version: 66.03
glider: 119
mission: 5
dive: 204
start: 11 12 108 21 1 57
data:
$ID,119
$MISSION,5
$DIVE,204
$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,-213608.34
$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,12
$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
$GPS1,205541,4700.702,-12655.702,35,1.4,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.3
$GPS2,210103,4700.741,-12655.586,11,1.9,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.193,-0.029
$KALMAN_X,-27042.5,199.2,-29.5,-121695.2,-627.6
$KALMAN_Y,209364.2,337.1,251.8,-205871.2,974.5
$MHEAD_RNG_PITCHd_Wd,79.9,148524,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,83,0.00,0.00,-61.45,0.000,2,0.000,0.000,864,2218,2778
$GC,86,-0.67,-117.3,3.7,-5.1,6,119,12.23,2.38,-12.30,0.000,4,0.143,0.072,2648,3598,3318
$GC,375,-0.44,-117.3,40.8,-11.1,32,382,0.30,2.25,0.00,0.000,6,0.078,0.039,2699,2168,3319
$GC,721,-0.54,-117.3,64.0,-4.8,93,727,0.00,2.17,0.00,0.000,4,0.000,0.058,2699,794,3319
$GC,790,-0.65,-117.3,68.3,-6.3,105,797,0.15,1.90,0.00,0.000,6,0.038,0.040,2651,2008,3319
$GC,1129,-0.55,-117.3,95.5,-8.0,149,1134,0.15,2.62,0.00,0.000,4,0.083,0.060,2677,3594,3319
$GC,1214,-0.55,-117.3,101.6,-7.3,156,1218,0.00,2.45,0.00,0.000,6,0.000,0.041,2678,2056,3319
$GC,1542,-0.61,-117.3,120.2,-5.6,186,1546,0.00,2.60,0.00,0.000,4,0.000,0.064,2677,3599,3319
$GC,1574,-0.68,-117.3,122.5,-6.6,188,1581,0.15,2.42,0.00,0.000,6,0.054,0.043,2643,2076,3319
$GC,1899,-0.62,-117.3,144.6,-6.3,219,1904,0.12,2.55,0.00,0.000,4,0.087,0.062,2665,3598,3319
$GC,1938,-0.62,-117.3,146.8,-5.5,222,1943,0.00,2.28,0.00,0.000,6,0.000,0.043,2665,2167,3319
$GC,2256,-0.67,-117.3,162.5,-5.2,240,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2162,3319
$GC,2565,-0.72,-117.3,179.7,-5.7,255,2570,0.00,2.40,0.00,0.000,4,0.000,0.064,2665,3594,3319
$GC,2589,-0.77,-117.3,181.1,-6.0,256,2593,0.17,2.25,0.00,0.000,6,0.053,0.042,2627,2169,3319
$GC,2909,-0.67,-117.3,205.2,-7.3,272,2911,0.15,0.00,0.00,0.000,6,0.085,0.000,2653,2165,3319
$GC,3218,-0.67,-117.3,223.4,-5.8,287,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3319
$GC,3528,-0.67,-117.3,241.4,-5.8,302,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3319
$GC,3837,-0.67,-117.3,257.9,-5.1,317,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3318
$GC,4146,-0.67,-117.3,274.0,-5.2,332,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3318
$GC,4456,-0.67,-117.3,290.8,-5.4,347,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3318
$GC,4762,-0.67,-117.3,307.0,-5.2,358,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3318
$GC,5065,-0.67,-117.3,321.8,-4.9,363,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2164,3318
$GC,5368,-0.67,-117.3,337.3,-5.2,368,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3317
$GC,5672,-0.67,-117.3,353.1,-5.2,373,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3317
$GC,5974,-0.67,-117.3,368.9,-5.2,378,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3316
$GC,6277,-0.67,-117.3,385.5,-5.5,383,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3315
$GC,6581,-0.71,-117.3,402.2,-5.5,388,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2165,3316
$GC,6884,-0.75,-117.3,418.9,-5.5,393,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3315
