version: 66.03
glider: 119
mission: 5
dive: 202
start: 11 12 108 2 12 59
data:
$ID,119
$MISSION,5
$DIVE,202
$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,-213581.84
$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,43
$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
$GPS1,020621,4701.145,-12705.694,39,1.6,52,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.1
$GPS2,021207,4701.161,-12705.598,12,1.8,29,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,-0.053
$KALMAN_X,-25937.2,-340.2,17.5,-134951.9,387.2
$KALMAN_Y,206509.6,1.1,-325.9,-201321.2,1821.0
$MHEAD_RNG_PITCHd_Wd,87.2,161178,-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,-61.72,0.000,2,0.000,0.000,860,2224,2746
$GC,87,-0.67,-117.3,3.2,-4.2,6,120,12.18,2.30,-13.80,0.000,4,0.143,0.076,2648,3588,3316
$GC,301,-0.45,-117.3,30.8,-11.6,25,306,0.30,2.25,0.00,0.000,6,0.080,0.041,2698,2171,3316
$GC,637,-0.45,-117.3,57.1,-6.9,74,643,0.00,2.20,0.00,0.000,4,0.000,0.059,2698,789,3316
$GC,694,-0.54,-117.3,60.6,-6.3,84,701,0.00,2.08,0.00,0.000,6,0.000,0.041,2698,2138,3315
$GC,1040,-0.82,-117.3,85.0,-7.6,140,1045,0.40,2.15,0.00,0.000,4,0.039,0.055,2611,800,3316
$GC,1158,-0.58,-117.3,97.1,-11.4,150,1164,0.35,2.55,0.00,0.000,6,0.074,0.043,2671,2430,3315
$GC,1484,-0.58,-117.3,119.3,-5.9,180,1489,0.00,2.70,0.00,0.000,4,0.000,0.058,2672,797,3316
$GC,1558,-0.65,-117.3,123.5,-5.3,186,1562,0.00,2.40,0.00,0.000,6,0.000,0.044,2672,2335,3316
$GC,1891,-0.71,-117.3,139.6,-4.2,217,1896,0.15,2.47,0.00,0.000,4,0.054,0.058,2633,802,3316
$GC,1946,-0.63,-117.3,143.5,-7.2,221,1953,0.15,2.33,0.00,0.000,6,0.081,0.044,2660,2296,3316
$GC,2277,-0.63,-117.3,160.4,-5.0,243,2281,0.00,2.42,0.00,0.000,4,0.000,0.061,2660,797,3316
$GC,2310,-0.69,-117.3,162.4,-5.6,244,2317,0.00,2.30,0.00,0.000,6,0.000,0.044,2660,2275,3316
$GC,2626,-0.69,-117.3,180.7,-6.0,260,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2276,3315
$GC,2935,-0.69,-117.3,198.0,-5.5,275,2939,0.00,2.40,0.00,0.000,4,0.000,0.061,2660,794,3316
$GC,2968,-0.74,-117.3,200.0,-5.9,276,2976,0.00,2.25,0.00,0.000,6,0.000,0.045,2660,2245,3316
$GC,3284,-0.79,-117.3,218.3,-5.8,292,3286,0.17,0.00,0.00,0.000,6,0.054,0.000,2622,2245,3315
$GC,3594,-0.67,-117.3,240.8,-7.0,307,3598,0.15,2.35,0.00,0.000,4,0.086,0.063,2651,800,3315
$GC,3642,-0.67,-117.3,243.9,-6.0,309,3646,0.00,2.28,0.00,0.000,6,0.000,0.044,2651,2239,3315
$GC,3964,-0.67,-117.3,259.5,-4.7,325,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2239,3316
$GC,4273,-0.67,-117.3,274.5,-4.9,340,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2239,3315
$GC,4583,-0.67,-117.3,290.0,-5.1,355,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2239,3315
$GC,4910,-0.67,-117.3,306.9,-5.3,367,4914,0.00,2.35,0.00,0.000,4,0.000,0.067,2651,805,3314
$GC,4936,-0.67,-117.3,308.7,-6.4,367,4940,0.00,2.25,0.00,0.000,6,0.000,0.044,2651,2242,3314
$GC,5273,-0.67,-117.3,328.5,-5.9,373,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2242,3314
$GC,5577,-0.67,-117.3,346.0,-5.7,378,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2242,3314
$GC,5881,-0.67,-117.3,361.9,-5.2,383,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2242,3313
$GC,6184,-0.67,-117.3,376.5,-4.8,388,6188,0.00,2.38,0.00,0.000,4,0.000,0.067,2651,800,3313
$GC,6228,-0.72,-117.3,378.8,-5.0,388,6232,0.00,2.22,0.00,0.000,6,0.000,0.046,2651,2223,3313
