version: 66.03
glider: 119
mission: 5
dive: 75
start: 10 9 108 16 50 2
data:
$ID,119
$MISSION,5
$DIVE,75
$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,-211015.78
$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,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,164331,4725.978,-12709.463,60,1.1,60,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-63.5
$GPS2,164909,4725.995,-12709.655,14,1.5,14,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.189,0.049
$KALMAN_X,53173.4,-18.1,295.7,-219786.0,-3391.3
$KALMAN_Y,131825.9,221.5,-139.2,-81051.1,618.1
$MHEAD_RNG_PITCHd_Wd,56.7,136440,-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,21,-0.67,-117.3,0.0,0.0,0,94,0.00,0.00,-71.72,0.000,2,0.000,0.000,857,2228,3215
$GC,97,-0.67,-117.3,5.1,-8.8,7,120,12.38,2.30,-1.83,0.000,4,0.149,0.076,2649,3596,3319
$GC,132,0.88,-117.3,22.1,-45.5,10,143,2.10,2.25,0.00,0.000,6,0.090,0.050,2989,2197,3319
$GC,472,0.01,-117.3,55.6,-6.1,59,479,1.05,2.28,0.00,0.000,4,0.065,0.058,2804,781,3320
$GC,615,-0.69,-117.3,64.8,-7.6,84,622,0.90,2.78,0.00,0.000,6,0.061,0.050,2648,2520,3320
$GC,958,-0.69,-117.3,87.8,-7.8,136,962,0.00,1.77,0.00,0.000,4,0.000,0.072,2647,3601,3320
$GC,1030,-0.62,-117.3,94.8,-9.6,142,1037,0.00,2.65,0.00,0.000,6,0.000,0.048,2647,1925,3321
$GC,1359,-0.57,-117.3,118.8,-8.0,173,1364,0.15,2.78,0.00,0.000,4,0.083,0.069,2677,3591,3321
$GC,1425,-0.68,-117.3,123.7,-6.7,178,1432,0.15,2.55,0.00,0.000,6,0.056,0.049,2644,1983,3320
$GC,1750,-0.68,-117.3,144.2,-6.6,209,1754,0.00,2.67,0.00,0.000,4,0.000,0.071,2643,3598,3320
$GC,1812,-0.64,-117.3,148.6,-7.2,214,1816,0.00,2.42,0.00,0.000,6,0.000,0.050,2644,2074,3321
$GC,2128,-0.64,-117.3,168.8,-6.3,230,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2073,3320
$GC,2437,-0.64,-117.3,188.2,-6.1,245,2441,0.00,2.55,0.00,0.000,4,0.000,0.073,2643,3598,3320
$GC,2468,-0.64,-117.3,190.4,-6.7,246,2475,0.00,2.33,0.00,0.000,6,0.000,0.051,2643,2151,3321
$GC,2785,-0.64,-117.3,209.8,-6.3,262,2789,0.00,2.22,0.00,0.000,4,0.000,0.069,2643,790,3320
$GC,2828,-0.64,-117.3,212.6,-6.4,264,2832,0.00,2.12,0.00,0.000,6,0.000,0.052,2644,2114,3320
$GC,3156,-0.64,-117.3,230.2,-5.1,280,3160,0.00,2.45,0.00,0.000,4,0.000,0.074,2643,3592,3321
$GC,3227,-0.64,-117.3,234.3,-6.3,283,3231,0.00,2.33,0.00,0.000,6,0.000,0.050,2643,2141,3320
$GC,3549,-0.64,-117.3,252.0,-5.5,299,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2140,3321
$GC,3858,-0.64,-117.3,268.6,-5.3,314,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2140,3320
$GC,4168,-0.64,-117.3,284.9,-5.2,329,4172,0.00,2.45,0.00,0.000,4,0.000,0.074,2643,3599,3320
$GC,4200,-0.64,-117.3,287.0,-6.2,330,4207,0.00,2.28,0.00,0.000,6,0.000,0.051,2644,2183,3320
$GC,4554,-0.64,-117.3,307.5,-5.9,344,4558,0.00,2.28,0.00,0.000,4,0.000,0.071,2643,798,3320
$GC,4591,-0.64,-117.3,309.9,-6.2,344,4596,0.00,2.22,0.00,0.000,6,0.000,0.053,2643,2174,3321
$GC,4918,-0.64,-117.3,330.7,-6.4,350,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2174,3320
$GC,5221,-0.64,-117.3,350.4,-6.4,355,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2174,3320
$GC,5524,-0.64,-117.3,369.4,-6.2,360,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2174,3319
$GC,5827,-0.64,-117.3,387.8,-6.0,365,5831,0.00,2.30,0.00,0.000,4,0.000,0.071,2644,787,3319
