version: 66.03
glider: 119
mission: 5
dive: 91
start: 10 16 108 2 54 30
data:
$ID,119
$MISSION,5
$DIVE,91
$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,-211472.17
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,024738,4748.334,-12620.196,33,1.3,33,18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-60.6
$GPS2,025338,4748.327,-12620.125,13,1.3,30,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.187,0.055
$KALMAN_X,13734.9,-174.7,242.1,-117551.4,-1336.9
$KALMAN_Y,131271.9,-299.4,-231.5,-38538.7,2115.1
$MHEAD_RNG_PITCHd_Wd,54.9,62642,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.95,0.000,2,0.000,0.000,862,2178,2974
$GC,97,-0.67,-117.3,3.7,-6.7,7,122,12.43,2.42,-6.68,0.000,4,0.150,0.074,2648,3612,3318
$GC,275,-0.43,-117.3,33.7,-12.6,23,280,0.32,2.25,0.00,0.000,6,0.081,0.043,2702,2186,3318
$GC,614,-0.70,-117.3,57.9,-6.0,77,621,0.28,2.25,0.00,0.000,4,0.044,0.062,2639,800,3318
$GC,724,-0.58,-117.3,65.4,-7.1,96,730,0.20,2.00,0.00,0.000,6,0.077,0.047,2673,2081,3318
$GC,1062,-0.58,-117.3,86.1,-6.1,148,1066,0.00,2.53,0.00,0.000,4,0.000,0.069,2673,3608,3318
$GC,1094,-0.58,-117.3,88.1,-6.1,150,1100,0.00,2.45,0.00,0.000,6,0.000,0.045,2674,2074,3318
$GC,1421,-0.63,-117.3,106.1,-4.9,181,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2075,3318
$GC,1737,-0.70,-117.3,122.3,-5.8,211,1742,0.15,2.58,0.00,0.000,4,0.057,0.070,2636,3608,3318
$GC,1781,-0.60,-117.3,125.5,-7.1,214,1788,0.17,2.42,0.00,0.000,6,0.082,0.049,2666,2077,3318
$GC,2109,-0.65,-117.3,142.3,-4.7,245,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2077,3318
$GC,2441,-0.70,-117.3,157.7,-4.4,269,2445,0.00,2.58,0.00,0.000,4,0.000,0.070,2666,3616,3318
$GC,2485,-0.76,-117.3,160.0,-5.3,271,2490,0.17,2.38,0.00,0.000,6,0.052,0.046,2628,2100,3318
$GC,2806,-0.64,-117.3,182.5,-7.5,287,2808,0.17,0.00,0.00,0.000,6,0.084,0.000,2658,2100,3318
$GC,3115,-0.64,-117.3,199.9,-5.2,302,3119,0.00,2.53,0.00,0.000,4,0.000,0.071,2658,3615,3318
$GC,3152,-0.64,-117.3,201.9,-5.6,303,3159,0.00,2.35,0.00,0.000,6,0.000,0.045,2659,2131,3318
$GC,3468,-0.64,-117.3,218.3,-5.5,319,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2130,3318
$GC,3777,-0.64,-117.3,235.8,-5.6,334,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2131,3318
$GC,4087,-0.64,-117.3,252.7,-5.3,349,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2131,3318
$GC,4397,-0.69,-117.3,269.3,-5.3,364,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2131,3318
$GC,4706,-0.74,-117.3,285.3,-4.9,379,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2131,3318
$GC,5015,-0.78,-117.3,300.0,-4.7,394,5020,0.15,2.50,0.00,0.000,4,0.058,0.071,2621,3620,3318
$GC,5059,-0.66,-117.3,303.0,-7.1,395,5064,0.20,2.33,0.00,0.000,6,0.081,0.047,2656,2145,3318
$GC,5379,-0.66,-117.3,319.8,-5.3,401,5383,0.00,2.25,0.00,0.000,4,0.000,0.074,2655,795,3318
$GC,5406,-0.71,-117.3,321.4,-6.2,401,5410,0.00,2.17,0.00,0.000,6,0.000,0.050,2655,2175,3318
$GC,5738,-0.71,-117.3,339.2,-5.3,407,5742,0.00,2.38,0.00,0.000,4,0.000,0.073,2655,3599,3318
$GC,5770,-0.71,-117.3,341.0,-5.6,407,5775,0.00,2.30,0.00,0.000,6,0.000,0.047,2656,2151,3317
$GC,6104,-0.71,-117.3,358.1,-5.1,413,6108,0.00,2.22,0.00,0.000,4,0.000,0.073,2655,806,3317
$GC,6142,-0.78,-117.3,360.4,-5.7,413,6147,0.12,2.12,0.00,0.000,6,0.061,0.050,2627,2160,3317
