version: 66.03
glider: 119
mission: 5
dive: 93
start: 10 16 108 22 0 6
data:
$ID,119
$MISSION,5
$DIVE,93
$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,-211504.78
$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,13
$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
$GPS1,215037,4752.497,-12610.841,27,1.2,27,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.4
$GPS2,215914,4752.473,-12610.851,10,1.4,15,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,0.105
$KALMAN_X,11807.4,49.3,167.4,-104069.2,-1608.5
$KALMAN_Y,133614.1,513.8,487.0,-34731.9,-424.7
$MHEAD_RNG_PITCHd_Wd,38.5,48887,-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,-117.3,0.0,0.0,0,95,0.00,0.00,-71.68,0.000,2,0.000,0.000,862,2225,3122
$GC,98,-0.67,-117.3,4.1,-6.8,7,121,12.40,2.30,-3.72,0.000,4,0.149,0.076,2648,3602,3317
$GC,375,-0.48,-117.3,45.7,-8.9,37,382,0.25,2.22,0.00,0.000,6,0.080,0.042,2689,2178,3317
$GC,721,-0.48,-117.3,67.2,-6.6,98,727,0.00,2.25,0.00,0.000,4,0.000,0.067,2689,802,3317
$GC,767,-0.53,-117.3,70.3,-6.7,106,774,0.00,2.22,0.00,0.000,6,0.000,0.048,2689,2200,3318
$GC,1102,-0.59,-117.3,90.2,-5.5,151,1106,0.00,2.33,0.00,0.000,4,0.000,0.071,2689,3609,3317
$GC,1135,-0.67,-117.3,92.0,-5.3,153,1142,0.20,2.20,0.00,0.000,6,0.049,0.044,2647,2196,3317
$GC,1460,-0.57,-117.3,116.4,-7.4,184,1464,0.15,2.30,0.00,0.000,4,0.086,0.067,2676,796,3318
$GC,1544,-0.65,-117.3,121.7,-6.2,191,1548,0.00,2.15,0.00,0.000,6,0.000,0.049,2676,2158,3317
$GC,1870,-0.83,-117.3,142.4,-6.7,221,1875,0.28,2.40,0.00,0.000,4,0.044,0.071,2613,3604,3317
$GC,2127,-0.62,-117.3,164.9,-8.9,236,2134,0.22,1.88,0.00,0.000,6,0.074,0.044,2657,2408,3317
$GC,2443,-0.62,-117.3,184.6,-6.2,252,2447,0.00,2.62,0.00,0.000,4,0.000,0.066,2657,798,3317
$GC,2497,-0.62,-117.3,188.1,-5.8,254,2504,0.00,2.50,0.00,0.000,6,0.000,0.050,2657,2359,3317
$GC,2813,-0.62,-117.3,206.6,-6.0,270,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2359,3317
$GC,3123,-0.62,-117.3,223.4,-4.7,285,3127,0.00,2.55,0.00,0.000,4,0.000,0.065,2657,803,3318
$GC,3179,-0.62,-117.3,226.1,-4.5,287,3186,0.00,2.40,0.00,0.000,6,0.000,0.050,2657,2327,3317
$GC,3495,-0.62,-117.3,239.5,-4.5,303,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2327,3317
$GC,3805,-0.62,-117.3,254.8,-5.3,318,3809,0.00,2.50,0.00,0.000,4,0.000,0.066,2657,799,3317
$GC,3871,-0.67,-117.3,258.6,-5.7,321,3875,0.00,2.35,0.00,0.000,6,0.000,0.051,2656,2283,3317
