version: 66.03
glider: 119
mission: 5
dive: 71
start: 10 8 108 2 39 43
data:
$ID,119
$MISSION,5
$DIVE,71
$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,-210952.7
$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,10
$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
$GPS1,023257,4720.359,-12722.654,38,2.2,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-66.6
$GPS2,023851,4720.186,-12722.676,12,1.9,12,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.184,0.065
$KALMAN_X,64050.5,-412.3,91.0,-246516.3,-1455.9
$KALMAN_Y,129426.0,-154.3,-125.6,-89047.2,1272.6
$MHEAD_RNG_PITCHd_Wd,51.9,155783,-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,-62.05,0.000,2,0.000,0.000,861,2214,2908
$GC,87,-0.67,-117.3,3.1,-4.8,6,113,12.30,2.40,-8.55,0.000,4,0.146,0.080,2648,773,3317
$GC,282,-0.37,-117.3,35.4,-13.2,23,287,0.40,2.28,0.00,0.000,6,0.081,0.048,2714,2206,3317
$GC,622,-0.57,-117.3,61.4,-7.0,78,629,0.17,2.30,0.00,0.000,4,0.051,0.067,2669,3612,3318
$GC,809,-0.50,-117.3,75.9,-7.9,111,816,0.12,2.25,0.00,0.000,6,0.087,0.046,2691,2168,3318
$GC,1144,-0.50,-117.3,98.6,-7.1,147,1147,0.00,2.22,0.00,0.000,4,0.000,0.067,2691,802,3319
$GC,1193,-0.56,-117.3,102.0,-6.4,151,1200,0.00,2.22,0.00,0.000,6,0.000,0.052,2691,2202,3319
$GC,1520,-0.63,-117.3,118.2,-4.6,182,1522,0.15,0.00,0.00,0.000,6,0.056,0.000,2657,2202,3320
$GC,1838,-0.58,-117.3,139.3,-7.2,212,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,3320
$GC,2150,-0.58,-117.3,159.4,-6.3,235,2154,0.00,2.33,0.00,0.000,4,0.000,0.076,2657,3602,3320
$GC,2205,-0.58,-117.3,163.4,-7.2,237,2212,0.00,2.25,0.00,0.000,6,0.000,0.051,2657,2206,3320
$GC,2521,-0.58,-117.3,184.9,-6.7,253,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2201,3319
$GC,2830,-0.58,-117.3,205.6,-6.8,268,2834,0.00,2.33,0.00,0.000,4,0.000,0.071,2657,789,3319
$GC,2880,-0.58,-117.3,209.1,-6.9,270,2884,0.00,2.25,0.00,0.000,6,0.000,0.054,2657,2200,3319
$GC,3203,-0.58,-117.3,226.5,-5.1,286,3207,0.00,2.33,0.00,0.000,4,0.000,0.076,2657,3602,3319
$GC,3257,-0.58,-117.3,229.7,-5.8,288,3264,0.00,2.25,0.00,0.000,6,0.000,0.052,2656,2202,3319
$GC,3573,-0.58,-117.3,248.0,-6.2,304,3577,0.00,2.33,0.00,0.000,4,0.000,0.071,2657,795,3319
$GC,3612,-0.58,-117.3,250.6,-6.7,306,3616,0.00,2.25,0.00,0.000,6,0.000,0.054,2657,2201,3319
$GC,3938,-0.58,-117.3,271.6,-6.2,322,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2200,3319
$GC,4247,-0.58,-117.3,291.2,-6.4,337,4251,0.00,2.35,0.00,0.000,4,0.000,0.077,2657,3609,3319
