version: 66.03
glider: 119
mission: 5
dive: 249
start: 11 29 108 22 38 0
data:
$ID,119
$MISSION,5
$DIVE,249
$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,-214360.7
$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,13
$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
$GPS1,223031,4658.768,-12625.298,36,0.9,42,18.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.1
$GPS2,223708,4658.834,-12625.329,12,1.4,12,18.5
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.195,-0.009
$KALMAN_X,-8198.4,-133.2,39.0,-102037.7,1701.8
$KALMAN_Y,305324.2,621.7,420.8,-305816.3,411.7
$MHEAD_RNG_PITCHd_Wd,248.9,119595,-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,23,-0.67,-117.3,0.0,0.0,0,76,0.00,0.00,-51.85,0.000,2,0.000,0.000,859,2227,2552
$GC,79,-0.67,-117.3,3.2,-3.6,5,123,12.25,2.40,-22.52,0.000,4,0.142,0.071,2648,786,3317
$GC,173,-0.44,-117.3,13.3,-11.9,13,180,0.30,2.22,0.00,0.000,6,0.084,0.042,2698,2204,3317
$GC,501,-0.40,-117.3,40.3,-8.1,44,508,0.00,2.33,0.00,0.000,4,0.000,0.059,2698,769,3317
$GC,553,-0.40,-117.3,44.6,-7.8,53,560,0.00,2.15,0.00,0.000,6,0.000,0.042,2698,2160,3317
$GC,898,-0.44,-117.3,68.0,-6.3,114,904,0.00,2.22,0.00,0.000,4,0.000,0.058,2698,771,3317
$GC,967,-0.53,-117.3,72.9,-7.3,126,973,0.00,2.08,0.00,0.000,6,0.000,0.041,2698,2119,3317
$GC,1299,-0.59,-117.3,93.5,-5.8,166,1304,0.15,2.42,0.00,0.000,4,0.054,0.063,2660,3604,3317
$GC,1343,-0.50,-117.3,97.1,-8.4,169,1349,0.17,2.38,0.00,0.000,6,0.080,0.041,2690,2094,3317
$GC,1668,-0.56,-117.3,116.4,-5.5,200,1672,0.00,2.47,0.00,0.000,4,0.000,0.064,2690,3605,3318
$GC,1696,-0.63,-117.3,117.9,-6.1,202,1701,0.15,2.42,0.00,0.000,6,0.054,0.042,2656,2082,3317
$GC,2021,-0.57,-117.3,140.3,-6.5,232,2025,0.00,2.47,0.00,0.000,4,0.000,0.064,2656,3601,3317
$GC,2048,-0.50,-117.3,142.4,-7.2,234,2055,0.20,2.35,0.00,0.000,6,0.078,0.046,2690,2122,3317
$GC,2380,-0.70,-117.3,161.1,-6.4,257,2382,0.22,0.00,0.00,0.000,6,0.048,0.000,2642,2118,3317
$GC,2688,-0.77,-117.3,184.4,-7.6,272,2692,0.00,2.22,0.00,0.000,4,0.000,0.064,2642,775,3317
$GC,2799,-0.72,-117.3,193.2,-7.6,277,2803,0.00,2.10,0.00,0.000,6,0.000,0.044,2642,2132,3317
$GC,3127,-0.63,-117.3,218.2,-7.5,293,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2132,3317
$GC,3436,-0.55,-117.3,241.3,-7.3,308,3437,0.22,0.00,0.00,0.000,6,0.077,0.000,2681,2132,3317
$GC,3746,-0.64,-117.3,257.2,-5.0,323,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2132,3317
$GC,4056,-0.86,-117.3,275.4,-6.5,338,4061,0.35,2.22,0.00,0.000,4,0.043,0.064,2604,774,3317
$GC,4291,-0.65,-117.3,296.8,-9.1,348,4298,0.22,2.12,0.00,0.000,6,0.073,0.045,2653,2117,3317
$GC,4601,-0.65,-117.3,315.6,-6.0,356,4606,0.00,2.47,0.00,0.000,4,0.000,0.067,2653,3602,3317
$GC,4617,-0.65,-117.3,316.7,-5.8,356,4621,0.00,2.38,0.00,0.000,6,0.000,0.044,2654,2105,3316
$GC,4966,-0.65,-117.3,337.1,-6.0,362,4970,0.00,2.53,0.00,0.000,4,0.000,0.066,2653,3600,3317
$GC,4987,-0.65,-117.3,338.6,-6.4,362,4991,0.00,2.38,0.00,0.000,6,0.000,0.044,2653,2107,3317
$GC,5330,-0.65,-117.3,360.2,-6.4,368,5334,0.00,2.53,0.00,0.000,4,0.000,0.064,2653,3607,3316
$GC,5350,-0.65,-117.3,361.7,-6.6,368,5354,0.00,2.40,0.00,0.000,6,0.000,0.045,2654,2102,3316
$GC,5694,-0.65,-117.3,383.0,-6.1,374,5698,0.00,2.53,0.00,0.000,4,0.000,0.066,2653,3600,3316
