version: 66.03
glider: 119
mission: 5
dive: 244
start: 11 27 108 22 18 31
data:
$ID,119
$MISSION,5
$DIVE,244
$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,-214290.83
$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
$GPS1,221131,4701.264,-12605.072,37,1.1,42,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.5
$GPS2,221739,4701.329,-12605.052,15,1.1,15,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.188,-0.053
$KALMAN_X,-14221.2,-192.4,-216.5,-70068.1,2136.2
$KALMAN_Y,296155.3,413.0,337.9,-291734.0,1840.0
$MHEAD_RNG_PITCHd_Wd,235.6,145207,-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,-117.3,0.0,0.0,0,74,0.00,0.00,-51.60,0.000,2,0.000,0.000,860,2216,2528
$GC,77,-0.67,-117.3,3.1,-3.6,5,121,12.23,2.40,-23.38,0.000,4,0.142,0.069,2648,793,3316
$GC,148,-0.48,-117.3,10.1,-10.1,11,156,0.28,2.25,0.00,0.000,6,0.080,0.041,2694,2205,3316
$GC,475,-0.48,-117.3,35.5,-7.5,42,479,0.00,2.28,0.00,0.000,4,0.000,0.058,2694,793,3316
$GC,519,-0.48,-117.3,39.1,-7.9,45,525,0.00,2.17,0.00,0.000,6,0.000,0.041,2694,2170,3316
$GC,862,-0.48,-117.3,64.0,-7.0,105,868,0.00,2.20,0.00,0.000,4,0.000,0.058,2694,790,3316
$GC,953,-0.57,-117.3,70.3,-6.9,121,960,0.00,2.00,0.00,0.000,6,0.000,0.041,2694,2092,3316
$GC,1287,-0.77,-117.3,93.5,-6.5,164,1292,0.30,2.10,0.00,0.000,4,0.041,0.056,2625,781,3316
$GC,1355,-0.59,-117.3,99.1,-8.9,170,1360,0.25,2.53,0.00,0.000,6,0.076,0.043,2668,2397,3316
$GC,1680,-0.59,-117.3,121.6,-6.8,200,1685,0.00,2.67,0.00,0.000,4,0.000,0.058,2668,782,3316
$GC,1765,-0.64,-117.3,127.3,-6.6,207,1769,0.00,2.42,0.00,0.000,6,0.000,0.044,2669,2333,3316
$GC,2093,-0.64,-117.3,145.5,-5.8,237,2097,0.00,2.50,0.00,0.000,4,0.000,0.059,2668,785,3316
$GC,2132,-0.71,-117.3,147.9,-6.2,240,2136,0.00,2.38,0.00,0.000,6,0.000,0.044,2668,2301,3316
$GC,2459,-0.71,-117.3,166.8,-5.6,257,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2301,3316
$GC,2769,-0.76,-117.3,184.9,-6.2,272,2774,0.15,2.45,0.00,0.000,4,0.056,0.058,2631,782,3316
$GC,2818,-0.67,-117.3,188.9,-8.2,274,2823,0.12,2.33,0.00,0.000,6,0.084,0.044,2652,2272,3316
$GC,3134,-0.67,-117.3,210.9,-6.7,289,3138,0.00,2.40,0.00,0.000,4,0.000,0.063,2652,794,3316
$GC,3161,-0.67,-117.3,212.8,-7.3,290,3165,0.00,2.30,0.00,0.000,6,0.000,0.044,2652,2263,3316
$GC,3482,-0.67,-117.3,231.9,-5.9,306,3486,0.00,2.40,0.00,0.000,4,0.000,0.063,2652,788,3316
$GC,3503,-0.67,-117.3,233.4,-6.0,307,3507,0.00,2.30,0.00,0.000,6,0.000,0.044,2652,2258,3316
$GC,3831,-0.67,-117.3,252.6,-6.1,323,3835,0.00,2.40,0.00,0.000,4,0.000,0.064,2652,786,3316
$GC,3858,-0.67,-117.3,254.4,-6.3,324,3862,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2227,3316
$GC,4179,-0.67,-117.3,274.1,-5.9,340,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2227,3316
$GC,4489,-0.67,-117.3,292.7,-6.1,355,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2227,3316
$GC,4793,-0.67,-117.3,311.5,-6.1,364,4798,0.00,2.35,0.00,0.000,4,0.000,0.067,2652,798,3315
$GC,4815,-0.67,-117.3,312.8,-6.0,364,4819,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2218,3315
$GC,5158,-0.67,-117.3,332.0,-5.5,370,5162,0.00,2.35,0.00,0.000,4,0.000,0.067,2652,792,3315
$GC,5184,-0.67,-117.3,333.4,-6.0,370,5188,0.00,2.20,0.00,0.000,6,0.000,0.046,2652,2193,3315
$GC,5523,-0.67,-117.3,351.1,-5.2,376,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2193,3314
