version: 66.03
glider: 119
mission: 5
dive: 69
start: 10 7 108 7 40 30
data:
$ID,119
$MISSION,5
$DIVE,69
$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,-210924.97
$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,13
$R_STBD_OVSHOOT,22
$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
$GPS1,073332,4717.181,-12730.488,38,1.7,38,18.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-69.0
$GPS2,073938,4717.039,-12730.278,11,1.8,11,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.191,0.037
$KALMAN_X,67701.1,119.3,-164.4,-260047.7,-1978.7
$KALMAN_Y,127641.7,-636.6,-75.1,-92658.1,2069.7
$MHEAD_RNG_PITCHd_Wd,60.4,166817,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.75,0.000,2,0.000,0.000,863,2216,3133
$GC,97,-0.67,-117.3,5.2,-10.0,7,120,12.30,2.28,-3.10,0.000,4,0.146,0.074,2645,3606,3319
$GC,333,-0.46,-117.3,55.3,-13.7,37,340,0.30,2.25,0.00,0.000,6,0.079,0.046,2696,2173,3319
$GC,677,-0.46,-117.3,74.1,-5.8,98,684,0.00,2.22,0.00,0.000,4,0.000,0.067,2696,803,3320
$GC,747,-0.54,-117.3,78.5,-6.5,110,753,0.00,2.22,0.00,0.000,6,0.000,0.051,2696,2211,3320
$GC,1080,-0.60,-117.3,95.8,-4.4,143,1085,0.15,2.30,0.00,0.000,4,0.055,0.072,2661,3600,3321
$GC,1131,-0.51,-117.3,99.1,-7.2,147,1136,0.15,2.22,0.00,0.000,6,0.084,0.051,2686,2203,3321
$GC,1456,-0.56,-117.3,117.8,-6.5,177,1460,0.00,2.30,0.00,0.000,4,0.000,0.069,2687,799,3321
$GC,1518,-0.66,-117.3,121.8,-6.7,182,1523,0.17,2.22,0.00,0.000,6,0.052,0.055,2648,2198,3321
$GC,1848,-0.58,-117.3,143.9,-6.6,213,1853,0.15,2.33,0.00,0.000,4,0.085,0.067,2673,792,3321
$GC,1888,-0.64,-117.3,146.1,-5.3,216,1892,0.00,2.28,0.00,0.000,6,0.000,0.055,2674,2206,3321
$GC,2206,-0.69,-117.3,164.1,-5.1,234,2208,0.12,0.00,0.00,0.000,6,0.062,0.000,2645,2207,3321
$GC,2515,-0.63,-117.3,183.6,-6.6,249,2519,0.00,2.33,0.00,0.000,4,0.000,0.068,2645,798,3321
$GC,2554,-0.63,-117.3,186.4,-7.2,251,2558,0.00,2.25,0.00,0.000,6,0.000,0.054,2645,2206,3321
$GC,2886,-0.58,-117.3,207.2,-5.8,267,2888,0.15,0.00,0.00,0.000,6,0.086,0.000,2671,2206,3320
$GC,3196,-0.64,-117.3,221.3,-4.8,282,3199,0.00,2.33,0.00,0.000,4,0.000,0.069,2671,798,3320
$GC,3223,-0.73,-117.3,222.6,-5.2,283,3228,0.17,2.25,0.00,0.000,6,0.053,0.054,2634,2204,3320
$GC,3544,-0.64,-117.3,243.1,-6.6,299,3549,0.15,2.35,0.00,0.000,4,0.087,0.077,2663,3608,3320
$GC,3587,-0.64,-117.3,245.9,-6.4,301,3591,0.00,2.28,0.00,0.000,6,0.000,0.054,2663,2202,3320
$GC,3915,-0.68,-117.3,264.0,-5.3,317,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2197,3319
$GC,4225,-0.73,-117.3,280.5,-5.3,332,4229,0.00,2.33,0.00,0.000,4,0.000,0.072,2663,789,3319
$GC,4269,-0.80,-117.3,283.2,-5.4,334,4274,0.20,2.25,0.00,0.000,6,0.051,0.055,2621,2200,3319
$GC,4588,-0.66,-117.3,305.2,-6.9,348,4593,0.15,2.35,0.00,0.000,4,0.087,0.077,2650,3602,3318
$GC,4637,-0.66,-117.3,308.3,-6.2,348,4641,0.00,2.25,0.00,0.000,6,0.000,0.054,2651,2198,3319
$GC,4953,-0.66,-117.3,325.1,-5.4,354,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2193,3318
$GC,5255,-0.66,-117.3,341.8,-5.5,359,5259,0.00,2.33,0.00,0.000,4,0.000,0.074,2651,792,3318
$GC,5292,-0.66,-117.3,344.0,-6.4,359,5297,0.00,2.28,0.00,0.000,6,0.000,0.056,2651,2193,3318
$GC,5619,-0.66,-117.3,361.6,-5.4,365,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2193,3317
