version: 66.03
glider: 119
mission: 5
dive: 82
start: 10 12 108 12 17 25
data:
$ID,119
$MISSION,5
$DIVE,82
$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,-211126.73
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,121037,4732.482,-12647.600,34,0.9,34,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-71.5
$GPS2,121633,4732.542,-12647.606,12,1.1,12,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.175,0.087
$KALMAN_X,33065.9,204.5,504.1,-172269.5,-3074.1
$KALMAN_Y,132151.3,231.4,-79.1,-69324.9,-590.1
$MHEAD_RNG_PITCHd_Wd,44.8,107411,-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,-61.92,0.000,2,0.000,0.000,864,2227,2854
$GC,87,-0.67,-117.3,3.1,-5.9,6,119,12.38,2.30,-10.15,0.000,4,0.149,0.080,2649,3604,3317
$GC,322,-0.45,-117.3,35.7,-11.4,27,327,0.30,2.25,0.00,0.000,6,0.081,0.044,2698,2185,3317
$GC,663,-0.52,-117.3,57.7,-5.7,83,669,0.00,2.35,0.00,0.000,4,0.000,0.069,2698,3603,3317
$GC,715,-0.60,-117.3,60.9,-6.0,92,722,0.10,2.22,0.00,0.000,6,0.045,0.045,2665,2210,3317
$GC,1056,-0.70,-117.3,85.7,-7.2,146,1059,0.00,2.33,0.00,0.000,4,0.000,0.071,2664,3606,3317
$GC,1173,-0.66,-117.3,93.8,-6.4,156,1179,0.00,2.78,0.00,0.000,6,0.000,0.048,2665,1857,3317
$GC,1499,-0.66,-117.3,114.7,-6.3,187,1503,0.00,2.90,0.00,0.000,4,0.000,0.070,2664,3598,3317
$GC,1598,-0.66,-117.3,121.9,-7.6,195,1605,0.00,2.55,0.00,0.000,6,0.000,0.049,2665,2015,3317
$GC,1925,-0.66,-117.3,140.6,-4.9,226,1929,0.00,2.65,0.00,0.000,4,0.000,0.071,2664,3604,3317
$GC,1968,-0.66,-117.3,142.9,-4.9,229,1975,0.00,2.42,0.00,0.000,6,0.000,0.047,2665,2065,3317
$GC,2289,-0.66,-117.3,159.1,-5.7,252,2293,0.00,2.55,0.00,0.000,4,0.000,0.071,2664,3598,3317
$GC,2332,-0.66,-117.3,161.9,-6.3,254,2336,0.00,2.38,0.00,0.000,6,0.000,0.049,2665,2101,3317
$GC,2659,-0.66,-117.3,180.5,-5.7,270,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2101,3317
$GC,2968,-0.66,-117.3,198.7,-5.5,285,2973,0.00,2.50,0.00,0.000,4,0.000,0.072,2664,3598,3317
$GC,3030,-0.66,-117.3,202.2,-6.1,288,3035,0.00,2.28,0.00,0.000,6,0.000,0.048,2665,2154,3317
$GC,3357,-0.66,-117.3,217.1,-4.5,304,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2153,3317
$GC,3667,-0.70,-117.3,231.3,-4.5,319,3671,0.00,2.42,0.00,0.000,4,0.000,0.073,2665,3606,3317
$GC,3706,-0.75,-117.3,233.3,-5.3,321,3711,0.15,2.22,0.00,0.000,6,0.060,0.048,2633,2189,3318
$GC,4039,-0.66,-117.3,254.4,-6.6,337,4043,0.12,2.30,0.00,0.000,4,0.093,0.074,2654,805,3317
$GC,4100,-0.66,-117.3,258.1,-5.9,340,4104,0.00,2.17,0.00,0.000,6,0.000,0.051,2653,2177,3317
$GC,4426,-0.66,-117.3,276.9,-5.8,356,4430,0.00,2.35,0.00,0.000,4,0.000,0.074,2653,3599,3317
$GC,4469,-0.66,-117.3,279.8,-6.4,358,4473,0.00,2.28,0.00,0.000,6,0.000,0.048,2654,2169,3317
$GC,4796,-0.66,-117.3,297.9,-5.3,374,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2164,3317
$GC,5100,-0.66,-117.3,312.8,-4.9,381,5105,0.00,2.40,0.00,0.000,4,0.000,0.074,2653,3601,3316
$GC,5156,-0.66,-117.3,315.7,-5.1,381,5162,0.00,2.17,0.00,0.000,6,0.000,0.048,2654,2222,3316
$GC,5465,-0.66,-117.3,330.0,-4.6,387,5469,0.00,2.35,0.00,0.000,4,0.000,0.074,2654,802,3316
$GC,5509,-0.70,-117.3,332.1,-4.9,387,5513,0.00,2.28,0.00,0.000,6,0.000,0.053,2653,2233,3316
$GC,5823,-0.70,-117.3,347.0,-4.7,393,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2234,3316