$GC,5859,-0.64,-117.3,389.8,-6.5,365,5863,0.00,2.22,0.00,0.000,6,0.000,0.053,2643,2181,3319
$GC,6190,-0.64,-117.3,408.4,-5.6,371,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2181,3319
$GC,6496,-0.64,-117.3,425.7,-5.7,376,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2181,3318
$GC,6797,-0.64,-117.3,444.0,-6.0,381,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2180,3318
$GC,7100,-0.64,-117.3,462.0,-6.0,386,7104,0.00,2.33,0.00,0.000,4,0.000,0.074,2643,797,3318
$GC,7138,-0.69,-117.3,464.4,-6.0,386,7141,0.00,2.17,0.00,0.000,6,0.000,0.054,2643,2153,3318
$GC,7464,-0.69,-117.3,482.1,-5.4,392,7468,0.00,2.45,0.00,0.000,4,0.000,0.079,2643,3611,3318
$GC,7501,-0.69,-117.3,484.3,-5.9,392,7505,0.00,2.35,0.00,0.000,6,0.000,0.053,2643,2145,3317
$GC,7829,-0.69,-117.3,502.0,-5.3,398,7833,0.00,2.28,0.00,0.000,4,0.000,0.081,2643,795,3317
$GC,7867,-0.75,-117.3,504.0,-5.4,398,7872,0.00,2.20,0.00,0.000,6,0.000,0.058,2643,2162,3317
$GC,8188,-0.75,-117.3,519.8,-4.8,404,8192,0.00,2.45,0.00,0.000,4,0.000,0.081,2643,3612,3316
$GC,8214,-0.75,-117.3,521.2,-5.7,404,8218,0.00,2.35,0.00,0.000,6,0.000,0.054,2643,2144,3316
$GC,8552,-0.79,-117.3,536.4,-4.4,410,8556,0.00,2.28,0.00,0.000,4,0.000,0.084,2643,802,3316
$GC,8592,-0.85,-117.3,538.2,-4.7,410,8596,0.15,2.20,0.00,0.000,6,0.058,0.058,2610,2163,3316
$GC,8913,-0.74,-117.3,556.7,-5.9,416,8918,0.15,2.45,0.00,0.000,4,0.092,0.081,2639,3606,3315
$GC,8962,-0.74,-117.3,559.5,-5.1,416,8966,0.00,2.35,0.00,0.000,6,0.000,0.055,2639,2151,3315
$GC,9277,-0.74,-117.3,574.9,-5.0,422,9285,0.00,2.33,0.00,0.000,4,0.000,0.088,2639,793,3316
$GC,9312,-0.79,-117.3,576.8,-5.5,422,9316,0.00,2.22,0.00,0.000,6,0.000,0.061,2639,2155,3315
$GC,9644,-0.79,-117.3,593.6,-5.1,428,9648,0.00,2.47,0.00,0.000,4,0.000,0.084,2639,3608,3314
$GC,9676,-0.79,-117.3,595.5,-6.0,428,9680,0.00,2.40,0.00,0.000,6,0.000,0.055,2639,2124,3314
$GC,10008,-0.79,-117.3,612.9,-5.2,434,10012,0.00,2.28,0.00,0.000,4,0.000,0.087,2639,792,3314
$GC,10041,-0.84,-117.3,614.5,-5.3,434,10045,0.00,2.22,0.00,0.000,6,0.000,0.060,2639,2162,3314
$GC,10366,-0.84,-117.3,630.3,-4.8,440,10371,0.00,2.47,0.00,0.000,4,0.000,0.087,2639,3606,3314
$GC,10399,-0.84,-117.3,632.1,-5.1,440,10403,0.00,2.35,0.00,0.000,6,0.000,0.055,2639,2150,3313
$GC,10731,-0.84,-117.3,646.9,-4.4,446,10735,0.00,2.30,0.00,0.000,4,0.000,0.087,2639,798,3313
$GC,10775,-0.90,-117.3,648.9,-5.0,446,10780,0.20,2.20,0.00,0.000,6,0.054,0.060,2598,2152,3313
$GC,11089,-0.75,-117.3,667.9,-6.2,452,11094,0.17,2.47,0.00,0.000,4,0.090,0.086,2632,3603,3313
$GC,11155,-0.75,-117.3,671.5,-5.5,453,11160,0.00,2.35,0.00,0.000,6,0.000,0.055,2632,2148,3312
$GC,11515,-0.75,-117.3,688.1,-4.6,459,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2148,3313
$GC,11819,-0.75,-117.3,702.4,-4.7,464,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2148,3312
$GC,12121,-0.75,-117.3,716.3,-4.6,469,12125,0.00,2.55,0.00,0.000,4,0.000,0.089,2632,3606,3312
$GC,12160,-0.75,-117.3,718.1,-5.0,469,12163,0.00,2.33,0.00,0.000,6,0.000,0.056,2632,2174,3312
$GC,12486,-0.75,-117.3,732.7,-4.5,475,12490,0.00,2.40,0.00,0.000,4,0.000,0.092,2632,788,3311
$GC,12535,-0.75,-117.3,735.2,-5.5,475,12539,0.00,2.33,0.00,0.000,6,0.000,0.064,2632,2196,3311
