version: 66.03
glider: 119
mission: 5
dive: 216
start: 11 17 108 16 10 37
data:
$ID,119
$MISSION,5
$DIVE,216
$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,-213790.19
$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,13
$R_STBD_OVSHOOT,35
$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
$GPS1,160408,4700.854,-12545.845,26,1.2,26,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.4
$GPS2,160944,4700.891,-12545.753,10,1.5,10,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.159,-0.112
$KALMAN_X,-18133.4,65.0,-63.6,-42191.1,2492.3
$KALMAN_Y,235692.3,-203.2,-143.8,-230986.3,3813.9
$MHEAD_RNG_PITCHd_Wd,106.6,60337,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.40,0.000,2,0.000,0.000,857,2221,2530
$GC,77,-0.67,-117.3,3.2,-4.2,5,120,12.23,2.33,-22.58,0.000,4,0.141,0.073,2648,3595,3317
$GC,213,-0.40,-117.3,19.6,-13.4,17,218,0.38,2.25,0.00,0.000,6,0.081,0.038,2711,2167,3316
$GC,540,-0.40,-117.3,43.2,-6.1,51,546,0.00,2.25,0.00,0.000,4,0.000,0.059,2711,805,3316
$GC,598,-0.45,-117.3,47.0,-6.4,61,604,0.00,2.12,0.00,0.000,6,0.000,0.040,2711,2163,3317
$GC,942,-0.63,-117.3,70.0,-6.5,122,948,0.22,0.00,0.00,0.000,6,0.046,0.000,2657,2163,3317
$GC,1275,-0.71,-117.3,95.2,-7.2,164,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2163,3317
$GC,1595,-0.79,-117.3,119.1,-7.6,194,1599,0.15,2.35,0.00,0.000,4,0.056,0.061,2623,3596,3317
$GC,1848,-0.60,-117.3,142.1,-9.2,216,1855,0.25,2.10,0.00,0.000,6,0.080,0.040,2666,2248,3317
$GC,2177,-0.60,-117.3,162.5,-5.7,238,2181,0.00,2.38,0.00,0.000,4,0.000,0.062,2666,805,3317
$GC,2216,-0.60,-117.3,164.9,-6.4,240,2220,0.00,2.25,0.00,0.000,6,0.000,0.043,2666,2253,3317
$GC,2549,-0.60,-117.3,183.6,-5.5,256,2553,0.00,2.35,0.00,0.000,4,0.000,0.060,2666,793,3317
$GC,2588,-0.60,-117.3,185.9,-5.4,258,2593,0.00,2.25,0.00,0.000,6,0.000,0.044,2666,2239,3317
$GC,2921,-0.60,-117.3,203.9,-5.7,274,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2239,3317
$GC,3230,-0.60,-117.3,223.1,-6.3,289,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2239,3317
$GC,3540,-0.60,-117.3,240.2,-5.4,304,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2239,3317
$GC,3849,-0.60,-117.3,257.0,-5.6,319,3853,0.00,2.33,0.00,0.000,4,0.000,0.062,2666,804,3316
$GC,3889,-0.66,-117.3,259.3,-5.8,321,3893,0.00,2.22,0.00,0.000,6,0.000,0.044,2666,2234,3316
$GC,4215,-0.66,-117.3,277.8,-5.7,337,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2234,3316
$GC,4525,-0.66,-117.3,295.9,-6.0,352,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2234,3316
$GC,4849,-0.66,-117.3,314.9,-5.8,360,4853,0.00,2.33,0.00,0.000,4,0.000,0.064,2666,805,3315
$GC,4875,-0.71,-117.3,316.6,-6.2,360,4879,0.00,2.22,0.00,0.000,6,0.000,0.044,2666,2236,3315
$GC,5213,-0.76,-117.3,333.8,-5.0,366,5215,0.17,0.00,0.00,0.000,6,0.058,0.000,2630,2236,3314
$GC,5516,-0.64,-117.3,354.3,-7.0,371,5521,0.15,2.35,0.00,0.000,4,0.089,0.065,2658,805,3314
$GC,5559,-0.64,-117.3,357.3,-5.9,371,5564,0.00,2.22,0.00,0.000,6,0.000,0.044,2658,2212,3314
$GC,5880,-0.64,-117.3,373.9,-5.0,377,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3313
$GC,6184,-0.64,-117.3,387.7,-4.6,382,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3313
$GC,6489,-0.64,-117.3,402.6,-5.0,387,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2212,3313
