version: 66.03
glider: 119
mission: 5
dive: 211
start: 11 15 108 16 18 39
data:
$ID,119
$MISSION,5
$DIVE,211
$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,-213719.19
$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,35
$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
$GPS1,160908,4701.074,-12618.428,36,1.3,36,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.3
$GPS2,161745,4701.015,-12618.255,11,1.4,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.175,-0.087
$KALMAN_X,-27506.9,320.7,-102.2,-74100.6,-175.9
$KALMAN_Y,222017.3,-235.6,-154.9,-217037.8,3010.0
$MHEAD_RNG_PITCHd_Wd,97.9,101384,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-51.72,0.000,2,0.000,0.000,861,2209,2556
$GC,77,-0.67,-117.3,3.2,-3.9,5,121,12.20,2.42,-21.40,0.000,4,0.142,0.072,2647,3605,3317
$GC,245,-0.39,-117.3,23.6,-12.9,20,250,0.38,2.25,0.00,0.000,6,0.082,0.038,2709,2194,3317
$GC,576,-0.39,-117.3,48.4,-7.2,60,582,0.00,2.22,0.00,0.000,4,0.000,0.060,2709,794,3317
$GC,740,-0.46,-117.3,59.4,-6.5,89,747,0.00,2.08,0.00,0.000,6,0.000,0.040,2709,2116,3316
$GC,1084,-0.54,-117.3,77.8,-5.6,150,1091,0.15,2.45,0.00,0.000,4,0.053,0.060,2670,3600,3317
$GC,1121,-0.46,-117.3,80.5,-8.5,156,1125,0.15,2.30,0.00,0.000,6,0.084,0.039,2697,2140,3317
$GC,1446,-0.51,-117.3,99.6,-5.5,186,1450,0.00,2.45,0.00,0.000,4,0.000,0.062,2696,3602,3317
$GC,1467,-0.57,-117.3,101.0,-6.2,187,1474,0.00,2.25,0.00,0.000,6,0.000,0.041,2697,2169,3316
$GC,1795,-0.66,-117.3,118.7,-5.8,218,1800,0.20,2.20,0.00,0.000,4,0.048,0.061,2650,801,3317
$GC,1850,-0.56,-117.3,123.2,-8.1,222,1857,0.15,2.08,0.00,0.000,6,0.083,0.042,2675,2154,3317
$GC,2175,-0.56,-117.3,142.5,-5.9,253,2179,0.00,2.40,0.00,0.000,4,0.000,0.064,2675,3606,3317
$GC,2215,-0.56,-117.3,145.1,-6.2,256,2219,0.00,2.28,0.00,0.000,6,0.000,0.042,2675,2165,3316
$GC,2544,-0.61,-117.3,162.7,-5.6,276,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2159,3317
$GC,2853,-0.66,-117.3,180.8,-5.9,291,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2159,3316
$GC,3163,-0.71,-117.3,198.1,-5.3,306,3167,0.15,2.40,0.00,0.000,4,0.057,0.064,2637,3605,3317
$GC,3202,-0.57,-117.3,200.8,-7.5,308,3207,0.20,2.28,0.00,0.000,6,0.082,0.043,2671,2157,3316
$GC,3529,-0.57,-117.3,219.1,-5.5,324,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2152,3316
$GC,3839,-0.62,-117.3,235.6,-5.1,339,3843,0.00,2.40,0.00,0.000,4,0.000,0.066,2671,3600,3316
$GC,3866,-0.66,-117.3,237.3,-6.1,340,3870,0.00,2.22,0.00,0.000,6,0.000,0.044,2672,2179,3316
$GC,4182,-0.71,-117.3,253.4,-5.2,355,4184,0.12,0.00,0.00,0.000,6,0.063,0.000,2643,2172,3316
$GC,4491,-0.63,-117.3,273.5,-6.3,370,4495,0.00,2.30,0.00,0.000,4,0.000,0.067,2643,800,3316
$GC,4524,-0.57,-117.3,275.8,-6.8,371,4531,0.17,2.15,0.00,0.000,6,0.081,0.044,2673,2165,3316
$GC,4840,-0.63,-117.3,292.1,-5.1,387,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2165,3315
$GC,5186,-0.69,-117.3,309.8,-5.2,398,5191,0.12,2.28,0.00,0.000,4,0.062,0.064,2644,805,3315
$GC,5219,-0.65,-117.3,311.9,-6.1,398,5223,0.00,2.12,0.00,0.000,6,0.000,0.044,2644,2151,3315
$GC,5545,-0.59,-117.3,333.3,-6.5,404,5546,0.15,0.00,0.00,0.000,6,0.086,0.000,2670,2152,3314
$GC,5848,-0.64,-117.3,348.4,-4.9,409,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2152,3314
