version: 66.03
glider: 119
mission: 5
dive: 72
start: 10 8 108 12 18 37
data:
$ID,119
$MISSION,5
$DIVE,72
$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,-210966.72
$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,27
$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
$GPS1,121208,4721.743,-12719.399,37,1.0,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-70.8
$GPS2,121745,4721.829,-12719.298,11,1.0,11,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.193,0.029
$KALMAN_X,61346.1,160.9,-144.1,-239881.1,-2805.3
$KALMAN_Y,130099.1,-349.1,103.9,-86712.0,1834.1
$MHEAD_RNG_PITCHd_Wd,62.7,150618,-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,-71.93,0.000,2,0.000,0.000,862,2180,3222
$GC,97,-0.67,-117.3,5.2,-9.0,7,120,12.35,2.40,-1.65,0.000,4,0.147,0.078,2647,3598,3318
$GC,125,1.24,-117.3,20.3,-49.7,9,132,2.60,2.25,0.00,0.000,6,0.091,0.049,3067,2193,3318
$GC,454,0.00,-117.3,49.4,-10.6,48,461,1.48,0.00,0.00,0.000,6,0.058,0.000,2800,2188,3319
$GC,799,-0.48,-117.3,77.8,-8.3,109,806,0.57,2.35,0.00,0.000,4,0.054,0.068,2694,3609,3320
$GC,1018,-0.71,-117.3,91.9,-5.5,131,1025,0.28,2.22,0.00,0.000,6,0.048,0.048,2638,2187,3320
$GC,1343,-0.82,-117.3,116.2,-8.1,162,1347,0.00,2.38,0.00,0.000,4,0.000,0.073,2637,3609,3320
$GC,1439,-0.74,-117.3,123.9,-7.6,170,1443,0.00,2.22,0.00,0.000,6,0.000,0.050,2637,2198,3320
$GC,1770,-0.68,-117.3,145.0,-6.4,201,1774,0.00,2.30,0.00,0.000,4,0.000,0.071,2637,802,3320
$GC,1843,-0.68,-117.3,149.7,-6.4,207,1847,0.00,2.25,0.00,0.000,6,0.000,0.054,2637,2206,3320
$GC,2169,-0.63,-117.3,170.9,-7.0,223,2174,0.12,2.33,0.00,0.000,4,0.090,0.074,2659,3603,3320
$GC,2201,-0.63,-117.3,173.1,-6.4,224,2208,0.00,2.28,0.00,0.000,6,0.000,0.051,2659,2196,3320
$GC,2518,-0.69,-117.3,190.2,-5.2,240,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2190,3320
$GC,2827,-0.75,-117.3,204.8,-4.6,255,2832,0.12,2.30,0.00,0.000,4,0.064,0.070,2631,800,3320
$GC,2859,-0.75,-117.3,206.8,-6.1,256,2866,0.00,2.28,0.00,0.000,6,0.000,0.054,2631,2200,3320
$GC,3176,-0.68,-117.3,225.2,-6.0,272,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2200,3320
$GC,3485,-0.63,-117.3,243.7,-5.8,287,3487,0.17,0.00,0.00,0.000,6,0.084,0.000,2661,2201,3320
$GC,3795,-0.71,-117.3,257.9,-4.5,302,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2200,3320
$GC,4104,-0.79,-117.3,273.5,-5.3,317,4108,0.15,2.33,0.00,0.000,4,0.059,0.069,2626,801,3320
$GC,4155,-0.74,-117.3,276.9,-7.4,319,4159,0.00,2.25,0.00,0.000,6,0.000,0.054,2626,2209,3320
$GC,4470,-0.67,-117.3,298.5,-7.0,334,4472,0.15,0.00,0.00,0.000,6,0.088,0.000,2651,2209,3320
$GC,4814,-0.71,-117.3,318.1,-5.7,341,4818,0.00,2.35,0.00,0.000,4,0.000,0.071,2652,793,3320
$GC,4841,-0.77,-117.3,319.8,-6.0,341,4845,0.00,2.25,0.00,0.000,6,0.000,0.054,2651,2200,3319
$GC,5172,-0.82,-117.3,339.5,-6.0,347,5174,0.17,0.00,0.00,0.000,6,0.057,0.000,2614,2201,3319
$GC,5475,-0.71,-117.3,362.8,-7.7,352,5477,0.17,0.00,0.00,0.000,6,0.087,0.000,2645,2201,3319
$GC,5778,-0.71,-117.3,380.8,-5.9,357,5782,0.00,2.35,0.00,0.000,4,0.000,0.074,2645,797,3319
$GC,5816,-0.71,-117.3,383.1,-6.2,357,5821,0.00,2.28,0.00,0.000,6,0.000,0.055,2645,2194,3319
$GC,6144,-0.71,-117.3,400.6,-5.3,363,6148,0.00,2.38,0.00,0.000,4,0.000,0.079,2644,3609,3319
$GC,6171,-0.71,-117.3,402.2,-5.8,363,6175,0.00,2.25,0.00,0.000,6,0.000,0.054,2645,2203,3318
