version: 66.03
glider: 119
mission: 5
dive: 76
start: 10 10 108 2 34 25
data:
$ID,119
$MISSION,5
$DIVE,76
$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,-211031.03
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,022707,4727.599,-12707.290,67,1.9,67,18.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-62.3
$GPS2,023333,4727.388,-12707.255,13,1.9,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,0.053
$KALMAN_X,49930.0,-204.0,-40.1,-212990.0,-3052.7
$KALMAN_Y,132645.6,-12.8,79.6,-79281.2,697.2
$MHEAD_RNG_PITCHd_Wd,55.7,132526,-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,-61.92,0.000,2,0.000,0.000,862,2226,2819
$GC,87,-0.67,-117.3,3.2,-6.2,6,119,12.35,2.45,-10.20,0.000,4,0.147,0.078,2648,799,3318
$GC,192,-0.42,-117.3,22.1,-11.3,15,199,0.35,2.28,0.00,0.000,6,0.081,0.048,2705,2225,3318
$GC,521,-0.56,-117.3,45.6,-7.2,53,528,0.15,2.33,0.00,0.000,4,0.052,0.057,2666,789,3318
$GC,619,-0.56,-117.3,53.1,-7.3,70,625,0.00,1.98,0.00,0.000,6,0.000,0.048,2666,2045,3318
$GC,964,-0.67,-117.3,77.5,-7.0,131,970,0.00,2.03,0.00,0.000,4,0.000,0.062,2666,793,3318
$GC,978,-0.78,-117.3,78.4,-6.9,133,985,0.20,2.83,0.00,0.000,6,0.049,0.051,2624,2559,3319
$GC,1311,-0.54,-117.3,108.6,-8.7,166,1317,0.28,2.90,0.00,0.000,4,0.080,0.061,2674,797,3319
$GC,1374,-0.59,-117.3,112.8,-6.3,171,1378,0.00,2.72,0.00,0.000,6,0.000,0.052,2674,2492,3320
$GC,1701,-0.59,-117.3,131.6,-5.8,201,1706,0.00,2.80,0.00,0.000,4,0.000,0.062,2674,786,3319
$GC,1733,-0.67,-117.3,133.8,-6.5,203,1740,0.00,2.65,0.00,0.000,6,0.000,0.052,2674,2444,3320
$GC,2070,-0.74,-117.3,152.4,-5.3,233,2075,0.15,2.70,0.00,0.000,4,0.058,0.062,2637,786,3319
$GC,2120,-0.68,-117.3,155.9,-6.9,235,2124,0.00,2.53,0.00,0.000,6,0.000,0.051,2637,2370,3320
$GC,2435,-0.60,-117.3,178.1,-7.0,250,2440,0.15,2.58,0.00,0.000,4,0.087,0.063,2666,798,3319
$GC,2502,-0.68,-117.3,182.2,-6.3,253,2506,0.00,2.35,0.00,0.000,6,0.000,0.052,2666,2272,3319
$GC,2824,-0.73,-117.3,198.9,-5.2,269,2826,0.15,0.00,0.00,0.000,6,0.057,0.000,2633,2272,3319
$GC,3132,-0.64,-117.3,219.6,-6.9,284,3134,0.15,0.00,0.00,0.000,6,0.087,0.000,2658,2272,3319
$GC,3441,-0.64,-117.3,237.7,-5.7,299,3445,0.00,2.45,0.00,0.000,4,0.000,0.067,2659,787,3319
$GC,3486,-0.70,-117.3,240.6,-6.2,301,3490,0.00,2.33,0.00,0.000,6,0.000,0.052,2658,2246,3319
$GC,3807,-0.70,-117.3,258.8,-5.5,317,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2246,3318
$GC,4118,-0.70,-117.3,276.0,-5.6,332,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2246,3318
$GC,4425,-0.70,-117.3,292.4,-5.1,347,4429,0.00,2.40,0.00,0.000,4,0.000,0.067,2658,793,3318
$GC,4466,-0.77,-117.3,294.5,-5.3,349,4470,0.15,2.30,0.00,0.000,6,0.058,0.052,2626,2231,3318
$GC,4807,-0.66,-117.3,316.8,-6.6,358,4812,0.15,2.30,0.00,0.000,4,0.088,0.074,2655,3609,3317
$GC,4845,-0.66,-117.3,319.2,-5.9,358,4849,0.00,2.22,0.00,0.000,6,0.000,0.051,2655,2207,3317
$GC,5171,-0.66,-117.3,335.8,-5.0,364,5175,0.00,2.33,0.00,0.000,4,0.000,0.071,2655,792,3317
$GC,5205,-0.71,-117.3,337.6,-5.3,364,5209,0.00,2.30,0.00,0.000,6,0.000,0.053,2655,2235,3317
$GC,5531,-0.71,-117.3,354.7,-5.2,370,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2235,3316
$GC,5833,-0.71,-117.3,370.7,-5.3,375,5837,0.00,2.40,0.00,0.000,4,0.000,0.071,2655,795,3315
