version: 66.03
glider: 119
mission: 5
dive: 273
start: 12 9 108 1 32 44
data:
$ID,119
$MISSION,5
$DIVE,273
$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,-214823.95
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,012537,4701.902,-12801.800,38,1.6,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.4
$GPS2,013153,4701.899,-12801.726,12,2.6,31,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.080,0.178
$KALMAN_X,1133.5,-427.6,-71.5,-232753.1,2158.3
$KALMAN_Y,327343.5,-29.9,111.0,-321206.6,-2904.5
$MHEAD_RNG_PITCHd_Wd,5.5,214732,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-51.75,0.000,2,0.000,0.000,864,2177,2543
$GC,77,-0.67,-117.3,3.5,-3.9,5,121,12.20,2.42,-22.67,0.000,4,0.143,0.074,2648,3601,3317
$GC,373,-0.44,-117.3,37.1,-11.8,31,380,0.25,2.25,0.00,0.000,6,0.075,0.042,2701,2205,3316
$GC,714,-0.44,-117.3,61.6,-7.0,89,721,0.00,2.33,0.00,0.000,4,0.000,0.062,2701,792,3317
$GC,744,-0.51,-117.3,63.5,-6.4,94,751,0.00,2.20,0.00,0.000,6,0.000,0.041,2701,2195,3317
$GC,1089,-0.58,-117.3,85.5,-6.0,148,1094,0.15,2.30,0.00,0.000,4,0.054,0.061,2666,3603,3317
$GC,1129,-0.53,-117.3,88.5,-8.2,151,1133,0.00,2.22,0.00,0.000,6,0.000,0.041,2666,2189,3318
$GC,1455,-0.44,-117.3,115.0,-8.5,181,1460,0.17,2.33,0.00,0.000,4,0.081,0.064,2700,796,3318
$GC,1510,-0.56,-117.3,118.9,-5.8,185,1517,0.12,2.17,0.00,0.000,6,0.058,0.043,2671,2196,3318
$GC,1835,-0.56,-117.3,140.0,-5.9,216,1839,0.00,2.28,0.00,0.000,4,0.000,0.062,2671,791,3318
$GC,1885,-0.61,-117.3,143.0,-6.1,220,1891,0.00,2.12,0.00,0.000,6,0.000,0.044,2671,2169,3318
$GC,2215,-0.61,-117.3,163.8,-6.6,242,2219,0.00,2.40,0.00,0.000,4,0.000,0.066,2669,3598,3318
$GC,2258,-0.65,-117.3,166.8,-6.5,244,2262,0.00,2.20,0.00,0.000,6,0.000,0.044,2670,2210,3318
$GC,2586,-0.70,-117.3,184.4,-4.9,260,2590,0.00,2.33,0.00,0.000,4,0.000,0.064,2670,804,3318
$GC,2632,-0.77,-117.3,186.9,-5.3,262,2637,0.20,2.20,0.00,0.000,6,0.049,0.045,2628,2219,3318
$GC,2953,-0.63,-117.3,209.6,-7.5,278,2958,0.15,2.33,0.00,0.000,4,0.086,0.064,2657,3606,3318
$GC,3008,-0.63,-117.3,213.3,-6.5,280,3015,0.00,2.20,0.00,0.000,6,0.000,0.044,2658,2210,3318
$GC,3324,-0.63,-117.3,232.2,-6.1,296,3328,0.00,2.35,0.00,0.000,4,0.000,0.066,2658,796,3318
$GC,3373,-0.63,-117.3,235.4,-6.5,298,3377,0.00,2.20,0.00,0.000,6,0.000,0.044,2658,2211,3318
$GC,3695,-0.63,-117.3,254.2,-5.8,314,3699,0.00,2.33,0.00,0.000,4,0.000,0.066,2658,3600,3318
