version: 66.03
glider: 119
mission: 5
dive: 223
start: 11 20 108 11 1 37
data:
$ID,119
$MISSION,5
$DIVE,223
$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,-213897.53
$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,23
$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
$GPS1,105438,4658.796,-12513.737,39,1.3,39,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.8
$GPS2,110045,4658.813,-12513.765,12,1.6,12,18.4
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,-0.013
$KALMAN_X,-23494.2,-264.4,-48.1,3915.6,-1004.4
$KALMAN_Y,242593.5,-107.8,287.3,-242271.0,1133.7
$MHEAD_RNG_PITCHd_Wd,75.4,20032,-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,-61.47,0.000,2,0.000,0.000,863,2212,2743
$GC,87,-0.67,-117.3,3.5,-4.0,6,120,12.20,2.35,-13.02,0.000,4,0.143,0.071,2648,3591,3317
$GC,260,-0.45,-117.3,30.1,-14.1,21,268,0.25,2.28,0.00,0.000,6,0.076,0.038,2694,2182,3317
$GC,597,-0.51,-117.3,53.6,-6.1,71,603,0.00,2.28,0.00,0.000,4,0.000,0.058,2695,798,3317
$GC,655,-0.61,-117.3,57.1,-6.2,81,662,0.15,2.15,0.00,0.000,6,0.053,0.041,2661,2189,3317
$GC,1006,-0.61,-117.3,81.1,-7.3,142,1010,0.00,2.25,0.00,0.000,4,0.000,0.058,2661,792,3317
$GC,1056,-0.61,-117.3,84.7,-6.5,146,1060,0.00,2.08,0.00,0.000,6,0.000,0.041,2661,2138,3317
$GC,1388,-0.61,-117.3,106.0,-6.4,177,1392,0.00,2.42,0.00,0.000,4,0.000,0.064,2660,3598,3317
$GC,1416,-0.61,-117.3,108.1,-6.9,179,1420,0.00,2.35,0.00,0.000,6,0.000,0.041,2661,2109,3317
$GC,1742,-0.61,-117.3,130.2,-6.8,209,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2109,3317
$GC,2069,-0.61,-117.3,151.8,-6.3,239,2073,0.00,2.50,0.00,0.000,4,0.000,0.062,2660,3597,3317
$GC,2095,-0.61,-117.3,153.8,-7.0,240,2099,0.00,2.35,0.00,0.000,6,0.000,0.041,2661,2123,3317
$GC,2417,-0.61,-117.3,174.9,-6.7,256,2422,0.00,2.50,0.00,0.000,4,0.000,0.063,2660,3605,3317
$GC,2455,-0.61,-117.3,177.5,-6.8,257,2461,0.00,2.35,0.00,0.000,6,0.000,0.042,2661,2152,3317
$GC,2771,-0.61,-117.3,198.3,-6.2,273,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2147,3317
$GC,3081,-0.61,-117.3,216.0,-5.4,288,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2146,3317
$GC,3389,-0.61,-117.3,233.8,-5.7,303,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2147,3317
$GC,3700,-0.65,-117.3,250.7,-5.4,318,3704,0.00,2.45,0.00,0.000,4,0.000,0.064,2660,3601,3317
$GC,3727,-0.70,-117.3,252.3,-6.2,319,3731,0.00,2.35,0.00,0.000,6,0.000,0.043,2661,2132,3317
$GC,4043,-0.74,-117.3,267.7,-5.0,334,4045,0.12,0.00,0.00,0.000,6,0.064,0.000,2632,2128,3317
$GC,4352,-0.67,-117.3,286.7,-6.0,349,4357,0.12,2.50,0.00,0.000,4,0.090,0.063,2653,3605,3317
$GC,4385,-0.67,-117.3,288.7,-5.3,350,4391,0.00,2.35,0.00,0.000,6,0.000,0.043,2654,2130,3317
$GC,4739,-0.67,-117.3,306.7,-5.1,364,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2130,3317
$GC,5042,-0.67,-117.3,323.5,-5.7,369,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2130,3317
$GC,5345,-0.67,-117.3,341.5,-5.9,374,5349,0.00,2.47,0.00,0.000,4,0.000,0.064,2653,3595,3316
$GC,5382,-0.67,-117.3,343.8,-6.2,374,5387,0.00,2.30,0.00,0.000,6,0.000,0.043,2654,2152,3316
$GC,5714,-0.67,-117.3,362.2,-5.5,380,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2146,3316
$GC,6018,-0.67,-117.3,377.6,-5.0,385,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2146,3315
$GC,6321,-0.67,-117.3,392.2,-4.8,390,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2147,3315
$GC,6625,-0.67,-117.3,407.1,-5.0,395,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2146,3315
$GC,6927,-0.71,-117.3,424.2,-5.7,400,6931,0.00,2.30,0.00,0.000,4,0.000,0.074,2654,798,3314