$GC,6508,-0.71,-117.3,420.8,-5.5,369,6512,0.00,2.35,0.00,0.000,4,0.000,0.077,2645,790,3318
$GC,6551,-0.77,-117.3,423.5,-6.1,369,6555,0.00,2.28,0.00,0.000,6,0.000,0.057,2645,2200,3318
$GC,6872,-0.77,-117.3,440.2,-5.2,375,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2201,3318
$GC,7175,-0.77,-117.3,455.7,-5.1,380,7179,0.00,2.35,0.00,0.000,4,0.000,0.077,2645,800,3317
$GC,7213,-0.83,-117.3,458.0,-5.8,380,7217,0.15,2.28,0.00,0.000,6,0.060,0.058,2613,2203,3317
$GC,7539,-0.73,-117.3,480.2,-7.0,386,7541,0.15,0.00,0.00,0.000,6,0.091,0.000,2639,2203,3316
$GC,7842,-0.73,-117.3,498.2,-5.8,391,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,3316
$GC,8145,-0.73,-117.3,515.6,-5.7,396,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,3316
$GC,8448,-0.73,-117.3,533.3,-5.8,401,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,3316
$GC,8753,-0.73,-117.3,550.9,-5.8,406,8758,0.00,2.42,0.00,0.000,4,0.000,0.086,2639,801,3315
$GC,8792,-0.77,-117.3,553.3,-6.3,406,8796,0.00,2.30,0.00,0.000,6,0.000,0.061,2639,2209,3315
$GC,9112,-0.77,-117.3,570.8,-5.5,412,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2209,3315
$GC,9415,-0.77,-117.3,587.4,-5.4,417,9419,0.00,2.42,0.00,0.000,4,0.000,0.084,2639,800,3315
$GC,9449,-0.82,-117.3,589.3,-6.1,417,9453,0.00,2.30,0.00,0.000,6,0.000,0.064,2639,2198,3314
$GC,9776,-0.82,-117.3,605.4,-4.8,423,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2199,3314
$GC,10077,-0.82,-117.3,619.6,-4.6,428,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2198,3314
$GC,10380,-0.82,-117.3,633.7,-4.7,433,10385,0.00,2.42,0.00,0.000,4,0.000,0.087,2639,800,3313
$GC,10424,-0.87,-117.3,636.2,-6.1,433,10429,0.15,2.30,0.00,0.000,6,0.061,0.064,2608,2205,3313
$GC,10739,-0.77,-117.3,655.8,-6.4,439,10744,0.12,2.42,0.00,0.000,4,0.096,0.091,2629,3602,3313
$GC,10782,-0.77,-117.3,658.6,-6.3,439,10786,0.00,2.30,0.00,0.000,6,0.000,0.058,2629,2210,3313
$GC,11103,-0.77,-117.3,677.4,-5.9,445,11108,0.00,2.47,0.00,0.000,4,0.000,0.095,2629,792,3312
$GC,11153,-0.77,-117.3,680.6,-5.9,445,11157,0.00,2.33,0.00,0.000,6,0.000,0.067,2629,2207,3313
$GC,11468,-0.77,-117.3,699.1,-5.9,451,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2207,3312
$GC,11771,-0.77,-117.3,717.0,-5.9,456,11775,0.00,2.50,0.00,0.000,4,0.000,0.094,2629,789,3312
$GC,11820,-0.77,-117.3,720.1,-6.1,456,11824,0.00,2.33,0.00,0.000,6,0.000,0.069,2629,2199,3312
$GC,12135,-0.77,-117.3,737.5,-5.5,462,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2199,3312
$GC,12439,-0.77,-117.3,752.8,-5.0,467,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2199,3311
$GC,12741,-0.77,-117.3,767.4,-4.8,472,12745,0.00,2.50,0.00,0.000,4,0.000,0.097,2629,795,3311
$GC,12797,-0.77,-117.3,770.3,-5.5,472,12803,0.00,2.35,0.00,0.000,6,0.000,0.071,2629,2205,3311
$GC,13106,-0.77,-117.3,786.4,-5.2,478,13110,0.00,2.47,0.00,0.000,4,0.000,0.099,2629,3606,3310
$GC,13139,-0.77,-117.3,788.3,-6.0,478,13143,0.00,2.35,0.00,0.000,6,0.000,0.068,2629,2196,3310
$GC,13466,-0.77,-117.3,805.5,-5.3,484,13470,0.00,2.50,0.00,0.000,4,0.000,0.104,2629,793,3310
$GC,13500,-0.77,-117.3,807.3,-5.0,484,13504,0.00,2.38,0.00,0.000,6,0.000,0.073,2629,2205,3310
$GC,13825,-0.77,-117.3,822.9,-4.7,490,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2205,3310
$GC,14128,-0.77,-117.3,837.4,-4.9,495,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2206,3310
