version: 66.03
glider: 119
mission: 5
dive: 94
start: 10 17 108 7 35 7
data:
$ID,119
$MISSION,5
$DIVE,94
$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,-211520.66
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,072838,4754.059,-12607.460,33,1.0,33,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-69.1
$GPS2,073414,4754.104,-12607.395,13,1.1,13,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.185,0.062
$KALMAN_X,10614.9,-100.1,-13.7,-98166.6,-1132.8
$KALMAN_Y,134691.0,-695.3,-150.4,-30932.0,2150.6
$MHEAD_RNG_PITCHd_Wd,52.5,43668,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.78,0.000,2,0.000,0.000,864,2208,3131
$GC,97,-0.67,-117.3,4.6,-7.6,7,120,12.32,2.33,-3.38,0.000,4,0.147,0.075,2645,3612,3318
$GC,317,-0.39,-117.3,45.1,-12.0,30,324,0.40,2.22,0.00,0.000,6,0.081,0.043,2711,2201,3318
$GC,662,-0.48,-117.3,65.4,-5.8,91,669,0.00,2.30,0.00,0.000,4,0.000,0.065,2712,795,3318
$GC,703,-0.61,-117.3,67.8,-5.7,98,710,0.17,2.20,0.00,0.000,6,0.036,0.048,2662,2167,3319
$GC,1043,-0.53,-117.3,94.0,-6.9,143,1048,0.12,2.38,0.00,0.000,4,0.090,0.069,2683,3606,3319
$GC,1098,-0.53,-117.3,97.4,-5.8,147,1105,0.00,2.33,0.00,0.000,6,0.000,0.044,2684,2142,3319
$GC,1425,-0.58,-117.3,113.1,-5.1,178,1429,0.00,2.20,0.00,0.000,4,0.000,0.067,2684,800,3319
$GC,1458,-0.66,-117.3,115.0,-5.2,180,1465,0.15,2.15,0.00,0.000,6,0.054,0.048,2651,2176,3319
$GC,1783,-0.58,-117.3,136.7,-6.7,211,1785,0.12,0.00,0.00,0.000,6,0.089,0.000,2672,2175,3319
$GC,2110,-0.58,-117.3,154.8,-5.8,238,2114,0.00,2.25,0.00,0.000,4,0.000,0.064,2672,799,3318
$GC,2150,-0.62,-117.3,157.1,-5.6,240,2154,0.00,2.10,0.00,0.000,6,0.000,0.048,2672,2133,3318
$GC,2477,-0.62,-117.3,175.5,-5.6,256,2481,0.00,2.42,0.00,0.000,4,0.000,0.072,2672,3601,3319
$GC,2510,-0.62,-117.3,177.7,-6.5,257,2516,0.00,2.35,0.00,0.000,6,0.000,0.046,2672,2123,3319
$GC,2826,-0.62,-117.3,195.3,-5.3,273,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2123,3319
$GC,3135,-0.62,-117.3,210.6,-4.8,288,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2123,3319
$GC,3446,-0.67,-117.3,225.2,-4.6,303,3450,0.00,2.47,0.00,0.000,4,0.000,0.071,2672,3606,3319
$GC,3473,-0.71,-117.3,226.8,-5.3,304,3478,0.15,2.30,0.00,0.000,6,0.057,0.045,2639,2137,3319
$GC,3789,-0.61,-117.3,246.5,-6.5,319,3790,0.15,0.00,0.00,0.000,6,0.087,0.000,2665,2137,3318
$GC,4098,-0.61,-117.3,263.8,-5.7,334,4102,0.00,2.45,0.00,0.000,4,0.000,0.071,2665,3605,3318
$GC,4137,-0.61,-117.3,266.2,-6.4,336,4141,0.00,2.25,0.00,0.000,6,0.000,0.046,2665,2170,3319
$GC,4463,-0.61,-117.3,284.3,-5.4,352,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2165,3319
$GC,4773,-0.61,-117.3,300.5,-5.5,367,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2165,3318
$GC,5075,-0.61,-117.3,316.5,-5.2,372,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2165,3318
$GC,5378,-0.61,-117.3,334.6,-6.0,377,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2165,3318
$GC,5682,-0.61,-117.3,353.6,-6.2,382,5686,0.00,2.30,0.00,0.000,4,0.000,0.075,2665,797,3318
$GC,5715,-0.66,-117.3,355.7,-6.8,382,5719,0.00,2.22,0.00,0.000,6,0.000,0.051,2665,2206,3318
$GC,6042,-0.70,-117.3,375.8,-6.1,388,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2206,3317
$GC,6344,-0.75,-117.3,392.6,-5.4,393,6346,0.15,0.00,0.00,0.000,6,0.058,0.000,2633,2206,3317
