version: 66.03
glider: 119
mission: 5
dive: 81
start: 10 12 108 2 33 0
data:
$ID,119
$MISSION,5
$DIVE,81
$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,-211111.84
$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,11
$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
$GPS1,022628,4731.424,-12651.904,36,2.5,55,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-71.9
$GPS2,023208,4731.338,-12651.741,9,0.9,14,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,0.053
$KALMAN_X,34417.2,477.2,380.1,-179000.4,-3930.0
$KALMAN_Y,132456.8,-423.1,-47.0,-71224.3,274.2
$MHEAD_RNG_PITCHd_Wd,55.6,112796,-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,-62.10,0.000,2,0.000,0.000,860,2220,2871
$GC,87,-0.67,-117.3,3.0,-5.0,6,114,12.27,2.30,-9.52,0.000,4,0.144,0.078,2648,3606,3316
$GC,367,-0.47,-117.3,44.8,-12.4,33,374,0.28,2.25,0.00,0.000,6,0.077,0.044,2694,2179,3316
$GC,712,-0.51,-117.3,68.8,-5.6,94,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2178,3316
$GC,1053,-0.57,-117.3,89.4,-6.9,143,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2175,3316
$GC,1372,-0.81,-117.3,111.2,-6.6,173,1377,0.35,2.38,0.00,0.000,4,0.042,0.071,2616,3596,3317
$GC,1483,-0.60,-117.3,120.6,-9.0,182,1490,0.30,2.28,0.00,0.000,6,0.079,0.048,2667,2156,3317
$GC,1808,-0.60,-117.3,137.9,-4.7,213,1812,0.00,2.40,0.00,0.000,4,0.000,0.072,2667,3595,3317
$GC,1853,-0.60,-117.3,140.5,-5.9,217,1856,0.00,2.03,0.00,0.000,6,0.000,0.048,2667,2307,3317
$GC,2181,-0.64,-117.3,157.6,-5.1,241,2185,0.00,2.47,0.00,0.000,4,0.000,0.070,2668,802,3317
$GC,2236,-0.73,-117.3,160.7,-5.1,243,2243,0.15,2.35,0.00,0.000,6,0.055,0.051,2634,2282,3317
$GC,2552,-0.63,-117.3,180.1,-6.3,259,2554,0.15,0.00,0.00,0.000,6,0.085,0.000,2660,2282,3317
$GC,2860,-0.63,-117.3,197.2,-5.7,274,2865,0.00,2.45,0.00,0.000,4,0.000,0.067,2661,793,3317
$GC,2911,-0.69,-117.3,200.5,-6.2,276,2915,0.00,2.30,0.00,0.000,6,0.000,0.051,2660,2244,3317
$GC,3226,-0.69,-117.3,219.2,-6.0,291,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2244,3317
$GC,3535,-0.69,-117.3,237.3,-5.9,306,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2244,3317
$GC,3846,-0.73,-117.3,253.7,-5.1,321,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2244,3317
$GC,4154,-0.73,-117.3,269.3,-5.2,336,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2244,3317
$GC,4464,-0.78,-117.3,286.3,-5.6,351,4466,0.17,0.00,0.00,0.000,6,0.057,0.000,2623,2244,3317
$GC,4770,-0.66,-117.3,309.7,-7.7,362,4775,0.17,2.42,0.00,0.000,4,0.084,0.071,2655,798,3317
$GC,4819,-0.71,-117.3,313.0,-6.5,362,4823,0.00,2.30,0.00,0.000,6,0.000,0.053,2655,2234,3317
$GC,5134,-0.71,-117.3,332.0,-6.1,368,5138,0.00,2.28,0.00,0.000,4,0.000,0.075,2655,3603,3317
$GC,5172,-0.71,-117.3,334.5,-6.3,368,5176,0.00,2.20,0.00,0.000,6,0.000,0.048,2655,2226,3316
$GC,5499,-0.71,-117.3,353.0,-5.6,374,5503,0.00,2.38,0.00,0.000,4,0.000,0.074,2655,801,3316
$GC,5548,-0.77,-117.3,355.9,-5.9,374,5552,0.00,2.25,0.00,0.000,6,0.000,0.053,2655,2211,3316
$GC,5863,-0.77,-117.3,372.1,-5.1,380,5867,0.00,2.33,0.00,0.000,4,0.000,0.075,2655,3607,3316
$GC,5895,-0.77,-117.3,373.7,-5.3,380,5900,0.05,2.25,0.00,0.000,6,0.035,0.048,2629,2201,3315
$GC,6226,-0.68,-117.3,393.5,-6.0,386,6231,0.12,2.35,0.00,0.000,4,0.093,0.076,2650,796,3315
$GC,6264,-0.68,-117.3,395.6,-5.2,386,6268,0.00,2.30,0.00,0.000,6,0.000,0.054,2649,2235,3315