$GC,4192,-0.67,-117.3,276.7,-6.1,337,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2283,3317
$GC,4502,-0.67,-117.3,294.8,-5.6,352,4505,0.00,2.45,0.00,0.000,4,0.000,0.068,2656,792,3317
$GC,4551,-0.72,-117.3,297.7,-5.7,354,4555,0.00,2.22,0.00,0.000,6,0.000,0.051,2656,2201,3317
$GC,4913,-0.72,-117.3,317.8,-5.6,362,4917,0.00,2.33,0.00,0.000,4,0.000,0.074,2656,3601,3317
$GC,4951,-0.72,-117.3,320.1,-5.8,362,4955,0.00,2.22,0.00,0.000,6,0.000,0.047,2656,2189,3316
$GC,5279,-0.72,-117.3,337.0,-5.2,368,5283,0.00,2.30,0.00,0.000,4,0.000,0.073,2657,799,3316
$GC,5328,-0.77,-117.3,339.8,-5.7,368,5333,0.15,2.20,0.00,0.000,6,0.057,0.051,2624,2190,3316
$GC,5645,-0.65,-117.3,359.1,-6.1,374,5650,0.15,2.35,0.00,0.000,4,0.087,0.071,2653,3602,3316
$GC,5689,-0.65,-117.3,361.6,-5.4,374,5693,0.00,2.28,0.00,0.000,6,0.000,0.047,2653,2151,3316
$GC,6004,-0.65,-117.3,375.7,-4.4,380,6008,0.00,2.22,0.00,0.000,4,0.000,0.074,2653,805,3316
$GC,6037,-0.65,-117.3,377.3,-5.1,380,6041,0.00,2.17,0.00,0.000,6,0.000,0.051,2653,2180,3316
$GC,6369,-0.65,-117.3,394.5,-5.2,386,6373,0.00,2.38,0.00,0.000,4,0.000,0.074,2653,3610,3316
$GC,6401,-0.65,-117.3,396.4,-6.1,386,6405,0.00,2.33,0.00,0.000,6,0.000,0.048,2653,2148,3315
$GC,6733,-0.65,-117.3,413.2,-5.0,392,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2148,3315
$GC,7037,-0.65,-117.3,427.0,-4.5,397,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2148,3315
$GC,7339,-0.65,-117.3,441.9,-5.0,402,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2148,3314
$GC,7642,-0.65,-117.3,457.5,-5.1,407,7646,0.00,2.45,0.00,0.000,4,0.000,0.075,2653,3600,3314
$GC,7674,-0.65,-117.3,459.2,-5.9,407,7678,0.00,2.28,0.00,0.000,6,0.000,0.048,2653,2179,3313
$GC,8009,-0.65,-117.3,475.4,-4.9,413,8013,0.00,2.30,0.00,0.000,4,0.000,0.080,2652,806,3313
$GC,8064,-0.71,-117.3,478.6,-5.3,413,8070,0.00,2.15,0.00,0.000,6,0.000,0.054,2652,2157,3313
$GC,8373,-0.71,-117.3,492.2,-4.3,419,8377,0.00,2.42,0.00,0.000,4,0.000,0.077,2652,3606,3313
$GC,8412,-0.71,-117.3,493.9,-4.1,419,8416,0.00,2.33,0.00,0.000,6,0.000,0.048,2653,2131,3312
$GC,8732,-0.71,-117.3,505.7,-3.7,425,8736,0.00,2.25,0.00,0.000,4,0.000,0.082,2653,797,3312
$GC,8782,-0.78,-117.3,507.8,-4.2,425,8785,0.00,2.15,0.00,0.000,6,0.000,0.056,2653,2140,3312
$GC,9091,-0.78,-117.3,518.4,-3.3,430,9095,0.00,2.45,0.00,0.000,4,0.000,0.077,2652,3599,3312
$GC,9140,-0.78,-117.3,520.2,-3.7,430,9144,0.00,2.33,0.00,0.000,6,0.000,0.050,2653,2137,3311
