version: 66.03
glider: 119
mission: 5
dive: 92
start: 10 16 108 12 34 8
data:
$ID,119
$MISSION,5
$DIVE,92
$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,-211487.09
$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,27
$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
$GPS1,122727,4750.221,-12615.439,33,2.1,52,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-70.5
$GPS2,123315,4750.252,-12615.437,12,1.2,12,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,0.051
$KALMAN_X,12274.2,411.8,303.6,-110820.1,-2881.0
$KALMAN_Y,131976.8,7.9,363.9,-36567.3,1168.8
$MHEAD_RNG_PITCHd_Wd,55.9,55882,-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,-61.80,0.000,2,0.000,0.000,862,2179,2823
$GC,87,-0.67,-117.3,3.0,-5.7,6,120,12.38,2.42,-11.07,0.000,4,0.149,0.077,2650,3605,3319
$GC,327,-0.45,-117.3,35.1,-11.1,27,334,0.22,2.25,0.00,0.000,6,0.074,0.044,2697,2204,3319
$GC,667,-0.51,-117.3,57.2,-6.2,82,673,0.00,2.33,0.00,0.000,4,0.000,0.067,2697,3611,3319
$GC,713,-0.58,-117.3,60.4,-7.0,90,720,0.12,2.10,0.00,0.000,6,0.058,0.042,2668,2261,3319
$GC,1053,-0.54,-117.3,87.9,-7.4,142,1057,0.00,2.38,0.00,0.000,4,0.000,0.068,2667,800,3319
$GC,1154,-0.54,-117.3,95.8,-7.5,151,1158,0.00,2.20,0.00,0.000,6,0.000,0.048,2668,2196,3320
$GC,1481,-0.54,-117.3,114.9,-5.7,181,1485,0.00,2.33,0.00,0.000,4,0.000,0.071,2667,3602,3320
$GC,1532,-0.54,-117.3,118.2,-5.8,185,1536,0.00,2.22,0.00,0.000,6,0.000,0.045,2668,2185,3320
$GC,1857,-0.54,-117.3,135.8,-5.2,215,1861,0.00,2.28,0.00,0.000,4,0.000,0.067,2667,793,3320
$GC,1908,-0.61,-117.3,138.8,-6.0,219,1912,0.00,2.20,0.00,0.000,6,0.000,0.048,2667,2189,3320
$GC,2242,-0.65,-117.3,156.5,-5.1,244,2246,0.00,2.35,0.00,0.000,4,0.000,0.071,2667,3609,3320
$GC,2291,-0.69,-117.3,159.1,-5.5,246,2295,0.00,2.25,0.00,0.000,6,0.000,0.045,2668,2173,3320
$GC,2613,-0.69,-117.3,176.1,-5.7,262,2617,0.00,2.25,0.00,0.000,4,0.000,0.067,2667,795,3320
$GC,2657,-0.76,-117.3,179.1,-6.7,264,2662,0.17,2.20,0.00,0.000,6,0.054,0.049,2630,2199,3319
$GC,2984,-0.64,-117.3,205.1,-7.9,280,2989,0.15,2.30,0.00,0.000,4,0.087,0.065,2659,797,3320
$GC,3016,-0.64,-117.3,207.5,-7.2,281,3023,0.00,2.15,0.00,0.000,6,0.000,0.048,2659,2150,3320
$GC,3332,-0.64,-117.3,228.3,-6.5,297,3336,0.00,2.40,0.00,0.000,4,0.000,0.071,2659,3606,3320
$GC,3371,-0.64,-117.3,231.0,-6.9,298,3377,0.00,2.28,0.00,0.000,6,0.000,0.046,2659,2140,3320
$GC,3687,-0.64,-117.3,249.6,-5.5,314,3691,0.00,2.20,0.00,0.000,4,0.000,0.071,2659,799,3320
