version: 66.03
glider: 119
mission: 5
dive: 218
start: 11 18 108 11 34 7
data:
$ID,119
$MISSION,5
$DIVE,218
$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,-213822.05
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,112727,4658.972,-12535.867,37,1.5,50,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.7
$GPS2,113315,4658.889,-12535.826,10,1.3,10,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.106
$KALMAN_X,-16882.6,-480.4,-490.8,-29902.2,2267.3
$KALMAN_Y,239536.1,-830.4,-399.9,-237636.7,4151.2
$MHEAD_RNG_PITCHd_Wd,104.4,47821,-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,-51.62,0.000,2,0.000,0.000,860,2216,2547
$GC,77,-0.67,-117.3,3.1,-3.7,5,121,12.12,2.47,-22.67,0.000,4,0.140,0.072,2646,786,3317
$GC,126,-0.40,-117.3,8.1,-10.4,9,133,0.38,2.22,0.00,0.000,6,0.079,0.040,2709,2212,3317
$GC,452,-0.40,-117.3,32.2,-7.8,40,456,0.00,2.30,0.00,0.000,4,0.000,0.060,2709,3603,3317
$GC,633,-0.40,-117.3,44.7,-7.0,61,640,0.00,2.30,0.00,0.000,6,0.000,0.038,2709,2143,3317
$GC,978,-0.48,-117.3,65.6,-5.8,122,984,0.00,2.22,0.00,0.000,4,0.000,0.058,2709,785,3317
$GC,1014,-0.59,-117.3,67.6,-5.4,128,1021,0.20,2.15,0.00,0.000,6,0.048,0.040,2664,2186,3317
$GC,1354,-0.50,-117.3,94.2,-8.0,173,1358,0.12,2.25,0.00,0.000,4,0.087,0.058,2686,787,3317
$GC,1471,-0.55,-117.3,102.4,-6.6,183,1478,0.00,2.10,0.00,0.000,6,0.000,0.041,2687,2129,3317
$GC,1798,-0.62,-117.3,121.8,-5.9,214,1803,0.12,2.17,0.00,0.000,4,0.061,0.058,2657,777,3317
$GC,1853,-0.62,-117.3,126.0,-7.3,218,1860,0.00,2.08,0.00,0.000,6,0.000,0.042,2657,2100,3317
$GC,2181,-0.58,-117.3,146.8,-6.5,249,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2099,3317
$GC,2498,-0.58,-117.3,167.9,-6.3,267,2502,0.00,2.47,0.00,0.000,4,0.000,0.064,2657,3597,3317
$GC,2537,-0.58,-117.3,170.5,-7.2,269,2541,0.00,2.40,0.00,0.000,6,0.000,0.042,2657,2085,3317
$GC,2864,-0.58,-117.3,190.8,-5.9,285,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2085,3317
$GC,3172,-0.58,-117.3,209.3,-6.0,300,3177,0.00,2.53,0.00,0.000,4,0.000,0.063,2657,3597,3317
$GC,3234,-0.58,-117.3,213.4,-6.8,303,3238,0.00,2.38,0.00,0.000,6,0.000,0.041,2657,2101,3317
$GC,3561,-0.58,-117.3,232.5,-5.8,319,3565,0.00,2.50,0.00,0.000,4,0.000,0.063,2657,3598,3317
$GC,3594,-0.58,-117.3,234.7,-6.8,320,3600,0.00,2.38,0.00,0.000,6,0.000,0.043,2657,2121,3317
$GC,3910,-0.58,-117.3,253.4,-5.9,336,3914,0.00,2.47,0.00,0.000,4,0.000,0.063,2657,3603,3317
$GC,3950,-0.58,-117.3,255.9,-6.8,338,3954,0.00,2.33,0.00,0.000,6,0.000,0.042,2657,2135,3317
$GC,4277,-0.58,-117.3,272.8,-4.8,354,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2132,3316
$GC,4586,-0.58,-117.3,288.7,-5.7,369,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2132,3316
$GC,4912,-0.58,-117.3,307.3,-5.6,381,4917,0.00,2.45,0.00,0.000,4,0.000,0.064,2657,3596,3316
$GC,4939,-0.58,-117.3,309.0,-5.9,381,4943,0.00,2.33,0.00,0.000,6,0.000,0.042,2657,2135,3315
$GC,5278,-0.58,-117.3,328.0,-5.7,387,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2129,3315
$GC,5580,-0.58,-117.3,344.4,-5.3,392,5584,0.00,2.45,0.00,0.000,4,0.000,0.066,2657,3601,3315
$GC,5607,-0.58,-117.3,346.1,-6.0,392,5611,0.00,2.33,0.00,0.000,6,0.000,0.043,2657,2135,3314
$GC,5950,-0.58,-117.3,365.8,-5.8,398,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2135,3314
