version: 66.03
glider: 119
mission: 5
dive: 346
start: 1 4 109 0 50 32
data:
$ID,119
$MISSION,5
$DIVE,346
$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,-216063.44
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,004336,4720.381,-12717.567,38,1.1,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-68.3
$GPS2,004938,4720.419,-12717.592,12,1.2,12,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.163,-0.107
$KALMAN_X,-84590.5,-148.4,-253.1,-91381.5,570.9
$KALMAN_Y,451432.6,380.1,-79.2,-411203.4,87.7
$MHEAD_RNG_PITCHd_Wd,218.2,65568,-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,-41.25,0.000,2,0.000,0.000,861,2211,2254
$GC,69,-0.67,-117.3,3.1,-3.1,4,133,12.25,2.30,-44.45,0.000,4,0.143,0.071,2648,799,3316
$GC,169,-0.51,-117.3,7.8,-7.8,13,173,0.22,2.20,0.00,0.000,6,0.083,0.045,2686,2199,3316
$GC,495,-0.51,-117.3,32.4,-7.6,43,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2199,3316
$GC,825,-0.51,-117.3,58.5,-7.8,94,831,0.00,2.25,0.00,0.000,4,0.000,0.062,2686,802,3316
$GC,883,-0.51,-117.3,63.0,-7.7,104,889,0.00,2.15,0.00,0.000,6,0.000,0.044,2686,2183,3316
$GC,1229,-0.51,-117.3,84.3,-5.5,159,1233,0.00,2.25,0.00,0.000,4,0.000,0.062,2686,790,3316
$GC,1297,-0.58,-117.3,88.3,-5.9,165,1301,0.00,2.22,0.00,0.000,6,0.000,0.045,2686,2210,3316
$GC,1625,-0.64,-117.3,105.4,-4.9,195,1629,0.15,2.30,0.00,0.000,4,0.057,0.060,2649,792,3316
$GC,1669,-0.59,-117.3,108.4,-7.1,198,1676,0.12,2.12,0.00,0.000,6,0.085,0.045,2671,2161,3316
$GC,1994,-0.59,-117.3,129.1,-6.1,229,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2161,3316
$GC,2313,-0.59,-117.3,146.9,-5.2,259,2317,0.00,2.42,0.00,0.000,4,0.000,0.068,2670,3598,3316
$GC,2346,-0.64,-117.3,149.0,-6.1,261,2352,0.00,2.30,0.00,0.000,6,0.000,0.043,2671,2142,3316
$GC,2663,-0.68,-117.3,165.1,-4.9,278,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2138,3316
$GC,2972,-0.74,-117.3,182.2,-5.9,293,2977,0.15,2.53,0.00,0.000,4,0.057,0.066,2634,3608,3316
$GC,3000,-0.65,-117.3,184.5,-8.2,294,3005,0.12,2.35,0.00,0.000,6,0.089,0.043,2655,2150,3316
$GC,3316,-0.65,-117.3,204.3,-5.9,309,3320,0.00,2.47,0.00,0.000,4,0.000,0.067,2655,3597,3316
$GC,3356,-0.65,-117.3,206.7,-6.4,311,3360,0.00,2.25,0.00,0.000,6,0.000,0.043,2655,2185,3316
$GC,3689,-0.65,-117.3,225.8,-5.9,327,3694,0.00,2.45,0.00,0.000,4,0.000,0.067,2655,3605,3316
$GC,3711,-0.65,-117.3,227.2,-5.9,328,3715,0.00,2.25,0.00,0.000,6,0.000,0.043,2655,2209,3316
$GC,4039,-0.65,-117.3,246.0,-5.4,344,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2204,3316
$GC,4347,-0.65,-117.3,263.7,-5.9,359,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2204,3315
$GC,4657,-0.65,-117.3,282.2,-5.8,374,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2204,3316
$GC,4969,-0.65,-117.3,300.2,-5.9,389,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2204,3316
$GC,5269,-0.65,-117.3,317.6,-5.7,394,5273,0.00,2.38,0.00,0.000,4,0.000,0.066,2655,804,3316
$GC,5296,-0.65,-117.3,319.1,-5.7,394,5300,0.00,2.20,0.00,0.000,6,0.000,0.045,2655,2205,3316
$GC,5634,-0.65,-117.3,337.9,-5.6,400,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2205,3316
$GC,5937,-0.65,-117.3,354.7,-5.5,405,5941,0.00,2.33,0.00,0.000,4,0.000,0.066,2655,793,3316
$GC,5964,-0.65,-117.3,356.3,-6.1,405,5968,0.00,2.17,0.00,0.000,6,0.000,0.044,2655,2184,3316
$GC,6302,-0.65,-117.3,374.4,-5.3,411,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2184,3316
$GC,6605,-0.65,-117.3,391.6,-5.7,416,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2183,3315
