version: 66.03
glider: 119
mission: 5
dive: 201
start: 11 11 108 16 22 31
data:
$ID,119
$MISSION,5
$DIVE,201
$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,-213550.2
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,161538,4701.489,-12710.288,37,2.0,38,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.8
$GPS2,162139,4701.433,-12710.264,11,1.7,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.187,-0.055
$KALMAN_X,-25612.6,232.5,-43.5,-141685.4,-787.7
$KALMAN_Y,205014.9,-8.2,-285.2,-199342.1,1886.8
$MHEAD_RNG_PITCHd_Wd,87.8,167078,-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,-61.75,0.000,2,0.000,0.000,862,2219,2750
$GC,87,-0.67,-117.3,3.1,-3.1,6,121,12.10,2.33,-13.45,0.000,4,0.140,0.072,2648,3602,3319
$GC,312,-0.44,-117.3,31.7,-11.0,26,317,0.32,2.25,0.00,0.000,6,0.078,0.039,2703,2190,3318
$GC,649,-0.71,-117.3,55.5,-7.4,75,656,0.28,2.28,0.00,0.000,4,0.044,0.057,2638,790,3319
$GC,673,-0.87,-117.3,57.3,-7.4,79,680,0.15,2.17,0.00,0.000,6,0.055,0.041,2604,2200,3319
$GC,1016,-0.57,-117.3,96.8,-12.0,128,1018,0.40,0.00,0.00,0.000,6,0.077,0.000,2673,2200,3319
$GC,1335,-0.57,-117.3,117.4,-6.1,158,1339,0.00,2.28,0.00,0.000,4,0.000,0.061,2673,793,3319
$GC,1380,-0.62,-117.3,120.2,-6.7,161,1386,0.00,2.10,0.00,0.000,6,0.000,0.044,2673,2156,3319
$GC,1707,-0.70,-117.3,138.6,-5.3,192,1712,0.12,2.40,0.00,0.000,4,0.059,0.065,2643,3601,3319
$GC,1751,-0.63,-117.3,141.8,-6.8,195,1757,0.00,2.22,0.00,0.000,6,0.000,0.042,2644,2185,3319
$GC,2080,-0.58,-117.3,164.3,-6.8,217,2082,0.17,0.00,0.00,0.000,6,0.080,0.000,2674,2179,3318
$GC,2391,-0.68,-117.3,180.7,-5.1,232,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2179,3319
$GC,2699,-0.90,-117.3,197.6,-6.5,247,2704,0.35,2.40,0.00,0.000,4,0.041,0.065,2597,3608,3319
$GC,2744,-0.66,-117.3,201.4,-8.3,249,2749,0.32,2.20,0.00,0.000,6,0.081,0.043,2653,2222,3319
$GC,3064,-0.66,-117.3,221.8,-6.5,265,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2217,3319
$GC,3373,-0.66,-117.3,241.9,-6.6,280,3377,0.00,2.35,0.00,0.000,4,0.000,0.067,2653,805,3319
$GC,3400,-0.66,-117.3,243.8,-7.1,281,3404,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2245,3319
$GC,3727,-0.66,-117.3,263.7,-6.0,297,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2245,3319
$GC,4036,-0.66,-117.3,283.2,-6.3,312,4041,0.00,2.38,0.00,0.000,4,0.000,0.065,2652,795,3318
$GC,4064,-0.66,-117.3,285.2,-6.9,313,4068,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2234,3318
$GC,4383,-0.66,-117.3,304.8,-6.0,327,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2234,3318
$GC,4686,-0.66,-117.3,322.8,-5.9,332,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2234,3318
$GC,4989,-0.66,-117.3,339.8,-5.5,337,4993,0.00,2.38,0.00,0.000,4,0.000,0.067,2652,793,3317
$GC,5022,-0.70,-117.3,341.8,-5.9,337,5026,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2229,3317
$GC,5348,-0.70,-117.3,358.0,-5.0,343,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2230,3317
$GC,5651,-0.70,-117.3,373.6,-5.1,348,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2230,3317
$GC,5954,-0.70,-117.3,390.1,-5.5,353,5958,0.00,2.35,0.00,0.000,4,0.000,0.069,2653,806,3316
$GC,5982,-0.74,-117.3,391.8,-6.1,353,5986,0.00,2.20,0.00,0.000,6,0.000,0.046,2652,2212,3316
$GC,6321,-0.74,-117.3,409.1,-5.1,359,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2212,3315
