version: 66.03
glider: 119
mission: 5
dive: 278
start: 12 11 108 0 29 20
data:
$ID,119
$MISSION,5
$DIVE,278
$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,-214899.69
$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,40
$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
$GPS1,002244,4714.326,-12750.716,40,1.5,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.6
$GPS2,002826,4714.309,-12750.669,10,1.5,15,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.119
$KALMAN_X,-5489.9,-143.6,-112.9,-212412.3,-1567.6
$KALMAN_Y,321640.3,210.9,247.2,-292902.0,-1833.5
$MHEAD_RNG_PITCHd_Wd,33.7,190599,-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,-117.3,0.0,0.0,0,64,0.00,0.00,-41.47,0.000,2,0.000,0.000,862,2227,2330
$GC,67,-0.67,-117.3,3.1,-3.1,4,122,12.15,2.47,-36.58,0.000,4,0.140,0.069,2649,795,3316
$GC,161,-0.46,-117.3,9.1,-9.6,12,168,0.28,2.17,0.00,0.000,6,0.079,0.042,2695,2190,3315
$GC,487,-0.46,-117.3,33.9,-7.6,43,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2190,3316
$GC,819,-0.46,-117.3,57.9,-7.2,95,825,0.00,2.25,0.00,0.000,4,0.000,0.057,2695,785,3316
$GC,893,-0.46,-117.3,63.6,-7.6,108,900,0.00,2.12,0.00,0.000,6,0.000,0.041,2695,2163,3316
$GC,1239,-0.53,-117.3,84.3,-5.6,163,1243,0.00,2.22,0.00,0.000,4,0.000,0.058,2695,782,3316
$GC,1267,-0.63,-117.3,86.0,-6.3,165,1272,0.17,2.10,0.00,0.000,6,0.050,0.041,2656,2140,3316
$GC,1592,-0.54,-117.3,111.2,-8.1,195,1597,0.15,2.45,0.00,0.000,4,0.081,0.062,2682,3597,3316
$GC,1660,-0.60,-117.3,116.4,-7.0,200,1666,0.00,2.20,0.00,0.000,6,0.000,0.041,2682,2188,3316
$GC,1987,-0.66,-117.3,136.9,-5.4,231,1992,0.15,2.30,0.00,0.000,4,0.054,0.061,2647,802,3317
$GC,2087,-0.61,-117.3,144.2,-7.4,239,2094,0.00,2.17,0.00,0.000,6,0.000,0.043,2647,2210,3317
$GC,2406,-0.55,-117.3,166.0,-7.0,259,2411,0.17,2.38,0.00,0.000,4,0.080,0.064,2680,3605,3316
$GC,2439,-0.64,-117.3,168.2,-6.3,260,2445,0.00,2.17,0.00,0.000,6,0.000,0.042,2681,2218,3317
$GC,2755,-0.87,-117.3,187.2,-6.4,276,2760,0.35,2.38,0.00,0.000,4,0.042,0.064,2603,3606,3316
$GC,3012,-0.63,-117.3,211.1,-9.5,287,3020,0.32,2.75,0.00,0.000,6,0.080,0.045,2658,1892,3316
$GC,3328,-0.63,-117.3,229.6,-5.5,303,3332,0.00,2.92,0.00,0.000,4,0.000,0.063,2657,3601,3316
$GC,3422,-0.63,-117.3,235.6,-6.8,307,3426,0.00,2.65,0.00,0.000,6,0.000,0.045,2658,1952,3316
$GC,3738,-0.63,-117.3,254.2,-6.0,322,3742,0.00,2.80,0.00,0.000,4,0.000,0.064,2657,3600,3317