$GC,4273,-0.58,-117.3,293.0,-7.4,338,4278,0.00,2.25,0.00,0.000,6,0.000,0.053,2657,2200,3319
$GC,4592,-0.58,-117.3,311.3,-5.7,348,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2194,3319
$GC,4895,-0.58,-117.3,326.7,-5.0,353,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2194,3318
$GC,5197,-0.58,-117.3,341.7,-5.0,358,5201,0.00,2.38,0.00,0.000,4,0.000,0.077,2657,3606,3318
$GC,5235,-0.58,-117.3,343.7,-5.6,358,5239,0.00,2.25,0.00,0.000,6,0.000,0.053,2657,2195,3317
$GC,5561,-0.58,-117.3,360.4,-5.1,364,5565,0.00,2.33,0.00,0.000,4,0.000,0.075,2657,793,3317
$GC,5610,-0.62,-117.3,363.2,-5.3,364,5614,0.00,2.25,0.00,0.000,6,0.000,0.055,2657,2200,3317
$GC,5921,-0.62,-117.3,380.5,-5.6,369,5925,0.00,2.35,0.00,0.000,4,0.000,0.078,2657,3605,3317
$GC,5964,-0.62,-117.3,383.5,-6.5,369,5968,0.00,2.25,0.00,0.000,6,0.000,0.054,2657,2199,3317
$GC,6287,-0.62,-117.3,402.1,-5.8,375,6291,0.00,2.33,0.00,0.000,4,0.000,0.077,2657,800,3316
$GC,6331,-0.67,-117.3,405.0,-6.7,375,6335,0.00,2.25,0.00,0.000,6,0.000,0.057,2657,2202,3316
$GC,6645,-0.67,-117.3,422.9,-5.6,381,6649,0.00,2.35,0.00,0.000,4,0.000,0.079,2656,3602,3316
$GC,6683,-0.67,-117.3,425.2,-6.5,381,6687,0.00,2.25,0.00,0.000,6,0.000,0.054,2657,2197,3315
$GC,7003,-0.67,-117.3,442.7,-5.5,387,7007,0.00,2.35,0.00,0.000,4,0.000,0.080,2657,793,3315
$GC,7047,-0.72,-117.3,445.2,-5.8,387,7051,0.00,2.28,0.00,0.000,6,0.000,0.058,2657,2199,3315
$GC,7361,-0.72,-117.3,462.1,-5.4,393,7366,0.00,2.38,0.00,0.000,4,0.000,0.081,2656,3606,3314
$GC,7395,-0.72,-117.3,464.0,-6.6,393,7399,0.00,2.28,0.00,0.000,6,0.000,0.055,2657,2192,3314
$GC,7723,-0.72,-117.3,481.9,-5.4,399,7727,0.00,2.35,0.00,0.000,4,0.000,0.081,2657,797,3314
$GC,7785,-0.78,-117.3,485.6,-5.8,400,7789,0.15,2.28,0.00,0.000,6,0.061,0.060,2625,2199,3314
$GC,8151,-0.66,-117.3,509.6,-6.6,406,8155,0.15,2.38,0.00,0.000,4,0.091,0.081,2654,3601,3313
$GC,8200,-0.66,-117.3,512.8,-6.6,406,8204,0.00,2.25,0.00,0.000,6,0.000,0.055,2654,2200,3313
$GC,8516,-0.66,-117.3,529.7,-5.4,412,8520,0.00,2.38,0.00,0.000,4,0.000,0.085,2654,799,3313
$GC,8560,-0.71,-117.3,532.1,-5.3,412,8564,0.00,2.28,0.00,0.000,6,0.000,0.061,2654,2198,3313
$GC,8875,-0.71,-117.3,547.5,-4.9,418,8879,0.00,2.40,0.00,0.000,4,0.000,0.084,2654,3610,3312
$GC,8907,-0.71,-117.3,549.2,-5.3,418,8911,0.00,2.28,0.00,0.000,6,0.000,0.057,2654,2202,3312
$GC,9239,-0.71,-117.3,563.9,-4.4,424,9243,0.00,2.42,0.00,0.000,4,0.000,0.088,2654,788,3312
$GC,9294,-0.77,-117.3,566.5,-4.9,424,9300,0.00,2.33,0.00,0.000,6,0.000,0.064,2654,2207,3312
