version: 66.03
glider: 119
mission: 5
dive: 80
start: 10 11 108 16 58 2
data:
$ID,119
$MISSION,5
$DIVE,80
$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,-211094.02
$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,32
$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
$GPS1,165137,4731.470,-12656.115,35,1.0,40,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-71.3
$GPS2,165709,4731.462,-12656.270,13,1.3,13,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.192,0.034
$KALMAN_X,35992.5,147.2,310.1,-185879.0,-4535.2
$KALMAN_Y,133498.9,59.9,-109.5,-72466.6,490.2
$MHEAD_RNG_PITCHd_Wd,61.2,117108,-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,-61.80,0.000,2,0.000,0.000,860,2219,2866
$GC,87,-0.67,-117.3,3.3,-6.3,6,114,12.30,2.40,-9.60,0.000,4,0.145,0.081,2649,789,3317
$GC,240,-0.43,-117.3,28.2,-12.2,19,245,0.32,2.25,0.00,0.000,6,0.079,0.049,2703,2198,3317
$GC,574,-0.61,-117.3,50.9,-6.7,64,581,0.17,2.30,0.00,0.000,4,0.050,0.060,2659,786,3317
$GC,632,-0.61,-117.3,55.1,-7.3,74,638,0.00,2.08,0.00,0.000,6,0.000,0.048,2659,2102,3317
$GC,975,-0.74,-117.3,79.6,-7.0,135,982,0.00,2.12,0.00,0.000,4,0.000,0.063,2659,793,3318
$GC,1078,-0.70,-117.3,86.6,-6.5,145,1082,0.00,1.67,0.00,0.000,6,0.000,0.051,2659,1855,3318
$GC,1411,-0.70,-117.3,109.1,-6.3,176,1416,0.00,2.88,0.00,0.000,4,0.000,0.069,2658,3605,3318
$GC,1579,-0.70,-117.3,120.3,-6.4,190,1585,0.00,2.62,0.00,0.000,6,0.000,0.048,2659,1939,3318
$GC,1905,-0.70,-117.3,139.8,-6.5,221,1909,0.00,2.78,0.00,0.000,4,0.000,0.071,2659,3608,3318
$GC,1966,-0.70,-117.3,144.1,-6.7,226,1970,0.00,2.53,0.00,0.000,6,0.000,0.049,2659,2012,3318
$GC,2295,-0.70,-117.3,163.8,-5.8,246,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2012,3318
$GC,2604,-0.70,-117.3,181.6,-5.8,261,2608,0.00,2.65,0.00,0.000,4,0.000,0.071,2658,3603,3318
$GC,2670,-0.70,-117.3,186.0,-6.8,264,2674,0.00,2.45,0.00,0.000,6,0.000,0.048,2659,2056,3319
$GC,2997,-0.70,-117.3,204.8,-5.6,280,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2057,3318
$GC,3306,-0.70,-117.3,221.2,-5.1,295,3310,0.00,2.58,0.00,0.000,4,0.000,0.071,2658,3604,3318
$GC,3345,-0.70,-117.3,223.2,-5.0,297,3350,0.00,2.40,0.00,0.000,6,0.000,0.048,2659,2084,3318
$GC,3673,-0.70,-117.3,238.3,-4.5,313,3676,0.00,2.12,0.00,0.000,4,0.000,0.072,2659,790,3318
$GC,3701,-0.75,-117.3,239.8,-5.2,314,3705,0.00,2.08,0.00,0.000,6,0.000,0.051,2659,2108,3318
$GC,4022,-0.75,-117.3,255.0,-5.1,330,4026,0.00,2.47,0.00,0.000,4,0.000,0.074,2659,3606,3318
$GC,4061,-0.75,-117.3,257.0,-5.4,332,4065,0.00,2.38,0.00,0.000,6,0.000,0.048,2659,2098,3318
$GC,4394,-0.79,-117.3,275.1,-5.6,348,4396,0.17,0.00,0.00,0.000,6,0.056,0.000,2621,2098,3318
$GC,4702,-0.66,-117.3,298.2,-7.5,363,4707,0.15,2.53,0.00,0.000,4,0.089,0.072,2650,3607,3317
$GC,4746,-0.66,-117.3,301.5,-6.3,365,4750,0.00,2.38,0.00,0.000,6,0.000,0.049,2651,2104,3317
$GC,5066,-0.66,-117.3,320.5,-5.8,371,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2103,3317
$GC,5370,-0.66,-117.3,336.8,-5.4,376,5374,0.00,2.53,0.00,0.000,4,0.000,0.074,2650,3608,3316
$GC,5402,-0.66,-117.3,338.8,-6.3,376,5406,0.00,2.35,0.00,0.000,6,0.000,0.048,2651,2122,3316
$GC,5734,-0.66,-117.3,355.6,-5.1,382,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2122,3316
$GC,6037,-0.66,-117.3,371.0,-5.1,387,6041,0.00,2.47,0.00,0.000,4,0.000,0.074,2650,3598,3316
