version: 66.03
glider: 119
mission: 5
dive: 163
start: 10 27 108 15 26 1
data:
$ID,119
$MISSION,5
$DIVE,163
$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,-212856.28
$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,30
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,151931,4744.036,-12608.904,43,1.4,43,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.6
$GPS2,152508,4744.069,-12608.900,13,1.3,13,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.131,-0.144
$KALMAN_X,-12258.8,124.8,483.9,-77933.7,-1527.3
$KALMAN_Y,150680.6,120.4,-408.8,-66062.1,1545.9
$MHEAD_RNG_PITCHd_Wd,203.6,162334,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.53,0.000,2,0.000,0.000,859,2218,2781
$GC,87,-0.67,-117.3,3.4,-5.2,6,120,12.30,2.45,-12.20,0.000,4,0.145,0.076,2649,798,3317
$GC,260,-0.46,-117.3,27.9,-11.6,21,267,0.25,2.22,0.00,0.000,6,0.077,0.043,2694,2192,3318
$GC,593,-0.46,-117.3,50.8,-7.0,66,599,0.00,2.28,0.00,0.000,4,0.000,0.059,2694,789,3317
$GC,630,-0.50,-117.3,53.3,-7.1,72,636,0.00,2.15,0.00,0.000,6,0.000,0.042,2694,2174,3317
$GC,975,-0.56,-117.3,74.7,-6.1,133,982,0.00,2.25,0.00,0.000,4,0.000,0.061,2694,786,3318
$GC,1005,-0.63,-117.3,76.7,-6.1,138,1012,0.17,2.10,0.00,0.000,6,0.048,0.043,2654,2141,3318
$GC,1339,-0.55,-117.3,103.6,-9.2,173,1344,0.12,2.42,0.00,0.000,4,0.087,0.067,2676,3606,3318
$GC,1360,-0.55,-117.3,105.6,-8.5,174,1367,0.00,2.30,0.00,0.000,6,0.000,0.043,2676,2163,3318
$GC,1689,-0.60,-117.3,120.5,-4.3,205,1693,0.00,2.25,0.00,0.000,4,0.000,0.065,2676,799,3318
$GC,1740,-0.69,-117.3,123.2,-5.1,209,1745,0.15,2.12,0.00,0.000,6,0.053,0.045,2642,2157,3318
$GC,2065,-0.60,-117.3,143.7,-6.2,239,2067,0.15,0.00,0.00,0.000,6,0.085,0.000,2668,2157,3317
$GC,2378,-0.60,-117.3,159.7,-5.3,260,2382,0.00,2.22,0.00,0.000,4,0.000,0.064,2668,793,3317
$GC,2441,-0.68,-117.3,163.3,-5.5,263,2444,0.00,2.03,0.00,0.000,6,0.000,0.045,2668,2094,3317
$GC,2774,-0.72,-117.3,181.3,-5.4,279,2776,0.12,0.00,0.00,0.000,6,0.061,0.000,2638,2094,3317
$GC,3083,-0.64,-117.3,199.7,-5.7,294,3088,0.12,2.50,0.00,0.000,4,0.088,0.067,2660,3613,3317
$GC,3134,-0.64,-117.3,202.5,-5.2,296,3138,0.00,2.40,0.00,0.000,6,0.000,0.045,2661,2086,3318
$GC,3454,-0.64,-117.3,217.2,-4.6,312,3458,0.00,2.12,0.00,0.000,4,0.000,0.071,2660,803,3318
$GC,3482,-0.64,-117.3,218.5,-4.8,313,3485,0.00,2.00,0.00,0.000,6,0.000,0.044,2661,2092,3317
$GC,3809,-0.64,-117.3,234.7,-5.2,329,3813,0.00,2.50,0.00,0.000,4,0.000,0.069,2660,3604,3318
$GC,3848,-0.64,-117.3,236.9,-5.6,331,3852,0.00,2.38,0.00,0.000,6,0.000,0.045,2661,2102,3317
$GC,4180,-0.64,-117.3,254.3,-5.2,347,4184,0.00,2.17,0.00,0.000,4,0.000,0.071,2661,796,3317
$GC,4220,-0.70,-117.3,256.6,-5.4,349,4224,0.00,2.05,0.00,0.000,6,0.000,0.045,2661,2111,3317
$GC,4553,-0.70,-117.3,274.2,-5.1,365,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2111,3317
$GC,4863,-0.70,-117.3,290.4,-5.3,380,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2110,3317
$GC,5168,-0.70,-117.3,306.4,-5.2,391,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2110,3316
$GC,5471,-0.70,-117.3,321.6,-5.0,396,5475,0.00,2.17,0.00,0.000,4,0.000,0.071,2661,803,3316
$GC,5504,-0.76,-117.3,323.3,-5.6,396,5509,0.10,2.03,0.00,0.000,6,0.048,0.048,2632,2079,3316
$GC,5836,-0.67,-117.3,344.8,-6.7,402,5841,0.12,2.53,0.00,0.000,4,0.090,0.068,2653,3599,3316
