version: 66.03
glider: 119
mission: 5
dive: 70
start: 10 7 108 17 12 43
data:
$ID,119
$MISSION,5
$DIVE,70
$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,-210938.19
$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,23
$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
$GPS1,170545,4718.634,-12725.660,44,2.1,63,18.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-65.7
$GPS2,171151,4718.751,-12725.697,11,1.9,11,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.184,0.063
$KALMAN_X,66340.9,208.8,-0.6,-253166.4,-2015.9
$KALMAN_Y,128656.0,392.2,-278.4,-91331.2,944.8
$MHEAD_RNG_PITCHd_Wd,52.4,160366,-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,-61.95,0.000,2,0.000,0.000,863,2209,2912
$GC,87,-0.67,-117.3,4.0,-8.0,6,112,12.30,2.38,-7.93,0.000,4,0.146,0.083,2648,795,3318
$GC,258,-0.40,-117.3,33.3,-12.3,21,265,0.30,2.28,0.00,0.000,6,0.077,0.050,2709,2195,3319
$GC,596,-0.45,-117.3,55.4,-6.0,74,603,0.00,2.30,0.00,0.000,4,0.000,0.069,2709,3602,3319
$GC,688,-0.60,-117.3,61.7,-7.0,90,695,0.22,2.22,0.00,0.000,6,0.044,0.046,2660,2175,3319
$GC,1033,-0.70,-117.3,87.5,-7.5,143,1037,0.00,2.38,0.00,0.000,4,0.000,0.070,2659,3610,3320
$GC,1129,-0.61,-117.3,95.2,-8.5,151,1133,0.00,2.22,0.00,0.000,6,0.000,0.048,2660,2205,3320
$GC,1461,-0.56,-117.3,121.9,-7.2,182,1465,0.00,2.30,0.00,0.000,4,0.000,0.069,2660,801,3320
$GC,1549,-0.56,-117.3,127.5,-6.1,189,1556,0.00,2.25,0.00,0.000,6,0.000,0.054,2660,2190,3320
$GC,1875,-0.56,-117.3,145.8,-5.8,220,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2190,3320
$GC,2186,-0.56,-117.3,163.1,-5.8,239,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2189,3320
$GC,2496,-0.56,-117.3,180.9,-5.5,254,2500,0.00,2.35,0.00,0.000,4,0.000,0.076,2659,3602,3320
$GC,2528,-0.56,-117.3,182.9,-5.7,255,2535,0.00,2.25,0.00,0.000,6,0.000,0.052,2659,2208,3320
$GC,2844,-0.56,-117.3,199.8,-5.7,271,2851,0.00,2.33,0.00,0.000,4,0.000,0.070,2660,790,3320
$GC,2901,-0.61,-117.3,203.6,-7.0,273,2906,0.00,2.25,0.00,0.000,6,0.000,0.054,2660,2198,3320
$GC,3217,-0.61,-117.3,222.9,-5.8,288,3221,0.00,2.35,0.00,0.000,4,0.000,0.077,2659,3606,3320
$GC,3262,-0.61,-117.3,225.6,-6.3,290,3266,0.00,2.25,0.00,0.000,6,0.000,0.053,2660,2198,3320
$GC,3589,-0.61,-117.3,241.6,-5.0,306,3593,0.00,2.30,0.00,0.000,4,0.000,0.071,2660,797,3320
$GC,3632,-0.65,-117.3,244.3,-5.9,308,3636,0.00,2.25,0.00,0.000,6,0.000,0.054,2660,2209,3320
$GC,3959,-0.65,-117.3,262.5,-5.3,324,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2209,3320
$GC,4269,-0.65,-117.3,279.3,-5.3,339,4273,0.00,2.33,0.00,0.000,4,0.000,0.077,2659,3602,3319
$GC,4301,-0.65,-117.3,281.3,-6.1,340,4308,0.00,2.28,0.00,0.000,6,0.000,0.053,2660,2197,3319
$GC,4617,-0.65,-117.3,298.4,-5.4,356,4621,0.00,2.30,0.00,0.000,4,0.000,0.073,2660,800,3318
$GC,4644,-0.70,-117.3,300.0,-5.7,357,4652,0.00,2.25,0.00,0.000,6,0.000,0.054,2659,2207,3318
$GC,4967,-0.70,-117.3,316.3,-5.0,363,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2207,3317
$GC,5270,-0.70,-117.3,331.2,-4.9,368,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2207,3318
$GC,5573,-0.70,-117.3,347.0,-5.3,373,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2208,3317
$GC,5876,-0.75,-117.3,362.5,-5.2,378,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2207,3318
$GC,6179,-0.79,-117.3,379.3,-5.5,383,6184,0.17,2.35,0.00,0.000,4,0.057,0.071,2620,802,3317
