version: 66.03
glider: 119
mission: 5
dive: 95
start: 10 17 108 17 20 54
data:
$ID,119
$MISSION,5
$DIVE,95
$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,-211539
$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,28
$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
$GPS1,171137,4755.283,-12603.889,39,1.1,44,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-68.2
$GPS2,172002,4755.255,-12604.000,16,1.1,16,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.175,0.087
$KALMAN_X,8543.8,-85.4,-321.2,-91503.6,-1460.3
$KALMAN_Y,134474.1,116.2,-869.9,-28662.1,929.7
$MHEAD_RNG_PITCHd_Wd,44.8,39082,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,85,0.00,0.00,-61.65,0.000,2,0.000,0.000,861,2218,2839
$GC,88,-0.67,-117.3,3.4,-6.8,6,120,12.35,2.47,-10.38,0.000,4,0.147,0.079,2651,783,3318
$GC,204,-0.45,-117.3,22.1,-11.6,16,211,0.25,2.28,0.00,0.000,6,0.074,0.047,2696,2199,3319
$GC,534,-0.45,-117.3,47.4,-6.9,56,540,0.00,2.30,0.00,0.000,4,0.000,0.066,2696,3606,3319
$GC,564,-0.49,-117.3,49.6,-6.8,61,570,0.00,2.22,0.00,0.000,6,0.000,0.041,2696,2173,3319
$GC,909,-0.74,-117.3,72.4,-6.2,122,916,0.28,2.38,0.00,0.000,4,0.044,0.065,2631,3611,3319
$GC,1102,-0.57,-117.3,88.6,-9.2,148,1107,0.25,2.70,0.00,0.000,6,0.079,0.045,2674,1905,3319
$GC,1429,-0.62,-117.3,106.1,-5.2,178,1433,0.00,2.80,0.00,0.000,4,0.000,0.067,2674,3600,3319
$GC,1483,-0.69,-117.3,109.2,-5.7,182,1490,0.12,2.55,0.00,0.000,6,0.061,0.045,2645,1975,3319
$GC,1808,-0.63,-117.3,130.4,-7.4,213,1813,0.00,2.70,0.00,0.000,4,0.000,0.067,2645,3607,3319
$GC,1870,-0.58,-117.3,135.5,-8.5,218,1875,0.15,2.42,0.00,0.000,6,0.083,0.048,2671,2063,3319
$GC,2204,-0.65,-117.3,154.6,-5.3,245,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2063,3319
$GC,2513,-0.73,-117.3,169.4,-5.0,260,2518,0.15,2.58,0.00,0.000,4,0.057,0.068,2634,3606,3319
$GC,2553,-0.63,-117.3,172.2,-7.6,262,2558,0.15,2.40,0.00,0.000,6,0.086,0.045,2659,2082,3319
$GC,2879,-0.63,-117.3,190.3,-5.2,278,2884,0.00,2.53,0.00,0.000,4,0.000,0.069,2659,3603,3319
$GC,2924,-0.63,-117.3,192.7,-5.3,280,2928,0.00,2.33,0.00,0.000,6,0.000,0.045,2659,2119,3319
$GC,3251,-0.63,-117.3,208.3,-4.9,296,3254,0.00,2.15,0.00,0.000,4,0.000,0.070,2659,809,3319
$GC,3301,-0.69,-117.3,211.1,-5.8,298,3304,0.00,2.08,0.00,0.000,6,0.000,0.048,2659,2133,3319
$GC,3622,-0.69,-117.3,228.0,-5.3,314,3626,0.00,2.42,0.00,0.000,4,0.000,0.071,2659,3605,3319
$GC,3667,-0.74,-117.3,230.6,-6.1,316,3671,0.00,2.30,0.00,0.000,6,0.000,0.046,2659,2136,3319
