version: 66.03
glider: 119
mission: 5
dive: 73
start: 10 8 108 21 36 25
data:
$ID,119
$MISSION,5
$DIVE,73
$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,-210983.25
$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,9
$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
$GPS1,213002,4722.982,-12716.158,39,1.2,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-71.2
$GPS2,213533,4722.937,-12716.336,14,1.3,14,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.175,0.087
$KALMAN_X,58640.0,-152.8,-332.0,-232933.6,-2316.7
$KALMAN_Y,130465.4,398.5,-14.9,-85653.4,-339.2
$MHEAD_RNG_PITCHd_Wd,44.9,146448,-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,-61.88,0.000,2,0.000,0.000,864,2209,2900
$GC,87,-0.67,-117.3,3.2,-5.3,6,113,12.40,2.40,-8.50,0.000,4,0.149,0.081,2649,780,3316
$GC,275,-0.44,-117.3,34.8,-11.4,22,282,0.30,2.30,0.00,0.000,6,0.080,0.049,2699,2196,3316
$GC,615,-0.69,-117.3,57.1,-6.4,77,622,0.25,2.33,0.00,0.000,4,0.044,0.060,2642,772,3317
$GC,707,-0.56,-117.3,64.5,-8.3,93,714,0.20,2.28,0.00,0.000,6,0.078,0.052,2676,2201,3318
$GC,1050,-0.56,-117.3,88.6,-7.4,144,1054,0.00,2.35,0.00,0.000,4,0.000,0.066,2676,775,3318
$GC,1089,-0.56,-117.3,91.5,-7.7,147,1093,0.00,2.30,0.00,0.000,6,0.000,0.054,2676,2207,3318
$GC,1415,-0.56,-117.3,112.9,-5.6,177,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3318
$GC,1734,-0.61,-117.3,128.8,-5.6,207,1738,0.00,2.33,0.00,0.000,4,0.000,0.075,2676,3603,3318
$GC,1785,-0.69,-117.3,131.8,-5.8,211,1790,0.15,2.28,0.00,0.000,6,0.057,0.051,2644,2170,3318
$GC,2118,-0.63,-117.3,156.4,-7.4,238,2122,0.00,2.25,0.00,0.000,4,0.000,0.071,2644,801,3318
$GC,2163,-0.59,-117.3,159.8,-7.7,240,2168,0.15,2.25,0.00,0.000,6,0.084,0.055,2669,2209,3318
$GC,2484,-0.65,-117.3,177.2,-5.6,256,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3318
$GC,2793,-0.72,-117.3,194.6,-5.5,271,2798,0.15,2.33,0.00,0.000,4,0.058,0.067,2633,789,3318
$GC,2837,-0.65,-117.3,198.0,-7.8,273,2841,0.15,2.28,0.00,0.000,6,0.085,0.054,2658,2209,3318
$GC,3164,-0.65,-117.3,216.1,-5.1,289,3168,0.00,2.33,0.00,0.000,4,0.000,0.076,2658,3603,3318
$GC,3203,-0.65,-117.3,218.3,-6.0,291,3207,0.00,2.25,0.00,0.000,6,0.000,0.051,2659,2191,3318
$GC,3529,-0.65,-117.3,235.0,-5.5,307,3533,0.00,2.30,0.00,0.000,4,0.000,0.071,2658,790,3318
$GC,3573,-0.71,-117.3,237.7,-6.4,309,3577,0.00,2.25,0.00,0.000,6,0.000,0.054,2658,2200,3318
$GC,3900,-0.71,-117.3,256.7,-5.7,325,3904,0.00,2.35,0.00,0.000,4,0.000,0.076,2658,3609,3318
$GC,3932,-0.71,-117.3,258.8,-6.3,326,3939,0.00,2.28,0.00,0.000,6,0.000,0.051,2658,2194,3318
$GC,4251,-0.71,-117.3,275.8,-5.5,342,4255,0.00,2.30,0.00,0.000,4,0.000,0.072,2659,800,3318
$GC,4315,-0.78,-117.3,279.4,-5.6,345,4319,0.15,2.25,0.00,0.000,6,0.059,0.055,2626,2203,3318
$GC,4642,-0.68,-117.3,300.6,-6.5,361,4646,0.12,2.35,0.00,0.000,4,0.091,0.075,2647,3606,3317
$GC,4679,-0.68,-117.3,303.0,-5.7,361,4683,0.00,2.25,0.00,0.000,6,0.000,0.053,2647,2213,3317
$GC,5006,-0.68,-117.3,320.1,-5.1,367,5010,0.00,2.35,0.00,0.000,4,0.000,0.074,2647,792,3317
$GC,5060,-0.68,-117.3,323.1,-5.4,367,5067,0.00,2.28,0.00,0.000,6,0.000,0.056,2647,2209,3317
$GC,5370,-0.68,-117.3,338.3,-4.9,373,5374,0.00,2.33,0.00,0.000,4,0.000,0.077,2647,3602,3317