$GC,9603,-0.77,-117.3,580.8,-4.6,430,9608,0.12,2.40,0.00,0.000,4,0.068,0.085,2627,3607,3312
$GC,9635,-0.68,-117.3,582.7,-6.3,430,9640,0.15,2.28,0.00,0.000,6,0.091,0.057,2651,2201,3311
$GC,9961,-0.68,-117.3,599.7,-5.2,436,9965,0.00,2.42,0.00,0.000,4,0.000,0.091,2652,793,3311
$GC,10000,-0.72,-117.3,602.0,-6.3,436,10004,0.00,2.30,0.00,0.000,6,0.000,0.065,2651,2202,3311
$GC,10325,-0.72,-117.3,620.2,-5.6,442,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2203,3311
$GC,10629,-0.72,-117.3,636.6,-5.5,447,10633,0.00,2.45,0.00,0.000,4,0.000,0.087,2651,789,3311
$GC,10678,-0.77,-117.3,639.6,-6.0,447,10682,0.00,2.30,0.00,0.000,6,0.000,0.066,2652,2200,3311
$GC,10987,-0.77,-117.3,656.7,-5.6,452,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2201,3310
$GC,11290,-0.77,-117.3,673.4,-5.5,457,11294,0.00,2.45,0.00,0.000,4,0.000,0.089,2651,796,3310
$GC,11324,-0.81,-117.3,675.2,-5.2,457,11329,0.17,2.33,0.00,0.000,6,0.057,0.067,2616,2200,3310
$GC,11650,-0.69,-117.3,696.6,-6.6,463,11654,0.15,2.45,0.00,0.000,4,0.093,0.091,2645,3606,3310
$GC,11711,-0.69,-117.3,700.4,-5.9,464,11715,0.00,2.30,0.00,0.000,6,0.000,0.058,2645,2196,3310
$GC,12075,-0.69,-117.3,718.8,-4.9,470,12080,0.00,2.47,0.00,0.000,4,0.000,0.098,2644,789,3310
$GC,12138,-0.74,-117.3,721.9,-4.9,471,12142,0.00,2.35,0.00,0.000,6,0.000,0.069,2644,2208,3310
$GC,12503,-0.74,-117.3,740.1,-5.0,477,12504,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2207,3309
$GC,12806,-0.74,-117.3,754.9,-4.9,482,12810,0.00,2.50,0.00,0.000,4,0.000,0.097,2645,795,3309
$GC,12849,-0.74,-117.3,757.3,-5.2,482,12853,0.00,2.35,0.00,0.000,6,0.000,0.071,2644,2208,3309
$GC,13170,-0.74,-117.3,772.9,-4.9,488,13174,0.00,2.45,0.00,0.000,4,0.000,0.097,2644,3605,3309
$GC,13202,-0.74,-117.3,774.5,-5.4,488,13206,0.00,2.33,0.00,0.000,6,0.000,0.064,2645,2198,3308
$GC,13528,-0.74,-117.3,790.8,-5.0,494,13532,0.00,2.50,0.00,0.000,4,0.000,0.103,2645,792,3308
$GC,13584,-0.78,-117.3,793.8,-5.1,494,13590,0.00,2.35,0.00,0.000,6,0.000,0.072,2644,2199,3308
$GC,13893,-0.78,-117.3,809.4,-5.0,500,13897,0.00,2.47,0.00,0.000,4,0.000,0.097,2644,3605,3308
$GC,13925,-0.78,-117.3,811.2,-5.4,500,13930,0.00,2.30,0.00,0.000,6,0.000,0.067,2645,2203,3307
$GC,14254,-0.78,-117.3,827.8,-5.0,506,14258,0.00,2.53,0.00,0.000,4,0.000,0.106,2645,791,3307
$GC,14320,-0.83,-117.3,831.5,-5.7,507,14325,0.15,2.35,0.00,0.000,6,0.061,0.074,2614,2199,3307
$GC,14682,-0.72,-117.3,852.5,-5.8,513,14687,0.15,2.50,0.00,0.000,4,0.094,0.100,2643,3604,3307
