version: 66.03
glider: 119
mission: 5
dive: 85
start: 10 13 108 17 21 8
data:
$ID,119
$MISSION,5
$DIVE,85
$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,-211339.17
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,171717,4735.715,-12640.239,9,2.1,28,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-69.1
$GPS2,172017,4735.697,-12640.320,13,1.8,22,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,0.124
$KALMAN_X,24734.9,-277.6,-447.0,-153275.1,-2054.6
$KALMAN_Y,129077.2,375.3,-390.2,-60233.4,-1751.7
$MHEAD_RNG_PITCHd_Wd,31.7,96744,-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,-117.3,0.0,0.0,0,88,0.00,0.00,-66.05,0.000,2,0.000,0.000,862,2216,3105
$GC,91,-0.67,-117.3,4.4,-8.4,7,114,12.23,2.35,-3.92,0.000,4,0.144,0.078,2647,793,3317
$GC,186,-0.45,-117.3,24.0,-11.6,15,194,0.30,2.25,0.00,0.000,6,0.077,0.044,2698,2222,3317
$GC,516,-0.45,-117.3,46.9,-6.1,55,523,0.00,2.25,0.00,0.000,4,0.000,0.064,2697,3612,3317
$GC,608,-0.51,-117.3,52.2,-5.8,71,614,0.00,2.12,0.00,0.000,6,0.000,0.041,2697,2240,3317
$GC,952,-0.58,-117.3,71.8,-6.0,132,959,0.12,2.25,0.00,0.000,4,0.059,0.067,2668,3608,3317
$GC,983,-0.58,-117.3,74.0,-6.5,137,990,0.00,2.05,0.00,0.000,6,0.000,0.046,2668,2292,3317
$GC,1318,-0.58,-117.3,98.3,-5.9,175,1322,0.00,2.42,0.00,0.000,4,0.000,0.065,2668,799,3317
$GC,1392,-0.58,-117.3,103.0,-7.0,181,1396,0.00,2.20,0.00,0.000,6,0.000,0.049,2668,2194,3317
$GC,1718,-0.58,-117.3,121.7,-6.1,211,1722,0.00,2.33,0.00,0.000,4,0.000,0.071,2667,3605,3317
$GC,1806,-0.58,-117.3,128.0,-7.2,218,1813,0.00,2.15,0.00,0.000,6,0.000,0.045,2668,2244,3317
$GC,2133,-0.58,-117.3,146.7,-5.7,249,2137,0.00,2.35,0.00,0.000,4,0.000,0.065,2667,791,3316
$GC,2217,-0.66,-117.3,151.6,-5.5,255,2221,0.00,2.30,0.00,0.000,6,0.000,0.050,2668,2248,3316
$GC,2545,-0.71,-117.3,169.4,-5.6,271,2546,0.12,0.00,0.00,0.000,6,0.063,0.000,2639,2248,3315
$GC,2853,-0.63,-117.3,190.0,-6.5,286,2858,0.12,2.38,0.00,0.000,4,0.090,0.064,2661,795,3314
$GC,2897,-0.67,-117.3,192.8,-5.9,288,2901,0.00,2.28,0.00,0.000,6,0.000,0.049,2661,2235,3314
$GC,3224,-0.67,-117.3,211.7,-5.8,304,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2236,3313
$GC,3533,-0.67,-117.3,229.6,-5.8,319,3537,0.00,2.35,0.00,0.000,4,0.000,0.066,2661,796,3313
$GC,3577,-0.72,-117.3,232.2,-6.0,321,3581,0.00,2.20,0.00,0.000,6,0.000,0.049,2661,2191,3313
$GC,3898,-0.72,-117.3,250.7,-5.9,337,3902,0.00,2.33,0.00,0.000,4,0.000,0.072,2661,3602,3312
$GC,3942,-0.76,-117.3,253.6,-6.5,339,3947,0.15,2.20,0.00,0.000,6,0.059,0.046,2629,2189,3312
