version: 66.03
glider: 119
mission: 5
dive: 161
start: 10 26 108 20 2 44
data:
$ID,119
$MISSION,5
$DIVE,161
$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,-212823.55
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,195616,4749.920,-12603.102,40,1.9,48,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.4
$GPS2,200151,4749.915,-12603.138,13,1.8,13,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.102,-0.166
$KALMAN_X,-12914.0,257.0,769.5,-70383.3,-2522.1
$KALMAN_Y,149920.1,-337.6,-188.7,-54227.1,2105.2
$MHEAD_RNG_PITCHd_Wd,192.7,174162,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-61.45,0.000,2,0.000,0.000,862,2215,2778
$GC,87,-0.67,-117.3,3.4,-5.6,6,120,12.35,2.45,-12.52,0.000,4,0.148,0.077,2650,796,3317
$GC,316,-0.49,-117.3,31.8,-9.8,26,323,0.20,2.28,0.00,0.000,6,0.073,0.045,2687,2201,3317
$GC,653,-0.49,-117.3,55.2,-6.0,78,660,0.00,2.33,0.00,0.000,4,0.000,0.060,2687,788,3317
$GC,705,-0.54,-117.3,58.5,-6.3,87,712,0.00,2.15,0.00,0.000,6,0.000,0.044,2687,2168,3317
$GC,1050,-0.60,-117.3,77.2,-4.4,148,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2168,3317
$GC,1381,-0.68,-117.3,94.5,-5.6,184,1387,0.20,0.00,0.00,0.000,6,0.050,0.000,2643,2168,3317
$GC,1707,-0.59,-117.3,117.2,-6.7,215,1712,0.15,2.38,0.00,0.000,4,0.085,0.068,2669,3598,3317
$GC,1746,-0.59,-117.3,119.6,-5.8,218,1750,0.00,2.30,0.00,0.000,6,0.000,0.044,2669,2147,3317
$GC,2079,-0.64,-117.3,134.0,-3.7,249,2083,0.00,2.42,0.00,0.000,4,0.000,0.067,2669,3598,3317
$GC,2119,-0.68,-117.3,135.9,-4.6,252,2123,0.00,2.28,0.00,0.000,6,0.000,0.044,2669,2154,3317
$GC,2460,-0.74,-117.3,152.3,-5.4,282,2462,0.17,0.00,0.00,0.000,6,0.054,0.000,2630,2150,3317
$GC,2768,-0.62,-117.3,174.8,-7.3,297,2773,0.15,2.22,0.00,0.000,4,0.087,0.067,2659,804,3317
$GC,2829,-0.68,-117.3,178.8,-6.9,299,2835,0.00,2.10,0.00,0.000,6,0.000,0.045,2660,2157,3318
$GC,3144,-0.68,-117.3,196.9,-5.6,315,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2158,3317
$GC,3454,-0.68,-117.3,213.0,-5.3,330,3458,0.00,2.22,0.00,0.000,4,0.000,0.064,2660,802,3317
$GC,3509,-0.75,-117.3,216.3,-5.9,332,3516,0.08,2.10,0.00,0.000,6,0.049,0.045,2634,2130,3317
$GC,3825,-0.66,-117.3,239.0,-7.2,348,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2130,3317
$GC,4134,-0.59,-117.3,261.0,-7.3,363,4136,0.20,0.00,0.00,0.000,6,0.079,0.000,2669,2130,3317
$GC,4444,-0.67,-117.3,277.8,-5.2,378,4448,0.00,2.20,0.00,0.000,4,0.000,0.067,2669,794,3317
$GC,4465,-0.76,-117.3,279.1,-5.6,379,4470,0.12,2.10,0.00,0.000,6,0.041,0.045,2628,2123,3317
$GC,4832,-0.66,-117.3,304.5,-6.8,395,4834,0.15,0.00,0.00,0.000,6,0.086,0.000,2654,2123,3317
$GC,5134,-0.66,-117.3,321.3,-5.5,400,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2124,3317
$GC,5438,-0.66,-117.3,336.0,-4.8,405,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2123,3317
$GC,5743,-0.66,-117.3,351.5,-5.1,410,5747,0.00,2.20,0.00,0.000,4,0.000,0.071,2654,802,3317
$GC,5776,-0.71,-117.3,353.5,-5.4,410,5780,0.00,2.05,0.00,0.000,6,0.000,0.048,2654,2119,3316
$GC,6108,-0.71,-117.3,372.1,-5.7,416,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2120,3316
$GC,6411,-0.71,-117.3,387.7,-5.0,421,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2119,3316
$GC,6715,-0.71,-117.3,401.0,-4.3,426,6719,0.00,2.20,0.00,0.000,4,0.000,0.074,2654,807,3315
