version: 66.03
glider: 119
mission: 5
dive: 335
start: 12 30 108 15 32 33
data:
$ID,119
$MISSION,5
$DIVE,335
$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,-215872.5
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,152538,4746.913,-12638.136,35,1.0,35,18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-63.4
$GPS2,153139,4746.917,-12638.106,11,1.5,11,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,-0.195
$KALMAN_X,-83366.7,326.3,208.1,-43651.3,-2506.4
$KALMAN_Y,444502.8,-548.2,-950.4,-353379.6,4623.1
$MHEAD_RNG_PITCHd_Wd,163.9,135089,-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,-41.55,0.000,2,0.000,0.000,860,2210,2280
$GC,68,-0.67,-117.3,3.2,-3.5,4,125,12.38,0.00,-41.53,0.000,6,0.145,0.000,2648,2211,3316
$GC,440,-0.43,-117.3,41.0,-11.8,39,447,0.28,2.38,0.00,0.000,4,0.085,0.062,2698,798,3317
$GC,539,-0.47,-117.3,49.5,-7.7,56,545,0.00,2.20,0.00,0.000,6,0.000,0.046,2698,2203,3316
$GC,885,-0.57,-117.3,71.4,-5.4,117,891,0.00,2.33,0.00,0.000,4,0.000,0.070,2698,3598,3316
$GC,910,-0.66,-117.3,72.9,-5.5,121,917,0.17,2.20,0.00,0.000,6,0.038,0.044,2649,2219,3316
$GC,1248,-0.55,-117.3,96.7,-7.6,161,1253,0.15,2.38,0.00,0.000,4,0.087,0.062,2678,797,3316
$GC,1334,-0.61,-117.3,102.0,-5.9,168,1338,0.00,2.28,0.00,0.000,6,0.000,0.045,2678,2244,3316
$GC,1661,-0.66,-117.3,120.4,-5.4,198,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2244,3316
$GC,1980,-0.71,-117.3,136.7,-5.3,228,1986,0.17,0.00,0.00,0.000,6,0.052,0.000,2638,2244,3316
$GC,2313,-0.60,-117.3,161.4,-7.4,253,2318,0.15,2.35,0.00,0.000,4,0.086,0.061,2667,802,3316
$GC,2398,-0.65,-117.3,167.2,-6.5,257,2402,0.00,2.22,0.00,0.000,6,0.000,0.045,2668,2222,3316
$GC,2724,-0.65,-117.3,189.1,-6.9,273,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2222,3316
$GC,3034,-0.65,-117.3,208.4,-6.1,288,3038,0.00,2.30,0.00,0.000,4,0.000,0.069,2667,3598,3316
$GC,3061,-0.65,-117.3,210.1,-6.2,289,3065,0.00,2.20,0.00,0.000,6,0.000,0.044,2667,2215,3316
$GC,3382,-0.65,-117.3,229.4,-5.9,305,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2211,3316
$GC,3692,-0.65,-117.3,248.7,-6.4,320,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2211,3316
$GC,4001,-0.65,-117.3,267.5,-5.7,335,4005,0.00,2.35,0.00,0.000,4,0.000,0.065,2667,800,3316
$GC,4028,-0.70,-117.3,269.3,-5.8,336,4032,0.00,2.22,0.00,0.000,6,0.000,0.046,2667,2221,3316
$GC,4346,-0.74,-117.3,285.8,-5.1,351,4350,0.15,2.33,0.00,0.000,4,0.058,0.063,2630,803,3316
$GC,4373,-0.67,-117.3,287.8,-6.8,352,4377,0.12,2.17,0.00,0.000,6,0.089,0.045,2651,2194,3316
$GC,4706,-0.67,-117.3,306.9,-5.6,364,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3316
$GC,5010,-0.67,-117.3,322.6,-5.2,369,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3316
$GC,5313,-0.67,-117.3,338.9,-5.4,374,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3316
$GC,5615,-0.67,-117.3,356.1,-5.7,379,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3316
$GC,5919,-0.67,-117.3,372.7,-5.4,384,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3316
$GC,6222,-0.67,-117.3,388.5,-5.2,389,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,3316
$GC,6525,-0.67,-117.3,404.4,-5.2,394,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2194,3316
$GC,6827,-0.67,-117.3,421.6,-5.8,399,6831,0.00,2.40,0.00,0.000,4,0.000,0.074,2651,3605,3316