$GC,9457,-0.82,-117.3,532.2,-3.9,436,9462,0.15,2.28,0.00,0.000,4,0.061,0.083,2616,802,3312
$GC,9501,-0.71,-117.3,534.9,-6.3,436,9506,0.15,2.17,0.00,0.000,6,0.087,0.057,2641,2155,3312
$GC,9817,-0.71,-117.3,551.1,-5.1,442,9822,0.00,2.45,0.00,0.000,4,0.000,0.079,2641,3610,3312
$GC,9856,-0.71,-117.3,553.5,-6.0,442,9860,0.00,2.33,0.00,0.000,6,0.000,0.051,2642,2147,3311
$GC,10182,-0.71,-117.3,572.0,-5.8,448,10186,0.00,2.30,0.00,0.000,4,0.000,0.087,2642,803,3311
$GC,10237,-0.71,-117.3,575.7,-7.2,448,10243,0.00,2.17,0.00,0.000,6,0.000,0.059,2641,2145,3311
$GC,10546,-0.71,-117.3,594.5,-6.1,454,10550,0.00,2.47,0.00,0.000,4,0.000,0.081,2641,3600,3311
$GC,10589,-0.71,-117.3,597.3,-6.6,454,10593,0.00,2.35,0.00,0.000,6,0.000,0.052,2641,2132,3311
$GC,10910,-0.71,-117.3,614.7,-5.4,460,10914,0.00,2.28,0.00,0.000,4,0.000,0.087,2641,801,3311
$GC,10947,-0.71,-117.3,616.9,-5.5,460,10952,0.00,2.20,0.00,0.000,6,0.000,0.058,2641,2147,3311
$GC,11274,-0.71,-117.3,634.0,-5.3,466,11278,0.00,2.47,0.00,0.000,4,0.000,0.084,2641,3600,3311
$GC,11301,-0.76,-117.3,635.7,-6.2,466,11305,0.00,2.33,0.00,0.000,6,0.000,0.051,2641,2129,3310
$GC,11640,-0.88,-117.3,656.0,-6.1,472,11645,0.15,2.55,0.00,0.000,4,0.060,0.082,2605,3610,3310
$GC,11763,-0.71,-117.3,665.0,-7.1,473,11770,0.22,2.70,0.00,0.000,6,0.087,0.055,2642,1937,3310
$GC,12073,-0.71,-117.3,681.8,-5.4,479,12077,0.00,2.88,0.00,0.000,4,0.000,0.082,2641,3609,3309
$GC,12121,-0.71,-117.3,684.7,-6.4,479,12126,0.00,2.55,0.00,0.000,6,0.000,0.053,2642,2025,3310
$GC,12438,-0.71,-117.3,701.4,-5.4,485,12442,0.00,2.72,0.00,0.000,4,0.000,0.084,2641,3606,3309
$GC,12475,-0.71,-117.3,703.9,-6.2,485,12479,0.00,2.45,0.00,0.000,6,0.000,0.053,2642,2083,3309
$GC,12802,-0.71,-117.3,721.8,-5.5,491,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2083,3309
$GC,13105,-0.71,-117.3,738.0,-5.4,496,13109,0.00,2.62,0.00,0.000,4,0.000,0.086,2641,3603,3309
$GC,13148,-0.71,-117.3,740.5,-5.8,496,13152,0.00,2.38,0.00,0.000,6,0.000,0.054,2642,2128,3309
$GC,13469,-0.71,-117.3,757.1,-5.2,502,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2128,3308
$GC,13772,-0.71,-117.3,772.3,-5.1,507,13776,0.00,2.55,0.00,0.000,4,0.000,0.088,2641,3599,3308
$GC,13815,-0.71,-117.3,774.8,-5.3,507,13820,0.00,2.35,0.00,0.000,6,0.000,0.055,2642,2142,3309
$GC,14136,-0.71,-117.3,792.0,-5.4,513,14140,0.00,2.33,0.00,0.000,4,0.000,0.096,2642,807,3308