$GC,6753,-0.77,-117.3,402.8,-4.8,426,6757,0.00,2.03,0.00,0.000,6,0.000,0.048,2653,2096,3316
$GC,7079,-0.77,-117.3,419.1,-5.2,432,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2096,3315
$GC,7383,-0.77,-117.3,435.3,-5.3,437,7385,0.12,0.00,0.00,0.000,6,0.064,0.000,2625,2096,3314
$GC,7687,-0.69,-117.3,455.4,-6.7,442,7689,0.12,0.00,0.00,0.000,6,0.091,0.000,2646,2097,3314
$GC,7988,-0.69,-117.3,472.0,-5.4,447,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2096,3313
$GC,8292,-0.69,-117.3,488.1,-5.3,452,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,3313
$GC,8595,-0.69,-117.3,503.0,-4.8,457,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,3313
$GC,8898,-0.69,-117.3,518.3,-5.1,462,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,3313
$GC,9202,-0.69,-117.3,532.5,-4.6,467,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2096,3313
$GC,9504,-0.69,-117.3,546.8,-4.8,472,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,3313
$GC,9807,-0.69,-117.3,561.1,-4.7,477,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,3312
$GC,10110,-0.69,-117.3,574.5,-4.5,482,10114,0.00,2.55,0.00,0.000,4,0.000,0.079,2646,3599,3312
$GC,10133,-0.69,-117.3,575.5,-5.0,482,10137,0.00,2.42,0.00,0.000,6,0.000,0.048,2646,2087,3311
$GC,10470,-0.69,-117.3,591.4,-4.7,488,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2087,3312
$GC,10773,-0.69,-117.3,605.5,-4.7,493,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2086,3311
$GC,11076,-0.69,-117.3,620.6,-5.0,498,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2085,3311
$GC,11379,-0.69,-117.3,636.1,-5.1,503,11383,0.00,2.60,0.00,0.000,4,0.000,0.080,2646,3594,3310
$GC,11422,-0.69,-117.3,638.5,-5.8,503,11426,0.00,2.40,0.00,0.000,6,0.000,0.050,2646,2102,3310
$GC,11744,-0.69,-117.3,655.4,-5.3,509,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2102,3310
$GC,12046,-0.69,-117.3,670.2,-4.8,514,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,3310
$GC,12349,-0.73,-117.3,682.0,-3.8,519,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2101,3309
$GC,12652,-0.73,-117.3,693.5,-3.9,524,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,3309
$GC,12955,-0.73,-117.3,707.1,-4.6,529,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2100,3309
$GC,13259,-0.77,-117.3,721.1,-4.5,534,13263,0.00,2.60,0.00,0.000,4,0.000,0.084,2646,3603,3309
$GC,13285,-0.77,-117.3,722.5,-5.3,534,13289,0.00,2.38,0.00,0.000,6,0.000,0.050,2646,2124,3308
$GC,13623,-0.82,-117.3,738.3,-4.7,540,13625,0.12,0.00,0.00,0.000,6,0.064,0.000,2618,2124,3309
$GC,13926,-0.74,-117.3,755.6,-5.7,545,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2124,3309
$GC,14229,-0.67,-117.3,772.6,-5.6,550,14231,0.20,0.00,0.00,0.000,6,0.083,0.000,2652,2124,3309
$GC,14532,-0.74,-117.3,785.3,-4.1,555,14537,0.00,2.58,0.00,0.000,4,0.000,0.087,2652,3601,3309
$GC,14560,-0.80,-117.3,786.6,-4.2,555,14565,0.15,2.33,0.00,0.000,6,0.059,0.051,2620,2133,3308
$GC,14892,-0.74,-117.3,804.4,-5.5,561,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2133,3308
$GC,15194,-0.68,-117.3,821.9,-5.8,566,15196,0.17,0.00,0.00,0.000,6,0.084,0.000,2650,2133,3308
$GC,15497,-0.83,-117.3,839.2,-5.9,571,15502,0.15,2.58,0.00,0.000,4,0.058,0.087,2613,3598,3308