$GC,4270,-0.65,-117.3,276.3,-6.7,355,4275,0.15,2.28,0.00,0.000,4,0.087,0.068,2654,795,3311
$GC,4319,-0.65,-117.3,279.3,-5.4,357,4323,0.00,2.25,0.00,0.000,6,0.000,0.050,2654,2223,3311
$GC,4635,-0.65,-117.3,296.3,-5.2,372,4639,0.00,2.28,0.00,0.000,4,0.000,0.074,2654,3601,3310
$GC,4674,-0.65,-117.3,298.6,-6.4,374,4678,0.00,2.17,0.00,0.000,6,0.000,0.047,2655,2212,3310
$GC,5015,-0.65,-117.3,316.8,-5.3,381,5019,0.00,2.33,0.00,0.000,4,0.000,0.070,2655,796,3310
$GC,5059,-0.65,-117.3,319.3,-5.8,381,5063,0.00,2.30,0.00,0.000,6,0.000,0.051,2655,2251,3310
$GC,5382,-0.65,-117.3,335.9,-5.2,387,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2251,3309
$GC,5684,-0.65,-117.3,351.6,-5.2,392,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2251,3309
$GC,5986,-0.65,-117.3,368.3,-5.5,397,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2251,3308
$GC,6289,-0.65,-117.3,384.8,-5.5,402,6293,0.00,2.40,0.00,0.000,4,0.000,0.071,2655,803,3308
$GC,6332,-0.65,-117.3,387.4,-6.3,402,6336,0.00,2.20,0.00,0.000,6,0.000,0.051,2654,2194,3308
$GC,6655,-0.65,-117.3,403.7,-5.1,408,6659,0.00,2.35,0.00,0.000,4,0.000,0.076,2654,3608,3307
$GC,6694,-0.65,-117.3,406.0,-5.5,408,6698,0.00,2.22,0.00,0.000,6,0.000,0.048,2655,2192,3307
$GC,7014,-0.65,-117.3,421.2,-4.7,414,7018,0.00,2.30,0.00,0.000,4,0.000,0.076,2655,803,3306
$GC,7065,-0.70,-117.3,423.7,-4.7,414,7069,0.00,2.22,0.00,0.000,6,0.000,0.053,2654,2206,3306
$GC,7374,-0.70,-117.3,437.7,-4.6,419,7378,0.00,2.33,0.00,0.000,4,0.000,0.076,2654,3605,3306
$GC,7418,-0.70,-117.3,439.8,-5.1,419,7421,0.00,2.22,0.00,0.000,6,0.000,0.048,2654,2196,3305
$GC,7740,-0.70,-117.3,454.3,-4.5,425,7744,0.00,2.33,0.00,0.000,4,0.000,0.077,2654,799,3305
$GC,7795,-0.77,-117.3,457.2,-5.2,425,7802,0.12,2.22,0.00,0.000,6,0.064,0.054,2628,2196,3305
$GC,8104,-0.69,-117.3,474.9,-5.8,431,8110,0.12,2.35,0.00,0.000,4,0.094,0.076,2649,3609,3304
$GC,8172,-0.69,-117.3,478.9,-6.1,432,8176,0.00,2.22,0.00,0.000,6,0.000,0.049,2649,2204,3304
$GC,8536,-0.69,-117.3,498.9,-5.6,438,8540,0.00,2.35,0.00,0.000,4,0.000,0.081,2649,803,3304
$GC,8604,-0.74,-117.3,502.9,-6.2,439,8608,0.00,2.20,0.00,0.000,6,0.000,0.056,2649,2178,3304
$GC,8968,-0.74,-117.3,523.4,-5.6,445,8972,0.00,2.38,0.00,0.000,4,0.000,0.077,2649,3598,3304
$GC,9035,-0.74,-117.3,527.4,-5.6,446,9039,0.00,2.22,0.00,0.000,6,0.000,0.050,2648,2199,3303
$GC,9401,-0.74,-117.3,546.7,-5.2,452,9405,0.00,2.38,0.00,0.000,4,0.000,0.086,2649,800,3303
