version: 66.03
glider: 119
mission: 5
dive: 180
start: 11 3 108 10 21 55
data:
$ID,119
$MISSION,5
$DIVE,180
$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,-213192.2
$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,35
$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
$GPS1,101531,4712.819,-12727.396,53,1.9,58,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.6
$GPS2,102102,4712.853,-12727.411,11,0.9,16,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,-0.164
$KALMAN_X,-25888.7,409.5,-33.3,-163262.3,-1998.2
$KALMAN_Y,173131.1,-480.1,-73.3,-146059.3,2556.5
$MHEAD_RNG_PITCHd_Wd,194.0,47549,-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,-61.55,0.000,2,0.000,0.000,862,2219,2776
$GC,87,-0.67,-117.3,3.3,-4.9,6,120,12.20,2.33,-12.70,0.000,4,0.143,0.073,2650,3593,3318
$GC,278,-0.46,-117.3,29.9,-12.2,23,283,0.28,2.20,0.00,0.000,6,0.079,0.039,2696,2191,3318
$GC,614,-0.46,-117.3,56.3,-7.2,72,620,0.00,2.25,0.00,0.000,4,0.000,0.061,2696,801,3318
$GC,666,-0.50,-117.3,59.7,-6.8,81,673,0.00,2.08,0.00,0.000,6,0.000,0.041,2696,2150,3318
$GC,1007,-0.77,-117.3,83.6,-6.6,137,1012,0.32,2.17,0.00,0.000,4,0.040,0.054,2623,788,3318
$GC,1103,-0.60,-117.3,91.4,-9.0,145,1108,0.25,2.62,0.00,0.000,6,0.075,0.043,2666,2464,3318
$GC,1427,-0.60,-117.3,112.3,-6.9,175,1432,0.00,2.72,0.00,0.000,4,0.000,0.059,2667,803,3318
$GC,1482,-0.60,-117.3,116.4,-7.1,179,1489,0.00,2.55,0.00,0.000,6,0.000,0.044,2667,2414,3319
$GC,1810,-0.60,-117.3,139.1,-6.6,210,1815,0.00,2.62,0.00,0.000,4,0.000,0.059,2666,790,3319
$GC,1862,-0.66,-117.3,142.7,-6.7,214,1866,0.00,2.47,0.00,0.000,6,0.000,0.044,2667,2371,3319
$GC,2183,-0.72,-117.3,160.1,-5.4,235,2188,0.12,2.55,0.00,0.000,4,0.061,0.059,2637,794,3319
$GC,2278,-0.66,-117.3,167.3,-7.5,239,2281,0.00,2.35,0.00,0.000,6,0.000,0.045,2637,2294,3319
$GC,2599,-0.59,-117.3,189.2,-6.6,255,2604,0.15,2.42,0.00,0.000,4,0.084,0.062,2667,801,3319
$GC,2666,-0.68,-117.3,192.9,-5.3,258,2670,0.00,2.28,0.00,0.000,6,0.000,0.045,2667,2265,3319
$GC,2993,-0.85,-117.3,210.9,-6.1,274,2998,0.25,2.38,0.00,0.000,4,0.046,0.060,2608,800,3319
$GC,3071,-0.70,-117.3,216.6,-7.2,277,3078,0.17,2.12,0.00,0.000,6,0.069,0.046,2643,2144,3319
$GC,3386,-0.70,-117.3,235.9,-6.0,293,3390,0.00,2.40,0.00,0.000,4,0.000,0.066,2643,3601,3319
$GC,3463,-0.70,-117.3,241.2,-6.8,296,3470,0.00,2.28,0.00,0.000,6,0.000,0.044,2643,2166,3319
$GC,3779,-0.70,-117.3,258.6,-5.4,312,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2161,3319
$GC,4088,-0.70,-117.3,276.8,-6.1,327,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2161,3318
$GC,4398,-0.70,-117.3,294.0,-5.3,342,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2161,3318
$GC,4703,-0.70,-117.3,310.3,-5.4,351,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2161,3317
$GC,5008,-0.70,-117.3,326.9,-5.5,356,5012,0.00,2.40,0.00,0.000,4,0.000,0.067,2642,3599,3317
$GC,5040,-0.70,-117.3,329.1,-6.2,356,5044,0.00,2.25,0.00,0.000,6,0.000,0.044,2643,2193,3317
$GC,5372,-0.70,-117.3,349.5,-6.3,362,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2187,3317
$GC,5674,-0.70,-117.3,368.2,-6.1,367,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2187,3316
$GC,5978,-0.70,-117.3,385.8,-5.8,372,5982,0.00,2.38,0.00,0.000,4,0.000,0.069,2642,3601,3316
$GC,6004,-0.70,-117.3,387.5,-6.0,372,6009,0.00,2.25,0.00,0.000,6,0.000,0.044,2643,2197,3315