$GC,3799,-0.63,-117.3,258.1,-6.2,325,3804,0.00,2.55,0.00,0.000,6,0.000,0.045,2658,2011,3317
$GC,4128,-0.63,-117.3,275.8,-5.1,341,4132,0.00,2.70,0.00,0.000,4,0.000,0.064,2657,3600,3316
$GC,4172,-0.63,-117.3,278.4,-5.4,343,4176,0.00,2.42,0.00,0.000,6,0.000,0.044,2658,2081,3316
$GC,4493,-0.63,-117.3,294.7,-5.3,359,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2081,3316
$GC,4838,-0.63,-117.3,313.3,-5.4,368,4842,0.00,2.58,0.00,0.000,4,0.000,0.066,2657,3596,3316
$GC,4900,-0.63,-117.3,316.9,-5.8,369,4904,0.00,2.35,0.00,0.000,6,0.000,0.044,2657,2123,3315
$GC,5266,-0.63,-117.3,337.4,-5.6,375,5270,0.00,2.22,0.00,0.000,4,0.000,0.070,2658,801,3315
$GC,5304,-0.68,-117.3,339.8,-5.9,375,5308,0.00,2.10,0.00,0.000,6,0.000,0.044,2657,2145,3315
$GC,5631,-0.68,-117.3,356.8,-5.1,381,5635,0.00,2.45,0.00,0.000,4,0.000,0.067,2657,3600,3315
$GC,5669,-0.68,-117.3,358.9,-5.4,381,5673,0.00,2.33,0.00,0.000,6,0.000,0.045,2658,2130,3315
$GC,5990,-0.68,-117.3,374.1,-4.8,387,5994,0.00,2.22,0.00,0.000,4,0.000,0.069,2658,796,3315
$GC,6029,-0.74,-117.3,376.0,-5.1,387,6033,0.00,2.12,0.00,0.000,6,0.000,0.044,2657,2157,3315
$GC,6350,-0.74,-117.3,391.3,-4.7,393,6354,0.00,2.42,0.00,0.000,4,0.000,0.069,2657,3597,3314
$GC,6388,-0.74,-117.3,393.4,-5.6,393,6392,0.00,2.30,0.00,0.000,6,0.000,0.045,2658,2146,3314
$GC,6711,-0.78,-117.3,409.2,-4.9,399,6716,0.15,2.25,0.00,0.000,4,0.059,0.069,2624,799,3313
$GC,6744,-0.71,-117.3,411.2,-6.8,399,6748,0.00,2.15,0.00,0.000,6,0.000,0.045,2624,2184,3313
$GC,7077,-0.61,-117.3,431.5,-6.1,405,7082,0.20,2.42,0.00,0.000,4,0.082,0.068,2663,3605,3313
$GC,7122,-0.67,-117.3,434.1,-5.0,405,7126,0.00,2.25,0.00,0.000,6,0.000,0.045,2663,2185,3313
$GC,7437,-0.73,-117.3,449.9,-5.2,411,7445,0.12,2.30,0.00,0.000,4,0.063,0.070,2635,801,3313
$GC,7490,-0.73,-117.3,453.6,-6.8,411,7494,0.00,2.15,0.00,0.000,6,0.000,0.047,2635,2172,3313
$GC,7806,-0.69,-117.3,474.6,-6.7,417,7810,0.00,2.40,0.00,0.000,4,0.000,0.070,2635,3608,3312
$GC,7869,-0.63,-117.3,479.0,-7.4,418,7874,0.15,2.30,0.00,0.000,6,0.086,0.047,2661,2157,3312
$GC,8235,-0.70,-117.3,497.9,-5.0,424,8239,0.00,2.28,0.00,0.000,4,0.000,0.074,2661,796,3312
$GC,8280,-0.79,-117.3,500.1,-5.5,424,8285,0.17,2.15,0.00,0.000,6,0.055,0.048,2625,2163,3312
$GC,8595,-0.69,-117.3,517.8,-5.5,430,8599,0.12,2.42,0.00,0.000,4,0.091,0.070,2646,3603,3312
$GC,8667,-0.69,-117.3,521.5,-4.9,431,8671,0.00,2.25,0.00,0.000,6,0.000,0.047,2646,2176,3311
