version: 66.03
glider: 119
mission: 5
dive: 210
start: 11 15 108 6 52 44
data:
$ID,119
$MISSION,5
$DIVE,210
$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,-213705.45
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,064632,4701.056,-12624.132,39,1.2,39,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.3
$GPS2,065151,4701.065,-12624.222,9,1.9,9,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.189,-0.049
$KALMAN_X,-27855.4,-434.6,250.2,-80892.2,599.0
$KALMAN_Y,219721.7,-14.8,237.0,-215270.6,1633.6
$MHEAD_RNG_PITCHd_Wd,86.1,108921,-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,-51.55,0.000,2,0.000,0.000,862,2214,2539
$GC,77,-0.67,-117.3,3.3,-4.4,5,121,12.20,2.38,-22.35,0.000,4,0.142,0.074,2647,3598,3317
$GC,301,-0.42,-117.3,29.3,-12.6,25,306,0.35,2.25,0.00,0.000,6,0.080,0.039,2705,2187,3317
$GC,637,-0.42,-117.3,53.7,-5.9,73,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2186,3317
$GC,981,-0.68,-117.3,76.5,-7.5,134,988,0.28,2.35,0.00,0.000,4,0.042,0.060,2640,3603,3317
$GC,1154,-0.52,-117.3,91.1,-8.9,153,1158,0.25,2.12,0.00,0.000,6,0.077,0.038,2683,2261,3317
$GC,1478,-0.52,-117.3,111.4,-6.4,183,1482,0.00,2.45,0.00,0.000,4,0.000,0.061,2683,797,3317
$GC,1530,-0.61,-117.3,114.6,-6.5,187,1534,0.00,2.28,0.00,0.000,6,0.000,0.043,2683,2250,3318
$GC,1855,-0.82,-117.3,136.3,-6.6,217,1860,0.30,2.22,0.00,0.000,4,0.042,0.064,2615,3601,3318
$GC,2029,-0.62,-117.3,151.9,-9.2,232,2035,0.28,2.83,0.00,0.000,6,0.080,0.045,2662,1850,3318
$GC,2356,-0.62,-117.3,171.8,-5.7,248,2361,0.00,2.92,0.00,0.000,4,0.000,0.063,2662,3607,3318
$GC,2419,-0.62,-117.3,175.6,-6.6,251,2424,0.00,2.72,0.00,0.000,6,0.000,0.045,2662,1904,3318
$GC,2746,-0.62,-117.3,194.6,-5.9,267,2751,0.00,2.83,0.00,0.000,4,0.000,0.063,2662,3599,3317
$GC,2800,-0.62,-117.3,198.4,-7.0,269,2807,0.00,2.65,0.00,0.000,6,0.000,0.046,2662,1951,3318
$GC,3116,-0.62,-117.3,216.6,-5.6,285,3121,0.00,2.75,0.00,0.000,4,0.000,0.064,2662,3599,3318
$GC,3159,-0.62,-117.3,219.3,-5.9,287,3164,0.00,2.55,0.00,0.000,6,0.000,0.045,2662,1993,3317
$GC,3487,-0.62,-117.3,237.7,-5.8,303,3492,0.00,2.70,0.00,0.000,4,0.000,0.065,2661,3606,3318
$GC,3519,-0.62,-117.3,239.6,-5.9,304,3526,0.00,2.58,0.00,0.000,6,0.000,0.046,2662,2017,3317
$GC,3836,-0.62,-117.3,257.1,-5.6,320,3840,0.00,2.67,0.00,0.000,4,0.000,0.065,2662,3607,3317
$GC,3884,-0.62,-117.3,260.2,-6.1,322,3888,0.00,2.47,0.00,0.000,6,0.000,0.045,2662,2063,3317
$GC,4206,-0.62,-117.3,278.4,-5.7,338,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2063,3317
$GC,4515,-0.62,-117.3,296.7,-6.0,353,4519,0.00,2.60,0.00,0.000,4,0.000,0.066,2662,3607,3316
$GC,4564,-0.62,-117.3,299.9,-6.6,355,4569,0.00,2.45,0.00,0.000,6,0.000,0.046,2662,2083,3316
$GC,4879,-0.66,-117.3,318.0,-5.8,361,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2083,3316
$GC,5182,-0.71,-117.3,335.4,-5.7,366,5186,0.00,2.55,0.00,0.000,4,0.000,0.067,2662,3598,3315
$GC,5220,-0.75,-117.3,337.8,-6.1,366,5225,0.15,2.35,0.00,0.000,6,0.058,0.045,2631,2125,3315
$GC,5540,-0.65,-117.3,360.7,-7.2,372,5542,0.15,0.00,0.00,0.000,6,0.088,0.000,2656,2125,3315
$GC,5844,-0.65,-117.3,379.8,-6.3,377,5848,0.00,2.50,0.00,0.000,4,0.000,0.068,2656,3605,3315
$GC,5883,-0.65,-117.3,382.5,-7.0,377,5887,0.00,2.33,0.00,0.000,6,0.000,0.045,2656,2149,3315
$GC,6205,-0.65,-117.3,402.8,-6.3,383,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2150,3314
$GC,6505,-0.65,-117.3,420.5,-5.8,388,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2149,3313
$GC,6809,-0.65,-117.3,436.9,-5.3,393,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2149,3313