$GC,15609,-0.72,-117.3,847.0,-6.6,572,15613,0.17,2.00,0.00,0.000,6,0.087,0.056,2642,2366,3307
$GC,15929,-0.72,-117.3,864.0,-5.2,578,15933,0.00,2.75,0.00,0.000,4,0.000,0.098,2642,807,3307
$GC,15995,-0.79,-117.3,867.4,-5.3,579,15999,0.00,2.50,0.00,0.000,6,0.000,0.065,2642,2323,3307
$GC,16355,-0.84,-117.3,882.0,-3.8,585,16360,0.12,2.70,0.00,0.000,4,0.064,0.094,2614,806,3307
$GC,16417,-0.79,-117.3,885.0,-4.9,586,16421,0.00,2.42,0.00,0.000,6,0.000,0.066,2614,2269,3307
$GC,16783,-0.71,-117.3,900.5,-4.2,592,16788,0.15,2.62,0.00,0.000,4,0.089,0.099,2643,811,3306
$GC,16839,-0.78,-117.3,902.7,-3.6,592,16845,0.00,2.38,0.00,0.000,6,0.000,0.067,2643,2242,3306
$GC,17148,-0.83,-117.3,914.0,-3.7,598,17153,0.12,2.58,0.00,0.000,4,0.062,0.099,2615,810,3307
$GC,17176,-0.83,-117.3,915.4,-5.9,598,17180,0.00,2.35,0.00,0.000,6,0.000,0.068,2615,2224,3306
$GC,17508,-0.76,-117.3,933.0,-5.4,604,17509,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2224,3306
$GC,17812,-0.69,-117.3,950.2,-5.7,609,17813,0.20,0.00,0.00,0.000,6,0.084,0.000,2649,2224,3306
$GC,18114,-0.83,-117.3,966.1,-5.4,614,18119,0.15,2.58,0.00,0.000,4,0.058,0.105,2612,811,3306
$GC,18237,-0.83,-117.3,974.1,-6.5,615,18243,0.00,2.08,0.00,0.000,6,0.000,0.073,2613,2029,3306
$STATE,18544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18544,begin apogee
$GC,18549,-0.23,0.0,993.1,6.2,621,18655,0.80,0.00,102.30,1.497,6,0.077,0.000,2747,2209,2837
$STATE,18656,end apogee,CONTROL_FINISHED_OK
$STATE,18656,begin climb
$GC,18658,0.67,117.3,994.9,0.0,622,18780,1.12,2.92,110.53,1.450,4,0.045,0.114,2945,806,2358
$GC,18898,0.37,117.3,983.6,8.3,625,18903,0.40,2.45,0.00,0.000,6,0.089,0.076,2883,2197,2358
$GC,19213,0.37,117.3,965.8,5.6,631,19217,0.00,2.53,0.00,0.000,4,0.000,0.109,2883,811,2358
$GC,19246,0.31,121.6,963.9,5.4,631,19256,0.00,2.30,5.68,1.102,6,0.000,0.072,2883,2175,2341
$GC,19571,0.31,121.6,945.2,5.8,637,19572,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2175,2341
$GC,19874,0.31,121.6,928.1,5.6,642,19875,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2175,2341
$GC,20177,0.31,121.6,910.8,5.7,647,20178,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2175,2341
$GC,20480,0.31,121.6,893.7,5.6,652,20481,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2175,2340
$GC,20783,0.31,122.4,877.0,5.5,657,20787,0.00,2.45,0.00,0.000,4,0.000,0.105,2883,807,2340
$GC,20832,0.26,122.4,874.1,5.5,657,20837,0.15,2.28,0.00,0.000,6,0.095,0.067,2859,2186,2340
$GC,21142,0.36,145.9,859.5,4.8,662,21171,0.00,2.50,22.58,1.394,4,0.000,0.099,2859,808,2242
$GC,21217,0.41,145.9,855.6,6.1,663,21221,0.15,2.22,0.00,0.000,6,0.058,0.065,2890,2141,2242
$GC,21577,0.41,145.9,833.6,6.2,669,21581,0.00,2.53,0.00,0.000,4,0.000,0.091,2890,3609,2242
$GC,21620,0.37,145.9,830.6,7.0,669,21624,0.00,2.35,0.00,0.000,6,0.000,0.061,2890,2177,2242
$GC,21940,0.37,145.9,811.9,5.8,675,21942,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2176,2242
$GC,22244,0.37,145.9,795.0,5.6,680,22248,0.00,2.45,0.00,0.000,4,0.000,0.104,2890,785,2242
$GC,22277,0.33,153.4,793.0,5.3,680,22291,0.00,2.28,8.73,1.230,6,0.000,0.061,2890,2184,2211
$GC,22606,0.33,153.4,774.8,5.5,686,22607,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2184,2211
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