version: 66.03
glider: 119
mission: 5
dive: 193
start: 11 8 108 11 3 20
data:
$ID,119
$MISSION,5
$DIVE,193
$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,-213426.22
$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,26
$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
$GPS1,105237,4700.849,-12749.749,39,1.8,39,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.9
$GPS2,110226,4700.893,-12749.736,10,1.5,10,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,0.004
$KALMAN_X,-20902.8,-286.7,-941.8,-194842.3,2578.1
$KALMAN_Y,187504.0,40.1,445.9,-183646.0,-203.3
$MHEAD_RNG_PITCHd_Wd,70.3,216920,-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,-61.80,0.000,2,0.000,0.000,862,2226,2780
$GC,87,-0.67,-117.3,3.2,-4.8,6,120,12.12,2.33,-12.95,0.000,4,0.141,0.075,2649,3588,3318
$GC,267,-0.42,-117.3,28.9,-11.7,22,272,0.32,2.20,0.00,0.000,6,0.081,0.039,2704,2190,3318
$GC,602,-0.42,-117.3,54.0,-7.2,69,608,0.00,2.22,0.00,0.000,4,0.000,0.059,2704,793,3318
$GC,654,-0.49,-117.3,57.7,-7.3,78,660,0.00,2.08,0.00,0.000,6,0.000,0.039,2703,2147,3318
$GC,997,-0.77,-117.3,81.0,-7.2,138,1002,0.38,2.35,0.00,0.000,4,0.040,0.059,2621,3597,3318
$GC,1097,-0.54,-117.3,90.0,-9.5,146,1104,0.25,1.90,0.00,0.000,6,0.071,0.038,2677,2382,3318
$GC,1423,-0.54,-117.3,111.3,-6.7,177,1428,0.00,2.60,0.00,0.000,4,0.000,0.058,2677,791,3319
$GC,1512,-0.61,-117.3,117.6,-6.6,184,1519,0.00,2.35,0.00,0.000,6,0.000,0.043,2677,2285,3319
$GC,1839,-0.67,-117.3,137.0,-5.0,215,1844,0.12,2.38,0.00,0.000,4,0.061,0.058,2647,799,3319
$GC,1879,-0.62,-117.3,139.4,-6.4,218,1883,0.00,2.25,0.00,0.000,6,0.000,0.044,2647,2246,3319
$GC,2206,-0.57,-117.3,159.2,-6.2,242,2211,0.15,2.35,0.00,0.000,4,0.084,0.060,2677,793,3319
$GC,2262,-0.69,-117.3,162.4,-4.9,244,2269,0.12,2.20,0.00,0.000,6,0.043,0.044,2644,2195,3319
$GC,2577,-0.63,-117.3,183.7,-7.2,260,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2194,3319
$GC,2887,-0.59,-117.3,202.9,-5.9,275,2891,0.15,2.28,0.00,0.000,4,0.084,0.062,2673,793,3319
$GC,2927,-0.71,-117.3,204.8,-5.0,277,2931,0.15,2.15,0.00,0.000,6,0.057,0.044,2640,2185,3319
$GC,3259,-0.66,-117.3,225.0,-6.3,293,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2185,3318
$GC,3569,-0.61,-117.3,244.8,-6.4,308,3571,0.15,0.00,0.00,0.000,6,0.085,0.000,2666,2185,3318
$GC,3877,-0.69,-117.3,260.4,-5.2,323,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2185,3317
$GC,4186,-0.77,-117.3,277.1,-5.5,338,4191,0.15,2.25,0.00,0.000,4,0.060,0.064,2630,803,3317
$GC,4226,-0.71,-117.3,279.9,-7.5,340,4230,0.00,2.10,0.00,0.000,6,0.000,0.044,2630,2162,3317
$GC,4557,-0.62,-117.3,304.4,-7.4,354,4559,0.17,0.00,0.00,0.000,6,0.084,0.000,2661,2162,3316
$GC,4860,-0.68,-117.3,322.5,-5.9,359,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2162,3316
$GC,5163,-0.73,-117.3,338.3,-5.2,364,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2162,3315
$GC,5466,-0.80,-117.3,354.9,-5.5,369,5471,0.15,2.22,0.00,0.000,4,0.061,0.067,2624,804,3315
$GC,5504,-0.72,-117.3,357.6,-7.4,369,5508,0.00,2.10,0.00,0.000,6,0.000,0.044,2624,2153,3315
$GC,5831,-0.62,-117.3,380.0,-6.8,375,5833,0.22,0.00,0.00,0.000,6,0.080,0.000,2663,2154,3314
$GC,6134,-0.70,-117.3,395.3,-5.0,380,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2153,3314
