version: 66.03
glider: 119
mission: 5
dive: 197
start: 11 10 108 1 35 21
data:
$ID,119
$MISSION,5
$DIVE,197
$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,-213491.55
$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,11
$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
$GPS1,012508,4703.515,-12730.236,28,1.5,28,18.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.4
$GPS2,013427,4703.511,-12730.157,14,1.5,14,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,-0.059
$KALMAN_X,-24917.4,-190.1,151.5,-167296.6,-422.0
$KALMAN_Y,197402.2,12.1,15.3,-188214.9,1899.8
$MHEAD_RNG_PITCHd_Wd,88.9,192293,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,83,0.00,0.00,-61.42,0.000,2,0.000,0.000,862,2222,2783
$GC,86,-0.67,-117.3,3.4,-4.4,6,119,12.20,2.33,-12.40,0.000,4,0.143,0.073,2649,3593,3319
$GC,271,-0.43,-117.3,33.4,-11.4,22,278,0.32,2.22,0.00,0.000,6,0.080,0.038,2704,2176,3319
$GC,609,-0.43,-117.3,59.2,-7.5,75,615,0.00,2.25,0.00,0.000,4,0.000,0.061,2704,801,3319
$GC,689,-0.49,-117.3,64.7,-6.1,89,695,0.00,2.10,0.00,0.000,6,0.000,0.040,2704,2167,3319
$GC,1034,-0.56,-117.3,85.1,-6.8,144,1036,0.15,0.00,0.00,0.000,6,0.054,0.000,2669,2167,3319
$GC,1354,-0.50,-117.3,109.0,-7.3,174,1356,0.12,0.00,0.00,0.000,6,0.086,0.000,2690,2167,3318
$GC,1673,-0.57,-117.3,126.3,-5.0,204,1677,0.00,2.38,0.00,0.000,4,0.000,0.064,2690,3605,3318
$GC,1713,-0.68,-117.3,128.5,-6.2,207,1718,0.20,2.22,0.00,0.000,6,0.048,0.041,2647,2188,3319
$GC,2048,-0.58,-117.3,152.0,-6.9,237,2052,0.15,2.30,0.00,0.000,4,0.085,0.063,2676,797,3319
$GC,2110,-0.66,-117.3,155.6,-5.6,240,2114,0.00,2.17,0.00,0.000,6,0.000,0.044,2677,2194,3319
$GC,2437,-0.71,-117.3,171.8,-5.1,256,2439,0.17,0.00,0.00,0.000,6,0.053,0.000,2637,2195,3319
$GC,2746,-0.60,-117.3,194.8,-7.8,271,2748,0.17,0.00,0.00,0.000,6,0.083,0.000,2668,2195,3319
$GC,3054,-0.60,-117.3,213.9,-5.8,286,3058,0.00,2.33,0.00,0.000,4,0.000,0.067,2668,3599,3319
$GC,3081,-0.60,-117.3,215.7,-6.7,287,3085,0.00,2.28,0.00,0.000,6,0.000,0.044,2668,2172,3318
$GC,3403,-0.60,-117.3,233.7,-5.4,303,3408,0.00,2.38,0.00,0.000,4,0.000,0.066,2668,3598,3319
$GC,3436,-0.60,-117.3,235.7,-6.2,304,3443,0.00,2.22,0.00,0.000,6,0.000,0.044,2668,2200,3318
$GC,3753,-0.60,-117.3,251.5,-4.9,320,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2198,3318
$GC,4061,-0.60,-117.3,267.6,-5.3,335,4065,0.00,2.35,0.00,0.000,4,0.000,0.067,2668,3605,3318
$GC,4094,-0.60,-117.3,269.4,-5.7,336,4101,0.00,2.22,0.00,0.000,6,0.000,0.044,2668,2210,3317
$GC,4411,-0.65,-117.3,285.5,-4.9,352,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2209,3317
$GC,4721,-0.70,-117.3,300.3,-4.7,367,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2209,3317
$GC,5022,-0.75,-117.3,314.8,-4.8,372,5027,0.15,2.35,0.00,0.000,4,0.059,0.068,2631,809,3316
$GC,5043,-0.75,-117.3,316.2,-6.4,372,5047,0.00,2.22,0.00,0.000,6,0.000,0.044,2631,2215,3316
$GC,5387,-0.64,-117.3,339.2,-6.9,378,5389,0.15,0.00,0.00,0.000,6,0.087,0.000,2657,2216,3315
$GC,5689,-0.64,-117.3,357.2,-5.9,383,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2216,3316
$GC,5993,-0.64,-117.3,375.2,-6.0,388,5997,0.00,2.30,0.00,0.000,4,0.000,0.070,2657,3598,3315
$GC,6025,-0.64,-117.3,377.5,-7.2,388,6029,0.00,2.17,0.00,0.000,6,0.000,0.046,2657,2221,3315
$GC,6357,-0.64,-117.3,398.1,-6.2,394,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2215,3315
