version: 66.03
glider: 119
mission: 5
dive: 214
start: 11 16 108 21 13 7
data:
$ID,119
$MISSION,5
$DIVE,214
$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,-213763.41
$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,29
$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
$GPS1,210327,4700.796,-12559.291,47,3.1,66,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.9
$GPS2,211215,4700.919,-12559.234,11,1.2,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,-0.060
$KALMAN_X,-22887.4,519.6,300.7,-55288.3,-82.0
$KALMAN_Y,229788.9,428.9,240.9,-226047.5,2006.4
$MHEAD_RNG_PITCHd_Wd,89.4,77361,-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,-51.65,0.000,2,0.000,0.000,861,2224,2563
$GC,77,-0.67,-117.3,3.1,-3.6,5,120,12.20,2.38,-21.17,0.000,4,0.141,0.073,2648,3602,3317
$GC,160,-0.37,-117.3,12.9,-12.6,12,167,0.40,2.25,0.00,0.000,6,0.080,0.039,2714,2194,3317
$GC,485,-0.37,-117.3,36.3,-6.6,43,489,0.00,2.22,0.00,0.000,4,0.000,0.059,2714,800,3317
$GC,559,-0.44,-117.3,41.6,-7.1,51,566,0.00,2.12,0.00,0.000,6,0.000,0.040,2714,2153,3317
$GC,903,-0.53,-117.3,61.6,-5.7,112,910,0.15,0.00,0.00,0.000,6,0.054,0.000,2677,2153,3317
$GC,1247,-0.47,-117.3,88.5,-8.1,164,1251,0.00,2.38,0.00,0.000,4,0.000,0.061,2676,3597,3317
$GC,1347,-0.47,-117.3,96.6,-7.7,172,1354,0.00,2.22,0.00,0.000,6,0.000,0.039,2676,2163,3317
$GC,1673,-0.47,-117.3,118.3,-7.0,203,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2158,3317
$GC,1992,-0.47,-117.3,138.5,-5.9,233,1996,0.00,2.38,0.00,0.000,4,0.000,0.064,2676,3597,3317
$GC,2031,-0.47,-117.3,141.0,-6.3,236,2035,0.00,2.17,0.00,0.000,6,0.000,0.041,2677,2216,3317
$GC,2353,-0.52,-117.3,159.3,-5.2,258,2357,0.00,2.33,0.00,0.000,4,0.000,0.063,2676,808,3317
$GC,2399,-0.61,-117.3,161.7,-5.5,260,2403,0.00,2.17,0.00,0.000,6,0.000,0.044,2676,2207,3317
$GC,2720,-0.66,-117.3,178.8,-5.5,276,2724,0.00,2.30,0.00,0.000,4,0.000,0.067,2676,3606,3317
$GC,2752,-0.73,-117.3,180.7,-6.0,277,2759,0.20,2.22,0.00,0.000,6,0.051,0.042,2634,2180,3317
$GC,3069,-0.60,-117.3,203.7,-7.7,293,3070,0.17,0.00,0.00,0.000,6,0.086,0.000,2664,2174,3317
$GC,3377,-0.60,-117.3,222.1,-5.7,308,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2174,3318
$GC,3687,-0.60,-117.3,238.3,-5.1,323,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2174,3317
$GC,3996,-0.60,-117.3,254.0,-5.3,338,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2174,3317
$GC,4305,-0.60,-117.3,272.1,-5.9,353,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2174,3316
$GC,4615,-0.60,-117.3,289.0,-4.9,368,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2174,3316
$GC,4922,-0.60,-117.3,303.4,-4.8,381,4926,0.00,2.38,0.00,0.000,4,0.000,0.067,2664,3597,3315
$GC,4948,-0.60,-117.3,304.8,-5.8,381,4952,0.00,2.25,0.00,0.000,6,0.000,0.043,2664,2175,3314
$GC,5286,-0.60,-117.3,324.0,-6.0,387,5290,0.00,2.30,0.00,0.000,4,0.000,0.069,2664,805,3314
$GC,5315,-0.65,-117.3,325.9,-6.8,387,5319,0.00,2.15,0.00,0.000,6,0.000,0.044,2664,2189,3314
$GC,5646,-0.65,-117.3,347.8,-6.5,393,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2189,3314
$GC,5949,-0.65,-117.3,365.1,-5.6,398,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2189,3313
$GC,6254,-0.65,-117.3,379.9,-4.9,403,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2189,3313
$GC,6556,-0.70,-117.3,395.9,-5.4,408,6560,0.00,2.28,0.00,0.000,4,0.000,0.068,2664,807,3313
$GC,6583,-0.76,-117.3,397.7,-6.6,408,6588,0.17,2.12,0.00,0.000,6,0.055,0.045,2628,2169,3313
$GC,6921,-0.65,-117.3,421.8,-7.2,414,6923,0.17,0.00,0.00,0.000,6,0.087,0.000,2658,2169,3312
$GC,7224,-0.65,-117.3,438.4,-5.4,419,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2169,3312
