version: 66.03
glider: 119
mission: 5
dive: 198
start: 11 10 108 11 14 39
data:
$ID,119
$MISSION,5
$DIVE,198
$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,-213505.89
$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,36
$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
$GPS1,110808,4703.540,-12724.460,28,1.5,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-66.6
$GPS2,111345,4703.505,-12724.434,12,1.6,12,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.172,-0.092
$KALMAN_X,-24820.1,376.1,35.7,-160612.8,-912.0
$KALMAN_Y,199878.6,-206.1,-143.7,-190329.0,3118.3
$MHEAD_RNG_PITCHd_Wd,99.5,185068,-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,-61.35,0.000,2,0.000,0.000,864,2220,2770
$GC,86,-0.67,-117.3,3.5,-4.8,6,119,12.23,2.35,-12.30,0.000,4,0.143,0.072,2649,3599,3318
$GC,345,-0.43,-117.3,39.1,-10.9,29,350,0.32,2.25,0.00,0.000,6,0.081,0.040,2704,2170,3317
$GC,687,-0.49,-117.3,63.9,-6.1,88,693,0.00,2.20,0.00,0.000,4,0.000,0.061,2704,796,3318
$GC,739,-0.59,-117.3,67.0,-5.9,97,746,0.17,2.12,0.00,0.000,6,0.049,0.041,2665,2175,3318
$GC,1080,-0.49,-117.3,94.7,-8.7,143,1082,0.15,0.00,0.00,0.000,6,0.083,0.000,2691,2175,3317
$GC,1400,-0.49,-117.3,114.6,-5.4,173,1404,0.00,2.22,0.00,0.000,4,0.000,0.060,2691,801,3317
$GC,1444,-0.56,-117.3,117.3,-5.8,176,1450,0.00,2.08,0.00,0.000,6,0.000,0.043,2691,2123,3317
$GC,1771,-0.64,-117.3,133.6,-4.7,207,1773,0.17,0.00,0.00,0.000,6,0.051,0.000,2652,2123,3318
$GC,2087,-0.58,-117.3,153.2,-6.3,235,2089,0.12,0.00,0.00,0.000,6,0.087,0.000,2673,2123,3318
$GC,2395,-0.58,-117.3,170.5,-5.8,250,2399,0.00,2.42,0.00,0.000,4,0.000,0.066,2673,3598,3317
$GC,2427,-0.58,-117.3,172.4,-5.9,251,2433,0.00,2.28,0.00,0.000,6,0.000,0.042,2674,2161,3318
$GC,2744,-0.62,-117.3,188.6,-4.9,267,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2155,3318
$GC,3053,-0.67,-117.3,204.9,-5.5,282,3057,0.00,2.40,0.00,0.000,4,0.000,0.067,2673,3605,3317
$GC,3097,-0.73,-117.3,207.7,-6.5,284,3101,0.17,2.22,0.00,0.000,6,0.053,0.043,2636,2178,3317
$GC,3423,-0.63,-117.3,232.7,-7.4,300,3428,0.15,2.28,0.00,0.000,4,0.087,0.066,2665,804,3317
$GC,3495,-0.68,-117.3,237.4,-6.2,303,3499,0.00,2.15,0.00,0.000,6,0.000,0.044,2665,2183,3318
$GC,3811,-0.68,-117.3,254.9,-5.6,318,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2183,3318
$GC,4120,-0.68,-117.3,272.7,-5.7,333,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2183,3317
$GC,4429,-0.68,-117.3,289.3,-5.2,348,4434,0.00,2.35,0.00,0.000,4,0.000,0.068,2665,3603,3317
$GC,4462,-0.68,-117.3,291.2,-5.9,349,4469,0.00,2.25,0.00,0.000,6,0.000,0.044,2666,2196,3316
$GC,4815,-0.68,-117.3,309.8,-5.3,361,4819,0.00,2.30,0.00,0.000,4,0.000,0.069,2666,803,3317
$GC,4854,-0.74,-117.3,312.2,-6.5,361,4859,0.15,2.17,0.00,0.000,6,0.058,0.044,2633,2199,3317
$GC,5174,-0.64,-117.3,336.3,-7.7,367,5176,0.15,0.00,0.00,0.000,6,0.088,0.000,2659,2199,3316
$GC,5478,-0.64,-117.3,354.8,-6.0,372,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,3315
$GC,5780,-0.64,-117.3,371.3,-5.4,377,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,3315
$GC,6083,-0.64,-117.3,387.0,-5.2,382,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,3314
$GC,6387,-0.64,-117.3,403.0,-5.3,387,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,3314
$GC,6689,-0.64,-117.3,418.4,-5.0,392,6693,0.00,2.33,0.00,0.000,4,0.000,0.073,2659,799,3314
