version: 66.03
glider: 119
mission: 5
dive: 334
start: 12 30 108 6 8 37
data:
$ID,119
$MISSION,5
$DIVE,334
$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,-215858.67
$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,20
$R_STBD_OVSHOOT,37
$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
$GPS1,055507,4750.227,-12636.677,45,1.6,45,18.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-63.6
$GPS2,060745,4750.284,-12636.715,11,1.0,11,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.194
$KALMAN_X,-82507.5,42.1,531.1,-42788.2,-2331.4
$KALMAN_Y,443370.2,-297.5,-771.5,-346454.7,4156.2
$MHEAD_RNG_PITCHd_Wd,168.1,140492,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,65,0.00,0.00,-41.30,0.000,2,0.000,0.000,861,2217,2263
$GC,69,-0.67,-117.3,3.0,-3.3,4,133,12.18,2.42,-43.20,0.000,4,0.140,0.080,2650,3593,3317
$GC,180,-0.48,-117.3,9.7,-9.1,14,185,0.25,2.28,0.00,0.000,6,0.084,0.041,2691,2181,3317
$GC,504,-0.48,-117.3,31.6,-6.4,44,508,0.00,2.33,0.00,0.000,4,0.000,0.063,2691,796,3317
$GC,555,-0.48,-117.3,34.9,-6.7,48,560,0.00,2.20,0.00,0.000,6,0.000,0.044,2691,2204,3317
$GC,895,-0.48,-117.3,58.9,-6.7,101,901,0.00,2.28,0.00,0.000,4,0.000,0.061,2691,792,3317
$GC,943,-0.48,-117.3,62.0,-6.8,109,949,0.00,2.12,0.00,0.000,6,0.000,0.044,2691,2162,3317
$GC,1292,-0.57,-117.3,81.9,-5.2,168,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2162,3317
$GC,1610,-0.83,-117.3,103.2,-6.4,198,1614,0.38,2.22,0.00,0.000,4,0.041,0.059,2610,786,3317
$GC,1789,-0.63,-117.3,120.0,-9.8,213,1796,0.30,2.20,0.00,0.000,6,0.076,0.044,2660,2207,3317
$GC,2114,-0.63,-117.3,141.0,-5.8,244,2118,0.00,2.30,0.00,0.000,4,0.000,0.062,2660,789,3317
$GC,2142,-0.63,-117.3,142.8,-6.4,246,2146,0.00,2.17,0.00,0.000,6,0.000,0.044,2660,2186,3317
$GC,2472,-0.63,-117.3,162.7,-6.2,267,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2185,3317
$GC,2781,-0.63,-117.3,183.0,-6.6,282,2785,0.00,2.40,0.00,0.000,4,0.000,0.069,2660,3605,3317
$GC,2821,-0.63,-117.3,185.9,-7.2,284,2825,0.00,2.22,0.00,0.000,6,0.000,0.043,2661,2192,3317
$GC,3153,-0.63,-117.3,206.8,-6.0,300,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2186,3317
$GC,3463,-0.63,-117.3,223.5,-5.0,315,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2186,3317
$GC,3772,-0.63,-117.3,239.2,-5.3,330,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2186,3317
$GC,4081,-0.63,-117.3,256.2,-5.6,345,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2186,3317
$GC,4391,-0.63,-117.3,272.8,-5.3,360,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2185,3317
$GC,4700,-0.63,-117.3,289.7,-5.5,375,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2186,3317
$GC,5027,-0.63,-117.3,306.9,-5.2,387,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2186,3316
$GC,5331,-0.67,-117.3,321.9,-4.9,392,5335,0.00,2.35,0.00,0.000,4,0.000,0.064,2660,802,3317
$GC,5358,-0.73,-117.3,323.3,-5.2,392,5362,0.00,2.20,0.00,0.000,6,0.000,0.045,2660,2214,3317
$GC,5696,-0.77,-117.3,339.7,-4.8,398,5701,0.15,2.33,0.00,0.000,4,0.058,0.064,2624,802,3317
$GC,5724,-0.70,-117.3,341.6,-7.1,398,5728,0.12,2.17,0.00,0.000,6,0.086,0.044,2645,2202,3317
$GC,6062,-0.70,-117.3,359.9,-5.4,404,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,3317
$GC,6364,-0.70,-117.3,377.8,-6.0,409,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,3316
$GC,6666,-0.70,-117.3,396.9,-6.3,414,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,3316
$GC,6970,-0.70,-117.3,415.7,-6.2,419,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,3316