$GC,14731,-0.72,-117.3,855.2,-4.6,513,14735,0.00,2.35,0.00,0.000,6,0.000,0.072,2643,2200,3307
$GC,15046,-0.72,-117.3,869.3,-4.5,519,15050,0.00,2.53,0.00,0.000,4,0.000,0.110,2643,793,3307
$GC,15095,-0.72,-117.3,871.6,-4.7,519,15099,0.00,2.38,0.00,0.000,6,0.000,0.077,2643,2207,3307
$GC,15404,-0.72,-117.3,885.9,-4.6,524,15405,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2207,3307
$GC,15708,-0.72,-117.3,900.1,-4.7,529,15713,0.00,2.58,0.00,0.000,4,0.000,0.109,2643,793,3306
$GC,15752,-0.72,-117.3,902.2,-4.3,529,15756,0.00,2.38,0.00,0.000,6,0.000,0.079,2642,2198,3306
$GC,16073,-0.72,-117.3,917.0,-4.6,535,16074,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3306
$GC,16376,-0.72,-117.3,931.5,-4.8,540,16377,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3306
$GC,16679,-0.72,-117.3,946.1,-4.8,545,16683,0.00,2.60,0.00,0.000,4,0.000,0.114,2643,791,3306
$GC,16729,-0.76,-117.3,948.5,-5.2,545,16733,0.00,2.42,0.00,0.000,6,0.000,0.082,2643,2201,3305
$GC,17038,-0.76,-117.3,963.1,-4.7,550,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,3306
$GC,17342,-0.76,-117.3,977.1,-4.6,555,17346,0.00,2.62,0.00,0.000,4,0.000,0.118,2643,795,3305
$GC,17391,-0.81,-117.3,979.7,-5.4,555,17395,0.00,2.45,0.00,0.000,6,0.000,0.086,2643,2208,3305
$STATE,17637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17637,begin apogee
$GC,17642,-0.23,0.0,990.9,4.6,559,17747,0.62,0.00,101.78,1.484,6,0.075,0.000,2749,2208,2837
$STATE,17748,end apogee,CONTROL_FINISHED_OK
$STATE,17748,begin climb
$GC,17750,0.67,117.3,992.2,0.0,560,17867,1.12,2.80,109.35,1.434,4,0.050,0.113,2944,3603,2358
$GC,17895,0.34,117.3,986.7,8.1,561,17900,0.45,2.60,0.00,0.000,6,0.093,0.086,2877,2206,2358
$GC,18232,0.34,117.3,965.5,6.2,567,18236,0.00,2.67,0.00,0.000,4,0.000,0.123,2877,786,2356
$GC,18269,0.34,117.3,963.0,6.3,567,18273,0.00,2.47,0.00,0.000,6,0.000,0.084,2877,2206,2356
$GC,18595,0.34,117.3,944.7,5.5,573,18599,0.00,2.65,0.00,0.000,4,0.000,0.118,2877,781,2356
$GC,18639,0.30,124.4,942.2,5.3,573,18655,0.00,2.42,7.75,1.222,6,0.000,0.083,2877,2200,2329
$GC,18958,0.30,124.4,924.4,5.6,579,18962,0.00,2.60,0.00,0.000,4,0.000,0.116,2877,787,2328
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$STATE,34193,end climb,SURFACE_DEPTH_REACHED
$STATE,34193,begin surface coast
$FINISH,-0.2,1.022263
$STATE,34226,end surface coast,CONTROL_FINISHED_OK
$STATE,34226,begin surface
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