version: 66.03
glider: 119
mission: 5
dive: 213
start: 11 16 108 11 30 19
data:
$ID,119
$MISSION,5
$DIVE,213
$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,-213749.69
$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,29
$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
$GPS1,112337,4700.900,-12605.664,28,1.3,28,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.0
$GPS2,112927,4700.911,-12605.596,13,1.9,13,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.109
$KALMAN_X,-24363.0,-356.2,429.5,-61108.5,1849.3
$KALMAN_Y,227038.8,-554.1,44.1,-222129.3,3764.6
$MHEAD_RNG_PITCHd_Wd,105.4,85394,-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,-51.72,0.000,2,0.000,0.000,862,2218,2560
$GC,77,-0.67,-117.3,3.0,-4.0,5,121,12.15,2.33,-21.55,0.000,4,0.140,0.074,2647,3588,3317
$GC,346,-0.40,-117.3,35.4,-12.0,29,352,0.38,2.20,0.00,0.000,6,0.081,0.039,2709,2189,3317
$GC,686,-0.40,-117.3,59.8,-7.2,84,692,0.00,2.28,0.00,0.000,4,0.000,0.057,2710,787,3317
$GC,760,-0.47,-117.3,65.0,-7.2,97,767,0.00,2.10,0.00,0.000,6,0.000,0.040,2710,2156,3317
$GC,1103,-0.74,-117.3,87.9,-6.3,148,1108,0.35,2.17,0.00,0.000,4,0.043,0.054,2632,790,3317
$GC,1203,-0.54,-117.3,96.1,-9.0,156,1210,0.28,2.65,0.00,0.000,6,0.078,0.043,2678,2496,3317
$GC,1531,-0.54,-117.3,119.3,-5.7,187,1535,0.00,2.78,0.00,0.000,4,0.000,0.056,2678,788,3317
$GC,1610,-0.60,-117.3,123.9,-6.5,193,1616,0.00,2.58,0.00,0.000,6,0.000,0.044,2678,2445,3318
$GC,1936,-0.64,-117.3,144.0,-4.7,224,1941,0.00,2.65,0.00,0.000,4,0.000,0.058,2679,797,3317
$GC,2011,-0.72,-117.3,147.8,-5.2,230,2016,0.20,2.47,0.00,0.000,6,0.048,0.045,2636,2380,3317
$GC,2338,-0.59,-117.3,170.4,-7.1,247,2343,0.15,2.55,0.00,0.000,4,0.088,0.058,2666,787,3317
$GC,2409,-0.63,-117.3,174.9,-6.2,250,2417,0.00,2.35,0.00,0.000,6,0.000,0.044,2665,2295,3317
$GC,2733,-0.63,-117.3,193.4,-5.9,266,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2295,3317
$GC,3042,-0.63,-117.3,212.0,-5.9,281,3046,0.00,2.42,0.00,0.000,4,0.000,0.062,2665,792,3317
$GC,3092,-0.68,-117.3,214.9,-6.2,283,3095,0.00,2.33,0.00,0.000,6,0.000,0.045,2665,2281,3317
$GC,3419,-0.68,-117.3,232.2,-5.3,299,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2280,3317
$GC,3728,-0.68,-117.3,248.4,-5.3,314,3732,0.00,2.40,0.00,0.000,4,0.000,0.064,2665,801,3317
$GC,3761,-0.72,-117.3,250.4,-6.0,315,3767,0.00,2.33,0.00,0.000,6,0.000,0.045,2665,2295,3317
$GC,4076,-0.72,-117.3,268.8,-6.0,331,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2295,3316
$GC,4386,-0.72,-117.3,286.0,-5.2,346,4390,0.00,2.45,0.00,0.000,4,0.000,0.065,2666,792,3316
$GC,4413,-0.76,-117.3,287.5,-5.6,347,4418,0.17,2.33,0.00,0.000,6,0.056,0.046,2630,2282,3316
$GC,4747,-0.64,-117.3,308.4,-6.3,359,4752,0.15,2.42,0.00,0.000,4,0.090,0.065,2658,802,3315
$GC,4802,-0.64,-117.3,311.8,-5.5,359,4808,0.00,2.28,0.00,0.000,6,0.000,0.045,2658,2256,3315
$GC,5111,-0.64,-117.3,328.5,-5.4,365,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2256,3315
$GC,5414,-0.64,-117.3,344.5,-5.2,370,5418,0.00,2.40,0.00,0.000,4,0.000,0.065,2658,791,3314
$GC,5441,-0.64,-117.3,345.8,-5.1,370,5445,0.00,2.25,0.00,0.000,6,0.000,0.045,2658,2228,3314
$GC,5778,-0.64,-117.3,363.3,-5.1,376,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2228,3313