$GC,6468,-0.69,-117.3,380.0,-6.1,419,6473,0.12,2.40,0.00,0.000,4,0.092,0.073,2648,3598,3317
$GC,6529,-0.69,-117.3,383.8,-6.1,420,6533,0.00,2.25,0.00,0.000,6,0.000,0.048,2648,2166,3316
$GC,6900,-0.69,-117.3,403.5,-5.4,426,6904,0.00,2.25,0.00,0.000,4,0.000,0.074,2649,806,3316
$GC,6962,-0.74,-117.3,407.1,-5.7,427,6966,0.00,2.17,0.00,0.000,6,0.000,0.051,2649,2177,3316
$GC,7328,-0.74,-117.3,426.0,-5.2,433,7332,0.00,2.38,0.00,0.000,4,0.000,0.075,2648,3600,3315
$GC,7366,-0.74,-117.3,428.2,-6.2,433,7371,0.00,2.28,0.00,0.000,6,0.000,0.048,2649,2176,3315
$GC,7693,-0.74,-117.3,444.1,-4.8,439,7697,0.00,2.30,0.00,0.000,4,0.000,0.077,2649,793,3315
$GC,7728,-0.78,-117.3,445.9,-5.2,439,7732,0.00,2.20,0.00,0.000,6,0.000,0.053,2648,2180,3315
$GC,8053,-0.78,-117.3,461.6,-4.8,445,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2180,3315
$GC,8357,-0.78,-117.3,476.9,-5.0,450,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2180,3316
$GC,8659,-0.78,-117.3,493.2,-5.5,455,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2181,3315
$GC,8962,-0.78,-117.3,510.5,-5.8,460,8966,0.00,2.33,0.00,0.000,4,0.000,0.078,2649,806,3315
$GC,8989,-0.83,-117.3,512.2,-6.6,460,8994,0.15,2.22,0.00,0.000,6,0.058,0.055,2616,2197,3314
$GC,9328,-0.72,-117.3,537.1,-7.5,466,9333,0.15,2.40,0.00,0.000,4,0.090,0.077,2645,3609,3314
$GC,9372,-0.72,-117.3,540.4,-7.5,466,9375,0.00,2.28,0.00,0.000,6,0.000,0.051,2646,2181,3313
$GC,9693,-0.72,-117.3,561.1,-6.6,472,9697,0.00,2.38,0.00,0.000,4,0.000,0.087,2645,792,3313
$GC,9738,-0.77,-117.3,564.3,-7.0,472,9742,0.00,2.25,0.00,0.000,6,0.000,0.059,2645,2182,3313
$GC,10052,-0.77,-117.3,583.5,-6.0,478,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2183,3313
$GC,10355,-0.77,-117.3,600.0,-5.4,483,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2182,3312
$GC,10658,-0.77,-117.3,615.9,-5.2,488,10662,0.00,2.38,0.00,0.000,4,0.000,0.081,2646,790,3312
$GC,10685,-0.82,-117.3,617.5,-6.4,488,10690,0.12,2.22,0.00,0.000,6,0.063,0.058,2618,2165,3312
$GC,11023,-0.73,-117.3,638.1,-6.1,494,11028,0.12,2.47,0.00,0.000,4,0.091,0.084,2639,3602,3311
$GC,11066,-0.73,-117.3,640.6,-5.6,494,11070,0.00,2.30,0.00,0.000,6,0.000,0.051,2639,2180,3311
$GC,11387,-0.73,-117.3,655.9,-4.8,500,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2180,3311
$GC,11690,-0.73,-117.3,670.9,-5.0,505,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2179,3311
$GC,11993,-0.73,-117.3,685.5,-4.9,510,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2179,3311
$GC,12297,-0.73,-117.3,700.5,-4.9,515,12301,0.00,2.47,0.00,0.000,4,0.000,0.087,2639,3598,3311
$GC,12329,-0.73,-117.3,702.4,-5.6,515,12333,0.00,2.28,0.00,0.000,6,0.000,0.052,2639,2195,3311
$GC,12661,-0.73,-117.3,718.4,-4.7,521,12665,0.00,2.42,0.00,0.000,4,0.000,0.092,2639,792,3311
$GC,12704,-0.73,-117.3,720.6,-5.1,521,12708,0.00,2.30,0.00,0.000,6,0.000,0.062,2639,2200,3310
$GC,13025,-0.73,-117.3,735.1,-4.6,527,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3311
$GC,13329,-0.73,-117.3,750.4,-5.2,532,13330,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2200,3310
$GC,13631,-0.73,-117.3,766.9,-5.4,537,13635,0.00,2.45,0.00,0.000,4,0.000,0.090,2638,796,3310
$GC,13675,-0.73,-117.3,769.4,-5.8,537,13679,0.00,2.30,0.00,0.000,6,0.000,0.064,2639,2174,3310