$GC,6080,-0.66,-117.3,373.5,-5.9,387,6084,0.00,2.30,0.00,0.000,6,0.000,0.050,2651,2144,3316
$GC,6400,-0.66,-117.3,391.5,-5.6,393,6404,0.00,2.28,0.00,0.000,4,0.000,0.079,2651,788,3316
$GC,6438,-0.66,-117.3,393.9,-6.1,393,6443,0.00,2.22,0.00,0.000,6,0.000,0.054,2650,2163,3316
$GC,6765,-0.66,-117.3,412.8,-5.8,399,6769,0.00,2.40,0.00,0.000,4,0.000,0.077,2650,3600,3315
$GC,6803,-0.66,-117.3,415.1,-7.0,399,6807,0.00,2.30,0.00,0.000,6,0.000,0.051,2651,2149,3315
$GC,7131,-0.66,-117.3,432.5,-5.3,405,7135,0.00,2.28,0.00,0.000,4,0.000,0.080,2651,793,3315
$GC,7163,-0.71,-117.3,434.4,-5.6,405,7168,0.00,2.22,0.00,0.000,6,0.000,0.055,2650,2162,3315
$GC,7498,-0.71,-117.3,451.3,-5.1,411,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2162,3314
$GC,7798,-0.71,-117.3,466.8,-5.1,416,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2162,3314
$GC,8101,-0.71,-117.3,482.9,-5.4,421,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2162,3313
$GC,8404,-0.71,-117.3,499.9,-5.6,426,8409,0.00,2.33,0.00,0.000,4,0.000,0.081,2651,799,3313
$GC,8436,-0.76,-117.3,501.7,-5.7,426,8440,0.00,2.17,0.00,0.000,6,0.000,0.057,2650,2145,3313
$GC,8774,-0.80,-117.3,519.4,-5.2,432,8779,0.12,2.45,0.00,0.000,4,0.065,0.078,2623,3601,3313
$GC,8808,-0.71,-117.3,521.7,-7.0,432,8812,0.12,2.33,0.00,0.000,6,0.095,0.052,2644,2142,3312
$GC,9133,-0.71,-117.3,539.1,-5.3,438,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2141,3312
$GC,9436,-0.71,-117.3,554.8,-5.1,443,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2141,3312
$GC,9739,-0.71,-117.3,570.5,-5.2,448,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2139,3312
$GC,10042,-0.71,-117.3,587.1,-5.5,453,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2138,3311
$GC,10345,-0.71,-117.3,604.1,-5.6,458,10349,0.00,2.53,0.00,0.000,4,0.000,0.084,2643,3607,3312
$GC,10377,-0.71,-117.3,606.2,-6.3,458,10381,0.00,2.35,0.00,0.000,6,0.000,0.053,2643,2149,3311
$GC,10709,-0.71,-117.3,625.2,-5.7,464,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2149,3311
$GC,11011,-0.71,-117.3,643.1,-6.0,469,11015,0.00,2.35,0.00,0.000,4,0.000,0.091,2643,795,3311
$GC,11044,-0.71,-117.3,645.2,-6.5,469,11048,0.00,2.22,0.00,0.000,6,0.000,0.061,2643,2163,3311
$GC,11376,-0.71,-117.3,665.3,-6.0,475,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2163,3311
$GC,11680,-0.71,-117.3,682.6,-5.7,480,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2163,3311
$GC,11982,-0.71,-117.3,698.8,-5.3,485,11986,0.00,2.38,0.00,0.000,4,0.000,0.088,2643,797,3310
$GC,12020,-0.76,-117.3,700.8,-5.8,485,12024,0.00,2.20,0.00,0.000,6,0.000,0.064,2643,2138,3310
$GC,12340,-0.76,-117.3,717.0,-5.0,491,12345,0.00,2.53,0.00,0.000,4,0.000,0.091,2643,3597,3310
$GC,12384,-0.76,-117.3,719.4,-5.3,491,12388,0.00,2.35,0.00,0.000,6,0.000,0.054,2644,2137,3310
$GC,12705,-0.76,-117.3,735.8,-5.1,497,12709,0.00,2.35,0.00,0.000,4,0.000,0.095,2643,789,3310
$GC,12744,-0.80,-117.3,738.0,-5.5,497,12748,0.00,2.22,0.00,0.000,6,0.000,0.064,2643,2146,3310
$GC,13065,-0.80,-117.3,754.7,-5.3,503,13069,0.00,2.53,0.00,0.000,4,0.000,0.092,2643,3602,3309
$GC,13092,-0.80,-117.3,756.3,-6.7,503,13096,0.00,2.40,0.00,0.000,6,0.000,0.056,2644,2139,3309
$GC,13430,-0.80,-117.3,773.4,-5.0,509,13434,0.00,2.35,0.00,0.000,4,0.000,0.097,2643,796,3309
