version: 66.03
glider: 119
mission: 5
dive: 212
start: 11 16 108 2 5 8
data:
$ID,119
$MISSION,5
$DIVE,212
$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,-213733.98
$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,37
$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
$GPS1,015837,4701.087,-12611.843,40,1.7,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.2
$GPS2,020415,4701.121,-12611.812,12,1.3,12,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.187,-0.055
$KALMAN_X,-25872.8,396.9,50.8,-67836.1,206.7
$KALMAN_Y,224634.5,516.6,-202.5,-220164.2,1813.1
$MHEAD_RNG_PITCHd_Wd,87.8,93253,-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,-51.55,0.000,2,0.000,0.000,863,2225,2547
$GC,77,-0.67,-117.3,3.2,-3.8,5,121,12.23,2.35,-22.38,0.000,4,0.142,0.074,2649,3597,3317
$GC,373,-0.40,-117.3,39.4,-12.4,31,380,0.30,2.30,0.00,0.000,6,0.078,0.039,2707,2174,3316
$GC,717,-0.45,-117.3,64.2,-5.6,91,723,0.00,2.35,0.00,0.000,4,0.000,0.060,2708,3599,3317
$GC,741,-0.52,-117.3,65.5,-5.3,95,747,0.00,2.17,0.00,0.000,6,0.000,0.042,2708,2229,3317
$GC,1085,-0.79,-117.3,87.2,-7.3,148,1090,0.40,2.28,0.00,0.000,4,0.044,0.061,2622,3605,3317
$GC,1203,-0.52,-117.3,99.7,-11.0,158,1209,0.35,2.75,0.00,0.000,6,0.078,0.043,2681,1894,3317
$GC,1528,-0.52,-117.3,122.7,-5.7,188,1533,0.00,2.83,0.00,0.000,4,0.000,0.061,2681,3596,3317
$GC,1624,-0.52,-117.3,128.9,-7.2,196,1629,0.00,2.62,0.00,0.000,6,0.000,0.044,2681,1963,3317
$GC,1950,-0.57,-117.3,146.5,-5.6,226,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1964,3317
$GC,2260,-0.64,-117.3,164.1,-5.6,244,2265,0.00,2.70,0.00,0.000,4,0.000,0.064,2681,3591,3317
$GC,2304,-0.71,-117.3,166.8,-6.0,246,2309,0.20,2.58,0.00,0.000,6,0.050,0.044,2638,1990,3317
$GC,2625,-0.60,-117.3,189.5,-7.1,262,2630,0.15,2.67,0.00,0.000,4,0.087,0.062,2667,3592,3317
$GC,2691,-0.60,-117.3,193.8,-5.9,265,2695,0.00,2.45,0.00,0.000,6,0.000,0.044,2668,2043,3317
$GC,3019,-0.60,-117.3,211.5,-5.3,281,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2043,3317
$GC,3328,-0.60,-117.3,228.1,-5.4,296,3332,0.00,2.60,0.00,0.000,4,0.000,0.065,2667,3600,3317
$GC,3377,-0.60,-117.3,231.3,-7.0,298,3381,0.00,2.45,0.00,0.000,6,0.000,0.045,2668,2072,3317
$GC,3698,-0.60,-117.3,249.2,-5.5,314,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2072,3317
$GC,4009,-0.64,-117.3,266.1,-5.3,329,4013,0.00,2.53,0.00,0.000,4,0.000,0.065,2667,3591,3316
$GC,4035,-0.64,-117.3,267.7,-5.5,330,4039,0.00,2.40,0.00,0.000,6,0.000,0.044,2668,2093,3316
$GC,4357,-0.69,-117.3,284.6,-5.5,346,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2093,3316
$GC,4706,-0.74,-117.3,303.8,-5.5,361,4711,0.15,2.53,0.00,0.000,4,0.059,0.066,2631,3598,3316
$GC,4761,-0.61,-117.3,307.8,-7.6,361,4768,0.20,2.40,0.00,0.000,6,0.082,0.045,2665,2103,3315
$GC,5070,-0.61,-117.3,323.0,-4.8,367,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2103,3315
$GC,5373,-0.61,-117.3,337.1,-4.6,372,5378,0.00,2.50,0.00,0.000,4,0.000,0.067,2665,3594,3315
$GC,5406,-0.61,-117.3,338.8,-5.5,372,5410,0.00,2.35,0.00,0.000,6,0.000,0.045,2665,2125,3315
$GC,5739,-0.66,-117.3,355.4,-5.0,378,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2125,3314
$GC,6041,-0.66,-117.3,370.2,-4.9,383,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2125,3314
$GC,6345,-0.70,-117.3,384.4,-4.7,388,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2125,3313