$GC,6081,-0.64,-117.3,378.8,-5.1,381,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2228,3313
$GC,6384,-0.64,-117.3,395.2,-5.5,386,6388,0.00,2.35,0.00,0.000,4,0.000,0.068,2659,802,3313
$GC,6423,-0.64,-117.3,397.6,-6.1,386,6427,0.00,2.22,0.00,0.000,6,0.000,0.046,2658,2222,3313
$GC,6749,-0.64,-117.3,415.0,-5.4,392,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2222,3312
$GC,7052,-0.64,-117.3,431.7,-5.5,397,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2222,3312
$GC,7355,-0.64,-117.3,447.4,-5.1,402,7359,0.00,2.35,0.00,0.000,4,0.000,0.071,2658,805,3312
$GC,7387,-0.68,-117.3,449.2,-5.8,402,7391,0.00,2.20,0.00,0.000,6,0.000,0.047,2658,2204,3312
$GC,7719,-0.68,-117.3,464.9,-4.8,408,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2204,3312
$GC,8022,-0.68,-117.3,481.0,-5.3,413,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2204,3311
$GC,8325,-0.68,-117.3,497.8,-5.5,418,8329,0.00,2.35,0.00,0.000,4,0.000,0.074,2658,798,3310
$GC,8369,-0.73,-117.3,500.2,-5.5,418,8373,0.00,2.17,0.00,0.000,6,0.000,0.049,2658,2178,3310
$GC,8684,-0.73,-117.3,516.0,-4.9,424,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2179,3310
$GC,8987,-0.73,-117.3,530.0,-4.6,429,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2179,3310
$GC,9290,-0.73,-117.3,545.3,-5.0,434,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2179,3310
$GC,9595,-0.78,-117.3,561.8,-5.5,439,9597,0.15,0.00,0.00,0.000,6,0.061,0.000,2626,2179,3310
$GC,9897,-0.68,-117.3,581.8,-6.7,444,9899,0.15,0.00,0.00,0.000,6,0.091,0.000,2651,2179,3309
$GC,10199,-0.68,-117.3,596.6,-4.7,449,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2179,3309
$GC,10503,-0.68,-117.3,610.4,-4.6,454,10507,0.00,2.33,0.00,0.000,4,0.000,0.077,2651,798,3309
$GC,10530,-0.68,-117.3,611.8,-5.0,454,10534,0.00,2.17,0.00,0.000,6,0.000,0.051,2651,2167,3309
$GC,10868,-0.68,-117.3,628.3,-5.0,460,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2167,3308
$GC,11170,-0.68,-117.3,644.3,-5.3,465,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2168,3308
$GC,11473,-0.68,-117.3,660.1,-5.2,470,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2167,3308
$GC,11777,-0.68,-117.3,675.5,-5.0,475,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2167,3308
$GC,12079,-0.68,-117.3,690.6,-5.1,480,12083,0.00,2.33,0.00,0.000,4,0.000,0.079,2651,797,3306
$GC,12100,-0.68,-117.3,691.8,-5.4,480,12104,0.00,2.22,0.00,0.000,6,0.000,0.053,2651,2184,3307
$GC,12443,-0.68,-117.3,710.0,-5.4,486,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2185,3306
$GC,12747,-0.68,-117.3,726.0,-5.3,491,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2184,3306
$GC,13049,-0.68,-117.3,739.7,-4.4,496,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2184,3306
$GC,13353,-0.68,-117.3,753.8,-4.6,501,13357,0.00,2.35,0.00,0.000,4,0.000,0.081,2651,805,3306
$GC,13397,-0.73,-117.3,756.1,-4.9,501,13401,0.00,2.17,0.00,0.000,6,0.000,0.054,2651,2161,3306
$GC,13712,-0.73,-117.3,771.2,-4.9,507,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2161,3306
$GC,14015,-0.73,-117.3,785.9,-4.8,512,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2161,3305
$GC,14319,-0.73,-117.3,800.9,-5.0,517,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2161,3305
$GC,14621,-0.73,-117.3,816.8,-5.3,522,14625,0.00,2.33,0.00,0.000,4,0.000,0.084,2652,806,3305
