version: 66.03
glider: 119
mission: 5
dive: 274
start: 12 9 108 11 11 18
data:
$ID,119
$MISSION,5
$DIVE,274
$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,-214838.73
$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,14
$R_STBD_OVSHOOT,34
$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
$GPS1,105339,4704.369,-12759.749,49,2.5,68,18.7
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-62.3
$GPS2,111026,4704.360,-12759.648,12,1.4,12,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104,0.165
$KALMAN_X,873.9,-390.6,-289.4,-229688.5,1715.1
$KALMAN_Y,325587.9,7.1,69.4,-314887.4,-2239.3
$MHEAD_RNG_PITCHd_Wd,13.5,210014,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-60.70,0.000,2,0.000,0.000,861,2225,2750
$GC,87,-0.67,-117.3,3.5,-3.7,6,121,12.25,2.35,-13.90,0.000,4,0.146,0.077,2647,3594,3317
$GC,375,-0.42,-117.3,44.6,-11.7,34,382,0.35,2.25,0.00,0.000,6,0.077,0.040,2707,2169,3317
$GC,719,-0.42,-117.3,69.7,-6.3,95,725,0.00,2.28,0.00,0.000,4,0.000,0.063,2707,797,3317
$GC,760,-0.50,-117.3,72.4,-6.8,102,767,0.00,2.20,0.00,0.000,6,0.000,0.041,2707,2196,3317
$GC,1099,-0.75,-117.3,93.5,-6.8,145,1104,0.35,2.25,0.00,0.000,4,0.041,0.058,2629,801,3317
$GC,1230,-0.54,-117.3,105.7,-10.6,156,1234,0.30,1.62,0.00,0.000,6,0.074,0.041,2680,1864,3317
$GC,1560,-0.54,-117.3,127.4,-6.0,187,1565,0.00,2.90,0.00,0.000,4,0.000,0.064,2679,3605,3317
$GC,1660,-0.54,-117.3,134.0,-6.5,195,1667,0.00,2.65,0.00,0.000,6,0.000,0.044,2680,1936,3317
$GC,1997,-0.59,-117.3,152.4,-5.0,225,2002,0.00,2.83,0.00,0.000,4,0.000,0.063,2680,3601,3317
$GC,2064,-0.65,-117.3,156.2,-5.4,228,2068,0.00,2.58,0.00,0.000,6,0.000,0.045,2680,1990,3317
$GC,2386,-0.72,-117.3,173.7,-5.7,244,2391,0.17,2.72,0.00,0.000,4,0.054,0.063,2637,3599,3317
$GC,2426,-0.59,-117.3,176.7,-8.0,246,2430,0.17,2.42,0.00,0.000,6,0.082,0.046,2667,2087,3317
$GC,2752,-0.59,-117.3,193.9,-4.7,262,2756,0.00,2.15,0.00,0.000,4,0.000,0.066,2667,796,3317
$GC,2792,-0.59,-117.3,195.9,-4.9,264,2795,0.00,2.03,0.00,0.000,6,0.000,0.043,2668,2092,3317
$GC,3124,-0.59,-117.3,212.0,-4.9,280,3129,0.00,2.53,0.00,0.000,4,0.000,0.067,2667,3601,3317
$GC,3179,-0.59,-117.3,215.3,-6.2,282,3186,0.00,2.45,0.00,0.000,6,0.000,0.044,2667,2086,3317
$GC,3496,-0.59,-117.3,232.5,-5.5,298,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2086,3317
$GC,3807,-0.59,-117.3,250.9,-6.0,313,3811,0.00,2.55,0.00,0.000,4,0.000,0.064,2667,3598,3317
