version: 66.03
glider: 119
mission: 5
dive: 217
start: 11 18 108 1 52 37
data:
$ID,119
$MISSION,5
$DIVE,217
$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,-213808.64
$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,39
$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
$GPS1,014625,4700.217,-12540.628,23,1.2,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.6
$GPS2,015144,4700.177,-12540.646,11,1.3,16,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.180,-0.074
$KALMAN_X,-17063.8,-210.7,-147.4,-36430.8,2014.4
$KALMAN_Y,238135.3,224.4,-300.8,-235012.9,2600.3
$MHEAD_RNG_PITCHd_Wd,93.7,53866,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-61.55,0.000,2,0.000,0.000,860,2216,2767
$GC,87,-0.67,-117.3,3.2,-2.7,6,120,12.23,2.42,-13.25,0.000,4,0.143,0.073,2651,798,3318
$GC,260,-0.44,-117.3,27.6,-12.8,21,268,0.25,2.20,0.00,0.000,6,0.077,0.040,2696,2188,3318
$GC,595,-0.44,-117.3,54.6,-7.9,68,601,0.00,2.22,0.00,0.000,4,0.000,0.055,2696,791,3318
$GC,708,-0.49,-117.3,63.0,-6.9,88,715,0.00,2.08,0.00,0.000,6,0.000,0.040,2696,2145,3318
$GC,1050,-0.54,-117.3,82.5,-5.6,145,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2145,3319
$GC,1368,-0.72,-117.3,99.9,-6.1,175,1373,0.28,2.40,0.00,0.000,4,0.043,0.062,2634,3605,3319
$GC,1390,-0.72,-117.3,101.7,-8.0,176,1396,0.00,2.30,0.00,0.000,6,0.000,0.039,2635,2135,3319
$GC,1716,-0.56,-117.3,129.4,-8.8,207,1721,0.20,2.42,0.00,0.000,4,0.081,0.061,2673,3601,3319
$GC,1756,-0.56,-117.3,132.3,-7.1,210,1760,0.00,2.30,0.00,0.000,6,0.000,0.041,2674,2149,3319
$GC,2082,-0.60,-117.3,151.5,-5.8,239,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2146,3319
$GC,2390,-0.65,-117.3,166.0,-4.2,254,2395,0.00,2.42,0.00,0.000,4,0.000,0.063,2673,3601,3319
$GC,2424,-0.72,-117.3,167.6,-5.0,255,2431,0.15,2.28,0.00,0.000,6,0.058,0.043,2641,2153,3319
$GC,2740,-0.63,-117.3,188.2,-6.8,271,2744,0.12,2.25,0.00,0.000,4,0.091,0.063,2663,808,3319
$GC,2789,-0.63,-117.3,191.6,-6.1,273,2792,0.00,2.12,0.00,0.000,6,0.000,0.041,2663,2173,3319
$GC,3110,-0.63,-117.3,209.3,-5.3,289,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2174,3319
$GC,3419,-0.63,-117.3,224.4,-4.8,304,3424,0.00,2.35,0.00,0.000,4,0.000,0.065,2663,3597,3319
$GC,3464,-0.63,-117.3,226.8,-5.4,306,3468,0.00,2.22,0.00,0.000,6,0.000,0.042,2663,2183,3319
$GC,3785,-0.63,-117.3,243.1,-4.8,322,3789,0.00,2.30,0.00,0.000,4,0.000,0.065,2663,807,3319
$GC,3812,-0.67,-117.3,244.6,-5.4,323,3816,0.00,2.15,0.00,0.000,6,0.000,0.044,2663,2194,3318
$GC,4128,-0.67,-117.3,260.1,-5.1,338,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,3318
$GC,4437,-0.67,-117.3,276.3,-5.3,353,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,3318
$GC,4746,-0.67,-117.3,293.3,-5.7,368,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,3318
$GC,5051,-0.67,-117.3,310.1,-5.4,377,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,3318
$GC,5357,-0.72,-117.3,326.1,-5.3,382,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,3317
$GC,5658,-0.77,-117.3,342.5,-5.4,387,5660,0.17,0.00,0.00,0.000,6,0.057,0.000,2626,2194,3317
$GC,5961,-0.65,-117.3,364.1,-7.2,392,5963,0.17,0.00,0.00,0.000,6,0.087,0.000,2656,2194,3316
$GC,6264,-0.65,-117.3,380.5,-5.3,397,6268,0.00,2.30,0.00,0.000,4,0.000,0.069,2656,802,3316