$GC,5857,-0.63,-117.3,346.4,-7.4,402,5862,0.00,2.40,0.00,0.000,6,0.000,0.047,2653,2083,3315
$GC,6194,-0.63,-117.3,368.2,-6.4,408,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2083,3315
$GC,6498,-0.63,-117.3,386.4,-6.0,413,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2083,3315
$GC,6802,-0.63,-117.3,402.9,-5.3,418,6806,0.00,2.55,0.00,0.000,4,0.000,0.070,2653,3602,3314
$GC,6839,-0.63,-117.3,405.1,-6.2,418,6844,0.00,2.40,0.00,0.000,6,0.000,0.046,2653,2094,3314
$GC,7166,-0.63,-117.3,420.9,-4.8,424,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2095,3314
$GC,7469,-0.63,-117.3,435.5,-4.9,429,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2094,3314
$GC,7773,-0.63,-117.3,451.1,-5.2,434,7777,0.00,2.53,0.00,0.000,4,0.000,0.071,2653,3596,3313
$GC,7799,-0.63,-117.3,452.6,-5.9,434,7803,0.00,2.38,0.00,0.000,6,0.000,0.047,2653,2101,3313
$GC,8137,-0.63,-117.3,469.3,-4.9,440,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2101,3313
$GC,8440,-0.63,-117.3,485.6,-5.4,445,8444,0.00,2.53,0.00,0.000,4,0.000,0.071,2653,3604,3313
$GC,8477,-0.63,-117.3,488.0,-6.0,445,8481,0.00,2.35,0.00,0.000,6,0.000,0.047,2653,2118,3313
$GC,8804,-0.63,-117.3,505.3,-5.4,451,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2118,3313
$GC,9107,-0.63,-117.3,521.5,-5.3,456,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2118,3312
$GC,9410,-0.67,-117.3,536.0,-4.7,461,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2117,3312
$GC,9713,-0.67,-117.3,549.6,-4.4,466,9717,0.00,2.53,0.00,0.000,4,0.000,0.074,2653,3605,3312
$GC,9745,-0.67,-117.3,551.2,-5.6,466,9749,0.00,2.33,0.00,0.000,6,0.000,0.048,2653,2153,3312
$GC,10078,-0.67,-117.3,565.7,-4.4,472,10082,0.00,2.35,0.00,0.000,4,0.000,0.088,2653,794,3312
$GC,10122,-0.74,-117.3,567.8,-4.9,472,10126,0.00,2.12,0.00,0.000,6,0.000,0.055,2652,2126,3312
$GC,10437,-0.78,-117.3,581.0,-4.2,478,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2126,3312
$GC,10740,-0.82,-117.3,594.6,-4.5,483,10742,0.17,0.00,0.00,0.000,6,0.055,0.000,2616,2126,3312
$GC,11043,-0.70,-117.3,613.8,-6.4,488,11045,0.17,0.00,0.00,0.000,6,0.086,0.000,2646,2126,3311
$GC,11346,-0.70,-117.3,629.4,-5.2,493,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2126,3310
$GC,11649,-0.70,-117.3,643.9,-4.7,498,11653,0.00,2.53,0.00,0.000,4,0.000,0.082,2646,3605,3310
$GC,11687,-0.70,-117.3,645.8,-5.3,498,11691,0.00,2.38,0.00,0.000,6,0.000,0.050,2646,2117,3309
$GC,12007,-0.70,-117.3,659.9,-4.4,504,12011,0.00,2.28,0.00,0.000,4,0.000,0.091,2646,800,3309
$GC,12040,-0.74,-117.3,661.5,-4.8,504,12044,0.00,2.12,0.00,0.000,6,0.000,0.058,2646,2122,3309
$GC,12367,-0.74,-117.3,675.9,-4.4,510,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2122,3309
$GC,12668,-0.74,-117.3,691.3,-5.2,515,12673,0.00,2.53,0.00,0.000,4,0.000,0.082,2645,3599,3309
$GC,12690,-0.74,-117.3,692.5,-5.7,515,12694,0.00,2.38,0.00,0.000,6,0.000,0.051,2646,2113,3309
$GC,13033,-0.74,-117.3,711.1,-5.4,521,13038,0.00,2.55,0.00,0.000,4,0.000,0.081,2646,3595,3309
$GC,13071,-0.74,-117.3,713.4,-6.5,521,13076,0.00,2.33,0.00,0.000,6,0.000,0.051,2646,2140,3309
$GC,13398,-0.74,-117.3,732.7,-6.1,527,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2140,3309
$GC,13701,-0.74,-117.3,750.7,-5.9,532,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2140,3309
