version: 66.03
glider: 119
mission: 5
dive: 79
start: 10 11 108 7 18 14
data:
$ID,119
$MISSION,5
$DIVE,79
$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,-211078.27
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,071138,4730.596,-12659.244,30,1.2,30,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.5
$GPS2,071721,4730.607,-12659.137,12,1.4,12,18.8
$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,39393.1,75.0,301.1,-192814.8,-3884.1
$KALMAN_Y,133518.7,-245.9,-365.3,-73509.8,1137.4
$MHEAD_RNG_PITCHd_Wd,62.7,120902,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-61.62,0.000,2,0.000,0.000,861,2216,2860
$GC,87,-0.67,-117.3,3.3,-6.1,6,114,12.32,2.40,-9.75,0.000,4,0.146,0.080,2650,793,3316
$GC,206,-0.43,-117.3,23.5,-12.1,16,211,0.32,2.25,0.00,0.000,6,0.081,0.049,2704,2194,3316
$GC,537,-0.51,-117.3,46.7,-5.6,56,543,0.00,2.33,0.00,0.000,4,0.000,0.068,2704,3610,3316
$GC,590,-0.61,-117.3,49.5,-5.4,65,596,0.20,2.15,0.00,0.000,6,0.048,0.046,2661,2243,3316
$GC,935,-0.53,-117.3,75.8,-7.6,126,941,0.12,2.35,0.00,0.000,4,0.090,0.064,2683,797,3317
$GC,1082,-0.53,-117.3,86.3,-6.9,145,1086,0.00,2.08,0.00,0.000,6,0.000,0.050,2683,2106,3317
$GC,1416,-0.57,-117.3,107.5,-5.4,176,1420,0.00,2.15,0.00,0.000,4,0.000,0.066,2682,800,3317
$GC,1473,-0.65,-117.3,111.0,-5.9,181,1477,0.12,2.03,0.00,0.000,6,0.060,0.051,2654,2074,3317
$GC,1798,-0.65,-117.3,129.4,-5.2,211,1802,0.00,2.55,0.00,0.000,4,0.000,0.072,2654,3609,3317
$GC,1837,-0.65,-117.3,131.8,-6.0,214,1841,0.00,2.40,0.00,0.000,6,0.000,0.049,2654,2099,3317
$GC,2163,-0.65,-117.3,151.9,-6.0,243,2167,0.00,2.53,0.00,0.000,4,0.000,0.071,2654,3612,3317
$GC,2194,-0.65,-117.3,154.2,-7.0,244,2201,0.00,2.38,0.00,0.000,6,0.000,0.050,2654,2131,3317
$GC,2510,-0.65,-117.3,172.5,-5.6,260,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2131,3317
$GC,2820,-0.65,-117.3,190.9,-5.9,275,2824,0.00,2.45,0.00,0.000,4,0.000,0.072,2654,3602,3317
$GC,2852,-0.65,-117.3,193.0,-6.7,276,2859,0.00,2.33,0.00,0.000,6,0.000,0.049,2654,2152,3317
$GC,3168,-0.65,-117.3,210.7,-5.7,292,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2147,3317
$GC,3477,-0.65,-117.3,228.9,-5.9,307,3481,0.00,2.42,0.00,0.000,4,0.000,0.073,2654,3603,3317
$GC,3517,-0.65,-117.3,231.5,-6.3,309,3521,0.00,2.30,0.00,0.000,6,0.000,0.048,2654,2146,3317
$GC,3844,-0.65,-117.3,250.9,-5.8,325,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2143,3317
$GC,4153,-0.65,-117.3,267.6,-5.2,340,4157,0.00,2.45,0.00,0.000,4,0.000,0.073,2654,3608,3317
$GC,4197,-0.65,-117.3,270.0,-5.8,342,4201,0.00,2.25,0.00,0.000,6,0.000,0.048,2654,2179,3317
$GC,4518,-0.65,-117.3,285.8,-5.1,358,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2174,3317
$GC,4867,-0.65,-117.3,304.7,-5.7,373,4871,0.00,2.40,0.00,0.000,4,0.000,0.073,2654,3609,3317
$GC,4911,-0.65,-117.3,307.6,-6.5,373,4915,0.00,2.22,0.00,0.000,6,0.000,0.048,2654,2201,3316
$GC,5234,-0.65,-117.3,327.2,-6.2,379,5238,0.00,2.33,0.00,0.000,4,0.000,0.074,2654,795,3317
$GC,5274,-0.70,-117.3,330.0,-6.6,379,5278,0.00,2.25,0.00,0.000,6,0.000,0.052,2654,2213,3317
$GC,5597,-0.70,-117.3,350.1,-6.2,385,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2213,3316
$GC,5897,-0.70,-117.3,369.2,-6.3,390,5901,0.00,2.33,0.00,0.000,4,0.000,0.076,2654,3608,3316
$GC,5923,-0.70,-117.3,370.9,-6.6,390,5927,0.00,2.20,0.00,0.000,6,0.000,0.049,2654,2216,3316