$GC,9027,-0.69,-117.3,536.8,-4.2,437,9031,0.00,2.30,0.00,0.000,4,0.000,0.075,2646,800,3311
$GC,9065,-0.69,-117.3,538.7,-4.4,437,9069,0.00,2.20,0.00,0.000,6,0.000,0.048,2646,2195,3311
$GC,9392,-0.69,-117.3,553.6,-4.6,443,9396,0.00,2.40,0.00,0.000,4,0.000,0.073,2646,3607,3311
$GC,9435,-0.69,-117.3,555.8,-5.4,443,9440,0.00,2.25,0.00,0.000,6,0.000,0.048,2646,2198,3310
$GC,9750,-0.69,-117.3,572.2,-5.3,449,9754,0.00,2.35,0.00,0.000,4,0.000,0.077,2646,795,3310
$GC,9789,-0.69,-117.3,574.5,-6.3,449,9793,0.00,2.25,0.00,0.000,6,0.000,0.050,2646,2211,3310
$GC,10115,-0.69,-117.3,593.2,-5.9,455,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2211,3310
$GC,10418,-0.69,-117.3,610.5,-5.7,460,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2211,3309
$GC,10723,-0.69,-117.3,627.7,-5.7,465,10727,0.00,2.38,0.00,0.000,4,0.000,0.072,2646,791,3309
$GC,10763,-0.69,-117.3,630.0,-6.2,465,10767,0.00,2.25,0.00,0.000,6,0.000,0.051,2646,2208,3309
$GC,11083,-0.69,-117.3,647.2,-5.3,471,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2208,3309
$GC,11385,-0.69,-117.3,663.7,-5.5,476,11390,0.00,2.38,0.00,0.000,4,0.000,0.074,2646,793,3309
$GC,11430,-0.74,-117.3,666.4,-6.3,476,11434,0.00,2.20,0.00,0.000,6,0.000,0.051,2646,2172,3309
$GC,11747,-0.74,-117.3,683.1,-5.4,482,11751,0.00,2.42,0.00,0.000,4,0.000,0.076,2646,3600,3309
$GC,11785,-0.74,-117.3,685.6,-6.4,482,11789,0.00,2.30,0.00,0.000,6,0.000,0.050,2646,2157,3309
$GC,12113,-0.74,-117.3,703.5,-5.5,488,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2157,3308
$GC,12414,-0.74,-117.3,720.4,-5.6,493,12418,0.00,2.33,0.00,0.000,4,0.000,0.081,2646,795,3309
$GC,12447,-0.79,-117.3,722.4,-6.0,493,12451,0.00,2.22,0.00,0.000,6,0.000,0.051,2646,2194,3308
$GC,12773,-0.79,-117.3,740.4,-5.5,499,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2194,3308
$GC,13076,-0.79,-117.3,756.3,-5.1,504,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2194,3308
$GC,13379,-0.79,-117.3,771.5,-5.0,509,13383,0.00,2.35,0.00,0.000,4,0.000,0.078,2646,802,3308
$GC,13429,-0.85,-117.3,774.1,-5.2,509,13434,0.17,2.17,0.00,0.000,6,0.055,0.052,2610,2166,3308
$GC,13749,-0.73,-117.3,794.1,-6.3,515,13754,0.15,2.45,0.00,0.000,4,0.089,0.078,2638,3604,3307
$GC,13827,-0.73,-117.3,798.8,-5.6,516,13831,0.00,2.28,0.00,0.000,6,0.000,0.049,2638,2180,3307
$GC,14176,-0.73,-117.3,816.3,-5.0,522,14180,0.00,2.35,0.00,0.000,4,0.000,0.081,2638,798,3307
$GC,14248,-0.77,-117.3,820.3,-5.2,523,14252,0.00,2.22,0.00,0.000,6,0.000,0.053,2638,2191,3307