$GC,6648,-0.75,-117.3,398.4,-4.6,393,6653,0.15,2.47,0.00,0.000,4,0.058,0.068,2629,3591,3313
$GC,6675,-0.67,-117.3,400.1,-6.3,393,6680,0.12,2.30,0.00,0.000,6,0.092,0.044,2650,2149,3313
$GC,7007,-0.67,-117.3,418.1,-5.4,399,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3312
$GC,7309,-0.67,-117.3,434.4,-5.3,404,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3312
$GC,7612,-0.67,-117.3,449.6,-5.0,409,7616,0.00,2.45,0.00,0.000,4,0.000,0.069,2649,3595,3312
$GC,7645,-0.67,-117.3,451.3,-5.8,409,7649,0.00,2.33,0.00,0.000,6,0.000,0.045,2650,2149,3312
$GC,7977,-0.67,-117.3,466.6,-4.5,415,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2149,3312
$GC,8280,-0.67,-117.3,480.9,-4.8,420,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2149,3312
$GC,8583,-0.67,-117.3,496.4,-5.2,425,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2149,3311
$GC,8886,-0.67,-117.3,512.8,-5.5,430,8890,0.00,2.45,0.00,0.000,4,0.000,0.070,2650,3593,3311
$GC,8918,-0.67,-117.3,514.7,-5.8,430,8922,0.00,2.30,0.00,0.000,6,0.000,0.046,2650,2185,3311
$GC,9252,-0.67,-117.3,531.5,-5.0,436,9256,0.00,2.40,0.00,0.000,4,0.000,0.079,2650,801,3310
$GC,9292,-0.67,-117.3,533.6,-5.2,436,9296,0.00,2.15,0.00,0.000,6,0.000,0.049,2649,2167,3310
$GC,9612,-0.67,-117.3,549.1,-4.8,442,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2167,3310
$GC,9915,-0.67,-117.3,564.6,-5.1,447,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2167,3309
$GC,10218,-0.67,-117.3,580.9,-5.4,452,10222,0.00,2.40,0.00,0.000,4,0.000,0.074,2650,3598,3309
$GC,10250,-0.67,-117.3,583.0,-6.3,452,10254,0.00,2.30,0.00,0.000,6,0.000,0.048,2650,2169,3309
$GC,10583,-0.67,-117.3,601.9,-5.7,458,10587,0.00,2.33,0.00,0.000,4,0.000,0.079,2650,797,3309
$GC,10620,-0.67,-117.3,604.3,-6.3,458,10625,0.00,2.20,0.00,0.000,6,0.000,0.051,2649,2166,3309
$GC,10947,-0.67,-117.3,621.7,-5.3,464,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2166,3309
$GC,11250,-0.67,-117.3,637.1,-5.1,469,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2166,3309
$GC,11554,-0.67,-117.3,652.6,-5.2,474,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2166,3309
$GC,11856,-0.67,-117.3,668.7,-5.3,479,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2166,3308
$GC,12161,-0.67,-117.3,685.6,-5.6,484,12165,0.00,2.30,0.00,0.000,4,0.000,0.076,2649,799,3308
$GC,12193,-0.67,-117.3,687.7,-6.2,484,12197,0.00,2.17,0.00,0.000,6,0.000,0.052,2649,2147,3308
$GC,12526,-0.67,-117.3,707.6,-6.0,490,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2146,3307
$GC,12829,-0.67,-117.3,725.6,-5.9,495,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3307
$GC,13131,-0.67,-117.3,742.2,-5.5,500,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2147,3307
$GC,13435,-0.67,-117.3,757.7,-5.0,505,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2147,3307
$GC,13737,-0.67,-117.3,772.8,-4.9,510,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2147,3306
$GC,14041,-0.67,-117.3,787.7,-4.9,515,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2147,3306
$GC,14344,-0.67,-117.3,803.8,-5.4,520,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3306
$GC,14647,-0.67,-117.3,821.0,-5.7,525,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2147,3306
$GC,14951,-0.67,-117.3,837.2,-5.3,530,14955,0.00,2.30,0.00,0.000,4,0.000,0.081,2650,796,3305
$GC,14979,-0.72,-117.3,838.8,-5.5,530,14982,0.00,2.15,0.00,0.000,6,0.000,0.054,2649,2136,3306
