version: 66.03
glider: 119
mission: 5
dive: 192
start: 11 8 108 1 21 18
data:
$ID,119
$MISSION,5
$DIVE,192
$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,-213413.66
$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,12
$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
$GPS1,011208,4659.379,-12755.126,37,1.4,37,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.4
$GPS2,012026,4659.413,-12755.075,9,1.9,9,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.189,0.050
$KALMAN_X,-21067.2,-310.7,-641.0,-201699.7,1888.2
$KALMAN_Y,185943.2,459.1,552.7,-185333.6,-1741.6
$MHEAD_RNG_PITCHd_Wd,56.7,223660,-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,-61.67,0.000,2,0.000,0.000,861,2225,2771
$GC,87,-0.67,-117.3,3.0,-3.9,6,121,12.18,2.30,-13.23,0.000,4,0.142,0.074,2650,3606,3317
$GC,317,-0.43,-117.3,33.5,-11.9,26,324,0.28,2.28,0.00,0.000,6,0.075,0.038,2700,2179,3317
$GC,655,-0.43,-117.3,58.2,-6.9,80,661,0.00,2.28,0.00,0.000,4,0.000,0.060,2700,793,3317
$GC,752,-0.51,-117.3,65.2,-7.1,97,758,0.00,2.00,0.00,0.000,6,0.000,0.040,2700,2098,3317
$GC,1091,-0.76,-117.3,86.5,-6.5,149,1096,0.32,2.42,0.00,0.000,4,0.041,0.059,2626,3600,3317
$GC,1343,-0.54,-117.3,110.5,-9.2,171,1348,0.30,1.95,0.00,0.000,6,0.076,0.039,2678,2344,3318
$GC,1668,-0.54,-117.3,132.2,-6.1,201,1672,0.00,2.53,0.00,0.000,4,0.000,0.061,2678,800,3318
$GC,1742,-0.60,-117.3,136.7,-5.6,207,1746,0.00,2.20,0.00,0.000,6,0.000,0.043,2678,2213,3318
$GC,2067,-0.67,-117.3,153.5,-5.0,234,2072,0.12,2.28,0.00,0.000,4,0.060,0.065,2648,3603,3317
$GC,2110,-0.63,-117.3,156.7,-7.1,236,2115,0.00,2.17,0.00,0.000,6,0.000,0.042,2649,2207,3318
$GC,2437,-0.63,-117.3,178.0,-6.7,252,2441,0.00,2.33,0.00,0.000,4,0.000,0.064,2649,797,3318
$GC,2526,-0.63,-117.3,184.2,-6.3,256,2530,0.00,2.10,0.00,0.000,6,0.000,0.044,2649,2153,3318
$GC,2853,-0.63,-117.3,203.7,-5.8,272,2857,0.00,2.35,0.00,0.000,4,0.000,0.066,2648,3601,3317
$GC,2898,-0.63,-117.3,206.6,-6.9,274,2902,0.00,2.30,0.00,0.000,6,0.000,0.044,2649,2134,3318
$GC,3225,-0.63,-117.3,226.6,-6.1,290,3229,0.00,2.20,0.00,0.000,4,0.000,0.067,2649,796,3318
$GC,3291,-0.63,-117.3,230.9,-6.1,293,3295,0.00,2.03,0.00,0.000,6,0.000,0.044,2649,2107,3318
$GC,3619,-0.63,-117.3,250.2,-5.6,309,3623,0.00,2.45,0.00,0.000,4,0.000,0.067,2648,3605,3317
$GC,3680,-0.63,-117.3,254.1,-6.3,311,3686,0.00,2.35,0.00,0.000,6,0.000,0.045,2649,2127,3317
$GC,3996,-0.63,-117.3,271.1,-5.5,327,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2127,3317
$GC,4305,-0.63,-117.3,287.7,-5.4,342,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2127,3317
$GC,4652,-0.63,-117.3,306.9,-5.5,355,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2127,3317
$GC,4956,-0.63,-117.3,322.7,-5.2,360,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2127,3316
$GC,5259,-0.63,-117.3,338.3,-5.2,365,5263,0.00,2.47,0.00,0.000,4,0.000,0.068,2648,3606,3315
$GC,5308,-0.63,-117.3,341.3,-6.2,365,5312,0.00,2.30,0.00,0.000,6,0.000,0.044,2648,2148,3315
$GC,5624,-0.63,-117.3,357.9,-5.3,371,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3315
$GC,5926,-0.63,-117.3,375.3,-5.9,376,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2146,3314
$GC,6228,-0.63,-117.3,393.4,-5.9,381,6233,0.00,2.45,0.00,0.000,4,0.000,0.068,2648,3607,3313