$GC,14185,-0.76,-117.3,794.9,-5.7,513,14189,0.00,2.22,0.00,0.000,6,0.000,0.064,2641,2164,3309
$GC,14499,-0.76,-117.3,813.1,-5.8,519,14504,0.00,2.50,0.00,0.000,4,0.000,0.091,2641,3608,3308
$GC,14549,-0.76,-117.3,816.3,-6.3,519,14553,0.00,2.35,0.00,0.000,6,0.000,0.056,2642,2153,3307
$GC,14866,-0.76,-117.3,832.6,-5.1,525,14870,0.00,2.38,0.00,0.000,4,0.000,0.096,2642,793,3307
$GC,14904,-0.76,-117.3,834.6,-5.2,525,14908,0.00,2.28,0.00,0.000,6,0.000,0.065,2641,2177,3307
$GC,15227,-0.76,-117.3,851.4,-5.5,531,15231,0.00,2.47,0.00,0.000,4,0.000,0.094,2641,3600,3307
$GC,15260,-0.76,-117.3,853.5,-5.9,531,15265,0.00,2.35,0.00,0.000,6,0.000,0.061,2642,2165,3307
$GC,15586,-0.76,-117.3,870.3,-5.0,537,15590,0.00,2.42,0.00,0.000,4,0.000,0.099,2641,789,3307
$GC,15642,-0.81,-117.3,873.3,-5.1,537,15646,0.00,2.28,0.00,0.000,6,0.000,0.067,2641,2167,3307
$GC,15951,-0.81,-117.3,888.6,-4.9,542,15956,0.00,2.50,0.00,0.000,4,0.000,0.094,2641,3600,3307
$GC,15995,-0.81,-117.3,890.9,-5.1,542,15999,0.00,2.35,0.00,0.000,6,0.000,0.061,2642,2154,3306
$GC,16316,-0.81,-117.3,907.0,-5.1,548,16320,0.00,2.40,0.00,0.000,4,0.000,0.101,2642,799,3306
$GC,16371,-0.87,-117.3,909.9,-5.7,548,16377,0.17,2.22,0.00,0.000,6,0.058,0.068,2606,2140,3306
$GC,16680,-0.74,-117.3,930.1,-6.7,554,16685,0.17,2.58,0.00,0.000,4,0.089,0.096,2638,3601,3306
$GC,16746,-0.74,-117.3,934.4,-6.1,555,16750,0.00,2.38,0.00,0.000,6,0.000,0.064,2638,2166,3306
$GC,17112,-0.74,-117.3,954.2,-5.4,561,17116,0.00,2.45,0.00,0.000,4,0.000,0.104,2638,791,3306
$GC,17161,-0.78,-117.3,957.0,-4.6,561,17166,0.00,2.30,0.00,0.000,6,0.000,0.070,2638,2173,3306
$GC,17470,-0.78,-117.3,972.1,-4.9,566,17475,0.00,2.55,0.00,0.000,4,0.000,0.100,2638,3608,3306
$GC,17520,-0.78,-117.3,974.6,-5.1,566,17525,0.00,2.40,0.00,0.000,6,0.000,0.067,2638,2173,3306
$GC,17834,-0.78,-117.3,989.6,-4.7,572,17838,0.00,2.47,0.00,0.000,4,0.000,0.106,2638,796,3306
$STATE,17842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17842,begin apogee
$GC,17850,-0.23,0.0,990.2,4.8,572,17956,0.60,0.00,101.55,1.490,6,0.077,0.000,2741,2198,2838
$STATE,17957,end apogee,CONTROL_FINISHED_OK
$STATE,17957,begin climb
$GC,17959,0.67,117.3,992.9,0.0,574,18077,1.15,2.75,109.88,1.440,4,0.051,0.100,2940,3603,2357
$GC,18116,0.38,117.3,985.4,9.3,575,18121,0.35,2.55,0.00,0.000,6,0.089,0.071,2888,2197,2357
$GC,18441,0.38,117.3,964.3,6.3,581,18446,0.00,2.55,0.00,0.000,4,0.000,0.096,2888,3609,2357
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