$GC,7113,-0.65,-117.3,452.1,-5.0,398,7117,0.00,2.45,0.00,0.000,4,0.000,0.070,2656,3598,3313
$GC,7151,-0.65,-117.3,454.2,-5.3,398,7155,0.00,2.28,0.00,0.000,6,0.000,0.046,2656,2171,3312
$GC,7477,-0.65,-117.3,469.4,-4.6,404,7481,0.00,2.28,0.00,0.000,4,0.000,0.076,2657,800,3313
$GC,7510,-0.70,-117.3,470.9,-4.8,404,7514,0.00,2.15,0.00,0.000,6,0.000,0.048,2656,2173,3312
$GC,7843,-0.70,-117.3,485.5,-4.4,410,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2173,3312
$GC,8144,-0.70,-117.3,499.8,-4.8,415,8149,0.00,2.28,0.00,0.000,4,0.000,0.074,2656,807,3311
$GC,8176,-0.76,-117.3,501.8,-5.9,415,8180,0.00,2.15,0.00,0.000,6,0.000,0.048,2656,2167,3312
$GC,8514,-0.76,-117.3,519.1,-5.2,421,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2167,3311
$GC,8817,-0.80,-117.3,534.8,-5.2,426,8819,0.17,0.00,0.00,0.000,6,0.055,0.000,2619,2167,3311
$GC,9120,-0.68,-117.3,555.1,-6.8,431,9122,0.17,0.00,0.00,0.000,6,0.084,0.000,2649,2168,3310
$GC,9423,-0.68,-117.3,572.1,-5.6,436,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2167,3310
$GC,9726,-0.68,-117.3,589.4,-5.7,441,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2167,3309
$GC,10029,-0.68,-117.3,607.2,-5.9,446,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2168,3309
$GC,10332,-0.68,-117.3,624.8,-5.8,451,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2167,3309
$GC,10635,-0.68,-117.3,641.8,-5.6,456,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2168,3309
$GC,10939,-0.68,-117.3,658.4,-5.5,461,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2168,3309
$GC,11242,-0.68,-117.3,674.3,-5.2,466,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2168,3309
$GC,11544,-0.68,-117.3,691.3,-5.6,471,11548,0.00,2.30,0.00,0.000,4,0.000,0.077,2649,802,3309
$GC,11577,-0.72,-117.3,693.3,-6.5,471,11581,0.00,2.15,0.00,0.000,6,0.000,0.053,2648,2149,3309
$GC,11911,-0.72,-117.3,711.3,-5.4,477,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3308
$GC,12213,-0.72,-117.3,727.2,-5.2,482,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3308
$GC,12515,-0.72,-117.3,742.0,-4.9,487,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3308
$GC,12818,-0.72,-117.3,756.9,-4.9,492,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3308
$GC,13121,-0.72,-117.3,771.1,-4.7,497,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3307
$GC,13424,-0.72,-117.3,785.7,-4.8,502,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3307
$GC,13728,-0.72,-117.3,800.3,-4.8,507,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3307
$GC,14030,-0.72,-117.3,816.2,-5.3,512,14032,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2149,3306
$GC,14335,-0.72,-117.3,833.2,-5.6,517,14339,0.00,2.30,0.00,0.000,4,0.000,0.082,2649,801,3306
$GC,14374,-0.79,-117.3,835.5,-6.3,517,14378,0.00,2.15,0.00,0.000,6,0.000,0.055,2648,2140,3306
$GC,14696,-0.95,-117.3,856.0,-6.6,523,14701,0.28,2.55,0.00,0.000,4,0.048,0.088,2588,3605,3306
$GC,14954,-0.72,-117.3,877.8,-8.4,526,14960,0.32,1.98,0.00,0.000,6,0.084,0.051,2642,2380,3305
$GC,15263,-0.72,-117.3,894.7,-5.4,532,15268,0.00,2.75,0.00,0.000,4,0.000,0.085,2642,803,3305
$GC,15341,-0.76,-117.3,899.0,-6.0,533,15345,0.00,2.45,0.00,0.000,6,0.000,0.058,2641,2288,3305
$GC,15689,-0.76,-117.3,916.5,-4.9,539,15693,0.00,2.60,0.00,0.000,4,0.000,0.085,2642,808,3305
$GC,15733,-0.80,-117.3,918.8,-5.2,539,15737,0.00,2.33,0.00,0.000,6,0.000,0.059,2641,2242,3305
$GC,16053,-0.80,-117.3,933.9,-4.7,545,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2243,3305
$GC,16356,-0.80,-117.3,948.4,-4.8,550,16360,0.00,2.50,0.00,0.000,4,0.000,0.090,2642,810,3305
