version: 66.03
glider: 119
mission: 5
dive: 222
start: 11 20 108 1 38 31
data:
$ID,119
$MISSION,5
$DIVE,222
$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,-213881.3
$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,15
$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
$GPS1,013141,4657.410,-12517.646,54,1.2,54,18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.7
$GPS2,013739,4657.396,-12517.691,11,1.1,11,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.191,0.037
$KALMAN_X,-21874.0,-190.6,198.8,-2986.5,-1298.6
$KALMAN_Y,240876.1,324.4,258.7,-243570.2,-235.4
$MHEAD_RNG_PITCHd_Wd,60.8,25334,-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,-61.70,0.000,2,0.000,0.000,861,2218,2776
$GC,87,-0.67,-117.3,3.6,-4.3,6,121,12.20,2.38,-12.35,0.000,4,0.143,0.073,2649,3593,3318
$GC,260,-0.42,-117.3,30.0,-13.4,21,268,0.30,2.30,0.00,0.000,6,0.074,0.039,2704,2178,3319
$GC,597,-0.48,-117.3,51.7,-4.4,70,603,0.00,2.25,0.00,0.000,4,0.000,0.058,2704,799,3319
$GC,638,-0.58,-117.3,53.6,-4.8,77,645,0.10,2.20,0.00,0.000,6,0.041,0.041,2666,2195,3319
$GC,983,-0.74,-117.3,78.1,-7.0,138,990,0.15,2.25,0.00,0.000,4,0.053,0.056,2630,794,3319
$GC,1091,-0.59,-117.3,87.0,-8.3,149,1098,0.22,2.62,0.00,0.000,6,0.076,0.044,2669,2470,3319
$GC,1416,-0.59,-117.3,107.9,-6.3,180,1421,0.00,2.78,0.00,0.000,4,0.000,0.056,2669,790,3319
$GC,1528,-0.64,-117.3,115.0,-5.8,189,1534,0.00,2.30,0.00,0.000,6,0.000,0.043,2669,2272,3319
$GC,1855,-0.64,-117.3,133.2,-5.3,220,1859,0.00,2.20,0.00,0.000,4,0.000,0.065,2669,3598,3319
$GC,1895,-0.64,-117.3,135.7,-6.2,223,1899,0.00,2.12,0.00,0.000,6,0.000,0.041,2669,2247,3319
$GC,2219,-0.64,-117.3,153.9,-5.5,250,2223,0.00,2.38,0.00,0.000,4,0.000,0.060,2669,797,3318
$GC,2252,-0.70,-117.3,155.9,-5.7,251,2259,0.00,2.22,0.00,0.000,6,0.000,0.043,2669,2239,3319
$GC,2568,-0.70,-117.3,172.4,-5.3,267,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3319
$GC,2878,-0.70,-117.3,187.4,-4.7,282,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3318
$GC,3187,-0.75,-117.3,203.3,-5.4,297,3189,0.17,0.00,0.00,0.000,6,0.054,0.000,2631,2239,3318
$GC,3496,-0.63,-117.3,226.7,-7.7,312,3501,0.17,2.35,0.00,0.000,4,0.083,0.062,2663,803,3319
$GC,3562,-0.70,-117.3,231.3,-6.5,315,3566,0.00,2.22,0.00,0.000,6,0.000,0.044,2663,2228,3318
$GC,3890,-0.70,-117.3,248.7,-4.9,331,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2228,3318
$GC,4199,-0.70,-117.3,265.0,-5.3,346,4203,0.00,2.33,0.00,0.000,4,0.000,0.064,2663,800,3318
$GC,4231,-0.75,-117.3,266.8,-5.9,347,4238,0.15,2.20,0.00,0.000,6,0.055,0.043,2630,2222,3318
$GC,4548,-0.64,-117.3,289.6,-7.2,363,4550,0.17,0.00,0.00,0.000,6,0.083,0.000,2660,2223,3318
$GC,4874,-0.64,-117.3,307.2,-5.3,375,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2223,3318
$GC,5177,-0.64,-117.3,324.1,-5.5,380,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2222,3318
$GC,5480,-0.64,-117.3,338.4,-4.6,385,5484,0.00,2.33,0.00,0.000,4,0.000,0.065,2660,808,3317
$GC,5514,-0.70,-117.3,340.0,-4.8,385,5518,0.00,2.17,0.00,0.000,6,0.000,0.044,2660,2205,3317
$GC,5847,-0.70,-117.3,354.4,-4.3,391,5851,0.00,2.35,0.00,0.000,4,0.000,0.067,2660,3606,3317
$GC,5886,-0.70,-117.3,356.4,-5.4,391,5890,0.00,2.25,0.00,0.000,6,0.000,0.043,2661,2193,3316
$GC,6207,-0.70,-117.3,372.8,-5.3,397,6211,0.00,2.30,0.00,0.000,4,0.000,0.067,2661,800,3317
$GC,6252,-0.77,-117.3,375.6,-6.1,397,6257,0.15,2.17,0.00,0.000,6,0.057,0.044,2628,2199,3316
$GC,6572,-0.67,-117.3,399.6,-7.6,403,6574,0.12,0.00,0.00,0.000,6,0.091,0.000,2649,2199,3316