$GC,6622,-0.78,-117.3,424.9,-5.3,364,6624,0.12,0.00,0.00,0.000,6,0.064,0.000,2624,2212,3315
$GC,6926,-0.70,-117.3,445.8,-6.9,369,6930,0.12,2.35,0.00,0.000,4,0.090,0.071,2645,807,3315
$GC,6957,-0.70,-117.3,448.0,-6.7,369,6962,0.00,2.20,0.00,0.000,6,0.000,0.048,2645,2187,3315
$GC,7295,-0.70,-117.3,466.2,-5.4,375,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2188,3315
$GC,7598,-0.70,-117.3,482.9,-5.5,380,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2188,3315
$GC,7902,-0.70,-117.3,498.3,-5.0,385,7906,0.00,2.33,0.00,0.000,4,0.000,0.074,2645,803,3314
$GC,7929,-0.70,-117.3,499.7,-5.0,385,7933,0.00,2.17,0.00,0.000,6,0.000,0.050,2645,2178,3314
$GC,8266,-0.70,-117.3,516.1,-4.8,391,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3314
$GC,8570,-0.70,-117.3,530.4,-4.6,396,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3314
$GC,8872,-0.70,-117.3,544.1,-4.6,401,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3313
$GC,9175,-0.70,-117.3,558.6,-4.8,406,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3313
$GC,9478,-0.70,-117.3,573.4,-4.9,411,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3312
$GC,9782,-0.70,-117.3,588.1,-4.8,416,9786,0.00,2.33,0.00,0.000,4,0.000,0.079,2645,806,3312
$GC,9815,-0.74,-117.3,589.8,-5.9,416,9819,0.00,2.20,0.00,0.000,6,0.000,0.053,2645,2183,3311
$GC,10148,-0.74,-117.3,606.8,-5.2,422,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2183,3312
$GC,10449,-0.78,-117.3,624.1,-5.7,427,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2183,3311
$GC,10753,-0.78,-117.3,641.0,-5.5,432,10757,0.00,2.35,0.00,0.000,4,0.000,0.080,2646,800,3311
$GC,10791,-0.84,-117.3,643.1,-5.5,432,10796,0.17,2.20,0.00,0.000,6,0.054,0.054,2608,2174,3311
$GC,11117,-0.73,-117.3,664.2,-6.5,438,11119,0.17,0.00,0.00,0.000,6,0.085,0.000,2638,2174,3311
$GC,11422,-0.73,-117.3,679.4,-5.0,443,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,3311
$GC,11723,-0.73,-117.3,694.4,-4.9,448,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,3311
$GC,12026,-0.73,-117.3,709.7,-5.1,453,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,3310
$GC,12329,-0.73,-117.3,724.7,-4.9,458,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,3310
$GC,12632,-0.73,-117.3,739.1,-4.8,463,12637,0.00,2.35,0.00,0.000,4,0.000,0.084,2638,805,3309
$GC,12671,-0.73,-117.3,741.0,-5.2,463,12675,0.00,2.17,0.00,0.000,6,0.000,0.056,2638,2155,3310
$GC,12997,-0.73,-117.3,757.4,-5.0,469,13001,0.00,2.50,0.00,0.000,4,0.000,0.086,2637,3605,3309
$GC,13029,-0.73,-117.3,759.2,-5.7,469,13033,0.00,2.30,0.00,0.000,6,0.000,0.049,2638,2158,3308
$GC,13362,-0.73,-117.3,775.0,-4.7,475,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2158,3308
$GC,13664,-0.73,-117.3,788.1,-4.2,480,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2158,3308
$GC,13968,-0.73,-117.3,800.4,-4.0,485,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2157,3308
$GC,14271,-0.73,-117.3,812.7,-4.0,490,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2157,3307
$GC,14576,-0.73,-117.3,826.7,-4.7,495,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2157,3307
$GC,14876,-0.73,-117.3,841.6,-4.9,500,14877,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2156,3306
$GC,15180,-0.73,-117.3,856.5,-5.0,505,15184,0.00,2.55,0.00,0.000,4,0.000,0.087,2638,3602,3307