$GC,6261,-0.63,-117.3,395.5,-6.7,381,6265,0.00,2.28,0.00,0.000,6,0.000,0.045,2649,2169,3313
$GC,6593,-0.63,-117.3,413.4,-5.4,387,6597,0.00,2.30,0.00,0.000,4,0.000,0.076,2649,797,3313
$GC,6630,-0.63,-117.3,415.8,-6.2,387,6635,0.00,2.20,0.00,0.000,6,0.000,0.048,2648,2183,3313
$GC,6957,-0.63,-117.3,433.9,-5.6,393,6961,0.00,2.35,0.00,0.000,4,0.000,0.071,2648,3603,3313
$GC,6989,-0.63,-117.3,436.0,-6.6,393,6994,0.00,2.25,0.00,0.000,6,0.000,0.047,2648,2193,3313
$GC,7322,-0.63,-117.3,454.3,-5.5,399,7327,0.00,2.33,0.00,0.000,4,0.000,0.077,2648,803,3312
$GC,7367,-0.67,-117.3,457.2,-5.7,399,7371,0.00,2.15,0.00,0.000,6,0.000,0.048,2648,2176,3312
$GC,7681,-0.67,-117.3,474.9,-5.7,405,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2176,3311
$GC,7984,-0.67,-117.3,491.6,-5.5,410,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2176,3311
$GC,8287,-0.67,-117.3,507.3,-5.2,415,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2177,3310
$GC,8591,-0.67,-117.3,521.6,-4.6,420,8595,0.00,2.33,0.00,0.000,4,0.000,0.079,2648,803,3310
$GC,8630,-0.72,-117.3,523.4,-4.8,420,8634,0.00,2.15,0.00,0.000,6,0.000,0.051,2648,2163,3310
$GC,8956,-0.72,-117.3,538.1,-4.5,426,8960,0.00,2.40,0.00,0.000,4,0.000,0.073,2648,3605,3309
$GC,8983,-0.72,-117.3,539.5,-5.4,426,8987,0.00,2.30,0.00,0.000,6,0.000,0.047,2648,2162,3309
$GC,9320,-0.72,-117.3,556.4,-5.1,432,9324,0.00,2.33,0.00,0.000,4,0.000,0.084,2648,801,3309
$GC,9370,-0.78,-117.3,559.0,-5.5,432,9374,0.00,2.17,0.00,0.000,6,0.000,0.053,2648,2170,3309
$GC,9679,-0.78,-117.3,574.3,-4.9,437,9683,0.00,2.40,0.00,0.000,4,0.000,0.074,2648,3602,3308
$GC,9716,-0.78,-117.3,576.4,-5.7,437,9720,0.00,2.30,0.00,0.000,6,0.000,0.049,2648,2158,3308
$GC,10043,-0.78,-117.3,592.3,-4.9,443,10047,0.00,2.33,0.00,0.000,4,0.000,0.086,2648,797,3308
$GC,10082,-0.84,-117.3,594.2,-4.6,443,10086,0.17,2.17,0.00,0.000,6,0.056,0.054,2613,2162,3308
$GC,10403,-0.72,-117.3,614.5,-6.5,449,10408,0.17,2.42,0.00,0.000,4,0.088,0.075,2644,3598,3308
$GC,10446,-0.72,-117.3,617.5,-5.8,449,10450,0.00,2.30,0.00,0.000,6,0.000,0.048,2644,2163,3307
$GC,10769,-0.72,-117.3,634.3,-5.2,455,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2162,3308
$GC,11071,-0.72,-117.3,650.6,-5.4,460,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2161,3308
$GC,11373,-0.72,-117.3,666.8,-5.4,465,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2160,3307
$GC,11676,-0.72,-117.3,683.2,-5.5,470,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2160,3307
$GC,11979,-0.72,-117.3,699.8,-5.4,475,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3306
$GC,12282,-0.72,-117.3,714.4,-4.8,480,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3306
$GC,12586,-0.72,-117.3,728.0,-4.5,485,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2159,3305
$GC,12889,-0.72,-117.3,741.2,-4.3,490,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3306
$GC,13193,-0.72,-117.3,755.0,-4.5,495,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3305
$GC,13495,-0.72,-117.3,769.1,-4.7,500,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2158,3306
$GC,13798,-0.72,-117.3,784.4,-5.1,505,13802,0.00,2.50,0.00,0.000,4,0.000,0.085,2644,3598,3305
$GC,13830,-0.72,-117.3,786.4,-6.3,505,13834,0.00,2.28,0.00,0.000,6,0.000,0.050,2644,2186,3305
$GC,14162,-0.76,-117.3,804.0,-5.4,511,14167,0.00,2.42,0.00,0.000,4,0.000,0.094,2644,800,3305