$GC,6253,-0.58,-117.3,384.9,-6.3,403,6257,0.00,2.45,0.00,0.000,4,0.000,0.065,2657,3598,3314
$GC,6297,-0.58,-117.3,387.9,-7.1,403,6301,0.00,2.28,0.00,0.000,6,0.000,0.044,2657,2170,3313
$GC,6619,-0.58,-117.3,406.9,-5.9,409,6623,0.00,2.33,0.00,0.000,4,0.000,0.074,2657,808,3313
$GC,6645,-0.58,-117.3,408.5,-6.2,409,6650,0.00,2.17,0.00,0.000,6,0.000,0.047,2657,2177,3313
$GC,6984,-0.58,-117.3,425.0,-4.8,415,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2177,3313
$GC,7286,-0.58,-117.3,438.9,-4.6,420,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2177,3312
$GC,7589,-0.58,-117.3,454.3,-5.1,425,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2177,3312
$GC,7892,-0.58,-117.3,470.4,-5.3,430,7896,0.00,2.30,0.00,0.000,4,0.000,0.074,2657,801,3312
$GC,7931,-0.64,-117.3,472.5,-5.7,430,7935,0.00,2.20,0.00,0.000,6,0.000,0.049,2657,2202,3312
$GC,8251,-0.64,-117.3,489.1,-5.2,436,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,3312
$GC,8554,-0.64,-117.3,504.7,-5.1,441,8558,0.00,2.35,0.00,0.000,4,0.000,0.075,2657,800,3312
$GC,8587,-0.69,-117.3,506.7,-5.9,441,8590,0.00,2.17,0.00,0.000,6,0.000,0.049,2657,2178,3312
$GC,8919,-0.69,-117.3,523.2,-5.0,447,8923,0.00,2.30,0.00,0.000,4,0.000,0.075,2658,803,3311
$GC,8946,-0.74,-117.3,524.6,-5.0,447,8950,0.00,2.12,0.00,0.000,6,0.000,0.051,2657,2149,3311
$GC,9277,-0.74,-117.3,543.0,-5.7,453,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2149,3310
$GC,9581,-0.79,-117.3,560.5,-5.8,458,9583,0.15,0.00,0.00,0.000,6,0.061,0.000,2625,2149,3310
$GC,9884,-0.69,-117.3,583.5,-7.7,463,9886,0.12,0.00,0.00,0.000,6,0.093,0.000,2646,2149,3310
$GC,10188,-0.69,-117.3,602.4,-6.2,468,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3310
$GC,10490,-0.69,-117.3,620.3,-5.8,473,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3309
$GC,10793,-0.69,-117.3,638.5,-6.1,478,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2149,3309
$GC,11097,-0.69,-117.3,657.2,-6.2,483,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3309
$GC,11400,-0.69,-117.3,675.3,-5.9,488,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3309
$GC,11702,-0.69,-117.3,692.4,-5.6,493,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3308
$GC,12006,-0.69,-117.3,708.2,-5.1,498,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3308
$GC,12309,-0.69,-117.3,722.5,-4.7,503,12313,0.00,2.30,0.00,0.000,4,0.000,0.084,2646,804,3308
$GC,12336,-0.69,-117.3,723.9,-5.1,503,12340,0.00,2.20,0.00,0.000,6,0.000,0.057,2646,2169,3307
$GC,12673,-0.69,-117.3,738.9,-4.4,509,12677,0.00,2.42,0.00,0.000,4,0.000,0.081,2646,3596,3307
$GC,12701,-0.69,-117.3,740.0,-4.7,509,12705,0.00,2.25,0.00,0.000,6,0.000,0.049,2647,2183,3307
$GC,13032,-0.69,-117.3,753.4,-4.0,515,13036,0.00,2.38,0.00,0.000,4,0.000,0.090,2646,801,3306
$GC,13076,-0.73,-117.3,755.3,-4.5,515,13080,0.00,2.17,0.00,0.000,6,0.000,0.057,2646,2158,3306
$GC,13391,-0.73,-117.3,769.1,-4.5,521,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3306
$GC,13693,-0.73,-117.3,783.7,-4.8,526,13695,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3306
$GC,13996,-0.73,-117.3,798.8,-5.0,531,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3306
$GC,14299,-0.73,-117.3,814.2,-5.0,536,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3306
