version: 66.03
glider: 119
mission: 5
dive: 203
start: 11 12 108 11 43 37
data:
$ID,119
$MISSION,5
$DIVE,203
$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,-213594.27
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,113613,4700.809,-12700.968,49,1.5,64,18.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.6
$GPS2,114245,4700.759,-12700.946,10,1.3,10,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.181,-0.073
$KALMAN_X,-27050.5,44.4,-129.4,-128190.1,-788.2
$KALMAN_Y,207772.6,-315.6,-104.3,-203232.6,2586.5
$MHEAD_RNG_PITCHd_Wd,93.5,155295,-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,-61.92,0.000,2,0.000,0.000,862,2220,2783
$GC,89,-0.67,-117.3,3.4,-4.3,6,122,12.20,2.38,-12.45,0.000,4,0.143,0.073,2648,3604,3319
$GC,337,-0.46,-117.3,35.8,-10.6,28,342,0.30,2.25,0.00,0.000,6,0.079,0.039,2698,2184,3319
$GC,678,-0.46,-117.3,59.8,-5.2,84,684,0.00,2.28,0.00,0.000,4,0.000,0.058,2699,794,3319
$GC,719,-0.54,-117.3,61.4,-4.2,91,726,0.00,2.20,0.00,0.000,6,0.000,0.041,2699,2196,3318
$GC,1061,-0.79,-117.3,82.9,-6.5,148,1066,0.35,2.33,0.00,0.000,4,0.041,0.061,2620,3603,3318
$GC,1168,-0.58,-117.3,93.5,-10.9,157,1174,0.30,2.80,0.00,0.000,6,0.077,0.041,2672,1846,3319
$GC,1494,-0.58,-117.3,114.7,-5.9,187,1499,0.00,2.92,0.00,0.000,4,0.000,0.061,2672,3603,3319
$GC,1590,-0.62,-117.3,121.2,-7.0,195,1595,0.00,2.72,0.00,0.000,6,0.000,0.043,2672,1901,3319
$GC,1919,-0.69,-117.3,139.7,-5.0,225,1924,0.12,2.85,0.00,0.000,4,0.059,0.061,2642,3606,3319
$GC,1981,-0.62,-117.3,144.2,-7.6,230,1986,0.12,2.67,0.00,0.000,6,0.087,0.045,2664,1938,3319
$GC,2312,-0.66,-117.3,164.0,-6.3,250,2316,0.00,2.78,0.00,0.000,4,0.000,0.063,2664,3598,3319
$GC,2367,-0.71,-117.3,168.2,-7.2,252,2373,0.00,2.58,0.00,0.000,6,0.000,0.044,2664,1978,3319
$GC,2682,-0.76,-117.3,186.4,-5.7,268,2687,0.15,2.70,0.00,0.000,4,0.057,0.062,2626,3599,3319
$GC,2738,-0.62,-117.3,190.7,-8.2,270,2745,0.20,2.50,0.00,0.000,6,0.081,0.045,2660,2022,3319
$GC,3053,-0.62,-117.3,209.7,-5.9,286,3058,0.00,2.65,0.00,0.000,4,0.000,0.064,2660,3606,3319
$GC,3086,-0.62,-117.3,211.9,-6.6,287,3093,0.00,2.50,0.00,0.000,6,0.000,0.044,2660,2054,3319
$GC,3403,-0.67,-117.3,230.3,-5.8,303,3407,0.00,2.60,0.00,0.000,4,0.000,0.064,2660,3603,3319
$GC,3429,-0.67,-117.3,232.0,-6.4,304,3433,0.00,2.42,0.00,0.000,6,0.000,0.044,2660,2082,3319
$GC,3752,-0.71,-117.3,250.1,-5.4,320,3756,0.00,2.55,0.00,0.000,4,0.000,0.065,2659,3601,3318
$GC,3785,-0.75,-117.3,252.2,-6.0,321,3791,0.12,2.38,0.00,0.000,6,0.064,0.044,2632,2101,3318
$GC,4100,-0.67,-117.3,273.1,-6.6,337,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2101,3318
$GC,4409,-0.60,-117.3,293.7,-6.7,352,4414,0.15,2.53,0.00,0.000,4,0.085,0.064,2662,3598,3319
$GC,4465,-0.67,-117.3,297.2,-6.1,354,4471,0.00,2.35,0.00,0.000,6,0.000,0.045,2662,2118,3318
$GC,4775,-0.74,-117.3,313.3,-5.3,362,4780,0.12,2.22,0.00,0.000,4,0.062,0.069,2633,794,3318
$GC,4802,-0.74,-117.3,315.0,-6.4,362,4806,0.00,2.10,0.00,0.000,6,0.000,0.044,2634,2124,3318
$GC,5145,-0.67,-117.3,337.4,-6.6,368,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2124,3317
$GC,5448,-0.62,-117.3,357.6,-6.6,373,5453,0.15,2.47,0.00,0.000,4,0.084,0.067,2663,3604,3317
$GC,5481,-0.68,-117.3,359.5,-5.8,373,5485,0.00,2.38,0.00,0.000,6,0.000,0.044,2663,2111,3316
$GC,5808,-0.76,-117.3,375.5,-4.9,379,5810,0.15,0.00,0.00,0.000,6,0.058,0.000,2631,2105,3316