$GC,6151,-0.70,-117.3,362.6,-4.6,414,6155,0.12,2.25,0.00,0.000,4,0.062,0.065,2641,804,3313
$GC,6178,-0.70,-117.3,364.1,-5.5,414,6182,0.00,2.10,0.00,0.000,6,0.000,0.044,2641,2131,3313
$GC,6521,-0.63,-117.3,384.9,-6.1,420,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2131,3313
$GC,6825,-0.57,-117.3,403.4,-6.1,425,6829,0.15,2.45,0.00,0.000,4,0.086,0.067,2670,3598,3312
$GC,6863,-0.64,-117.3,405.5,-5.4,425,6867,0.00,2.33,0.00,0.000,6,0.000,0.046,2671,2128,3312
$GC,7184,-0.71,-117.3,420.2,-4.6,431,7186,0.15,0.00,0.00,0.000,6,0.058,0.000,2638,2127,3311
$GC,7487,-0.64,-117.3,439.2,-6.4,436,7489,0.12,0.00,0.00,0.000,6,0.092,0.000,2659,2127,3312
$GC,7792,-0.64,-117.3,456.1,-5.6,441,7796,0.00,2.50,0.00,0.000,4,0.000,0.069,2659,3601,3311
$GC,7818,-0.64,-117.3,457.7,-5.5,441,7822,0.00,2.33,0.00,0.000,6,0.000,0.046,2660,2142,3311
$GC,8156,-0.64,-117.3,476.4,-5.5,447,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2142,3311
$GC,8459,-0.64,-117.3,492.9,-5.4,452,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2142,3311
$GC,8762,-0.64,-117.3,509.2,-5.4,457,8767,0.00,2.47,0.00,0.000,4,0.000,0.069,2659,3603,3309
$GC,8789,-0.64,-117.3,510.9,-7.1,457,8793,0.00,2.30,0.00,0.000,6,0.000,0.046,2660,2159,3309
$GC,9127,-0.64,-117.3,529.9,-5.7,463,9131,0.00,2.33,0.00,0.000,4,0.000,0.079,2659,801,3309
$GC,9154,-0.68,-117.3,531.5,-6.5,463,9158,0.00,2.15,0.00,0.000,6,0.000,0.050,2659,2161,3309
$GC,9492,-0.68,-117.3,549.4,-5.2,469,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2161,3309
$GC,9795,-0.73,-117.3,564.6,-5.0,474,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2161,3309
$GC,10098,-0.77,-117.3,578.9,-4.7,479,10102,0.15,2.28,0.00,0.000,4,0.060,0.074,2626,805,3309
$GC,10120,-0.77,-117.3,580.1,-5.5,479,10124,0.00,2.12,0.00,0.000,6,0.000,0.051,2626,2149,3309
$GC,10458,-0.67,-117.3,600.4,-6.0,485,10462,0.15,2.45,0.00,0.000,4,0.089,0.074,2655,3608,3309
$GC,10501,-0.67,-117.3,603.0,-4.9,485,10505,0.00,2.30,0.00,0.000,6,0.000,0.048,2655,2156,3308
$GC,10822,-0.67,-117.3,619.1,-5.1,491,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2156,3308
$GC,11125,-0.67,-117.3,635.5,-5.4,496,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2155,3307
$GC,11430,-0.67,-117.3,651.2,-5.2,501,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2155,3308
$GC,11732,-0.67,-117.3,665.4,-4.6,506,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2154,3308
$GC,12034,-0.67,-117.3,677.8,-4.1,511,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2153,3307
$GC,12337,-0.67,-117.3,689.4,-3.8,516,12341,0.00,2.33,0.00,0.000,4,0.000,0.081,2655,800,3306
$GC,12359,-0.71,-117.3,690.4,-4.9,516,12363,0.00,2.17,0.00,0.000,6,0.000,0.052,2655,2169,3306
$GC,12697,-0.75,-117.3,705.0,-4.4,522,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2169,3306
$GC,12999,-0.80,-117.3,719.0,-4.6,527,13004,0.15,2.33,0.00,0.000,4,0.059,0.079,2622,803,3306
$GC,13033,-0.72,-117.3,721.0,-5.9,527,13038,0.12,2.15,0.00,0.000,6,0.090,0.053,2642,2153,3305
$GC,13359,-0.72,-117.3,738.4,-5.3,533,13363,0.00,2.47,0.00,0.000,4,0.000,0.081,2642,3606,3306
$GC,13396,-0.72,-117.3,740.7,-6.1,533,13400,0.00,2.33,0.00,0.000,6,0.000,0.049,2642,2156,3306
$GC,13724,-0.72,-117.3,758.2,-5.4,539,13728,0.00,2.35,0.00,0.000,4,0.000,0.084,2642,792,3305