$GC,9444,-0.74,-117.3,549.0,-5.5,452,9449,0.00,2.30,0.00,0.000,6,0.000,0.058,2649,2220,3303
$GC,9765,-0.74,-117.3,565.4,-5.2,458,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2220,3302
$GC,10068,-0.74,-117.3,581.8,-5.5,463,10073,0.00,2.42,0.00,0.000,4,0.000,0.081,2649,796,3302
$GC,10107,-0.78,-117.3,584.1,-6.1,463,10111,0.00,2.28,0.00,0.000,6,0.000,0.060,2648,2197,3302
$GC,10428,-0.78,-117.3,602.0,-5.6,469,10432,0.00,2.40,0.00,0.000,4,0.000,0.084,2649,3605,3302
$GC,10476,-0.78,-117.3,605.0,-6.2,469,10481,0.00,2.30,0.00,0.000,6,0.000,0.051,2649,2166,3302
$GC,10792,-0.78,-117.3,621.6,-5.2,475,10796,0.00,2.35,0.00,0.000,4,0.000,0.088,2649,796,3301
$GC,10842,-0.83,-117.3,624.3,-5.0,475,10846,0.17,2.25,0.00,0.000,6,0.057,0.060,2612,2186,3301
$GC,11151,-0.70,-117.3,644.0,-6.4,480,11156,0.15,2.42,0.00,0.000,4,0.090,0.084,2641,3605,3301
$GC,11189,-0.70,-117.3,646.1,-5.4,480,11193,0.00,2.33,0.00,0.000,6,0.000,0.053,2642,2148,3300
$GC,11511,-0.70,-117.3,661.3,-4.6,486,11515,0.00,2.50,0.00,0.000,4,0.000,0.084,2641,3605,3301
$GC,11550,-0.70,-117.3,663.2,-4.6,486,11555,0.00,2.20,0.00,0.000,6,0.000,0.051,2641,2224,3301
$GC,11873,-0.70,-117.3,677.4,-4.4,492,11878,0.00,2.45,0.00,0.000,4,0.000,0.090,2642,800,3300
$GC,11935,-0.70,-117.3,680.3,-4.8,493,11939,0.00,2.28,0.00,0.000,6,0.000,0.061,2641,2196,3301
$GC,12301,-0.70,-117.3,696.3,-4.5,499,12305,0.00,2.40,0.00,0.000,4,0.000,0.087,2641,3604,3300
$GC,12339,-0.70,-117.3,698.4,-4.6,499,12343,0.00,2.30,0.00,0.000,6,0.000,0.052,2641,2170,3300
$GC,12665,-0.70,-117.3,715.4,-5.3,505,12669,0.00,2.38,0.00,0.000,4,0.000,0.093,2642,802,3300
$GC,12703,-0.70,-117.3,717.7,-5.4,505,12707,0.00,2.28,0.00,0.000,6,0.000,0.063,2641,2193,3300
$GC,13029,-0.70,-117.3,735.6,-5.5,511,13033,0.00,2.42,0.00,0.000,4,0.000,0.088,2641,3602,3299
$GC,13073,-0.70,-117.3,738.3,-5.9,511,13077,0.00,2.30,0.00,0.000,6,0.000,0.054,2642,2171,3299
$GC,13394,-0.70,-117.3,755.1,-5.3,517,13398,0.00,2.40,0.00,0.000,4,0.000,0.095,2641,795,3299
$GC,13437,-0.70,-117.3,757.7,-5.8,517,13441,0.00,2.33,0.00,0.000,6,0.000,0.064,2641,2207,3299
$GC,13758,-0.70,-117.3,774.3,-5.2,523,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2208,3299
$GC,14061,-0.70,-117.3,789.2,-4.9,528,14065,0.00,2.47,0.00,0.000,4,0.000,0.092,2641,796,3299
$GC,14093,-0.70,-117.3,790.9,-5.0,528,14097,0.00,2.30,0.00,0.000,6,0.000,0.066,2641,2186,3299
$GC,14425,-0.70,-117.3,806.5,-4.7,534,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2186,3299
