version: 66.03
glider: 119
mission: 5
dive: 248
start: 11 29 108 12 49 37
data:
$ID,119
$MISSION,5
$DIVE,248
$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,-214346.12
$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
$GPS1,123931,4658.730,-12621.579,36,0.9,41,18.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,124845,4658.728,-12621.399,11,1.8,11,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.173,-0.090
$KALMAN_X,-9733.4,244.3,-70.5,-95804.3,851.9
$KALMAN_Y,303412.2,-480.4,15.7,-302582.7,3334.2
$MHEAD_RNG_PITCHd_Wd,224.1,124561,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-50.05,0.000,2,0.000,0.000,860,2224,2519
$GC,77,-0.67,-117.3,3.2,-3.7,5,121,12.18,2.45,-23.20,0.000,4,0.140,0.073,2646,779,3317
$GC,133,-0.40,-117.3,9.3,-11.7,10,138,0.38,2.22,0.00,0.000,6,0.079,0.042,2709,2198,3317
$GC,457,-0.40,-117.3,33.7,-6.8,40,461,0.00,2.30,0.00,0.000,4,0.000,0.058,2708,773,3317
$GC,486,-0.40,-117.3,35.6,-6.5,42,490,0.00,2.17,0.00,0.000,6,0.000,0.042,2709,2167,3317
$GC,826,-0.40,-117.3,59.9,-7.2,96,832,0.00,2.22,0.00,0.000,4,0.000,0.058,2709,774,3317
$GC,861,-0.40,-117.3,62.4,-7.0,102,867,0.00,2.10,0.00,0.000,6,0.000,0.041,2709,2137,3317
$GC,1202,-0.64,-117.3,83.9,-7.2,158,1207,0.25,2.17,0.00,0.000,4,0.042,0.056,2649,777,3317
$GC,1326,-0.53,-117.3,94.6,-9.1,169,1331,0.20,1.70,0.00,0.000,6,0.077,0.039,2684,1890,3317
$GC,1658,-0.53,-117.3,116.2,-6.3,200,1663,0.00,2.83,0.00,0.000,4,0.000,0.063,2684,3598,3317
$GC,1698,-0.57,-117.3,119.1,-7.1,203,1703,0.00,2.75,0.00,0.000,6,0.000,0.044,2684,1876,3317
$GC,2025,-0.63,-117.3,138.0,-5.6,233,2030,0.00,2.92,0.00,0.000,4,0.000,0.063,2684,3606,3317
$GC,2087,-0.69,-117.3,142.0,-5.9,238,2092,0.20,2.58,0.00,0.000,6,0.049,0.044,2640,2000,3317
$GC,2407,-0.57,-117.3,166.3,-7.4,258,2413,0.15,2.72,0.00,0.000,4,0.086,0.062,2670,3608,3317
$GC,2469,-0.57,-117.3,170.5,-6.3,261,2474,0.00,2.40,0.00,0.000,6,0.000,0.044,2670,2107,3317
$GC,2796,-0.57,-117.3,187.5,-5.1,277,2801,0.00,2.53,0.00,0.000,4,0.000,0.064,2670,3600,3317
$GC,2824,-0.61,-117.3,189.0,-5.9,278,2828,0.00,2.33,0.00,0.000,6,0.000,0.044,2670,2137,3317
$GC,3140,-0.61,-117.3,204.9,-5.2,293,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2132,3317
$GC,3449,-0.65,-117.3,221.9,-5.7,308,3453,0.00,2.50,0.00,0.000,4,0.000,0.065,2670,3607,3317
$GC,3498,-0.70,-117.3,224.9,-6.4,310,3506,0.12,2.30,0.00,0.000,6,0.061,0.044,2641,2159,3316
$GC,3822,-0.61,-117.3,247.8,-7.5,326,3826,0.15,2.30,0.00,0.000,4,0.085,0.067,2670,798,3317
$GC,3842,-0.61,-117.3,249.3,-6.4,327,3846,0.00,2.20,0.00,0.000,6,0.000,0.044,2670,2189,3317
$GC,4171,-0.66,-117.3,267.5,-5.5,343,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2189,3317
$GC,4480,-0.71,-117.3,283.9,-5.3,358,4481,0.15,0.00,0.00,0.000,6,0.057,0.000,2637,2189,3316
$GC,4787,-0.62,-117.3,305.5,-7.1,371,4792,0.15,2.30,0.00,0.000,4,0.085,0.067,2666,796,3316
$GC,4819,-0.62,-117.3,307.7,-5.8,371,4824,0.00,2.17,0.00,0.000,6,0.000,0.045,2666,2170,3316
$GC,5153,-0.62,-117.3,326.4,-5.6,377,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2170,3316
$GC,5455,-0.66,-117.3,343.0,-5.4,382,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2170,3316
$GC,5758,-0.71,-117.3,359.0,-5.3,387,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2170,3315
$GC,6061,-0.75,-117.3,373.5,-4.7,392,6063,0.15,0.00,0.00,0.000,6,0.058,0.000,2633,2170,3315
$GC,6364,-0.65,-117.3,392.7,-6.4,397,6366,0.12,0.00,0.00,0.000,6,0.091,0.000,2654,2170,3314