$GC,3856,-0.59,-117.3,254.3,-6.8,315,3860,0.00,2.33,0.00,0.000,6,0.000,0.045,2667,2138,3316
$GC,4178,-0.59,-117.3,273.0,-5.7,331,4181,0.00,2.22,0.00,0.000,4,0.000,0.067,2667,799,3316
$GC,4211,-0.65,-117.3,274.9,-5.8,332,4218,0.00,2.15,0.00,0.000,6,0.000,0.044,2667,2185,3316
$GC,4526,-0.65,-117.3,290.5,-4.6,348,4530,0.00,2.38,0.00,0.000,4,0.000,0.067,2667,3605,3315
$GC,4573,-0.70,-117.3,292.8,-5.0,350,4577,0.00,2.28,0.00,0.000,6,0.000,0.044,2667,2168,3315
$GC,4916,-0.75,-117.3,308.6,-4.6,361,4921,0.17,2.25,0.00,0.000,4,0.056,0.066,2628,802,3315
$GC,4978,-0.64,-117.3,312.8,-7.0,362,4983,0.17,2.15,0.00,0.000,6,0.083,0.044,2657,2181,3315
$GC,5342,-0.64,-117.3,333.5,-5.6,368,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2180,3314
$GC,5646,-0.64,-117.3,350.6,-5.7,373,5650,0.00,2.38,0.00,0.000,4,0.000,0.069,2657,3599,3314
$GC,5679,-0.64,-117.3,352.7,-5.8,373,5683,0.00,2.28,0.00,0.000,6,0.000,0.044,2657,2164,3314
$GC,6011,-0.64,-117.3,371.2,-5.5,379,6015,0.00,2.25,0.00,0.000,4,0.000,0.068,2657,806,3313
$GC,6050,-0.64,-117.3,373.6,-5.9,379,6054,0.00,2.17,0.00,0.000,6,0.000,0.045,2657,2195,3313
$GC,6376,-0.64,-117.3,391.9,-5.7,385,6380,0.00,2.38,0.00,0.000,4,0.000,0.068,2657,3601,3313
$GC,6408,-0.64,-117.3,393.9,-6.5,385,6412,0.00,2.25,0.00,0.000,6,0.000,0.046,2657,2185,3313
$GC,6741,-0.64,-117.3,413.8,-6.0,391,6745,0.00,2.30,0.00,0.000,4,0.000,0.070,2657,802,3312
$GC,6791,-0.69,-117.3,417.0,-6.0,391,6795,0.00,2.15,0.00,0.000,6,0.000,0.045,2657,2176,3312
$GC,7108,-0.69,-117.3,434.1,-5.4,397,7112,0.00,2.42,0.00,0.000,4,0.000,0.070,2657,3610,3312
$GC,7151,-0.69,-117.3,436.6,-5.8,397,7155,0.00,2.30,0.00,0.000,6,0.000,0.046,2657,2161,3311
$GC,7474,-0.69,-117.3,453.1,-5.2,403,7478,0.00,2.28,0.00,0.000,4,0.000,0.071,2657,800,3311
$GC,7518,-0.74,-117.3,455.7,-6.1,403,7522,0.00,2.17,0.00,0.000,6,0.000,0.047,2657,2189,3311
$GC,7833,-0.74,-117.3,472.1,-5.2,409,7837,0.00,2.38,0.00,0.000,4,0.000,0.070,2656,3607,3310
$GC,7884,-0.74,-117.3,475.0,-6.0,409,7888,0.00,2.28,0.00,0.000,6,0.000,0.047,2657,2180,3310
$GC,8193,-0.74,-117.3,490.6,-5.0,414,8197,0.00,2.33,0.00,0.000,4,0.000,0.074,2657,797,3310
$GC,8237,-0.79,-117.3,493.1,-6.0,414,8242,0.17,2.25,0.00,0.000,6,0.053,0.048,2621,2223,3310
$GC,8553,-0.66,-117.3,512.8,-6.3,420,8558,0.15,2.33,0.00,0.000,4,0.089,0.070,2650,3606,3310
$GC,8597,-0.66,-117.3,515.6,-6.4,420,8601,0.00,2.28,0.00,0.000,6,0.000,0.047,2650,2182,3310
