version: 66.03
glider: 119
mission: 5
dive: 206
start: 11 13 108 16 4 13
data:
$ID,119
$MISSION,5
$DIVE,206
$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,-213637.5
$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,13
$R_STBD_OVSHOOT,38
$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
$GPS1,155112,4700.066,-12646.112,36,1.4,40,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.8
$GPS2,160321,4659.931,-12645.947,13,1.1,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,-0.050
$KALMAN_X,-28692.6,277.8,21.1,-107987.0,-1239.5
$KALMAN_Y,211850.8,-91.0,-381.4,-208788.4,1822.7
$MHEAD_RNG_PITCHd_Wd,86.5,136344,-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,-117.3,0.0,0.0,0,85,0.00,0.00,-61.35,0.000,2,0.000,0.000,858,2223,2809
$GC,88,-0.67,-117.3,3.4,-3.5,6,121,12.20,2.50,-11.68,0.000,4,0.141,0.069,2650,779,3319
$GC,257,-0.47,-117.3,26.5,-11.6,21,262,0.28,2.25,0.00,0.000,6,0.080,0.041,2695,2192,3319
$GC,590,-0.47,-117.3,53.0,-7.6,66,597,0.00,2.35,0.00,0.000,4,0.000,0.055,2695,779,3319
$GC,755,-0.55,-117.3,63.9,-6.0,95,761,0.00,2.05,0.00,0.000,6,0.000,0.040,2695,2112,3318
$GC,1100,-0.79,-117.3,86.7,-7.6,149,1105,0.32,2.47,0.00,0.000,4,0.041,0.061,2621,3605,3319
$GC,1168,-0.55,-117.3,93.2,-10.5,154,1175,0.32,2.22,0.00,0.000,6,0.077,0.039,2677,2187,3319
$GC,1492,-0.55,-117.3,114.6,-6.0,185,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2182,3319
$GC,1812,-0.62,-117.3,131.5,-5.5,215,1816,0.00,2.40,0.00,0.000,4,0.000,0.064,2677,3609,3319
$GC,1841,-0.68,-117.3,133.1,-5.9,217,1846,0.15,2.20,0.00,0.000,6,0.055,0.041,2643,2226,3319
$GC,2165,-0.62,-117.3,154.1,-6.0,244,2169,0.00,2.38,0.00,0.000,4,0.000,0.061,2643,804,3319
$GC,2228,-0.62,-117.3,158.2,-6.7,247,2232,0.00,2.20,0.00,0.000,6,0.000,0.043,2643,2206,3319
$GC,2554,-0.57,-117.3,179.7,-5.9,263,2556,0.17,0.00,0.00,0.000,6,0.079,0.000,2675,2206,3319
$GC,2864,-0.66,-117.3,194.7,-4.7,278,2868,0.00,2.28,0.00,0.000,4,0.000,0.061,2674,794,3319
$GC,2897,-0.77,-117.3,196.3,-4.6,279,2902,0.22,2.15,0.00,0.000,6,0.047,0.044,2628,2178,3319
$GC,3218,-0.67,-117.3,218.2,-7.0,295,3220,0.15,0.00,0.00,0.000,6,0.087,0.000,2653,2178,3319
$GC,3527,-0.67,-117.3,235.8,-5.6,310,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2178,3319
$GC,3836,-0.67,-117.3,252.9,-5.3,325,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2178,3319
$GC,4145,-0.67,-117.3,269.2,-5.3,340,4149,0.00,2.38,0.00,0.000,4,0.000,0.067,2653,3598,3318
$GC,4172,-0.67,-117.3,270.7,-5.6,341,4176,0.00,2.25,0.00,0.000,6,0.000,0.044,2653,2198,3317
$GC,4494,-0.67,-117.3,288.6,-5.7,357,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2192,3317
$GC,4821,-0.67,-117.3,307.5,-5.8,369,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2192,3316
$GC,5124,-0.67,-117.3,324.1,-5.4,374,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2192,3316
$GC,5428,-0.67,-117.3,339.1,-4.8,379,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2192,3316
$GC,5730,-0.67,-117.3,352.9,-4.5,384,5735,0.00,2.38,0.00,0.000,4,0.000,0.069,2653,796,3316
$GC,5764,-0.72,-117.3,354.6,-5.0,384,5768,0.00,2.17,0.00,0.000,6,0.000,0.045,2653,2182,3315
$GC,6090,-0.72,-117.3,369.3,-4.5,390,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2182,3315
$GC,6393,-0.72,-117.3,383.2,-4.6,395,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2182,3315