$GC,6669,-0.65,-117.3,409.0,-5.3,402,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2170,3314
$GC,6970,-0.65,-117.3,424.5,-5.1,407,6974,0.00,2.40,0.00,0.000,4,0.000,0.070,2654,3604,3313
$GC,6991,-0.65,-117.3,425.6,-5.4,407,6995,0.00,2.25,0.00,0.000,6,0.000,0.045,2654,2188,3313
$GC,7334,-0.65,-117.3,444.0,-5.4,413,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2187,3313
$GC,7636,-0.65,-117.3,461.3,-5.7,418,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2187,3313
$GC,7940,-0.65,-117.3,477.4,-5.3,423,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2186,3313
$GC,8243,-0.65,-117.3,492.1,-4.8,428,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2186,3312
$GC,8548,-0.65,-117.3,506.1,-4.7,433,8552,0.00,2.45,0.00,0.000,4,0.000,0.071,2654,3605,3312
$GC,8569,-0.65,-117.3,507.3,-5.0,433,8573,0.00,2.28,0.00,0.000,6,0.000,0.046,2654,2195,3312
$GC,8912,-0.65,-117.3,523.5,-4.7,439,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2195,3312
$GC,9215,-0.65,-117.3,538.6,-5.0,444,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3312
$GC,9518,-0.65,-117.3,553.6,-5.0,449,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2193,3311
$GC,9821,-0.65,-117.3,569.2,-5.2,454,9825,0.00,2.40,0.00,0.000,4,0.000,0.082,2654,804,3311
$GC,9842,-0.65,-117.3,570.5,-5.3,454,9846,0.00,2.20,0.00,0.000,6,0.000,0.051,2654,2186,3310
$GC,10191,-0.65,-117.3,587.9,-4.9,460,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2186,3310
$GC,10495,-0.65,-117.3,601.5,-4.5,465,10499,0.00,2.35,0.00,0.000,4,0.000,0.079,2654,800,3310
$GC,10522,-0.69,-117.3,602.8,-4.8,465,10526,0.00,2.17,0.00,0.000,6,0.000,0.052,2654,2169,3310
$GC,10854,-0.69,-117.3,616.2,-4.0,471,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2169,3310
$GC,11157,-0.69,-117.3,627.7,-3.8,476,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2169,3310
$GC,11460,-0.69,-117.3,639.2,-3.8,481,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2169,3309
$GC,11764,-0.69,-117.3,651.3,-4.1,486,11768,0.00,2.35,0.00,0.000,4,0.000,0.082,2654,795,3309
$GC,11802,-0.75,-117.3,653.0,-4.7,486,11806,0.00,2.20,0.00,0.000,6,0.000,0.055,2654,2170,3309
$GC,12123,-0.75,-117.3,667.4,-4.6,492,12127,0.00,2.45,0.00,0.000,4,0.000,0.077,2654,3608,3309
$GC,12144,-0.75,-117.3,668.6,-5.4,492,12148,0.00,2.30,0.00,0.000,6,0.000,0.050,2654,2169,3308
$GC,12487,-0.79,-117.3,685.3,-4.8,498,12489,0.15,0.00,0.00,0.000,6,0.061,0.000,2622,2168,3309
$GC,12790,-0.70,-117.3,703.7,-6.1,503,12792,0.15,0.00,0.00,0.000,6,0.089,0.000,2647,2167,3309
$GC,13093,-0.70,-117.3,717.3,-4.4,508,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3308
$GC,13398,-0.70,-117.3,728.9,-3.7,513,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3308
$GC,13699,-0.70,-117.3,740.5,-3.8,518,13703,0.00,2.47,0.00,0.000,4,0.000,0.076,2647,3603,3308
$GC,13721,-0.70,-117.3,741.5,-4.6,518,13726,0.00,2.33,0.00,0.000,6,0.000,0.049,2647,2156,3307
$GC,14059,-0.70,-117.3,755.8,-4.3,524,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2156,3308
$GC,14362,-0.70,-117.3,769.9,-4.7,529,14366,0.00,2.47,0.00,0.000,4,0.000,0.076,2647,3597,3307
$GC,14395,-0.70,-117.3,771.7,-5.3,529,14399,0.00,2.28,0.00,0.000,6,0.000,0.050,2647,2179,3307
$GC,14721,-0.70,-117.3,788.2,-5.1,535,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2178,3307
$GC,15024,-0.70,-117.3,804.2,-5.3,540,15028,0.00,2.40,0.00,0.000,4,0.000,0.094,2647,803,3307
$GC,15050,-0.70,-117.3,805.8,-5.6,540,15054,0.00,2.22,0.00,0.000,6,0.000,0.057,2647,2163,3306
$GC,15388,-0.70,-117.3,824.3,-5.5,546,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2164,3306