$GC,6875,-0.67,-117.3,419.7,-6.6,408,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2199,3315
$GC,7178,-0.67,-117.3,436.9,-5.6,413,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2199,3315
$GC,7483,-0.67,-117.3,453.5,-5.5,418,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2199,3315
$GC,7784,-0.67,-117.3,471.4,-6.0,423,7788,0.00,2.33,0.00,0.000,4,0.000,0.071,2649,800,3314
$GC,7822,-0.67,-117.3,473.7,-6.1,423,7825,0.00,2.17,0.00,0.000,6,0.000,0.047,2649,2182,3314
$GC,8148,-0.67,-117.3,493.0,-5.9,429,8152,0.00,2.40,0.00,0.000,4,0.000,0.069,2649,3608,3314
$GC,8214,-0.67,-117.3,497.1,-6.4,430,8218,0.00,2.28,0.00,0.000,6,0.000,0.044,2650,2174,3314
$GC,8580,-0.67,-117.3,515.6,-4.9,436,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2174,3314
$GC,8883,-0.67,-117.3,530.5,-5.0,441,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2173,3314
$GC,9186,-0.67,-117.3,546.6,-5.3,446,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2173,3313
$GC,9489,-0.67,-117.3,562.5,-5.2,451,9493,0.00,2.42,0.00,0.000,4,0.000,0.069,2649,3597,3313
$GC,9521,-0.67,-117.3,564.3,-5.5,451,9525,0.00,2.17,0.00,0.000,6,0.000,0.046,2649,2221,3313
$GC,9854,-0.67,-117.3,581.0,-4.9,457,9859,0.00,2.40,0.00,0.000,4,0.000,0.077,2649,794,3313
$GC,9910,-0.73,-117.3,583.7,-5.2,457,9916,0.00,2.22,0.00,0.000,6,0.000,0.050,2649,2203,3313
$GC,10220,-0.73,-117.3,597.0,-4.3,463,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2203,3312
$GC,10522,-0.73,-117.3,610.5,-4.6,468,10526,0.00,2.35,0.00,0.000,4,0.000,0.075,2649,801,3312
$GC,10554,-0.73,-117.3,612.1,-5.0,468,10559,0.00,2.20,0.00,0.000,6,0.000,0.050,2649,2169,3312
$GC,10888,-0.73,-117.3,628.3,-4.9,474,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2169,3311
$GC,11189,-0.73,-117.3,642.0,-4.5,479,11194,0.00,2.30,0.00,0.000,4,0.000,0.077,2649,802,3311
$GC,11222,-0.77,-117.3,643.7,-5.5,479,11226,0.00,2.12,0.00,0.000,6,0.000,0.051,2649,2141,3311
$GC,11554,-0.77,-117.3,660.4,-5.2,485,11558,0.00,2.47,0.00,0.000,4,0.000,0.075,2649,3605,3311
$GC,11589,-0.77,-117.3,662.4,-6.0,485,11593,0.00,2.38,0.00,0.000,6,0.000,0.047,2649,2113,3311
$GC,11916,-0.77,-117.3,681.5,-5.8,491,11920,0.00,2.22,0.00,0.000,4,0.000,0.081,2649,803,3311
$GC,11949,-0.82,-117.3,683.7,-6.3,491,11953,0.15,2.17,0.00,0.000,6,0.058,0.051,2617,2169,3311
$GC,12282,-0.72,-117.3,706.7,-7.0,497,12284,0.15,0.00,0.00,0.000,6,0.088,0.000,2642,2169,3311
$GC,12583,-0.72,-117.3,721.2,-4.6,502,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2169,3310
$GC,12886,-0.72,-117.3,735.7,-4.9,507,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2169,3309
$GC,13190,-0.72,-117.3,750.4,-4.8,512,13194,0.00,2.45,0.00,0.000,4,0.000,0.078,2642,3599,3310
$GC,13222,-0.72,-117.3,752.0,-5.2,512,13226,0.00,2.35,0.00,0.000,6,0.000,0.048,2642,2132,3309
$GC,13548,-0.72,-117.3,766.2,-4.3,518,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2131,3309
$GC,13851,-0.72,-117.3,778.8,-4.2,523,13855,0.00,2.53,0.00,0.000,4,0.000,0.077,2642,3598,3309
$GC,13884,-0.72,-117.3,780.4,-4.8,523,13888,0.00,2.30,0.00,0.000,6,0.000,0.048,2642,2157,3308
$GC,14210,-0.72,-117.3,793.8,-4.1,529,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2157,3309
$GC,14513,-0.72,-117.3,807.1,-4.4,534,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2156,3309
$GC,14816,-0.72,-117.3,821.4,-4.9,539,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2156,3308
$GC,15120,-0.72,-117.3,835.6,-4.6,544,15124,0.00,2.50,0.00,0.000,4,0.000,0.079,2642,3599,3308
$GC,15152,-0.72,-117.3,837.3,-5.4,544,15156,0.00,2.28,0.00,0.000,6,0.000,0.049,2643,2178,3307