$GC,5419,-0.68,-117.3,341.2,-5.8,373,5423,0.00,2.22,0.00,0.000,6,0.000,0.052,2647,2201,3317
$GC,5736,-0.68,-117.3,357.9,-5.4,379,5740,0.00,2.33,0.00,0.000,4,0.000,0.075,2647,800,3317
$GC,5790,-0.68,-117.3,361.3,-5.9,379,5797,0.00,2.28,0.00,0.000,6,0.000,0.056,2647,2199,3317
$GC,6101,-0.68,-117.3,378.4,-5.5,385,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,3316
$GC,6403,-0.68,-117.3,394.7,-5.3,390,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,3316
$GC,6706,-0.68,-117.3,411.1,-5.5,395,6710,0.00,2.35,0.00,0.000,4,0.000,0.074,2647,799,3316
$GC,6750,-0.68,-117.3,413.6,-5.2,395,6754,0.00,2.28,0.00,0.000,6,0.000,0.057,2647,2209,3316
$GC,7071,-0.68,-117.3,430.6,-5.2,401,7075,0.00,2.35,0.00,0.000,4,0.000,0.079,2647,3609,3315
$GC,7108,-0.68,-117.3,432.7,-5.6,401,7113,0.00,2.28,0.00,0.000,6,0.000,0.054,2647,2205,3315
$GC,7435,-0.68,-117.3,449.2,-5.0,407,7439,0.00,2.38,0.00,0.000,4,0.000,0.080,2647,792,3315
$GC,7489,-0.68,-117.3,452.2,-5.6,407,7496,0.00,2.28,0.00,0.000,6,0.000,0.058,2647,2196,3315
$GC,7799,-0.68,-117.3,467.5,-5.0,413,7803,0.00,2.38,0.00,0.000,4,0.000,0.080,2647,3606,3314
$GC,7832,-0.68,-117.3,469.4,-5.9,413,7836,0.00,2.25,0.00,0.000,6,0.000,0.054,2647,2200,3314
$GC,8159,-0.68,-117.3,486.3,-5.1,419,8163,0.00,2.38,0.00,0.000,4,0.000,0.081,2647,792,3314
$GC,8208,-0.74,-117.3,488.9,-5.0,419,8213,0.00,2.28,0.00,0.000,6,0.000,0.060,2647,2198,3314
$GC,8517,-0.74,-117.3,503.1,-4.5,424,8521,0.00,2.38,0.00,0.000,4,0.000,0.081,2647,3603,3313
$GC,8550,-0.74,-117.3,504.7,-5.3,424,8554,0.00,2.28,0.00,0.000,6,0.000,0.054,2647,2192,3312
$GC,8882,-0.74,-117.3,521.1,-5.0,430,8886,0.00,2.38,0.00,0.000,4,0.000,0.084,2647,793,3312
$GC,8926,-0.78,-117.3,523.6,-5.4,430,8930,0.00,2.30,0.00,0.000,6,0.000,0.061,2647,2209,3312
$GC,9240,-0.78,-117.3,539.5,-5.0,436,9244,0.00,2.38,0.00,0.000,4,0.000,0.083,2647,3606,3312
$GC,9278,-0.78,-117.3,541.7,-6.0,436,9282,0.00,2.28,0.00,0.000,6,0.000,0.055,2647,2200,3312
$GC,9606,-0.78,-117.3,558.1,-5.1,442,9610,0.00,2.40,0.00,0.000,4,0.000,0.087,2647,796,3312
$GC,9655,-0.84,-117.3,560.8,-5.7,442,9660,0.15,2.28,0.00,0.000,6,0.061,0.062,2616,2198,3312
$GC,9964,-0.73,-117.3,578.9,-5.8,447,9969,0.12,2.40,0.00,0.000,4,0.095,0.083,2637,3605,3311
$GC,10008,-0.73,-117.3,581.3,-5.4,447,10012,0.00,2.28,0.00,0.000,6,0.000,0.056,2637,2200,3311
$GC,10328,-0.73,-117.3,596.0,-4.5,453,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2199,3311
$GC,10631,-0.73,-117.3,608.2,-4.0,458,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2198,3311
$GC,10935,-0.73,-117.3,620.9,-4.2,463,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2198,3311
$GC,11238,-0.73,-117.3,634.5,-4.6,468,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2197,3311
$GC,11541,-0.73,-117.3,648.9,-4.7,473,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2197,3310
$GC,11844,-0.73,-117.3,663.5,-4.9,478,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2196,3310
$GC,12147,-0.73,-117.3,678.0,-4.7,483,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2196,3310
$GC,12450,-0.73,-117.3,691.4,-4.5,488,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2196,3310
$GC,12753,-0.73,-117.3,704.5,-4.2,493,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2196,3310