$GC,6228,-0.68,-117.3,382.7,-7.4,383,6233,0.17,2.25,0.00,0.000,6,0.085,0.056,2650,2202,3317
$GC,6540,-0.68,-117.3,400.5,-5.7,388,6544,0.00,2.35,0.00,0.000,4,0.000,0.079,2650,3603,3316
$GC,6583,-0.68,-117.3,403.3,-6.3,388,6588,0.00,2.25,0.00,0.000,6,0.000,0.054,2650,2197,3316
$GC,6904,-0.68,-117.3,419.1,-4.8,394,6908,0.00,2.35,0.00,0.000,4,0.000,0.078,2650,788,3316
$GC,6953,-0.68,-117.3,421.7,-5.7,394,6957,0.00,2.28,0.00,0.000,6,0.000,0.057,2650,2199,3316
$GC,7268,-0.68,-117.3,437.1,-4.9,400,7272,0.00,2.38,0.00,0.000,4,0.000,0.080,2650,3607,3316
$GC,7317,-0.68,-117.3,439.6,-5.5,400,7321,0.00,2.30,0.00,0.000,6,0.000,0.056,2650,2201,3315
$GC,7632,-0.68,-117.3,455.1,-4.9,406,7636,0.00,2.35,0.00,0.000,4,0.000,0.080,2650,800,3315
$GC,7664,-0.68,-117.3,456.9,-5.3,406,7668,0.00,2.28,0.00,0.000,6,0.000,0.058,2650,2203,3315
$GC,7990,-0.68,-117.3,473.6,-5.2,412,7994,0.00,2.38,0.00,0.000,4,0.000,0.081,2650,3606,3315
$GC,8027,-0.68,-117.3,475.8,-5.6,412,8031,0.00,2.30,0.00,0.000,6,0.000,0.056,2650,2200,3314
$GC,8353,-0.68,-117.3,494.2,-5.7,418,8357,0.00,2.38,0.00,0.000,4,0.000,0.083,2650,795,3314
$GC,8397,-0.73,-117.3,496.9,-6.2,418,8401,0.00,2.28,0.00,0.000,6,0.000,0.060,2650,2206,3314
$GC,8717,-0.73,-117.3,515.4,-5.8,424,8721,0.00,2.38,0.00,0.000,4,0.000,0.083,2650,3607,3314
$GC,8750,-0.73,-117.3,517.4,-6.6,424,8754,0.00,2.30,0.00,0.000,6,0.000,0.057,2650,2203,3314
$GC,9083,-0.73,-117.3,535.8,-5.5,430,9087,0.00,2.40,0.00,0.000,4,0.000,0.087,2650,800,3314
$GC,9144,-0.79,-117.3,539.4,-5.7,431,9149,0.00,2.28,0.00,0.000,6,0.000,0.063,2650,2199,3314
$GC,9511,-0.79,-117.3,558.6,-5.2,437,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,3313
$GC,9813,-0.79,-117.3,573.0,-4.7,442,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,3313
$GC,10116,-0.79,-117.3,586.7,-4.5,447,10120,0.00,2.42,0.00,0.000,4,0.000,0.085,2650,792,3313
$GC,10154,-0.84,-117.3,588.5,-4.8,447,10159,0.17,2.33,0.00,0.000,6,0.057,0.065,2614,2205,3312
$GC,10474,-0.71,-117.3,608.9,-6.5,453,10479,0.15,2.42,0.00,0.000,4,0.092,0.087,2643,3609,3312
$GC,10529,-0.71,-117.3,612.2,-5.5,453,10535,0.00,2.33,0.00,0.000,6,0.000,0.058,2643,2201,3312
$GC,10838,-0.71,-117.3,628.1,-5.1,459,10843,0.00,2.45,0.00,0.000,4,0.000,0.094,2643,789,3312
$GC,10888,-0.71,-117.3,630.9,-5.7,459,10892,0.00,2.33,0.00,0.000,6,0.000,0.066,2643,2209,3312
$GC,11203,-0.71,-117.3,647.1,-5.2,465,11207,0.00,2.42,0.00,0.000,4,0.000,0.090,2643,3609,3311
$GC,11241,-0.71,-117.3,649.2,-6.3,465,11245,0.00,2.28,0.00,0.000,6,0.000,0.058,2643,2201,3311
$GC,11567,-0.71,-117.3,665.6,-5.0,471,11571,0.00,2.45,0.00,0.000,4,0.000,0.097,2643,799,3311
$GC,11633,-0.75,-117.3,669.1,-5.2,472,11638,0.00,2.33,0.00,0.000,6,0.000,0.068,2643,2200,3311
$GC,11993,-0.75,-117.3,687.6,-5.1,478,11997,0.00,2.45,0.00,0.000,4,0.000,0.092,2643,3610,3311
$GC,12019,-0.75,-117.3,689.1,-5.7,478,12024,0.00,2.33,0.00,0.000,6,0.000,0.059,2643,2201,3310
$GC,12358,-0.75,-117.3,706.7,-5.2,484,12362,0.00,2.47,0.00,0.000,4,0.000,0.100,2643,797,3310
$GC,12402,-0.75,-117.3,709.1,-5.1,484,12406,0.00,2.33,0.00,0.000,6,0.000,0.071,2643,2202,3310
$GC,12723,-0.75,-117.3,724.7,-4.8,490,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,3310
$GC,13026,-0.75,-117.3,739.4,-4.9,495,13030,0.00,2.53,0.00,0.000,4,0.000,0.100,2643,790,3310
$GC,13063,-0.75,-117.3,741.3,-5.5,495,13068,0.00,2.35,0.00,0.000,6,0.000,0.074,2643,2200,3310