$GC,14654,-0.78,-117.3,818.9,-6.3,522,14658,0.00,2.15,0.00,0.000,6,0.000,0.055,2651,2139,3305
$GC,14986,-0.82,-117.3,837.9,-5.7,528,14988,0.17,0.00,0.00,0.000,6,0.059,0.000,2615,2139,3305
$GC,15290,-0.71,-117.3,858.6,-6.8,533,15295,0.15,2.53,0.00,0.000,4,0.094,0.087,2643,3596,3305
$GC,15322,-0.71,-117.3,860.9,-6.3,533,15326,0.00,2.33,0.00,0.000,6,0.000,0.052,2644,2157,3304
$GC,15654,-0.71,-117.3,878.9,-5.4,539,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3305
$GC,15957,-0.71,-117.3,894.5,-5.1,544,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2156,3304
$GC,16260,-0.71,-117.3,909.5,-4.9,549,16265,0.00,2.53,0.00,0.000,4,0.000,0.087,2643,3595,3304
$GC,16287,-0.71,-117.3,911.0,-5.8,549,16292,0.00,2.38,0.00,0.000,6,0.000,0.054,2644,2157,3304
$GC,16627,-0.71,-117.3,926.6,-4.7,555,16629,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2157,3304
$GC,16928,-0.71,-117.3,940.3,-4.5,560,16929,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2157,3304
$GC,17231,-0.71,-117.3,954.1,-4.6,565,17235,0.00,2.42,0.00,0.000,4,0.000,0.097,2644,788,3304
$GC,17263,-0.71,-117.3,955.8,-4.3,565,17267,0.00,2.25,0.00,0.000,6,0.000,0.060,2644,2169,3304
$GC,17595,-0.71,-117.3,971.6,-4.8,571,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,3304
$GC,17898,-0.71,-117.3,986.4,-4.8,576,17903,0.00,2.53,0.00,0.000,4,0.000,0.094,2643,3599,3304
$GC,17926,-0.71,-117.3,988.0,-5.0,576,17930,0.00,2.38,0.00,0.000,6,0.000,0.060,2644,2160,3303
$STATE,18018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18018,begin apogee
$GC,18024,-0.23,0.0,992.6,4.9,578,18130,0.60,0.00,103.25,1.500,6,0.074,0.000,2747,2211,2837
$STATE,18130,end apogee,CONTROL_FINISHED_OK
$STATE,18131,begin climb
$GC,18133,0.67,117.3,994.2,0.0,579,18256,1.15,2.70,113.47,1.457,4,0.048,0.088,2945,3601,2358
$GC,18289,0.39,117.3,989.6,7.9,581,18294,0.38,2.53,0.00,0.000,6,0.093,0.064,2889,2208,2358
$GC,18621,0.39,117.3,970.2,5.9,587,18622,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2208,2358
$GC,18923,0.39,117.3,952.5,5.8,592,18924,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2208,2359
$GC,19226,0.39,117.3,935.0,5.7,597,19231,0.00,2.50,0.00,0.000,4,0.000,0.098,2889,782,2358
$GC,19270,0.39,117.3,932.3,6.0,597,19274,0.00,2.30,0.00,0.000,6,0.000,0.061,2889,2197,2358
$GC,19591,0.39,117.3,912.3,6.3,603,19592,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2197,2358
$GC,19894,0.39,117.3,892.9,6.4,608,19898,0.00,2.45,0.00,0.000,4,0.000,0.092,2889,782,2358
$GC,19920,0.39,117.3,891.1,7.3,608,19925,0.00,2.28,0.00,0.000,6,0.000,0.060,2889,2167,2357
$GC,20258,0.39,117.3,870.9,6.0,614,20259,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2168,2357
$GC,20561,0.39,117.3,853.0,5.8,619,20562,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2168,2357
$GC,20864,0.39,117.3,834.3,6.2,624,20868,0.00,2.40,0.00,0.000,4,0.000,0.091,2889,777,2357
$GC,20908,0.39,117.3,831.5,6.6,624,20912,0.00,2.25,0.00,0.000,6,0.000,0.058,2889,2152,2357
$GC,21229,0.39,120.7,814.0,5.4,630,21235,0.00,0.00,4.82,1.019,6,0.000,0.000,2889,2152,2344
$GC,21532,0.41,137.5,798.9,5.0,635,21550,0.00,0.00,16.77,1.345,6,0.000,0.000,2889,2152,2276
$GC,21836,0.47,148.9,783.4,5.1,640,21850,0.00,0.00,12.27,1.295,6,0.000,0.000,2889,2152,2229
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