$GC,6585,-0.68,-117.3,412.6,-5.3,392,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3315
$GC,6887,-0.68,-117.3,430.0,-5.8,397,6892,0.00,2.42,0.00,0.000,4,0.000,0.077,2650,797,3314
$GC,6932,-0.73,-117.3,432.7,-6.3,397,6936,0.00,2.30,0.00,0.000,6,0.000,0.055,2650,2224,3314
$GC,7247,-0.73,-117.3,450.7,-5.7,403,7251,0.00,2.33,0.00,0.000,4,0.000,0.077,2650,3612,3314
$GC,7279,-0.73,-117.3,452.7,-6.0,403,7283,0.00,2.25,0.00,0.000,6,0.000,0.050,2650,2215,3313
$GC,7611,-0.73,-117.3,470.9,-5.4,409,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2215,3313
$GC,7914,-0.73,-117.3,487.3,-5.4,414,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2215,3313
$GC,8218,-0.73,-117.3,502.7,-5.1,419,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2215,3313
$GC,8521,-0.77,-117.3,517.6,-4.9,424,8525,0.00,2.42,0.00,0.000,4,0.000,0.085,2650,794,3313
$GC,8554,-0.82,-117.3,519.2,-5.0,424,8558,0.15,2.35,0.00,0.000,6,0.059,0.059,2618,2245,3313
$GC,8879,-0.72,-117.3,538.7,-6.0,430,8881,0.15,0.00,0.00,0.000,6,0.087,0.000,2644,2245,3312
$GC,9182,-0.72,-117.3,554.5,-5.2,435,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2245,3312
$GC,9485,-0.72,-117.3,571.1,-5.5,440,9489,0.00,2.47,0.00,0.000,4,0.000,0.084,2644,805,3312
$GC,9534,-0.76,-117.3,574.1,-5.6,440,9538,0.00,2.30,0.00,0.000,6,0.000,0.061,2643,2213,3312
$GC,9843,-0.76,-117.3,591.3,-5.6,445,9847,0.00,2.38,0.00,0.000,4,0.000,0.084,2643,3609,3311
$GC,9869,-0.76,-117.3,592.9,-6.4,445,9874,0.00,2.30,0.00,0.000,6,0.000,0.052,2644,2195,3311
$GC,10209,-0.76,-117.3,611.4,-5.5,451,10213,0.00,2.40,0.00,0.000,4,0.000,0.089,2644,797,3311
$GC,10241,-0.76,-117.3,613.3,-5.6,451,10245,0.00,2.35,0.00,0.000,6,0.000,0.060,2643,2217,3311
$GC,10575,-0.76,-117.3,629.8,-4.9,457,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2217,3311
$GC,10876,-0.76,-117.3,643.8,-4.5,462,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2217,3311
$GC,11179,-0.76,-117.3,656.7,-4.2,467,11183,0.00,2.45,0.00,0.000,4,0.000,0.084,2644,799,3311
$GC,11229,-0.81,-117.3,658.9,-4.1,467,11233,0.00,2.30,0.00,0.000,6,0.000,0.061,2643,2203,3311
$GC,11538,-0.81,-117.3,671.5,-4.1,472,11542,0.00,2.40,0.00,0.000,4,0.000,0.087,2643,3602,3310
$GC,11573,-0.81,-117.3,673.0,-5.0,472,11577,0.00,2.28,0.00,0.000,6,0.000,0.052,2644,2176,3309
$GC,11898,-0.81,-117.3,687.2,-4.4,478,11902,0.00,2.38,0.00,0.000,4,0.000,0.091,2644,802,3309
$GC,11937,-0.87,-117.3,688.9,-4.3,478,11941,0.17,2.28,0.00,0.000,6,0.055,0.061,2608,2196,3309
$GC,12258,-0.73,-117.3,709.6,-6.6,484,12263,0.15,2.42,0.00,0.000,4,0.090,0.087,2636,3602,3309
$GC,12312,-0.73,-117.3,713.1,-6.8,484,12319,0.00,2.30,0.00,0.000,6,0.000,0.053,2636,2192,3310
$GC,12623,-0.73,-117.3,730.5,-5.7,490,12627,0.00,2.42,0.00,0.000,4,0.000,0.092,2636,795,3309
$GC,12673,-0.73,-117.3,733.6,-6.0,490,12677,0.00,2.28,0.00,0.000,6,0.000,0.064,2636,2182,3309
$GC,12990,-0.73,-117.3,751.5,-5.7,496,12994,0.00,2.47,0.00,0.000,4,0.000,0.090,2636,3609,3309
$GC,13022,-0.73,-117.3,753.8,-7.2,496,13026,0.00,2.35,0.00,0.000,6,0.000,0.055,2636,2176,3308
$GC,13354,-0.73,-117.3,772.2,-5.6,502,13358,0.00,2.42,0.00,0.000,4,0.000,0.094,2636,788,3308
$GC,13391,-0.73,-117.3,774.4,-6.4,502,13395,0.00,2.30,0.00,0.000,6,0.000,0.065,2637,2183,3308
$GC,13718,-0.73,-117.3,791.0,-5.0,508,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2183,3308