$GC,3727,-0.63,-117.3,256.2,-6.3,315,3734,0.00,2.22,0.00,0.000,6,0.000,0.045,2658,2212,3318
$GC,4043,-0.63,-117.3,274.0,-5.9,331,4047,0.00,2.35,0.00,0.000,4,0.000,0.067,2658,793,3318
$GC,4098,-0.67,-117.3,277.5,-6.5,333,4102,0.00,2.22,0.00,0.000,6,0.000,0.044,2658,2222,3318
$GC,4414,-0.67,-117.3,296.2,-5.9,348,4418,0.00,2.30,0.00,0.000,4,0.000,0.067,2657,3602,3318
$GC,4446,-0.67,-117.3,298.3,-6.8,349,4451,0.00,2.28,0.00,0.000,6,0.000,0.044,2658,2185,3318
$GC,4803,-0.67,-117.3,318.2,-5.6,357,4807,0.00,2.33,0.00,0.000,4,0.000,0.068,2658,799,3317
$GC,4852,-0.72,-117.3,321.1,-5.9,357,4856,0.00,2.20,0.00,0.000,6,0.000,0.045,2657,2202,3317
$GC,5167,-0.72,-117.3,337.6,-5.2,363,5171,0.00,2.35,0.00,0.000,4,0.000,0.068,2657,3602,3317
$GC,5210,-0.72,-117.3,340.0,-5.8,363,5214,0.00,2.25,0.00,0.000,6,0.000,0.044,2658,2180,3316
$GC,5533,-0.72,-117.3,356.7,-5.2,369,5537,0.00,2.30,0.00,0.000,4,0.000,0.070,2658,798,3316
$GC,5566,-0.76,-117.3,358.6,-5.5,369,5571,0.12,2.20,0.00,0.000,6,0.061,0.045,2630,2205,3316
$GC,5900,-0.66,-117.3,380.0,-6.6,375,5904,0.12,2.35,0.00,0.000,4,0.091,0.067,2651,3606,3315
$GC,5954,-0.66,-117.3,383.7,-6.4,375,5961,0.00,2.28,0.00,0.000,6,0.000,0.045,2652,2171,3315
$GC,6266,-0.66,-117.3,400.1,-5.3,381,6270,0.00,2.30,0.00,0.000,4,0.000,0.070,2651,798,3315
$GC,6299,-0.66,-117.3,402.1,-5.6,381,6303,0.00,2.28,0.00,0.000,6,0.000,0.046,2651,2227,3315
$GC,6631,-0.66,-117.3,418.6,-4.9,387,6635,0.00,2.28,0.00,0.000,4,0.000,0.069,2651,3601,3314
$GC,6675,-0.66,-117.3,421.2,-6.4,387,6679,0.00,2.20,0.00,0.000,6,0.000,0.046,2651,2225,3314
$GC,7002,-0.66,-117.3,438.5,-5.3,393,7006,0.00,2.38,0.00,0.000,4,0.000,0.072,2651,794,3314
$GC,7045,-0.66,-117.3,441.1,-6.1,393,7050,0.00,2.28,0.00,0.000,6,0.000,0.047,2651,2224,3314
$GC,7372,-0.66,-117.3,459.6,-5.7,399,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2224,3313
$GC,7676,-0.66,-117.3,477.7,-6.0,404,7680,0.00,2.38,0.00,0.000,4,0.000,0.072,2651,796,3313
$GC,7714,-0.66,-117.3,480.3,-6.8,404,7718,0.00,2.20,0.00,0.000,6,0.000,0.048,2651,2191,3313
$GC,8040,-0.66,-117.3,499.7,-5.9,410,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2191,3312
$GC,8343,-0.66,-117.3,517.0,-5.7,415,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2192,3312
$GC,8648,-0.66,-117.3,533.3,-5.4,420,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2192,3312
$GC,8949,-0.66,-117.3,548.7,-5.0,425,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2192,3312