$GC,6790,-0.64,-117.3,417.4,-4.9,392,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2212,3313
$GC,7093,-0.64,-117.3,431.3,-4.6,397,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3312
$GC,7396,-0.64,-117.3,447.8,-5.5,402,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2212,3312
$GC,7699,-0.64,-117.3,464.2,-5.4,407,7703,0.00,2.35,0.00,0.000,4,0.000,0.072,2658,801,3312
$GC,7726,-0.69,-117.3,465.6,-5.1,407,7730,0.00,2.22,0.00,0.000,6,0.000,0.048,2658,2214,3312
$GC,8057,-0.69,-117.3,482.8,-5.2,413,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2214,3311
$GC,8361,-0.73,-117.3,498.7,-5.3,418,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2214,3311
$GC,8663,-0.78,-117.3,515.8,-5.7,423,8665,0.15,0.00,0.00,0.000,6,0.064,0.000,2627,2214,3310
$GC,8966,-0.68,-117.3,537.4,-7.2,428,8968,0.12,0.00,0.00,0.000,6,0.093,0.000,2648,2214,3310
$GC,9271,-0.68,-117.3,555.8,-6.1,433,9275,0.00,2.38,0.00,0.000,4,0.000,0.077,2648,808,3310
$GC,9303,-0.68,-117.3,557.9,-5.9,433,9308,0.00,2.22,0.00,0.000,6,0.000,0.052,2648,2188,3310
$GC,9638,-0.68,-117.3,575.2,-5.1,439,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3309
$GC,9938,-0.68,-117.3,591.9,-5.6,444,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3309
$GC,10242,-0.68,-117.3,608.4,-5.4,449,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3309
$GC,10544,-0.68,-117.3,622.5,-4.6,454,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3309
$GC,10848,-0.68,-117.3,636.7,-4.7,459,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3308
$GC,11153,-0.68,-117.3,651.3,-4.8,464,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3308
$GC,11454,-0.68,-117.3,666.2,-4.9,469,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2188,3307
$GC,11757,-0.68,-117.3,679.5,-4.4,474,11761,0.00,2.33,0.00,0.000,4,0.000,0.077,2648,805,3307
$GC,11783,-0.68,-117.3,680.6,-4.8,474,11787,0.00,2.22,0.00,0.000,6,0.000,0.053,2648,2198,3307
$GC,12121,-0.68,-117.3,696.2,-4.7,480,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2198,3307
$GC,12424,-0.68,-117.3,710.4,-4.6,485,12428,0.00,2.35,0.00,0.000,4,0.000,0.078,2648,808,3306
$GC,12469,-0.73,-117.3,712.6,-4.9,485,12473,0.00,2.20,0.00,0.000,6,0.000,0.054,2648,2183,3306
$GC,12784,-0.73,-117.3,726.9,-4.5,491,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2183,3306
$GC,13087,-0.73,-117.3,742.6,-5.2,496,13091,0.00,2.35,0.00,0.000,4,0.000,0.081,2648,800,3306
$GC,13126,-0.78,-117.3,744.8,-5.4,496,13130,0.00,2.15,0.00,0.000,6,0.000,0.054,2648,2146,3306
$GC,13451,-0.78,-117.3,761.3,-5.1,502,13456,0.00,2.47,0.00,0.000,4,0.000,0.083,2648,3599,3305
$GC,13490,-0.78,-117.3,763.4,-5.4,502,13494,0.00,2.30,0.00,0.000,6,0.000,0.050,2648,2150,3305
$GC,13810,-0.78,-117.3,778.4,-4.6,508,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2150,3305
$GC,14113,-0.78,-117.3,793.7,-5.1,513,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2151,3305
$GC,14416,-0.78,-117.3,808.7,-4.9,518,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2151,3305
$GC,14720,-0.78,-117.3,825.4,-5.6,523,14721,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2150,3305
$GC,15022,-0.78,-117.3,841.0,-5.1,528,15026,0.00,2.50,0.00,0.000,4,0.000,0.082,2648,3598,3305
$GC,15048,-0.78,-117.3,842.5,-5.8,528,15052,0.00,2.33,0.00,0.000,6,0.000,0.048,2648,2144,3304