$GC,14432,-0.77,-117.3,852.6,-5.1,500,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2206,3309
$GC,14734,-0.77,-117.3,869.3,-5.6,505,14738,0.00,2.58,0.00,0.000,4,0.000,0.106,2629,793,3309
$GC,14777,-0.77,-117.3,872.0,-6.0,505,14781,0.00,2.38,0.00,0.000,6,0.000,0.076,2629,2199,3309
$GC,15097,-0.77,-117.3,891.0,-6.0,511,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2199,3309
$GC,15402,-0.77,-117.3,909.8,-6.2,516,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2199,3309
$GC,15704,-0.77,-117.3,927.9,-6.0,521,15708,0.00,2.60,0.00,0.000,4,0.000,0.111,2629,793,3309
$GC,15753,-0.77,-117.3,931.0,-6.0,521,15757,0.00,2.40,0.00,0.000,6,0.000,0.081,2629,2200,3309
$GC,16068,-0.77,-117.3,948.5,-5.5,527,16069,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2200,3308
$GC,16371,-0.77,-117.3,964.6,-5.3,532,16376,0.00,2.62,0.00,0.000,4,0.000,0.115,2629,789,3308
$GC,16410,-0.77,-117.3,966.8,-5.0,532,16414,0.00,2.40,0.00,0.000,6,0.000,0.084,2629,2200,3308
$GC,16737,-0.77,-117.3,983.9,-5.2,538,16738,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2201,3308
$STATE,16854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16854,begin apogee
$GC,16859,-0.23,0.0,990.0,5.2,540,16964,0.70,0.00,102.30,1.485,6,0.073,0.000,2749,2201,2837
$STATE,16965,end apogee,CONTROL_FINISHED_OK
$STATE,16965,begin climb
$GC,16967,0.67,117.3,991.4,0.0,541,17084,1.12,2.83,109.32,1.434,4,0.048,0.114,2944,3603,2357
$GC,17095,0.33,117.3,987.9,8.2,542,17101,0.45,2.62,0.00,0.000,6,0.092,0.085,2877,2209,2357
$GC,17450,0.29,117.3,964.0,6.8,548,17454,0.00,2.67,0.00,0.000,4,0.000,0.123,2877,782,2356
$GC,17499,0.21,117.3,960.4,6.5,548,17504,0.17,2.47,0.00,0.000,6,0.094,0.084,2849,2209,2356
$GC,17808,0.27,118.0,943.3,5.5,553,17813,0.00,2.65,0.00,0.000,4,0.000,0.115,2849,779,2355
$GC,17858,0.27,118.0,940.3,6.0,553,17862,0.00,2.45,0.00,0.000,6,0.000,0.081,2849,2207,2355
$GC,18173,0.34,123.9,923.5,5.3,559,18187,0.12,2.62,6.85,1.191,4,0.066,0.115,2875,786,2332
$GC,18232,0.28,123.9,919.9,6.2,559,18238,0.00,2.42,0.00,0.000,6,0.000,0.081,2876,2209,2331
$GC,18541,0.28,123.9,901.1,6.0,565,18542,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2209,2331
$GC,18844,0.28,123.9,883.0,5.9,570,18848,0.00,2.60,0.00,0.000,4,0.000,0.111,2875,782,2330
$GC,18887,0.22,123.9,880.3,7.2,570,18892,0.15,2.40,0.00,0.000,6,0.097,0.079,2851,2202,2330
$GC,19202,0.30,133.4,864.0,5.2,576,19217,0.00,2.53,9.85,1.284,4,0.000,0.109,2851,784,2293
$GC,19245,0.36,146.2,861.5,5.1,576,19265,0.12,2.38,13.27,1.318,6,0.066,0.077,2878,2202,2240
$GC,19630,0.36,146.2,835.4,6.9,583,19631,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2202,2240
$GC,19933,0.36,146.2,814.9,6.8,588,19937,0.00,2.55,0.00,0.000,4,0.000,0.105,2878,785,2240
$GC,19982,0.36,146.2,811.4,6.1,588,19987,0.00,2.38,0.00,0.000,6,0.000,0.075,2878,2202,2239
$GC,20297,0.36,146.2,791.9,6.1,594,20299,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2203,2239
$GC,20600,0.36,146.2,773.6,6.1,599,20605,0.00,2.53,0.00,0.000,4,0.000,0.101,2878,785,2239
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$STATE,32924,end climb,SURFACE_DEPTH_REACHED
$STATE,32926,begin surface coast
$FINISH,-0.1,1.023968
$STATE,32957,end surface coast,CONTROL_FINISHED_OK
$STATE,32957,begin surface
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