$GC,9252,-0.66,-117.3,563.5,-4.9,430,9256,0.00,2.33,0.00,0.000,4,0.000,0.076,2652,805,3312
$GC,9292,-0.71,-117.3,565.4,-5.2,430,9296,0.00,2.15,0.00,0.000,6,0.000,0.050,2651,2167,3312
$GC,9618,-0.71,-117.3,579.9,-4.5,436,9622,0.00,2.42,0.00,0.000,4,0.000,0.074,2651,3609,3312
$GC,9645,-0.71,-117.3,581.3,-5.0,436,9649,0.00,2.33,0.00,0.000,6,0.000,0.048,2652,2147,3311
$GC,9977,-0.71,-117.3,597.3,-4.9,442,9981,0.00,2.28,0.00,0.000,4,0.000,0.081,2651,800,3311
$GC,10015,-0.76,-117.3,599.4,-5.7,442,10019,0.00,2.17,0.00,0.000,6,0.000,0.051,2651,2170,3310
$GC,10341,-0.76,-117.3,616.0,-5.1,448,10345,0.00,2.42,0.00,0.000,4,0.000,0.074,2651,3609,3311
$GC,10385,-0.76,-117.3,618.4,-5.4,448,10389,0.00,2.28,0.00,0.000,6,0.000,0.050,2651,2175,3311
$GC,10699,-0.76,-117.3,634.3,-5.1,454,10703,0.00,2.33,0.00,0.000,4,0.000,0.081,2651,799,3311
$GC,10749,-0.82,-117.3,637.2,-6.3,454,10754,0.15,2.20,0.00,0.000,6,0.058,0.051,2620,2180,3311
$GC,11060,-0.71,-117.3,657.2,-6.6,459,11065,0.15,2.42,0.00,0.000,4,0.087,0.074,2648,3608,3310
$GC,11132,-0.71,-117.3,661.6,-5.8,460,11136,0.00,2.30,0.00,0.000,6,0.000,0.049,2649,2171,3309
$GC,11494,-0.71,-117.3,680.6,-5.4,466,11498,0.00,2.33,0.00,0.000,4,0.000,0.083,2649,803,3309
$GC,11544,-0.75,-117.3,683.7,-5.9,466,11548,0.00,2.17,0.00,0.000,6,0.000,0.052,2649,2171,3309
$GC,11853,-0.75,-117.3,700.0,-5.2,471,11861,0.00,2.45,0.00,0.000,4,0.000,0.077,2648,3606,3309
$GC,11883,-0.75,-117.3,701.8,-5.5,471,11887,0.00,2.35,0.00,0.000,6,0.000,0.051,2649,2139,3309
$GC,12221,-0.75,-117.3,719.0,-5.1,477,12225,0.00,2.28,0.00,0.000,4,0.000,0.084,2649,801,3309
$GC,12276,-0.81,-117.3,722.1,-5.8,477,12283,0.12,2.15,0.00,0.000,6,0.063,0.053,2621,2144,3309
$GC,12586,-0.72,-117.3,741.0,-6.2,483,12590,0.12,2.47,0.00,0.000,4,0.092,0.076,2643,3608,3308
$GC,12635,-0.72,-117.3,744.2,-7.0,483,12639,0.00,2.38,0.00,0.000,6,0.000,0.050,2643,2124,3309
$GC,12946,-0.72,-117.3,761.1,-5.5,488,12950,0.00,2.25,0.00,0.000,4,0.000,0.085,2642,802,3309
$GC,12989,-0.72,-117.3,763.9,-5.9,488,12993,0.00,2.15,0.00,0.000,6,0.000,0.053,2643,2149,3309
$GC,13312,-0.72,-117.3,781.3,-5.4,494,13316,0.00,2.47,0.00,0.000,4,0.000,0.078,2643,3605,3309
$GC,13361,-0.72,-117.3,784.4,-6.3,494,13365,0.00,2.35,0.00,0.000,6,0.000,0.050,2643,2135,3309
$GC,13679,-0.72,-117.3,801.1,-5.3,500,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2134,3309