$GC,14002,-0.73,-117.3,786.3,-5.2,543,14003,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2175,3310
$GC,14305,-0.73,-117.3,801.3,-5.0,548,14307,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2175,3310
$GC,14608,-0.73,-117.3,815.9,-4.7,553,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2175,3310
$GC,14912,-0.73,-117.3,831.4,-5.3,558,14916,0.00,2.42,0.00,0.000,4,0.000,0.094,2639,800,3309
$GC,14945,-0.77,-117.3,833.3,-5.2,558,14949,0.00,2.25,0.00,0.000,6,0.000,0.067,2639,2161,3309
$GC,15279,-0.77,-117.3,851.2,-5.4,564,15283,0.00,2.55,0.00,0.000,4,0.000,0.097,2638,3607,3308
$GC,15312,-0.77,-117.3,853.4,-6.7,564,15316,0.00,2.38,0.00,0.000,6,0.000,0.061,2639,2155,3308
$GC,15637,-0.77,-117.3,871.9,-5.6,570,15641,0.00,2.42,0.00,0.000,4,0.000,0.102,2639,793,3308
$GC,15681,-0.83,-117.3,874.4,-6.3,570,15685,0.00,2.25,0.00,0.000,6,0.000,0.068,2638,2157,3308
$GC,16007,-0.83,-117.3,892.0,-5.3,576,16008,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2156,3308
$GC,16310,-0.83,-117.3,907.0,-4.9,581,16314,0.00,2.45,0.00,0.000,4,0.000,0.100,2639,789,3308
$GC,16348,-0.88,-117.3,908.8,-5.0,581,16353,0.17,2.22,0.00,0.000,6,0.056,0.070,2603,2124,3308
$GC,16671,-0.76,-117.3,926.1,-5.3,587,16676,0.15,2.65,0.00,0.000,4,0.092,0.099,2631,3606,3308
$GC,16704,-0.76,-117.3,927.8,-4.6,587,16708,0.00,2.47,0.00,0.000,6,0.000,0.068,2632,2125,3307
$GC,17029,-0.76,-117.3,940.1,-3.8,593,17033,0.00,2.38,0.00,0.000,4,0.000,0.106,2632,789,3308
$GC,17062,-0.76,-117.3,941.5,-5.2,593,17066,0.00,2.22,0.00,0.000,6,0.000,0.071,2631,2121,3308
$GC,17399,-0.76,-117.3,955.4,-4.2,599,17404,0.00,2.65,0.00,0.000,4,0.000,0.100,2631,3608,3308
$GC,17443,-0.76,-117.3,957.5,-4.6,599,17448,0.00,2.50,0.00,0.000,6,0.000,0.070,2631,2122,3307
$GC,17758,-0.76,-117.3,971.5,-4.3,605,17763,0.00,2.40,0.00,0.000,4,0.000,0.108,2631,792,3307
$GC,17808,-0.76,-117.3,974.2,-6.0,605,17812,0.00,2.25,0.00,0.000,6,0.000,0.072,2632,2117,3307
$STATE,18121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18121,begin apogee
$GC,18126,-0.23,0.0,990.6,5.3,611,18232,0.68,0.00,102.30,1.487,6,0.074,0.000,2748,2205,2837
$STATE,18232,end apogee,CONTROL_FINISHED_OK
$STATE,18233,begin climb
$GC,18235,0.67,117.3,992.4,0.0,612,18357,1.12,2.85,110.00,1.443,4,0.045,0.111,2945,798,2357
$GC,18390,0.33,117.3,988.2,8.5,614,18395,0.45,2.55,0.00,0.000,6,0.091,0.076,2877,2198,2357
$GC,18721,0.35,132.3,971.2,5.0,620,18738,0.00,0.00,14.93,1.352,6,0.000,0.000,2877,2198,2297
$GC,19024,0.35,133.4,954.6,5.5,625,19029,0.00,2.53,0.00,0.000,4,0.000,0.107,2877,793,2297
$GC,19058,0.32,142.3,952.6,5.2,625,19073,0.00,2.33,10.62,1.302,6,0.000,0.074,2877,2169,2256
$GC,19383,0.32,142.3,932.9,6.2,631,19387,0.00,2.47,0.00,0.000,4,0.000,0.107,2877,796,2256
$GC,19420,0.32,142.3,930.2,6.9,631,19424,0.00,2.28,0.00,0.000,6,0.000,0.074,2877,2129,2255
$GC,19746,0.32,142.3,908.5,6.7,637,19747,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2129,2255
$GC,20050,0.32,142.3,888.3,6.7,642,20054,0.00,2.40,0.00,0.000,4,0.000,0.105,2877,789,2255
$GC,20082,0.32,142.3,886.0,7.1,642,20086,0.00,2.22,0.00,0.000,6,0.000,0.072,2877,2122,2255
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$STATE,34234,end surface coast,CONTROL_FINISHED_OK
$STATE,34234,begin surface
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