$GC,6308,-0.70,-117.3,383.1,-5.9,397,6311,0.00,2.20,0.00,0.000,6,0.000,0.046,2656,2204,3316
$GC,6629,-0.70,-117.3,401.0,-5.6,403,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,3315
$GC,6931,-0.70,-117.3,417.8,-5.5,408,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,3315
$GC,7236,-0.70,-117.3,433.9,-5.3,413,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,3315
$GC,7537,-0.70,-117.3,447.6,-4.4,418,7541,0.00,2.33,0.00,0.000,4,0.000,0.071,2656,807,3315
$GC,7571,-0.75,-117.3,449.3,-5.2,418,7575,0.00,2.17,0.00,0.000,6,0.000,0.048,2656,2194,3315
$GC,7897,-0.75,-117.3,464.3,-4.7,424,7901,0.00,2.33,0.00,0.000,4,0.000,0.070,2656,3597,3314
$GC,7923,-0.75,-117.3,465.7,-5.8,424,7928,0.00,2.25,0.00,0.000,6,0.000,0.045,2656,2184,3314
$GC,8262,-0.75,-117.3,484.1,-5.6,430,8266,0.00,2.33,0.00,0.000,4,0.000,0.076,2656,802,3314
$GC,8289,-0.80,-117.3,485.7,-6.0,430,8294,0.17,2.17,0.00,0.000,6,0.056,0.048,2620,2188,3314
$GC,8620,-0.67,-117.3,508.8,-7.0,436,8622,0.17,0.00,0.00,0.000,6,0.086,0.000,2649,2189,3314
$GC,8924,-0.67,-117.3,525.1,-5.3,441,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2189,3313
$GC,9226,-0.67,-117.3,541.4,-5.3,446,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3313
$GC,9531,-0.67,-117.3,556.6,-5.0,451,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3313
$GC,9832,-0.67,-117.3,571.8,-5.0,456,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3312
$GC,10135,-0.67,-117.3,588.8,-5.6,461,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2188,3312
$GC,10438,-0.67,-117.3,608.0,-6.4,466,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2189,3311
$GC,10742,-0.67,-117.3,626.0,-5.8,471,10746,0.00,2.35,0.00,0.000,4,0.000,0.077,2649,798,3311
$GC,10791,-0.72,-117.3,629.0,-5.8,471,10795,0.00,2.22,0.00,0.000,6,0.000,0.051,2649,2198,3311
$GC,11106,-0.72,-117.3,645.7,-5.2,477,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,3311
$GC,11409,-0.72,-117.3,659.3,-4.5,482,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2199,3311
$GC,11712,-0.72,-117.3,674.9,-5.2,487,11717,0.00,2.38,0.00,0.000,4,0.000,0.078,2649,797,3311
$GC,11744,-0.77,-117.3,676.9,-6.1,487,11748,0.00,2.22,0.00,0.000,6,0.000,0.053,2649,2189,3311
$GC,12081,-0.77,-117.3,696.9,-6.0,493,12085,0.00,2.35,0.00,0.000,4,0.000,0.080,2649,805,3310
$GC,12121,-0.82,-117.3,699.3,-5.9,493,12125,0.15,2.15,0.00,0.000,6,0.059,0.054,2617,2152,3310
$GC,12440,-0.72,-117.3,722.9,-7.4,499,12445,0.15,2.47,0.00,0.000,4,0.091,0.078,2642,3601,3310
$GC,12483,-0.72,-117.3,726.1,-7.2,499,12487,0.00,2.35,0.00,0.000,6,0.000,0.048,2643,2135,3309
$GC,12804,-0.72,-117.3,745.5,-6.0,505,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2135,3310
$GC,13107,-0.72,-117.3,761.3,-5.2,510,13111,0.00,2.53,0.00,0.000,4,0.000,0.077,2643,3602,3309
$GC,13144,-0.72,-117.3,763.5,-6.6,510,13149,0.00,2.33,0.00,0.000,6,0.000,0.048,2643,2158,3308
$GC,13471,-0.72,-117.3,781.5,-5.6,516,13475,0.00,2.35,0.00,0.000,4,0.000,0.087,2643,804,3308
$GC,13497,-0.72,-117.3,783.2,-6.2,516,13501,0.00,2.20,0.00,0.000,6,0.000,0.056,2643,2152,3308
$GC,13835,-0.72,-117.3,803.7,-6.1,522,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3308
$GC,14138,-0.72,-117.3,819.8,-5.2,527,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3307