$GC,5877,-0.77,-117.3,373.1,-6.0,375,5882,0.12,2.25,0.00,0.000,6,0.061,0.054,2628,2200,3315
$GC,6198,-0.69,-117.3,393.8,-6.5,381,6203,0.12,2.35,0.00,0.000,4,0.094,0.074,2649,3606,3314
$GC,6236,-0.69,-117.3,396.3,-5.9,381,6240,0.00,2.28,0.00,0.000,6,0.000,0.051,2649,2174,3314
$GC,6562,-0.69,-117.3,413.7,-5.3,387,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2174,3314
$GC,6865,-0.69,-117.3,430.0,-5.4,392,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2174,3314
$GC,7168,-0.69,-117.3,446.1,-5.2,397,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2174,3314
$GC,7471,-0.69,-117.3,461.7,-5.2,402,7475,0.00,2.30,0.00,0.000,4,0.000,0.078,2649,804,3313
$GC,7504,-0.69,-117.3,463.5,-5.3,402,7508,0.00,2.28,0.00,0.000,6,0.000,0.055,2649,2227,3313
$GC,7837,-0.69,-117.3,480.8,-5.3,408,7841,0.00,2.42,0.00,0.000,4,0.000,0.077,2649,793,3313
$GC,7877,-0.73,-117.3,483.1,-5.8,408,7881,0.00,2.17,0.00,0.000,6,0.000,0.055,2649,2147,3313
$GC,8199,-0.73,-117.3,500.9,-5.6,414,8204,0.00,2.45,0.00,0.000,4,0.000,0.079,2649,3601,3313
$GC,8239,-0.73,-117.3,503.4,-6.4,414,8243,0.00,2.33,0.00,0.000,6,0.000,0.053,2649,2145,3312
$GC,8559,-0.73,-117.3,520.5,-5.3,420,8563,0.00,2.28,0.00,0.000,4,0.000,0.083,2649,801,3312
$GC,8597,-0.79,-117.3,522.8,-5.9,420,8601,0.00,2.17,0.00,0.000,6,0.000,0.058,2649,2145,3312
$GC,8923,-0.79,-117.3,539.8,-5.2,426,8927,0.00,2.47,0.00,0.000,4,0.000,0.081,2649,3609,3312
$GC,8966,-0.79,-117.3,542.4,-6.1,426,8970,0.00,2.35,0.00,0.000,6,0.000,0.054,2649,2142,3312
$GC,9287,-0.79,-117.3,559.5,-5.3,432,9291,0.00,2.30,0.00,0.000,4,0.000,0.085,2649,793,3312
$GC,9322,-0.85,-117.3,561.5,-6.0,432,9326,0.17,2.22,0.00,0.000,6,0.055,0.060,2612,2165,3312
$GC,9648,-0.72,-117.3,583.6,-6.9,438,9653,0.15,2.45,0.00,0.000,4,0.091,0.081,2641,3603,3311
$GC,9710,-0.72,-117.3,587.5,-6.4,439,9714,0.00,2.33,0.00,0.000,6,0.000,0.054,2641,2158,3310
$GC,10076,-0.72,-117.3,607.3,-5.3,445,10080,0.00,2.33,0.00,0.000,4,0.000,0.087,2641,800,3311
$GC,10116,-0.72,-117.3,609.5,-5.0,445,10120,0.00,2.22,0.00,0.000,6,0.000,0.059,2641,2169,3311
$GC,10438,-0.72,-117.3,626.8,-5.5,451,10442,0.00,2.47,0.00,0.000,4,0.000,0.086,2640,3610,3311
$GC,10477,-0.72,-117.3,629.4,-6.5,451,10481,0.00,2.35,0.00,0.000,6,0.000,0.054,2641,2155,3310
$GC,10802,-0.72,-117.3,648.5,-5.9,457,10806,0.00,2.35,0.00,0.000,4,0.000,0.088,2641,789,3310
$GC,10835,-0.72,-117.3,650.5,-6.4,457,10839,0.00,2.25,0.00,0.000,6,0.000,0.061,2641,2169,3310
$GC,11167,-0.72,-117.3,669.1,-5.6,463,11171,0.00,2.47,0.00,0.000,4,0.000,0.087,2641,3606,3309
$GC,11198,-0.72,-117.3,671.2,-6.3,463,11203,0.00,2.38,0.00,0.000,6,0.000,0.054,2641,2137,3309
$GC,11530,-0.72,-117.3,689.4,-5.5,469,11534,0.00,2.30,0.00,0.000,4,0.000,0.090,2641,802,3309
$GC,11564,-0.72,-117.3,691.3,-5.5,469,11568,0.00,2.20,0.00,0.000,6,0.000,0.061,2641,2151,3309
$GC,11892,-0.86,-117.3,711.7,-6.3,475,11897,0.15,2.53,0.00,0.000,4,0.060,0.088,2604,3608,3309
$GC,12003,-0.69,-117.3,720.0,-7.3,476,12008,0.25,2.88,0.00,0.000,6,0.085,0.059,2645,1853,3308
$GC,12318,-0.69,-117.3,736.1,-5.0,482,12323,0.00,3.03,0.00,0.000,4,0.000,0.085,2645,3601,3308
$GC,12401,-0.69,-117.3,740.7,-5.5,483,12405,0.00,2.70,0.00,0.000,6,0.000,0.058,2645,1948,3308