$GC,15207,-0.73,-117.3,858.0,-5.3,505,15211,0.00,2.33,0.00,0.000,6,0.000,0.051,2638,2163,3306
$GC,15538,-0.73,-117.3,874.0,-4.7,511,15542,0.00,2.40,0.00,0.000,4,0.000,0.094,2638,801,3306
$GC,15565,-0.77,-117.3,875.3,-5.1,511,15569,0.00,2.22,0.00,0.000,6,0.000,0.058,2638,2178,3306
$GC,15896,-0.77,-117.3,890.7,-4.6,517,15897,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2177,3307
$GC,16200,-0.77,-117.3,905.2,-4.8,522,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3306
$GC,16502,-0.77,-117.3,919.6,-4.7,527,16507,0.00,2.42,0.00,0.000,4,0.000,0.093,2638,800,3306
$GC,16537,-0.82,-117.3,921.3,-5.2,527,16541,0.00,2.20,0.00,0.000,6,0.000,0.061,2638,2151,3306
$GC,16864,-0.86,-117.3,936.0,-4.4,533,16866,0.15,0.00,0.00,0.000,6,0.061,0.000,2606,2152,3306
$GC,17167,-0.76,-117.3,952.6,-5.5,538,17172,0.15,2.58,0.00,0.000,4,0.091,0.090,2635,3603,3306
$GC,17194,-0.76,-117.3,954.1,-5.7,538,17198,0.00,2.35,0.00,0.000,6,0.000,0.055,2635,2172,3305
$GC,17532,-0.76,-117.3,969.3,-4.5,544,17533,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2172,3306
$GC,17835,-0.76,-117.3,983.2,-4.6,549,17836,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2171,3306
$STATE,18014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18014,begin apogee
$GC,18019,-0.23,0.0,991.4,4.5,552,18136,0.65,0.00,105.07,1.474,6,0.072,0.000,2747,2171,2837
$STATE,18137,end apogee,CONTROL_FINISHED_OK
$STATE,18137,begin climb
$GC,18139,0.67,117.3,994.4,0.0,554,18262,1.12,2.85,112.40,1.448,4,0.044,0.089,2944,3591,2358
$GC,18289,0.34,117.3,988.2,8.4,556,18295,0.45,2.53,0.00,0.000,6,0.094,0.063,2877,2201,2359
$GC,18626,0.34,119.1,969.5,5.4,562,18628,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2201,2358
$GC,18930,0.34,122.3,953.1,5.4,567,18938,0.00,0.00,6.53,1.178,6,0.000,0.000,2877,2201,2338
$GC,19232,0.34,122.3,935.6,5.8,572,19237,0.00,2.47,0.00,0.000,4,0.000,0.101,2877,783,2337
$GC,19282,0.34,123.2,932.4,5.5,572,19286,0.00,2.30,0.00,0.000,6,0.000,0.063,2877,2189,2337
$GC,19597,0.34,123.2,912.7,6.3,578,19598,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2189,2338
$GC,19900,0.34,123.2,893.7,6.3,583,19904,0.00,2.45,0.00,0.000,4,0.000,0.094,2877,782,2337
$GC,19926,0.34,123.2,891.8,7.4,583,19930,0.00,2.28,0.00,0.000,6,0.000,0.061,2877,2165,2337
$GC,20264,0.34,123.2,871.2,6.1,589,20265,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2165,2337
$GC,20567,0.34,123.2,853.4,5.9,594,20568,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2165,2337
$GC,20870,0.34,123.2,836.5,5.5,599,20871,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2165,2337
$GC,21173,0.34,123.2,819.5,5.6,604,21174,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2165,2337
$GC,21476,0.34,123.2,802.6,5.6,609,21477,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2165,2337
$GC,21779,0.34,123.2,785.7,5.6,614,21780,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2165,2337
$GC,22082,0.35,123.5,768.8,5.5,619,22086,0.00,2.38,0.00,0.000,4,0.000,0.088,2877,786,2337
$GC,22115,0.35,123.5,766.8,6.0,619,22119,0.00,2.20,0.00,0.000,6,0.000,0.058,2877,2153,2336
$GC,22447,0.35,126.3,748.8,5.4,625,22457,0.00,2.33,5.12,1.025,4,0.000,0.086,2877,785,2322
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$STATE,34872,end climb,SURFACE_DEPTH_REACHED
$STATE,34872,begin surface coast
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