$GC,3988,-0.74,-117.3,247.4,-5.2,332,3992,0.00,2.17,0.00,0.000,4,0.000,0.068,2659,810,3319
$GC,4039,-0.80,-117.3,250.3,-5.8,334,4043,0.17,2.08,0.00,0.000,6,0.054,0.048,2622,2133,3319
$GC,4354,-0.67,-117.3,272.7,-7.4,349,4359,0.15,2.42,0.00,0.000,4,0.087,0.070,2651,3599,3318
$GC,4420,-0.67,-117.3,277.3,-7.0,352,4424,0.00,2.28,0.00,0.000,6,0.000,0.046,2651,2144,3318
$GC,4747,-0.67,-117.3,295.9,-5.7,368,4751,0.00,2.20,0.00,0.000,4,0.000,0.070,2651,805,3318
$GC,4790,-0.67,-117.3,298.6,-6.4,370,4794,0.00,2.20,0.00,0.000,6,0.000,0.048,2651,2182,3318
$GC,5132,-0.67,-117.3,317.7,-5.5,377,5136,0.00,2.35,0.00,0.000,4,0.000,0.072,2651,3603,3318
$GC,5175,-0.67,-117.3,320.4,-6.0,377,5179,0.00,2.22,0.00,0.000,6,0.000,0.045,2651,2200,3317
$GC,5497,-0.67,-117.3,337.2,-5.2,383,5501,0.00,2.30,0.00,0.000,4,0.000,0.070,2651,804,3317
$GC,5542,-0.67,-117.3,339.6,-5.4,383,5546,0.00,2.20,0.00,0.000,6,0.000,0.049,2652,2203,3317
$GC,5856,-0.67,-117.3,356.9,-5.5,389,5860,0.00,2.33,0.00,0.000,4,0.000,0.073,2651,3605,3317
$GC,5893,-0.67,-117.3,359.2,-6.2,389,5898,0.00,2.25,0.00,0.000,6,0.000,0.045,2651,2191,3316
$GC,6221,-0.67,-117.3,377.8,-5.7,395,6225,0.00,2.30,0.00,0.000,4,0.000,0.071,2651,797,3316
$GC,6276,-0.71,-117.3,381.2,-6.0,395,6282,0.00,2.17,0.00,0.000,6,0.000,0.049,2652,2178,3316
$GC,6585,-0.71,-117.3,398.3,-5.5,401,6589,0.00,2.38,0.00,0.000,4,0.000,0.073,2651,3606,3316
$GC,6640,-0.71,-117.3,401.4,-5.6,401,6646,0.00,2.28,0.00,0.000,6,0.000,0.046,2651,2176,3315
$GC,6950,-0.71,-117.3,416.0,-4.7,407,6954,0.00,2.28,0.00,0.000,4,0.000,0.074,2651,803,3315
$GC,6999,-0.77,-117.3,418.5,-5.2,407,7003,0.00,2.20,0.00,0.000,6,0.000,0.051,2651,2199,3315
$GC,7310,-0.77,-117.3,432.8,-4.7,412,7314,0.00,2.33,0.00,0.000,4,0.000,0.074,2651,3602,3315
$GC,7337,-0.77,-117.3,434.3,-5.5,412,7341,0.00,2.25,0.00,0.000,6,0.000,0.047,2651,2168,3315
$GC,7669,-0.77,-117.3,450.7,-5.0,418,7673,0.00,2.28,0.00,0.000,4,0.000,0.076,2651,801,3315
$GC,7707,-0.83,-117.3,452.8,-5.0,418,7712,0.17,2.17,0.00,0.000,6,0.054,0.051,2614,2175,3315
$GC,8027,-0.70,-117.3,473.8,-6.6,424,8032,0.15,2.38,0.00,0.000,4,0.088,0.074,2643,3610,3315
$GC,8065,-0.70,-117.3,476.3,-6.4,424,8069,0.00,2.33,0.00,0.000,6,0.000,0.047,2644,2136,3314
$GC,8391,-0.70,-117.3,494.3,-5.6,430,8395,0.00,2.22,0.00,0.000,4,0.000,0.080,2644,806,3314
$GC,8428,-0.70,-117.3,496.5,-5.9,430,8433,0.00,2.17,0.00,0.000,6,0.000,0.054,2643,2155,3314
$GC,8755,-0.70,-117.3,515.2,-5.8,436,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2155,3314