$GC,6716,-0.64,-117.3,420.0,-5.4,392,6720,0.00,2.15,0.00,0.000,6,0.000,0.048,2659,2172,3314
$GC,7053,-0.64,-117.3,436.2,-4.8,398,7057,0.00,2.28,0.00,0.000,4,0.000,0.074,2659,804,3313
$GC,7091,-0.69,-117.3,438.3,-5.3,398,7095,0.00,2.15,0.00,0.000,6,0.000,0.048,2659,2176,3313
$GC,7413,-0.69,-117.3,454.1,-5.0,404,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2176,3313
$GC,7714,-0.69,-117.3,469.9,-5.3,409,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2176,3313
$GC,8018,-0.69,-117.3,485.4,-5.1,414,8022,0.00,2.30,0.00,0.000,4,0.000,0.075,2659,799,3312
$GC,8056,-0.75,-117.3,487.5,-5.9,414,8060,0.00,2.15,0.00,0.000,6,0.000,0.050,2659,2159,3312
$GC,8383,-0.79,-117.3,504.3,-5.1,420,8388,0.17,2.40,0.00,0.000,4,0.058,0.070,2620,3600,3311
$GC,8410,-0.68,-117.3,506.1,-7.0,420,8414,0.17,2.30,0.00,0.000,6,0.085,0.047,2649,2144,3312
$GC,8741,-0.68,-117.3,523.7,-5.3,426,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2144,3311
$GC,9044,-0.68,-117.3,540.0,-5.4,431,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2144,3311
$GC,9347,-0.68,-117.3,556.2,-5.3,436,9351,0.00,2.45,0.00,0.000,4,0.000,0.071,2649,3601,3311
$GC,9390,-0.68,-117.3,558.7,-6.0,436,9394,0.00,2.30,0.00,0.000,6,0.000,0.048,2649,2158,3311
$GC,9711,-0.68,-117.3,574.2,-4.8,442,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2156,3311
$GC,10014,-0.68,-117.3,588.5,-4.8,447,10018,0.00,2.45,0.00,0.000,4,0.000,0.073,2649,3608,3310
$GC,10046,-0.68,-117.3,590.1,-5.0,447,10050,0.00,2.25,0.00,0.000,6,0.000,0.047,2650,2193,3310
$GC,10378,-0.68,-117.3,605.7,-4.7,453,10382,0.00,2.38,0.00,0.000,4,0.000,0.084,2649,798,3310
$GC,10422,-0.68,-117.3,608.0,-5.2,453,10426,0.00,2.20,0.00,0.000,6,0.000,0.053,2649,2181,3310
$GC,10737,-0.68,-117.3,623.5,-4.9,459,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2181,3310
$GC,11040,-0.68,-117.3,638.6,-5.0,464,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2181,3309
$GC,11343,-0.68,-117.3,653.6,-5.0,469,11347,0.00,2.35,0.00,0.000,4,0.000,0.081,2649,798,3309
$GC,11375,-0.68,-117.3,655.5,-4.9,469,11379,0.00,2.17,0.00,0.000,6,0.000,0.054,2649,2163,3309
$GC,11707,-0.68,-117.3,673.4,-5.5,475,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2162,3308
$GC,12010,-0.68,-117.3,690.2,-5.5,480,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2163,3308
$GC,12315,-0.68,-117.3,705.9,-5.2,485,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2163,3308
$GC,12616,-0.68,-117.3,721.0,-5.0,490,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2163,3308
$GC,12919,-0.68,-117.3,736.2,-5.1,495,12923,0.00,2.33,0.00,0.000,4,0.000,0.084,2649,801,3307
$GC,12946,-0.68,-117.3,737.8,-5.5,495,12950,0.00,2.22,0.00,0.000,6,0.000,0.055,2649,2167,3307
$GC,13284,-0.68,-117.3,755.5,-5.3,501,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2167,3307
$GC,13587,-0.68,-117.3,771.9,-5.4,506,13591,0.00,2.35,0.00,0.000,4,0.000,0.084,2649,790,3307
$GC,13614,-0.72,-117.3,773.4,-6.2,506,13618,0.00,2.20,0.00,0.000,6,0.000,0.056,2649,2154,3306
$GC,13957,-0.72,-117.3,791.4,-5.2,512,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3307
$GC,14260,-0.72,-117.3,806.8,-5.1,517,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2153,3306
$GC,14563,-0.72,-117.3,822.1,-5.1,522,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3307
$GC,14866,-0.72,-117.3,836.9,-4.8,527,14867,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3306