$GC,6438,-0.77,-117.3,410.6,-5.1,385,6440,0.17,0.00,0.00,0.000,6,0.057,0.000,2625,2153,3313
$GC,6740,-0.69,-117.3,431.5,-7.0,390,6742,0.12,0.00,0.00,0.000,6,0.093,0.000,2647,2153,3313
$GC,7042,-0.69,-117.3,449.6,-6.0,395,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2154,3312
$GC,7345,-0.69,-117.3,466.4,-5.5,400,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2154,3312
$GC,7649,-0.69,-117.3,483.0,-5.5,405,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2154,3312
$GC,7954,-0.69,-117.3,500.7,-6.0,410,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2153,3311
$GC,8255,-0.69,-117.3,518.9,-6.0,415,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2153,3311
$GC,8558,-0.69,-117.3,536.5,-5.7,420,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2153,3310
$GC,8862,-0.69,-117.3,553.1,-5.5,425,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2154,3309
$GC,9164,-0.69,-117.3,569.4,-5.3,430,9168,0.00,2.30,0.00,0.000,4,0.000,0.082,2647,800,3309
$GC,9203,-0.75,-117.3,571.5,-5.4,430,9207,0.00,2.12,0.00,0.000,6,0.000,0.053,2646,2138,3308
$GC,9524,-0.79,-117.3,587.5,-4.9,436,9528,0.00,2.45,0.00,0.000,4,0.000,0.077,2646,3601,3309
$GC,9562,-0.79,-117.3,589.5,-5.3,436,9566,0.00,2.33,0.00,0.000,6,0.000,0.048,2647,2132,3308
$GC,9888,-0.79,-117.3,605.2,-4.8,442,9892,0.00,2.25,0.00,0.000,4,0.000,0.084,2646,801,3308
$GC,9920,-0.84,-117.3,607.0,-6.0,442,9925,0.17,2.12,0.00,0.000,6,0.057,0.054,2610,2140,3308
$GC,10253,-0.72,-117.3,628.4,-6.6,448,10258,0.15,2.45,0.00,0.000,4,0.091,0.074,2639,3602,3307
$GC,10308,-0.72,-117.3,632.0,-6.3,448,10314,0.00,2.30,0.00,0.000,6,0.000,0.049,2639,2148,3307
$GC,10617,-0.72,-117.3,648.5,-5.3,454,10621,0.00,2.28,0.00,0.000,4,0.000,0.087,2639,807,3307
$GC,10672,-0.72,-117.3,651.8,-6.0,454,10679,0.00,2.12,0.00,0.000,6,0.000,0.055,2639,2121,3307
$GC,10982,-0.72,-117.3,668.5,-5.4,460,10986,0.00,2.50,0.00,0.000,4,0.000,0.079,2638,3602,3307
$GC,11021,-0.72,-117.3,670.8,-6.3,460,11024,0.00,2.35,0.00,0.000,6,0.000,0.050,2639,2125,3307
$GC,11346,-0.72,-117.3,688.8,-5.6,466,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2125,3307
$GC,11650,-0.72,-117.3,704.5,-5.1,471,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2125,3306
$GC,11953,-0.72,-117.3,719.4,-4.9,476,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2125,3306
$GC,12256,-0.72,-117.3,733.8,-4.7,481,12260,0.00,2.53,0.00,0.000,4,0.000,0.081,2638,3597,3306
$GC,12290,-0.72,-117.3,735.4,-5.0,481,12294,0.00,2.30,0.00,0.000,6,0.000,0.051,2639,2149,3305
$GC,12618,-0.72,-117.3,750.0,-4.4,487,12622,0.00,2.33,0.00,0.000,4,0.000,0.089,2639,801,3305
$GC,12662,-0.72,-117.3,752.3,-4.6,487,12666,0.00,2.15,0.00,0.000,6,0.000,0.057,2639,2139,3305
$GC,12983,-0.72,-117.3,767.3,-4.7,493,12987,0.00,2.47,0.00,0.000,4,0.000,0.082,2638,3601,3305
$GC,13009,-0.72,-117.3,768.8,-5.1,493,13013,0.00,2.33,0.00,0.000,6,0.000,0.051,2639,2140,3304
$GC,13347,-0.72,-117.3,786.2,-5.2,499,13351,0.00,2.30,0.00,0.000,4,0.000,0.090,2638,800,3305
$GC,13379,-0.72,-117.3,788.1,-6.4,499,13383,0.00,2.17,0.00,0.000,6,0.000,0.058,2639,2131,3304
$GC,13711,-0.72,-117.3,806.5,-5.5,505,13715,0.00,2.50,0.00,0.000,4,0.000,0.084,2638,3601,3305
$GC,13737,-0.72,-117.3,808.1,-6.4,505,13742,0.00,2.33,0.00,0.000,6,0.000,0.051,2639,2143,3305