$GC,8919,-0.66,-117.3,531.9,-5.1,426,8924,0.00,2.35,0.00,0.000,4,0.000,0.077,2650,793,3309
$GC,8960,-0.66,-117.3,534.0,-5.1,426,8964,0.00,2.20,0.00,0.000,6,0.000,0.048,2650,2191,3309
$GC,9280,-0.66,-117.3,549.7,-5.0,432,9285,0.00,2.40,0.00,0.000,4,0.000,0.072,2650,3605,3309
$GC,9335,-0.66,-117.3,552.9,-5.9,432,9339,0.00,2.25,0.00,0.000,6,0.000,0.048,2650,2194,3309
$GC,9644,-0.66,-117.3,569.3,-5.3,437,9648,0.00,2.35,0.00,0.000,4,0.000,0.077,2650,792,3309
$GC,9688,-0.66,-117.3,572.0,-6.5,437,9692,0.00,2.28,0.00,0.000,6,0.000,0.050,2650,2206,3309
$GC,10015,-0.66,-117.3,589.3,-5.3,443,10018,0.00,2.38,0.00,0.000,4,0.000,0.074,2650,3601,3309
$GC,10058,-0.66,-117.3,591.8,-5.8,443,10062,0.00,2.25,0.00,0.000,6,0.000,0.048,2650,2218,3308
$GC,10384,-0.66,-117.3,608.8,-5.2,449,10389,0.00,2.40,0.00,0.000,4,0.000,0.077,2650,792,3308
$GC,10447,-0.71,-117.3,612.1,-5.1,450,10451,0.00,2.22,0.00,0.000,6,0.000,0.051,2650,2190,3308
$GC,10818,-0.71,-117.3,630.9,-5.0,456,10823,0.00,2.38,0.00,0.000,4,0.000,0.075,2650,3603,3308
$GC,10857,-0.71,-117.3,633.1,-5.7,456,10861,0.00,2.30,0.00,0.000,6,0.000,0.050,2650,2162,3307
$GC,11183,-0.71,-117.3,649.2,-5.0,462,11187,0.00,2.30,0.00,0.000,4,0.000,0.081,2650,800,3307
$GC,11222,-0.71,-117.3,651.2,-5.0,462,11226,0.00,2.22,0.00,0.000,6,0.000,0.051,2650,2204,3307
$GC,11543,-0.71,-117.3,667.4,-5.1,468,11544,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3307
$GC,11846,-0.71,-117.3,683.1,-5.2,473,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3307
$GC,12151,-0.71,-117.3,700.6,-5.9,478,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3307
$GC,12452,-0.71,-117.3,718.0,-5.7,483,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2204,3306
$GC,12754,-0.71,-117.3,734.7,-5.5,488,12759,0.00,2.38,0.00,0.000,4,0.000,0.077,2650,799,3306
$GC,12810,-0.76,-117.3,738.0,-5.8,488,12816,0.00,2.20,0.00,0.000,6,0.000,0.052,2650,2175,3306
$GC,13120,-0.76,-117.3,753.5,-5.0,494,13124,0.00,2.42,0.00,0.000,4,0.000,0.080,2649,3601,3306
$GC,13158,-0.76,-117.3,755.7,-5.9,494,13162,0.00,2.33,0.00,0.000,6,0.000,0.049,2650,2153,3305
$GC,13484,-0.76,-117.3,770.5,-4.5,500,13488,0.00,2.33,0.00,0.000,4,0.000,0.081,2650,789,3305
$GC,13519,-0.80,-117.3,772.1,-4.5,500,13524,0.12,2.22,0.00,0.000,6,0.062,0.052,2623,2186,3305
$GC,13845,-0.72,-117.3,790.5,-5.8,506,13849,0.00,2.45,0.00,0.000,4,0.000,0.078,2623,3606,3305
$GC,13907,-0.62,-117.3,794.5,-6.5,507,13912,0.22,2.30,0.00,0.000,6,0.082,0.050,2660,2180,3305