$GC,14609,-0.77,-117.3,838.1,-4.9,529,14613,0.00,2.45,0.00,0.000,4,0.000,0.080,2638,3607,3307
$GC,14647,-0.77,-117.3,840.2,-5.4,529,14651,0.00,2.30,0.00,0.000,6,0.000,0.050,2638,2167,3307
$GC,14973,-0.77,-117.3,856.4,-5.0,535,14978,0.00,2.35,0.00,0.000,4,0.000,0.081,2638,789,3307
$GC,15012,-0.77,-117.3,858.5,-5.9,535,15016,0.00,2.25,0.00,0.000,6,0.000,0.053,2638,2193,3307
$GC,15333,-0.77,-117.3,874.2,-4.9,541,15337,0.00,2.40,0.00,0.000,4,0.000,0.081,2638,3602,3306
$GC,15371,-0.77,-117.3,876.2,-5.2,541,15375,0.00,2.30,0.00,0.000,6,0.000,0.050,2638,2165,3306
$GC,15692,-0.77,-117.3,891.5,-4.7,547,15696,0.00,2.33,0.00,0.000,4,0.000,0.084,2638,802,3306
$GC,15747,-0.77,-117.3,894.2,-5.0,547,15753,0.00,2.17,0.00,0.000,6,0.000,0.054,2638,2154,3306
$GC,16056,-0.77,-117.3,908.6,-4.6,553,16060,0.00,2.50,0.00,0.000,4,0.000,0.082,2638,3600,3306
$GC,16111,-0.77,-117.3,911.5,-5.2,553,16117,0.00,2.33,0.00,0.000,6,0.000,0.050,2639,2149,3305
$GC,16423,-0.77,-117.3,927.1,-5.1,559,16427,0.00,2.33,0.00,0.000,4,0.000,0.086,2638,796,3305
$GC,16478,-0.82,-117.3,930.2,-4.8,559,16484,0.00,2.17,0.00,0.000,6,0.000,0.054,2638,2153,3305
$GC,16788,-0.82,-117.3,946.6,-5.3,565,16792,0.00,2.50,0.00,0.000,4,0.000,0.084,2638,3603,3305
$GC,16838,-0.82,-117.3,949.6,-6.2,565,16842,0.00,2.33,0.00,0.000,6,0.000,0.051,2639,2154,3305
$GC,17153,-0.82,-117.3,966.4,-5.3,571,17157,0.00,2.33,0.00,0.000,4,0.000,0.087,2638,799,3305
$GC,17197,-0.87,-117.3,968.9,-5.7,571,17201,0.15,2.17,0.00,0.000,6,0.061,0.056,2608,2153,3305
$GC,17523,-0.76,-117.3,990.0,-6.5,577,17527,0.15,2.00,0.00,0.000,3,0.092,0.078,2636,3336,3305
$STATE,17528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17528,begin apogee
$GC,17536,-0.23,0.0,990.4,6.5,577,17643,0.62,0.00,103.53,1.504,6,0.077,0.000,2744,2198,2837
$STATE,17643,end apogee,CONTROL_FINISHED_OK
$STATE,17643,begin climb
$GC,17646,0.67,117.3,992.0,0.0,578,17769,1.15,2.78,115.45,1.459,4,0.048,0.093,2945,799,2358
$GC,17814,0.39,117.3,987.5,7.9,580,17819,0.38,2.45,0.00,0.000,6,0.090,0.059,2888,2199,2359
$GC,18134,0.39,117.3,969.4,5.6,586,18135,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2199,2358
$GC,18438,0.40,118.2,952.8,5.5,591,18442,0.00,2.40,0.00,0.000,4,0.000,0.088,2888,796,2358
$GC,18487,0.35,118.2,950.1,6.0,591,18492,0.00,2.22,0.00,0.000,6,0.000,0.058,2888,2168,2358
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