,4,0.054,0.079,2661,3606,3320
$GC,1440,-0.61,-117.3,117.9,-6.4,179,1444,0.00,2.28,0.00,0.000,6,0.000,0.057,2661,2197,3321
$GC,1765,-0.56,-117.3,140.8,-6.4,209,1769,0.00,2.40,0.00,0.000,4,0.000,0.082,2660,3606,3321
$GC,1797,-0.50,-117.3,143.2,-7.0,211,1804,0.17,2.28,0.00,0.000,6,0.078,0.059,2691,2191,3320
$GC,2118,-0.78,-117.3,161.5,-6.6,233,2123,0.30,2.42,0.00,0.000,4,0.048,0.081,2626,3610,3321
$GC,2181,-0.60,-117.3,166.6,-8.6,236,2186,0.22,2.30,0.00,0.000,6,0.081,0.060,2665,2193,3321
$GC,2507,-0.60,-117.3,187.0,-6.0,252,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2187,3321
$GC,2816,-0.60,-117.3,203.5,-5.3,267,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2187,3321
$GC,3125,-0.60,-117.3,220.0,-5.2,282,3130,0.00,2.40,0.00,0.000,4,0.000,0.084,2664,3602,3320
$GC,3158,-0.60,-117.3,222.0,-5.9,283,3165,0.00,2.33,0.00,0.000,6,0.000,0.061,2665,2194,3320
$GC,3474,-0.60,-117.3,240.2,-5.9,299,3478,0.00,2.33,0.00,0.000,4,0.000,0.078,2665,796,3320
$GC,3496,-0.60,-117.3,241.6,-5.9,300,3500,0.00,2.28,0.00,0.000,6,0.000,0.063,2665,2198,3320
$GC,3816,-0.60,-117.3,260.6,-5.6,316,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2198,3319
$GC,4126,-0.60,-117.3,276.6,-4.9,331,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2198,3319
$GC,4435,-0.60,-117.3,293.2,-5.5,346,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2198,3319
$GC,4761,-0.60,-117.3,310.7,-5.4,356,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2198,3318
$GC,5067,-0.65,-117.3,326.4,-5.2,361,5071,0.00,2.38,0.00,0.000,4,0.000,0.079,2665,790,3318
$GC,5088,-0.70,-117.3,327.9,-5.6,361,5092,0.00,2.30,0.00,0.000,6,0.000,0.064,2664,2199,3318
$GC,5431,-0.74,-117.3,346.7,-5.5,367,5436,0.15,2.38,0.00,0.000,4,0.060,0.077,2629,796,3317
$GC,5458,-0.68,-117.3,348.5,-7.3,367,5463,0.12,2.30,0.00,0.000,6,0.094,0.064,2649,2200,3317
$GC,5789,-0.68,-117.3,368.1,-5.8,373,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3316
$GC,6093,-0.68,-117.3,384.9,-5.5,378,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3316
$GC,6397,-0.68,-117.3,400.2,-5.1,383,6401,0.00,2.40,0.00,0.000,4,0.000,0.087,2649,3608,3315
$GC,6420,-0.68,-117.3,401.5,-5.3,383,6424,0.00,2.30,0.00,0.000,6,0.000,0.065,2649,2201,3314
$GC,6756,-0.68,-117.3,417.6,-4.7,389,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,3314
$GC,7059,-0.68,-117.3,433.0,-5.1,394,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,3314
$GC,7362,-0.68,-117.3,448.8,-5.2,399,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,3313
$GC,7665,-0.68,-117.3,464.7,-5.3,404,7669,0.00,2.40,0.00,0.000,4,0.000,0.086,2649,787,3312
$GC,7699,-0.68,-117.3,466.6,-5.8,404,7703,0.00,2.33,0.00,0.000,6,0.000,0.067,2649,2201,3313
$GC,8026,-0.68,-117.3,485.9,-6.0,410,8030,0.00,2.40,0.00,0.000,4,0.000,0.084,2649,796,3312
$GC,8047,-0.68,-117.3,487.3,-6.0,410,8051,0.00,2.35,0.00,0.000,6,0.000,0.068,2649,2200,3312