$GC,6696,-0.72,-117.3,398.6,-5.2,400,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2182,3314
$GC,6999,-0.77,-117.3,414.9,-5.4,405,7003,0.00,2.30,0.00,0.000,4,0.000,0.072,2653,800,3314
$GC,7027,-0.82,-117.3,416.4,-5.9,405,7031,0.17,2.12,0.00,0.000,6,0.055,0.047,2617,2169,3314
$GC,7365,-0.71,-117.3,441.1,-7.5,411,7367,0.15,0.00,0.00,0.000,6,0.088,0.000,2642,2169,3313
$GC,7666,-0.71,-117.3,459.2,-5.9,416,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2169,3312
$GC,7972,-0.71,-117.3,475.6,-5.4,421,7976,0.00,2.40,0.00,0.000,4,0.000,0.071,2642,3597,3312
$GC,8011,-0.71,-117.3,478.0,-6.1,421,8015,0.00,2.28,0.00,0.000,6,0.000,0.047,2642,2164,3311
$GC,8332,-0.71,-117.3,495.3,-5.4,427,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2164,3312
$GC,8634,-0.71,-117.3,512.3,-5.6,432,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2164,3312
$GC,8937,-0.71,-117.3,530.6,-6.1,437,8941,0.00,2.42,0.00,0.000,4,0.000,0.070,2642,3598,3312
$GC,8970,-0.71,-117.3,532.7,-6.6,437,8974,0.00,2.25,0.00,0.000,6,0.000,0.046,2642,2190,3311
$GC,9302,-0.71,-117.3,551.9,-5.7,443,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2189,3311
$GC,9605,-0.71,-117.3,569.1,-5.7,448,9609,0.00,2.40,0.00,0.000,4,0.000,0.082,2642,800,3311
$GC,9637,-0.71,-117.3,571.0,-6.3,448,9641,0.00,2.22,0.00,0.000,6,0.000,0.051,2642,2184,3310
$GC,9970,-0.71,-117.3,588.6,-5.2,454,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2183,3310
$GC,10272,-0.71,-117.3,604.3,-5.2,459,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2183,3310
$GC,10575,-0.71,-117.3,619.7,-5.1,464,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2183,3310
$GC,10879,-0.71,-117.3,635.3,-5.1,469,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2183,3309
$GC,11184,-0.71,-117.3,650.6,-5.0,474,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2183,3309
$GC,11485,-0.71,-117.3,665.6,-4.9,479,11489,0.00,2.35,0.00,0.000,4,0.000,0.081,2642,800,3308
$GC,11512,-0.71,-117.3,667.0,-5.1,479,11516,0.00,2.25,0.00,0.000,6,0.000,0.054,2642,2204,3308
$GC,11850,-0.71,-117.3,682.8,-4.7,485,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,3308
$GC,12152,-0.71,-117.3,696.7,-4.6,490,12156,0.00,2.40,0.00,0.000,4,0.000,0.083,2643,798,3307
$GC,12196,-0.77,-117.3,699.1,-5.4,490,12200,0.00,2.22,0.00,0.000,6,0.000,0.055,2642,2188,3307
$GC,12510,-0.77,-117.3,713.8,-4.7,496,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2187,3307
$GC,12814,-0.77,-117.3,727.7,-4.6,501,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2187,3307
$GC,13116,-0.77,-117.3,741.7,-4.6,506,13120,0.00,2.38,0.00,0.000,4,0.000,0.084,2642,791,3307
$GC,13160,-0.82,-117.3,744.0,-5.0,506,13164,0.00,2.22,0.00,0.000,6,0.000,0.057,2642,2174,3306
$GC,13485,-0.82,-117.3,759.0,-4.6,512,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2176,3306
$GC,13788,-0.82,-117.3,772.4,-4.4,517,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2176,3306
$GC,14092,-0.87,-117.3,785.2,-4.2,522,14097,0.15,2.38,0.00,0.000,4,0.060,0.084,2606,801,3306
$GC,14119,-0.79,-117.3,786.8,-6.2,522,14123,0.00,2.17,0.00,0.000,6,0.000,0.057,2606,2149,3306
$GC,14450,-0.68,-117.3,805.9,-5.8,528,14452,0.25,0.00,0.00,0.000,6,0.082,0.000,2649,2149,3306
$GC,14753,-0.75,-117.3,818.1,-4.0,533,14754,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2149,3306