$GC,3719,-0.64,-117.3,251.6,-5.9,315,3726,0.00,2.15,0.00,0.000,6,0.000,0.048,2659,2151,3320
$GC,4036,-0.64,-117.3,267.7,-5.1,331,4040,0.00,2.40,0.00,0.000,4,0.000,0.071,2658,3601,3320
$GC,4079,-0.64,-117.3,270.3,-5.9,333,4084,0.00,2.28,0.00,0.000,6,0.000,0.046,2659,2167,3320
$GC,4407,-0.64,-117.3,286.2,-4.6,349,4411,0.00,2.25,0.00,0.000,4,0.000,0.071,2659,797,3320
$GC,4447,-0.69,-117.3,288.2,-5.4,351,4451,0.00,2.17,0.00,0.000,6,0.000,0.049,2659,2178,3320
$GC,4772,-0.69,-117.3,303.6,-4.6,365,4776,0.00,2.38,0.00,0.000,4,0.000,0.073,2659,3607,3319
$GC,4804,-0.69,-117.3,305.4,-5.3,365,4808,0.00,2.25,0.00,0.000,6,0.000,0.046,2659,2167,3319
$GC,5136,-0.69,-117.3,322.0,-5.1,371,5140,0.00,2.25,0.00,0.000,4,0.000,0.072,2659,804,3319
$GC,5185,-0.77,-117.3,324.8,-5.8,371,5190,0.15,2.12,0.00,0.000,6,0.057,0.050,2626,2154,3319
$GC,5494,-0.65,-117.3,345.4,-6.7,376,5499,0.15,2.42,0.00,0.000,4,0.087,0.071,2655,3606,3318
$GC,5566,-0.65,-117.3,349.6,-5.7,377,5570,0.00,2.25,0.00,0.000,6,0.000,0.046,2655,2187,3317
$GC,5926,-0.65,-117.3,368.1,-5.1,383,5930,0.00,2.30,0.00,0.000,4,0.000,0.073,2655,797,3318
$GC,5976,-0.70,-117.3,370.7,-5.5,383,5980,0.00,2.20,0.00,0.000,6,0.000,0.051,2655,2189,3318
$GC,6286,-0.70,-117.3,386.1,-5.0,388,6290,0.00,2.35,0.00,0.000,4,0.000,0.074,2655,3601,3317
$GC,6318,-0.70,-117.3,388.0,-5.3,388,6323,0.00,2.22,0.00,0.000,6,0.000,0.048,2655,2170,3316
$GC,6651,-0.70,-117.3,405.9,-5.5,394,6655,0.00,2.28,0.00,0.000,4,0.000,0.075,2655,800,3317
$GC,6691,-0.76,-117.3,408.5,-6.5,394,6695,0.00,2.15,0.00,0.000,6,0.000,0.052,2655,2159,3316
$GC,7013,-0.76,-117.3,428.2,-6.2,400,7017,0.00,2.40,0.00,0.000,4,0.000,0.075,2655,3601,3317
$GC,7056,-0.76,-117.3,431.2,-7.0,400,7060,0.00,2.28,0.00,0.000,6,0.000,0.048,2655,2159,3316
$GC,7379,-0.76,-117.3,450.8,-6.1,406,7383,0.12,2.28,0.00,0.000,4,0.064,0.076,2627,800,3316
$GC,7418,-0.70,-117.3,453.8,-7.6,406,7422,0.00,2.17,0.00,0.000,6,0.000,0.053,2627,2169,3316
$GC,7740,-0.61,-117.3,476.8,-7.2,412,7745,0.17,2.38,0.00,0.000,4,0.085,0.074,2661,3602,3316
$GC,7779,-0.67,-117.3,479.4,-6.1,412,7783,0.00,2.28,0.00,0.000,6,0.000,0.048,2661,2162,3316
$GC,8100,-0.74,-117.3,496.4,-5.3,418,8104,0.12,2.28,0.00,0.000,4,0.064,0.079,2632,805,3316
$GC,8143,-0.74,-117.3,499.4,-7.1,418,8147,0.00,2.17,0.00,0.000,6,0.000,0.054,2632,2145,3316
$GC,8469,-0.68,-117.3,521.2,-6.7,424,8473,0.00,2.45,0.00,0.000,4,0.000,0.077,2632,3605,3315
$GC,8525,-0.61,-117.3,525.5,-7.6,424,8531,0.20,2.28,0.00,0.000,6,0.082,0.050,2666,2168,3314