$GC,7528,-0.65,-117.3,455.0,-5.5,424,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2168,3312
$GC,7830,-0.65,-117.3,471.2,-5.3,429,7834,0.00,2.38,0.00,0.000,4,0.000,0.071,2657,3598,3311
$GC,7862,-0.65,-117.3,473.1,-6.3,429,7866,0.00,2.28,0.00,0.000,6,0.000,0.046,2657,2179,3310
$GC,8194,-0.65,-117.3,490.1,-5.2,435,8198,0.00,2.33,0.00,0.000,4,0.000,0.078,2658,801,3310
$GC,8229,-0.71,-117.3,492.1,-6.1,435,8233,0.00,2.15,0.00,0.000,6,0.000,0.048,2657,2172,3310
$GC,8556,-0.71,-117.3,509.2,-5.3,441,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2172,3310
$GC,8859,-0.71,-117.3,525.0,-5.2,446,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2172,3310
$GC,9161,-0.71,-117.3,539.8,-4.8,451,9165,0.00,2.30,0.00,0.000,4,0.000,0.077,2658,804,3310
$GC,9188,-0.75,-117.3,541.1,-5.2,451,9192,0.00,2.12,0.00,0.000,6,0.000,0.050,2658,2152,3309
$GC,9520,-0.75,-117.3,556.3,-4.6,457,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2152,3309
$GC,9824,-0.79,-117.3,570.4,-4.7,462,9825,0.15,0.00,0.00,0.000,6,0.061,0.000,2626,2152,3309
$GC,10127,-0.69,-117.3,589.9,-6.6,467,10132,0.12,2.28,0.00,0.000,4,0.094,0.076,2646,802,3309
$GC,10167,-0.69,-117.3,592.5,-6.7,467,10170,0.00,2.10,0.00,0.000,6,0.000,0.051,2646,2125,3308
$GC,10494,-0.69,-117.3,610.8,-5.6,473,10498,0.00,2.45,0.00,0.000,4,0.000,0.076,2646,3595,3308
$GC,10526,-0.69,-117.3,612.8,-6.2,473,10530,0.00,2.35,0.00,0.000,6,0.000,0.048,2646,2135,3308
$GC,10859,-0.69,-117.3,631.0,-5.5,479,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2134,3308
$GC,11161,-0.69,-117.3,646.6,-5.1,484,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2134,3307
$GC,11464,-0.69,-117.3,662.6,-5.3,489,11469,0.00,2.47,0.00,0.000,4,0.000,0.075,2646,3594,3307
$GC,11502,-0.69,-117.3,665.0,-6.4,489,11507,0.00,2.30,0.00,0.000,6,0.000,0.048,2646,2142,3306
$GC,11829,-0.69,-117.3,682.7,-5.4,495,11833,0.00,2.30,0.00,0.000,4,0.000,0.084,2646,797,3306
$GC,11872,-0.69,-117.3,685.3,-5.7,495,11876,0.00,2.15,0.00,0.000,6,0.000,0.052,2646,2144,3306
$GC,12194,-0.69,-117.3,702.6,-5.4,501,12198,0.00,2.45,0.00,0.000,4,0.000,0.078,2646,3605,3306
$GC,12226,-0.69,-117.3,704.5,-6.3,501,12230,0.00,2.33,0.00,0.000,6,0.000,0.048,2646,2139,3306
$GC,12558,-0.69,-117.3,720.7,-4.8,507,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2139,3306
$GC,12861,-0.69,-117.3,734.8,-4.7,512,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2139,3306
$GC,13164,-0.69,-117.3,749.7,-4.9,517,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2138,3306
$GC,13467,-0.69,-117.3,765.0,-5.1,522,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2138,3305
$GC,13772,-0.69,-117.3,780.3,-5.1,527,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2138,3305
$GC,14073,-0.69,-117.3,796.5,-5.3,532,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2138,3305
$GC,14376,-0.69,-117.3,812.9,-5.4,537,14377,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2137,3305
$GC,14679,-0.69,-117.3,829.4,-5.5,542,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2137,3305
$GC,14982,-0.69,-117.3,845.5,-5.3,547,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2137,3305
$GC,15287,-0.69,-117.3,862.5,-5.7,552,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2137,3305
$GC,15589,-0.69,-117.3,877.4,-4.8,557,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2136,3305
$GC,15892,-0.69,-117.3,891.3,-4.6,562,15893,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2137,3305
$GC,16195,-0.69,-117.3,907.5,-5.4,567,16196,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2136,3304
$GC,16498,-0.69,-117.3,922.2,-4.8,572,16500,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2136,3304