$GC,5720,-0.65,-117.3,384.8,-6.4,374,5724,0.00,2.33,0.00,0.000,6,0.000,0.045,2654,2123,3316
$GC,6059,-0.65,-117.3,403.2,-5.4,380,6063,0.00,2.47,0.00,0.000,4,0.000,0.067,2653,3601,3316
$GC,6096,-0.65,-117.3,405.5,-6.0,380,6100,0.00,2.30,0.00,0.000,6,0.000,0.045,2653,2142,3315
$GC,6423,-0.65,-117.3,421.5,-4.9,386,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2141,3315
$GC,6726,-0.65,-117.3,435.0,-4.5,391,6730,0.00,2.45,0.00,0.000,4,0.000,0.067,2653,3601,3315
$GC,6758,-0.65,-117.3,436.8,-5.9,391,6762,0.00,2.28,0.00,0.000,6,0.000,0.045,2654,2165,3314
$GC,7090,-0.65,-117.3,454.1,-5.3,397,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2164,3314
$GC,7393,-0.65,-117.3,470.2,-5.4,402,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2164,3313
$GC,7696,-0.65,-117.3,486.7,-5.4,407,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2164,3314
$GC,7999,-0.65,-117.3,503.8,-5.7,412,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2164,3313
$GC,8302,-0.65,-117.3,521.4,-5.8,417,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2164,3313
$GC,8605,-0.65,-117.3,538.1,-5.5,422,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2163,3313
$GC,8908,-0.65,-117.3,554.8,-5.5,427,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2161,3312
$GC,9211,-0.65,-117.3,571.6,-5.6,432,9215,0.00,2.45,0.00,0.000,4,0.000,0.072,2653,3604,3313
$GC,9232,-0.65,-117.3,572.7,-5.6,432,9236,0.00,2.22,0.00,0.000,6,0.000,0.047,2653,2210,3312
$GC,9575,-0.65,-117.3,591.0,-5.3,438,9579,0.00,2.40,0.00,0.000,4,0.000,0.082,2654,792,3312
$GC,9601,-0.65,-117.3,592.7,-6.2,438,9606,0.00,2.25,0.00,0.000,6,0.000,0.051,2654,2210,3312
$GC,9940,-0.65,-117.3,611.0,-5.3,444,9944,0.00,2.38,0.00,0.000,4,0.000,0.077,2653,801,3312
$GC,9961,-0.65,-117.3,612.2,-5.4,444,9965,0.00,2.17,0.00,0.000,6,0.000,0.052,2653,2166,3312
$GC,10304,-0.65,-117.3,630.2,-5.2,450,10309,0.00,2.42,0.00,0.000,4,0.000,0.073,2653,3605,3311
$GC,10326,-0.65,-117.3,631.3,-5.1,450,10330,0.00,2.30,0.00,0.000,6,0.000,0.048,2654,2167,3310
$GC,10669,-0.65,-117.3,648.5,-5.0,456,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2166,3310
$GC,10972,-0.65,-117.3,662.9,-4.8,461,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2166,3310
$GC,11276,-0.65,-117.3,677.1,-4.7,466,11280,0.00,2.35,0.00,0.000,4,0.000,0.084,2653,796,3310
$GC,11304,-0.70,-117.3,678.5,-4.6,466,11308,0.00,2.20,0.00,0.000,6,0.000,0.054,2653,2176,3310
$GC,11635,-0.70,-117.3,695.4,-5.1,472,11639,0.00,2.35,0.00,0.000,4,0.000,0.081,2653,796,3310
$GC,11657,-0.75,-117.3,696.6,-5.3,472,11661,0.00,2.17,0.00,0.000,6,0.000,0.054,2653,2159,3310
$GC,11995,-0.75,-117.3,713.8,-5.0,478,11999,0.00,2.45,0.00,0.000,4,0.000,0.077,2653,3598,3310
$GC,12011,-0.75,-117.3,714.7,-5.1,478,12015,0.00,2.33,0.00,0.000,6,0.000,0.050,2653,2146,3309
$GC,12365,-0.79,-117.3,732.4,-5.0,484,12367,0.15,0.00,0.00,0.000,6,0.061,0.000,2621,2145,3309
$GC,12669,-0.69,-117.3,751.2,-6.3,489,12671,0.15,0.00,0.00,0.000,6,0.088,0.000,2646,2145,3309
$GC,12971,-0.69,-117.3,767.2,-5.2,494,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2144,3309
$GC,13276,-0.69,-117.3,782.1,-4.8,499,13280,0.00,2.53,0.00,0.000,4,0.000,0.077,2646,3603,3309
$GC,13303,-0.69,-117.3,783.6,-5.4,499,13307,0.00,2.33,0.00,0.000,6,0.000,0.049,2646,2160,3309
