version: 66.03
glider: 119
mission: 5
dive: 205
start: 11 13 108 6 36 3
data:
$ID,119
$MISSION,5
$DIVE,205
$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,-213621.69
$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,27
$R_STBD_OVSHOOT,44
$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
$GPS1,062937,4700.594,-12651.163,33,1.3,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.4
$GPS2,063509,4700.579,-12651.229,11,1.8,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,-0.053
$KALMAN_X,-27981.7,-394.5,71.0,-114744.0,-28.6
$KALMAN_Y,210908.4,-305.9,83.2,-206901.4,1851.7
$MHEAD_RNG_PITCHd_Wd,87.1,143018,-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,-117.3,0.0,0.0,0,73,0.00,0.00,-51.47,0.000,2,0.000,0.000,859,2225,2539
$GC,76,-0.67,-117.3,3.0,-3.7,5,120,12.18,2.47,-22.20,0.000,4,0.141,0.070,2646,795,3316
$GC,255,-0.45,-117.3,23.4,-12.4,21,260,0.32,2.22,0.00,0.000,6,0.081,0.041,2700,2190,3316
$GC,585,-0.45,-117.3,46.5,-6.8,59,591,0.00,2.33,0.00,0.000,4,0.000,0.055,2700,784,3316
$GC,626,-0.45,-117.3,49.3,-6.8,66,632,0.00,2.12,0.00,0.000,6,0.000,0.040,2700,2156,3316
$GC,970,-0.71,-117.3,71.0,-6.8,127,977,0.28,2.40,0.00,0.000,4,0.044,0.061,2637,3607,3316
$GC,995,-0.86,-117.3,73.0,-7.3,131,1002,0.15,2.30,0.00,0.000,6,0.058,0.038,2605,2139,3317
$GC,1330,-0.58,-117.3,110.2,-10.8,168,1335,0.35,2.25,0.00,0.000,4,0.080,0.060,2668,791,3317
$GC,1407,-0.58,-117.3,116.2,-7.1,174,1414,0.00,2.08,0.00,0.000,6,0.000,0.041,2668,2112,3317
$GC,1736,-0.58,-117.3,135.7,-5.6,205,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2112,3317
$GC,2062,-0.63,-117.3,153.6,-5.1,233,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2112,3317
$GC,2370,-0.70,-117.3,168.8,-5.1,248,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2112,3317
$GC,2679,-0.78,-117.3,185.1,-5.3,263,2681,0.20,0.00,0.00,0.000,6,0.051,0.000,2625,2112,3317
$GC,2988,-0.66,-117.3,208.2,-7.5,278,2993,0.15,2.50,0.00,0.000,4,0.086,0.065,2654,3605,3317
$GC,3020,-0.66,-117.3,210.6,-6.5,279,3027,0.00,2.35,0.00,0.000,6,0.000,0.042,2654,2111,3317
$GC,3336,-0.66,-117.3,228.7,-5.7,295,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2111,3317
$GC,3645,-0.66,-117.3,246.4,-5.6,310,3649,0.00,2.50,0.00,0.000,4,0.000,0.065,2654,3597,3317
$GC,3678,-0.66,-117.3,248.5,-5.9,311,3682,0.00,2.38,0.00,0.000,6,0.000,0.042,2654,2126,3316
$GC,3999,-0.66,-117.3,266.5,-5.5,327,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2126,3316
$GC,4309,-0.66,-117.3,283.9,-5.6,342,4313,0.00,2.50,0.00,0.000,4,0.000,0.067,2654,3601,3316
$GC,4348,-0.66,-117.3,286.1,-6.1,344,4352,0.00,2.33,0.00,0.000,6,0.000,0.044,2654,2140,3315
$GC,4693,-0.66,-117.3,303.9,-4.9,359,4697,0.00,2.28,0.00,0.000,4,0.000,0.067,2654,788,3316
$GC,4721,-0.70,-117.3,305.4,-5.3,359,4725,0.00,2.12,0.00,0.000,6,0.000,0.044,2653,2149,3315
$GC,5053,-0.70,-117.3,322.0,-5.0,365,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2149,3315
$GC,5355,-0.70,-117.3,337.7,-5.2,370,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2149,3314
$GC,5660,-0.70,-117.3,353.8,-5.3,375,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2149,3314
$GC,5962,-0.75,-117.3,368.5,-4.9,380,5966,0.00,2.42,0.00,0.000,4,0.000,0.068,2653,3595,3313
$GC,5989,-0.79,-117.3,369.9,-5.1,380,5994,0.15,2.33,0.00,0.000,6,0.058,0.045,2622,2128,3313