$GC,14441,-0.72,-117.3,834.5,-4.8,532,14443,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3307
$GC,14744,-0.72,-117.3,848.8,-4.7,537,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3307
$GC,15047,-0.72,-117.3,862.1,-4.3,542,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3307
$GC,15351,-0.72,-117.3,875.6,-4.5,547,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3307
$GC,15654,-0.72,-117.3,889.7,-4.7,552,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3306
$GC,15958,-0.72,-117.3,903.3,-4.5,557,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3306
$GC,16260,-0.72,-117.3,917.5,-4.8,562,16261,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2152,3306
$GC,16563,-0.72,-117.3,931.0,-4.4,567,16567,0.00,2.38,0.00,0.000,4,0.000,0.093,2643,802,3306
$GC,16596,-0.76,-117.3,932.6,-4.7,567,16600,0.00,2.17,0.00,0.000,6,0.000,0.061,2643,2138,3306
$GC,16922,-0.76,-117.3,947.6,-4.7,573,16926,0.00,2.55,0.00,0.000,4,0.000,0.090,2643,3604,3306
$GC,16948,-0.76,-117.3,949.1,-5.8,573,16952,0.00,2.38,0.00,0.000,6,0.000,0.053,2643,2136,3305
$GC,17286,-0.76,-117.3,964.4,-4.6,579,17290,0.00,2.38,0.00,0.000,4,0.000,0.100,2643,798,3305
$GC,17330,-0.82,-117.3,966.6,-5.1,579,17334,0.00,2.20,0.00,0.000,6,0.000,0.062,2643,2143,3305
$GC,17645,-0.86,-117.3,981.9,-4.8,585,17650,0.15,2.55,0.00,0.000,4,0.062,0.089,2608,3603,3305
$GC,17683,-0.72,-117.3,984.4,-5.7,585,17688,0.20,2.40,0.00,0.000,6,0.087,0.058,2640,2140,3305
$STATE,17819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17819,begin apogee
$GC,17824,-0.23,0.0,991.1,4.8,588,17941,0.62,0.00,105.05,1.476,6,0.074,0.000,2747,2209,2837
$STATE,17942,end apogee,CONTROL_FINISHED_OK
$STATE,17942,begin climb
$GC,17944,0.67,117.3,993.8,0.0,590,18067,1.12,2.67,113.15,1.453,4,0.047,0.086,2942,3594,2359
$GC,18083,0.41,117.3,988.6,8.7,592,18089,0.35,2.50,0.00,0.000,6,0.094,0.061,2891,2212,2358
$GC,18431,0.41,117.3,966.5,6.4,598,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2211,2358
$GC,18735,0.41,117.3,947.6,6.1,603,18736,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2211,2358
$GC,19038,0.41,117.3,929.0,6.1,608,19039,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2211,2358
$GC,19341,0.41,117.3,909.8,6.4,613,19345,0.00,2.50,0.00,0.000,4,0.000,0.099,2891,781,2358
$GC,19384,0.36,117.3,906.6,7.4,613,19388,0.00,2.28,0.00,0.000,6,0.000,0.061,2891,2185,2357
$GC,19705,0.36,117.3,885.8,6.3,619,19709,0.00,2.42,0.00,0.000,4,0.000,0.084,2891,3610,2357
$GC,19739,0.31,117.3,883.7,5.9,619,19743,0.12,2.30,0.00,0.000,6,0.103,0.054,2871,2186,2357
$GC,20064,0.37,128.3,866.7,5.2,625,20078,0.00,0.00,11.62,1.324,6,0.000,0.000,2871,2186,2313
$GC,20368,0.46,140.7,850.9,5.1,630,20383,0.15,0.00,12.95,1.335,6,0.061,0.000,2905,2186,2263
$GC,20732,0.46,140.7,826.5,6.9,636,20733,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2186,2263
$GC,21035,0.46,140.7,805.1,7.1,641,21039,0.00,2.42,0.00,0.000,4,0.000,0.094,2905,795,2263
$GC,21068,0.38,140.7,802.4,7.8,641,21073,0.12,2.25,0.00,0.000,6,0.098,0.056,2885,2198,2263
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$GC,21696,0.38,140.7,762.6,6.3,652,21701,0.00,2.40,0.00,0.000,4,0.000,0.086,2885,794,2263
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