version: 66.03
glider: 119
mission: 5
dive: 196
start: 11 9 108 15 47 55
data:
$ID,119
$MISSION,5
$DIVE,196
$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,-213475.03
$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,40
$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
$GPS1,154110,4703.736,-12734.899,63,1.7,65,18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.1
$GPS2,154703,4703.721,-12734.892,10,1.7,10,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,-0.059
$KALMAN_X,-24722.9,230.4,242.9,-173978.1,-1581.7
$KALMAN_Y,195181.6,314.5,188.2,-186091.8,1947.7
$MHEAD_RNG_PITCHd_Wd,89.0,198283,-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,-61.67,0.000,2,0.000,0.000,862,2232,2776
$GC,87,-0.67,-117.3,3.8,-5.9,6,120,12.23,2.45,-12.12,0.000,4,0.144,0.073,2650,783,3318
$GC,250,-0.43,-117.3,27.4,-13.2,20,257,0.32,2.20,0.00,0.000,6,0.081,0.042,2704,2192,3318
$GC,585,-0.43,-117.3,54.7,-7.5,68,591,0.00,2.28,0.00,0.000,4,0.000,0.058,2704,780,3318
$GC,638,-0.43,-117.3,58.6,-7.4,77,644,0.00,2.22,0.00,0.000,6,0.000,0.041,2704,2213,3318
$GC,983,-0.52,-117.3,76.6,-4.6,138,990,0.00,2.30,0.00,0.000,4,0.000,0.057,2704,777,3318
$GC,1019,-0.64,-117.3,78.6,-5.2,144,1026,0.22,2.08,0.00,0.000,6,0.044,0.040,2654,2134,3318
$GC,1352,-0.52,-117.3,104.0,-6.9,177,1357,0.15,2.38,0.00,0.000,4,0.084,0.063,2683,3599,3319
$GC,1426,-0.58,-117.3,108.5,-5.7,183,1430,0.00,2.33,0.00,0.000,6,0.000,0.042,2684,2109,3319
$GC,1752,-0.64,-117.3,127.3,-5.9,213,1756,0.00,2.17,0.00,0.000,4,0.000,0.064,2684,778,3319
$GC,1784,-0.73,-117.3,129.8,-6.9,215,1791,0.20,2.15,0.00,0.000,6,0.038,0.043,2636,2137,3319
$GC,2109,-0.60,-117.3,155.5,-8.0,243,2111,0.17,0.00,0.00,0.000,6,0.083,0.000,2666,2137,3319
$GC,2417,-0.60,-117.3,172.6,-5.2,258,2421,0.00,2.40,0.00,0.000,4,0.000,0.067,2666,3602,3319
$GC,2465,-0.60,-117.3,175.5,-6.4,260,2470,0.00,2.30,0.00,0.000,6,0.000,0.043,2666,2141,3319
$GC,2787,-0.60,-117.3,193.7,-5.5,276,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2136,3319
$GC,3097,-0.64,-117.3,208.9,-4.6,291,3101,0.00,2.40,0.00,0.000,4,0.000,0.067,2665,3607,3319
$GC,3137,-0.68,-117.3,211.0,-4.9,293,3142,0.00,2.28,0.00,0.000,6,0.000,0.043,2666,2142,3319
$GC,3465,-0.73,-117.3,226.8,-4.8,309,3467,0.12,0.00,0.00,0.000,6,0.063,0.000,2637,2137,3319
$GC,3774,-0.65,-117.3,245.8,-6.3,324,3778,0.12,2.25,0.00,0.000,4,0.091,0.067,2659,779,3319
$GC,3801,-0.65,-117.3,247.4,-5.4,325,3804,0.00,2.17,0.00,0.000,6,0.000,0.044,2659,2169,3319
$GC,4116,-0.65,-117.3,264.2,-5.3,340,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2169,3318
$GC,4426,-0.65,-117.3,280.8,-5.3,355,4430,0.00,2.38,0.00,0.000,4,0.000,0.068,2659,3602,3318
$GC,4465,-0.65,-117.3,283.1,-5.7,357,4469,0.00,2.28,0.00,0.000,6,0.000,0.045,2659,2149,3317
$GC,4792,-0.65,-117.3,300.2,-5.3,373,4796,0.00,2.22,0.00,0.000,4,0.000,0.069,2659,784,3317
$GC,4825,-0.70,-117.3,302.3,-6.1,373,4829,0.00,2.17,0.00,0.000,6,0.000,0.045,2659,2185,3317
$GC,5151,-0.70,-117.3,320.7,-5.7,379,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2185,3317
$GC,5454,-0.70,-117.3,337.0,-5.3,384,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2185,3316
$GC,5757,-0.70,-117.3,354.2,-5.7,389,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2184,3316
$GC,6061,-0.74,-117.3,371.8,-5.8,394,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2185,3316
$GC,6364,-0.78,-117.3,389.5,-5.9,399,6366,0.17,0.00,0.00,0.000,6,0.056,0.000,2622,2185,3316