$GC,13056,-0.73,-117.3,716.7,-4.0,498,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2195,3309
$GC,13361,-0.73,-117.3,729.2,-4.1,503,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2194,3309
$GC,13662,-0.73,-117.3,741.9,-4.2,508,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2194,3308
$GC,13965,-0.73,-117.3,755.2,-4.4,513,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2194,3308
$GC,14268,-0.73,-117.3,769.5,-4.7,518,14273,0.00,2.45,0.00,0.000,4,0.000,0.094,2637,799,3308
$GC,14302,-0.73,-117.3,771.2,-5.5,518,14306,0.00,2.33,0.00,0.000,6,0.000,0.066,2637,2203,3308
$GC,14628,-0.73,-117.3,787.1,-4.9,524,14632,0.00,2.45,0.00,0.000,4,0.000,0.096,2637,3601,3308
$GC,14667,-0.73,-117.3,789.2,-5.1,524,14671,0.00,2.28,0.00,0.000,6,0.000,0.056,2637,2201,3308
$GC,14988,-0.73,-117.3,803.9,-4.5,530,14992,0.00,2.45,0.00,0.000,4,0.000,0.095,2637,798,3307
$GC,15043,-0.73,-117.3,806.7,-4.9,530,15049,0.00,2.33,0.00,0.000,6,0.000,0.067,2637,2209,3307
$GC,15352,-0.73,-117.3,820.5,-4.5,536,15353,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2209,3307
$GC,15655,-0.73,-117.3,834.2,-4.5,541,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2209,3307
$GC,15958,-0.73,-117.3,847.9,-4.5,546,15963,0.00,2.50,0.00,0.000,4,0.000,0.095,2637,796,3307
$GC,16003,-0.73,-117.3,850.1,-4.8,546,16007,0.00,2.35,0.00,0.000,6,0.000,0.070,2637,2203,3307
$GC,16317,-0.73,-117.3,864.0,-4.5,552,16321,0.00,2.47,0.00,0.000,4,0.000,0.098,2636,3602,3306
$GC,16349,-0.73,-117.3,865.5,-4.4,552,16353,0.00,2.30,0.00,0.000,6,0.000,0.065,2637,2201,3307
$GC,16681,-0.73,-117.3,880.0,-4.3,558,16685,0.00,2.50,0.00,0.000,4,0.000,0.101,2637,793,3307
$GC,16737,-0.78,-117.3,882.8,-4.4,558,16743,0.00,2.38,0.00,0.000,6,0.000,0.071,2637,2208,3307
$GC,17046,-0.78,-117.3,897.3,-4.7,564,17050,0.00,2.47,0.00,0.000,4,0.000,0.100,2637,3604,3307
$GC,17078,-0.78,-117.3,899.0,-5.5,564,17083,0.00,2.33,0.00,0.000,6,0.000,0.067,2637,2203,3306
$GC,17404,-0.78,-117.3,915.7,-5.1,570,17408,0.00,2.53,0.00,0.000,4,0.000,0.104,2637,788,3306
$GC,17459,-0.83,-117.3,918.7,-5.6,570,17465,0.00,2.38,0.00,0.000,6,0.000,0.073,2637,2206,3306
$GC,17768,-0.96,-117.3,937.5,-6.3,576,17773,0.22,2.50,0.00,0.000,4,0.054,0.102,2587,3604,3306
$GC,18025,-0.75,-117.3,957.9,-8.6,579,18032,0.28,2.38,0.00,0.000,6,0.088,0.077,2632,2201,3306
$GC,18335,-0.75,-117.3,975.5,-5.6,585,18337,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,3306
$STATE,18636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18636,begin apogee
$GC,18640,-0.23,0.0,992.4,5.6,590,18745,0.68,0.00,101.95,1.486,6,0.077,0.000,2747,2200,2837
$STATE,18746,end apogee,CONTROL_FINISHED_OK
$STATE,18746,begin climb
$GC,18748,0.67,117.3,994.0,0.0,591,18862,1.12,0.00,109.57,1.440,6,0.048,0.000,2942,2200,2358
$GC,19113,0.39,117.3,971.3,8.7,597,19118,0.32,2.60,0.00,0.000,4,0.093,0.102,2888,3603,2358
$GC,19141,0.27,117.3,969.1,7.6,597,19147,0.17,2.45,0.00,0.000,6,0.098,0.077,2862,2202,2358
$GC,19472,0.27,117.4,950.9,5.5,603,19477,0.00,2.58,0.00,0.000,4,0.000,0.111,2861,783,2357
$GC,19516,0.27,117.4,948.2,6.0,603,19520,0.00,2.40,0.00,0.000,6,0.000,0.076,2861,2201,2356
$GC,19837,0.27,117.4,929.7,5.8,609,19841,0.00,2.55,0.00,0.000,4,0.000,0.107,2862,784,2357
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