$GC,14603,-0.73,-117.3,829.6,-5.1,541,14604,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3305
$GC,14906,-0.73,-117.3,844.2,-4.8,546,14910,0.00,2.38,0.00,0.000,4,0.000,0.091,2646,794,3305
$GC,14939,-0.78,-117.3,845.8,-4.5,546,14943,0.00,2.25,0.00,0.000,6,0.000,0.060,2646,2182,3305
$GC,15264,-0.78,-117.3,861.3,-4.7,552,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2182,3305
$GC,15567,-0.78,-117.3,874.4,-4.3,557,15571,0.00,2.42,0.00,0.000,4,0.000,0.092,2646,796,3305
$GC,15605,-0.83,-117.3,876.2,-5.0,557,15610,0.15,2.22,0.00,0.000,6,0.061,0.061,2616,2163,3305
$GC,15925,-0.73,-117.3,893.8,-5.6,563,15930,0.15,2.47,0.00,0.000,4,0.091,0.085,2644,3598,3305
$GC,15952,-0.73,-117.3,895.3,-4.9,563,15956,0.00,2.33,0.00,0.000,6,0.000,0.051,2645,2155,3304
$GC,16290,-0.73,-117.3,911.6,-4.9,569,16291,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2155,3304
$GC,16593,-0.73,-117.3,927.5,-5.3,574,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2155,3305
$GC,16896,-0.73,-117.3,943.3,-5.2,579,16897,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2155,3305
$GC,17199,-0.73,-117.3,958.2,-4.9,584,17200,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2153,3304
$GC,17502,-0.73,-117.3,972.8,-4.9,589,17503,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2153,3304
$GC,17805,-0.73,-117.3,987.7,-4.9,594,17806,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2154,3304
$STATE,17863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17863,begin apogee
$GC,17869,-0.23,0.0,990.9,5.0,595,17975,0.60,0.00,102.88,1.496,6,0.074,0.000,2746,2207,2837
$STATE,17975,end apogee,CONTROL_FINISHED_OK
$STATE,17975,begin climb
$GC,17978,0.67,117.3,992.7,0.0,596,18101,1.15,2.72,113.32,1.452,4,0.050,0.087,2944,3596,2358
$GC,18157,0.40,117.3,987.7,7.5,598,18162,0.35,2.47,0.00,0.000,6,0.091,0.061,2892,2210,2358
$GC,18465,0.40,117.3,969.4,6.0,603,18470,0.00,2.55,0.00,0.000,4,0.000,0.107,2891,780,2358
$GC,18498,0.35,117.3,967.4,5.7,603,18502,0.00,2.33,0.00,0.000,6,0.000,0.065,2891,2182,2358
$GC,18830,0.35,117.3,948.7,5.5,609,18831,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2183,2358
$GC,19133,0.37,126.1,932.6,5.2,614,19144,0.00,0.00,9.50,1.299,6,0.000,0.000,2891,2183,2323
$GC,19436,0.37,126.1,915.2,5.8,619,19437,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2183,2323
$GC,19739,0.37,126.1,897.5,5.8,624,19740,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2183,2323
$GC,20042,0.37,126.1,879.6,5.9,629,20043,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2183,2323
$GC,20345,0.37,126.1,861.8,5.9,634,20349,0.00,2.42,0.00,0.000,4,0.000,0.097,2891,787,2323
$GC,20371,0.37,126.1,860.1,6.6,634,20375,0.00,2.28,0.00,0.000,6,0.000,0.060,2891,2171,2322
$GC,20714,0.37,126.1,840.9,5.7,640,20718,0.00,2.40,0.00,0.000,4,0.000,0.092,2892,784,2322
$GC,20747,0.37,131.1,839.0,5.3,640,20758,0.00,2.17,6.30,1.153,6,0.000,0.060,2892,2129,2302
$GC,21073,0.38,139.2,821.8,5.2,646,21084,0.00,0.00,9.48,1.269,6,0.000,0.000,2891,2129,2269
$GC,21376,0.38,141.7,805.6,5.4,651,21385,0.00,2.33,4.15,0.919,4,0.000,0.091,2892,786,2258
$GC,21436,0.39,145.4,801.8,5.4,651,21446,0.00,2.17,5.03,1.025,6,0.000,0.058,2891,2128,2244
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