$GC,6667,-0.67,-117.3,411.8,-7.4,404,6669,0.17,0.00,0.00,0.000,6,0.086,0.000,2652,2185,3315
$GC,6971,-0.67,-117.3,428.4,-5.4,409,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3315
$GC,7273,-0.67,-117.3,443.9,-5.1,414,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3314
$GC,7576,-0.67,-117.3,460.3,-5.4,419,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3314
$GC,7880,-0.67,-117.3,475.7,-5.0,424,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3313
$GC,8182,-0.67,-117.3,491.0,-5.0,429,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3313
$GC,8487,-0.67,-117.3,506.3,-5.1,434,8491,0.00,2.38,0.00,0.000,4,0.000,0.080,2652,778,3312
$GC,8514,-0.71,-117.3,507.8,-5.4,434,8518,0.00,2.25,0.00,0.000,6,0.000,0.051,2652,2200,3312
$GC,8845,-0.71,-117.3,524.8,-5.1,440,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,3312
$GC,9148,-0.71,-117.3,540.2,-5.1,445,9152,0.00,2.40,0.00,0.000,4,0.000,0.079,2652,780,3312
$GC,9180,-0.77,-117.3,542.0,-5.7,445,9184,0.00,2.22,0.00,0.000,6,0.000,0.053,2652,2187,3312
$GC,9513,-0.77,-117.3,559.3,-5.2,451,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2187,3312
$GC,9816,-0.81,-117.3,576.2,-5.6,456,9818,0.15,0.00,0.00,0.000,6,0.060,0.000,2620,2187,3311
$GC,10118,-0.71,-117.3,596.3,-6.7,461,10120,0.12,0.00,0.00,0.000,6,0.091,0.000,2641,2187,3311
$GC,10421,-0.71,-117.3,613.3,-5.5,466,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2187,3311
$GC,10724,-0.71,-117.3,629.5,-5.3,471,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2188,3311
$GC,11027,-0.71,-117.3,645.1,-5.1,476,11031,0.00,2.40,0.00,0.000,4,0.000,0.083,2641,779,3311
$GC,11072,-0.71,-117.3,647.4,-5.2,476,11076,0.00,2.22,0.00,0.000,6,0.000,0.056,2641,2168,3310
$GC,11386,-0.71,-117.3,663.2,-5.0,482,11391,0.00,2.42,0.00,0.000,4,0.000,0.081,2641,3601,3310
$GC,11430,-0.71,-117.3,665.8,-5.7,482,11434,0.00,2.30,0.00,0.000,6,0.000,0.049,2641,2151,3309
$GC,11751,-0.71,-117.3,682.1,-5.1,488,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2151,3309
$GC,12054,-0.71,-117.3,698.5,-5.4,493,12059,0.00,2.47,0.00,0.000,4,0.000,0.077,2641,3596,3309
$GC,12092,-0.71,-117.3,700.9,-6.4,493,12096,0.00,2.28,0.00,0.000,6,0.000,0.049,2641,2170,3308
$GC,12418,-0.71,-117.3,719.0,-5.5,499,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2169,3308
$GC,12721,-0.71,-117.3,736.0,-5.6,504,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2169,3308
$GC,13026,-0.71,-117.3,752.5,-5.5,509,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2169,3308
$GC,13328,-0.71,-117.3,768.4,-5.3,514,13332,0.00,2.40,0.00,0.000,4,0.000,0.093,2641,797,3308
$GC,13354,-0.71,-117.3,770.0,-6.0,514,13359,0.00,2.30,0.00,0.000,6,0.000,0.059,2641,2200,3308
$GC,13692,-0.71,-117.3,787.3,-5.1,520,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2200,3307
$GC,13996,-0.71,-117.3,802.1,-4.8,525,14000,0.00,2.45,0.00,0.000,4,0.000,0.092,2641,797,3307
$GC,14034,-0.71,-117.3,804.1,-5.0,525,14038,0.00,2.28,0.00,0.000,6,0.000,0.061,2641,2195,3307
$GC,14360,-0.71,-117.3,819.1,-4.6,531,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2195,3307
$GC,14664,-0.71,-117.3,833.0,-4.6,536,14665,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2195,3307
$GC,14966,-0.71,-117.3,846.8,-4.5,541,14970,0.00,2.45,0.00,0.000,4,0.000,0.094,2641,804,3307
$GC,15001,-0.71,-117.3,848.5,-5.5,541,15005,0.00,2.22,0.00,0.000,6,0.000,0.062,2641,2169,3307
$GC,15327,-0.71,-117.3,864.6,-5.0,547,15331,0.00,2.47,0.00,0.000,4,0.000,0.090,2641,3603,3306