$GC,16801,-0.69,-117.3,934.6,-4.0,577,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2136,3304
$GC,17104,-0.69,-117.3,946.7,-3.9,582,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2135,3304
$GC,17407,-0.69,-117.3,959.0,-4.0,587,17408,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2135,3304
$GC,17711,-0.69,-117.3,972.2,-4.4,592,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2135,3304
$GC,18013,-0.69,-117.3,985.9,-4.5,597,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2135,3303
$STATE,18132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18132,begin apogee
$GC,18138,-0.23,0.0,991.4,4.6,599,18243,0.60,0.00,102.88,1.499,6,0.073,0.000,2750,2207,2837
$STATE,18244,end apogee,CONTROL_FINISHED_OK
$STATE,18244,begin climb
$GC,18246,0.67,117.3,993.1,0.0,600,18369,1.10,2.72,113.10,1.450,4,0.047,0.089,2942,3595,2358
$GC,18432,0.41,117.3,986.0,8.1,602,18439,0.32,2.45,0.00,0.000,6,0.092,0.060,2893,2218,2358
$GC,18741,0.41,117.3,967.7,5.8,608,18742,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2218,2358
$GC,19044,0.41,117.3,948.8,6.3,613,19048,0.00,2.55,0.00,0.000,4,0.000,0.101,2892,780,2358
$GC,19082,0.35,117.3,946.3,5.8,613,19086,0.00,2.35,0.00,0.000,6,0.000,0.061,2893,2219,2358
$GC,19402,0.35,117.3,927.0,6.0,619,19406,0.00,2.50,0.00,0.000,4,0.000,0.095,2893,785,2358
$GC,19441,0.30,117.3,924.5,7.0,619,19445,0.15,2.28,0.00,0.000,6,0.094,0.061,2868,2188,2358
$GC,19761,0.40,143.1,909.2,4.7,625,19788,0.00,0.00,25.20,1.420,6,0.000,0.000,2868,2188,2253
$GC,20064,0.50,151.2,893.4,5.2,630,20079,0.17,2.47,9.12,1.277,4,0.059,0.094,2908,781,2220
$GC,20135,0.43,151.2,888.0,7.6,631,20139,0.00,2.30,0.00,0.000,6,0.000,0.060,2908,2186,2220
$GC,20500,0.43,151.2,858.8,8.1,637,20501,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2186,2220
$GC,20803,0.43,151.2,836.7,7.2,642,20807,0.00,2.42,0.00,0.000,4,0.000,0.092,2908,787,2220
$GC,20830,0.37,151.2,834.7,7.4,642,20834,0.15,2.22,0.00,0.000,6,0.095,0.059,2884,2162,2220
$GC,21162,0.45,171.5,817.9,4.9,648,21187,0.00,2.40,20.33,1.364,4,0.000,0.088,2883,781,2136
$GC,21237,0.50,178.1,814.0,5.3,649,21252,0.12,2.20,7.85,1.190,6,0.064,0.057,2909,2130,2110
$GC,21590,0.50,178.1,792.6,6.2,655,21594,0.00,2.33,0.00,0.000,4,0.000,0.089,2909,784,2110
$GC,21622,0.50,178.1,790.2,7.5,655,21626,0.00,2.15,0.00,0.000,6,0.000,0.058,2909,2095,2110
$GC,21954,0.50,178.1,766.2,7.4,661,21955,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2095,2110
$GC,22257,0.50,178.1,742.9,7.6,666,22258,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2095,2110
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$STATE,33799,end climb,SURFACE_DEPTH_REACHED
$STATE,33799,begin surface coast
$FINISH,0.8,1.002649
$STATE,33832,end surface coast,CONTROL_FINISHED_OK
$STATE,33832,begin surface
$SM_CCo,33853,45.88,0.806,0,0,1410,350.04
$SM_GC,2.01,0.00,0.00,45.88,0.000,0.000,0.806,858,2224,1410,-8.93,0.68,350.04
$IRIDIUM_FIX,4641.78,-12557.93,100298,212105
$TT8_MAMPS,0.027612
$HUMID,2018
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,17.80
$XPDR_PINGS,4
$24V_AH,21.9,65.063
$10V_AH,10.5,46.330
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$DEVICE_SECS,28.675,179.225,352.275,45.875,0.000,48.878,53.629,237.094,10.000,0.000,0.000,13.095,2292.844,28192.174,580.141,2641.748,708.696,33.376,1875.158,0.000,2614.000,0.000,59.485
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$SENSOR_SECS,813.276,964.710,1331.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60050,1190
$CAP_FILE_SIZE,202050,0
$CFSIZE,260165632,243113984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171108,063935,4700.982,-12552.813,50,1.3,50,18.5