$GC,6342,-0.70,-117.3,405.4,-5.3,378,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,3315
$GC,6645,-0.70,-117.3,422.3,-5.6,383,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,3315
$GC,6948,-0.70,-117.3,439.4,-5.6,388,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,3315
$GC,7251,-0.70,-117.3,456.1,-5.5,393,7255,0.00,2.38,0.00,0.000,4,0.000,0.071,2642,3601,3314
$GC,7272,-0.70,-117.3,457.4,-6.2,393,7276,0.00,2.25,0.00,0.000,6,0.000,0.046,2643,2182,3314
$GC,7616,-0.70,-117.3,475.4,-5.2,399,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,3314
$GC,7918,-0.70,-117.3,490.9,-5.0,404,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,3313
$GC,8221,-0.70,-117.3,506.4,-5.2,409,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,3314
$GC,8524,-0.70,-117.3,522.5,-5.4,414,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2181,3313
$GC,8827,-0.70,-117.3,539.1,-5.5,419,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2182,3312
$GC,9130,-0.70,-117.3,555.2,-5.3,424,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2180,3312
$GC,9433,-0.70,-117.3,570.4,-4.9,429,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2179,3311
$GC,9737,-0.70,-117.3,585.2,-4.9,434,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2178,3311
$GC,10040,-0.70,-117.3,600.0,-4.9,439,10044,0.00,2.40,0.00,0.000,4,0.000,0.089,2643,800,3310
$GC,10067,-0.70,-117.3,601.6,-5.6,439,10072,0.00,2.22,0.00,0.000,6,0.000,0.057,2642,2167,3311
$GC,10405,-0.70,-117.3,619.6,-5.4,445,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3310
$GC,10708,-0.70,-117.3,636.0,-5.4,450,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3311
$GC,11012,-0.70,-117.3,650.1,-4.6,455,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2167,3310
$GC,11314,-0.70,-117.3,663.3,-4.3,460,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3309
$GC,11620,-0.70,-117.3,677.3,-4.7,465,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2166,3309
$GC,11921,-0.74,-117.3,693.0,-5.2,470,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2167,3309
$GC,12223,-0.78,-117.3,709.8,-5.6,475,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2167,3309
$GC,12527,-0.83,-117.3,727.0,-5.7,480,12529,0.12,0.00,0.00,0.000,6,0.064,0.000,2616,2167,3308
$GC,12830,-0.76,-117.3,747.0,-6.6,485,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2167,3308
$GC,13133,-0.69,-117.3,766.1,-6.3,490,13135,0.17,0.00,0.00,0.000,6,0.085,0.000,2646,2167,3308
$GC,13436,-0.75,-117.3,780.7,-4.7,495,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2167,3307
$GC,13740,-0.81,-117.3,795.3,-4.8,500,13743,0.00,2.40,0.00,0.000,4,0.000,0.096,2646,804,3307
$GC,13767,-0.87,-117.3,796.7,-5.1,500,13772,0.20,2.25,0.00,0.000,6,0.053,0.064,2605,2175,3307
$GC,14104,-0.76,-117.3,817.9,-6.4,506,14106,0.15,0.00,0.00,0.000,6,0.091,0.000,2631,2175,3307
$GC,14407,-0.76,-117.3,834.4,-5.5,511,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2175,3306
$GC,14710,-0.76,-117.3,852.3,-6.0,516,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2175,3306
$GC,15013,-0.76,-117.3,870.6,-6.0,521,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2175,3306
$GC,15316,-0.76,-117.3,888.2,-5.8,526,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2175,3306
$GC,15619,-0.76,-117.3,905.4,-5.6,531,15623,0.00,2.47,0.00,0.000,4,0.000,0.106,2631,809,3305