$GC,15316,-0.88,-117.3,858.0,-6.0,536,15321,0.20,2.53,0.00,0.000,4,0.056,0.084,2603,3598,3305
$GC,15478,-0.71,-117.3,869.6,-7.5,538,15482,0.22,2.10,0.00,0.000,6,0.084,0.049,2641,2291,3305
$GC,15814,-0.71,-117.3,888.6,-5.6,544,15819,0.00,2.58,0.00,0.000,4,0.000,0.086,2641,800,3305
$GC,15870,-0.71,-117.3,891.9,-6.1,544,15876,0.00,2.38,0.00,0.000,6,0.000,0.056,2641,2272,3305
$GC,16179,-0.71,-117.3,909.5,-5.7,550,16183,0.00,2.55,0.00,0.000,4,0.000,0.084,2642,793,3305
$GC,16216,-0.71,-117.3,911.8,-5.9,550,16220,0.00,2.33,0.00,0.000,6,0.000,0.057,2641,2227,3305
$GC,16545,-0.71,-117.3,928.3,-5.0,556,16546,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2227,3305
$GC,16846,-0.71,-117.3,940.9,-4.0,561,16850,0.00,2.47,0.00,0.000,4,0.000,0.088,2642,804,3305
$GC,16907,-0.75,-117.3,943.6,-4.4,562,16912,0.00,2.28,0.00,0.000,6,0.000,0.059,2642,2204,3305
$GC,17273,-0.88,-117.3,961.6,-5.2,568,17278,0.15,2.42,0.00,0.000,4,0.061,0.089,2606,3600,3305
$GC,17446,-0.74,-117.3,972.6,-8.0,570,17452,0.17,2.88,0.00,0.000,6,0.089,0.061,2634,1857,3304
$STATE,17764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17765,begin apogee
$GC,17771,-0.23,0.0,990.1,5.6,576,17887,0.68,0.00,104.97,1.481,6,0.075,0.000,2749,2214,2836
$STATE,17888,end apogee,CONTROL_FINISHED_OK
$STATE,17888,begin climb
$GC,17890,0.67,117.3,994.0,0.0,578,18013,1.12,2.80,112.93,1.459,4,0.049,0.097,2944,799,2358
$GC,18081,0.42,117.3,986.3,7.7,581,18086,0.32,2.45,0.00,0.000,6,0.091,0.063,2895,2200,2358
$GC,18445,0.42,117.3,964.9,5.9,587,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2200,2358
$GC,18748,0.42,117.3,945.5,6.4,592,18753,0.00,2.42,0.00,0.000,4,0.000,0.091,2895,804,2358
$GC,18776,0.37,117.3,943.6,7.5,592,18780,0.00,2.28,0.00,0.000,6,0.000,0.060,2895,2203,2358
$GC,19107,0.37,117.3,922.2,6.4,598,19108,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2203,2358
$GC,19409,0.37,117.3,904.2,6.0,603,19414,0.00,2.42,0.00,0.000,4,0.000,0.090,2895,799,2358
$GC,19454,0.31,117.3,901.4,6.1,603,19458,0.15,2.22,0.00,0.000,6,0.095,0.058,2871,2176,2357
$GC,19769,0.42,145.3,886.5,4.6,609,19802,0.00,2.47,26.75,1.418,4,0.000,0.087,2871,792,2244
$GC,19826,0.52,175.5,883.7,4.6,609,19861,0.22,2.22,29.62,1.385,6,0.054,0.057,2914,2148,2121
$GC,20198,0.52,175.5,858.6,6.9,616,20199,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2148,2121
$GC,20501,0.52,175.5,835.7,7.6,621,20505,0.00,2.33,0.00,0.000,4,0.000,0.090,2914,801,2121
$GC,20527,0.47,175.5,833.5,8.4,621,20531,0.00,2.15,0.00,0.000,6,0.000,0.055,2914,2135,2121
$GC,20865,0.47,175.5,808.5,7.4,627,20866,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2135,2121
$GC,21168,0.47,175.5,786.5,7.2,632,21169,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2135,2121
$GC,21471,0.47,175.5,766.0,6.8,637,21475,0.00,2.28,0.00,0.000,4,0.000,0.086,2914,803,2121
$GC,21498,0.43,175.5,764.0,8.3,637,21502,0.00,2.12,0.00,0.000,6,0.000,0.054,2914,2129,2122
$GC,21835,0.43,175.5,742.4,6.3,643,21836,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2129,2121
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$STATE,33336,end climb,SURFACE_DEPTH_REACHED
$STATE,33336,begin surface coast
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$STATE,33370,end surface coast,CONTROL_FINISHED_OK
$STATE,33370,begin surface
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