version: 66.03
glider: 119
mission: 5
dive: 96
start: 10 18 108 2 50 7
data:
$ID,119
$MISSION,5
$DIVE,96
$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,-211553.61
$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,33
$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
$GPS1,024342,4756.482,-12602.329,43,1.3,43,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.8
$GPS2,024914,4756.433,-12602.288,12,1.1,12,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.179,0.077
$KALMAN_X,5128.4,-525.2,-610.9,-85184.9,-1184.0
$KALMAN_Y,133866.2,-364.0,-744.8,-25519.4,1590.6
$MHEAD_RNG_PITCHd_Wd,48.0,36057,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-61.62,0.000,2,0.000,0.000,861,2221,2819
$GC,87,-0.67,-117.3,3.4,-6.6,6,120,12.30,2.47,-10.82,0.000,4,0.146,0.078,2651,789,3318
$GC,234,-0.43,-117.3,26.4,-12.1,19,239,0.32,2.22,0.00,0.000,6,0.082,0.046,2704,2200,3318
$GC,567,-0.50,-117.3,49.6,-6.3,62,573,0.00,2.30,0.00,0.000,4,0.000,0.061,2704,785,3318
$GC,658,-0.62,-117.3,55.5,-6.5,78,665,0.22,2.05,0.00,0.000,6,0.044,0.047,2656,2093,3318
$GC,1000,-0.51,-117.3,82.8,-7.6,136,1002,0.17,0.00,0.00,0.000,6,0.081,0.000,2686,2093,3319
$GC,1320,-0.56,-117.3,101.2,-6.0,166,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,3318
$GC,1639,-0.64,-117.3,118.9,-4.8,196,1641,0.12,0.00,0.00,0.000,6,0.060,0.000,2657,2093,3318
$GC,1957,-0.60,-117.3,137.0,-5.9,226,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2093,3319
$GC,2281,-0.60,-117.3,158.6,-6.9,251,2285,0.00,2.50,0.00,0.000,4,0.000,0.070,2657,3608,3318
$GC,2347,-0.60,-117.3,163.5,-7.5,254,2351,0.00,2.50,0.00,0.000,6,0.000,0.044,2657,2020,3318
$GC,2668,-0.60,-117.3,184.9,-6.6,270,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2020,3318
$GC,2977,-0.60,-117.3,203.8,-6.1,285,2981,0.00,2.62,0.00,0.000,4,0.000,0.068,2656,3600,3319
$GC,3070,-0.60,-117.3,210.4,-7.0,289,3075,0.00,2.40,0.00,0.000,6,0.000,0.045,2657,2076,3318
$GC,3392,-0.60,-117.3,229.9,-6.1,305,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2076,3318
$GC,3702,-0.60,-117.3,247.3,-5.3,320,3706,0.00,2.55,0.00,0.000,4,0.000,0.070,2656,3603,3318
$GC,3746,-0.60,-117.3,249.9,-5.6,322,3751,0.00,2.38,0.00,0.000,6,0.000,0.044,2657,2089,3318
$GC,4073,-0.60,-117.3,266.1,-4.8,338,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2089,3318
$GC,4382,-0.60,-117.3,281.9,-5.3,353,4386,0.00,2.53,0.00,0.000,4,0.000,0.070,2656,3603,3318
$GC,4413,-0.60,-117.3,283.9,-6.1,354,4420,0.00,2.33,0.00,0.000,6,0.000,0.045,2656,2138,3318
$GC,4769,-0.60,-117.3,304.1,-5.8,370,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2138,3318
$GC,5072,-0.60,-117.3,321.5,-5.8,375,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2138,3318
$GC,5375,-0.60,-117.3,338.3,-5.6,380,5379,0.00,2.45,0.00,0.000,4,0.000,0.071,2656,3601,3318
$GC,5424,-0.60,-117.3,341.3,-5.9,380,5428,0.00,2.28,0.00,0.000,6,0.000,0.045,2657,2153,3317
$GC,5739,-0.60,-117.3,357.8,-5.2,386,5743,0.00,2.25,0.00,0.000,4,0.000,0.075,2657,808,3317
$GC,5771,-0.60,-117.3,359.7,-5.6,386,5775,0.00,2.17,0.00,0.000,6,0.000,0.051,2656,2161,3317
$GC,6104,-0.60,-117.3,377.4,-5.4,392,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2161,3317
$GC,6406,-0.60,-117.3,393.8,-5.5,397,6410,0.00,2.40,0.00,0.000,4,0.000,0.073,2656,3609,3317
$GC,6450,-0.60,-117.3,396.6,-6.7,397,6454,0.00,2.28,0.00,0.000,6,0.000,0.045,2656,2183,3316
$GC,6776,-0.60,-117.3,415.1,-5.7,403,6780,0.00,2.30,0.00,0.000,4,0.000,0.077,2657,806,3316