$GC,13463,-0.85,-117.3,775.1,-5.4,509,13468,0.17,2.22,0.00,0.000,6,0.056,0.067,2607,2143,3309
$GC,13801,-0.73,-117.3,795.7,-6.1,515,13806,0.15,2.55,0.00,0.000,4,0.092,0.091,2636,3604,3309
$GC,13862,-0.73,-117.3,799.0,-5.3,516,13867,0.00,2.38,0.00,0.000,6,0.000,0.061,2637,2152,3309
$GC,14228,-0.73,-117.3,815.5,-4.5,522,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2152,3309
$GC,14531,-0.73,-117.3,829.0,-4.5,527,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2152,3309
$GC,14834,-0.73,-117.3,843.5,-4.8,532,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2152,3308
$GC,15138,-0.73,-117.3,858.9,-5.1,537,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2152,3307
$GC,15441,-0.73,-117.3,875.3,-5.4,542,15442,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2151,3308
$GC,15743,-0.73,-117.3,891.3,-5.3,547,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2151,3307
$GC,16046,-0.73,-117.3,906.8,-5.1,552,16051,0.00,2.60,0.00,0.000,4,0.000,0.100,2636,3601,3307
$GC,16073,-0.73,-117.3,908.3,-6.3,552,16078,0.00,2.38,0.00,0.000,6,0.000,0.067,2636,2194,3307
$GC,16411,-0.73,-117.3,924.3,-4.7,558,16415,0.00,2.53,0.00,0.000,4,0.000,0.108,2636,791,3307
$GC,16466,-0.73,-117.3,926.9,-5.1,558,16472,0.00,2.30,0.00,0.000,6,0.000,0.074,2636,2159,3307
$GC,16775,-0.73,-117.3,940.9,-4.5,564,16776,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2159,3307
$GC,17080,-0.73,-117.3,954.4,-4.5,569,17081,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2159,3307
$GC,17381,-0.73,-117.3,968.5,-4.7,574,17382,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2159,3307
$GC,17684,-0.73,-117.3,984.1,-5.2,579,17685,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2159,3307
$STATE,17803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17803,begin apogee
$GC,17808,-0.23,0.0,990.2,5.1,581,17913,0.65,0.00,101.97,1.486,6,0.072,0.000,2748,2206,2837
$STATE,17914,end apogee,CONTROL_FINISHED_OK
$STATE,17914,begin climb
$GC,17916,0.67,117.3,992.1,0.0,582,18033,1.12,2.78,109.68,1.437,4,0.046,0.107,2945,3602,2357
$GC,18067,0.31,117.3,987.7,9.2,583,18072,0.50,2.58,0.00,0.000,6,0.094,0.079,2871,2208,2358
$GC,18398,0.32,129.0,970.2,5.1,589,18417,0.00,2.70,11.93,1.315,4,0.000,0.116,2871,782,2311
$GC,18439,0.32,129.0,967.9,6.1,589,18444,0.00,2.42,0.00,0.000,6,0.000,0.077,2871,2183,2311
$GC,18766,0.32,129.0,949.4,5.8,595,18767,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2183,2311
$GC,19068,0.32,129.0,930.4,6.3,600,19073,0.00,2.55,0.00,0.000,4,0.000,0.110,2871,780,2310
$GC,19123,0.32,129.0,926.6,6.8,600,19130,0.00,2.35,0.00,0.000,6,0.000,0.076,2871,2170,2309
$GC,19433,0.32,129.0,906.3,6.6,606,19434,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2170,2309
$GC,19736,0.32,129.0,886.4,6.6,611,19740,0.00,2.50,0.00,0.000,4,0.000,0.107,2871,782,2309
$GC,19762,0.32,129.0,884.5,6.2,611,19766,0.00,2.33,0.00,0.000,6,0.000,0.074,2871,2147,2309
$GC,20100,0.32,129.0,863.4,6.2,617,20104,0.00,2.45,0.00,0.000,4,0.000,0.105,2871,780,2309
$GC,20116,0.32,129.0,862.4,6.1,617,20120,0.00,2.30,0.00,0.000,6,0.000,0.073,2871,2158,2308
$GC,20458,0.32,129.0,843.0,5.5,623,20459,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2157,2308
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$STATE,33925,begin surface coast
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