$GC,8390,-0.68,-117.3,508.8,-6.2,416,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3311
$GC,8693,-0.68,-117.3,526.8,-5.9,421,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3311
$GC,8996,-0.68,-117.3,544.3,-5.7,426,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3311
$GC,9300,-0.68,-117.3,561.5,-5.7,431,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3311
$GC,9603,-0.68,-117.3,578.2,-5.5,436,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,3310
$GC,9905,-0.68,-117.3,593.7,-5.1,441,9909,0.00,2.42,0.00,0.000,4,0.000,0.090,2649,799,3310
$GC,9927,-0.68,-117.3,594.9,-5.2,441,9931,0.00,2.33,0.00,0.000,6,0.000,0.071,2649,2199,3310
$GC,10276,-0.68,-117.3,612.2,-5.0,447,10280,0.00,2.42,0.00,0.000,4,0.000,0.089,2649,797,3310
$GC,10303,-0.68,-117.3,613.6,-5.2,447,10307,0.00,2.35,0.00,0.000,6,0.000,0.071,2649,2206,3309
$GC,10642,-0.68,-117.3,629.4,-4.6,453,10646,0.00,2.45,0.00,0.000,4,0.000,0.089,2649,795,3309
$GC,10668,-0.68,-117.3,630.8,-5.4,453,10672,0.00,2.35,0.00,0.000,6,0.000,0.071,2649,2207,3309
$GC,11006,-0.68,-117.3,647.3,-4.9,459,11010,0.00,2.45,0.00,0.000,4,0.000,0.090,2648,798,3308
$GC,11044,-0.68,-117.3,649.4,-5.7,459,11048,0.00,2.35,0.00,0.000,6,0.000,0.071,2649,2206,3309
$GC,11370,-0.68,-117.3,667.0,-5.4,465,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2206,3308
$GC,11673,-0.68,-117.3,683.4,-5.3,470,11677,0.00,2.47,0.00,0.000,4,0.000,0.091,2649,789,3308
$GC,11706,-0.72,-117.3,685.3,-5.9,470,11710,0.00,2.35,0.00,0.000,6,0.000,0.072,2649,2204,3308
$GC,12039,-0.72,-117.3,702.6,-5.2,476,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2204,3308
$GC,12341,-0.72,-117.3,718.3,-5.2,481,12345,0.00,2.47,0.00,0.000,4,0.000,0.094,2649,797,3307
$GC,12379,-0.77,-117.3,720.4,-5.5,481,12383,0.00,2.35,0.00,0.000,6,0.000,0.074,2649,2205,3307
$GC,12705,-0.77,-117.3,737.9,-5.4,487,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2205,3307
$GC,13010,-0.77,-117.3,753.4,-5.1,492,13014,0.00,2.50,0.00,0.000,4,0.000,0.097,2649,797,3307
$GC,13054,-0.82,-117.3,755.8,-5.1,492,13059,0.15,2.38,0.00,0.000,6,0.061,0.076,2618,2202,3307
$GC,13368,-0.72,-117.3,774.3,-5.9,498,13370,0.12,0.00,0.00,0.000,6,0.095,0.000,2639,2202,3307
$GC,13671,-0.72,-117.3,788.8,-4.7,503,13676,0.00,2.53,0.00,0.000,4,0.000,0.101,2639,789,3307
$GC,13710,-0.72,-117.3,790.8,-4.9,503,13714,0.00,2.38,0.00,0.000,6,0.000,0.078,2639,2200,3306
$GC,14036,-0.72,-117.3,805.8,-4.6,509,14040,0.00,2.55,0.00,0.000,4,0.000,0.111,2639,3606,3306
$GC,14056,-0.72,-117.3,806.8,-5.6,509,14061,0.00,2.38,0.00,0.000,6,0.000,0.078,2639,2212,3306
$GC,14399,-0.72,-117.3,822.1,-4.5,515,14404,0.00,2.53,0.00,0.000,4,0.000,0.106,2639,792,3306
$GC,14443,-0.72,-117.3,824.5,-5.4,515,14447,0.00,2.38,0.00,0.000,6,0.000,0.081,2639,2200,3306