$GC,6809,-0.60,-117.3,417.0,-5.8,403,6813,0.00,2.25,0.00,0.000,6,0.000,0.052,2656,2202,3316
$GC,7141,-0.60,-117.3,436.2,-5.8,409,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,3316
$GC,7445,-0.60,-117.3,452.1,-5.2,414,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,3315
$GC,7747,-0.60,-117.3,466.9,-4.9,419,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,3315
$GC,8050,-0.60,-117.3,482.7,-5.2,424,8054,0.00,2.38,0.00,0.000,4,0.000,0.077,2657,798,3315
$GC,8082,-0.64,-117.3,484.7,-5.8,424,8087,0.00,2.22,0.00,0.000,6,0.000,0.055,2656,2186,3315
$GC,8409,-0.64,-117.3,503.3,-5.8,430,8413,0.00,2.38,0.00,0.000,4,0.000,0.076,2656,3605,3315
$GC,8440,-0.64,-117.3,505.3,-6.9,430,8445,0.00,2.28,0.00,0.000,6,0.000,0.047,2656,2185,3315
$GC,8773,-0.64,-117.3,523.8,-5.5,436,8777,0.00,2.35,0.00,0.000,4,0.000,0.083,2657,797,3314
$GC,8840,-0.71,-117.3,527.7,-5.3,437,8843,0.00,2.20,0.00,0.000,6,0.000,0.057,2657,2164,3314
$GC,9199,-0.71,-117.3,545.2,-4.7,443,9203,0.00,2.40,0.00,0.000,4,0.000,0.077,2656,3602,3314
$GC,9254,-0.71,-117.3,548.2,-6.0,443,9258,0.00,2.30,0.00,0.000,6,0.000,0.048,2657,2145,3314
$GC,9563,-0.71,-117.3,562.7,-4.7,448,9567,0.00,2.28,0.00,0.000,4,0.000,0.084,2656,805,3314
$GC,9612,-0.77,-117.3,565.4,-5.5,448,9616,0.12,2.17,0.00,0.000,6,0.061,0.057,2630,2157,3314
$GC,9927,-0.69,-117.3,584.4,-6.1,454,9931,0.00,2.42,0.00,0.000,4,0.000,0.079,2629,3602,3313
$GC,9983,-0.59,-117.3,588.2,-6.4,454,9989,0.22,2.33,0.00,0.000,6,0.081,0.050,2667,2136,3313
$GC,10292,-0.73,-117.3,603.7,-5.1,460,10297,0.15,2.50,0.00,0.000,4,0.058,0.077,2629,3601,3312
$GC,10359,-0.63,-117.3,607.9,-6.4,461,10364,0.17,2.15,0.00,0.000,6,0.086,0.049,2660,2250,3313
$GC,10722,-0.69,-117.3,625.3,-4.8,467,10726,0.00,2.47,0.00,0.000,4,0.000,0.084,2659,796,3313
$GC,10817,-0.76,-117.3,630.4,-5.3,468,10821,0.12,2.20,0.00,0.000,6,0.064,0.059,2632,2164,3312
$GC,11156,-0.70,-117.3,650.9,-6.2,474,11160,0.00,2.45,0.00,0.000,4,0.000,0.082,2632,3605,3312
$GC,11205,-0.62,-117.3,654.8,-7.2,474,11210,0.17,2.33,0.00,0.000,6,0.084,0.050,2661,2143,3312
$GC,11515,-0.67,-117.3,670.6,-5.0,479,11519,0.00,2.30,0.00,0.000,4,0.000,0.086,2661,793,3312
$GC,11560,-0.76,-117.3,673.2,-5.4,479,11564,0.15,2.12,0.00,0.000,6,0.058,0.058,2630,2113,3313
$GC,11885,-0.69,-117.3,691.6,-5.6,485,11889,0.00,2.53,0.00,0.000,4,0.000,0.083,2629,3599,3312
$GC,11962,-0.61,-117.3,696.1,-5.9,486,11967,0.20,2.38,0.00,0.000,6,0.082,0.051,2663,2113,3311
$GC,12311,-0.76,-117.3,713.6,-5.5,492,12316,0.17,2.58,0.00,0.000,4,0.054,0.081,2622,3605,3311
$GC,12394,-0.64,-117.3,718.8,-6.4,493,12399,0.22,2.10,0.00,0.000,6,0.081,0.050,2660,2282,3310
$GC,12737,-0.69,-117.3,733.5,-4.0,499,12741,0.00,2.55,0.00,0.000,4,0.000,0.088,2660,805,3311
$GC,12803,-0.79,-117.3,736.7,-4.7,500,12808,0.17,2.38,0.00,0.000,6,0.054,0.061,2624,2271,3311
$GC,13162,-0.70,-117.3,756.4,-5.6,506,13167,0.12,2.30,0.00,0.000,4,0.091,0.086,2645,3605,3310
$GC,13239,-0.70,-117.3,761.1,-6.5,507,13243,0.00,2.15,0.00,0.000,6,0.000,0.050,2645,2276,3310
$GC,13594,-0.70,-117.3,780.1,-5.4,513,13598,0.00,2.55,0.00,0.000,4,0.000,0.089,2645,803,3310
$GC,13677,-0.70,-117.3,784.7,-4.9,514,13681,0.00,2.22,0.00,0.000,6,0.000,0.062,2645,2166,3310
$GC,14025,-0.70,-117.3,804.0,-5.6,520,14030,0.00,2.50,0.00,0.000,4,0.000,0.088,2645,3608,3309
$GC,14081,-0.70,-117.3,807.2,-5.2,520,14087,0.00,2.30,0.00,0.000,6,0.000,0.051,2645,2170,3309
$GC,14390,-0.70,-117.3,821.6,-4.6,526,14394,0.00,2.38,0.00,0.000,4,0.000,0.093,2645,803,3309