$GC,6542,-0.72,-117.3,395.3,-5.3,394,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2223,3313
$GC,6844,-0.72,-117.3,411.9,-5.5,399,6849,0.00,2.35,0.00,0.000,4,0.000,0.070,2652,803,3312
$GC,6889,-0.78,-117.3,414.7,-6.5,399,6892,0.00,2.20,0.00,0.000,6,0.000,0.046,2651,2205,3313
$GC,7209,-0.78,-117.3,433.3,-5.8,405,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,3312
$GC,7512,-0.78,-117.3,450.0,-5.4,410,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,3312
$GC,7816,-0.82,-117.3,466.0,-5.2,415,7820,0.15,2.35,0.00,0.000,4,0.059,0.071,2615,800,3311
$GC,7842,-0.76,-117.3,467.9,-7.2,415,7846,0.00,2.20,0.00,0.000,6,0.000,0.048,2614,2198,3311
$GC,8182,-0.64,-117.3,490.3,-6.7,421,8184,0.25,0.00,0.00,0.000,6,0.079,0.000,2658,2198,3310
$GC,8483,-0.71,-117.3,504.9,-4.8,426,8487,0.00,2.33,0.00,0.000,4,0.000,0.074,2658,808,3310
$GC,8521,-0.81,-117.3,506.9,-5.4,426,8526,0.20,2.15,0.00,0.000,6,0.051,0.050,2616,2170,3310
$GC,8842,-0.70,-117.3,528.2,-6.8,432,8847,0.17,2.40,0.00,0.000,4,0.084,0.070,2647,3596,3310
$GC,8897,-0.70,-117.3,531.7,-6.4,432,8903,0.00,2.28,0.00,0.000,6,0.000,0.047,2648,2162,3310
$GC,9207,-0.74,-117.3,547.7,-5.2,438,9211,0.00,2.33,0.00,0.000,4,0.000,0.082,2648,794,3310
$GC,9241,-0.80,-117.3,549.7,-5.8,438,9246,0.12,2.17,0.00,0.000,6,0.061,0.051,2620,2170,3310
$GC,9567,-0.73,-117.3,570.0,-6.2,444,9572,0.12,2.42,0.00,0.000,4,0.091,0.071,2641,3609,3309
$GC,9605,-0.73,-117.3,572.2,-5.9,444,9609,0.00,2.28,0.00,0.000,6,0.000,0.048,2641,2181,3309
$GC,9931,-0.73,-117.3,587.8,-4.7,450,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2181,3309
$GC,10235,-0.73,-117.3,601.6,-4.6,455,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2179,3309
$GC,10537,-0.73,-117.3,615.9,-4.7,460,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2179,3308
$GC,10840,-0.73,-117.3,631.8,-5.3,465,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2178,3308
$GC,11143,-0.73,-117.3,649.7,-6.0,470,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2178,3308
$GC,11446,-0.73,-117.3,667.5,-5.9,475,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2177,3307
$GC,11749,-0.73,-117.3,685.1,-5.8,480,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2176,3307
$GC,12053,-0.73,-117.3,703.1,-6.0,485,12057,0.00,2.40,0.00,0.000,4,0.000,0.083,2641,804,3306
$GC,12091,-0.77,-117.3,705.7,-6.5,485,12095,0.00,2.20,0.00,0.000,6,0.000,0.054,2641,2178,3306
$GC,12411,-0.77,-117.3,724.3,-5.8,491,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2178,3306
$GC,12715,-0.77,-117.3,739.9,-5.1,496,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2178,3306
$GC,13018,-0.77,-117.3,753.2,-4.3,501,13022,0.00,2.35,0.00,0.000,4,0.000,0.082,2641,803,3306
$GC,13051,-0.82,-117.3,754.7,-4.9,501,13055,0.00,2.17,0.00,0.000,6,0.000,0.055,2641,2158,3306
$GC,13376,-0.82,-117.3,768.6,-4.2,507,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2157,3306
$GC,13679,-0.82,-117.3,780.9,-4.1,512,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2158,3306
$GC,13983,-0.86,-117.3,793.4,-4.1,517,13985,0.15,0.00,0.00,0.000,6,0.060,0.000,2608,2158,3306
$GC,14286,-0.76,-117.3,811.9,-6.2,522,14287,0.12,0.00,0.00,0.000,6,0.094,0.000,2630,2158,3305
$GC,14588,-0.76,-117.3,829.6,-5.9,527,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2158,3305
$GC,14891,-0.76,-117.3,847.4,-5.8,532,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2158,3304