$GC,6959,-0.77,-117.3,426.1,-5.9,400,6963,0.00,2.15,0.00,0.000,6,0.000,0.045,2653,2172,3314
$GC,7292,-0.81,-117.3,443.3,-5.1,406,7294,0.17,0.00,0.00,0.000,6,0.058,0.000,2616,2172,3314
$GC,7594,-0.69,-117.3,461.2,-5.8,411,7596,0.17,0.00,0.00,0.000,6,0.084,0.000,2646,2172,3314
$GC,7900,-0.69,-117.3,476.1,-4.9,416,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3313
$GC,8201,-0.69,-117.3,490.1,-4.6,421,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3313
$GC,8503,-0.69,-117.3,505.3,-5.0,426,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3313
$GC,8806,-0.69,-117.3,523.0,-5.9,431,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3313
$GC,9109,-0.69,-117.3,540.5,-5.8,436,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3313
$GC,9415,-0.69,-117.3,556.6,-5.3,441,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3312
$GC,9716,-0.69,-117.3,570.6,-4.5,446,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,3312
$GC,10019,-0.69,-117.3,586.2,-5.3,451,10023,0.00,2.30,0.00,0.000,4,0.000,0.077,2646,807,3312
$GC,10052,-0.74,-117.3,588.4,-6.9,451,10056,0.00,2.15,0.00,0.000,6,0.000,0.051,2646,2158,3312
$GC,10383,-0.74,-117.3,607.3,-5.6,457,10387,0.00,2.45,0.00,0.000,4,0.000,0.074,2646,3606,3312
$GC,10410,-0.74,-117.3,608.8,-5.7,457,10414,0.00,2.30,0.00,0.000,6,0.000,0.046,2646,2159,3310
$GC,10748,-0.74,-117.3,624.0,-4.4,463,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2158,3310
$GC,11051,-0.74,-117.3,635.6,-3.8,468,11055,0.00,2.35,0.00,0.000,4,0.000,0.080,2646,800,3311
$GC,11084,-0.79,-117.3,637.1,-4.4,468,11088,0.00,2.20,0.00,0.000,6,0.000,0.051,2646,2183,3310
$GC,11410,-0.79,-117.3,652.5,-4.9,474,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2183,3310
$GC,11713,-0.83,-117.3,669.2,-5.5,479,11715,0.15,0.00,0.00,0.000,6,0.061,0.000,2614,2183,3310
$GC,12016,-0.74,-117.3,690.1,-7.0,484,12018,0.12,0.00,0.00,0.000,6,0.093,0.000,2635,2183,3311
$GC,12319,-0.74,-117.3,707.6,-5.7,489,12323,0.00,2.35,0.00,0.000,4,0.000,0.078,2636,794,3310
$GC,12350,-0.74,-117.3,709.3,-5.7,489,12354,0.00,2.20,0.00,0.000,6,0.000,0.052,2635,2157,3310
$GC,12684,-0.74,-117.3,725.7,-4.9,495,12688,0.00,2.47,0.00,0.000,4,0.000,0.078,2635,3608,3310
$GC,12716,-0.74,-117.3,727.4,-5.4,495,12720,0.00,2.30,0.00,0.000,6,0.000,0.048,2635,2169,3309
$GC,13048,-0.74,-117.3,742.4,-4.4,501,13052,0.00,2.35,0.00,0.000,4,0.000,0.082,2635,798,3309
$GC,13097,-0.74,-117.3,744.7,-4.3,501,13101,0.00,2.15,0.00,0.000,6,0.000,0.053,2635,2148,3309
$GC,13412,-0.74,-117.3,758.4,-4.3,507,13416,0.00,2.47,0.00,0.000,4,0.000,0.078,2636,3598,3309
$GC,13451,-0.74,-117.3,760.2,-5.3,507,13455,0.00,2.33,0.00,0.000,6,0.000,0.048,2635,2145,3308
$GC,13771,-0.74,-117.3,774.6,-4.5,513,13775,0.00,2.33,0.00,0.000,4,0.000,0.084,2635,794,3308
$GC,13798,-0.74,-117.3,776.0,-5.1,513,13802,0.00,2.17,0.00,0.000,6,0.000,0.053,2635,2153,3309
$GC,14129,-0.74,-117.3,790.6,-4.4,519,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2153,3308
$GC,14432,-0.74,-117.3,803.1,-4.1,524,14436,0.00,2.50,0.00,0.000,4,0.000,0.080,2636,3607,3308
$GC,14470,-0.74,-117.3,804.9,-5.5,524,14474,0.00,2.38,0.00,0.000,6,0.000,0.048,2635,2129,3307
$GC,14796,-0.74,-117.3,818.9,-4.4,530,14800,0.00,2.30,0.00,0.000,4,0.000,0.085,2635,803,3307
$GC,14839,-0.74,-117.3,821.0,-4.1,530,14843,0.00,2.15,0.00,0.000,6,0.000,0.054,2635,2139,3307
$GC,15160,-0.74,-117.3,834.5,-4.1,536,15164,0.00,2.50,0.00,0.000,4,0.000,0.081,2635,3599,3307
$GC,15194,-0.74,-117.3,836.0,-4.6,536,15198,0.00,2.38,0.00,0.000,6,0.000,0.049,2635,2115,3307