$GC,9058,-0.70,-117.3,534.2,-6.3,441,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2155,3313
$GC,9363,-0.70,-117.3,552.3,-6.0,446,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2155,3313
$GC,9664,-0.70,-117.3,569.2,-5.5,451,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2155,3312
$GC,9968,-0.70,-117.3,584.6,-5.0,456,9972,0.00,2.30,0.00,0.000,4,0.000,0.081,2644,801,3312
$GC,10012,-0.74,-117.3,586.9,-5.0,456,10016,0.00,2.12,0.00,0.000,6,0.000,0.057,2643,2125,3312
$GC,10327,-0.74,-117.3,602.4,-4.9,462,10331,0.00,2.53,0.00,0.000,4,0.000,0.083,2643,3607,3312
$GC,10370,-0.74,-117.3,604.8,-5.8,462,10374,0.00,2.33,0.00,0.000,6,0.000,0.048,2643,2145,3312
$GC,10691,-0.74,-117.3,621.9,-5.4,468,10695,0.00,2.30,0.00,0.000,4,0.000,0.087,2644,800,3312
$GC,10740,-0.78,-117.3,624.9,-6.2,468,10745,0.00,2.17,0.00,0.000,6,0.000,0.058,2643,2147,3312
$GC,11054,-0.78,-117.3,644.8,-6.6,474,11059,0.00,2.47,0.00,0.000,4,0.000,0.084,2643,3598,3312
$GC,11104,-0.78,-117.3,648.3,-7.3,474,11108,0.00,2.30,0.00,0.000,6,0.000,0.051,2643,2157,3311
$GC,11419,-0.78,-117.3,668.7,-6.5,480,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3311
$GC,11722,-0.78,-117.3,686.8,-5.9,485,11726,0.00,2.50,0.00,0.000,4,0.000,0.084,2643,3605,3311
$GC,11760,-0.78,-117.3,689.1,-5.8,485,11764,0.00,2.25,0.00,0.000,6,0.000,0.050,2643,2192,3310
$GC,12086,-0.78,-117.3,707.1,-5.6,491,12090,0.00,2.40,0.00,0.000,4,0.000,0.090,2643,794,3311
$GC,12163,-0.83,-117.3,711.7,-5.7,492,12167,0.12,2.15,0.00,0.000,6,0.064,0.061,2616,2119,3310
$GC,12518,-0.73,-117.3,734.8,-6.5,498,12523,0.12,2.55,0.00,0.000,4,0.093,0.085,2637,3606,3310
$GC,12595,-0.73,-117.3,739.4,-6.1,499,12599,0.00,2.35,0.00,0.000,6,0.000,0.053,2637,2138,3309
$GC,12949,-0.73,-117.3,756.5,-4.7,505,12953,0.00,2.33,0.00,0.000,4,0.000,0.094,2637,798,3309
$GC,12988,-0.73,-117.3,758.4,-4.5,505,12992,0.00,2.17,0.00,0.000,6,0.000,0.063,2637,2129,3309
$GC,13314,-0.73,-117.3,773.9,-4.9,511,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2129,3309
$GC,13617,-0.73,-117.3,788.6,-4.8,516,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2129,3309
$GC,13920,-0.73,-117.3,803.8,-5.0,521,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2129,3309
$GC,14223,-0.73,-117.3,819.7,-5.2,526,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2129,3308
$GC,14528,-0.73,-117.3,834.4,-4.9,531,14529,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2128,3308
$GC,14829,-0.73,-117.3,848.7,-4.7,536,14834,0.00,2.58,0.00,0.000,4,0.000,0.094,2637,3595,3308