$GC,14206,-0.82,-117.3,806.6,-5.6,511,14210,0.00,2.25,0.00,0.000,6,0.000,0.060,2644,2187,3305
$GC,14528,-0.86,-117.3,823.8,-5.3,517,14530,0.17,0.00,0.00,0.000,6,0.058,0.000,2608,2187,3305
$GC,14830,-0.76,-117.3,842.7,-6.3,522,14832,0.15,0.00,0.00,0.000,6,0.093,0.000,2633,2187,3304
$GC,15133,-0.76,-117.3,857.8,-4.9,527,15137,0.00,2.45,0.00,0.000,4,0.000,0.094,2633,792,3304
$GC,15171,-0.76,-117.3,859.8,-5.6,527,15175,0.00,2.25,0.00,0.000,6,0.000,0.063,2633,2168,3304
$GC,15492,-0.76,-117.3,874.7,-4.6,533,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2169,3303
$GC,15794,-0.76,-117.3,889.1,-4.9,538,15799,0.00,2.42,0.00,0.000,4,0.000,0.097,2633,797,3304
$GC,15829,-0.76,-117.3,890.9,-5.3,538,15833,0.00,2.22,0.00,0.000,6,0.000,0.064,2633,2151,3303
$GC,16156,-0.76,-117.3,908.0,-5.3,544,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2151,3303
$GC,16458,-0.76,-117.3,923.7,-5.2,549,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2151,3303
$GC,16761,-0.76,-117.3,939.3,-5.1,554,16765,0.00,2.55,0.00,0.000,4,0.000,0.094,2633,3602,3303
$GC,16799,-0.76,-117.3,941.4,-6.4,554,16803,0.00,2.35,0.00,0.000,6,0.000,0.058,2633,2165,3303
$GC,17124,-0.76,-117.3,958.0,-5.1,560,17129,0.00,2.47,0.00,0.000,4,0.000,0.107,2633,789,3303
$GC,17186,-0.80,-117.3,961.4,-6.2,561,17190,0.00,2.20,0.00,0.000,6,0.000,0.067,2633,2120,3303
$GC,17558,-0.80,-117.3,980.6,-5.1,567,17562,0.00,2.60,0.00,0.000,4,0.000,0.094,2633,3605,3303
$GC,17612,-0.80,-117.3,983.7,-5.2,567,17618,0.00,2.45,0.00,0.000,6,0.000,0.062,2633,2120,3302
$STATE,17737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17737,begin apogee
$GC,17743,-0.23,0.0,990.2,5.2,570,17848,0.68,0.00,101.97,1.499,6,0.075,0.000,2747,2201,2837
$STATE,17848,end apogee,CONTROL_FINISHED_OK
$STATE,17848,begin climb
$GC,17851,0.67,117.3,991.9,0.0,571,17974,1.12,2.72,111.88,1.440,4,0.048,0.091,2943,3595,2358
$GC,18024,0.36,117.3,985.8,10.2,573,18029,0.40,2.47,0.00,0.000,6,0.094,0.066,2883,2209,2358
$GC,18338,0.36,117.3,967.4,5.8,579,18340,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2209,2358
$GC,18641,0.36,117.3,949.6,6.0,584,18642,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2209,2358
$GC,18944,0.36,117.3,930.6,6.2,589,18945,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2210,2358
$GC,19247,0.36,117.3,911.3,6.4,594,19248,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2209,2358
$GC,19550,0.36,117.3,892.1,6.4,599,19551,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2208,2357
$GC,19854,0.36,117.3,874.1,6.0,604,19855,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2208,2357
$GC,20156,0.36,117.3,857.1,5.6,609,20161,0.00,2.53,0.00,0.000,4,0.000,0.103,2883,777,2357
$GC,20201,0.32,124.1,854.6,5.3,609,20217,0.00,2.28,7.45,1.215,6,0.000,0.061,2883,2183,2331
$GC,20519,0.32,124.1,836.1,5.9,615,20520,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2183,2330
$GC,20823,0.32,124.1,819.2,5.5,620,20824,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2183,2331
$GC,21126,0.32,127.5,802.9,5.4,625,21132,0.00,0.00,4.95,1.029,6,0.000,0.000,2883,2183,2317
$GC,21429,0.32,127.7,786.4,5.5,630,21430,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2183,2317
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