$GC,15691,-0.70,-117.3,840.4,-5.3,551,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2164,3306
$GC,15994,-0.70,-117.3,855.6,-4.9,556,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2164,3305
$GC,16297,-0.70,-117.3,869.5,-4.6,561,16298,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2164,3305
$GC,16602,-0.70,-117.3,882.5,-4.2,566,16603,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2164,3305
$GC,16904,-0.70,-117.3,894.7,-4.1,571,16908,0.00,2.40,0.00,0.000,4,0.000,0.093,2647,799,3305
$GC,16942,-0.75,-117.3,896.3,-4.2,571,16947,0.00,2.20,0.00,0.000,6,0.000,0.061,2647,2151,3305
$GC,17263,-0.75,-117.3,909.7,-4.2,577,17267,0.00,2.50,0.00,0.000,4,0.000,0.085,2647,3598,3305
$GC,17284,-0.75,-117.3,910.6,-4.6,577,17288,0.00,2.33,0.00,0.000,6,0.000,0.051,2647,2158,3305
$GC,17628,-0.75,-117.3,925.2,-4.3,583,17629,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2157,3305
$GC,17930,-0.75,-117.3,939.3,-4.6,588,17931,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2157,3306
$GC,18234,-0.75,-117.3,954.0,-4.9,593,18238,0.00,2.42,0.00,0.000,4,0.000,0.099,2647,795,3305
$GC,18266,-0.80,-117.3,955.7,-6.0,593,18270,0.00,2.20,0.00,0.000,6,0.000,0.062,2647,2137,3305
$GC,18599,-0.94,-117.3,975.3,-6.2,599,18604,0.25,2.40,0.00,0.000,4,0.051,0.096,2590,792,3305
$STATE,18788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18788,begin apogee
$GC,18795,-0.23,0.0,990.0,7.3,601,18902,0.90,0.00,103.38,1.504,6,0.079,0.000,2744,2199,2837
$STATE,18902,end apogee,CONTROL_FINISHED_OK
$STATE,18903,begin climb
$GC,18905,0.67,117.3,992.2,0.0,603,19028,1.15,2.70,114.25,1.460,4,0.047,0.087,2943,3600,2358
$GC,19056,0.39,117.3,988.9,7.6,605,19061,0.38,2.50,0.00,0.000,6,0.090,0.058,2888,2201,2358
$GC,19393,0.40,130.2,971.6,5.1,611,19419,0.00,2.55,15.73,1.223,4,0.000,0.105,2888,782,2306
$GC,19463,0.40,130.2,967.5,5.9,612,19467,0.00,2.33,0.00,0.000,6,0.000,0.063,2888,2185,2306
$GC,19823,0.40,130.2,947.3,5.8,618,19824,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2186,2306
$GC,20126,0.40,130.2,929.1,6.1,623,20130,0.00,2.45,0.00,0.000,4,0.000,0.096,2887,783,2306
$GC,20175,0.40,130.2,925.9,6.9,623,20179,0.00,2.22,0.00,0.000,6,0.000,0.060,2887,2153,2306
$GC,20490,0.40,130.2,906.1,6.3,629,20491,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2154,2306
$GC,20794,0.40,130.2,887.2,6.2,634,20795,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2154,2306
$GC,21096,0.40,130.2,869.5,5.9,639,21100,0.00,2.38,0.00,0.000,4,0.000,0.092,2888,783,2306
$GC,21157,0.40,130.2,865.7,6.9,640,21161,0.00,2.17,0.00,0.000,6,0.000,0.058,2888,2133,2305
$GC,21523,0.41,137.6,846.1,5.3,646,21533,0.00,0.00,8.45,1.259,6,0.000,0.000,2888,2133,2275
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$STATE,34667,end climb,SURFACE_DEPTH_REACHED
$STATE,34667,begin surface coast
$FINISH,1.0,1.018366
$STATE,34700,end surface coast,CONTROL_FINISHED_OK
$STATE,34700,begin surface
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$10V_AH,10.4,50.739
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$DEVICE_SECS,30.825,197.950,347.700,51.250,0.000,53.169,132.055,183.401,9.500,0.000,0.000,12.477,2311.627,29005.100,582.280,2675.544,739.959,33.379,1900.442,0.000,2639.248,0.000,59.478
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$DATA_FILE_SIZE,56833,1172
$CAP_FILE_SIZE,211985,0
$CFSIZE,260165632,240218112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291108,223031,4658.768,-12625.298,36,0.9,42,18.5