$GC,6648,-0.65,-117.3,412.1,-6.4,398,6653,0.15,2.35,0.00,0.000,4,0.088,0.074,2658,806,3316
$GC,6692,-0.65,-117.3,414.7,-5.8,398,6696,0.00,2.15,0.00,0.000,6,0.000,0.052,2658,2164,3316
$GC,7014,-0.65,-117.3,430.7,-5.0,404,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2163,3316
$GC,7315,-0.65,-117.3,446.3,-5.2,409,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2163,3316
$GC,7619,-0.65,-117.3,462.4,-5.4,414,7623,0.00,2.40,0.00,0.000,4,0.000,0.075,2658,3598,3316
$GC,7650,-0.65,-117.3,464.4,-6.5,414,7655,0.00,2.30,0.00,0.000,6,0.000,0.047,2659,2158,3316
$GC,7983,-0.65,-117.3,481.8,-5.1,420,7987,0.00,2.28,0.00,0.000,4,0.000,0.081,2659,806,3316
$GC,8021,-0.65,-117.3,483.9,-5.5,420,8025,0.00,2.15,0.00,0.000,6,0.000,0.054,2658,2152,3315
$GC,8348,-0.65,-117.3,500.3,-5.0,426,8352,0.00,2.42,0.00,0.000,4,0.000,0.076,2658,3599,3315
$GC,8392,-0.65,-117.3,502.9,-6.1,426,8396,0.00,2.30,0.00,0.000,6,0.000,0.048,2659,2145,3315
$GC,8713,-0.65,-117.3,520.2,-5.6,432,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2145,3315
$GC,9016,-0.65,-117.3,536.0,-5.1,437,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2145,3314
$GC,9320,-0.65,-117.3,550.5,-4.8,442,9324,0.00,2.47,0.00,0.000,4,0.000,0.077,2658,3603,3314
$GC,9358,-0.65,-117.3,552.5,-5.5,442,9362,0.00,2.30,0.00,0.000,6,0.000,0.049,2658,2156,3314
$GC,9684,-0.80,-117.3,569.8,-5.4,448,9689,0.15,2.47,0.00,0.000,4,0.058,0.077,2621,3608,3313
$GC,9863,-0.66,-117.3,582.0,-7.7,450,9868,0.20,2.85,0.00,0.000,6,0.083,0.054,2654,1850,3313
$GC,10178,-0.66,-117.3,601.6,-6.4,456,10183,0.00,2.97,0.00,0.000,4,0.000,0.077,2654,3601,3313
$GC,10266,-0.66,-117.3,607.8,-7.1,457,10270,0.00,2.67,0.00,0.000,6,0.000,0.052,2655,1939,3312
$GC,10604,-0.66,-117.3,626.9,-5.5,463,10609,0.00,2.83,0.00,0.000,4,0.000,0.079,2654,3598,3312
$GC,10666,-0.66,-117.3,630.3,-5.9,464,10670,0.00,2.55,0.00,0.000,6,0.000,0.054,2654,2004,3312
$GC,11031,-0.66,-117.3,648.2,-4.9,470,11035,0.00,2.72,0.00,0.000,4,0.000,0.081,2654,3599,3312
$GC,11068,-0.66,-117.3,650.4,-6.3,470,11072,0.00,2.47,0.00,0.000,6,0.000,0.053,2654,2056,3312
$GC,11395,-0.66,-117.3,666.8,-5.0,476,11399,0.00,2.65,0.00,0.000,4,0.000,0.082,2654,3602,3312
$GC,11427,-0.66,-117.3,668.5,-5.2,476,11431,0.00,2.42,0.00,0.000,6,0.000,0.053,2654,2090,3312
$GC,11753,-0.66,-117.3,684.1,-4.8,482,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2090,3312
$GC,12056,-0.66,-117.3,698.3,-4.7,487,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2090,3312
$GC,12359,-0.66,-117.3,713.3,-5.0,492,12361,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2090,3311
$GC,12662,-0.66,-117.3,728.4,-5.0,497,12667,0.00,2.62,0.00,0.000,4,0.000,0.087,2654,3605,3311
$GC,12724,-0.66,-117.3,731.7,-4.9,498,12728,0.00,2.40,0.00,0.000,6,0.000,0.054,2654,2116,3311
$GC,13090,-0.70,-117.3,749.7,-4.9,504,13094,0.00,2.30,0.00,0.000,4,0.000,0.095,2654,799,3311
$GC,13129,-0.76,-117.3,751.8,-5.1,504,13133,0.00,2.17,0.00,0.000,6,0.000,0.063,2654,2132,3311
$GC,13450,-0.81,-117.3,768.5,-5.2,510,13454,0.15,2.55,0.00,0.000,4,0.062,0.087,2618,3603,3311
$GC,13505,-0.69,-117.3,772.7,-7.4,510,13511,0.17,2.38,0.00,0.000,6,0.086,0.057,2647,2133,3310