$GC,6860,-0.67,-117.3,423.8,-6.6,399,6864,0.00,2.28,0.00,0.000,6,0.000,0.046,2651,2185,3315
$GC,7198,-0.67,-117.3,442.6,-5.6,405,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2185,3315
$GC,7501,-0.67,-117.3,459.1,-5.4,410,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2185,3315
$GC,7805,-0.67,-117.3,476.1,-5.6,415,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2184,3315
$GC,8107,-0.67,-117.3,492.4,-5.4,420,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2185,3315
$GC,8410,-0.67,-117.3,510.4,-6.0,425,8414,0.00,2.38,0.00,0.000,4,0.000,0.074,2651,802,3315
$GC,8443,-0.67,-117.3,512.5,-6.2,425,8446,0.00,2.20,0.00,0.000,6,0.000,0.048,2651,2200,3315
$GC,8776,-0.67,-117.3,532.4,-6.0,431,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,3315
$GC,9077,-0.67,-117.3,550.0,-5.9,436,9082,0.00,2.35,0.00,0.000,4,0.000,0.072,2651,798,3314
$GC,9110,-0.67,-117.3,552.0,-6.8,436,9114,0.00,2.20,0.00,0.000,6,0.000,0.050,2651,2185,3314
$GC,9441,-0.67,-117.3,571.9,-6.0,442,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2185,3314
$GC,9745,-0.67,-117.3,588.9,-5.5,447,9749,0.00,2.33,0.00,0.000,4,0.000,0.073,2651,799,3314
$GC,9772,-0.67,-117.3,590.6,-5.9,447,9776,0.00,2.17,0.00,0.000,6,0.000,0.050,2651,2166,3314
$GC,10115,-0.67,-117.3,610.3,-5.8,453,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2167,3314
$GC,10419,-0.67,-117.3,628.3,-6.0,458,10423,0.00,2.30,0.00,0.000,4,0.000,0.074,2651,797,3313
$GC,10446,-0.67,-117.3,630.1,-6.1,458,10449,0.00,2.17,0.00,0.000,6,0.000,0.051,2651,2160,3313
$GC,10783,-0.67,-117.3,648.9,-5.5,464,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2160,3313
$GC,11087,-0.67,-117.3,665.0,-5.3,469,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2160,3313
$GC,11391,-0.67,-117.3,682.0,-5.6,474,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2160,3312
$GC,11692,-0.67,-117.3,699.4,-5.8,479,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2160,3312
$GC,11995,-0.67,-117.3,716.5,-5.6,484,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2160,3312
$GC,12299,-0.67,-117.3,732.6,-5.2,489,12303,0.00,2.30,0.00,0.000,4,0.000,0.077,2651,799,3312
$GC,12327,-0.67,-117.3,734.1,-5.6,489,12331,0.00,2.15,0.00,0.000,6,0.000,0.051,2651,2127,3312
$GC,12666,-0.67,-117.3,751.2,-5.0,495,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2127,3311
$GC,12967,-0.67,-117.3,767.0,-5.3,500,12971,0.00,2.50,0.00,0.000,4,0.000,0.079,2650,3600,3311
$GC,12994,-0.67,-117.3,768.7,-6.4,500,12998,0.00,2.35,0.00,0.000,6,0.000,0.051,2651,2132,3311
$GC,13325,-0.67,-117.3,786.5,-5.4,506,13329,0.00,2.28,0.00,0.000,4,0.000,0.082,2651,796,3311
$GC,13359,-0.72,-117.3,788.4,-5.8,506,13363,0.00,2.12,0.00,0.000,6,0.000,0.051,2651,2133,3311
$GC,13688,-0.72,-117.3,805.9,-5.4,512,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2133,3311
$GC,13989,-0.72,-117.3,821.8,-5.2,517,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2133,3311
$GC,14292,-0.72,-117.3,837.6,-5.2,522,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2133,3310
$GC,14596,-0.76,-117.3,852.4,-4.8,527,14597,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2132,3311
$GC,14899,-0.80,-117.3,866.7,-4.7,532,14903,0.15,2.28,0.00,0.000,4,0.058,0.077,2614,802,3311