$GC,6110,-0.70,-117.3,394.4,-6.3,384,6114,0.00,2.50,0.00,0.000,4,0.000,0.067,2630,3597,3316
$GC,6153,-0.62,-117.3,397.4,-6.9,384,6158,0.17,2.35,0.00,0.000,6,0.081,0.046,2661,2123,3316
$GC,6468,-0.69,-117.3,412.1,-4.7,390,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2122,3315
$GC,6772,-0.77,-117.3,426.9,-4.8,395,6777,0.15,2.53,0.00,0.000,4,0.058,0.067,2623,3605,3315
$GC,6810,-0.67,-117.3,429.5,-6.3,395,6815,0.17,2.33,0.00,0.000,6,0.082,0.045,2653,2147,3315
$GC,7131,-0.71,-117.3,446.2,-5.2,401,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2147,3315
$GC,7434,-0.76,-117.3,461.9,-5.2,406,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2147,3315
$GC,7738,-0.81,-117.3,476.7,-4.9,411,7740,0.15,0.00,0.00,0.000,6,0.059,0.000,2620,2146,3314
$GC,8040,-0.72,-117.3,495.0,-6.1,416,8042,0.12,0.00,0.00,0.000,6,0.090,0.000,2642,2147,3314
$GC,8344,-0.72,-117.3,510.2,-5.0,421,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2146,3314
$GC,8647,-0.72,-117.3,525.6,-5.1,426,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2146,3313
$GC,8949,-0.72,-117.3,541.7,-5.3,431,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2146,3313
$GC,9252,-0.72,-117.3,557.7,-5.3,436,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2146,3311
$GC,9555,-0.72,-117.3,573.0,-5.0,441,9559,0.00,2.50,0.00,0.000,4,0.000,0.074,2642,3600,3312
$GC,9588,-0.72,-117.3,574.9,-5.7,441,9593,0.00,2.33,0.00,0.000,6,0.000,0.048,2642,2154,3312
$GC,9919,-0.72,-117.3,592.8,-5.5,447,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2153,3312
$GC,10222,-0.72,-117.3,609.7,-5.6,452,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2153,3311
$GC,10526,-0.72,-117.3,625.1,-5.0,457,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2152,3311
$GC,10828,-0.72,-117.3,640.5,-5.1,462,10833,0.00,2.50,0.00,0.000,4,0.000,0.074,2642,3603,3311
$GC,10861,-0.72,-117.3,642.3,-6.0,462,10865,0.00,2.30,0.00,0.000,6,0.000,0.048,2642,2170,3311
$GC,11193,-0.72,-117.3,659.7,-5.3,468,11197,0.00,2.35,0.00,0.000,4,0.000,0.082,2642,792,3311
$GC,11232,-0.76,-117.3,661.9,-6.0,468,11236,0.00,2.22,0.00,0.000,6,0.000,0.053,2642,2171,3310
$GC,11557,-0.76,-117.3,678.8,-5.1,474,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2171,3311
$GC,11861,-0.76,-117.3,693.9,-4.9,479,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2171,3310
$GC,12165,-0.76,-117.3,709.1,-5.1,484,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2171,3309
$GC,12466,-0.76,-117.3,724.7,-5.1,489,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2171,3309
$GC,12770,-0.76,-117.3,740.7,-5.3,494,12774,0.00,2.38,0.00,0.000,4,0.000,0.080,2642,794,3309
$GC,12797,-0.81,-117.3,742.2,-5.7,494,12801,0.00,2.17,0.00,0.000,6,0.000,0.054,2642,2155,3309
$GC,13133,-0.81,-117.3,760.5,-5.5,500,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2155,3309
$GC,13437,-0.81,-117.3,776.6,-5.2,505,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2155,3308
$GC,13740,-0.81,-117.3,791.9,-5.1,510,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2155,3308
$GC,14045,-0.85,-117.3,807.3,-5.1,515,14047,0.15,0.00,0.00,0.000,6,0.058,0.000,2609,2155,3308
$GC,14347,-0.76,-117.3,825.7,-6.1,520,14349,0.12,0.00,0.00,0.000,6,0.094,0.000,2631,2155,3307
$GC,14649,-0.76,-117.3,841.1,-5.0,525,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2155,3307