$GC,12750,-0.69,-117.3,756.9,-4.6,489,12754,0.00,2.88,0.00,0.000,4,0.000,0.087,2645,3601,3309
$GC,12811,-0.69,-117.3,760.3,-5.1,490,12815,0.00,2.58,0.00,0.000,6,0.000,0.058,2645,2026,3308
$GC,13177,-0.83,-117.3,781.6,-6.1,496,13182,0.15,2.15,0.00,0.000,4,0.061,0.096,2612,802,3307
$GC,13266,-0.76,-117.3,787.8,-7.3,497,13271,0.12,2.65,0.00,0.000,6,0.091,0.067,2633,2400,3307
$GC,13604,-0.76,-117.3,808.6,-6.2,503,13608,0.00,2.80,0.00,0.000,4,0.000,0.090,2633,802,3307
$GC,13665,-0.76,-117.3,812.8,-6.3,504,13669,0.00,2.53,0.00,0.000,6,0.000,0.068,2632,2314,3308
$GC,14031,-0.76,-117.3,836.5,-6.4,510,14035,0.00,2.67,0.00,0.000,4,0.000,0.094,2633,801,3307
$GC,14096,-0.76,-117.3,841.0,-7.2,511,14100,0.00,2.40,0.00,0.000,6,0.000,0.068,2632,2235,3307
$GC,14463,-0.76,-117.3,864.0,-6.3,517,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2235,3306
$GC,14765,-0.76,-117.3,881.9,-5.9,522,14769,0.00,2.58,0.00,0.000,4,0.000,0.099,2633,795,3306
$GC,14808,-0.76,-117.3,884.7,-6.4,522,14812,0.00,2.35,0.00,0.000,6,0.000,0.071,2632,2196,3306
$GC,15129,-0.76,-117.3,902.6,-5.6,528,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2196,3306
$GC,15432,-0.76,-117.3,918.8,-5.4,533,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2196,3306
$GC,15735,-0.76,-117.3,935.1,-5.4,538,15739,0.00,2.53,0.00,0.000,4,0.000,0.104,2633,803,3305
$GC,15784,-0.76,-117.3,937.9,-5.5,538,15788,0.00,2.33,0.00,0.000,6,0.000,0.074,2633,2175,3305
$GC,16099,-0.76,-117.3,954.5,-5.3,544,16103,0.00,2.58,0.00,0.000,4,0.000,0.107,2632,3602,3305
$GC,16131,-0.76,-117.3,956.4,-6.0,544,16135,0.00,2.42,0.00,0.000,6,0.000,0.074,2633,2169,3305
$GC,16463,-0.76,-117.3,974.2,-5.4,550,16467,0.00,2.50,0.00,0.000,4,0.000,0.110,2633,787,3305
$GC,16500,-0.76,-117.3,976.3,-6.2,550,16504,0.00,2.38,0.00,0.000,6,0.000,0.076,2632,2182,3305
$STATE,16763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16763,begin apogee
$GC,16768,-0.23,0.0,990.1,5.2,555,16873,0.68,0.00,101.47,1.484,6,0.074,0.000,2748,2183,2837
$STATE,16873,end apogee,CONTROL_FINISHED_OK
$STATE,16873,begin climb
$GC,16875,0.67,117.3,991.5,0.0,556,16992,1.12,2.83,108.88,1.437,4,0.046,0.106,2945,3606,2359
$GC,17025,0.32,117.3,986.2,8.4,557,17031,0.47,2.60,0.00,0.000,6,0.096,0.080,2874,2200,2358
$GC,17357,0.32,117.3,965.3,6.3,563,17358,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2199,2359
$GC,17660,0.32,117.3,946.0,6.4,568,17661,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2200,2358
$GC,17963,0.32,117.3,926.4,6.4,573,17964,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2199,2357
$GC,18266,0.32,117.3,907.5,6.2,578,18267,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2199,2357
$GC,18569,0.32,117.3,889.2,6.0,583,18570,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2199,2357
$GC,18872,0.32,117.3,871.7,5.8,588,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2199,2356
$GC,19175,0.32,117.3,854.2,5.8,593,19176,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2199,2356
$GC,19478,0.32,117.3,837.1,5.6,598,19482,0.00,2.50,0.00,0.000,4,0.000,0.104,2874,786,2356
$GC,19528,0.27,117.3,834.0,6.4,598,19532,0.00,2.40,0.00,0.000,6,0.000,0.070,2874,2223,2356
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