$GC,6126,-0.70,-117.3,361.0,-4.7,398,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2234,3316
$GC,6431,-0.70,-117.3,376.0,-5.0,403,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2234,3316
$GC,6732,-0.70,-117.3,393.6,-5.9,408,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2234,3315
$GC,7035,-0.70,-117.3,410.6,-5.5,413,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2234,3315
$GC,7338,-0.70,-117.3,424.8,-4.6,418,7343,0.00,2.40,0.00,0.000,4,0.000,0.075,2654,803,3315
$GC,7376,-0.75,-117.3,426.7,-4.9,418,7380,0.00,2.25,0.00,0.000,6,0.000,0.054,2654,2212,3315
$GC,7702,-0.75,-117.3,442.0,-4.7,424,7706,0.00,2.33,0.00,0.000,4,0.000,0.077,2654,3604,3314
$GC,7735,-0.75,-117.3,443.9,-5.6,424,7739,0.00,2.22,0.00,0.000,6,0.000,0.048,2654,2212,3314
$GC,8068,-0.75,-117.3,461.0,-5.2,430,8072,0.00,2.38,0.00,0.000,4,0.000,0.079,2654,795,3314
$GC,8113,-0.82,-117.3,463.7,-5.9,430,8117,0.17,2.28,0.00,0.000,6,0.058,0.056,2618,2213,3314
$GC,8428,-0.69,-117.3,485.2,-7.0,436,8433,0.15,2.35,0.00,0.000,4,0.091,0.077,2646,3610,3313
$GC,8471,-0.69,-117.3,487.8,-5.8,436,8476,0.00,2.28,0.00,0.000,6,0.000,0.051,2647,2200,3312
$GC,8794,-0.69,-117.3,504.4,-5.2,442,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,3312
$GC,9096,-0.69,-117.3,519.1,-4.8,447,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,3312
$GC,9399,-0.69,-117.3,533.5,-4.8,452,9403,0.00,2.40,0.00,0.000,4,0.000,0.086,2647,793,3312
$GC,9431,-0.69,-117.3,535.1,-5.7,452,9435,0.00,2.35,0.00,0.000,6,0.000,0.059,2647,2224,3312
$GC,9764,-0.69,-117.3,552.1,-5.2,458,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2224,3312
$GC,10066,-0.69,-117.3,568.7,-5.5,463,10070,0.00,2.33,0.00,0.000,4,0.000,0.081,2646,3602,3312
$GC,10103,-0.69,-117.3,571.1,-5.9,463,10108,0.00,2.25,0.00,0.000,6,0.000,0.051,2647,2214,3311
$GC,10430,-0.69,-117.3,588.4,-5.2,469,10434,0.00,2.42,0.00,0.000,4,0.000,0.085,2647,792,3311
$GC,10492,-0.75,-117.3,591.8,-5.9,470,10497,0.00,2.30,0.00,0.000,6,0.000,0.061,2647,2202,3311
$GC,10858,-0.75,-117.3,609.8,-4.9,476,10862,0.00,2.38,0.00,0.000,4,0.000,0.085,2647,3602,3311
$GC,10896,-0.75,-117.3,612.0,-5.1,476,10900,0.00,2.25,0.00,0.000,6,0.000,0.051,2647,2191,3311
$GC,11219,-0.75,-117.3,627.3,-4.8,482,11223,0.00,2.40,0.00,0.000,4,0.000,0.088,2647,789,3311
$GC,11268,-0.80,-117.3,630.0,-5.3,482,11273,0.00,2.30,0.00,0.000,6,0.000,0.061,2646,2205,3311
$GC,11577,-0.80,-117.3,645.3,-4.9,487,11581,0.00,2.40,0.00,0.000,4,0.000,0.087,2647,3607,3311
$GC,11610,-0.80,-117.3,647.2,-5.7,487,11614,0.00,2.25,0.00,0.000,6,0.000,0.052,2647,2200,3310
$GC,11942,-0.80,-117.3,664.1,-5.1,493,11946,0.00,2.40,0.00,0.000,4,0.000,0.089,2646,800,3310
$GC,11997,-0.85,-117.3,667.2,-5.5,493,12004,0.17,2.25,0.00,0.000,6,0.060,0.061,2611,2183,3310
$GC,12306,-0.72,-117.3,687.7,-6.7,499,12311,0.15,2.45,0.00,0.000,4,0.091,0.086,2639,3605,3310
$GC,12355,-0.72,-117.3,690.9,-6.4,499,12359,0.00,2.33,0.00,0.000,6,0.000,0.054,2639,2159,3310
$GC,12670,-0.72,-117.3,707.7,-5.3,505,12675,0.00,2.38,0.00,0.000,4,0.000,0.093,2640,793,3310
$GC,12705,-0.72,-117.3,709.8,-6.0,505,12709,0.00,2.30,0.00,0.000,6,0.000,0.064,2639,2197,3310