$GC,14952,-0.76,-117.3,855.3,-4.6,530,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2155,3307
$GC,15255,-0.76,-117.3,868.9,-4.5,535,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2155,3307
$GC,15560,-0.76,-117.3,882.1,-4.3,540,15564,0.00,2.35,0.00,0.000,4,0.000,0.086,2631,794,3307
$GC,15586,-0.76,-117.3,883.5,-4.5,540,15590,0.00,2.17,0.00,0.000,6,0.000,0.058,2631,2137,3307
$GC,15924,-0.76,-117.3,899.0,-4.7,546,15928,0.00,2.55,0.00,0.000,4,0.000,0.091,2631,3602,3306
$GC,15956,-0.76,-117.3,900.7,-5.3,546,15960,0.00,2.35,0.00,0.000,6,0.000,0.052,2631,2143,3306
$GC,16288,-0.76,-117.3,916.7,-4.8,552,16289,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2143,3306
$GC,16591,-0.76,-117.3,931.9,-5.0,557,16592,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2143,3306
$GC,16895,-0.76,-117.3,947.9,-5.3,562,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2142,3306
$GC,17197,-0.76,-117.3,964.8,-5.6,567,17198,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2142,3306
$GC,17502,-0.76,-117.3,982.5,-5.8,572,17503,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2142,3306
$STATE,17680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17680,begin apogee
$GC,17685,-0.23,0.0,993.3,5.9,575,17792,0.68,0.00,103.38,1.499,6,0.073,0.000,2747,2210,2837
$STATE,17793,end apogee,CONTROL_FINISHED_OK
$STATE,17793,begin climb
$GC,17795,0.67,117.3,995.1,0.0,576,17917,1.15,2.78,112.85,1.447,4,0.043,0.091,2945,3592,2359
$GC,17934,0.37,130.1,993.1,5.1,579,17964,0.43,2.53,16.73,1.205,6,0.092,0.061,2883,2211,2306
$GC,18290,0.37,130.1,972.9,5.8,585,18294,0.00,2.58,0.00,0.000,4,0.000,0.102,2883,784,2306
$GC,18333,0.33,130.1,969.9,6.4,585,18337,0.00,2.30,0.00,0.000,6,0.000,0.063,2882,2178,2306
$GC,18653,0.33,130.1,949.0,6.6,591,18655,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2178,2307
$GC,18957,0.33,130.1,928.0,7.0,596,18961,0.00,2.42,0.00,0.000,4,0.000,0.095,2883,787,2306
$GC,19000,0.33,130.1,924.8,6.6,596,19004,0.00,2.28,0.00,0.000,6,0.000,0.061,2883,2165,2306
$GC,19321,0.33,130.1,902.1,7.1,602,19322,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2165,2306
$GC,19623,0.33,130.1,881.7,6.7,607,19628,0.00,2.40,0.00,0.000,4,0.000,0.093,2883,784,2306
$GC,19650,0.33,130.1,879.8,6.6,607,19654,0.00,2.20,0.00,0.000,6,0.000,0.059,2883,2148,2305
$GC,19988,0.33,130.1,859.3,6.1,613,19989,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2148,2305
$GC,20291,0.33,130.1,842.4,5.5,618,20292,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2148,2306
$GC,20594,0.34,143.4,826.9,5.1,623,20613,0.00,2.40,13.45,1.329,4,0.000,0.091,2883,784,2252
$GC,20631,0.34,143.4,824.9,5.9,623,20635,0.00,2.28,0.00,0.000,6,0.000,0.058,2883,2186,2252
$GC,20962,0.34,143.4,806.4,5.6,629,20966,0.00,2.40,0.00,0.000,4,0.000,0.087,2883,777,2252
$GC,21001,0.34,143.4,803.9,6.3,629,21004,0.00,2.20,0.00,0.000,6,0.000,0.056,2883,2141,2251
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$GC,21630,0.34,143.4,765.5,6.1,640,21631,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2141,2252
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$STATE,32956,end climb,SURFACE_DEPTH_REACHED
$STATE,32957,begin surface coast
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$STATE,32979,begin surface
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