$GC,13979,-0.72,-117.3,816.7,-5.1,505,13983,0.00,2.55,0.00,0.000,4,0.000,0.077,2642,3602,3309
$GC,14023,-0.72,-117.3,819.1,-5.8,505,14027,0.00,2.25,0.00,0.000,6,0.000,0.049,2643,2198,3308
$GC,14337,-0.72,-117.3,834.2,-4.8,511,14341,0.00,2.40,0.00,0.000,4,0.000,0.087,2643,794,3308
$GC,14386,-0.72,-117.3,836.9,-4.9,511,14390,0.00,2.25,0.00,0.000,6,0.000,0.054,2642,2197,3308
$GC,14698,-0.72,-117.3,851.4,-4.7,516,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2198,3308
$GC,14999,-0.72,-117.3,865.6,-4.7,521,15003,0.00,2.40,0.00,0.000,4,0.000,0.084,2643,801,3308
$GC,15032,-0.72,-117.3,867.4,-4.9,521,15035,0.00,2.22,0.00,0.000,6,0.000,0.055,2643,2181,3308
$GC,15364,-0.72,-117.3,885.1,-5.4,527,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2181,3307
$GC,15667,-0.72,-117.3,901.9,-5.5,532,15671,0.00,2.40,0.00,0.000,4,0.000,0.086,2642,795,3307
$GC,15700,-0.72,-117.3,903.9,-5.8,532,15704,0.00,2.20,0.00,0.000,6,0.000,0.056,2643,2158,3307
$GC,16032,-0.72,-117.3,921.9,-5.4,538,16036,0.00,2.50,0.00,0.000,4,0.000,0.084,2642,3604,3307
$GC,16064,-0.72,-117.3,923.9,-5.6,538,16069,0.00,2.38,0.00,0.000,6,0.000,0.051,2643,2130,3306
$GC,16391,-0.72,-117.3,941.2,-5.3,544,16395,0.00,2.33,0.00,0.000,4,0.000,0.091,2643,795,3307
$GC,16423,-0.72,-117.3,943.0,-5.6,544,16427,0.00,2.20,0.00,0.000,6,0.000,0.057,2642,2157,3306
$GC,16756,-0.72,-117.3,960.1,-5.1,550,16760,0.00,2.50,0.00,0.000,4,0.000,0.085,2642,3603,3306
$GC,16789,-0.72,-117.3,961.9,-5.5,550,16794,0.00,2.38,0.00,0.000,6,0.000,0.051,2643,2127,3306
$GC,17118,-0.72,-117.3,977.8,-4.8,556,17122,0.00,2.33,0.00,0.000,4,0.000,0.094,2643,801,3306
$GC,17168,-0.77,-117.3,980.3,-4.5,556,17172,0.00,2.15,0.00,0.000,6,0.000,0.058,2642,2131,3306
$STATE,17414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17414,begin apogee
$GC,17420,-0.23,0.0,992.9,5.2,560,17527,0.60,0.00,103.47,1.504,6,0.069,0.000,2747,2213,2837
$STATE,17527,end apogee,CONTROL_FINISHED_OK
$STATE,17527,begin climb
$GC,17530,0.67,117.3,995.3,0.0,561,17653,1.12,2.67,114.60,1.457,4,0.047,0.084,2942,3594,2357
$GC,17778,0.43,117.3,981.8,9.5,564,17783,0.30,2.38,0.00,0.000,6,0.090,0.058,2896,2206,2358
$GC,18087,0.43,117.3,961.2,6.5,569,18091,0.00,2.47,0.00,0.000,4,0.000,0.099,2896,786,2358
$GC,18114,0.39,117.3,959.4,6.5,569,18118,0.00,2.28,0.00,0.000,6,0.000,0.059,2896,2181,2357
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