version: 66.03
glider: 119
mission: 5
dive: 194
start: 11 8 108 20 36 30
data:
$ID,119
$MISSION,5
$DIVE,194
$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,-213444.41
$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,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
$GPS1,202919,4702.591,-12745.284,48,1.6,51,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.7
$GPS2,203538,4702.542,-12745.192,16,1.8,16,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,-0.011
$KALMAN_X,-22507.6,-465.7,-523.2,-187723.8,1359.7
$KALMAN_Y,190122.6,688.3,184.5,-183597.0,195.1
$MHEAD_RNG_PITCHd_Wd,74.5,211226,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.35,0.000,2,0.000,0.000,863,2232,3040
$GC,97,-0.67,-117.3,4.2,-4.7,7,121,12.23,2.30,-5.35,0.000,4,0.144,0.067,2646,3598,3319
$GC,374,-0.42,-117.3,48.0,-12.5,37,381,0.35,2.20,0.00,0.000,6,0.077,0.038,2705,2186,3319
$GC,720,-0.47,-117.3,72.5,-6.8,98,727,0.00,2.25,0.00,0.000,4,0.000,0.060,2705,800,3319
$GC,744,-0.54,-117.3,74.1,-6.4,102,751,0.12,2.15,0.00,0.000,6,0.057,0.040,2676,2200,3319
$GC,1080,-0.54,-117.3,96.4,-5.8,141,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3319
$GC,1399,-0.54,-117.3,115.2,-6.2,171,1403,0.00,2.28,0.00,0.000,4,0.000,0.061,2675,793,3319
$GC,1427,-0.60,-117.3,116.9,-6.6,173,1433,0.00,2.10,0.00,0.000,6,0.000,0.041,2675,2158,3319
$GC,1753,-0.66,-117.3,136.1,-5.6,204,1757,0.00,2.38,0.00,0.000,4,0.000,0.065,2675,3605,3319
$GC,1804,-0.74,-117.3,139.0,-6.3,208,1809,0.20,2.25,0.00,0.000,6,0.050,0.041,2633,2162,3320
$GC,2125,-0.63,-117.3,162.4,-7.6,230,2127,0.15,0.00,0.00,0.000,6,0.086,0.000,2659,2156,3319
$GC,2433,-0.63,-117.3,180.2,-5.6,245,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2156,3319
$GC,2742,-0.63,-117.3,197.7,-5.5,260,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2156,3319
$GC,3051,-0.63,-117.3,214.1,-5.4,275,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2156,3319
$GC,3361,-0.63,-117.3,230.4,-5.4,290,3365,0.00,2.40,0.00,0.000,4,0.000,0.067,2658,3601,3319
$GC,3388,-0.63,-117.3,232.1,-5.8,291,3392,0.00,2.17,0.00,0.000,6,0.000,0.044,2659,2216,3319
$GC,3710,-0.63,-117.3,248.4,-4.8,307,3714,0.00,2.33,0.00,0.000,4,0.000,0.067,2658,808,3319
$GC,3750,-0.69,-117.3,250.4,-5.1,309,3754,0.00,2.20,0.00,0.000,6,0.000,0.044,2659,2219,3319
$GC,4077,-0.69,-117.3,265.2,-4.6,325,4081,0.00,2.28,0.00,0.000,4,0.000,0.067,2658,3605,3319
$GC,4109,-0.69,-117.3,266.9,-5.1,326,4116,0.00,2.20,0.00,0.000,6,0.000,0.044,2659,2217,3318
$GC,4426,-0.73,-117.3,282.6,-5.2,342,4430,0.00,2.35,0.00,0.000,4,0.000,0.069,2658,798,3318
$GC,4482,-0.81,-117.3,285.9,-5.3,344,4489,0.15,2.17,0.00,0.000,6,0.044,0.044,2620,2182,3318
$GC,4816,-0.69,-117.3,308.8,-7.0,357,4817,0.15,0.00,0.00,0.000,6,0.087,0.000,2647,2183,3318
$GC,5119,-0.69,-117.3,326.7,-5.8,362,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2183,3318
$GC,5421,-0.69,-117.3,345.9,-6.4,367,5425,0.00,2.28,0.00,0.000,4,0.000,0.070,2646,802,3317
$GC,5464,-0.69,-117.3,348.6,-6.3,367,5468,0.00,2.15,0.00,0.000,6,0.000,0.046,2647,2178,3317
$GC,5785,-0.69,-117.3,367.8,-5.9,373,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2178,3316
$GC,6088,-0.69,-117.3,384.1,-5.4,378,6092,0.00,2.28,0.00,0.000,4,0.000,0.072,2647,803,3315
$GC,6126,-0.69,-117.3,386.2,-5.5,378,6130,0.00,2.10,0.00,0.000,6,0.000,0.047,2646,2143,3315