$GC,5922,-0.66,-117.3,378.7,-5.6,370,5926,0.00,2.35,0.00,0.000,4,0.000,0.074,2651,788,3316
$GC,5954,-0.66,-117.3,380.6,-6.5,370,5958,0.00,2.30,0.00,0.000,6,0.000,0.056,2651,2200,3316
$GC,6286,-0.66,-117.3,399.6,-5.8,376,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3315
$GC,6589,-0.66,-117.3,417.4,-5.9,381,6593,0.00,2.35,0.00,0.000,4,0.000,0.074,2651,799,3315
$GC,6626,-0.66,-117.3,419.7,-6.8,381,6630,0.00,2.28,0.00,0.000,6,0.000,0.057,2651,2196,3315
$GC,6952,-0.66,-117.3,437.7,-5.5,387,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2196,3315
$GC,7256,-0.66,-117.3,453.7,-5.2,392,7260,0.00,2.38,0.00,0.000,4,0.000,0.077,2651,789,3314
$GC,7293,-0.66,-117.3,455.8,-5.5,392,7298,0.00,2.30,0.00,0.000,6,0.000,0.058,2651,2206,3314
$GC,7620,-0.66,-117.3,470.8,-4.6,398,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2206,3314
$GC,7923,-0.66,-117.3,483.1,-4.1,403,7927,0.00,2.40,0.00,0.000,4,0.000,0.079,2651,792,3313
$GC,7961,-0.71,-117.3,484.9,-5.0,403,7965,0.00,2.30,0.00,0.000,6,0.000,0.060,2651,2207,3313
$GC,8281,-0.71,-117.3,498.8,-4.4,409,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3313
$GC,8584,-0.71,-117.3,513.1,-4.8,414,8589,0.00,2.40,0.00,0.000,4,0.000,0.080,2651,800,3313
$GC,8629,-0.75,-117.3,515.4,-5.3,414,8633,0.00,2.28,0.00,0.000,6,0.000,0.060,2651,2200,3313
$GC,8943,-0.75,-117.3,531.3,-5.0,420,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3312
$GC,9246,-0.75,-117.3,546.5,-5.0,425,9250,0.00,2.40,0.00,0.000,4,0.000,0.081,2650,796,3312
$GC,9296,-0.81,-117.3,549.1,-4.8,425,9301,0.15,2.30,0.00,0.000,6,0.060,0.063,2619,2201,3312
$GC,9605,-0.71,-117.3,568.7,-6.4,430,9610,0.12,2.40,0.00,0.000,4,0.092,0.086,2641,3604,3311
$GC,9639,-0.71,-117.3,570.6,-6.8,430,9643,0.00,2.28,0.00,0.000,6,0.000,0.059,2641,2204,3311
$GC,9964,-0.71,-117.3,588.1,-5.3,436,9968,0.00,2.42,0.00,0.000,4,0.000,0.089,2641,789,3311
$GC,10018,-0.71,-117.3,591.2,-6.1,436,10025,0.00,2.30,0.00,0.000,6,0.000,0.065,2641,2198,3311
$GC,10330,-0.71,-117.3,607.6,-5.3,442,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2199,3311
$GC,10631,-0.71,-117.3,622.7,-5.0,447,10635,0.00,2.42,0.00,0.000,4,0.000,0.085,2641,792,3310
$GC,10674,-0.71,-117.3,624.9,-5.4,447,10680,0.00,2.30,0.00,0.000,6,0.000,0.064,2641,2203,3310
$GC,10995,-0.71,-117.3,638.9,-4.3,453,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,3310
$GC,11298,-0.71,-117.3,652.0,-4.4,458,11303,0.00,2.45,0.00,0.000,4,0.000,0.088,2641,796,3309
$GC,11354,-0.71,-117.3,654.6,-5.1,458,11360,0.00,2.30,0.00,0.000,6,0.000,0.066,2641,2198,3310
$GC,11663,-0.71,-117.3,668.7,-4.6,464,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2198,3309
$GC,11966,-0.71,-117.3,683.2,-4.8,469,11970,0.00,2.45,0.00,0.000,4,0.000,0.091,2641,797,3309
$GC,11998,-0.71,-117.3,684.7,-4.7,469,12002,0.00,2.30,0.00,0.000,6,0.000,0.068,2641,2200,3309
$GC,12331,-0.71,-117.3,700.8,-4.9,475,12335,0.00,2.47,0.00,0.000,4,0.000,0.093,2641,796,3309
$GC,12363,-0.71,-117.3,702.6,-5.3,475,12367,0.00,2.33,0.00,0.000,6,0.000,0.070,2641,2203,3309
$GC,12689,-0.71,-117.3,719.2,-5.1,481,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,3308
$GC,12992,-0.71,-117.3,734.7,-5.1,486,12996,0.00,2.53,0.00,0.000,4,0.000,0.097,2640,789,3307
