version: 66.03
glider: 119
mission: 5
dive: 264
start: 12 5 108 22 8 31
data:
$ID,119
$MISSION,5
$DIVE,264
$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,-214660.66
$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,15
$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
$GPS1,220138,4658.104,-12746.316,38,0.9,38,18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.7
$GPS2,220739,4658.056,-12746.256,11,1.4,11,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.194,-0.019
$KALMAN_X,-11761.9,350.8,221.6,-201407.2,-455.7
$KALMAN_Y,332955.7,28.1,-349.3,-333505.4,2209.6
$MHEAD_RNG_PITCHd_Wd,245.9,17729,-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,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.17,0.000,2,0.000,0.000,860,2219,2541
$GC,78,-0.67,-117.3,3.3,-4.0,5,121,12.23,2.47,-23.12,0.000,4,0.140,0.070,2648,773,3317
$GC,160,-0.48,-117.3,11.2,-10.2,12,167,0.28,2.22,0.00,0.000,6,0.074,0.041,2694,2191,3317
$GC,487,-0.48,-117.3,34.9,-7.5,43,491,0.00,2.35,0.00,0.000,4,0.000,0.061,2694,3600,3317
$GC,508,-0.48,-117.3,36.7,-7.2,44,514,0.00,2.33,0.00,0.000,6,0.000,0.039,2695,2148,3317
$GC,849,-0.48,-117.3,61.4,-7.2,101,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2147,3317
$GC,1193,-0.54,-117.3,84.9,-5.3,155,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2146,3318
$GC,1512,-0.59,-117.3,104.7,-6.8,185,1517,0.12,2.45,0.00,0.000,4,0.061,0.061,2665,3604,3319
$GC,1552,-0.54,-117.3,108.1,-9.1,188,1556,0.00,2.30,0.00,0.000,6,0.000,0.041,2665,2150,3319
$GC,1876,-0.54,-117.3,133.2,-6.7,218,1880,0.00,2.17,0.00,0.000,4,0.000,0.064,2665,801,3319
$GC,1905,-0.54,-117.3,135.2,-7.1,220,1908,0.00,2.05,0.00,0.000,6,0.000,0.042,2665,2128,3319
$GC,2233,-0.54,-117.3,156.3,-6.1,246,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2128,3319
$GC,2542,-0.54,-117.3,173.4,-5.0,261,2546,0.00,2.47,0.00,0.000,4,0.000,0.067,2665,3605,3319
$GC,2596,-0.54,-117.3,176.5,-6.1,263,2603,0.00,2.35,0.00,0.000,6,0.000,0.043,2665,2140,3319
$GC,2912,-0.54,-117.3,194.2,-6.0,279,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2136,3319
$GC,3222,-0.54,-117.3,212.4,-5.6,294,3226,0.00,2.45,0.00,0.000,4,0.000,0.066,2665,3599,3318
$GC,3254,-0.54,-117.3,214.4,-6.1,295,3260,0.00,2.33,0.00,0.000,6,0.000,0.044,2665,2158,3319
$GC,3570,-0.58,-117.3,230.5,-4.9,311,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2153,3319
$GC,3880,-0.63,-117.3,247.2,-5.7,326,3884,0.00,2.42,0.00,0.000,4,0.000,0.067,2664,3606,3318
$GC,3907,-0.67,-117.3,249.0,-6.2,327,3911,0.00,2.25,0.00,0.000,6,0.000,0.043,2665,2190,3319
$GC,4235,-0.72,-117.3,267.5,-5.8,343,4239,0.00,2.33,0.00,0.000,4,0.000,0.067,2665,805,3318
$GC,4262,-0.78,-117.3,269.4,-6.7,344,4267,0.20,2.17,0.00,0.000,6,0.051,0.045,2623,2198,3318
$GC,4578,-0.65,-117.3,294.2,-7.9,359,4580,0.20,0.00,0.00,0.000,6,0.081,0.000,2657,2198,3318
$GC,4923,-0.65,-117.3,315.0,-5.9,368,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2198,3317
$GC,5226,-0.65,-117.3,332.7,-5.9,373,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2198,3317
$GC,5529,-0.65,-117.3,349.9,-5.6,378,5536,0.00,2.33,0.00,0.000,4,0.000,0.069,2658,3597,3316
$GC,5547,-0.65,-117.3,351.1,-5.7,378,5551,0.00,2.22,0.00,0.000,6,0.000,0.045,2658,2199,3316
$GC,5901,-0.65,-117.3,372.2,-6.1,384,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,3316
$GC,6204,-0.65,-117.3,390.9,-6.2,389,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,3315