$GC,15519,-0.74,-117.3,849.3,-4.0,542,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2115,3307
$GC,15822,-0.74,-117.3,861.2,-3.9,547,15824,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2115,3307
$GC,16126,-0.74,-117.3,872.9,-3.9,552,16130,0.00,2.58,0.00,0.000,4,0.000,0.080,2635,3604,3307
$GC,16164,-0.74,-117.3,874.8,-4.9,552,16168,0.00,2.33,0.00,0.000,6,0.000,0.048,2635,2151,3306
$GC,16490,-0.74,-117.3,888.4,-4.2,558,16494,0.00,2.35,0.00,0.000,4,0.000,0.091,2635,793,3306
$GC,16517,-0.74,-117.3,889.7,-4.6,558,16521,0.00,2.22,0.00,0.000,6,0.000,0.056,2635,2170,3306
$GC,16854,-0.74,-117.3,903.8,-4.2,564,16858,0.00,2.45,0.00,0.000,4,0.000,0.084,2635,3602,3306
$GC,16887,-0.74,-117.3,905.4,-4.3,564,16891,0.00,2.30,0.00,0.000,6,0.000,0.050,2635,2164,3306
$GC,17219,-0.74,-117.3,922.3,-5.3,570,17223,0.00,2.35,0.00,0.000,4,0.000,0.091,2635,804,3305
$GC,17253,-0.74,-117.3,924.3,-6.9,570,17257,0.00,2.22,0.00,0.000,6,0.000,0.058,2635,2179,3305
$GC,17578,-0.74,-117.3,943.7,-5.8,576,17579,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2179,3305
$GC,17881,-0.74,-117.3,960.5,-5.5,581,17882,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2179,3305
$GC,18186,-0.74,-117.3,977.4,-5.6,586,18191,0.00,2.42,0.00,0.000,4,0.000,0.092,2635,801,3305
$GC,18226,-0.78,-117.3,979.9,-5.4,586,18230,0.00,2.20,0.00,0.000,6,0.000,0.061,2635,2152,3305
$STATE,18422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18422,begin apogee
$GC,18428,-0.23,0.0,991.7,5.9,590,18545,0.65,0.00,105.38,1.477,6,0.072,0.000,2747,2208,2837
$STATE,18545,end apogee,CONTROL_FINISHED_OK
$STATE,18546,begin climb
$GC,18548,0.67,117.3,996.8,0.0,592,18666,1.15,0.00,114.68,1.454,6,0.044,0.000,2946,2209,2358
$GC,18968,0.42,117.3,970.9,8.2,599,18970,0.32,0.00,0.00,0.000,6,0.090,0.000,2894,2209,2358
$GC,19271,0.36,117.3,952.9,5.7,604,19272,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2208,2358
$GC,19574,0.30,117.3,934.8,6.0,609,19579,0.15,2.47,0.00,0.000,4,0.095,0.094,2865,797,2358
$GC,19635,0.30,117.3,931.1,6.5,610,19640,0.00,2.20,0.00,0.000,6,0.000,0.061,2866,2157,2358
$GC,20007,0.36,121.9,910.9,5.4,616,20017,0.00,2.35,6.05,1.154,4,0.000,0.091,2865,798,2339
$GC,20034,0.39,149.6,909.5,4.6,616,20073,0.00,2.17,28.83,1.340,6,0.000,0.059,2865,2139,2226
$GC,20437,0.51,178.6,890.4,4.6,623,20471,0.20,2.42,28.10,1.406,4,0.056,0.091,2911,804,2109
$GC,20510,0.42,178.6,885.2,7.6,624,20514,0.00,2.17,0.00,0.000,6,0.000,0.058,2911,2119,2109
$GC,20870,0.42,178.6,858.7,7.5,630,20871,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2119,2109
$GC,21173,0.42,178.6,834.5,8.1,635,21174,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2118,2109
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$STATE,33123,end climb,SURFACE_DEPTH_REACHED
$STATE,33123,begin surface coast
$FINISH,0.8,1.004528
$STATE,33146,end surface coast,CONTROL_FINISHED_OK
$STATE,33146,begin surface
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$HUMID,2034
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$10V_AH,10.4,47.534
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$DEVICE_SECS,29.550,213.825,433.675,0.300,0.000,33.040,37.891,169.765,9.000,0.000,0.000,15.615,2218.356,27442.330,627.251,2642.367,592.407,33.383,1946.631,0.000,2602.948,0.000,56.653
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56831,1137
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$CFSIZE,260165632,242323456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,201108,201538,4659.951,-12508.893,35,1.2,35,18.4