$GC,13047,-0.71,-117.3,737.6,-5.7,486,13053,0.00,2.35,0.00,0.000,6,0.000,0.071,2641,2200,3308
$GC,13357,-0.71,-117.3,752.5,-4.8,492,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2200,3308
$GC,13659,-0.71,-117.3,767.0,-4.7,497,13663,0.00,2.53,0.00,0.000,4,0.000,0.100,2641,790,3308
$GC,13697,-0.71,-117.3,769.0,-5.5,497,13701,0.00,2.35,0.00,0.000,6,0.000,0.073,2641,2200,3307
$GC,14023,-0.71,-117.3,785.3,-5.1,503,14024,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2200,3307
$GC,14328,-0.71,-117.3,800.3,-4.9,508,14333,0.00,2.53,0.00,0.000,4,0.000,0.102,2641,799,3307
$GC,14378,-0.71,-117.3,803.0,-5.1,508,14382,0.00,2.35,0.00,0.000,6,0.000,0.075,2641,2198,3307
$GC,14693,-0.71,-117.3,817.3,-4.5,514,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2198,3307
$GC,14996,-0.71,-117.3,830.0,-4.2,519,15000,0.00,2.55,0.00,0.000,4,0.000,0.104,2641,791,3306
$GC,15051,-0.75,-117.3,832.5,-4.5,519,15057,0.00,2.40,0.00,0.000,6,0.000,0.077,2641,2202,3306
$GC,15360,-0.75,-117.3,845.3,-4.1,525,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,3306
$GC,15663,-0.75,-117.3,857.1,-3.8,530,15668,0.00,2.58,0.00,0.000,4,0.000,0.107,2641,791,3306
$GC,15702,-0.80,-117.3,858.7,-4.1,530,15706,0.00,2.40,0.00,0.000,6,0.000,0.078,2641,2200,3307
$GC,16022,-0.80,-117.3,872.1,-4.2,536,16023,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2199,3306
$GC,16325,-0.80,-117.3,886.1,-4.7,541,16329,0.00,2.58,0.00,0.000,4,0.000,0.110,2641,798,3306
$GC,16380,-0.85,-117.3,888.9,-5.2,541,16387,0.15,2.40,0.00,0.000,6,0.061,0.081,2610,2198,3306
$GC,16689,-0.74,-117.3,907.5,-6.1,547,16694,0.15,2.58,0.00,0.000,4,0.095,0.114,2638,3605,3306
$GC,16732,-0.74,-117.3,910.2,-6.0,547,16737,0.00,2.40,0.00,0.000,6,0.000,0.082,2638,2202,3305
$GC,17054,-0.74,-117.3,925.8,-4.8,553,17058,0.00,2.58,0.00,0.000,4,0.000,0.114,2638,792,3305
$GC,17109,-0.79,-117.3,928.6,-4.9,553,17115,0.00,2.42,0.00,0.000,6,0.000,0.083,2637,2201,3306
$GC,17418,-0.79,-117.3,942.0,-4.4,559,17419,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2201,3305
$GC,17721,-0.79,-117.3,954.1,-3.9,564,17725,0.00,2.62,0.00,0.000,4,0.000,0.115,2638,792,3305
$GC,17764,-0.79,-117.3,955.8,-4.1,564,17768,0.00,2.42,0.00,0.000,6,0.000,0.085,2638,2201,3305
$GC,18085,-0.79,-117.3,968.1,-3.8,570,18086,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2201,3305
$GC,18388,-0.79,-117.3,980.1,-4.0,575,18393,0.00,2.65,0.00,0.000,4,0.000,0.119,2638,789,3303
$GC,18432,-0.83,-117.3,982.1,-4.9,575,18436,0.00,2.45,0.00,0.000,6,0.000,0.087,2638,2201,3304
$STATE,18622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18622,begin apogee
$GC,18627,-0.23,0.0,990.0,4.1,579,18732,0.65,0.00,101.60,1.488,6,0.074,0.000,2749,2201,2837
$STATE,18732,end apogee,CONTROL_FINISHED_OK
$STATE,18733,begin climb
$GC,18735,0.67,117.3,991.2,0.0,580,18849,1.15,0.00,109.30,1.438,6,0.047,0.000,2948,2201,2358
$GC,19172,0.39,117.3,957.3,9.6,588,19177,0.35,2.60,0.00,0.000,4,0.094,0.111,2889,3605,2357
$GC,19210,0.29,117.3,953.8,7.8,588,19215,0.15,2.47,0.00,0.000,6,0.097,0.087,2866,2202,2357
$GC,19530,0.29,117.3,935.7,5.6,594,19534,0.00,2.62,0.00,0.000,4,0.000,0.120,2866,786,2356
$GC,19562,0.29,117.3,933.7,5.6,594,19566,0.00,2.45,0.00,0.000,6,0.000,0.084,2866,2203,2355
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