$GC,14070,-0.72,-117.3,825.3,-5.1,511,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2143,3304
$GC,14372,-0.72,-117.3,839.9,-4.7,516,14373,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2143,3304
$GC,14677,-0.72,-117.3,853.6,-4.4,521,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2143,3304
$GC,14979,-0.72,-117.3,866.8,-4.4,526,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2142,3304
$GC,15281,-0.72,-117.3,880.4,-4.5,531,15283,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2142,3304
$GC,15585,-0.76,-117.3,893.9,-4.4,536,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2142,3304
$GC,15888,-0.76,-117.3,907.6,-4.5,541,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2142,3303
$GC,16191,-0.76,-117.3,923.2,-5.2,546,16195,0.00,2.55,0.00,0.000,4,0.000,0.089,2638,3600,3303
$GC,16217,-0.76,-117.3,924.8,-5.7,546,16222,0.00,2.33,0.00,0.000,6,0.000,0.052,2639,2152,3302
$GC,16555,-0.81,-117.3,943.3,-5.4,552,16559,0.00,2.38,0.00,0.000,4,0.000,0.099,2639,798,3302
$GC,16600,-0.87,-117.3,945.9,-6.5,552,16604,0.15,2.20,0.00,0.000,6,0.061,0.062,2608,2154,3302
$GC,16925,-0.78,-117.3,967.5,-6.7,558,16930,0.12,2.53,0.00,0.000,4,0.096,0.090,2629,3602,3302
$GC,16951,-0.78,-117.3,969.3,-6.5,558,16956,0.00,2.38,0.00,0.000,6,0.000,0.058,2629,2143,3302
$GC,17289,-0.78,-117.3,988.8,-5.7,564,17290,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2142,3302
$STATE,17347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17348,begin apogee
$GC,17353,-0.23,0.0,992.2,5.7,565,17458,0.70,0.00,102.32,1.493,6,0.077,0.000,2747,2211,2838
$STATE,17459,end apogee,CONTROL_FINISHED_OK
$STATE,17459,begin climb
$GC,17461,0.67,117.3,993.9,0.0,566,17584,1.12,2.70,112.05,1.440,4,0.047,0.091,2944,3591,2359
$GC,17606,0.34,117.3,990.5,8.1,568,17612,0.45,2.47,0.00,0.000,6,0.090,0.064,2877,2214,2359
$GC,17949,0.34,117.3,969.6,6.1,574,17953,0.00,2.55,0.00,0.000,4,0.000,0.106,2877,788,2359
$GC,17969,0.34,117.3,968.2,6.1,574,17973,0.00,2.33,0.00,0.000,6,0.000,0.066,2878,2183,2359
$GC,18313,0.34,117.3,946.8,6.3,580,18314,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2183,2359
$GC,18615,0.34,117.3,926.9,6.6,585,18620,0.00,2.47,0.00,0.000,4,0.000,0.100,2878,780,2359
$GC,18642,0.34,117.3,925.1,7.4,585,18646,0.00,2.30,0.00,0.000,6,0.000,0.063,2877,2169,2358
$GC,18980,0.34,117.3,904.1,6.2,591,18981,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2169,2358
$GC,19283,0.34,117.3,886.3,5.9,596,19287,0.00,2.45,0.00,0.000,4,0.000,0.087,2877,3606,2358
$GC,19309,0.34,117.3,884.5,6.8,596,19313,0.00,2.35,0.00,0.000,6,0.000,0.058,2878,2156,2358
$GC,19647,0.34,117.3,865.1,5.8,602,19648,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2155,2358
$GC,19949,0.34,117.3,847.4,5.9,607,19954,0.00,2.50,0.00,0.000,4,0.000,0.084,2877,3610,2358
$GC,19976,0.34,117.3,845.6,6.1,607,19981,0.00,2.33,0.00,0.000,6,0.000,0.057,2878,2187,2357
$GC,20314,0.34,117.3,824.6,6.2,613,20315,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2187,2357
$GC,20617,0.34,117.3,805.4,6.3,618,20621,0.00,2.42,0.00,0.000,4,0.000,0.097,2878,792,2358
$GC,20637,0.34,117.3,804.0,5.7,618,20642,0.00,2.28,0.00,0.000,6,0.000,0.058,2878,2184,2357
$GC,20981,0.34,117.3,783.3,6.0,624,20985,0.00,2.40,0.00,0.000,4,0.000,0.090,2878,791,2357
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