$GC,13750,-0.72,-117.3,760.0,-6.4,539,13755,0.00,2.22,0.00,0.000,6,0.000,0.054,2642,2166,3305
$GC,14088,-0.72,-117.3,778.6,-5.5,545,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2166,3305
$GC,14391,-0.72,-117.3,795.7,-5.6,550,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2166,3305
$GC,14694,-0.72,-117.3,811.9,-5.3,555,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2166,3305
$GC,14998,-0.72,-117.3,828.6,-5.5,560,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2167,3305
$GC,15300,-0.72,-117.3,846.1,-5.8,565,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2167,3305
$GC,15604,-0.72,-117.3,862.1,-5.2,570,15605,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2167,3304
$GC,15908,-0.72,-117.3,877.7,-5.1,575,15909,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2167,3305
$GC,16210,-0.72,-117.3,893.0,-5.1,580,16214,0.00,2.50,0.00,0.000,4,0.000,0.087,2642,3604,3304
$GC,16242,-0.72,-117.3,894.8,-5.8,580,16246,0.00,2.30,0.00,0.000,6,0.000,0.051,2642,2179,3304
$GC,16574,-0.72,-117.3,910.4,-4.7,586,16578,0.00,2.42,0.00,0.000,4,0.000,0.092,2642,790,3304
$GC,16606,-0.72,-117.3,912.1,-4.4,586,16610,0.00,2.25,0.00,0.000,6,0.000,0.058,2642,2182,3303
$GC,16939,-0.72,-117.3,927.2,-4.5,592,16944,0.00,2.42,0.00,0.000,4,0.000,0.091,2642,793,3304
$GC,16978,-0.72,-117.3,929.2,-4.7,592,16982,0.00,2.22,0.00,0.000,6,0.000,0.058,2642,2164,3304
$GC,17304,-0.72,-117.3,944.0,-4.5,598,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2165,3304
$GC,17607,-0.72,-117.3,957.3,-4.3,603,17612,0.00,2.40,0.00,0.000,4,0.000,0.092,2642,796,3304
$GC,17635,-0.72,-117.3,958.5,-5.3,603,17638,0.00,2.20,0.00,0.000,6,0.000,0.060,2642,2148,3304
$GC,17972,-0.72,-117.3,973.3,-4.4,609,17973,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2148,3303
$GC,18275,-0.72,-117.3,986.5,-4.3,614,18276,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2148,3304
$STATE,18394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18394,begin apogee
$GC,18400,-0.23,0.0,991.7,4.3,616,18506,0.62,0.00,103.03,1.499,6,0.071,0.000,2750,2202,2837
$STATE,18506,end apogee,CONTROL_FINISHED_OK
$STATE,18507,begin climb
$GC,18509,0.67,117.3,992.8,0.0,617,18631,1.15,2.72,113.50,1.454,4,0.048,0.090,2946,3592,2358
$GC,18648,0.41,117.3,987.9,7.6,620,18653,0.38,2.47,0.00,0.000,6,0.094,0.060,2891,2214,2358
$GC,19001,0.41,117.3,964.1,6.6,626,19002,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2213,2358
$GC,19305,0.41,117.3,944.5,6.5,631,19309,0.00,2.47,0.00,0.000,4,0.000,0.098,2891,788,2358
$GC,19354,0.36,117.3,941.2,6.6,631,19358,0.00,2.28,0.00,0.000,6,0.000,0.061,2891,2187,2358
$GC,19669,0.36,117.3,922.7,5.8,637,19673,0.00,2.45,0.00,0.000,4,0.000,0.093,2891,777,2358
$GC,19719,0.34,137.2,919.7,4.9,637,19743,0.00,2.22,19.60,1.405,6,0.000,0.060,2891,2149,2277
$GC,20099,0.35,140.3,899.4,5.4,644,20109,0.00,2.38,4.90,1.045,4,0.000,0.094,2891,788,2265
$GC,20142,0.35,143.6,896.8,5.4,644,20151,0.00,2.15,4.90,1.040,6,0.000,0.060,2891,2109,2251
$GC,20462,0.35,143.6,879.3,5.5,650,20463,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,2251
$GC,20765,0.35,143.6,860.9,6.2,655,20769,0.00,2.53,0.00,0.000,4,0.000,0.084,2891,3605,2251
$GC,20803,0.35,143.6,858.2,7.5,655,20806,0.00,2.40,0.00,0.000,6,0.000,0.056,2891,2122,2251
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