$GC,6320,-0.70,-117.3,391.2,-6.5,386,6322,0.12,0.00,0.00,0.000,6,0.093,0.000,2644,2128,3313
$GC,6623,-0.70,-117.3,409.7,-6.1,391,6627,0.00,2.50,0.00,0.000,4,0.000,0.067,2644,3600,3313
$GC,6661,-0.70,-117.3,412.3,-6.8,391,6665,0.00,2.35,0.00,0.000,6,0.000,0.045,2645,2137,3312
$GC,6987,-0.70,-117.3,433.6,-6.5,397,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2136,3313
$GC,7292,-0.70,-117.3,452.6,-6.2,402,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2136,3312
$GC,7593,-0.70,-117.3,469.6,-5.6,407,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2136,3312
$GC,7896,-0.70,-117.3,485.5,-5.3,412,7901,0.00,2.50,0.00,0.000,4,0.000,0.069,2644,3595,3311
$GC,7929,-0.70,-117.3,487.6,-6.1,412,7933,0.00,2.33,0.00,0.000,6,0.000,0.045,2644,2152,3310
$GC,8260,-0.70,-117.3,506.1,-5.7,418,8265,0.00,2.33,0.00,0.000,4,0.000,0.076,2644,800,3310
$GC,8293,-0.74,-117.3,508.2,-6.1,418,8297,0.00,2.15,0.00,0.000,6,0.000,0.048,2644,2166,3310
$GC,8626,-0.74,-117.3,527.5,-5.9,424,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3310
$GC,8928,-0.74,-117.3,545.3,-5.9,429,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3310
$GC,9232,-0.74,-117.3,562.2,-5.6,434,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3310
$GC,9535,-0.74,-117.3,577.9,-5.2,439,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2166,3310
$GC,9838,-0.74,-117.3,593.4,-5.1,444,9842,0.00,2.28,0.00,0.000,4,0.000,0.074,2644,806,3309
$GC,9876,-0.79,-117.3,595.7,-5.6,444,9880,0.00,2.12,0.00,0.000,6,0.000,0.051,2644,2147,3309
$GC,10208,-0.79,-117.3,613.5,-5.4,450,10212,0.00,2.50,0.00,0.000,4,0.000,0.076,2644,3606,3309
$GC,10240,-0.79,-117.3,615.4,-6.5,450,10244,0.00,2.38,0.00,0.000,6,0.000,0.048,2644,2133,3309
$GC,10572,-0.79,-117.3,633.1,-5.3,456,10576,0.00,2.30,0.00,0.000,4,0.000,0.081,2644,794,3309
$GC,10599,-0.84,-117.3,634.7,-5.9,456,10604,0.15,2.15,0.00,0.000,6,0.059,0.051,2612,2145,3308
$GC,10937,-0.74,-117.3,656.3,-6.5,462,10942,0.15,2.50,0.00,0.000,4,0.089,0.074,2641,3599,3309
$GC,10980,-0.74,-117.3,659.1,-6.0,462,10984,0.00,2.35,0.00,0.000,6,0.000,0.049,2641,2140,3308
$GC,11302,-0.74,-117.3,675.8,-5.2,468,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2139,3308
$GC,11604,-0.74,-117.3,692.1,-5.4,473,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2139,3308
$GC,11908,-0.74,-117.3,707.8,-5.2,478,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2138,3307
$GC,12210,-0.74,-117.3,723.5,-5.2,483,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2138,3307
$GC,12513,-0.74,-117.3,738.9,-5.1,488,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2138,3306
$GC,12817,-0.74,-117.3,754.2,-5.0,493,12821,0.00,2.55,0.00,0.000,4,0.000,0.079,2641,3601,3306
$GC,12843,-0.74,-117.3,755.7,-5.6,493,12847,0.00,2.33,0.00,0.000,6,0.000,0.049,2641,2158,3306
$GC,13181,-0.74,-117.3,773.3,-5.2,499,13185,0.00,2.35,0.00,0.000,4,0.000,0.084,2641,793,3306
$GC,13220,-0.80,-117.3,775.5,-5.1,499,13224,0.00,2.17,0.00,0.000,6,0.000,0.054,2641,2154,3306
$GC,13540,-0.91,-117.3,793.7,-5.8,505,13545,0.17,2.30,0.00,0.000,4,0.056,0.079,2599,792,3306
$GC,13595,-0.80,-117.3,797.3,-6.8,505,13602,0.15,1.95,0.00,0.000,6,0.089,0.056,2624,2012,3305
$GC,13904,-0.80,-117.3,813.0,-5.0,511,13909,0.00,2.72,0.00,0.000,4,0.000,0.081,2624,3601,3306