$GC,6261,-0.70,-117.3,391.1,-5.9,396,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2211,3316
$GC,6564,-0.70,-117.3,407.5,-5.4,401,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2211,3315
$GC,6868,-0.74,-117.3,423.9,-5.4,406,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2211,3315
$GC,7170,-0.78,-117.3,440.7,-5.6,411,7175,0.12,2.38,0.00,0.000,4,0.065,0.076,2626,805,3314
$GC,7204,-0.72,-117.3,442.9,-7.2,411,7208,0.00,2.30,0.00,0.000,6,0.000,0.054,2626,2241,3314
$GC,7532,-0.64,-117.3,464.8,-6.7,417,7534,0.20,0.00,0.00,0.000,6,0.083,0.000,2661,2241,3314
$GC,7834,-0.70,-117.3,480.3,-5.1,422,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2241,3313
$GC,8137,-0.78,-117.3,496.1,-5.2,427,8142,0.15,2.42,0.00,0.000,4,0.060,0.076,2624,802,3313
$GC,8199,-0.73,-117.3,500.3,-6.7,428,8203,0.00,2.30,0.00,0.000,6,0.000,0.057,2624,2224,3313
$GC,8564,-0.65,-117.3,523.5,-6.2,434,8569,0.15,2.33,0.00,0.000,4,0.088,0.077,2653,3601,3313
$GC,8614,-0.69,-117.3,526.2,-5.8,434,8618,0.00,2.20,0.00,0.000,6,0.000,0.050,2654,2217,3313
$GC,8923,-0.74,-117.3,540.6,-4.6,439,8927,0.00,2.42,0.00,0.000,4,0.000,0.084,2653,791,3312
$GC,8973,-0.83,-117.3,543.0,-5.1,439,8978,0.17,2.28,0.00,0.000,6,0.056,0.059,2617,2195,3313
$GC,9284,-0.72,-117.3,561.0,-5.8,444,9289,0.15,2.40,0.00,0.000,4,0.088,0.081,2643,3611,3312
$GC,9339,-0.72,-117.3,564.1,-5.4,444,9345,0.00,2.28,0.00,0.000,6,0.000,0.052,2643,2197,3312
$GC,9650,-0.72,-117.3,578.2,-4.5,450,9654,0.00,2.40,0.00,0.000,4,0.000,0.087,2643,793,3312
$GC,9689,-0.72,-117.3,580.2,-5.2,450,9693,0.00,2.28,0.00,0.000,6,0.000,0.061,2643,2193,3312
$GC,10010,-0.72,-117.3,594.9,-4.6,456,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2193,3312
$GC,10313,-0.72,-117.3,610.3,-5.1,461,10317,0.00,2.42,0.00,0.000,4,0.000,0.085,2643,3605,3312
$GC,10347,-0.72,-117.3,612.3,-6.2,461,10351,0.00,2.33,0.00,0.000,6,0.000,0.053,2643,2156,3311
$GC,10674,-0.72,-117.3,629.1,-5.2,467,10678,0.00,2.35,0.00,0.000,4,0.000,0.089,2643,793,3312
$GC,10706,-0.76,-117.3,631.1,-6.2,467,10711,0.00,2.28,0.00,0.000,6,0.000,0.061,2643,2192,3311
$GC,11038,-0.76,-117.3,647.5,-4.9,473,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2192,3311
$GC,11341,-0.76,-117.3,663.1,-5.1,478,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2192,3311
$GC,11644,-0.76,-117.3,678.1,-4.9,483,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2192,3310
$GC,11947,-0.76,-117.3,693.3,-5.0,488,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2192,3310
$GC,12251,-0.76,-117.3,707.0,-4.5,493,12255,0.00,2.42,0.00,0.000,4,0.000,0.090,2643,802,3310
$GC,12289,-0.80,-117.3,708.9,-4.8,493,12293,0.00,2.25,0.00,0.000,6,0.000,0.064,2643,2171,3310
$GC,12609,-0.80,-117.3,723.0,-4.4,499,12614,0.00,2.50,0.00,0.000,4,0.000,0.092,2643,3608,3310
$GC,12648,-0.80,-117.3,724.9,-4.5,499,12653,0.00,2.35,0.00,0.000,6,0.000,0.057,2643,2158,3309
$GC,12974,-0.80,-117.3,739.4,-4.5,505,12978,0.00,2.40,0.00,0.000,4,0.000,0.097,2643,790,3309
$GC,13007,-0.86,-117.3,741.2,-5.1,505,13012,0.17,2.25,0.00,0.000,6,0.056,0.065,2607,2155,3310
$GC,13332,-0.73,-117.3,761.2,-6.2,511,13337,0.15,2.53,0.00,0.000,4,0.091,0.091,2636,3601,3309
$GC,13404,-0.73,-117.3,765.5,-5.6,512,13408,0.00,2.35,0.00,0.000,6,0.000,0.061,2636,2169,3308