$GC,6660,-0.64,-117.3,415.8,-5.8,399,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2215,3314
$GC,6963,-0.64,-117.3,432.4,-5.4,404,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2215,3314
$GC,7267,-0.64,-117.3,446.5,-4.6,409,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2215,3313
$GC,7569,-0.64,-117.3,460.4,-4.6,414,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2215,3312
$GC,7873,-0.64,-117.3,476.0,-5.2,419,7877,0.00,2.35,0.00,0.000,4,0.000,0.069,2657,3605,3313
$GC,7901,-0.64,-117.3,477.7,-6.1,419,7905,0.00,2.17,0.00,0.000,6,0.000,0.045,2657,2232,3312
$GC,8233,-0.64,-117.3,494.8,-5.1,425,8237,0.00,2.42,0.00,0.000,4,0.000,0.079,2657,804,3312
$GC,8266,-0.69,-117.3,496.6,-5.3,425,8270,0.00,2.25,0.00,0.000,6,0.000,0.051,2657,2231,3312
$GC,8598,-0.69,-117.3,512.2,-4.6,431,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2231,3312
$GC,8903,-0.69,-117.3,527.4,-5.1,436,8908,0.00,2.40,0.00,0.000,4,0.000,0.077,2657,804,3312
$GC,8966,-0.76,-117.3,530.9,-5.3,437,8971,0.12,2.25,0.00,0.000,6,0.062,0.052,2631,2219,3312
$GC,9331,-0.68,-117.3,553.8,-6.3,443,9336,0.10,2.33,0.00,0.000,4,0.098,0.072,2647,3601,3311
$GC,9386,-0.68,-117.3,557.3,-6.5,443,9392,0.00,2.20,0.00,0.000,6,0.000,0.048,2648,2221,3311
$GC,9695,-0.68,-117.3,573.4,-5.2,449,9699,0.00,2.42,0.00,0.000,4,0.000,0.084,2647,799,3311
$GC,9733,-0.68,-117.3,575.4,-5.3,449,9737,0.00,2.28,0.00,0.000,6,0.000,0.052,2647,2227,3311
$GC,10059,-0.68,-117.3,590.8,-4.7,455,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2227,3311
$GC,10362,-0.68,-117.3,605.8,-5.0,460,10366,0.00,2.42,0.00,0.000,4,0.000,0.080,2647,796,3310
$GC,10394,-0.68,-117.3,607.7,-5.5,460,10398,0.00,2.25,0.00,0.000,6,0.000,0.054,2647,2207,3310
$GC,10726,-0.68,-117.3,624.8,-5.2,466,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2207,3310
$GC,11029,-0.68,-117.3,640.4,-5.1,471,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2207,3310
$GC,11332,-0.68,-117.3,656.2,-5.1,476,11336,0.00,2.40,0.00,0.000,4,0.000,0.082,2647,798,3309
$GC,11358,-0.68,-117.3,657.8,-5.9,476,11363,0.00,2.30,0.00,0.000,6,0.000,0.054,2647,2212,3309
$GC,11698,-0.68,-117.3,675.0,-5.1,482,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2212,3309
$GC,11999,-0.68,-117.3,690.1,-5.0,487,12003,0.00,2.42,0.00,0.000,4,0.000,0.082,2647,794,3308
$GC,12037,-0.68,-117.3,692.2,-5.1,487,12041,0.00,2.25,0.00,0.000,6,0.000,0.056,2646,2196,3308
$GC,12363,-0.68,-117.3,707.5,-4.7,493,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,3308
$GC,12667,-0.68,-117.3,722.0,-4.8,498,12668,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,3308
$GC,12969,-0.68,-117.3,736.4,-4.8,503,12973,0.00,2.40,0.00,0.000,4,0.000,0.084,2647,800,3308
$GC,12996,-0.68,-117.3,737.9,-5.7,503,13000,0.00,2.25,0.00,0.000,6,0.000,0.056,2647,2178,3308
$GC,13334,-0.68,-117.3,754.6,-5.0,509,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2178,3307
$GC,13637,-0.68,-117.3,771.5,-5.6,514,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2178,3307
$GC,13940,-0.68,-117.3,789.0,-5.8,519,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2178,3307
$GC,14243,-0.68,-117.3,806.3,-5.7,524,14247,0.00,2.38,0.00,0.000,4,0.000,0.087,2647,804,3306
$GC,14275,-0.68,-117.3,808.3,-6.6,524,14279,0.00,2.25,0.00,0.000,6,0.000,0.058,2647,2172,3307