$GC,15645,-0.76,-117.3,907.1,-5.8,531,15649,0.00,2.25,0.00,0.000,6,0.000,0.069,2631,2162,3306
$GC,15984,-0.76,-117.3,925.1,-5.3,537,15985,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2162,3306
$GC,16286,-0.76,-117.3,940.3,-5.0,542,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2162,3305
$GC,16589,-0.76,-117.3,954.9,-4.8,547,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2162,3305
$GC,16892,-0.76,-117.3,969.9,-4.9,552,16893,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2162,3305
$GC,17197,-0.76,-117.3,984.2,-4.7,557,17201,0.00,2.50,0.00,0.000,4,0.000,0.111,2631,805,3305
$GC,17230,-0.76,-117.3,985.9,-5.6,557,17234,0.00,2.25,0.00,0.000,6,0.000,0.074,2631,2142,3305
$STATE,17371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17371,begin apogee
$GC,17377,-0.23,0.0,992.4,4.5,560,17482,0.68,0.00,102.75,1.494,6,0.070,0.000,2747,2203,2837
$STATE,17483,end apogee,CONTROL_FINISHED_OK
$STATE,17483,begin climb
$GC,17485,0.67,117.3,993.9,0.0,561,17602,1.15,0.00,112.85,1.443,6,0.042,0.000,2947,2203,2358
$GC,17857,0.39,117.3,969.3,8.8,568,17859,0.38,0.00,0.00,0.000,6,0.090,0.000,2887,2203,2358
$GC,18160,0.34,117.3,951.4,5.8,573,18164,0.00,2.55,0.00,0.000,4,0.000,0.113,2887,808,2358
$GC,18192,0.26,117.3,949.3,6.3,573,18197,0.17,2.35,0.00,0.000,6,0.092,0.072,2859,2209,2358
$GC,18518,0.33,134.2,933.2,5.0,579,18542,0.00,2.55,16.70,1.384,4,0.000,0.107,2859,800,2289
$GC,18577,0.38,134.2,929.8,5.8,579,18583,0.12,2.33,0.00,0.000,6,0.064,0.070,2886,2189,2289
$GC,18885,0.38,134.2,910.5,6.3,585,18886,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2189,2289
$GC,19188,0.38,134.2,891.5,6.3,590,19192,0.00,2.47,0.00,0.000,4,0.000,0.107,2886,809,2289
$GC,19232,0.32,134.2,888.6,6.3,590,19236,0.00,2.22,0.00,0.000,6,0.000,0.067,2885,2156,2289
$GC,19552,0.32,134.2,869.4,6.0,596,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2156,2289
$GC,19855,0.32,134.2,851.5,5.9,601,19856,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2156,2289
$GC,20158,0.32,134.2,833.9,5.7,606,20159,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2156,2289
$GC,20461,0.32,134.2,816.0,6.0,611,20465,0.00,2.40,0.00,0.000,4,0.000,0.102,2886,803,2289
$GC,20494,0.28,134.2,814.1,6.6,611,20498,0.15,2.20,0.00,0.000,6,0.093,0.064,2861,2144,2288
$GC,20819,0.36,143.0,797.0,5.2,617,20830,0.00,0.00,9.45,1.256,6,0.000,0.000,2861,2144,2254
$GC,21122,0.44,143.0,780.3,5.5,622,21127,0.15,2.35,0.00,0.000,4,0.061,0.094,2897,807,2253
$GC,21166,0.36,143.0,777.4,6.8,622,21170,0.00,2.15,0.00,0.000,6,0.000,0.063,2897,2125,2254
$GC,21480,0.36,143.0,756.6,6.6,628,21481,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2125,2254
$GC,21783,0.36,143.0,737.4,6.3,633,21784,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2125,2254
$GC,22086,0.36,143.0,717.9,6.5,638,22090,0.00,2.55,0.00,0.000,4,0.000,0.087,2897,3606,2254
$GC,22124,0.30,143.0,714.9,7.1,638,22129,0.20,2.42,0.00,0.000,6,0.091,0.056,2864,2114,2254
$GC,22444,0.38,143.0,696.9,5.6,644,22445,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2113,2254
$GC,22748,0.46,147.5,680.3,5.4,649,22756,0.17,0.00,6.10,1.075,6,0.059,0.000,2900,2113,2235
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$STATE,32846,end climb,SURFACE_DEPTH_REACHED
$STATE,32846,begin surface coast
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$STATE,32870,begin surface
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