$GC,14728,-0.70,-117.3,821.8,-5.1,539,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2186,3299
$GC,15031,-0.70,-117.3,836.9,-5.0,544,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2186,3298
$GC,15335,-0.70,-117.3,852.0,-4.9,549,15339,0.00,2.47,0.00,0.000,4,0.000,0.097,2641,793,3298
$GC,15374,-0.74,-117.3,854.2,-5.3,549,15378,0.00,2.28,0.00,0.000,6,0.000,0.069,2641,2161,3298
$GC,15694,-0.74,-117.3,871.6,-5.5,555,15698,0.00,2.55,0.00,0.000,4,0.000,0.097,2641,3604,3298
$GC,15731,-0.74,-117.3,873.8,-6.0,555,15735,0.00,2.38,0.00,0.000,6,0.000,0.064,2641,2166,3298
$GC,16058,-0.74,-117.3,891.4,-5.4,561,16062,0.00,2.45,0.00,0.000,4,0.000,0.104,2641,799,3298
$GC,16113,-0.80,-117.3,894.7,-6.3,561,16119,0.00,2.28,0.00,0.000,6,0.000,0.071,2642,2162,3297
$GC,16421,-0.80,-117.3,912.2,-5.7,567,16426,0.00,2.55,0.00,0.000,4,0.000,0.099,2641,3602,3297
$GC,16465,-0.80,-117.3,914.9,-6.6,567,16469,0.00,2.40,0.00,0.000,6,0.000,0.066,2641,2162,3297
$GC,16786,-0.80,-117.3,931.7,-5.2,573,16790,0.00,2.45,0.00,0.000,4,0.000,0.106,2641,796,3297
$GC,16836,-0.85,-117.3,934.3,-5.1,573,16840,0.15,2.30,0.00,0.000,6,0.060,0.072,2610,2167,3297
$GC,17147,-0.74,-117.3,952.3,-5.8,578,17152,0.15,2.58,0.00,0.000,4,0.092,0.100,2635,3609,3296
$GC,17208,-0.74,-117.3,955.6,-6.1,579,17213,0.00,2.45,0.00,0.000,6,0.000,0.070,2636,2155,3296
$GC,17574,-0.74,-117.3,971.1,-4.1,585,17578,0.00,2.47,0.00,0.000,4,0.000,0.110,2636,792,3296
$GC,17618,-0.74,-117.3,972.9,-4.1,585,17622,0.00,2.33,0.00,0.000,6,0.000,0.074,2635,2166,3296
$GC,17932,-0.74,-117.3,984.6,-3.7,591,17937,0.00,2.58,0.00,0.000,4,0.000,0.102,2635,3606,3296
$GC,17971,-0.74,-117.3,986.2,-5.0,591,17975,0.00,2.45,0.00,0.000,6,0.000,0.072,2635,2159,3295
$STATE,18107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18107,begin apogee
$GC,18113,-0.23,0.0,991.3,3.8,594,18216,0.65,0.00,99.88,1.486,6,0.074,0.000,2747,2206,2837
$STATE,18216,end apogee,CONTROL_FINISHED_OK
$STATE,18216,begin climb
$GC,18218,0.67,117.3,991.9,0.0,595,18336,1.12,2.72,109.55,1.437,4,0.048,0.100,2943,3599,2358
$GC,18352,0.36,117.3,986.0,8.4,596,18358,0.43,2.58,0.00,0.000,6,0.092,0.075,2881,2207,2358
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$DEVICE_SECS,30.250,320.250,359.175,30.500,0.000,0.000,0.000,0.000,9.500,0.000,0.000,24.351,2473.756,28120.930,620.233,3131.431,352.717,33.376,2199.751,0.000,3073.085,0.000,59.496
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$DATA_FILE_SIZE,60019,1207
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