$GC,7273,-0.70,-117.3,434.5,-6.3,424,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2202,3316
$GC,7578,-0.70,-117.3,453.3,-6.2,429,7582,0.00,2.38,0.00,0.000,4,0.000,0.072,2644,3608,3316
$GC,7610,-0.70,-117.3,455.9,-7.2,429,7615,0.00,2.25,0.00,0.000,6,0.000,0.045,2645,2195,3315
$GC,7945,-0.70,-117.3,475.0,-5.7,435,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2195,3315
$GC,8245,-0.70,-117.3,492.3,-5.8,440,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2195,3315
$GC,8548,-0.70,-117.3,510.3,-6.0,445,8552,0.00,2.38,0.00,0.000,4,0.000,0.075,2645,800,3315
$GC,8581,-0.70,-117.3,512.5,-6.8,445,8585,0.00,2.17,0.00,0.000,6,0.000,0.047,2644,2177,3314
$GC,8913,-0.70,-117.3,532.6,-6.0,451,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2177,3314
$GC,9218,-0.70,-117.3,550.3,-5.9,456,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2177,3315
$GC,9519,-0.70,-117.3,568.2,-5.9,461,9523,0.00,2.30,0.00,0.000,4,0.000,0.072,2645,800,3314
$GC,9546,-0.70,-117.3,569.9,-6.3,461,9550,0.00,2.15,0.00,0.000,6,0.000,0.049,2645,2158,3314
$GC,9884,-0.70,-117.3,589.3,-5.8,467,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2159,3314
$GC,10186,-0.70,-117.3,606.4,-5.5,472,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2160,3314
$GC,10489,-0.70,-117.3,624.1,-5.9,477,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2160,3313
$GC,10792,-0.70,-117.3,643.2,-6.3,482,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2160,3312
$GC,11096,-0.70,-117.3,661.8,-6.1,487,11100,0.00,2.28,0.00,0.000,4,0.000,0.074,2645,802,3312
$GC,11123,-0.70,-117.3,663.5,-5.7,487,11127,0.00,2.10,0.00,0.000,6,0.000,0.050,2644,2125,3312
$GC,11461,-0.70,-117.3,681.7,-5.3,493,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2125,3312
$GC,11764,-0.70,-117.3,696.2,-4.7,498,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2125,3312
$GC,12067,-0.70,-117.3,710.1,-4.6,503,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2125,3312
$GC,12370,-0.70,-117.3,723.9,-4.6,508,12374,0.00,2.55,0.00,0.000,4,0.000,0.077,2644,3607,3311
$GC,12403,-0.70,-117.3,725.6,-5.4,508,12407,0.00,2.40,0.00,0.000,6,0.000,0.049,2645,2117,3311
$GC,12729,-0.70,-117.3,741.0,-4.8,514,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2117,3311
$GC,13032,-0.70,-117.3,756.7,-5.3,519,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2116,3312
$GC,13334,-0.70,-117.3,773.1,-5.4,524,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2116,3311
$GC,13637,-0.70,-117.3,790.4,-5.7,529,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2116,3311
$GC,13942,-0.70,-117.3,807.3,-5.6,534,13946,0.00,2.60,0.00,0.000,4,0.000,0.077,2644,3600,3311
$GC,13980,-0.70,-117.3,809.7,-6.0,534,13984,0.00,2.40,0.00,0.000,6,0.000,0.049,2645,2124,3310
$GC,14303,-0.70,-117.3,826.6,-5.2,540,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2124,3310
$GC,14604,-0.70,-117.3,841.3,-4.8,545,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2123,3310
$GC,14907,-0.70,-117.3,854.3,-4.2,550,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2123,3310
$GC,15211,-0.70,-117.3,867.7,-4.4,555,15215,0.00,2.60,0.00,0.000,4,0.000,0.079,2644,3605,3310
$GC,15244,-0.70,-117.3,869.3,-5.3,555,15248,0.00,2.38,0.00,0.000,6,0.000,0.049,2645,2143,3310
$GC,15571,-0.70,-117.3,885.4,-4.9,561,15573,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2142,3310
$GC,15875,-0.75,-117.3,900.3,-4.9,566,15879,0.00,2.33,0.00,0.000,4,0.000,0.083,2645,797,3310
$GC,15902,-0.80,-117.3,901.8,-5.5,566,15906,0.00,2.15,0.00,0.000,6,0.000,0.051,2644,2146,3310