$GC,14764,-0.72,-117.3,839.2,-4.6,521,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3306
$GC,15067,-0.72,-117.3,854.2,-5.0,526,15071,0.00,2.55,0.00,0.000,4,0.000,0.106,2639,790,3306
$GC,15110,-0.72,-117.3,856.7,-6.2,526,15114,0.00,2.40,0.00,0.000,6,0.000,0.082,2639,2203,3305
$GC,15431,-0.72,-117.3,875.2,-5.8,532,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2202,3306
$GC,15734,-0.72,-117.3,893.2,-5.9,537,15738,0.00,2.58,0.00,0.000,4,0.000,0.109,2639,790,3305
$GC,15760,-0.72,-117.3,894.7,-6.1,537,15764,0.00,2.40,0.00,0.000,6,0.000,0.083,2639,2199,3305
$GC,16097,-0.72,-117.3,913.6,-5.6,543,16101,0.00,2.58,0.00,0.000,4,0.000,0.109,2639,788,3305
$GC,16118,-0.72,-117.3,914.8,-5.9,543,16122,0.00,2.42,0.00,0.000,6,0.000,0.084,2639,2204,3305
$GC,16461,-0.72,-117.3,931.7,-4.8,549,16465,0.00,2.60,0.00,0.000,4,0.000,0.111,2639,784,3305
$GC,16487,-0.72,-117.3,933.0,-5.7,549,16492,0.00,2.42,0.00,0.000,6,0.000,0.086,2639,2200,3305
$GC,16825,-0.72,-117.3,947.5,-4.2,555,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3305
$GC,17128,-0.72,-117.3,959.3,-3.9,560,17132,0.00,2.60,0.00,0.000,4,0.000,0.114,2639,792,3305
$GC,17160,-0.72,-117.3,960.7,-4.4,560,17165,0.00,2.42,0.00,0.000,6,0.000,0.087,2639,2200,3305
$GC,17486,-0.72,-117.3,972.2,-3.5,566,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3304
$GC,17790,-0.72,-117.3,982.8,-3.5,571,17794,0.00,2.62,0.00,0.000,4,0.000,0.117,2639,787,3304
$GC,17827,-0.72,-117.3,984.4,-4.7,571,17832,0.00,2.45,0.00,0.000,6,0.000,0.090,2639,2201,3304
$STATE,17964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17964,begin apogee
$GC,17968,-0.23,0.0,990.1,4.0,574,18073,0.62,0.00,101.43,1.484,6,0.074,0.000,2746,2201,2837
$STATE,18074,end apogee,CONTROL_FINISHED_OK
$STATE,18074,begin climb
$GC,18076,0.67,117.3,990.9,0.0,575,18190,1.17,0.00,109.35,1.439,6,0.048,0.000,2947,2201,2358
$GC,18513,0.42,117.3,959.4,8.8,583,18518,0.30,2.65,0.00,0.000,4,0.096,0.119,2897,3607,2357
$GC,18568,0.32,117.3,955.1,8.0,583,18575,0.17,2.50,0.00,0.000,6,0.097,0.090,2870,2201,2357
$GC,18877,0.34,130.9,939.2,5.1,589,18896,0.00,2.62,13.12,1.332,4,0.000,0.119,2870,793,2302
$GC,18930,0.35,138.4,936.2,5.3,589,18945,0.00,2.45,8.50,1.228,6,0.000,0.087,2870,2204,2272
$GC,19311,0.41,143.8,915.8,5.3,596,19325,0.00,2.60,6.75,1.169,4,0.000,0.116,2870,789,2250
$GC,19364,0.41,143.8,912.7,6.3,596,19368,0.00,2.42,0.00,0.000,6,0.000,0.086,2870,2201,2249
$GC,19679,0.48,143.8,894.5,5.9,602,19684,0.15,2.60,0.00,0.000,4,0.064,0.112,2904,780,2249
$GC,19729,0.38,143.8,890.7,6.6,602,19733,0.00,2.42,0.00,0.000,6,0.000,0.084,2903,2201,2249
$GC,20038,0.32,143.8,867.8,7.4,607,20040,0.20,0.00,0.00,0.000,6,0.093,0.000,2871,2202,2249
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$STATE,33877,begin surface coast
$FINISH,-0.5,1.023884
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