version: 66.03
glider: 119
mission: 5
dive: 60
start: 10 3 108 18 47 1
data:
$ID,119
$MISSION,5
$DIVE,60
$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,-210785.03
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,184037,4659.245,-12757.064,38,1.6,50,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-65.9
$GPS2,184609,4659.314,-12757.096,13,1.5,13,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.181,-0.011
$KALMAN_X,77631.1,-30.9,-383.9,-303499.9,2857.8
$KALMAN_Y,119434.3,248.9,-393.5,-117849.7,1653.4
$MHEAD_RNG_PITCHd_Wd,248.0,3882,-12.7,-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,-0.70,-99.7,0.0,0.0,0,94,0.00,0.00,-71.97,0.000,2,0.000,0.000,864,2185,3204
$GC,97,-0.70,-99.7,5.4,-10.4,7,120,12.35,2.40,-0.75,0.000,4,0.149,0.087,2644,794,3247
$GC,373,-0.55,-99.7,51.0,-9.5,42,380,0.20,2.30,0.00,0.000,6,0.083,0.051,2677,2225,3248
$GC,717,-0.55,-99.7,76.8,-7.1,103,723,0.00,2.35,0.00,0.000,4,0.000,0.066,2677,790,3249
$GC,789,-0.55,-99.7,81.8,-6.5,114,796,0.00,2.30,0.00,0.000,6,0.000,0.056,2677,2199,3250
$GC,1115,-0.55,-99.7,103.0,-6.9,145,1119,0.00,2.33,0.00,0.000,4,0.000,0.071,2677,790,3250
$GC,1164,-0.55,-99.7,106.8,-7.9,149,1171,0.00,2.30,0.00,0.000,6,0.000,0.059,2677,2194,3250
$GC,1490,-0.55,-99.7,127.0,-5.8,180,1495,0.00,2.35,0.00,0.000,4,0.000,0.072,2677,783,3250
$GC,1542,-0.61,-99.7,130.2,-6.0,184,1546,0.00,2.30,0.00,0.000,6,0.000,0.061,2677,2197,3250
$GC,1869,-0.68,-99.7,150.1,-5.9,214,1870,0.12,0.00,0.00,0.000,6,0.061,0.000,2648,2198,3250
$GC,2175,-0.68,-99.7,169.7,-6.4,229,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2197,3250
$GC,2485,-0.68,-99.7,189.0,-6.1,244,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,3250
$GC,2794,-0.68,-99.7,207.7,-5.9,259,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2198,3249
$GC,3103,-0.68,-99.7,226.5,-6.1,274,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2197,3249
$GC,3412,-0.68,-99.7,246.5,-6.4,289,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,3248
$GC,3722,-0.68,-99.7,264.6,-5.7,304,3726,0.00,2.35,0.00,0.000,4,0.000,0.076,2648,782,3248
$GC,3748,-0.68,-99.7,266.3,-6.2,305,3753,0.00,2.33,0.00,0.000,6,0.000,0.062,2648,2195,3248
$GC,4076,-0.68,-99.7,286.3,-6.3,321,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,3247
$GC,4423,-0.68,-99.7,307.5,-5.9,334,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,3246
$GC,4726,-0.68,-99.7,324.2,-5.5,339,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,3246
$GC,5030,-0.68,-103.8,340.3,-5.3,344,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,3246
$GC,5334,-0.68,-103.8,357.5,-5.7,349,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,3245
$GC,5636,-0.68,-103.8,375.7,-6.1,354,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,3245
$GC,5939,-0.68,-103.8,393.7,-5.9,359,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,3245
$GC,6242,-0.70,-113.2,409.7,-5.2,364,6246,0.00,2.38,0.00,0.000,4,0.000,0.081,2649,796,3245
$GC,6280,-0.70,-117.3,411.7,-5.1,364,6284,0.00,2.30,0.00,0.000,6,0.000,0.065,2648,2198,3245
$GC,6603,-0.70,-117.3,426.0,-4.4,370,6607,0.00,2.40,0.00,0.000,4,0.000,0.081,2649,786,3245
$GC,6624,-0.70,-117.3,427.0,-4.4,370,6628,0.00,2.33,0.00,0.000,6,0.000,0.064,2648,2200,3244