$GC,15484,-0.72,-117.3,854.3,-5.1,550,15488,0.00,2.38,0.00,0.000,4,0.000,0.087,2642,795,3307
$GC,15528,-0.76,-117.3,856.9,-6.4,550,15532,0.00,2.22,0.00,0.000,6,0.000,0.056,2642,2178,3307
$GC,15842,-0.76,-117.3,874.7,-5.6,556,15843,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2178,3307
$GC,16145,-0.76,-117.3,892.9,-6.0,561,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2178,3306
$GC,16448,-0.76,-117.3,910.5,-5.7,566,16452,0.00,2.38,0.00,0.000,4,0.000,0.087,2642,805,3306
$GC,16486,-0.81,-117.3,912.6,-6.7,566,16490,0.00,2.17,0.00,0.000,6,0.000,0.058,2642,2151,3306
$GC,16808,-0.81,-117.3,929.5,-5.2,572,16810,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2151,3306
$GC,17110,-0.81,-117.3,943.5,-4.6,577,17114,0.00,2.53,0.00,0.000,4,0.000,0.087,2642,3602,3306
$GC,17142,-0.81,-117.3,945.2,-5.4,577,17146,0.00,2.38,0.00,0.000,6,0.000,0.051,2642,2138,3306
$GC,17474,-0.81,-117.3,960.2,-4.4,583,17475,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2138,3306
$GC,17777,-0.81,-117.3,972.8,-4.0,588,17781,0.00,2.58,0.00,0.000,4,0.000,0.086,2642,3601,3306
$GC,17815,-0.81,-117.3,974.3,-4.0,588,17819,0.00,2.35,0.00,0.000,6,0.000,0.054,2642,2159,3306
$GC,18141,-0.81,-117.3,986.2,-3.6,594,18145,0.00,2.40,0.00,0.000,4,0.000,0.097,2642,797,3306
$GC,18204,-0.87,-117.3,988.9,-4.5,595,18208,0.17,2.17,0.00,0.000,6,0.055,0.061,2607,2128,3306
$STATE,18222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18222,begin apogee
$GC,18228,-0.23,0.0,990.0,5.4,595,18334,0.80,0.00,103.28,1.497,6,0.077,0.000,2745,2209,2837
$STATE,18335,end apogee,CONTROL_FINISHED_OK
$STATE,18335,begin climb
$GC,18338,0.67,117.3,992.1,0.0,597,18456,1.17,0.00,114.40,1.452,6,0.044,0.000,2947,2209,2358
$GC,18747,0.44,117.3,962.9,9.0,604,18752,0.25,2.53,0.00,0.000,4,0.091,0.097,2902,797,2359
$GC,18776,0.33,117.3,960.5,7.9,604,18781,0.17,2.33,0.00,0.000,6,0.091,0.061,2875,2202,2358
$GC,19107,0.38,117.3,940.0,6.1,610,19108,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2202,2358
$GC,19410,0.42,117.3,923.1,5.6,615,19411,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2202,2358
$GC,19713,0.48,130.2,907.5,5.1,620,19733,0.15,2.50,13.20,1.357,4,0.061,0.094,2906,795,2306
$GC,19755,0.39,130.2,904.9,5.8,620,19759,0.00,2.28,0.00,0.000,6,0.000,0.059,2906,2187,2305
$GC,20076,0.34,130.2,884.2,6.4,626,20080,0.15,2.42,0.00,0.000,4,0.095,0.089,2877,791,2306
$GC,20119,0.34,130.2,881.2,6.6,626,20123,0.00,2.28,0.00,0.000,6,0.000,0.058,2877,2195,2306
$GC,20440,0.40,130.2,862.0,6.0,632,20444,0.00,2.40,0.00,0.000,4,0.000,0.087,2877,796,2305
$GC,20479,0.40,130.2,859.5,6.1,632,20482,0.00,2.17,0.00,0.000,6,0.000,0.057,2877,2143,2306
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$STATE,33220,end climb,SURFACE_DEPTH_REACHED
$STATE,33220,begin surface coast
$FINISH,0.6,1.024304
$STATE,33253,end surface coast,CONTROL_FINISHED_OK
$STATE,33254,begin surface
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$TCM_TEMP,17.20
$XPDR_PINGS,1
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$10V_AH,10.5,47.403
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$DEVICE_SECS,31.425,225.375,402.425,14.750,0.000,25.037,23.989,182.491,9.000,0.000,0.000,13.467,2263.327,27485.443,618.653,2672.493,594.853,33.381,1962.444,0.000,2633.467,0.000,56.647
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$DATA_FILE_SIZE,56780,1136
$CAP_FILE_SIZE,214457,0
$CFSIZE,260165632,242405376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201108,105438,4658.796,-12513.737,39,1.3,39,18.4