$GC,13640,-0.69,-117.3,798.1,-4.3,505,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2159,3309
$GC,13943,-0.69,-117.3,811.2,-4.3,510,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2159,3309
$GC,14247,-0.69,-117.3,825.0,-4.6,515,14251,0.00,2.38,0.00,0.000,4,0.000,0.091,2646,798,3308
$GC,14274,-0.69,-117.3,826.4,-5.2,515,14277,0.00,2.20,0.00,0.000,6,0.000,0.058,2646,2158,3308
$GC,14611,-0.69,-117.3,842.4,-4.8,521,14615,0.00,2.45,0.00,0.000,4,0.000,0.081,2646,3598,3308
$GC,14633,-0.69,-117.3,843.6,-5.3,521,14637,0.00,2.33,0.00,0.000,6,0.000,0.050,2646,2150,3307
$GC,14970,-0.69,-117.3,860.5,-5.0,527,14971,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2150,3307
$GC,15273,-0.69,-117.3,875.0,-4.8,532,15278,0.00,2.50,0.00,0.000,4,0.000,0.081,2646,3604,3308
$GC,15294,-0.69,-117.3,876.0,-5.0,532,15298,0.00,2.30,0.00,0.000,6,0.000,0.049,2646,2168,3307
$GC,15643,-0.69,-117.3,893.0,-4.9,538,15647,0.00,2.40,0.00,0.000,4,0.000,0.093,2646,792,3307
$GC,15664,-0.69,-117.3,894.2,-5.1,538,15668,0.00,2.22,0.00,0.000,6,0.000,0.058,2646,2168,3306
$GC,16001,-0.69,-117.3,910.6,-4.9,544,16002,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2168,3306
$GC,16304,-0.69,-117.3,925.6,-5.0,549,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2168,3307
$GC,16607,-0.69,-117.3,941.2,-5.1,554,16611,0.00,2.40,0.00,0.000,4,0.000,0.093,2646,802,3306
$GC,16640,-0.74,-117.3,943.0,-5.3,554,16644,0.00,2.20,0.00,0.000,6,0.000,0.060,2646,2155,3306
$GC,16966,-0.74,-117.3,959.6,-5.1,560,16970,0.00,2.50,0.00,0.000,4,0.000,0.087,2646,3602,3306
$GC,16998,-0.74,-117.3,961.5,-5.1,560,17002,0.00,2.33,0.00,0.000,6,0.000,0.051,2646,2150,3306
$GC,17331,-0.74,-117.3,979.1,-5.3,566,17335,0.00,2.40,0.00,0.000,4,0.000,0.098,2646,789,3305
$GC,17358,-0.79,-117.3,980.7,-5.4,566,17362,0.00,2.22,0.00,0.000,6,0.000,0.061,2646,2154,3305
$STATE,17566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17566,begin apogee
$GC,17572,-0.23,0.0,991.5,5.2,570,17689,0.60,0.00,105.78,1.485,6,0.072,0.000,2749,2211,2837
$STATE,17689,end apogee,CONTROL_FINISHED_OK
$STATE,17690,begin climb
$GC,17692,0.67,117.3,995.3,0.0,572,17814,1.15,2.80,115.07,1.464,4,0.045,0.100,2948,802,2358
$GC,17842,0.39,117.3,990.0,6.7,574,17847,0.40,2.50,0.00,0.000,6,0.086,0.065,2887,2197,2358
$GC,18167,0.39,117.3,971.7,5.6,580,18169,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2197,2358
$GC,18471,0.39,117.3,954.3,5.7,585,18472,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2197,2358
$GC,18773,0.39,117.3,936.3,5.9,590,18775,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2197,2358
$GC,19076,0.39,117.3,918.5,5.8,595,19081,0.00,2.45,0.00,0.000,4,0.000,0.094,2887,789,2358
$GC,19120,0.39,117.3,915.8,6.3,595,19124,0.00,2.28,0.00,0.000,6,0.000,0.059,2887,2196,2357
$GC,19441,0.39,121.0,898.3,5.4,601,19449,0.00,0.00,5.25,1.093,6,0.000,0.000,2887,2196,2343
$GC,19744,0.40,125.9,882.0,5.3,606,19755,0.00,2.42,6.45,1.187,4,0.000,0.089,2887,788,2322
$GC,19788,0.41,131.1,879.4,5.3,606,19799,0.00,2.25,6.40,1.172,6,0.000,0.058,2887,2178,2302
$GC,20103,0.41,131.1,862.0,5.5,611,20104,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2178,2302
$GC,20406,0.41,137.1,845.7,5.3,616,20420,0.00,2.42,7.40,1.223,4,0.000,0.087,2887,796,2277
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