$GC,16411,-0.86,-117.3,951.4,-5.0,550,16418,0.15,2.30,0.00,0.000,6,0.059,0.061,2610,2221,3305
$GC,16721,-0.75,-117.3,970.4,-6.2,556,16723,0.15,0.00,0.00,0.000,6,0.091,0.000,2635,2221,3305
$GC,17023,-0.75,-117.3,986.2,-5.2,561,17027,0.00,2.50,0.00,0.000,4,0.000,0.094,2635,803,3305
$GC,17085,-0.75,-117.3,989.7,-5.4,562,17089,0.00,2.28,0.00,0.000,6,0.000,0.063,2635,2188,3305
$STATE,17093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17093,begin apogee
$GC,17098,-0.23,0.0,990.5,5.4,562,17205,0.62,0.00,103.07,1.500,6,0.076,0.000,2744,2188,2837
$STATE,17206,end apogee,CONTROL_FINISHED_OK
$STATE,17206,begin climb
$GC,17208,0.67,117.3,992.1,0.0,563,17328,1.15,0.00,113.85,1.453,6,0.048,0.000,2943,2188,2358
$GC,17638,0.47,117.3,968.6,7.6,571,17640,0.25,0.00,0.00,0.000,6,0.091,0.000,2903,2188,2358
$GC,17941,0.41,117.3,950.8,5.8,576,17946,0.00,2.42,0.00,0.000,4,0.000,0.095,2903,805,2358
$GC,17969,0.33,117.3,949.1,5.9,576,17973,0.17,2.30,0.00,0.000,6,0.092,0.061,2875,2208,2358
$GC,18300,0.39,122.2,931.4,5.3,582,18311,0.00,2.42,6.35,1.180,4,0.000,0.091,2875,806,2338
$GC,18328,0.43,122.2,929.8,6.4,582,18332,0.00,2.25,0.00,0.000,6,0.000,0.060,2874,2193,2337
$GC,18659,0.49,122.2,911.1,5.7,588,18664,0.17,2.40,0.00,0.000,4,0.058,0.089,2913,807,2338
$GC,18709,0.37,122.2,907.4,7.4,588,18713,0.17,2.20,0.00,0.000,6,0.092,0.060,2885,2159,2338
$GC,19017,0.37,122.2,889.1,5.9,593,19019,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2159,2338
$GC,19320,0.37,122.2,871.4,5.8,598,19324,0.00,2.33,0.00,0.000,4,0.000,0.089,2884,808,2337
$GC,19347,0.41,155.4,869.9,4.5,598,19383,0.00,2.17,31.38,1.413,6,0.000,0.058,2885,2135,2203
$GC,19745,0.48,155.4,846.4,5.9,605,19749,0.00,2.30,0.00,0.000,4,0.000,0.088,2884,803,2203
$GC,19799,0.48,155.4,842.9,7.1,605,19806,0.00,2.12,0.00,0.000,6,0.000,0.057,2884,2097,2203
$GC,20109,0.55,155.4,825.3,5.6,611,20111,0.17,0.00,0.00,0.000,6,0.058,0.000,2921,2097,2203
$GC,20413,0.49,155.4,804.2,7.0,616,20414,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2097,2203
$GC,20715,0.43,155.4,783.4,6.8,621,20720,0.15,2.22,0.00,0.000,4,0.093,0.086,2892,803,2203
$GC,20736,0.43,155.4,781.9,6.3,621,20740,0.00,2.08,0.00,0.000,6,0.000,0.056,2892,2079,2203
$GC,21080,0.47,155.4,762.5,5.7,627,21081,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2080,2203
$GC,21382,0.52,155.4,744.0,6.1,632,21383,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2080,2203
$GC,21685,0.57,155.4,725.8,6.0,637,21687,0.17,0.00,0.00,0.000,6,0.058,0.000,2928,2080,2203
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$STATE,33215,end climb,SURFACE_DEPTH_REACHED
$STATE,33215,begin surface coast
$FINISH,0.8,1.004731
$STATE,33249,end surface coast,CONTROL_FINISHED_OK
$STATE,33249,begin surface
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$IRIDIUM_FIX,4644.93,-12631.36,080298,212136
$TT8_MAMPS,0.028379
$HUMID,2027
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$TCM_TEMP,17.50
$XPDR_PINGS,2
$24V_AH,21.9,64.418
$10V_AH,10.4,45.791
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$DEVICE_SECS,30.125,195.900,362.775,39.950,0.000,22.935,25.164,151.828,9.250,0.000,0.000,11.329,2239.130,27575.588,586.239,2668.401,550.008,33.386,1906.654,0.000,2639.698,0.000,56.660
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
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$DATA_FILE_SIZE,56823,1149
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$CFSIZE,260165632,243474432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151108,160908,4701.074,-12618.428,36,1.3,36,18.5