version: 66.03
glider: 119
mission: 5
dive: 195
start: 11 9 108 6 8 31
data:
$ID,119
$MISSION,5
$DIVE,195
$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,-213461.11
$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,18
$R_STBD_OVSHOOT,38
$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
$GPS1,060101,4703.162,-12740.136,38,1.7,44,18.6
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.5
$GPS2,060739,4703.108,-12740.112,14,1.6,14,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,-0.058
$KALMAN_X,-23894.9,-274.5,40.4,-180684.2,104.5
$KALMAN_Y,192399.7,-156.1,212.0,-183997.6,1887.7
$MHEAD_RNG_PITCHd_Wd,88.6,204839,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,86,0.00,0.00,-62.05,0.000,2,0.000,0.000,859,2225,2782
$GC,89,-0.67,-117.3,3.6,-5.6,6,122,12.12,2.33,-12.18,0.000,4,0.140,0.074,2648,3591,3318
$GC,376,-0.40,-117.3,44.0,-11.9,34,383,0.38,2.20,0.00,0.000,6,0.080,0.038,2711,2175,3318
$GC,721,-0.47,-117.3,66.6,-5.8,95,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2170,3318
$GC,1057,-0.73,-117.3,88.3,-6.8,144,1062,0.35,2.33,0.00,0.000,4,0.043,0.060,2636,3602,3318
$GC,1119,-0.54,-117.3,93.1,-8.7,149,1124,0.25,2.22,0.00,0.000,6,0.077,0.039,2680,2174,3318
$GC,1444,-0.54,-117.3,112.9,-6.1,179,1448,0.00,2.25,0.00,0.000,4,0.000,0.062,2680,807,3318
$GC,1493,-0.60,-117.3,116.0,-6.4,183,1499,0.00,2.15,0.00,0.000,6,0.000,0.042,2680,2176,3318
$GC,1818,-0.66,-117.3,134.4,-6.1,214,1823,0.12,2.35,0.00,0.000,4,0.061,0.064,2650,3596,3318
$GC,1846,-0.61,-117.3,136.3,-7.1,216,1850,0.00,2.17,0.00,0.000,6,0.000,0.042,2650,2212,3318
$GC,2169,-0.61,-117.3,157.5,-6.7,241,2173,0.00,2.33,0.00,0.000,4,0.000,0.062,2650,793,3318
$GC,2241,-0.61,-117.3,162.7,-6.2,244,2245,0.00,2.20,0.00,0.000,6,0.000,0.044,2650,2170,3318
$GC,2564,-0.61,-117.3,181.0,-5.3,260,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2170,3318
$GC,2872,-0.61,-117.3,198.9,-6.1,275,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2170,3318
$GC,3181,-0.61,-117.3,218.0,-6.1,290,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2170,3318
$GC,3491,-0.61,-117.3,236.7,-6.2,305,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2170,3318
$GC,3800,-0.61,-117.3,255.6,-6.3,320,3804,0.00,2.38,0.00,0.000,4,0.000,0.068,2650,3602,3318
$GC,3832,-0.61,-117.3,257.8,-7.4,321,3839,0.00,2.25,0.00,0.000,6,0.000,0.044,2650,2197,3317
$GC,4148,-0.61,-117.3,276.6,-5.9,337,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,3317
$GC,4457,-0.61,-117.3,295.5,-6.2,352,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,3316
$GC,4782,-0.61,-117.3,314.9,-6.0,360,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,3316
$GC,5085,-0.61,-117.3,331.5,-5.5,365,5089,0.00,2.38,0.00,0.000,4,0.000,0.070,2650,3605,3315
$GC,5117,-0.61,-117.3,333.4,-6.1,365,5121,0.00,2.22,0.00,0.000,6,0.000,0.044,2650,2194,3315
$GC,5449,-0.61,-117.3,351.9,-5.5,371,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2188,3315
$GC,5752,-0.61,-117.3,367.4,-5.0,376,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2187,3315
$GC,6055,-0.61,-117.3,382.9,-5.2,381,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2187,3314
$GC,6358,-0.61,-117.3,399.1,-5.4,386,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2188,3314
$GC,6661,-0.61,-117.3,415.8,-5.5,391,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2187,3313
$GC,6964,-0.61,-117.3,432.3,-5.4,396,6968,0.00,2.38,0.00,0.000,4,0.000,0.070,2650,3605,3313