$GC,14609,-0.68,-117.3,825.5,-5.1,530,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2171,3307
$GC,14910,-0.68,-117.3,839.8,-4.7,535,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2171,3307
$GC,15213,-0.68,-117.3,853.2,-4.5,540,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2172,3306
$GC,15516,-0.68,-117.3,866.8,-4.4,545,15521,0.00,2.40,0.00,0.000,4,0.000,0.091,2647,798,3306
$GC,15550,-0.72,-117.3,868.3,-4.7,545,15554,0.00,2.22,0.00,0.000,6,0.000,0.061,2647,2166,3306
$GC,15875,-0.72,-117.3,882.7,-4.4,551,15876,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2166,3306
$GC,16178,-0.72,-117.3,895.8,-4.3,556,16179,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2166,3306
$GC,16482,-0.72,-117.3,908.2,-4.1,561,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2166,3305
$GC,16784,-0.72,-117.3,920.8,-4.1,566,16786,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2166,3305
$GC,17088,-0.77,-117.3,933.9,-4.4,571,17090,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2166,3305
$GC,17391,-0.81,-117.3,947.5,-4.5,576,17396,0.12,2.42,0.00,0.000,4,0.066,0.095,2620,804,3305
$GC,17413,-0.81,-117.3,948.8,-5.2,576,17416,0.00,2.20,0.00,0.000,6,0.000,0.064,2620,2148,3305
$GC,17755,-0.73,-117.3,969.5,-6.1,582,17757,0.12,0.00,0.00,0.000,6,0.095,0.000,2641,2149,3305
$GC,18058,-0.73,-117.3,984.6,-4.9,587,18059,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2149,3305
$STATE,18177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18177,begin apogee
$GC,18183,-0.23,0.0,990.4,4.9,589,18288,0.62,0.00,102.62,1.496,6,0.074,0.000,2748,2210,2838
$STATE,18289,end apogee,CONTROL_FINISHED_OK
$STATE,18289,begin climb
$GC,18291,0.67,117.3,991.9,0.0,590,18414,1.12,2.80,112.15,1.443,4,0.048,0.096,2942,3599,2358
$GC,18436,0.40,117.3,987.8,7.3,592,18442,0.35,2.53,0.00,0.000,6,0.091,0.062,2890,2213,2358
$GC,18779,0.40,117.3,967.5,5.8,598,18783,0.00,2.58,0.00,0.000,4,0.000,0.107,2890,788,2358
$GC,18811,0.36,124.9,965.5,5.3,598,18826,0.00,2.33,9.15,1.271,6,0.000,0.065,2890,2188,2326
$GC,19142,0.36,124.9,945.1,6.2,604,19146,0.00,2.50,0.00,0.000,4,0.000,0.100,2890,780,2326
$GC,19168,0.36,124.9,943.3,7.3,604,19172,0.00,2.30,0.00,0.000,6,0.000,0.064,2890,2161,2326
$GC,19505,0.36,124.9,920.9,6.7,610,19506,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2161,2326
$GC,19808,0.36,124.9,900.3,6.8,615,19810,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2161,2326
$GC,20112,0.36,124.9,879.9,6.7,620,20113,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2161,2326
$GC,20415,0.36,124.9,860.5,6.3,625,20419,0.00,2.40,0.00,0.000,4,0.000,0.097,2890,787,2326
$GC,20458,0.36,124.9,857.3,7.1,625,20462,0.00,2.22,0.00,0.000,6,0.000,0.061,2890,2140,2325
$GC,20779,0.36,124.9,837.5,6.2,631,20780,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2140,2325
$GC,21082,0.36,124.9,820.3,5.7,636,21083,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2140,2325
$GC,21386,0.36,125.8,803.5,5.5,641,21387,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2140,2325
$GC,21688,0.38,137.6,787.8,5.1,646,21707,0.00,2.40,12.23,1.299,4,0.000,0.092,2890,786,2276
$GC,21724,0.38,138.0,785.8,5.5,646,21728,0.00,2.17,0.00,0.000,6,0.000,0.058,2890,2128,2275
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$STATE,34206,end climb,SURFACE_DEPTH_REACHED
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