$GC,12844,-0.75,-117.3,749.2,-4.5,480,12848,0.00,2.45,0.00,0.000,4,0.000,0.092,2632,3606,3311
$GC,12876,-0.75,-117.3,750.8,-5.3,480,12880,0.00,2.30,0.00,0.000,6,0.000,0.057,2632,2190,3311
$GC,13208,-0.75,-117.3,765.4,-4.4,486,13213,0.00,2.42,0.00,0.000,4,0.000,0.094,2632,799,3311
$GC,13271,-0.79,-117.3,768.4,-4.4,487,13275,0.00,2.30,0.00,0.000,6,0.000,0.066,2632,2187,3311
$GC,13638,-0.79,-117.3,784.5,-4.4,493,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2187,3311
$GC,13939,-0.79,-117.3,798.9,-4.8,498,13943,0.00,2.45,0.00,0.000,4,0.000,0.091,2632,789,3311
$GC,13977,-0.79,-117.3,800.9,-5.1,498,13981,0.00,2.28,0.00,0.000,6,0.000,0.067,2632,2156,3311
$GC,14303,-0.79,-117.3,816.4,-4.8,504,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2156,3311
$GC,14606,-0.79,-117.3,831.2,-4.8,509,14608,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2156,3310
$GC,14909,-0.79,-117.3,844.3,-4.3,514,14910,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2156,3310
$GC,15212,-0.79,-117.3,856.7,-4.1,519,15216,0.00,2.42,0.00,0.000,4,0.000,0.097,2632,795,3310
$GC,15251,-0.79,-117.3,858.5,-4.2,519,15255,0.00,2.25,0.00,0.000,6,0.000,0.070,2632,2138,3310
$GC,15577,-0.79,-117.3,872.0,-4.2,525,15581,0.00,2.60,0.00,0.000,4,0.000,0.100,2632,3601,3310
$GC,15604,-0.79,-117.3,873.1,-4.2,525,15608,0.00,2.47,0.00,0.000,6,0.000,0.067,2632,2120,3309
$GC,15935,-0.79,-117.3,886.7,-4.1,531,15939,0.00,2.35,0.00,0.000,4,0.000,0.103,2632,799,3309
$GC,15974,-0.83,-117.3,888.3,-3.8,531,15978,0.00,2.17,0.00,0.000,6,0.000,0.071,2632,2102,3309
$GC,16296,-0.83,-117.3,901.5,-4.1,537,16301,0.00,2.67,0.00,0.000,4,0.000,0.100,2632,3606,3309
$GC,16363,-0.83,-117.3,904.7,-5.2,538,16367,0.00,2.47,0.00,0.000,6,0.000,0.071,2632,2134,3309
$GC,16723,-0.83,-117.3,920.5,-4.5,544,16727,0.00,2.38,0.00,0.000,4,0.000,0.104,2632,795,3309
$GC,16767,-0.88,-117.3,922.4,-4.5,544,16771,0.12,2.25,0.00,0.000,6,0.065,0.074,2606,2143,3309
$GC,17092,-0.79,-117.3,939.1,-5.1,550,17097,0.12,2.62,0.00,0.000,4,0.097,0.103,2626,3602,3309
$GC,17154,-0.79,-117.3,942.1,-4.8,551,17158,0.00,2.47,0.00,0.000,6,0.000,0.074,2627,2141,3309
$GC,17519,-0.79,-117.3,956.2,-3.8,557,17523,0.00,2.42,0.00,0.000,4,0.000,0.107,2626,794,3308
$GC,17563,-0.79,-117.3,958.0,-4.0,557,17567,0.00,2.28,0.00,0.000,6,0.000,0.075,2626,2140,3309
$GC,17884,-0.79,-117.3,969.6,-3.6,563,17888,0.00,2.62,0.00,0.000,4,0.000,0.106,2626,3599,3308
$GC,17927,-0.79,-117.3,971.5,-4.4,563,17932,0.00,2.50,0.00,0.000,6,0.000,0.076,2627,2136,3308
$GC,18244,-0.79,-117.3,983.2,-3.7,569,18248,0.00,2.42,0.00,0.000,4,0.000,0.109,2626,799,3308
$GC,18282,-0.79,-117.3,984.8,-4.4,569,18287,0.00,2.30,0.00,0.000,6,0.000,0.077,2626,2153,3308
$STATE,18418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18418,begin apogee
$GC,18424,-0.23,0.0,990.2,3.9,572,18529,0.70,0.00,102.10,1.488,6,0.073,0.000,2746,2210,2837
$STATE,18529,end apogee,CONTROL_FINISHED_OK
$STATE,18530,begin climb
$GC,18532,0.67,117.3,991.1,0.0,573,18645,1.15,0.00,110.12,1.437,6,0.046,0.000,2943,2210,2358
$GC,18904,0.38,117.3,964.2,9.3,580,18906,0.38,0.00,0.00,0.000,6,0.093,0.000,2885,2210,2358
$GC,19207,0.31,117.3,945.9,5.8,585,19211,0.00,2.50,0.00,0.000,4,0.000,0.104,2884,3603,2357
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