version: 66.03
glider: 119
mission: 5
dive: 191
start: 11 7 108 15 30 39
data:
$ID,119
$MISSION,5
$DIVE,191
$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,-213401.95
$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,17
$R_STBD_OVSHOOT,30
$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
$GPS1,152413,4659.221,-12800.162,41,2.0,47,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-57.8
$GPS2,152945,4659.231,-12800.111,12,1.4,12,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.194,-0.016
$KALMAN_X,-21675.0,166.6,210.0,-208805.5,1410.9
$KALMAN_Y,186040.7,-309.1,301.6,-184734.1,636.2
$MHEAD_RNG_PITCHd_Wd,76.2,230022,-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,20,-0.67,-117.3,0.0,0.0,0,124,0.00,0.00,-101.28,0.000,2,0.000,0.000,862,2209,2731
$GC,126,-0.67,-117.3,3.2,-4.8,10,160,12.07,2.28,-14.45,0.000,4,0.143,0.071,2648,3598,3316
$GC,329,-0.42,-117.3,29.2,-11.7,28,335,0.35,2.22,-0.22,0.000,6,0.081,0.038,2706,2179,3318
$GC,663,-0.42,-117.3,52.6,-6.7,74,670,0.00,2.25,0.00,0.000,4,0.000,0.059,2707,801,3310
$GC,727,-0.49,-117.3,57.0,-6.8,85,733,0.00,2.08,0.00,0.000,6,0.000,0.039,2707,2151,3309
$GC,1071,-0.59,-117.3,74.1,-4.2,146,1077,0.17,0.00,0.00,0.000,6,0.051,0.000,2663,2150,3308
$GC,1402,-0.50,-117.3,98.5,-7.9,185,1406,0.15,2.35,0.00,0.000,4,0.084,0.060,2692,3595,3308
$GC,1445,-0.56,-117.3,101.7,-6.9,188,1452,0.00,2.30,-0.12,0.000,6,0.000,0.039,2692,2107,3322
$GC,1770,-0.62,-117.3,122.0,-6.1,219,1775,0.15,2.15,0.00,0.000,4,0.056,0.062,2654,794,3322
$GC,1803,-0.54,-117.3,124.6,-8.6,221,1810,0.10,2.05,0.00,0.000,6,0.074,0.042,2677,2100,3321
$GC,2127,-0.54,-117.3,144.7,-5.8,252,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2100,3322
$GC,2450,-0.59,-117.3,164.2,-6.2,272,2454,0.00,2.45,0.00,0.000,4,0.000,0.066,2676,3599,3321
$GC,2490,-0.66,-117.3,167.1,-8.0,274,2494,0.00,2.30,0.00,0.000,6,0.000,0.044,2677,2134,3322
$GC,2817,-0.88,-117.3,189.2,-6.5,290,2822,0.35,2.42,0.00,0.000,4,0.042,0.064,2600,3606,3321
$GC,3002,-0.63,-117.3,205.6,-9.0,298,3007,0.35,1.92,0.00,0.000,6,0.079,0.042,2660,2370,3320
$GC,3324,-0.63,-117.3,223.8,-5.5,314,3328,0.00,2.58,0.00,0.000,4,0.000,0.064,2660,797,3320
$GC,3391,-0.70,-117.3,227.9,-6.1,317,3395,0.00,2.38,0.00,0.000,6,0.000,0.044,2660,2315,3320
$GC,3712,-0.70,-117.3,246.3,-6.1,333,3717,0.00,2.45,0.00,0.000,4,0.000,0.063,2660,801,3320
$GC,3740,-0.74,-117.3,248.2,-6.3,334,3744,0.00,2.33,0.00,0.000,6,0.000,0.045,2659,2294,3320
$GC,4056,-0.74,-117.3,266.5,-5.4,349,4060,0.00,2.40,0.00,0.000,4,0.000,0.064,2660,803,3319
$GC,4102,-0.80,-117.3,269.1,-5.4,351,4107,0.17,2.28,0.00,0.000,6,0.054,0.045,2623,2266,3319
$GC,4423,-0.67,-117.3,291.7,-7.2,367,4425,0.17,0.00,0.00,0.000,6,0.084,0.000,2652,2266,3318
$GC,4748,-0.67,-117.3,310.3,-5.5,377,4752,0.00,2.38,0.00,0.000,4,0.000,0.065,2653,806,3317
$GC,4802,-0.67,-117.3,313.5,-5.9,377,4809,0.00,2.22,0.00,0.000,6,0.000,0.045,2652,2231,3317
$GC,5113,-0.67,-117.3,330.5,-5.5,383,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2232,3317
$GC,5414,-0.67,-117.3,347.6,-5.6,388,5418,0.00,2.33,0.00,0.000,4,0.000,0.067,2652,805,3316
$GC,5452,-0.67,-117.3,349.9,-6.0,388,5458,0.00,2.22,0.00,0.000,6,0.000,0.045,2652,2219,3316
$GC,5778,-0.67,-117.3,369.4,-6.0,394,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2219,3315
$GC,6081,-0.67,-117.3,386.3,-5.5,399,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2219,3315