$GC,7003,-0.61,-117.3,434.6,-6.4,396,7007,0.00,2.22,0.00,0.000,6,0.000,0.046,2650,2201,3312
$GC,7331,-0.61,-117.3,452.5,-5.5,402,7335,0.00,2.35,0.00,0.000,4,0.000,0.076,2651,803,3312
$GC,7357,-0.61,-117.3,454.2,-6.4,402,7361,0.00,2.22,0.00,0.000,6,0.000,0.048,2650,2198,3312
$GC,7695,-0.61,-117.3,473.0,-5.6,408,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,3312
$GC,7998,-0.61,-117.3,489.6,-5.5,413,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,3312
$GC,8301,-0.61,-117.3,505.3,-5.1,418,8305,0.00,2.35,0.00,0.000,4,0.000,0.076,2650,798,3311
$GC,8334,-0.61,-117.3,507.2,-5.7,418,8338,0.00,2.22,0.00,0.000,6,0.000,0.050,2650,2185,3311
$GC,8666,-0.61,-117.3,523.6,-5.0,424,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2185,3310
$GC,8969,-0.61,-117.3,538.4,-4.8,429,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2184,3310
$GC,9273,-0.61,-117.3,552.4,-4.7,434,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2185,3310
$GC,9575,-0.61,-117.3,566.8,-4.8,439,9579,0.00,2.33,0.00,0.000,4,0.000,0.077,2650,798,3310
$GC,9613,-0.67,-117.3,568.8,-5.0,439,9617,0.00,2.17,0.00,0.000,6,0.000,0.052,2650,2169,3309
$GC,9934,-0.67,-117.3,584.3,-4.8,445,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2170,3309
$GC,10237,-0.71,-117.3,597.5,-4.4,450,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2169,3309
$GC,10540,-0.75,-117.3,611.8,-4.8,455,10544,0.00,2.30,0.00,0.000,4,0.000,0.078,2650,804,3308
$GC,10584,-0.81,-117.3,614.2,-5.1,455,10589,0.15,2.17,0.00,0.000,6,0.058,0.053,2619,2170,3308
$GC,10900,-0.72,-117.3,632.9,-6.0,461,10905,0.12,2.42,0.00,0.000,4,0.092,0.077,2639,3600,3308
$GC,10938,-0.72,-117.3,635.3,-5.9,461,10942,0.00,2.30,0.00,0.000,6,0.000,0.048,2640,2153,3307
$GC,11267,-0.72,-117.3,651.4,-4.9,467,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2152,3307
$GC,11567,-0.72,-117.3,667.0,-5.2,472,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2152,3307
$GC,11870,-0.72,-117.3,683.3,-5.4,477,11874,0.00,2.47,0.00,0.000,4,0.000,0.077,2639,3606,3307
$GC,11903,-0.72,-117.3,685.4,-5.8,477,11907,0.00,2.30,0.00,0.000,6,0.000,0.048,2640,2165,3307
$GC,12236,-0.72,-117.3,702.8,-5.3,483,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2165,3307
$GC,12538,-0.72,-117.3,718.7,-5.3,488,12542,0.00,2.45,0.00,0.000,4,0.000,0.077,2639,3598,3306
$GC,12570,-0.72,-117.3,720.7,-6.5,488,12574,0.00,2.28,0.00,0.000,6,0.000,0.048,2640,2173,3307
$GC,12902,-0.72,-117.3,738.3,-5.3,494,12906,0.00,2.38,0.00,0.000,4,0.000,0.088,2639,797,3307
$GC,12928,-0.72,-117.3,739.9,-6.6,494,12932,0.00,2.25,0.00,0.000,6,0.000,0.055,2640,2196,3306
$GC,13266,-0.72,-117.3,756.4,-4.9,500,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2196,3307
$GC,13569,-0.72,-117.3,770.3,-4.5,505,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2196,3306
$GC,13872,-0.72,-117.3,783.3,-4.3,510,13876,0.00,2.40,0.00,0.000,4,0.000,0.084,2640,798,3305
$GC,13899,-0.72,-117.3,784.5,-4.4,510,13903,0.00,2.20,0.00,0.000,6,0.000,0.057,2639,2164,3305
$GC,14231,-0.72,-117.3,799.6,-4.6,516,14232,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2164,3305
$GC,14534,-0.72,-117.3,815.8,-5.5,521,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2165,3305
$GC,14836,-0.72,-117.3,832.7,-5.6,526,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2164,3305
$GC,15140,-0.72,-117.3,848.1,-5.0,531,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2164,3306
$GC,15443,-0.72,-117.3,862.1,-4.5,536,15444,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2164,3305