$GC,15353,-0.71,-117.3,866.2,-5.7,547,15358,0.00,2.33,0.00,0.000,6,0.000,0.051,2641,2172,3306
$GC,15692,-0.71,-117.3,884.1,-5.3,553,15696,0.00,2.42,0.00,0.000,4,0.000,0.101,2640,800,3306
$GC,15731,-0.76,-117.3,886.2,-5.5,553,15735,0.00,2.22,0.00,0.000,6,0.000,0.063,2641,2161,3306
$GC,16053,-0.76,-117.3,902.1,-4.9,559,16055,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2161,3306
$GC,16354,-0.76,-117.3,915.9,-4.5,564,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2161,3306
$GC,16657,-0.76,-117.3,929.3,-4.4,569,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2161,3306
$GC,16960,-0.76,-117.3,942.5,-4.4,574,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2161,3306
$GC,17263,-0.76,-117.3,956.2,-4.5,579,17264,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2161,3306
$GC,17566,-0.76,-117.3,970.0,-4.5,584,17567,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2161,3305
$GC,17869,-0.76,-117.3,982.8,-4.2,589,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2161,3305
$STATE,18049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18049,begin apogee
$GC,18054,-0.23,0.0,990.5,4.2,592,18160,0.62,0.00,102.68,1.497,6,0.071,0.000,2748,2203,2837
$STATE,18161,end apogee,CONTROL_FINISHED_OK
$STATE,18161,begin climb
$GC,18163,0.67,117.3,991.8,0.0,593,18286,1.12,2.75,111.80,1.442,4,0.044,0.091,2944,3591,2358
$GC,18308,0.36,117.3,986.5,8.9,595,18313,0.43,2.53,0.00,0.000,6,0.092,0.064,2882,2205,2358
$GC,18650,0.36,117.3,964.5,6.3,601,18655,0.00,2.58,0.00,0.000,4,0.000,0.114,2882,787,2358
$GC,18689,0.32,122.3,962.0,5.3,601,18701,0.00,2.33,6.53,1.160,6,0.000,0.068,2882,2179,2338
$GC,19009,0.32,122.3,942.4,6.0,607,19011,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2179,2338
$GC,19313,0.32,122.3,924.0,6.1,612,19317,0.00,2.47,0.00,0.000,4,0.000,0.105,2882,787,2338
$GC,19356,0.32,122.3,921.2,5.9,612,19360,0.00,2.28,0.00,0.000,6,0.000,0.064,2882,2155,2338
$GC,19676,0.32,122.3,902.9,5.7,618,19678,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2155,2338
$GC,19980,0.33,125.4,886.5,5.4,623,19986,0.00,0.00,4.65,1.017,6,0.000,0.000,2882,2155,2325
$GC,20283,0.33,130.4,870.1,5.3,628,20291,0.00,0.00,6.30,1.167,6,0.000,0.000,2882,2155,2305
$GC,20586,0.33,130.4,853.5,5.6,633,20590,0.00,2.42,0.00,0.000,4,0.000,0.100,2882,781,2305
$GC,20629,0.33,130.4,850.7,7.0,633,20633,0.00,2.22,0.00,0.000,6,0.000,0.061,2882,2135,2305
$GC,20950,0.33,130.4,831.8,5.9,639,20951,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2135,2305
$GC,21253,0.33,130.4,813.2,6.2,644,21254,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2135,2305
$GC,21556,0.33,130.4,795.0,5.9,649,21557,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2135,2305
$GC,21859,0.34,136.5,778.6,5.3,654,21868,0.00,0.00,7.15,1.176,6,0.000,0.000,2882,2135,2280
$GC,22162,0.35,144.1,762.8,5.3,659,22173,0.00,0.00,8.75,1.223,6,0.000,0.000,2882,2136,2249
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$STATE,34493,end climb,SURFACE_DEPTH_REACHED
$STATE,34493,begin surface coast
$FINISH,0.6,1.011475
$STATE,34518,end surface coast,CONTROL_FINISHED_OK
$STATE,34519,begin surface
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$DEVICE_SECS,29.625,180.750,396.425,27.100,0.000,30.127,25.976,176.386,9.000,0.000,0.000,13.295,2244.333,28943.732,600.299,2541.578,578.693,33.380,1862.781,0.000,2510.941,0.000,56.636
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$DATA_FILE_SIZE,56758,1170
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