$GC,6507,-0.65,-117.3,408.9,-5.9,394,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,3315
$GC,6813,-0.69,-117.3,425.5,-5.4,399,6817,0.00,2.38,0.00,0.000,4,0.000,0.074,2658,807,3314
$GC,6841,-0.75,-117.3,427.1,-5.7,399,6845,0.00,2.15,0.00,0.000,6,0.000,0.048,2657,2182,3314
$GC,7178,-0.79,-117.3,443.5,-4.9,405,7180,0.17,0.00,0.00,0.000,6,0.056,0.000,2621,2182,3314
$GC,7481,-0.67,-117.3,464.7,-7.2,410,7483,0.17,0.00,0.00,0.000,6,0.084,0.000,2650,2182,3314
$GC,7784,-0.67,-117.3,482.7,-5.8,415,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2182,3313
$GC,8086,-0.67,-117.3,499.8,-5.6,420,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2182,3313
$GC,8390,-0.67,-117.3,518.2,-6.2,425,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2182,3312
$GC,8693,-0.67,-117.3,537.4,-6.3,430,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2182,3312
$GC,8997,-0.67,-117.3,554.7,-5.6,435,9001,0.00,2.33,0.00,0.000,4,0.000,0.079,2650,809,3311
$GC,9019,-0.71,-117.3,556.2,-6.3,435,9023,0.00,2.22,0.00,0.000,6,0.000,0.053,2650,2202,3312
$GC,9357,-0.71,-117.3,573.7,-5.2,441,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,3311
$GC,9659,-0.71,-117.3,588.7,-4.9,446,9664,0.00,2.38,0.00,0.000,4,0.000,0.077,2650,803,3310
$GC,9704,-0.77,-117.3,591.2,-5.3,446,9708,0.00,2.20,0.00,0.000,6,0.000,0.052,2650,2186,3310
$GC,10021,-0.77,-117.3,607.7,-5.3,452,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2186,3310
$GC,10322,-0.77,-117.3,622.8,-4.9,457,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2187,3309
$GC,10625,-0.77,-117.3,637.9,-4.9,462,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2186,3309
$GC,10930,-0.82,-117.3,652.3,-4.7,467,10935,0.15,2.35,0.00,0.000,4,0.060,0.078,2615,807,3309
$GC,10968,-0.72,-117.3,654.7,-6.3,467,10973,0.15,2.17,0.00,0.000,6,0.085,0.054,2640,2166,3309
$GC,11289,-0.72,-117.3,671.0,-5.0,473,11293,0.00,2.45,0.00,0.000,4,0.000,0.077,2640,3608,3309
$GC,11323,-0.72,-117.3,672.7,-5.5,473,11327,0.00,2.28,0.00,0.000,6,0.000,0.050,2640,2181,3309
$GC,11649,-0.72,-117.3,689.4,-5.1,479,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2180,3309
$GC,11952,-0.72,-117.3,705.3,-5.3,484,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2179,3309
$GC,12255,-0.72,-117.3,721.2,-5.3,489,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2180,3308
$GC,12558,-0.72,-117.3,735.9,-4.9,494,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2179,3308
$GC,12861,-0.72,-117.3,749.8,-4.6,499,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2178,3308
$GC,13164,-0.72,-117.3,764.1,-4.8,504,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2178,3308
$GC,13467,-0.72,-117.3,780.1,-5.4,509,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2178,3307
$GC,13770,-0.72,-117.3,797.5,-5.8,514,13774,0.00,2.47,0.00,0.000,4,0.000,0.081,2640,3601,3307
$GC,13791,-0.72,-117.3,799.0,-6.7,514,13795,0.00,2.28,0.00,0.000,6,0.000,0.050,2640,2186,3307
$GC,14134,-0.72,-117.3,819.8,-6.0,520,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2186,3307
$GC,14438,-0.72,-117.3,836.4,-5.4,525,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2186,3307
$GC,14741,-0.72,-117.3,850.9,-4.8,530,14745,0.00,2.42,0.00,0.000,4,0.000,0.091,2640,801,3307
$GC,14769,-0.72,-117.3,852.4,-4.5,530,14773,0.00,2.25,0.00,0.000,6,0.000,0.057,2640,2190,3307
$GC,15100,-0.72,-117.3,867.0,-4.4,536,15104,0.00,2.42,0.00,0.000,4,0.000,0.087,2640,792,3306