$GC,13033,-0.72,-117.3,726.9,-5.3,511,13037,0.00,2.42,0.00,0.000,4,0.000,0.089,2639,3605,3310
$GC,13070,-0.72,-117.3,729.1,-6.2,511,13074,0.00,2.28,0.00,0.000,6,0.000,0.054,2640,2190,3309
$GC,13397,-0.72,-117.3,745.2,-4.9,517,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2189,3309
$GC,13700,-0.72,-117.3,759.4,-4.7,522,13704,0.00,2.42,0.00,0.000,4,0.000,0.094,2640,799,3309
$GC,13734,-0.72,-117.3,761.0,-5.0,522,13738,0.00,2.35,0.00,0.000,6,0.000,0.065,2639,2225,3309
$GC,14061,-0.72,-117.3,776.6,-4.8,528,14066,0.00,2.40,0.00,0.000,4,0.000,0.092,2639,3608,3309
$GC,14100,-0.72,-117.3,778.9,-6.2,528,14104,0.00,2.25,0.00,0.000,6,0.000,0.057,2640,2224,3309
$GC,14426,-0.72,-117.3,795.2,-5.0,534,14430,0.00,2.47,0.00,0.000,4,0.000,0.096,2639,795,3308
$GC,14481,-0.72,-117.3,798.2,-5.5,534,14485,0.00,2.33,0.00,0.000,6,0.000,0.067,2639,2200,3308
$GC,14796,-0.72,-117.3,815.0,-5.4,540,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3308
$GC,15098,-0.72,-117.3,832.1,-5.7,545,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3308
$GC,15401,-0.72,-117.3,849.2,-5.6,550,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3308
$GC,15704,-0.72,-117.3,866.2,-5.6,555,15709,0.00,2.50,0.00,0.000,4,0.000,0.099,2639,800,3308
$GC,15737,-0.72,-117.3,868.2,-5.9,555,15741,0.00,2.33,0.00,0.000,6,0.000,0.070,2640,2189,3307
$GC,16069,-0.72,-117.3,885.7,-5.3,561,16070,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2189,3307
$GC,16374,-0.72,-117.3,900.6,-4.8,566,16379,0.00,2.50,0.00,0.000,4,0.000,0.101,2640,793,3308
$GC,16402,-0.72,-117.3,902.1,-5.1,566,16406,0.00,2.30,0.00,0.000,6,0.000,0.071,2639,2153,3307
$GC,16739,-0.72,-117.3,918.0,-4.7,572,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2154,3306
$GC,17042,-0.72,-117.3,932.6,-4.8,577,17043,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2153,3306
$GC,17345,-0.72,-117.3,946.4,-4.5,582,17346,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2154,3306
$GC,17648,-0.72,-117.3,959.6,-4.4,587,17652,0.00,2.47,0.00,0.000,4,0.000,0.107,2640,799,3306
$GC,17682,-0.77,-117.3,961.1,-4.1,587,17686,0.00,2.25,0.00,0.000,6,0.000,0.074,2639,2134,3306
$GC,18008,-0.77,-117.3,975.6,-4.5,593,18012,0.00,2.65,0.00,0.000,4,0.000,0.106,2639,3605,3306
$GC,18051,-0.77,-117.3,977.9,-6.2,593,18055,0.00,2.47,0.00,0.000,6,0.000,0.073,2639,2139,3306
$STATE,18309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18309,begin apogee
$GC,18315,-0.23,0.0,991.5,5.3,598,18419,0.62,0.00,101.88,1.486,6,0.071,0.000,2748,2201,2837
$STATE,18420,end apogee,CONTROL_FINISHED_OK
$STATE,18420,begin climb
$GC,18422,0.67,117.3,993.8,0.0,599,18540,1.12,2.75,109.72,1.435,4,0.048,0.103,2943,3599,2358
$GC,18794,0.35,117.3,963.5,11.9,603,18799,0.40,2.45,0.00,0.000,6,0.095,0.079,2881,2210,2358
$GC,19108,0.31,117.3,940.8,7.0,609,19113,0.00,2.58,0.00,0.000,4,0.000,0.112,2881,783,2357
$GC,19170,0.23,117.3,936.4,7.8,610,19175,0.17,2.35,0.00,0.000,6,0.095,0.075,2853,2167,2357
$GC,19535,0.30,117.3,915.3,5.7,616,19539,0.00,2.47,0.00,0.000,4,0.000,0.106,2853,787,2357
$GC,19573,0.30,117.3,912.8,7.5,616,19578,0.00,2.28,0.00,0.000,6,0.000,0.073,2853,2121,2356
$GC,19900,0.37,117.3,894.2,5.8,622,19905,0.15,2.40,0.00,0.000,4,0.064,0.104,2888,786,2357
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