$GC,14022,-0.73,-117.3,805.2,-4.6,513,14023,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2183,3308
$GC,14324,-0.73,-117.3,819.5,-4.7,518,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2183,3307
$GC,14627,-0.73,-117.3,834.7,-5.1,523,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2183,3307
$GC,14931,-0.73,-117.3,850.8,-5.3,528,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2183,3307
$GC,15233,-0.73,-117.3,867.4,-5.5,533,15237,0.00,2.47,0.00,0.000,4,0.000,0.098,2636,797,3307
$GC,15276,-0.73,-117.3,870.0,-5.4,533,15280,0.00,2.28,0.00,0.000,6,0.000,0.070,2636,2159,3307
$GC,15591,-0.73,-117.3,887.3,-5.5,539,15595,0.00,2.55,0.00,0.000,4,0.000,0.099,2636,3602,3307
$GC,15622,-0.73,-117.3,889.2,-5.9,539,15627,0.00,2.40,0.00,0.000,6,0.000,0.064,2636,2154,3306
$GC,15954,-0.73,-117.3,907.0,-5.4,545,15959,0.00,2.42,0.00,0.000,4,0.000,0.104,2636,795,3306
$GC,15993,-0.73,-117.3,909.1,-5.6,545,15997,0.00,2.30,0.00,0.000,6,0.000,0.071,2636,2166,3306
$GC,16320,-0.73,-117.3,925.2,-4.9,551,16321,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2166,3306
$GC,16622,-0.73,-117.3,938.9,-4.4,556,16626,0.00,2.55,0.00,0.000,4,0.000,0.101,2636,3601,3306
$GC,16660,-0.73,-117.3,940.6,-4.7,556,16664,0.00,2.45,0.00,0.000,6,0.000,0.069,2636,2139,3306
$GC,16980,-0.73,-117.3,953.8,-4.0,562,16985,0.00,2.42,0.00,0.000,4,0.000,0.109,2636,793,3306
$GC,17019,-0.73,-117.3,955.7,-4.9,562,17023,0.00,2.30,0.00,0.000,6,0.000,0.073,2636,2164,3306
$GC,17345,-0.73,-117.3,969.0,-4.1,568,17349,0.00,2.58,0.00,0.000,4,0.000,0.102,2636,3608,3306
$GC,17377,-0.73,-117.3,970.3,-3.3,568,17381,0.00,2.42,0.00,0.000,6,0.000,0.071,2636,2161,3306
$GC,17709,-0.73,-117.3,983.9,-4.1,574,17713,0.00,2.47,0.00,0.000,4,0.000,0.110,2636,791,3305
$GC,17753,-0.78,-117.3,985.9,-5.3,574,17757,0.00,2.33,0.00,0.000,6,0.000,0.074,2636,2166,3306
$STATE,17883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17883,begin apogee
$GC,17888,-0.23,0.0,991.6,4.4,577,17993,0.65,0.00,101.95,1.487,6,0.074,0.000,2747,2203,2837
$STATE,17994,end apogee,CONTROL_FINISHED_OK
$STATE,17994,begin climb
$GC,17996,0.67,117.3,992.8,0.0,578,18110,1.15,0.00,110.45,1.437,6,0.049,0.000,2944,2203,2359
$GC,18368,0.38,117.3,965.8,9.5,585,18373,0.35,2.65,0.00,0.000,4,0.094,0.112,2886,793,2358
$GC,18412,0.29,117.3,962.3,8.1,585,18417,0.12,2.45,0.00,0.000,6,0.104,0.076,2867,2207,2358
$GC,18726,0.29,117.3,942.4,6.3,591,18731,0.00,2.58,0.00,0.000,4,0.000,0.106,2867,791,2358
$GC,18759,0.29,117.3,940.1,6.4,591,18763,0.00,2.38,0.00,0.000,6,0.000,0.074,2867,2189,2357
$GC,19091,0.29,117.3,919.5,6.2,597,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2189,2357
$GC,19393,0.29,117.3,900.2,6.4,602,19398,0.00,2.50,0.00,0.000,4,0.000,0.104,2867,786,2357
$GC,19426,0.29,117.3,897.9,6.4,602,19430,0.00,2.38,0.00,0.000,6,0.000,0.073,2867,2200,2357
$GC,19758,0.29,117.3,876.6,6.5,608,19762,0.00,2.53,0.00,0.000,4,0.000,0.103,2867,788,2357
$GC,19790,0.29,117.3,874.3,6.6,608,19794,0.00,2.33,0.00,0.000,6,0.000,0.072,2867,2177,2356
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$STATE,34480,end climb,SURFACE_DEPTH_REACHED
$STATE,34480,begin surface coast
$FINISH,-0.4,1.024516
$STATE,34513,end surface coast,CONTROL_FINISHED_OK
$STATE,34513,begin surface
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$DATA_FILE_SIZE,60045,1192
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