$GC,14274,-0.77,-117.3,812.9,-5.3,513,14279,0.15,2.47,0.00,0.000,4,0.059,0.077,2623,3607,3305
$GC,14357,-0.66,-117.3,818.1,-6.0,514,14362,0.17,2.03,0.00,0.000,6,0.085,0.049,2653,2359,3305
$GC,14707,-0.70,-117.3,834.0,-4.5,520,14711,0.00,2.65,0.00,0.000,4,0.000,0.081,2652,800,3305
$GC,14812,-0.77,-117.3,839.1,-5.2,521,14817,0.00,2.35,0.00,0.000,6,0.000,0.054,2652,2265,3304
$GC,15133,-0.92,-117.3,856.4,-5.6,527,15138,0.25,2.28,0.00,0.000,4,0.050,0.082,2596,3604,3305
$GC,15379,-0.72,-117.3,874.7,-8.2,530,15384,0.28,2.88,0.00,0.000,6,0.084,0.054,2641,1849,3304
$GC,15694,-0.72,-117.3,890.6,-5.0,536,15699,0.00,3.00,0.00,0.000,4,0.000,0.077,2641,3599,3304
$GC,15777,-0.72,-117.3,895.4,-5.9,537,15781,0.00,2.65,0.00,0.000,6,0.000,0.054,2641,1968,3304
$GC,16126,-0.72,-117.3,912.7,-5.0,543,16131,0.00,2.85,0.00,0.000,4,0.000,0.080,2641,3604,3304
$GC,16192,-0.72,-117.3,916.6,-5.5,544,16196,0.00,2.47,0.00,0.000,6,0.000,0.053,2641,2072,3303
$GC,16558,-0.72,-117.3,934.9,-4.9,550,16559,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2072,3304
$GC,16861,-0.72,-117.3,949.7,-4.9,555,16865,0.00,2.67,0.00,0.000,4,0.000,0.083,2640,3599,3303
$GC,16916,-0.72,-117.3,952.7,-5.1,555,16922,0.00,2.38,0.00,0.000,6,0.000,0.054,2641,2127,3303
$GC,17225,-0.72,-117.3,967.8,-4.8,561,17229,0.00,2.33,0.00,0.000,4,0.000,0.090,2641,791,3303
$GC,17263,-0.72,-117.3,969.9,-5.3,561,17267,0.00,2.20,0.00,0.000,6,0.000,0.056,2641,2153,3303
$GC,17589,-0.72,-117.3,985.8,-4.9,567,17593,0.00,2.53,0.00,0.000,4,0.000,0.086,2641,3598,3303
$GC,17639,-0.72,-117.3,988.4,-5.2,567,17643,0.00,2.35,0.00,0.000,6,0.000,0.053,2641,2150,3303
$STATE,17703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17703,begin apogee
$GC,17709,-0.23,0.0,991.7,4.9,568,17815,0.62,0.00,103.05,1.506,6,0.075,0.000,2746,2204,2837
$STATE,17815,end apogee,CONTROL_FINISHED_OK
$STATE,17815,begin climb
$GC,17818,0.67,117.3,993.2,0.0,569,17941,1.12,2.67,115.00,1.460,4,0.048,0.082,2943,3592,2358
$GC,17991,0.42,117.3,987.5,8.1,571,17996,0.32,2.45,0.00,0.000,6,0.088,0.058,2893,2211,2358
$GC,18306,0.42,117.3,969.0,5.8,577,18310,0.00,2.47,0.00,0.000,4,0.000,0.093,2893,783,2358
$GC,18339,0.37,117.3,967.1,6.5,577,18343,0.00,2.28,0.00,0.000,6,0.000,0.058,2893,2174,2358
$GC,18664,0.37,117.3,948.0,5.8,583,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2175,2358
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