$GC,6909,-0.65,-117.3,411.1,-6.5,421,6913,0.00,2.28,0.00,0.000,4,0.000,0.068,2655,804,3315
$GC,6936,-0.65,-117.3,413.1,-7.3,421,6940,0.00,2.17,0.00,0.000,6,0.000,0.046,2655,2191,3315
$GC,7274,-0.65,-117.3,434.4,-6.3,427,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2191,3315
$GC,7578,-0.65,-117.3,452.1,-5.8,432,7582,0.00,2.30,0.00,0.000,4,0.000,0.068,2655,801,3315
$GC,7611,-0.70,-117.3,454.1,-6.2,432,7615,0.00,2.15,0.00,0.000,6,0.000,0.046,2655,2172,3315
$GC,7937,-0.70,-117.3,471.4,-5.3,438,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2172,3315
$GC,8240,-0.70,-117.3,487.2,-5.2,443,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2172,3314
$GC,8543,-0.70,-117.3,503.8,-5.5,448,8547,0.00,2.28,0.00,0.000,4,0.000,0.071,2655,806,3314
$GC,8576,-0.74,-117.3,505.9,-6.1,448,8579,0.00,2.15,0.00,0.000,6,0.000,0.048,2655,2171,3314
$GC,8902,-0.74,-117.3,524.9,-5.8,454,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2171,3314
$GC,9204,-0.74,-117.3,542.6,-5.8,459,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2170,3314
$GC,9508,-0.74,-117.3,558.9,-5.3,464,9512,0.00,2.30,0.00,0.000,4,0.000,0.073,2655,797,3314
$GC,9536,-0.79,-117.3,560.5,-5.8,464,9540,0.15,2.15,0.00,0.000,6,0.057,0.049,2624,2155,3314
$GC,9874,-0.69,-117.3,580.9,-6.0,470,9876,0.12,0.00,0.00,0.000,6,0.091,0.000,2645,2155,3313
$GC,10176,-0.69,-117.3,595.7,-4.9,475,10181,0.00,2.45,0.00,0.000,4,0.000,0.074,2645,3604,3313
$GC,10198,-0.69,-117.3,597.0,-5.6,475,10203,0.00,2.33,0.00,0.000,6,0.000,0.047,2645,2159,3312
$GC,10536,-0.69,-117.3,614.2,-5.2,481,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2159,3313
$GC,10839,-0.69,-117.3,630.7,-5.5,486,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3312
$GC,11142,-0.69,-117.3,648.4,-6.0,491,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3313
$GC,11445,-0.69,-117.3,666.2,-5.9,496,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2157,3312
$GC,11748,-0.69,-117.3,683.3,-5.6,501,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2156,3311
$GC,12051,-0.69,-117.3,699.3,-5.3,506,12055,0.00,2.35,0.00,0.000,4,0.000,0.077,2645,799,3311
$GC,12096,-0.69,-117.3,701.9,-5.8,506,12100,0.00,2.15,0.00,0.000,6,0.000,0.050,2645,2154,3311
$GC,12416,-0.69,-117.3,718.4,-5.1,512,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3311
$GC,12719,-0.69,-117.3,734.7,-5.3,517,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3311
$GC,13023,-0.69,-117.3,751.6,-5.7,522,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3311
$GC,13325,-0.69,-117.3,768.8,-5.6,527,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,13628,-0.69,-117.3,786.7,-5.9,532,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,13931,-0.69,-117.3,804.3,-5.8,537,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,14235,-0.69,-117.3,820.9,-5.4,542,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,14538,-0.69,-117.3,836.2,-5.0,547,14539,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,14842,-0.69,-117.3,851.2,-5.0,552,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,15144,-0.69,-117.3,866.6,-5.1,557,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2154,3310
$GC,15447,-0.69,-117.3,882.6,-5.3,562,15451,0.00,2.30,0.00,0.000,4,0.000,0.077,2645,797,3309
$GC,15475,-0.73,-117.3,884.1,-5.7,562,15479,0.00,2.12,0.00,0.000,6,0.000,0.051,2645,2132,3309
$GC,15815,-0.73,-117.3,901.7,-5.1,568,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2132,3310