$GC,15392,-0.78,-117.3,858.5,-4.6,534,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2143,3304
$GC,15696,-0.82,-117.3,874.2,-5.2,539,15697,0.15,0.00,0.00,0.000,6,0.061,0.000,2617,2143,3304
$GC,15998,-0.73,-117.3,891.7,-5.8,544,16000,0.12,0.00,0.00,0.000,6,0.097,0.000,2637,2143,3304
$GC,16303,-0.73,-117.3,906.1,-4.7,549,16307,0.00,2.53,0.00,0.000,4,0.000,0.084,2637,3599,3304
$GC,16336,-0.73,-117.3,907.9,-4.7,549,16340,0.00,2.30,0.00,0.000,6,0.000,0.051,2637,2154,3304
$GC,16667,-0.73,-117.3,923.3,-4.7,555,16668,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2153,3304
$GC,16970,-0.73,-117.3,939.2,-5.3,560,16971,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2153,3303
$GC,17273,-0.73,-117.3,954.8,-5.2,565,17275,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2154,3304
$GC,17577,-0.73,-117.3,970.8,-5.2,570,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2153,3303
$GC,17879,-0.73,-117.3,987.4,-5.4,575,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2153,3303
$STATE,17938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17938,begin apogee
$GC,17943,-0.23,0.0,990.8,5.4,576,18049,0.65,0.00,102.62,1.498,6,0.074,0.000,2748,2207,2837
$STATE,18049,end apogee,CONTROL_FINISHED_OK
$STATE,18049,begin climb
$GC,18052,0.67,117.3,992.3,0.0,577,18173,1.12,0.00,113.60,1.450,6,0.050,0.000,2944,2207,2358
$GC,18476,0.46,117.3,966.4,8.3,584,18481,0.22,2.58,0.00,0.000,4,0.092,0.099,2904,791,2358
$GC,18515,0.37,117.3,963.5,7.3,584,18520,0.12,2.35,0.00,0.000,6,0.100,0.063,2885,2209,2358
$GC,18835,0.37,117.3,943.3,6.3,590,18839,0.00,2.45,0.00,0.000,4,0.000,0.092,2885,802,2358
$GC,18867,0.39,129.0,941.2,5.1,590,18886,0.00,2.22,12.07,1.336,6,0.000,0.061,2885,2165,2311
$GC,19202,0.39,129.0,919.8,6.3,596,19203,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2165,2311
$GC,19505,0.39,131.6,903.2,5.4,601,19514,0.00,2.38,4.50,0.994,4,0.000,0.091,2885,797,2300
$GC,19549,0.39,131.6,900.7,6.6,601,19552,0.00,2.17,0.00,0.000,6,0.000,0.060,2884,2139,2300
$GC,19875,0.40,135.5,883.6,5.4,607,19882,0.00,0.00,5.53,1.108,6,0.000,0.000,2885,2139,2284
$GC,20177,0.40,135.5,865.9,6.0,612,20181,0.00,2.30,0.00,0.000,4,0.000,0.089,2885,802,2284
$GC,20211,0.40,135.5,863.8,6.6,612,20215,0.00,2.12,0.00,0.000,6,0.000,0.058,2884,2123,2284
$GC,20538,0.44,135.5,844.5,5.8,618,20539,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2123,2284
$GC,20841,0.49,143.0,828.3,5.3,623,20852,0.10,0.00,8.62,1.251,6,0.074,0.000,2907,2123,2253
$GC,21143,0.49,143.0,810.6,5.8,628,21144,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2124,2253
$GC,21446,0.49,143.0,792.9,5.9,633,21448,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2123,2253
$GC,21749,0.49,143.0,775.2,5.9,638,21750,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2123,2253
$GC,22052,0.49,143.0,756.6,6.2,643,22056,0.00,2.28,0.00,0.000,4,0.000,0.087,2907,800,2253
$GC,22096,0.43,143.0,753.6,7.7,643,22100,0.00,2.12,0.00,0.000,6,0.000,0.055,2907,2123,2253
$GC,22417,0.43,143.0,732.6,6.5,649,22418,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2123,2253
$GC,22720,0.43,143.0,713.6,6.3,654,22721,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2123,2253
$GC,23023,0.43,143.0,692.9,6.9,659,23024,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2123,2253
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