$GC,14004,-0.74,-117.3,766.1,-5.0,537,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2139,3308
$GC,14307,-0.74,-117.3,778.6,-4.0,542,14311,0.00,2.38,0.00,0.000,4,0.000,0.097,2646,797,3308
$GC,14330,-0.79,-117.3,779.7,-5.0,542,14334,0.00,2.22,0.00,0.000,6,0.000,0.061,2645,2164,3308
$GC,14667,-0.79,-117.3,794.2,-4.3,548,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2164,3308
$GC,14970,-0.83,-117.3,808.8,-4.8,553,14972,0.15,0.00,0.00,0.000,6,0.060,0.000,2614,2164,3308
$GC,15275,-0.72,-117.3,825.9,-5.7,558,15277,0.15,0.00,0.00,0.000,6,0.091,0.000,2639,2164,3307
$GC,15576,-0.72,-117.3,841.9,-5.3,563,15580,0.00,2.42,0.00,0.000,4,0.000,0.099,2639,805,3307
$GC,15608,-0.72,-117.3,844.0,-5.5,563,15612,0.00,2.20,0.00,0.000,6,0.000,0.065,2639,2142,3307
$GC,15934,-0.72,-117.3,862.2,-5.7,569,15935,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2142,3307
$GC,16238,-0.72,-117.3,877.9,-5.2,574,16239,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2142,3307
$GC,16541,-0.72,-117.3,890.9,-4.1,579,16544,0.00,2.42,0.00,0.000,4,0.000,0.104,2638,797,3306
$GC,16562,-0.72,-117.3,891.8,-4.6,579,16566,0.00,2.22,0.00,0.000,6,0.000,0.067,2639,2140,3306
$GC,16912,-0.72,-117.3,905.1,-3.7,585,16916,0.00,2.58,0.00,0.000,4,0.000,0.097,2639,3598,3306
$GC,16939,-0.72,-117.3,906.1,-3.4,585,16943,0.00,2.38,0.00,0.000,6,0.000,0.061,2639,2146,3305
$GC,17277,-0.72,-117.3,916.8,-3.1,591,17278,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2146,3305
$GC,17580,-0.72,-117.3,927.3,-3.6,596,17581,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2146,3305
$GC,17883,-0.72,-117.3,941.5,-4.8,601,17884,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2145,3305
$GC,18188,-0.72,-117.3,957.0,-5.2,606,18189,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2145,3305
$GC,18489,-0.72,-117.3,971.1,-4.5,611,18490,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2145,3305
$GC,18792,-0.72,-117.3,984.0,-4.2,616,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2145,3305
$STATE,18972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18972,begin apogee
$GC,18977,-0.23,0.0,990.9,3.9,619,19082,0.62,0.00,102.22,1.496,6,0.075,0.000,2745,2210,2837
$STATE,19083,end apogee,CONTROL_FINISHED_OK
$STATE,19083,begin climb
$GC,19085,0.67,117.3,991.8,0.0,620,19207,1.15,2.80,110.57,1.447,4,0.049,0.098,2944,3598,2358
$GC,19229,0.36,117.3,985.1,7.9,622,19235,0.43,2.53,0.00,0.000,6,0.094,0.070,2882,2218,2358
$GC,19572,0.36,117.3,961.7,6.6,628,19577,0.00,2.62,0.00,0.000,4,0.000,0.115,2882,789,2358
$GC,19616,0.31,117.3,958.6,6.0,628,19621,0.00,2.38,0.00,0.000,6,0.000,0.072,2882,2192,2359
$GC,19931,0.31,117.3,938.8,6.2,634,19936,0.00,2.55,0.00,0.000,4,0.000,0.109,2882,780,2358
$GC,19970,0.27,117.3,936.4,6.4,634,19975,0.12,2.28,0.00,0.000,6,0.100,0.069,2862,2149,2358
$GC,20290,0.35,134.7,920.4,5.0,640,20315,0.00,2.53,17.10,1.388,4,0.000,0.106,2862,780,2287
$GC,20355,0.40,134.7,917.0,5.9,641,20360,0.12,2.20,0.00,0.000,6,0.064,0.067,2889,2099,2287
$GC,20720,0.40,134.7,895.9,5.8,647,20724,0.00,2.60,0.00,0.000,4,0.000,0.091,2888,3606,2287
$GC,20781,0.40,134.7,891.9,7.5,648,20785,0.00,2.50,0.00,0.000,6,0.000,0.065,2889,2101,2287
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