$GC,7187,-0.79,-117.3,434.4,-5.2,398,7192,0.15,2.33,0.00,0.000,4,0.061,0.070,2617,810,3315
$GC,7214,-0.73,-117.3,436.2,-6.7,398,7218,0.12,2.17,0.00,0.000,6,0.089,0.046,2637,2178,3315
$GC,7552,-0.73,-117.3,455.1,-5.6,404,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2178,3315
$GC,7853,-0.73,-117.3,471.7,-5.5,409,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2178,3315
$GC,8156,-0.73,-117.3,489.2,-5.8,414,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3314
$GC,8459,-0.73,-117.3,506.7,-5.7,419,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3314
$GC,8763,-0.73,-117.3,522.9,-5.3,424,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2178,3314
$GC,9066,-0.73,-117.3,537.3,-4.7,429,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2178,3313
$GC,9370,-0.73,-117.3,551.6,-4.8,434,9374,0.00,2.42,0.00,0.000,4,0.000,0.072,2637,3602,3313
$GC,9402,-0.73,-117.3,553.3,-5.4,434,9406,0.00,2.30,0.00,0.000,6,0.000,0.047,2638,2167,3312
$GC,9734,-0.73,-117.3,569.9,-5.0,440,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2166,3312
$GC,10037,-0.73,-117.3,585.3,-5.1,445,10041,0.00,2.47,0.00,0.000,4,0.000,0.072,2637,3605,3312
$GC,10069,-0.73,-117.3,587.3,-6.1,445,10073,0.00,2.28,0.00,0.000,6,0.000,0.047,2638,2186,3312
$GC,10401,-0.73,-117.3,604.7,-5.3,451,10405,0.00,2.38,0.00,0.000,4,0.000,0.081,2638,797,3312
$GC,10445,-0.73,-117.3,607.3,-5.9,451,10449,0.00,2.20,0.00,0.000,6,0.000,0.051,2638,2182,3312
$GC,10766,-0.73,-117.3,625.0,-5.5,457,10770,0.00,2.40,0.00,0.000,4,0.000,0.076,2637,3598,3312
$GC,10798,-0.73,-117.3,627.1,-5.8,457,10802,0.00,2.30,0.00,0.000,6,0.000,0.048,2638,2167,3311
$GC,11130,-0.73,-117.3,646.1,-5.7,463,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2166,3311
$GC,11433,-0.73,-117.3,663.0,-5.5,468,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2166,3311
$GC,11736,-0.73,-117.3,680.2,-5.7,473,11740,0.00,2.50,0.00,0.000,4,0.000,0.076,2638,3607,3311
$GC,11762,-0.73,-117.3,681.8,-6.7,473,11767,0.00,2.28,0.00,0.000,6,0.000,0.048,2638,2197,3310
$GC,12101,-0.73,-117.3,700.9,-5.6,479,12105,0.00,2.40,0.00,0.000,4,0.000,0.084,2637,793,3310
$GC,12138,-0.73,-117.3,703.2,-6.2,479,12143,0.00,2.30,0.00,0.000,6,0.000,0.052,2637,2228,3310
$GC,12464,-0.73,-117.3,720.3,-5.2,485,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2228,3310
$GC,12768,-0.73,-117.3,734.9,-4.8,490,12772,0.00,2.42,0.00,0.000,4,0.000,0.080,2638,800,3310
$GC,12818,-0.77,-117.3,737.3,-4.9,490,12822,0.00,2.20,0.00,0.000,6,0.000,0.053,2637,2183,3310
$GC,13128,-0.77,-117.3,751.1,-4.4,495,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2183,3309
$GC,13430,-0.77,-117.3,765.6,-4.8,500,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2183,3309
$GC,13733,-0.77,-117.3,781.7,-5.4,505,13738,0.00,2.38,0.00,0.000,4,0.000,0.081,2638,789,3309
$GC,13772,-0.77,-117.3,784.1,-6.1,505,13776,0.00,2.22,0.00,0.000,6,0.000,0.054,2637,2174,3309
$GC,14100,-0.77,-117.3,802.9,-5.9,511,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,3308
$GC,14401,-0.77,-117.3,819.6,-5.4,516,14402,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,3308
$GC,14704,-0.77,-117.3,834.8,-4.9,521,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2173,3308
$GC,15007,-0.77,-117.3,848.8,-4.6,526,15011,0.00,2.38,0.00,0.000,4,0.000,0.084,2637,792,3308