$GC,15127,-0.72,-117.3,868.3,-4.8,536,15131,0.00,2.20,0.00,0.000,6,0.000,0.058,2640,2158,3306
$GC,15465,-0.72,-117.3,881.7,-4.0,542,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2158,3306
$GC,15767,-0.72,-117.3,894.3,-4.2,547,15771,0.00,2.38,0.00,0.000,4,0.000,0.090,2640,796,3306
$GC,15789,-0.72,-117.3,895.3,-4.4,547,15793,0.00,2.20,0.00,0.000,6,0.000,0.059,2640,2151,3306
$GC,16126,-0.72,-117.3,912.4,-5.3,553,16127,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2151,3305
$GC,16429,-0.72,-117.3,928.5,-5.3,558,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2151,3305
$GC,16732,-0.72,-117.3,944.0,-5.1,563,16736,0.00,2.38,0.00,0.000,4,0.000,0.092,2640,800,3305
$GC,16754,-0.72,-117.3,945.2,-4.8,563,16758,0.00,2.17,0.00,0.000,6,0.000,0.061,2640,2136,3305
$GC,17097,-0.72,-117.3,960.8,-4.5,569,17098,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2136,3305
$GC,17400,-0.72,-117.3,973.7,-4.3,574,17401,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2137,3305
$GC,17703,-0.72,-117.3,986.5,-4.2,579,17704,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2136,3304
$STATE,17821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17822,begin apogee
$GC,17828,-0.23,0.0,991.3,4.1,581,17934,0.62,0.00,103.85,1.506,6,0.074,0.000,2747,2203,2837
$STATE,17935,end apogee,CONTROL_FINISHED_OK
$STATE,17935,begin climb
$GC,17937,0.67,117.3,992.6,0.0,582,18057,1.15,0.00,116.15,1.461,6,0.046,0.000,2946,2203,2359
$GC,18307,0.44,117.3,969.1,8.6,589,18309,0.30,0.00,0.00,0.000,6,0.091,0.000,2898,2203,2358
$GC,18610,0.38,117.3,949.2,6.5,594,18614,0.00,2.42,0.00,0.000,4,0.000,0.088,2898,3606,2358
$GC,18643,0.30,117.3,946.9,7.3,594,18647,0.20,2.30,0.00,0.000,6,0.092,0.055,2865,2204,2358
$GC,18969,0.37,130.3,930.3,5.1,600,18988,0.00,2.53,13.62,1.373,4,0.000,0.098,2866,789,2305
$GC,19045,0.44,152.8,925.9,4.8,601,19081,0.17,2.22,24.25,1.315,6,0.057,0.059,2901,2162,2214
$GC,19401,0.44,152.8,900.5,7.3,607,19402,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2162,2214
$GC,19704,0.44,152.8,877.7,7.4,612,19705,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2162,2214
$GC,20007,0.44,152.8,856.3,7.0,617,20009,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2162,2214
$GC,20310,0.44,152.8,835.6,6.8,622,20311,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2162,2214
$GC,20613,0.44,152.8,815.5,6.7,627,20614,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2162,2214
$GC,20916,0.44,152.8,795.7,6.5,632,20920,0.00,2.35,0.00,0.000,4,0.000,0.089,2901,786,2214
$GC,20961,0.39,152.8,792.7,6.9,632,20965,0.00,2.17,0.00,0.000,6,0.000,0.056,2901,2145,2214
$GC,21275,0.39,152.8,772.0,6.6,638,21276,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2146,2214
$GC,21578,0.39,152.8,751.6,6.7,643,21582,0.00,2.47,0.00,0.000,4,0.000,0.078,2901,3609,2214
$GC,21610,0.39,152.8,749.3,7.0,643,21614,0.00,2.38,0.00,0.000,6,0.000,0.053,2901,2136,2214
$GC,21942,0.39,152.8,727.7,6.4,649,21944,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,2214
$GC,22245,0.39,152.8,708.7,6.3,654,22246,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,2214
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$STATE,33884,end climb,SURFACE_DEPTH_REACHED
$STATE,33884,begin surface coast
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$STATE,33904,end surface coast,CONTROL_FINISHED_OK
$STATE,33904,begin surface
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