$GC,13766,-0.73,-117.3,784.2,-5.2,518,13770,0.00,2.42,0.00,0.000,4,0.000,0.100,2636,797,3308
$GC,13798,-0.73,-117.3,786.2,-5.6,518,13802,0.00,2.35,0.00,0.000,6,0.000,0.068,2636,2194,3308
$GC,14131,-0.73,-117.3,804.0,-5.4,524,14133,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,3308
$GC,14433,-0.73,-117.3,819.5,-5.1,529,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,3307
$GC,14736,-0.73,-117.3,833.9,-4.7,534,14737,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,3307
$GC,15039,-0.73,-117.3,848.4,-4.8,539,15043,0.00,2.50,0.00,0.000,4,0.000,0.100,2636,799,3308
$GC,15072,-0.73,-117.3,850.0,-4.7,539,15077,0.00,2.33,0.00,0.000,6,0.000,0.071,2636,2188,3307
$GC,15398,-0.73,-117.3,865.9,-4.8,545,15402,0.00,2.50,0.00,0.000,4,0.000,0.099,2636,3603,3307
$GC,15432,-0.73,-117.3,867.7,-5.8,545,15436,0.00,2.38,0.00,0.000,6,0.000,0.068,2636,2177,3307
$GC,15758,-0.73,-117.3,883.9,-5.0,551,15763,0.00,2.47,0.00,0.000,4,0.000,0.106,2637,796,3307
$GC,15797,-0.73,-117.3,886.2,-5.0,551,15801,0.00,2.33,0.00,0.000,6,0.000,0.073,2636,2182,3307
$GC,16120,-0.73,-117.3,901.7,-4.8,557,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2182,3307
$GC,16420,-0.73,-117.3,915.9,-4.7,562,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2182,3307
$GC,16724,-0.73,-117.3,929.2,-4.4,567,16728,0.00,2.53,0.00,0.000,4,0.000,0.107,2636,794,3306
$GC,16756,-0.73,-117.3,930.8,-4.4,567,16760,0.00,2.33,0.00,0.000,6,0.000,0.075,2636,2165,3306
$GC,17088,-0.73,-117.3,945.5,-4.5,573,17092,0.00,2.60,0.00,0.000,4,0.000,0.106,2636,3609,3306
$GC,17120,-0.73,-117.3,947.0,-5.1,573,17124,0.00,2.45,0.00,0.000,6,0.000,0.075,2636,2166,3306
$GC,17452,-0.73,-117.3,962.8,-4.8,579,17456,0.00,2.50,0.00,0.000,4,0.000,0.112,2636,788,3306
$GC,17501,-0.78,-117.3,965.4,-5.4,579,17506,0.00,2.35,0.00,0.000,6,0.000,0.077,2636,2172,3306
$GC,17810,-0.78,-117.3,981.6,-5.2,584,17815,0.00,2.60,0.00,0.000,4,0.000,0.109,2635,3608,3305
$GC,17849,-0.78,-117.3,983.9,-5.5,584,17853,0.00,2.47,0.00,0.000,6,0.000,0.078,2636,2160,3305
$STATE,17991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17991,begin apogee
$GC,17996,-0.23,0.0,991.3,5.3,587,18101,0.65,0.00,102.05,1.486,6,0.071,0.000,2748,2205,2837
$STATE,18102,end apogee,CONTROL_FINISHED_OK
$STATE,18102,begin climb
$GC,18104,0.67,117.3,993.6,0.0,588,18222,1.12,2.78,109.78,1.437,4,0.047,0.105,2945,3603,2358
$GC,18283,0.32,117.3,986.0,8.6,589,18290,0.47,2.58,0.00,0.000,6,0.095,0.081,2874,2205,2358
$GC,18592,0.32,117.3,967.9,5.6,595,18593,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2205,2358
$GC,18895,0.32,117.3,950.4,5.8,600,18896,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2205,2357
$GC,19198,0.32,117.3,932.6,5.9,605,19202,0.00,2.58,0.00,0.000,4,0.000,0.114,2874,783,2356
$GC,19231,0.29,128.2,930.7,5.2,605,19247,0.00,2.40,11.10,1.315,6,0.000,0.077,2874,2192,2314
$GC,19556,0.29,128.2,911.8,5.8,611,19560,0.00,2.55,0.00,0.000,4,0.000,0.110,2874,785,2313
$GC,19576,0.29,128.2,910.5,5.9,611,19581,0.00,2.38,0.00,0.000,6,0.000,0.077,2874,2185,2313
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$STATE,34256,end climb,SURFACE_DEPTH_REACHED
$STATE,34256,begin surface coast
$FINISH,-0.1,1.024406
$STATE,34279,end surface coast,CONTROL_FINISHED_OK
$STATE,34279,begin surface
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