$GC,15195,-0.76,-117.3,864.8,-5.7,537,15199,0.00,2.55,0.00,0.000,4,0.000,0.088,2630,3602,3305
$GC,15228,-0.76,-117.3,866.7,-5.9,537,15232,0.00,2.35,0.00,0.000,6,0.000,0.051,2630,2151,3305
$GC,15555,-0.76,-117.3,884.3,-5.3,543,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2151,3305
$GC,15856,-0.76,-117.3,899.7,-5.0,548,15857,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2150,3305
$GC,16160,-0.76,-117.3,914.4,-4.9,553,16161,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2149,3304
$GC,16463,-0.76,-117.3,929.3,-4.8,558,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2149,3304
$GC,16765,-0.76,-117.3,943.3,-4.6,563,16767,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2149,3304
$GC,17070,-0.76,-117.3,957.2,-4.6,568,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2149,3304
$GC,17372,-0.76,-117.3,971.0,-4.6,573,17373,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2150,3304
$GC,17675,-0.76,-117.3,984.9,-4.7,578,17679,0.00,2.60,0.00,0.000,4,0.000,0.093,2630,3597,3304
$GC,17713,-0.76,-117.3,986.9,-4.2,578,17717,0.00,2.38,0.00,0.000,6,0.000,0.057,2630,2157,3304
$STATE,17794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17794,begin apogee
$GC,17800,-0.23,0.0,990.9,4.9,580,17906,0.68,0.00,102.82,1.495,6,0.073,0.000,2746,2210,2837
$STATE,17906,end apogee,CONTROL_FINISHED_OK
$STATE,17906,begin climb
$GC,17908,0.67,117.3,992.2,0.0,581,18031,1.12,2.75,112.53,1.445,4,0.044,0.088,2944,3589,2358
$GC,18076,0.35,117.3,985.7,8.6,583,18081,0.43,2.50,0.00,0.000,6,0.093,0.063,2881,2204,2358
$GC,18396,0.35,117.3,966.4,5.9,589,18397,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2204,2358
$GC,18698,0.35,117.3,949.0,5.7,594,18700,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2204,2358
$GC,19002,0.35,117.3,932.1,5.6,599,19003,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2204,2358
$GC,19305,0.35,117.3,915.1,5.6,604,19309,0.00,2.50,0.00,0.000,4,0.000,0.100,2881,782,2358
$GC,19332,0.31,121.3,913.5,5.4,604,19342,0.00,2.25,5.28,1.086,6,0.000,0.060,2881,2176,2342
$GC,19662,0.31,121.3,893.6,6.0,610,19663,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2176,2342
$GC,19965,0.31,121.3,874.7,6.3,615,19969,0.00,2.42,0.00,0.000,4,0.000,0.093,2881,779,2342
$GC,20037,0.27,121.3,869.8,7.0,616,20041,0.00,2.25,0.00,0.000,6,0.000,0.059,2881,2173,2342
$GC,20391,0.27,121.3,846.8,6.6,622,20392,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2174,2342
$GC,20694,0.27,121.3,826.2,6.8,627,20698,0.00,2.45,0.00,0.000,4,0.000,0.084,2880,3609,2342
$GC,20726,0.27,121.3,823.7,6.7,627,20730,0.00,2.35,0.00,0.000,6,0.000,0.054,2881,2157,2342
$GC,21058,0.27,121.3,801.0,6.9,633,21059,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2157,2341
$GC,21360,0.27,121.3,780.5,6.7,638,21362,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2158,2342
$GC,21663,0.27,121.3,761.2,6.4,643,21668,0.00,2.50,0.00,0.000,4,0.000,0.078,2880,3609,2342
$GC,21696,0.27,121.3,758.9,6.8,643,21700,0.00,2.30,0.00,0.000,6,0.000,0.054,2881,2194,2342
$GC,22028,0.27,121.3,739.3,5.9,649,22032,0.00,2.42,0.00,0.000,4,0.000,0.089,2880,790,2342
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$STATE,33611,end climb,SURFACE_DEPTH_REACHED
$STATE,33612,begin surface coast
$FINISH,0.6,1.024496
$STATE,33634,end surface coast,CONTROL_FINISHED_OK
$STATE,33634,begin surface
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