$GC,16115,-0.73,-117.3,917.9,-5.3,573,16116,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2133,3309
$GC,16418,-0.73,-117.3,934.4,-5.5,578,16420,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2132,3309
$GC,16723,-0.73,-117.3,951.1,-5.5,583,16724,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2132,3309
$GC,17024,-0.73,-117.3,968.1,-5.7,588,17028,0.00,2.28,0.00,0.000,4,0.000,0.081,2645,803,3309
$GC,17046,-0.78,-117.3,969.4,-5.9,588,17050,0.00,2.12,0.00,0.000,6,0.000,0.052,2645,2128,3309
$GC,17383,-0.78,-117.3,988.6,-5.7,594,17388,0.00,2.58,0.00,0.000,4,0.000,0.086,2645,3604,3309
$GC,17400,-0.78,-117.3,989.6,-5.6,594,17404,0.00,2.35,0.00,0.000,6,0.000,0.049,2645,2149,3308
$STATE,17408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17408,begin apogee
$GC,17414,-0.23,0.0,990.2,6.0,594,17522,0.57,0.00,104.85,1.504,6,0.074,0.000,2746,2203,2837
$STATE,17523,end apogee,CONTROL_FINISHED_OK
$STATE,17523,begin climb
$GC,17525,0.67,117.3,993.7,0.0,596,17649,1.15,2.75,116.15,1.460,4,0.044,0.079,2945,3598,2358
$GC,17671,0.40,117.3,990.8,5.8,598,17677,0.38,2.47,0.00,0.000,6,0.092,0.052,2890,2212,2358
$GC,18014,0.42,132.7,973.4,5.0,604,18044,0.00,2.53,18.05,1.259,4,0.000,0.088,2890,792,2296
$GC,18067,0.42,132.7,970.4,5.7,604,18072,0.00,2.30,0.00,0.000,6,0.000,0.055,2890,2203,2296
$GC,18377,0.43,138.6,954.0,5.3,609,18391,0.00,2.45,7.65,1.239,4,0.000,0.084,2890,796,2271
$GC,18425,0.43,138.6,951.2,6.3,609,18429,0.00,2.22,0.00,0.000,6,0.000,0.055,2890,2171,2271
$GC,18746,0.43,138.6,933.4,5.6,615,18751,0.00,2.38,0.00,0.000,4,0.000,0.085,2890,779,2271
$GC,18785,0.43,138.6,931.0,7.3,615,18789,0.00,2.20,0.00,0.000,6,0.000,0.055,2890,2147,2271
$GC,19111,0.43,138.6,912.6,5.6,621,19112,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2147,2271
$GC,19414,0.43,141.6,896.1,5.4,626,19423,0.00,2.33,4.62,1.020,4,0.000,0.084,2890,789,2259
$GC,19458,0.43,141.6,893.4,6.2,626,19462,0.00,2.12,0.00,0.000,6,0.000,0.055,2890,2118,2258
$GC,19779,0.43,141.6,875.4,5.7,632,19780,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2118,2259
$GC,20082,0.43,141.6,857.5,5.9,637,20083,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2119,2258
$GC,20385,0.43,141.6,840.1,5.7,642,20389,0.00,2.25,0.00,0.000,4,0.000,0.081,2890,789,2259
$GC,20413,0.44,151.7,838.4,5.2,642,20428,0.00,2.15,10.57,1.307,6,0.000,0.054,2890,2134,2218
$GC,20749,0.49,151.7,817.8,6.1,648,20750,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2134,2218
$GC,21052,0.54,151.7,799.2,6.1,653,21057,0.15,2.28,0.00,0.000,4,0.058,0.080,2926,783,2218
$GC,21085,0.42,151.7,796.7,7.7,653,21090,0.20,2.15,0.00,0.000,6,0.088,0.053,2894,2127,2218
$GC,21411,0.47,151.7,776.7,6.1,659,21412,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2127,2218
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$STATE,33728,end climb,SURFACE_DEPTH_REACHED
$STATE,33728,begin surface coast
$FINISH,1.3,1.025297
$STATE,33750,end surface coast,CONTROL_FINISHED_OK
$STATE,33750,begin surface
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$DEVICE_SECS,30.375,202.600,395.650,21.400,0.000,31.608,30.375,164.332,8.750,0.000,0.000,13.902,2249.645,27977.383,575.809,2671.791,671.199,33.382,1914.351,0.000,2623.961,0.000,56.632
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$DATA_FILE_SIZE,56838,1154
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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