$GC,8834,-0.78,-117.3,545.6,-6.7,430,8839,0.17,2.45,0.00,0.000,4,0.056,0.077,2625,3608,3314
$GC,8883,-0.70,-117.3,549.5,-7.8,430,8888,0.12,2.10,0.00,0.000,6,0.093,0.049,2646,2285,3314
$GC,9198,-0.70,-117.3,570.2,-6.6,436,9202,0.00,2.53,0.00,0.000,4,0.000,0.084,2646,798,3314
$GC,9275,-0.70,-117.3,575.5,-6.4,437,9279,0.00,2.33,0.00,0.000,6,0.000,0.059,2646,2231,3314
$GC,9629,-0.70,-117.3,597.3,-6.0,443,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2231,3313
$GC,9932,-0.70,-117.3,614.1,-5.6,448,9936,0.00,2.42,0.00,0.000,4,0.000,0.080,2646,803,3313
$GC,9976,-0.70,-117.3,616.4,-4.9,448,9979,0.00,2.28,0.00,0.000,6,0.000,0.058,2646,2209,3313
$GC,10296,-0.70,-117.3,632.0,-4.9,454,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2210,3313
$GC,10599,-0.70,-117.3,646.1,-4.6,459,10603,0.00,2.40,0.00,0.000,4,0.000,0.081,2646,795,3312
$GC,10643,-0.70,-117.3,648.2,-5.0,459,10646,0.00,2.22,0.00,0.000,6,0.000,0.059,2646,2171,3313
$GC,10963,-0.70,-117.3,661.9,-4.3,465,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2171,3312
$GC,11266,-0.70,-117.3,674.9,-4.3,470,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2171,3312
$GC,11569,-0.70,-117.3,688.2,-4.4,475,11573,0.00,2.35,0.00,0.000,4,0.000,0.084,2646,796,3312
$GC,11601,-0.70,-117.3,689.8,-4.9,475,11605,0.00,2.20,0.00,0.000,6,0.000,0.061,2646,2156,3312
$GC,11935,-0.70,-117.3,703.5,-4.1,481,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2156,3311
$GC,12236,-0.70,-117.3,716.6,-4.4,486,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2156,3310
$GC,12539,-0.70,-117.3,731.2,-4.9,491,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2156,3310
$GC,12842,-0.70,-117.3,746.3,-5.0,496,12846,0.00,2.33,0.00,0.000,4,0.000,0.086,2646,803,3310
$GC,12877,-0.74,-117.3,748.0,-5.7,496,12881,0.00,2.17,0.00,0.000,6,0.000,0.061,2646,2139,3310
$GC,13203,-0.74,-117.3,763.9,-4.9,502,13207,0.00,2.55,0.00,0.000,4,0.000,0.092,2645,3605,3310
$GC,13246,-0.74,-117.3,766.4,-5.3,502,13251,0.00,2.38,0.00,0.000,6,0.000,0.054,2646,2132,3309
$GC,13563,-0.74,-117.3,781.2,-4.7,508,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2131,3310
$GC,13864,-0.85,-117.3,797.6,-5.7,513,13869,0.15,2.58,0.00,0.000,4,0.060,0.089,2608,3599,3309
$GC,13977,-0.71,-117.3,805.3,-6.9,514,13982,0.20,2.33,0.00,0.000,6,0.084,0.058,2641,2165,3309
$GC,14291,-0.71,-117.3,822.4,-5.3,520,14295,0.00,2.40,0.00,0.000,4,0.000,0.096,2641,793,3309
$GC,14334,-0.75,-117.3,824.9,-5.7,520,14339,0.00,2.25,0.00,0.000,6,0.000,0.064,2641,2164,3309