$GC,6967,-0.70,-117.3,443.0,-4.7,376,6971,0.00,2.40,0.00,0.000,4,0.000,0.082,2648,793,3244
$GC,7005,-0.70,-117.3,444.9,-5.2,376,7009,0.00,2.33,0.00,0.000,6,0.000,0.066,2648,2203,3243
$GC,7331,-0.70,-117.3,462.5,-5.5,382,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2203,3243
$GC,7635,-0.70,-117.3,480.7,-6.0,387,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2203,3243
$GC,7937,-0.70,-117.3,498.3,-5.8,392,7941,0.00,2.42,0.00,0.000,4,0.000,0.086,2648,796,3243
$GC,7986,-0.75,-117.3,501.3,-6.2,392,7990,0.00,2.33,0.00,0.000,6,0.000,0.068,2648,2201,3243
$GC,8295,-0.75,-117.3,518.2,-5.4,397,8299,0.00,2.42,0.00,0.000,4,0.000,0.086,2648,792,3242
$GC,8330,-0.80,-117.3,520.2,-6.1,397,8334,0.12,2.35,0.00,0.000,6,0.063,0.069,2623,2210,3241
$GC,8655,-0.73,-117.3,541.1,-6.5,403,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2210,3241
$GC,8958,-0.66,-117.3,561.2,-6.7,408,8963,0.15,2.47,0.00,0.000,4,0.094,0.087,2651,791,3241
$GC,8990,-0.72,-117.3,563.3,-6.2,408,8994,0.00,2.33,0.00,0.000,6,0.000,0.071,2651,2198,3241
$GC,9323,-0.78,-117.3,580.6,-5.2,414,9327,0.00,2.42,0.00,0.000,4,0.000,0.088,2652,797,3241
$GC,9367,-0.86,-117.3,582.9,-6.1,414,9372,0.22,2.35,0.00,0.000,6,0.053,0.071,2606,2207,3241
$GC,9682,-0.73,-117.3,603.1,-6.5,420,9684,0.20,0.00,0.00,0.000,6,0.091,0.000,2640,2207,3240
$GC,9984,-0.73,-117.3,618.2,-4.9,425,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2207,3240
$GC,10287,-0.73,-117.3,633.2,-4.9,430,10291,0.00,2.45,0.00,0.000,4,0.000,0.090,2640,798,3240
$GC,10330,-0.73,-117.3,635.6,-5.8,430,10335,0.00,2.35,0.00,0.000,6,0.000,0.071,2640,2207,3240
$GC,10653,-0.73,-117.3,651.3,-4.9,436,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2207,3239
$GC,10954,-0.73,-117.3,666.8,-5.2,441,10958,0.00,2.47,0.00,0.000,4,0.000,0.091,2640,789,3239
$GC,10997,-0.73,-117.3,669.5,-5.9,441,11001,0.00,2.35,0.00,0.000,6,0.000,0.071,2640,2204,3238
$GC,11318,-0.73,-117.3,687.8,-5.7,447,11322,0.00,2.47,0.00,0.000,4,0.000,0.092,2640,790,3238
$GC,11344,-0.73,-117.3,689.5,-6.7,447,11348,0.00,2.38,0.00,0.000,6,0.000,0.072,2640,2200,3238
$GC,11683,-0.73,-117.3,709.2,-5.9,453,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2199,3238
$GC,11985,-0.73,-117.3,726.0,-5.5,458,11989,0.00,2.47,0.00,0.000,4,0.000,0.095,2640,799,3237
$GC,12034,-0.77,-117.3,728.8,-6.0,458,12038,0.00,2.35,0.00,0.000,6,0.000,0.074,2640,2202,3238
$GC,12349,-0.77,-117.3,744.8,-5.1,464,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,3237
$GC,12652,-0.77,-117.3,759.5,-4.8,469,12656,0.00,2.50,0.00,0.000,4,0.000,0.098,2640,800,3237
$GC,12691,-0.81,-117.3,761.6,-5.4,469,12695,0.00,2.38,0.00,0.000,6,0.000,0.076,2640,2203,3237
$GC,13011,-0.81,-117.3,776.9,-4.8,475,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,3237
$GC,13314,-0.81,-117.3,791.7,-4.9,480,13318,0.00,2.53,0.00,0.000,4,0.000,0.101,2640,791,3237
$GC,13341,-0.86,-117.3,793.2,-5.2,480,13346,0.15,2.40,0.00,0.000,6,0.061,0.077,2609,2207,3236
$GC,13672,-0.76,-117.3,813.3,-6.1,486,13677,0.12,2.55,0.00,0.000,4,0.098,0.101,2630,791,3236
$GC,13709,-0.76,-117.3,815.6,-5.8,486,13714,0.00,2.38,0.00,0.000,6,0.000,0.079,2630,2200,3236
$GC,14036,-0.76,-117.3,832.6,-5.2,492,14040,0.00,2.53,0.00,0.000,4,0.000,0.104,2630,797,3236