$GC,13976,-0.80,-117.3,816.9,-4.9,512,13981,0.00,2.50,0.00,0.000,6,0.000,0.051,2624,2052,3305
$GC,14330,-0.80,-117.3,833.8,-4.8,518,14335,0.00,2.67,0.00,0.000,4,0.000,0.080,2624,3598,3306
$GC,14363,-0.74,-117.3,835.7,-5.1,518,14368,0.00,2.42,0.00,0.000,6,0.000,0.051,2624,2082,3305
$GC,14691,-0.74,-117.3,851.3,-4.7,524,14695,0.00,2.62,0.00,0.000,4,0.000,0.081,2624,3600,3305
$GC,14723,-0.70,-117.3,853.2,-5.4,524,14728,0.12,2.40,0.00,0.000,6,0.091,0.051,2644,2105,3305
$GC,15049,-0.76,-117.3,867.2,-4.3,530,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2105,3305
$GC,15352,-0.91,-117.3,883.6,-5.7,535,15357,0.20,2.60,0.00,0.000,4,0.053,0.083,2598,3602,3305
$GC,15510,-0.76,-117.3,894.8,-7.4,537,15514,0.20,2.10,0.00,0.000,6,0.087,0.052,2631,2297,3305
$GC,15847,-0.76,-117.3,912.8,-5.2,543,15851,0.00,2.58,0.00,0.000,4,0.000,0.090,2631,806,3305
$GC,15908,-0.76,-117.3,916.0,-5.4,544,15912,0.00,2.40,0.00,0.000,6,0.000,0.061,2631,2276,3305
$GC,16279,-0.76,-117.3,933.4,-4.6,550,16283,0.00,2.55,0.00,0.000,4,0.000,0.087,2631,806,3305
$GC,16322,-0.76,-117.3,935.6,-5.2,550,16326,0.00,2.33,0.00,0.000,6,0.000,0.061,2631,2231,3305
$GC,16644,-0.76,-117.3,950.5,-4.6,556,16645,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2231,3304
$GC,16946,-0.76,-117.3,965.2,-4.9,561,16950,0.00,2.50,0.00,0.000,4,0.000,0.091,2631,806,3304
$GC,17001,-0.76,-117.3,968.2,-5.4,561,17007,0.00,2.30,0.00,0.000,6,0.000,0.063,2631,2205,3304
$GC,17310,-0.76,-117.3,984.0,-5.1,567,17311,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2205,3304
$STATE,17429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17429,begin apogee
$GC,17434,-0.23,0.0,990.3,5.2,569,17539,0.68,0.00,102.82,1.497,6,0.074,0.000,2746,2205,2837
$STATE,17540,end apogee,CONTROL_FINISHED_OK
$STATE,17540,begin climb
$GC,17543,0.67,117.3,991.8,0.0,570,17665,1.12,2.72,112.78,1.447,4,0.044,0.090,2945,3603,2358
$GC,17699,0.34,117.3,987.3,8.2,572,17704,0.45,2.50,0.00,0.000,6,0.091,0.061,2877,2209,2358
$GC,18030,0.34,121.8,969.0,5.4,578,18038,0.00,0.00,6.05,1.133,6,0.000,0.000,2877,2208,2340
$GC,18333,0.35,128.2,953.0,5.3,583,18343,0.00,0.00,7.60,1.230,6,0.000,0.000,2878,2208,2314
$GC,18636,0.35,128.2,935.8,5.7,588,18640,0.00,2.50,0.00,0.000,4,0.000,0.099,2877,788,2314
$GC,18662,0.35,128.2,934.1,5.9,588,18667,0.00,2.30,0.00,0.000,6,0.000,0.060,2878,2187,2314
$GC,19000,0.35,128.2,913.4,6.2,594,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2187,2314
$GC,19303,0.35,128.2,894.4,6.2,599,19307,0.00,2.42,0.00,0.000,4,0.000,0.092,2878,784,2314
$GC,19351,0.35,128.2,891.1,8.0,599,19355,0.00,2.28,0.00,0.000,6,0.000,0.060,2877,2191,2314
$GC,19666,0.35,128.2,872.3,5.9,605,19671,0.00,2.42,0.00,0.000,4,0.000,0.090,2877,783,2314
$GC,19693,0.35,128.2,870.7,6.6,605,19697,0.00,2.25,0.00,0.000,6,0.000,0.059,2878,2172,2314
$GC,20031,0.36,132.5,852.5,5.4,611,20038,0.00,0.00,5.70,1.118,6,0.000,0.000,2878,2173,2297
$GC,20334,0.38,149.5,837.2,5.0,616,20353,0.00,0.00,16.98,1.366,6,0.000,0.000,2878,2173,2227
$GC,20637,0.40,169.1,822.4,4.9,621,20661,0.00,0.00,19.95,1.358,6,0.000,0.000,2877,2173,2147
$GC,21006,0.48,182.7,803.9,5.1,627,21026,0.15,2.45,13.82,1.310,4,0.060,0.090,2913,778,2092
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