$GC,6387,-0.67,-117.3,400.8,-4.7,404,6391,0.00,2.33,0.00,0.000,4,0.000,0.070,2653,806,3315
$GC,6431,-0.67,-117.3,403.0,-5.1,404,6435,0.00,2.17,0.00,0.000,6,0.000,0.046,2652,2201,3315
$GC,6746,-0.67,-117.3,418.1,-4.9,410,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,3314
$GC,7050,-0.67,-117.3,433.5,-5.1,415,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,3314
$GC,7352,-0.67,-117.3,449.4,-5.3,420,7356,0.00,2.33,0.00,0.000,4,0.000,0.073,2652,798,3313
$GC,7390,-0.72,-117.3,451.6,-5.8,420,7394,0.00,2.17,0.00,0.000,6,0.000,0.048,2652,2186,3313
$GC,7710,-0.72,-117.3,468.8,-5.4,426,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2186,3312
$GC,8013,-0.72,-117.3,486.6,-5.9,431,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2186,3311
$GC,8316,-0.72,-117.3,504.2,-5.7,436,8320,0.00,2.30,0.00,0.000,4,0.000,0.075,2652,808,3311
$GC,8348,-0.77,-117.3,506.1,-6.0,436,8352,0.00,2.15,0.00,0.000,6,0.000,0.050,2652,2169,3311
$GC,8675,-0.82,-117.3,522.4,-4.9,442,8676,0.17,0.00,0.00,0.000,6,0.058,0.000,2616,2169,3311
$GC,8977,-0.70,-117.3,541.1,-6.2,447,8982,0.15,2.38,0.00,0.000,4,0.090,0.071,2645,3598,3310
$GC,9011,-0.70,-117.3,543.3,-6.2,447,9015,0.00,2.25,0.00,0.000,6,0.000,0.048,2645,2175,3310
$GC,9337,-0.70,-117.3,561.1,-5.5,453,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2174,3310
$GC,9640,-0.70,-117.3,578.0,-5.6,458,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2174,3310
$GC,9943,-0.70,-117.3,594.1,-5.3,463,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2172,3309
$GC,10246,-0.70,-117.3,610.0,-5.3,468,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2172,3309
$GC,10549,-0.70,-117.3,626.2,-5.4,473,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2170,3309
$GC,10851,-0.70,-117.3,643.2,-5.7,478,10855,0.00,2.42,0.00,0.000,4,0.000,0.077,2645,3603,3308
$GC,10884,-0.70,-117.3,645.1,-6.4,478,10888,0.00,2.33,0.00,0.000,6,0.000,0.048,2645,2149,3308
$GC,11216,-0.70,-117.3,663.7,-5.5,484,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2149,3308
$GC,11519,-0.70,-117.3,677.6,-4.5,489,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2149,3308
$GC,11822,-0.70,-117.3,689.7,-4.0,494,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2148,3308
$GC,12126,-0.70,-117.3,700.6,-3.6,499,12130,0.00,2.33,0.00,0.000,4,0.000,0.087,2645,804,3308
$GC,12159,-0.74,-117.3,702.0,-3.8,499,12163,0.00,2.17,0.00,0.000,6,0.000,0.055,2645,2165,3307
$GC,12484,-0.74,-117.3,714.7,-3.9,505,12488,0.00,2.42,0.00,0.000,4,0.000,0.081,2645,3600,3307
$GC,12511,-0.74,-117.3,715.9,-4.6,505,12515,0.00,2.30,0.00,0.000,6,0.000,0.050,2645,2166,3307
$GC,12848,-0.74,-117.3,731.2,-4.6,511,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2166,3307
$GC,13151,-0.74,-117.3,746.1,-5.0,516,13155,0.00,2.38,0.00,0.000,4,0.000,0.088,2645,791,3307
$GC,13184,-0.79,-117.3,748.0,-5.5,516,13188,0.00,2.17,0.00,0.000,6,0.000,0.056,2645,2153,3307
$GC,13511,-0.79,-117.3,763.7,-4.9,522,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2153,3306
$GC,13813,-0.79,-117.3,777.7,-4.6,527,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2153,3306
$GC,14116,-0.79,-117.3,791.0,-4.4,532,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3306
$GC,14420,-0.83,-117.3,803.7,-4.2,537,14422,0.15,0.00,0.00,0.000,6,0.061,0.000,2613,2153,3305
$GC,14723,-0.74,-117.3,819.6,-5.3,542,14725,0.15,0.00,0.00,0.000,6,0.090,0.000,2638,2153,3304