$GC,14655,-0.75,-117.3,842.5,-5.5,526,14659,0.00,2.50,0.00,0.000,4,0.000,0.094,2641,3598,3309
$GC,14716,-0.75,-117.3,846.1,-6.1,527,14720,0.00,2.30,0.00,0.000,6,0.000,0.058,2641,2183,3309
$GC,15081,-0.75,-117.3,864.9,-5.1,533,15085,0.00,2.45,0.00,0.000,4,0.000,0.097,2641,792,3309
$GC,15147,-0.79,-117.3,868.6,-5.8,534,15151,0.00,2.22,0.00,0.000,6,0.000,0.066,2641,2143,3308
$GC,15507,-0.79,-117.3,886.4,-5.0,540,15512,0.00,2.58,0.00,0.000,4,0.000,0.095,2641,3608,3309
$GC,15557,-0.79,-117.3,889.3,-5.4,540,15561,0.00,2.42,0.00,0.000,6,0.000,0.061,2641,2131,3308
$GC,15874,-0.79,-117.3,905.0,-5.0,546,15878,0.00,2.38,0.00,0.000,4,0.000,0.100,2641,788,3308
$GC,15918,-0.84,-117.3,907.6,-5.4,546,15922,0.12,2.25,0.00,0.000,6,0.063,0.067,2614,2148,3308
$GC,16234,-0.75,-117.3,926.6,-6.1,552,16239,0.12,2.58,0.00,0.000,4,0.096,0.097,2635,3602,3308
$GC,16295,-0.75,-117.3,930.3,-5.6,553,16300,0.00,2.40,0.00,0.000,6,0.000,0.064,2635,2151,3308
$GC,16661,-0.75,-117.3,948.1,-4.7,559,16664,0.00,2.42,0.00,0.000,4,0.000,0.103,2635,787,3308
$GC,16694,-0.75,-117.3,949.7,-5.2,559,16698,0.00,2.33,0.00,0.000,6,0.000,0.069,2635,2183,3308
$GC,17025,-0.75,-117.3,965.4,-4.7,565,17027,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2183,3308
$GC,17330,-0.75,-117.3,979.3,-4.6,570,17334,0.00,2.50,0.00,0.000,4,0.000,0.102,2635,793,3308
$GC,17368,-0.75,-117.3,981.2,-5.5,570,17372,0.00,2.30,0.00,0.000,6,0.000,0.071,2635,2168,3308
$STATE,17625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17625,begin apogee
$GC,17631,-0.23,0.0,992.1,4.3,575,17736,0.65,0.00,102.43,1.488,6,0.073,0.000,2745,2205,2837
$STATE,17737,end apogee,CONTROL_FINISHED_OK
$STATE,17737,begin climb
$GC,17739,0.67,117.3,992.9,0.0,576,17857,1.17,2.78,109.90,1.441,4,0.047,0.101,2948,3595,2358
$GC,17870,0.35,117.3,987.5,8.9,579,17876,0.47,2.55,0.00,0.000,6,0.094,0.071,2878,2207,2358
$GC,18235,0.35,117.3,962.1,6.7,585,18240,0.00,2.55,0.00,0.000,4,0.000,0.108,2878,785,2357
$GC,18274,0.30,117.3,959.3,7.3,585,18278,0.00,2.38,0.00,0.000,6,0.000,0.072,2878,2183,2357
$GC,18594,0.30,117.3,938.2,6.6,591,18595,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2183,2356
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$STATE,33233,end climb,SURFACE_DEPTH_REACHED
$STATE,33233,begin surface coast
$FINISH,-0.0,1.024501
$STATE,33266,end surface coast,CONTROL_FINISHED_OK
$STATE,33266,begin surface
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