$GC,13390,-0.75,-117.3,758.7,-5.5,501,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,3310
$GC,13694,-0.75,-117.3,775.2,-5.4,506,13698,0.00,2.53,0.00,0.000,4,0.000,0.103,2643,796,3309
$GC,13738,-0.79,-117.3,777.6,-5.2,506,13742,0.00,2.38,0.00,0.000,6,0.000,0.075,2643,2205,3309
$GC,14052,-0.79,-117.3,794.1,-5.2,512,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,3309
$GC,14355,-0.79,-117.3,809.7,-5.1,517,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,3309
$GC,14659,-0.79,-117.3,825.0,-5.1,522,14663,0.00,2.58,0.00,0.000,4,0.000,0.107,2643,789,3308
$GC,14697,-0.84,-117.3,827.3,-5.9,522,14702,0.15,2.38,0.00,0.000,6,0.061,0.077,2612,2198,3308
$GC,15017,-0.74,-117.3,847.8,-6.5,528,15022,0.15,2.53,0.00,0.000,4,0.093,0.103,2641,3608,3308
$GC,15049,-0.74,-117.3,849.8,-5.9,528,15054,0.00,2.38,0.00,0.000,6,0.000,0.075,2641,2200,3308
$GC,15380,-0.74,-117.3,866.3,-4.9,534,15384,0.00,2.58,0.00,0.000,4,0.000,0.114,2641,787,3308
$GC,15436,-0.78,-117.3,869.1,-5.0,534,15442,0.00,2.42,0.00,0.000,6,0.000,0.080,2641,2207,3308
$GC,15745,-0.78,-117.3,883.3,-4.6,540,15746,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2207,3308
$GC,16048,-0.78,-117.3,897.6,-4.7,545,16049,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2208,3307
$GC,16351,-0.78,-117.3,912.8,-5.0,550,16355,0.00,2.62,0.00,0.000,4,0.000,0.114,2641,792,3307
$GC,16412,-0.83,-117.3,916.1,-5.6,551,16416,0.00,2.42,0.00,0.000,6,0.000,0.084,2641,2200,3307
$GC,16783,-0.83,-117.3,934.7,-5.0,557,16784,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2200,3307
$GC,17086,-0.83,-117.3,948.8,-4.6,562,17088,0.12,0.00,0.00,0.000,6,0.068,0.000,2615,2199,3307
$GC,17389,-0.76,-117.3,965.6,-5.6,567,17391,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2200,3306
$GC,17693,-0.68,-117.3,981.6,-5.3,572,17698,0.17,2.67,0.00,0.000,4,0.090,0.123,2648,795,3306
$GC,17749,-0.76,-117.3,984.0,-4.1,572,17755,0.00,2.47,0.00,0.000,6,0.000,0.091,2648,2206,3307
$STATE,17934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17934,begin apogee
$GC,17939,-0.23,0.0,992.4,4.5,576,18043,0.57,0.00,101.93,1.490,6,0.069,0.000,2748,2206,2837
$STATE,18044,end apogee,CONTROL_FINISHED_OK
$STATE,18044,begin climb
$GC,18047,0.67,117.3,994.4,0.0,577,18164,1.12,2.83,109.45,1.444,4,0.048,0.114,2943,3607,2357
$GC,18253,0.35,117.3,981.0,11.1,579,18259,0.43,2.58,0.00,0.000,6,0.097,0.087,2880,2205,2357
$GC,18596,0.35,117.3,956.5,7.0,585,18600,0.00,2.67,0.00,0.000,4,0.000,0.127,2880,789,2356
$GC,18645,0.28,117.3,952.8,7.0,585,18649,0.00,2.47,0.00,0.000,6,0.000,0.087,2880,2205,2356
$GC,18954,0.28,117.3,932.8,6.4,590,18955,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2204,2356
$GC,19257,0.28,117.3,914.3,6.0,595,19258,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2205,2355
$GC,19560,0.29,122.6,897.9,5.3,600,19571,0.00,2.60,5.88,1.126,4,0.000,0.119,2879,782,2336
$GC,19604,0.24,122.6,895.3,5.8,600,19609,0.17,2.42,0.00,0.000,6,0.094,0.084,2852,2206,2336
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$STATE,33445,end climb,SURFACE_DEPTH_REACHED
$STATE,33445,begin surface coast
$FINISH,-0.2,1.013755
$STATE,33478,end surface coast,CONTROL_FINISHED_OK
$STATE,33479,begin surface
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$DATA_FILE_SIZE,56886,1152
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