$GC,14079,-0.76,-117.3,835.1,-5.5,492,14083,0.00,2.38,0.00,0.000,6,0.000,0.080,2630,2198,3236
$GC,14401,-0.76,-117.3,851.9,-5.2,498,14402,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2199,3236
$GC,14703,-0.76,-117.3,867.4,-5.1,503,14707,0.00,2.55,0.00,0.000,4,0.000,0.107,2630,795,3236
$GC,14741,-0.76,-117.3,869.4,-5.0,503,14745,0.00,2.40,0.00,0.000,6,0.000,0.081,2630,2204,3236
$GC,15067,-0.76,-117.3,884.8,-4.6,509,15068,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2205,3236
$GC,15370,-0.76,-117.3,898.7,-4.6,514,15374,0.00,2.55,0.00,0.000,4,0.000,0.108,2630,800,3236
$GC,15419,-0.76,-117.3,901.1,-5.1,514,15423,0.00,2.40,0.00,0.000,6,0.000,0.083,2630,2205,3236
$GC,15734,-0.76,-117.3,915.5,-4.6,520,15738,0.00,2.58,0.00,0.000,4,0.000,0.109,2630,793,3236
$GC,15777,-0.76,-117.3,917.8,-5.0,520,15782,0.00,2.42,0.00,0.000,6,0.000,0.084,2630,2208,3235
$GC,16092,-0.76,-117.3,932.8,-4.8,526,16096,0.00,2.58,0.00,0.000,4,0.000,0.110,2630,800,3235
$GC,16119,-0.76,-117.3,934.2,-5.3,526,16123,0.00,2.40,0.00,0.000,6,0.000,0.085,2630,2201,3235
$GC,16457,-0.76,-117.3,950.8,-5.0,532,16461,0.00,2.58,0.00,0.000,4,0.000,0.114,2630,802,3235
$GC,16500,-0.76,-117.3,953.3,-5.1,532,16505,0.00,2.40,0.00,0.000,6,0.000,0.087,2630,2201,3235
$GC,16815,-0.76,-117.3,969.2,-5.0,538,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2201,3235
$GC,17118,-0.76,-117.3,984.3,-5.0,543,17122,0.00,2.60,0.00,0.000,4,0.000,0.117,2630,802,3234
$GC,17180,-0.76,-117.3,987.5,-5.4,544,17184,0.00,2.42,0.00,0.000,6,0.000,0.090,2630,2200,3235
$STATE,17228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17228,begin apogee
$GC,17233,-0.23,0.0,990.1,6.0,544,17322,0.68,0.00,86.03,1.483,6,0.078,0.000,2745,2199,2837
$STATE,17322,end apogee,CONTROL_FINISHED_OK
$STATE,17323,begin climb
$GC,17325,0.72,117.3,991.5,0.0,546,17438,1.25,0.00,109.75,1.440,6,0.051,0.000,2959,2200,2359
$GC,17727,0.45,117.3,960.0,9.8,553,17732,0.35,2.67,0.00,0.000,4,0.098,0.123,2902,3605,2358
$GC,17777,0.34,117.3,955.6,8.6,553,17782,0.15,2.47,0.00,0.000,6,0.102,0.089,2879,2210,2358
$GC,18085,0.34,117.3,935.6,6.4,558,18090,0.00,2.62,0.00,0.000,4,0.000,0.120,2878,788,2357
$GC,18134,0.34,117.3,932.2,6.6,558,18138,0.00,2.45,0.00,0.000,6,0.000,0.087,2878,2200,2356
$GC,18449,0.34,117.3,912.4,6.3,564,18450,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2200,2356
$GC,18752,0.34,117.3,894.0,6.0,569,18756,0.00,2.60,0.00,0.000,4,0.000,0.114,2878,787,2356
$GC,18806,0.34,117.3,890.6,5.8,569,18813,0.00,2.42,0.00,0.000,6,0.000,0.085,2878,2204,2356
$GC,19116,0.34,117.3,873.1,5.7,575,19117,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2204,2355
$GC,19419,0.35,119.2,856.6,5.4,580,19423,0.00,2.60,0.00,0.000,4,0.000,0.110,2878,779,2355
$GC,19445,0.36,131.5,855.2,5.0,580,19465,0.00,2.42,13.73,1.331,6,0.000,0.082,2878,2202,2299
$GC,19780,0.36,131.5,836.5,5.7,586,19781,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2202,2299
$GC,20084,0.41,131.5,819.1,5.7,591,20088,0.00,2.58,0.00,0.000,4,0.000,0.107,2878,780,2299
$GC,20132,0.41,131.5,816.1,5.9,591,20137,0.00,2.40,0.00,0.000,6,0.000,0.081,2878,2201,2298
$GC,20448,0.45,131.5,797.1,6.0,597,20449,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2201,2298
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