$GC,14926,-0.73,-117.3,868.2,-5.7,532,14930,0.15,2.10,0.00,0.000,6,0.088,0.051,2639,2116,3311
$GC,15257,-0.73,-117.3,886.1,-5.5,538,15262,0.00,2.55,0.00,0.000,4,0.000,0.081,2639,3602,3311
$GC,15307,-0.73,-117.3,889.2,-6.1,538,15312,0.00,2.35,0.00,0.000,6,0.000,0.051,2639,2145,3310
$GC,15617,-0.73,-117.3,907.1,-5.9,543,15618,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2145,3310
$GC,15920,-0.73,-117.3,925.2,-5.9,548,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2144,3310
$GC,16223,-0.73,-117.3,940.8,-5.1,553,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2144,3310
$GC,16527,-0.73,-117.3,955.0,-4.6,558,16531,0.00,2.58,0.00,0.000,4,0.000,0.082,2639,3607,3309
$GC,16554,-0.73,-117.3,956.5,-5.4,558,16558,0.00,2.35,0.00,0.000,6,0.000,0.051,2639,2159,3309
$GC,16885,-0.73,-117.3,972.1,-4.8,564,16890,0.00,2.38,0.00,0.000,4,0.000,0.087,2639,791,3309
$GC,16936,-0.73,-117.3,974.8,-5.2,564,16940,0.00,2.17,0.00,0.000,6,0.000,0.054,2639,2141,3309
$GC,17245,-0.73,-117.3,989.7,-4.8,569,17250,0.00,2.55,0.00,0.000,4,0.000,0.085,2639,3607,3309
$STATE,17253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17253,begin apogee
$GC,17262,-0.23,0.0,990.2,4.8,569,17370,0.60,0.00,104.78,1.508,6,0.075,0.000,2743,2200,2837
$STATE,17370,end apogee,CONTROL_FINISHED_OK
$STATE,17370,begin climb
$GC,17373,0.67,117.3,993.3,0.0,571,17501,1.20,0.00,118.70,1.444,6,0.049,0.000,2947,2200,2358
$GC,17791,0.46,117.3,967.4,8.1,578,17796,0.25,2.47,0.00,0.000,4,0.090,0.091,2903,790,2358
$GC,17830,0.39,117.3,964.5,6.9,578,17834,0.00,2.30,0.00,0.000,6,0.000,0.058,2903,2203,2358
$GC,18151,0.35,117.3,944.0,6.5,584,18155,0.15,2.38,0.00,0.000,4,0.092,0.084,2875,3603,2358
$GC,18189,0.40,122.2,941.4,5.3,584,18202,0.00,2.22,6.65,1.189,6,0.000,0.054,2875,2223,2338
$GC,18514,0.46,122.2,923.1,5.7,590,18518,0.12,2.45,0.00,0.000,4,0.066,0.086,2902,788,2338
$GC,18581,0.40,122.2,918.7,7.3,591,18585,0.00,2.25,0.00,0.000,6,0.000,0.056,2902,2188,2338
$GC,18940,0.40,122.2,895.1,6.6,597,18944,0.00,2.40,0.00,0.000,4,0.000,0.083,2902,3609,2338
$GC,19013,0.34,122.2,889.9,8.1,598,19018,0.17,2.25,0.00,0.000,6,0.091,0.054,2874,2211,2338
$GC,19373,0.44,139.9,871.6,4.9,604,19397,0.00,2.45,17.80,1.391,4,0.000,0.085,2873,800,2266
$GC,19455,0.50,144.1,866.9,5.4,605,19466,0.17,2.22,5.70,1.108,6,0.053,0.053,2910,2192,2249
$GC,19804,0.50,144.1,843.9,6.6,611,19805,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2192,2249
$GC,20107,0.50,144.1,823.8,6.7,616,20108,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2192,2249
$GC,20410,0.50,144.1,803.2,6.8,621,20414,0.00,2.38,0.00,0.000,4,0.000,0.081,2910,792,2249
$GC,20455,0.43,144.1,800.0,7.0,621,20458,0.00,2.20,0.00,0.000,6,0.000,0.054,2910,2169,2249
$GC,20769,0.43,144.1,778.3,6.9,627,20773,0.00,2.42,0.00,0.000,4,0.000,0.080,2910,3601,2249
$GC,20802,0.38,144.1,775.7,7.4,627,20807,0.15,2.33,0.00,0.000,6,0.094,0.055,2886,2162,2249
$GC,21135,0.44,144.1,755.2,6.2,633,21139,0.00,2.33,0.00,0.000,4,0.000,0.081,2886,791,2249
$GC,21184,0.44,144.1,751.8,6.2,633,21188,0.00,2.15,0.00,0.000,6,0.000,0.052,2886,2145,2249
$GC,21500,0.51,144.1,732.2,6.3,639,21501,0.12,0.00,0.00,0.000,6,0.064,0.000,2914,2145,2249
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$STATE,33046,end climb,SURFACE_DEPTH_REACHED
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