$GC,6453,-0.69,-117.3,401.6,-4.8,384,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3315
$GC,6755,-0.69,-117.3,416.5,-5.0,389,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3315
$GC,7058,-0.69,-117.3,433.3,-5.6,394,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3314
$GC,7362,-0.69,-117.3,450.5,-5.7,399,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3315
$GC,7664,-0.69,-117.3,467.2,-5.5,404,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3314
$GC,7968,-0.69,-117.3,483.3,-5.3,409,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3313
$GC,8270,-0.69,-117.3,499.1,-5.2,414,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3313
$GC,8573,-0.69,-117.3,515.5,-5.4,419,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3313
$GC,8877,-0.69,-117.3,531.4,-5.3,424,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3312
$GC,9180,-0.69,-117.3,547.2,-5.1,429,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3312
$GC,9483,-0.69,-117.3,563.3,-5.3,434,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3311
$GC,9786,-0.69,-117.3,579.7,-5.4,439,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3311
$GC,10089,-0.69,-117.3,595.8,-5.3,444,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3311
$GC,10394,-0.69,-117.3,610.7,-4.8,449,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2143,3310
$GC,10695,-0.69,-117.3,624.9,-4.6,454,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3309
$GC,10999,-0.73,-117.3,638.3,-4.4,459,11003,0.00,2.30,0.00,0.000,4,0.000,0.088,2646,811,3309
$GC,11032,-0.78,-117.3,639.9,-5.3,459,11036,0.00,2.12,0.00,0.000,6,0.000,0.057,2646,2133,3309
$GC,11364,-0.83,-117.3,654.2,-4.3,465,11369,0.15,2.50,0.00,0.000,4,0.062,0.077,2610,3601,3309
$GC,11408,-0.70,-117.3,657.0,-6.9,465,11413,0.20,2.35,0.00,0.000,6,0.084,0.049,2644,2128,3309
$GC,11722,-0.70,-117.3,672.0,-4.8,471,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2128,3309
$GC,12025,-0.70,-117.3,687.3,-5.1,476,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2128,3309
$GC,12328,-0.70,-117.3,703.4,-5.4,481,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2127,3308
$GC,12631,-0.70,-117.3,720.1,-5.5,486,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2126,3308
$GC,12936,-0.70,-117.3,735.9,-5.1,491,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2126,3308
$GC,13239,-0.70,-117.3,750.5,-4.8,496,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2125,3308
$GC,13541,-0.75,-117.3,764.0,-4.5,501,13545,0.00,2.55,0.00,0.000,4,0.000,0.082,2644,3602,3307
$GC,13568,-0.75,-117.3,765.4,-5.2,501,13571,0.00,2.38,0.00,0.000,6,0.000,0.049,2644,2117,3307
$GC,13906,-0.79,-117.3,780.5,-4.5,507,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2117,3307
$GC,14209,-0.90,-117.3,796.1,-5.3,512,14214,0.20,2.58,0.00,0.000,4,0.055,0.081,2598,3602,3307
$GC,14309,-0.74,-117.3,803.1,-6.7,513,14313,0.22,2.12,0.00,0.000,6,0.084,0.049,2636,2267,3307
$GC,14635,-0.74,-117.3,820.5,-5.3,519,14639,0.00,2.55,0.00,0.000,4,0.000,0.096,2636,807,3307
$GC,14707,-0.78,-117.3,824.5,-4.8,520,14711,0.00,2.28,0.00,0.000,6,0.000,0.061,2636,2205,3307
$GC,15061,-0.78,-117.3,842.4,-4.9,526,15065,0.00,2.45,0.00,0.000,4,0.000,0.094,2636,810,3307
$GC,15093,-0.78,-117.3,844.1,-5.3,526,15097,0.00,2.22,0.00,0.000,6,0.000,0.063,2636,2171,3307