$GC,16235,-0.84,-117.3,918.4,-5.0,572,16236,0.15,0.00,0.00,0.000,6,0.060,0.000,2612,2146,3309
$GC,16538,-0.74,-117.3,937.5,-6.3,577,16540,0.15,0.00,0.00,0.000,6,0.088,0.000,2637,2146,3309
$GC,16840,-0.74,-117.3,953.2,-5.1,582,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3309
$GC,17143,-0.74,-117.3,968.2,-5.1,587,17144,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2146,3309
$GC,17448,-0.74,-117.3,985.2,-5.6,592,17449,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2147,3308
$STATE,17565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17565,begin apogee
$GC,17572,-0.23,0.0,991.7,5.4,594,17679,0.65,0.00,104.90,1.509,6,0.073,0.000,2748,2210,2837
$STATE,17680,end apogee,CONTROL_FINISHED_OK
$STATE,17680,begin climb
$GC,17683,0.67,117.3,993.6,0.0,595,17805,1.12,0.00,115.97,1.463,6,0.044,0.000,2944,2210,2358
$GC,18110,0.49,117.3,971.8,7.3,602,18112,0.22,0.00,0.00,0.000,6,0.094,0.000,2909,2210,2358
$GC,18412,0.43,117.3,954.7,5.6,607,18413,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2210,2358
$GC,18714,0.38,117.3,936.7,6.0,612,18719,0.15,2.42,0.00,0.000,4,0.097,0.083,2880,792,2358
$GC,18747,0.44,162.2,935.0,4.1,612,18797,0.00,2.28,42.65,1.448,6,0.000,0.054,2880,2207,2175
$GC,19144,0.54,170.4,914.3,5.2,619,19159,0.17,2.42,9.95,1.303,4,0.056,0.084,2921,800,2141
$GC,19227,0.47,170.4,907.9,8.0,620,19231,0.00,2.20,0.00,0.000,6,0.000,0.054,2921,2163,2141
$GC,19570,0.47,170.4,882.9,7.3,626,19571,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2164,2141
$GC,19873,0.47,170.4,860.2,7.6,631,19874,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2164,2141
$GC,20176,0.47,170.4,837.7,7.4,636,20180,0.00,2.30,0.00,0.000,4,0.000,0.082,2921,804,2141
$GC,20215,0.39,170.4,834.6,9.3,636,20219,0.22,2.15,0.00,0.000,6,0.086,0.053,2884,2150,2141
$GC,20536,0.50,170.4,816.2,5.7,642,20537,0.12,0.00,0.00,0.000,6,0.062,0.000,2913,2150,2141
$GC,20837,0.50,170.4,796.1,6.7,647,20838,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2150,2141
$GC,21140,0.50,170.4,775.0,7.1,652,21142,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2150,2141
$GC,21443,0.50,170.4,753.2,7.2,657,21447,0.00,2.28,0.00,0.000,4,0.000,0.079,2913,799,2141
$GC,21488,0.50,170.4,749.6,8.2,657,21492,0.00,2.10,0.00,0.000,6,0.000,0.052,2912,2122,2140
$GC,21803,0.50,170.4,726.8,7.2,663,21804,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2122,2140
$GC,22106,0.50,170.4,705.7,6.9,668,22107,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2122,2140
$GC,22409,0.50,170.4,684.7,6.9,673,22413,0.00,2.53,0.00,0.000,4,0.000,0.077,2912,3608,2140
$GC,22447,0.50,170.4,681.8,7.8,673,22451,0.00,2.40,0.00,0.000,6,0.000,0.052,2913,2122,2140
$GC,22767,0.50,170.4,660.0,6.8,679,22771,0.00,2.22,0.00,0.000,4,0.000,0.081,2913,803,2140
$GC,22822,0.50,170.4,655.8,6.7,679,22828,0.00,2.05,0.00,0.000,6,0.000,0.049,2913,2101,2141
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$STATE,33248,end climb,SURFACE_DEPTH_REACHED
$STATE,33248,begin surface coast
$FINISH,1.3,1.025273
$STATE,33275,end surface coast,CONTROL_FINISHED_OK
$STATE,33275,begin surface
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$DEVICE_SECS,29.150,157.950,345.175,48.450,0.000,87.986,82.130,318.657,8.750,0.000,0.000,12.657,2217.874,27836.438,550.193,2563.274,922.419,33.380,1802.992,0.000,2528.568,0.000,56.641
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$DATA_FILE_SIZE,56837,1173
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$CFSIZE,260165632,232951808
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