$GC,5825,-0.67,-117.3,366.8,-5.2,381,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2193,3314
$GC,6128,-0.67,-117.3,383.1,-5.4,386,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2193,3314
$GC,6432,-0.67,-117.3,400.1,-5.6,391,6436,0.00,2.38,0.00,0.000,4,0.000,0.071,2652,3601,3313
$GC,6447,-0.67,-117.3,401.1,-5.5,391,6451,0.00,2.28,0.00,0.000,6,0.000,0.047,2653,2184,3313
$GC,6796,-0.67,-117.3,420.4,-5.5,397,6800,0.00,2.30,0.00,0.000,4,0.000,0.074,2653,798,3312
$GC,6819,-0.67,-117.3,421.8,-6.0,397,6823,0.00,2.17,0.00,0.000,6,0.000,0.048,2652,2184,3312
$GC,7155,-0.67,-117.3,441.1,-5.8,403,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2185,3312
$GC,7458,-0.67,-117.3,458.0,-5.6,408,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2185,3312
$GC,7762,-0.67,-117.3,474.5,-5.4,413,7766,0.00,2.33,0.00,0.000,4,0.000,0.074,2652,796,3312
$GC,7794,-0.72,-117.3,476.5,-5.7,413,7798,0.00,2.17,0.00,0.000,6,0.000,0.049,2652,2174,3312
$GC,8120,-0.72,-117.3,493.0,-5.0,419,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2174,3312
$GC,8424,-0.77,-117.3,509.3,-5.4,424,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2174,3311
$GC,8727,-0.81,-117.3,526.4,-5.6,429,8732,0.15,2.33,0.00,0.000,4,0.059,0.075,2616,800,3311
$GC,8750,-0.81,-117.3,528.0,-6.9,429,8754,0.00,2.15,0.00,0.000,6,0.000,0.051,2616,2157,3311
$GC,9088,-0.69,-117.3,552.6,-7.3,435,9090,0.17,0.00,0.00,0.000,6,0.085,0.000,2646,2157,3310
$GC,9390,-0.69,-117.3,569.5,-5.5,440,9394,0.00,2.45,0.00,0.000,4,0.000,0.073,2646,3602,3310
$GC,9405,-0.69,-117.3,570.5,-5.6,440,9410,0.00,2.33,0.00,0.000,6,0.000,0.048,2646,2150,3309
$GC,9754,-0.69,-117.3,589.8,-5.6,446,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2149,3309
$GC,10059,-0.69,-117.3,606.5,-5.5,451,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2148,3309
$GC,10360,-0.69,-117.3,624.2,-5.9,456,10364,0.00,2.50,0.00,0.000,4,0.000,0.074,2646,3604,3309
$GC,10381,-0.69,-117.3,625.5,-6.3,456,10385,0.00,2.33,0.00,0.000,6,0.000,0.048,2646,2154,3309
$GC,10724,-0.69,-117.3,645.6,-5.9,462,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2153,3309
$GC,11027,-0.69,-117.3,662.1,-5.4,467,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2153,3309
$GC,11331,-0.69,-117.3,677.9,-5.2,472,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2152,3309
$GC,11633,-0.69,-117.3,694.8,-5.6,477,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2152,3308
$GC,11938,-0.69,-117.3,711.6,-5.5,482,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2151,3308
$GC,12239,-0.69,-117.3,728.6,-5.6,487,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2151,3308
$GC,12543,-0.73,-117.3,746.3,-5.9,492,12547,0.00,2.35,0.00,0.000,4,0.000,0.084,2646,803,3307
$GC,12570,-0.78,-117.3,748.1,-7.0,492,12574,0.00,2.15,0.00,0.000,6,0.000,0.054,2646,2148,3308
$GC,12901,-0.78,-117.3,766.7,-5.5,498,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2148,3307
$GC,13205,-0.82,-117.3,781.8,-4.9,503,13207,0.15,0.00,0.00,0.000,6,0.060,0.000,2613,2148,3307
$GC,13508,-0.73,-117.3,799.1,-5.7,508,13510,0.15,0.00,0.00,0.000,6,0.089,0.000,2639,2148,3307
$GC,13810,-0.73,-117.3,813.1,-4.6,513,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2148,3307
$GC,14116,-0.73,-117.3,826.9,-4.6,518,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2148,3306
$GC,14416,-0.73,-117.3,841.5,-4.9,523,14421,0.00,2.53,0.00,0.000,4,0.000,0.084,2638,3602,3306