$GC,15421,-0.78,-117.3,858.6,-4.4,532,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2171,3307
$GC,15722,-0.78,-117.3,872.5,-4.7,537,15727,0.00,2.40,0.00,0.000,4,0.000,0.096,2636,814,3307
$GC,15767,-0.78,-117.3,874.6,-4.9,537,15771,0.00,2.17,0.00,0.000,6,0.000,0.064,2636,2138,3307
$GC,16081,-0.78,-117.3,889.7,-4.8,543,16086,0.00,2.53,0.00,0.000,4,0.000,0.088,2635,3604,3307
$GC,16114,-0.78,-117.3,891.4,-4.9,543,16118,0.00,2.35,0.00,0.000,6,0.000,0.052,2636,2143,3306
$GC,16446,-0.78,-117.3,907.4,-4.9,549,16450,0.00,2.38,0.00,0.000,4,0.000,0.103,2636,809,3306
$GC,16479,-0.78,-117.3,909.0,-4.8,549,16483,0.00,2.17,0.00,0.000,6,0.000,0.065,2636,2132,3305
$GC,16805,-0.78,-117.3,924.7,-4.8,555,16806,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2132,3305
$GC,17109,-0.78,-117.3,940.1,-5.1,560,17110,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2132,3306
$GC,17412,-0.78,-117.3,955.1,-5.0,565,17416,0.00,2.38,0.00,0.000,4,0.000,0.104,2636,813,3306
$GC,17444,-0.78,-117.3,956.9,-5.8,565,17448,0.00,2.17,0.00,0.000,6,0.000,0.068,2635,2104,3305
$GC,17776,-0.78,-117.3,973.6,-5.0,571,17781,0.00,2.60,0.00,0.000,4,0.000,0.092,2635,3598,3305
$GC,17821,-0.78,-117.3,975.9,-4.8,571,17825,0.00,2.40,0.00,0.000,6,0.000,0.059,2636,2129,3305
$STATE,18133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18133,begin apogee
$GC,18139,-0.23,0.0,990.6,4.6,577,18245,0.65,0.00,102.90,1.493,6,0.074,0.000,2746,2211,2837
$STATE,18245,end apogee,CONTROL_FINISHED_OK
$STATE,18245,begin climb
$GC,18247,0.67,117.3,992.0,0.0,578,18370,1.12,2.70,112.18,1.442,4,0.045,0.091,2944,3593,2358
$GC,18387,0.36,117.3,987.9,7.3,580,18392,0.40,2.47,0.00,0.000,6,0.090,0.064,2884,2222,2358
$GC,18735,0.36,117.3,965.8,6.3,586,18736,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2222,2358
$GC,19038,0.36,117.3,946.1,6.6,591,19042,0.00,2.58,0.00,0.000,4,0.000,0.108,2884,786,2358
$GC,19076,0.31,117.3,943.2,8.0,591,19080,0.00,2.30,0.00,0.000,6,0.000,0.067,2884,2176,2358
$GC,19401,0.31,117.3,921.4,6.8,597,19402,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2176,2358
$GC,19704,0.31,117.3,901.9,6.4,602,19708,0.00,2.45,0.00,0.000,4,0.000,0.087,2884,3600,2358
$GC,19731,0.26,117.3,900.0,6.8,602,19736,0.15,2.35,0.00,0.000,6,0.097,0.058,2860,2161,2358
$GC,20062,0.33,119.4,881.9,5.4,608,20066,0.00,2.42,0.00,0.000,4,0.000,0.101,2860,784,2358
$GC,20084,0.37,120.4,880.7,5.5,608,20093,0.00,2.25,4.30,0.963,6,0.000,0.062,2860,2169,2346
$GC,20433,0.44,122.9,862.0,5.4,614,20442,0.15,2.40,4.22,0.949,4,0.062,0.096,2896,793,2336
$GC,20470,0.34,122.9,859.3,7.8,614,20474,0.12,2.20,0.00,0.000,6,0.100,0.063,2876,2146,2336
$GC,20802,0.34,122.9,838.5,6.3,620,20803,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2146,2336
$GC,21105,0.34,122.9,819.6,6.2,625,21106,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2147,2336
$GC,21408,0.34,122.9,801.6,5.9,630,21409,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2146,2336
$GC,21711,0.34,122.9,784.7,5.5,635,21715,0.00,2.50,0.00,0.000,4,0.000,0.082,2876,3610,2336
$GC,21744,0.34,122.9,782.7,6.9,635,21748,0.00,2.42,0.00,0.000,6,0.000,0.055,2876,2111,2336
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$STATE,33731,begin surface coast
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