$GC,15171,-0.77,-117.3,851.5,-4.8,532,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3306
$GC,15472,-0.77,-117.3,867.0,-5.1,537,15474,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2154,3305
$GC,15778,-0.81,-117.3,883.1,-5.3,542,15779,0.12,0.00,0.00,0.000,6,0.066,0.000,2622,2154,3305
$GC,16079,-0.73,-117.3,902.5,-6.4,547,16081,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2154,3305
$GC,16382,-0.66,-117.3,921.3,-6.2,552,16384,0.20,0.00,0.00,0.000,6,0.084,0.000,2656,2154,3305
$GC,16685,-0.72,-117.3,935.5,-4.6,557,16689,0.00,2.38,0.00,0.000,4,0.000,0.094,2656,803,3305
$GC,16720,-0.82,-117.3,937.4,-5.1,557,16725,0.17,2.17,0.00,0.000,6,0.054,0.061,2618,2136,3305
$GC,17048,-0.73,-117.3,955.2,-5.5,563,17053,0.12,2.58,0.00,0.000,4,0.094,0.092,2639,3598,3304
$GC,17109,-0.73,-117.3,958.6,-4.7,564,17113,0.00,2.38,0.00,0.000,6,0.000,0.055,2639,2143,3304
$GC,17474,-0.73,-117.3,973.3,-3.9,570,17478,0.00,2.40,0.00,0.000,4,0.000,0.100,2639,793,3305
$GC,17515,-0.73,-117.3,975.1,-5.2,570,17519,0.00,2.22,0.00,0.000,6,0.000,0.063,2639,2148,3305
$GC,17841,-0.73,-117.3,987.7,-3.9,576,17842,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2148,3304
$STATE,17899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17900,begin apogee
$GC,17905,-0.23,0.0,990.2,3.9,577,18011,0.62,0.00,102.95,1.496,6,0.073,0.000,2747,2201,2837
$STATE,18011,end apogee,CONTROL_FINISHED_OK
$STATE,18012,begin climb
$GC,18014,0.67,117.3,991.0,0.0,578,18131,1.15,0.00,112.30,1.444,6,0.045,0.000,2944,2201,2358
$GC,18449,0.46,117.3,961.9,8.4,586,18453,0.22,2.47,0.00,0.000,4,0.092,0.089,2904,3605,2358
$GC,18487,0.36,117.3,958.8,6.9,586,18492,0.15,2.30,0.00,0.000,6,0.100,0.060,2882,2226,2358
$GC,18807,0.37,120.6,941.3,5.4,592,18817,0.00,2.53,4.90,1.035,4,0.000,0.101,2882,786,2345
$GC,18868,0.37,121.0,937.7,5.5,593,18872,0.00,2.30,0.00,0.000,6,0.000,0.061,2882,2191,2345
$GC,19233,0.37,124.9,917.9,5.4,599,19241,0.00,0.00,5.80,1.135,6,0.000,0.000,2882,2191,2327
$GC,19536,0.38,128.6,901.7,5.4,604,19546,0.00,2.45,5.30,1.091,4,0.000,0.095,2882,785,2312
$GC,19590,0.41,156.2,898.5,4.6,604,19621,0.00,2.25,26.55,1.407,6,0.000,0.060,2882,2166,2200
$GC,19959,0.48,156.2,876.2,6.1,611,19964,0.12,2.40,0.00,0.000,4,0.066,0.092,2908,792,2200
$GC,20009,0.41,156.2,872.4,7.1,611,20012,0.00,2.17,0.00,0.000,6,0.000,0.060,2908,2130,2200
$GC,20323,0.41,156.2,850.1,7.0,617,20327,0.00,2.50,0.00,0.000,4,0.000,0.084,2908,3605,2200
$GC,20356,0.36,156.2,847.5,7.6,617,20361,0.17,2.40,0.00,0.000,6,0.096,0.057,2881,2128,2200
$GC,20682,0.44,162.4,829.7,5.3,623,20696,0.00,2.35,7.60,1.216,4,0.000,0.094,2880,781,2174
$GC,20724,0.49,162.4,827.1,5.8,623,20729,0.12,2.15,0.00,0.000,6,0.065,0.057,2906,2117,2174
$GC,21050,0.49,162.4,806.4,6.5,629,21051,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2117,2174
$GC,21353,0.49,162.4,785.9,6.8,634,21357,0.00,2.50,0.00,0.000,4,0.000,0.080,2907,3608,2174
$GC,21379,0.49,162.4,783.7,7.4,634,21383,0.00,2.40,0.00,0.000,6,0.000,0.054,2907,2124,2174
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$STATE,33841,end climb,SURFACE_DEPTH_REACHED
$STATE,33841,begin surface coast
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$STATE,33875,end surface coast,CONTROL_FINISHED_OK
$STATE,33875,begin surface
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