$GC,13814,-0.69,-117.3,788.9,-5.1,516,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2133,3310
$GC,14117,-0.69,-117.3,802.8,-4.6,521,14121,0.00,2.55,0.00,0.000,4,0.000,0.090,2647,3595,3310
$GC,14149,-0.69,-117.3,804.2,-4.7,521,14153,0.00,2.35,0.00,0.000,6,0.000,0.058,2647,2148,3310
$GC,14475,-0.69,-117.3,818.0,-4.2,527,14479,0.00,2.38,0.00,0.000,4,0.000,0.100,2647,801,3310
$GC,14525,-0.73,-117.3,820.2,-4.7,527,14529,0.00,2.22,0.00,0.000,6,0.000,0.065,2647,2155,3310
$GC,14833,-0.73,-117.3,833.1,-4.2,532,14838,0.00,2.53,0.00,0.000,4,0.000,0.092,2646,3604,3310
$GC,14883,-0.73,-117.3,835.7,-5.4,532,14888,0.00,2.35,0.00,0.000,6,0.000,0.058,2647,2159,3309
$GC,15192,-0.73,-117.3,849.9,-4.6,537,15200,0.00,2.40,0.00,0.000,4,0.000,0.100,2647,796,3310
$GC,15233,-0.73,-117.3,852.0,-4.7,537,15237,0.00,2.28,0.00,0.000,6,0.000,0.067,2646,2174,3309
$GC,15565,-0.73,-117.3,867.1,-4.6,543,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2174,3309
$GC,15868,-0.73,-117.3,881.8,-4.9,548,15869,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2174,3309
$GC,16171,-0.73,-117.3,897.0,-5.1,553,16175,0.00,2.45,0.00,0.000,4,0.000,0.100,2647,802,3309
$GC,16203,-0.73,-117.3,898.8,-6.0,553,16207,0.00,2.25,0.00,0.000,6,0.000,0.070,2647,2131,3309
$GC,16535,-0.73,-117.3,916.6,-5.4,559,16539,0.00,2.60,0.00,0.000,4,0.000,0.097,2647,3602,3309
$GC,16567,-0.73,-117.3,918.3,-6.2,559,16571,0.00,2.45,0.00,0.000,6,0.000,0.064,2647,2127,3308
$GC,16899,-0.73,-117.3,933.7,-4.5,565,16903,0.00,2.40,0.00,0.000,4,0.000,0.106,2647,792,3307
$GC,16949,-0.78,-117.3,936.1,-4.2,565,16953,0.00,2.22,0.00,0.000,6,0.000,0.071,2647,2129,3307
$GC,17260,-0.90,-117.3,952.5,-5.5,570,17266,0.20,2.62,0.00,0.000,4,0.057,0.098,2601,3601,3307
$GC,17457,-0.71,-117.3,964.9,-6.9,573,17462,0.25,2.10,0.00,0.000,6,0.084,0.069,2642,2348,3307
$GC,17822,-0.71,-117.3,981.2,-4.5,579,17826,0.00,2.80,0.00,0.000,4,0.000,0.107,2642,792,3307
$GC,17927,-0.71,-117.3,986.4,-5.5,580,17931,0.00,2.38,0.00,0.000,6,0.000,0.074,2642,2200,3307
$STATE,18063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18063,begin apogee
$GC,18068,-0.23,0.0,993.0,4.8,583,18173,0.60,0.00,102.50,1.490,6,0.074,0.000,2745,2200,2837
$STATE,18174,end apogee,CONTROL_FINISHED_OK
$STATE,18174,begin climb
$GC,18176,0.67,117.3,994.5,0.0,584,18295,1.17,2.88,109.35,1.442,4,0.049,0.110,2946,800,2358
$GC,18328,0.36,117.3,989.0,8.7,587,18334,0.43,2.55,0.00,0.000,6,0.089,0.077,2882,2198,2358
$GC,18671,0.36,117.3,967.3,6.5,593,18675,0.00,2.58,0.00,0.000,4,0.000,0.108,2882,792,2358
$GC,18703,0.36,117.3,965.1,7.4,593,18707,0.00,2.38,0.00,0.000,6,0.000,0.074,2882,2184,2357
$GC,19035,0.36,117.3,942.4,6.8,599,19036,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2183,2357
$GC,19338,0.36,117.3,921.1,7.1,604,19339,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2183,2357
$GC,19641,0.36,117.3,899.6,7.1,609,19645,0.00,2.47,0.00,0.000,4,0.000,0.105,2882,802,2356
$GC,19695,0.36,117.3,895.5,7.4,609,19702,0.00,2.22,0.00,0.000,6,0.000,0.072,2882,2136,2356
$GC,20004,0.36,117.3,875.0,6.5,615,20005,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2137,2356
$GC,20307,0.36,117.3,856.6,6.1,620,20309,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2137,2356
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