$GC,14439,-0.73,-117.3,842.6,-5.5,523,14443,0.00,2.38,0.00,0.000,6,0.000,0.051,2639,2127,3305
$GC,14776,-0.73,-117.3,859.5,-5.0,529,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2127,3305
$GC,15079,-0.73,-117.3,874.1,-4.8,534,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2127,3305
$GC,15382,-0.73,-117.3,888.5,-4.7,539,15386,0.00,2.58,0.00,0.000,4,0.000,0.082,2638,3598,3305
$GC,15408,-0.73,-117.3,889.9,-5.5,539,15412,0.00,2.33,0.00,0.000,6,0.000,0.051,2638,2152,3305
$GC,15746,-0.73,-117.3,906.2,-4.9,545,15747,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2153,3305
$GC,16049,-0.73,-117.3,921.8,-5.2,550,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2152,3305
$GC,16352,-0.73,-117.3,938.4,-5.5,555,16353,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2152,3305
$GC,16656,-0.73,-117.3,956.7,-6.1,560,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2152,3305
$GC,16959,-0.73,-117.3,975.2,-6.1,565,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2152,3305
$STATE,17259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17259,begin apogee
$GC,17265,-0.23,0.0,992.5,5.6,570,17371,0.62,0.00,103.22,1.505,6,0.073,0.000,2746,2204,2837
$STATE,17372,end apogee,CONTROL_FINISHED_OK
$STATE,17372,begin climb
$GC,17374,0.67,117.3,994.2,0.0,571,17493,1.17,0.00,115.05,1.462,6,0.044,0.000,2949,2205,2358
$GC,17745,0.41,117.3,972.1,8.5,578,17750,0.32,2.58,0.00,0.000,4,0.092,0.100,2894,806,2358
$GC,17789,0.33,117.3,968.8,6.7,578,17794,0.12,2.33,0.00,0.000,6,0.100,0.062,2874,2203,2358
$GC,18103,0.33,117.3,950.2,6.0,584,18104,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2203,2358
$GC,18406,0.33,117.3,931.9,6.1,589,18410,0.00,2.45,0.00,0.000,4,0.000,0.093,2874,796,2358
$GC,18444,0.33,117.3,929.3,6.6,589,18448,0.00,2.25,0.00,0.000,6,0.000,0.059,2874,2181,2358
$GC,18770,0.33,117.3,910.4,5.7,595,18771,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2181,2358
$GC,19073,0.34,129.2,894.5,5.1,600,19093,0.00,2.45,12.50,1.358,4,0.000,0.090,2874,799,2310
$GC,19116,0.38,162.0,892.3,4.5,600,19152,0.00,2.20,31.42,1.411,6,0.000,0.058,2875,2153,2176
$GC,19502,0.47,173.4,872.3,5.1,607,19528,0.15,2.38,14.68,1.182,4,0.059,0.089,2909,802,2130
$GC,19602,0.39,173.4,865.2,7.9,608,19607,0.15,2.10,0.00,0.000,6,0.093,0.056,2885,2094,2130
$GC,19927,0.45,173.4,845.9,5.9,614,19929,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2094,2130
$GC,20231,0.50,173.4,827.2,6.1,619,20235,0.12,2.20,0.00,0.000,4,0.064,0.086,2912,803,2130
$GC,20274,0.42,173.4,823.9,8.2,619,20278,0.00,2.05,0.00,0.000,6,0.000,0.055,2912,2079,2130
$GC,20595,0.38,173.4,799.9,7.6,625,20600,0.15,2.60,0.00,0.000,4,0.094,0.079,2883,3606,2130
$GC,20639,0.42,173.4,796.5,7.4,625,20643,0.00,2.45,0.00,0.000,6,0.000,0.055,2884,2090,2130
$GC,20953,0.49,173.4,775.6,6.7,631,20958,0.12,2.20,0.00,0.000,4,0.065,0.088,2911,794,2130
$GC,21026,0.41,173.4,769.5,7.5,632,21029,0.00,1.98,0.00,0.000,6,0.000,0.053,2910,2041,2130
$GC,21391,0.41,173.4,740.0,8.1,638,21395,0.00,2.60,0.00,0.000,4,0.000,0.077,2910,3606,2130
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$STATE,32782,end climb,SURFACE_DEPTH_REACHED
$STATE,32782,begin surface coast
$FINISH,0.8,1.024660
$STATE,32817,end surface coast,CONTROL_FINISHED_OK
$STATE,32817,begin surface
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