$GC,15040,-0.77,-117.3,850.5,-5.3,526,15044,0.00,2.22,0.00,0.000,6,0.000,0.056,2637,2170,3308
$GC,15372,-0.77,-117.3,866.1,-4.8,532,15373,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2169,3307
$GC,15675,-0.77,-117.3,880.3,-4.6,537,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2169,3307
$GC,15978,-0.77,-117.3,894.2,-4.6,542,15982,0.00,2.38,0.00,0.000,4,0.000,0.088,2638,800,3307
$GC,16016,-0.81,-117.3,896.1,-4.7,542,16020,0.00,2.20,0.00,0.000,6,0.000,0.058,2638,2159,3307
$GC,16336,-0.81,-117.3,910.3,-4.4,548,16337,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2159,3307
$GC,16639,-0.81,-117.3,923.0,-4.2,553,16640,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2160,3307
$GC,16942,-0.81,-117.3,936.5,-4.5,558,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2160,3307
$GC,17245,-0.86,-117.3,950.0,-4.5,563,17247,0.12,0.00,0.00,0.000,6,0.065,0.000,2610,2160,3307
$GC,17549,-0.78,-117.3,966.6,-5.5,568,17554,0.10,2.40,0.00,0.000,4,0.102,0.094,2626,797,3307
$GC,17581,-0.78,-117.3,968.4,-5.4,568,17585,0.00,2.20,0.00,0.000,6,0.000,0.061,2626,2138,3306
$GC,17913,-0.78,-117.3,983.9,-4.7,574,17917,0.00,2.62,0.00,0.000,4,0.000,0.096,2626,3602,3306
$GC,17940,-0.78,-117.3,985.2,-5.0,574,17944,0.00,2.40,0.00,0.000,6,0.000,0.059,2626,2147,3306
$STATE,18087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18087,begin apogee
$GC,18092,-0.23,0.0,991.9,4.5,577,18199,0.70,0.00,103.55,1.499,6,0.073,0.000,2747,2214,2837
$STATE,18199,end apogee,CONTROL_FINISHED_OK
$STATE,18200,begin climb
$GC,18202,0.67,117.3,992.9,0.0,578,18323,1.12,0.00,113.15,1.447,6,0.043,0.000,2943,2214,2358
$GC,18628,0.42,117.3,961.1,9.6,585,18630,0.30,0.00,0.00,0.000,6,0.091,0.000,2896,2214,2358
$GC,18929,0.36,117.3,938.4,7.4,590,18933,0.00,2.53,0.00,0.000,4,0.000,0.099,2896,793,2358
$GC,18967,0.26,117.3,935.5,7.5,590,18972,0.22,2.33,0.00,0.000,6,0.087,0.061,2859,2218,2358
$GC,19287,0.32,117.3,917.0,5.6,596,19292,0.00,2.47,0.00,0.000,4,0.000,0.092,2859,794,2358
$GC,19331,0.32,118.7,914.7,5.5,596,19335,0.00,2.28,0.00,0.000,6,0.000,0.059,2859,2197,2357
$GC,19653,0.41,142.2,899.1,4.8,602,19682,0.15,2.47,23.85,1.409,4,0.061,0.092,2894,801,2257
$GC,19710,0.34,142.2,895.4,7.4,602,19716,0.00,2.22,0.00,0.000,6,0.000,0.059,2894,2149,2257
$GC,20019,0.34,142.2,876.5,6.1,608,20020,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2149,2257
$GC,20322,0.34,142.2,858.4,6.0,613,20323,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2149,2257
$GC,20625,0.34,142.2,838.9,6.5,618,20627,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2150,2257
$GC,20928,0.34,142.2,818.0,6.9,623,20929,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2149,2257
$GC,21231,0.34,142.2,796.9,7.0,628,21232,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2150,2257
$GC,21534,0.34,142.2,775.4,7.1,633,21538,0.00,2.33,0.00,0.000,4,0.000,0.090,2894,800,2257
$GC,21562,0.29,142.2,773.3,8.0,633,21567,0.17,2.15,0.00,0.000,6,0.091,0.055,2866,2142,2257
$GC,21893,0.38,150.8,755.6,5.2,639,21907,0.00,2.30,9.30,1.233,4,0.000,0.085,2866,797,2222
$GC,21942,0.43,150.8,753.0,5.9,639,21946,0.15,2.10,0.00,0.000,6,0.060,0.054,2897,2104,2222
$GC,22262,0.43,150.8,732.9,6.4,645,22263,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2105,2222
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