$GC,15747,-0.72,-117.3,875.7,-4.5,541,15748,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2165,3305
$GC,16049,-0.72,-117.3,890.5,-4.9,546,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2165,3304
$GC,16353,-0.72,-117.3,907.1,-5.5,551,16357,0.00,2.38,0.00,0.000,4,0.000,0.091,2639,803,3304
$GC,16380,-0.72,-117.3,908.8,-6.7,551,16385,0.00,2.20,0.00,0.000,6,0.000,0.061,2640,2135,3304
$GC,16719,-0.72,-117.3,928.7,-6.0,557,16720,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2135,3304
$GC,17021,-0.72,-117.3,945.8,-5.6,562,17025,0.00,2.58,0.00,0.000,4,0.000,0.092,2639,3601,3304
$GC,17058,-0.72,-117.3,948.1,-6.2,562,17063,0.00,2.35,0.00,0.000,6,0.000,0.055,2640,2158,3304
$GC,17385,-0.72,-117.3,963.6,-4.6,568,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2158,3304
$GC,17689,-0.72,-117.3,976.9,-4.4,573,17693,0.00,2.42,0.00,0.000,4,0.000,0.102,2639,798,3303
$GC,17716,-0.72,-117.3,978.2,-4.4,573,17720,0.00,2.22,0.00,0.000,6,0.000,0.063,2639,2158,3303
$STATE,17984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17984,begin apogee
$GC,17990,-0.23,0.0,991.9,5.2,578,18095,0.62,0.00,102.78,1.496,6,0.067,0.000,2749,2211,2837
$STATE,18096,end apogee,CONTROL_FINISHED_OK
$STATE,18096,begin climb
$GC,18098,0.67,117.3,994.4,0.0,579,18221,1.12,2.72,112.32,1.443,4,0.044,0.092,2944,3595,2358
$GC,18412,0.38,117.3,974.0,9.8,583,18417,0.38,2.38,0.00,0.000,6,0.094,0.063,2887,2209,2358
$GC,18721,0.38,117.3,955.7,5.8,588,18725,0.00,2.53,0.00,0.000,4,0.000,0.104,2886,785,2358
$GC,18754,0.33,125.4,953.7,5.2,588,18768,0.00,2.30,9.30,1.276,6,0.000,0.063,2886,2183,2325
$GC,19083,0.33,125.4,935.3,5.6,594,19085,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2183,2325
$GC,19387,0.33,125.4,918.4,5.6,599,19388,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2183,2325
$GC,19690,0.33,125.4,900.4,6.0,604,19694,0.00,2.45,0.00,0.000,4,0.000,0.097,2886,784,2325
$GC,19722,0.27,125.4,898.3,6.6,604,19727,0.15,2.25,0.00,0.000,6,0.094,0.062,2863,2165,2324
$GC,20048,0.35,127.9,880.7,5.4,610,20057,0.00,2.42,3.80,0.876,4,0.000,0.094,2862,786,2316
$GC,20086,0.38,152.0,878.4,4.7,610,20116,0.00,2.17,23.48,1.396,6,0.000,0.061,2862,2128,2217
$GC,20483,0.48,152.0,855.8,5.8,617,20488,0.17,2.35,0.00,0.000,4,0.059,0.093,2902,787,2216
$GC,20545,0.39,152.0,851.2,7.7,618,20548,0.00,2.10,0.00,0.000,6,0.000,0.061,2902,2080,2216
$GC,20915,0.39,152.0,824.7,7.0,624,20916,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2080,2216
$GC,21218,0.39,152.0,803.9,6.9,629,21222,0.00,2.60,0.00,0.000,4,0.000,0.083,2902,3609,2217
$GC,21262,0.32,152.0,800.4,7.5,629,21267,0.20,2.47,0.00,0.000,6,0.091,0.057,2870,2090,2216
$GC,21576,0.40,152.0,782.5,5.7,635,21580,0.00,2.25,0.00,0.000,4,0.000,0.094,2869,782,2217
$GC,21611,0.46,153.6,780.5,5.4,635,21616,0.15,2.08,0.00,0.000,6,0.061,0.055,2901,2081,2216
$GC,21936,0.46,153.6,758.5,6.7,641,21941,0.00,2.53,0.00,0.000,4,0.000,0.079,2901,3604,2217
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$STATE,34169,end climb,SURFACE_DEPTH_REACHED
$STATE,34169,begin surface coast
$FINISH,1.5,1.024490
$STATE,34202,end surface coast,CONTROL_FINISHED_OK
$STATE,34202,begin surface
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$DEVICE_SECS,29.350,201.050,377.825,31.950,0.000,25.457,28.585,220.720,9.250,0.000,0.000,16.085,2255.763,28484.627,586.957,2684.910,631.051,33.380,1923.805,0.000,2647.648,0.000,59.506
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