$GC,15057,-0.90,-117.3,831.9,-4.8,538,15062,0.22,2.55,0.00,0.000,4,0.051,0.085,2598,3599,3305
$GC,15146,-0.73,-117.3,837.5,-7.0,539,15150,0.22,2.15,0.00,0.000,6,0.084,0.049,2636,2255,3305
$GC,15490,-0.73,-117.3,853.9,-4.8,545,15494,0.00,2.55,0.00,0.000,4,0.000,0.091,2636,805,3305
$GC,15562,-0.78,-117.3,857.6,-5.0,546,15566,0.00,2.25,0.00,0.000,6,0.000,0.060,2636,2192,3305
$GC,15916,-0.78,-117.3,874.7,-4.8,552,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2192,3305
$GC,16219,-0.78,-117.3,889.6,-5.0,557,16220,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2192,3305
$GC,16523,-0.78,-117.3,904.7,-5.0,562,16527,0.00,2.45,0.00,0.000,4,0.000,0.094,2636,797,3305
$GC,16561,-0.78,-117.3,906.8,-5.3,562,16565,0.00,2.28,0.00,0.000,6,0.000,0.062,2636,2184,3305
$GC,16888,-0.78,-117.3,923.4,-5.0,568,16889,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2185,3305
$GC,17190,-0.78,-117.3,937.4,-4.5,573,17194,0.00,2.42,0.00,0.000,4,0.000,0.095,2636,801,3305
$GC,17229,-0.83,-117.3,939.2,-4.8,573,17233,0.00,2.22,0.00,0.000,6,0.000,0.063,2636,2159,3305
$GC,17555,-0.83,-117.3,953.2,-4.3,579,17559,0.00,2.55,0.00,0.000,4,0.000,0.091,2635,3606,3305
$GC,17582,-0.83,-117.3,954.4,-4.2,579,17586,0.00,2.35,0.00,0.000,6,0.000,0.052,2636,2159,3304
$GC,17920,-0.83,-117.3,969.1,-4.3,585,17924,0.00,2.45,0.00,0.000,4,0.000,0.103,2636,789,3304
$GC,17947,-0.83,-117.3,970.3,-4.2,585,17951,0.00,2.22,0.00,0.000,6,0.000,0.063,2636,2148,3304
$GC,18285,-0.83,-117.3,985.0,-4.3,591,18286,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2148,3304
$STATE,18404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18404,begin apogee
$GC,18410,-0.23,0.0,990.8,4.6,593,18516,0.65,0.00,103.15,1.499,6,0.074,0.000,2747,2204,2837
$STATE,18516,end apogee,CONTROL_FINISHED_OK
$STATE,18516,begin climb
$GC,18519,0.67,117.3,992.2,0.0,594,18636,1.15,0.00,114.00,1.444,6,0.044,0.000,2946,2204,2358
$GC,18889,0.40,117.3,968.3,8.8,601,18892,0.35,0.00,0.00,0.000,6,0.089,0.000,2890,2204,2358
$GC,19193,0.35,117.3,948.6,6.4,606,19194,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2204,2358
$GC,19495,0.31,117.3,929.1,6.4,611,19497,0.12,0.00,0.00,0.000,6,0.100,0.000,2869,2204,2358
$GC,19798,0.31,117.3,911.5,5.8,616,19802,0.00,2.53,0.00,0.000,4,0.000,0.097,2869,798,2358
$GC,19830,0.31,117.3,909.4,6.3,616,19834,0.00,2.30,0.00,0.000,6,0.000,0.061,2869,2211,2357
$GC,20162,0.31,117.3,889.8,5.9,622,20166,0.00,2.47,0.00,0.000,4,0.000,0.093,2869,788,2357
$GC,20188,0.31,117.3,888.1,5.9,622,20193,0.00,2.33,0.00,0.000,6,0.000,0.060,2869,2201,2357
$GC,20526,0.31,117.3,868.1,5.9,628,20527,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2201,2357
$GC,20829,0.32,125.1,852.1,5.3,633,20843,0.00,2.47,8.45,1.252,4,0.000,0.091,2869,791,2327
$GC,20878,0.32,125.1,849.5,5.5,633,20882,0.00,2.28,0.00,0.000,6,0.000,0.059,2869,2195,2327
$GC,21199,0.38,141.0,833.4,5.0,639,21220,0.00,2.42,16.40,1.355,4,0.000,0.088,2869,798,2261
$GC,21260,0.39,148.2,830.1,5.3,640,21274,0.00,2.20,8.25,1.213,6,0.000,0.058,2869,2144,2233
$GC,21629,0.45,148.2,809.7,5.6,646,21631,0.15,0.00,0.00,0.000,6,0.059,0.000,2901,2144,2233
$GC,21931,0.45,148.2,788.3,7.1,651,21933,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,2232
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