$GC,15027,-0.74,-117.3,833.1,-4.4,547,15028,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2153,3304
$GC,15329,-0.74,-117.3,846.9,-4.6,552,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2153,3304
$GC,15632,-0.74,-117.3,860.9,-4.6,557,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2154,3304
$GC,15936,-0.74,-117.3,875.2,-4.7,562,15937,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2154,3304
$GC,16238,-0.74,-117.3,889.8,-4.8,567,16242,0.00,2.38,0.00,0.000,4,0.000,0.094,2638,796,3304
$GC,16281,-0.74,-117.3,892.1,-5.5,567,16285,0.00,2.20,0.00,0.000,6,0.000,0.061,2638,2129,3304
$GC,16602,-0.74,-117.3,908.1,-5.0,573,16606,0.00,2.55,0.00,0.000,4,0.000,0.091,2638,3596,3303
$GC,16628,-0.74,-117.3,909.6,-5.9,573,16632,0.00,2.38,0.00,0.000,6,0.000,0.055,2638,2133,3303
$GC,16967,-0.74,-117.3,926.5,-5.1,579,16971,0.00,2.35,0.00,0.000,4,0.000,0.099,2639,804,3303
$GC,17005,-0.78,-117.3,928.7,-5.3,579,17009,0.00,2.17,0.00,0.000,6,0.000,0.062,2638,2137,3303
$GC,17326,-0.78,-117.3,944.2,-4.8,585,17330,0.00,2.55,0.00,0.000,4,0.000,0.091,2638,3605,3303
$GC,17352,-0.78,-117.3,945.6,-6.1,585,17356,0.00,2.40,0.00,0.000,6,0.000,0.058,2638,2132,3302
$GC,17690,-0.78,-117.3,961.0,-4.6,591,17694,0.00,2.38,0.00,0.000,4,0.000,0.104,2638,798,3301
$GC,17717,-0.82,-117.3,962.3,-6.0,591,17721,0.00,2.17,0.00,0.000,6,0.000,0.064,2638,2133,3302
$GC,18056,-0.82,-117.3,977.3,-4.4,597,18060,0.00,2.55,0.00,0.000,4,0.000,0.092,2638,3598,3302
$GC,18083,-0.82,-117.3,978.7,-5.3,597,18087,0.00,2.40,0.00,0.000,6,0.000,0.061,2638,2139,3302
$STATE,18358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18358,begin apogee
$GC,18363,-0.23,0.0,990.3,4.2,602,18468,0.65,0.00,101.68,1.499,6,0.074,0.000,2750,2206,2837
$STATE,18469,end apogee,CONTROL_FINISHED_OK
$STATE,18469,begin climb
$GC,18471,0.67,117.3,991.4,0.0,603,18594,1.10,2.72,111.07,1.442,4,0.046,0.090,2942,3595,2358
$GC,18632,0.37,117.3,984.6,9.0,605,18638,0.40,2.47,0.00,0.000,6,0.092,0.065,2882,2214,2358
$GC,18958,0.37,117.3,964.1,6.2,611,18962,0.00,2.58,0.00,0.000,4,0.000,0.107,2882,779,2358
$GC,18985,0.32,117.3,962.4,6.5,611,18989,0.00,2.38,0.00,0.000,6,0.000,0.067,2882,2206,2358
$GC,19316,0.32,117.3,942.5,6.1,617,19320,0.00,2.50,0.00,0.000,4,0.000,0.100,2882,783,2358
$GC,19337,0.32,117.3,941.1,6.4,617,19341,0.00,2.35,0.00,0.000,6,0.000,0.065,2882,2211,2357
$GC,19679,0.32,117.3,920.9,5.9,623,19684,0.00,2.50,0.00,0.000,4,0.000,0.098,2882,787,2357
$GC,19706,0.33,118.4,919.2,5.5,623,19711,0.00,2.28,0.00,0.000,6,0.000,0.064,2882,2164,2357
$GC,20044,0.33,118.4,899.9,5.7,629,20048,0.00,2.40,0.00,0.000,4,0.000,0.097,2882,780,2357
$GC,20070,0.33,118.4,898.2,5.7,629,20075,0.00,2.22,0.00,0.000,6,0.000,0.062,2882,2130,2357
$GC,20414,0.33,126.1,880.1,5.3,635,20425,0.00,0.00,9.12,1.288,6,0.000,0.000,2882,2130,2323
$GC,20717,0.34,133.3,864.0,5.3,640,20727,0.00,0.00,8.40,1.262,6,0.000,0.000,2882,2130,2293
$GC,21020,0.34,133.3,846.7,5.7,645,21024,0.00,2.35,0.00,0.000,4,0.000,0.096,2882,787,2293
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$STATE,34734,end climb,SURFACE_DEPTH_REACHED
$STATE,34734,begin surface coast
$FINISH,0.5,1.012388
$STATE,34756,end surface coast,CONTROL_FINISHED_OK
$STATE,34757,begin surface
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$DATA_FILE_SIZE,60011,1212
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