$GC,14873,-0.73,-117.3,851.1,-5.5,536,14877,0.00,2.42,0.00,0.000,6,0.000,0.059,2637,2114,3308
$GC,15194,-0.73,-117.3,866.9,-4.9,542,15198,0.00,2.35,0.00,0.000,4,0.000,0.102,2637,793,3307
$GC,15232,-0.77,-117.3,868.9,-5.3,542,15236,0.00,2.22,0.00,0.000,6,0.000,0.067,2637,2138,3308
$GC,15552,-0.77,-117.3,884.5,-4.9,548,15556,0.00,2.58,0.00,0.000,4,0.000,0.095,2637,3602,3307
$GC,15607,-0.77,-117.3,887.5,-5.0,548,15613,0.00,2.40,0.00,0.000,6,0.000,0.061,2637,2142,3307
$GC,15917,-0.77,-117.3,902.3,-4.8,554,15921,0.00,2.40,0.00,0.000,4,0.000,0.104,2637,796,3307
$GC,15961,-0.82,-117.3,904.5,-4.6,554,15965,0.00,2.22,0.00,0.000,6,0.000,0.069,2637,2138,3307
$GC,16276,-0.82,-117.3,919.3,-4.7,560,16280,0.00,2.58,0.00,0.000,4,0.000,0.097,2637,3595,3307
$GC,16314,-0.82,-117.3,921.3,-4.9,560,16317,0.00,2.40,0.00,0.000,6,0.000,0.063,2637,2138,3307
$GC,16640,-0.82,-117.3,937.3,-4.9,566,16644,0.00,2.40,0.00,0.000,4,0.000,0.106,2637,801,3307
$GC,16695,-0.88,-117.3,940.0,-4.5,566,16701,0.15,2.22,0.00,0.000,6,0.058,0.071,2605,2136,3307
$GC,17004,-0.76,-117.3,957.9,-5.8,572,17009,0.15,2.60,0.00,0.000,4,0.091,0.098,2634,3601,3306
$GC,17053,-0.76,-117.3,960.6,-5.0,572,17058,0.00,2.45,0.00,0.000,6,0.000,0.068,2634,2135,3306
$GC,17363,-0.76,-117.3,974.7,-4.5,577,17367,0.00,2.40,0.00,0.000,4,0.000,0.108,2634,799,3306
$GC,17403,-0.76,-117.3,976.7,-4.8,577,17407,0.00,2.25,0.00,0.000,6,0.000,0.073,2634,2139,3306
$STATE,17726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17726,begin apogee
$GC,17732,-0.23,0.0,992.8,4.9,583,17837,0.68,0.00,102.00,1.487,6,0.074,0.000,2748,2198,2837
$STATE,17838,end apogee,CONTROL_FINISHED_OK
$STATE,17838,begin climb
$GC,17840,0.67,117.3,994.1,0.0,584,17954,1.15,0.00,109.88,1.443,6,0.045,0.000,2948,2198,2358
$GC,18271,0.39,117.3,965.8,8.5,592,18276,0.35,2.55,0.00,0.000,4,0.091,0.100,2889,3606,2358
$GC,18333,0.29,117.3,961.3,6.4,593,18338,0.15,2.33,0.00,0.000,6,0.097,0.070,2866,2244,2358
$GC,18697,0.33,147.4,944.3,4.6,599,18732,0.00,2.70,27.55,1.407,4,0.000,0.109,2866,793,2236
$GC,18788,0.33,147.4,939.2,6.1,600,18793,0.00,2.40,0.00,0.000,6,0.000,0.072,2866,2184,2236
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$STATE,33610,end climb,SURFACE_DEPTH_REACHED
$STATE,33610,begin surface coast
$FINISH,0.5,1.024458
$STATE,33634,end surface coast,CONTROL_FINISHED_OK
$STATE,33634,begin surface
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$DATA_FILE_SIZE,56884,1165
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