$GC,14473,-0.75,-117.3,825.6,-4.8,527,14477,0.00,2.12,0.00,0.000,6,0.000,0.064,2645,2113,3309
$GC,14822,-0.75,-117.3,842.1,-4.8,533,14826,0.00,2.58,0.00,0.000,4,0.000,0.090,2645,3599,3309
$GC,14883,-0.75,-117.3,845.3,-4.9,534,14887,0.00,2.35,0.00,0.000,6,0.000,0.054,2645,2142,3308
$GC,15249,-0.75,-117.3,863.0,-4.8,540,15253,0.00,2.35,0.00,0.000,4,0.000,0.096,2645,802,3308
$GC,15293,-0.79,-117.3,865.3,-5.0,540,15297,0.00,2.20,0.00,0.000,6,0.000,0.064,2645,2142,3309
$GC,15608,-0.79,-117.3,879.1,-4.3,546,15613,0.00,2.55,0.00,0.000,4,0.000,0.093,2645,3608,3308
$GC,15641,-0.79,-117.3,880.8,-5.3,546,15645,0.00,2.38,0.00,0.000,6,0.000,0.056,2645,2138,3308
$GC,15973,-0.79,-117.3,896.2,-4.7,552,15974,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2138,3308
$GC,16276,-0.79,-117.3,908.7,-4.1,557,16280,0.00,2.38,0.00,0.000,4,0.000,0.099,2645,800,3308
$GC,16320,-0.83,-117.3,910.9,-5.1,557,16325,0.15,2.25,0.00,0.000,6,0.058,0.067,2614,2162,3308
$GC,16636,-0.73,-117.3,929.2,-5.9,563,16641,0.15,2.55,0.00,0.000,4,0.091,0.095,2642,3606,3308
$GC,16685,-0.73,-117.3,932.1,-5.6,563,16689,0.00,2.35,0.00,0.000,6,0.000,0.060,2643,2173,3307
$GC,17000,-0.73,-117.3,948.5,-5.3,569,17004,0.00,2.42,0.00,0.000,4,0.000,0.101,2642,800,3308
$GC,17050,-0.77,-117.3,951.5,-5.9,569,17054,0.00,2.28,0.00,0.000,6,0.000,0.069,2642,2167,3308
$GC,17370,-0.77,-117.3,968.5,-5.4,575,17372,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2168,3307
$GC,17673,-0.77,-117.3,985.1,-5.5,580,17677,0.00,2.47,0.00,0.000,4,0.000,0.101,2643,790,3307
$GC,17711,-0.77,-117.3,987.5,-6.4,580,17715,0.00,2.28,0.00,0.000,6,0.000,0.071,2643,2152,3307
$STATE,17794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17794,begin apogee
$GC,17799,-0.23,0.0,992.2,5.8,582,17904,0.60,0.00,102.22,1.487,6,0.072,0.000,2746,2212,2837
$STATE,17905,end apogee,CONTROL_FINISHED_OK
$STATE,17905,begin climb
$GC,17907,0.67,117.3,994.1,0.0,583,18025,1.15,2.72,109.85,1.442,4,0.045,0.100,2945,3598,2358
$GC,18036,0.38,117.4,992.4,5.5,586,18041,0.40,2.55,0.00,0.000,6,0.093,0.068,2886,2205,2358
$GC,18395,0.38,117.4,972.2,5.6,592,18399,0.00,2.58,0.00,0.000,4,0.000,0.108,2886,784,2358
$GC,18439,0.31,117.4,969.5,6.3,592,18443,0.00,2.38,0.00,0.000,6,0.000,0.072,2886,2184,2358
$GC,18753,0.31,117.4,950.6,6.0,598,18754,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2185,2358
$GC,19055,0.31,117.4,931.2,6.5,603,19057,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2184,2358
$GC,19359,0.31,117.4,912.0,6.3,608,19360,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2184,2357
$GC,19662,0.31,117.4,893.4,6.2,613,19663,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2185,2357
$GC,19965,0.31,117.4,875.5,5.9,618,19966,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2185,2357
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$STATE,33569,end climb,SURFACE_DEPTH_REACHED
$STATE,33569,begin surface coast
$FINISH,-0.3,1.024542
$STATE,33592,end surface coast,CONTROL_FINISHED_OK
$STATE,33592,begin surface
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$10V_AH,10.5,33.922
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$DEVICE_SECS,30.500,257.750,382.250,22.725,0.000,29.103,25.796,155.525,9.500,0.000,0.000,13.992,2331.372,27444.523,598.157,3025.961,553.664,33.379,2104.696,0.000,2966.557,0.000,56.653
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$DATA_FILE_SIZE,56830,1138
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$CFSIZE,260165632,251006976
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