version: 66.03
glider: 119
mission: 5
dive: 256
start: 12 2 108 17 39 6
data:
$ID,119
$MISSION,5
$DIVE,256
$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,-214480.39
$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,17
$R_STBD_OVSHOOT,34
$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
$GPS1,173202,4658.258,-12704.780,39,1.9,39,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.2
$GPS2,173814,4658.284,-12704.756,14,1.4,14,18.6
$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,-0.016
$KALMAN_X,-11076.1,233.4,150.4,-149453.7,-1912.5
$KALMAN_Y,314510.2,488.6,-73.2,-315399.9,971.7
$MHEAD_RNG_PITCHd_Wd,246.8,69849,-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,-117.3,0.0,0.0,0,64,0.00,0.00,-41.50,0.000,2,0.000,0.000,858,2216,2321
$GC,67,-0.67,-117.3,3.0,-4.2,4,120,12.15,0.00,-36.75,0.000,6,0.139,0.000,2651,2216,3317
$GC,438,-0.43,-117.3,40.9,-11.2,39,445,0.30,2.40,0.00,0.000,4,0.081,0.058,2704,777,3317
$GC,502,-0.47,-117.3,46.1,-7.6,50,509,0.00,2.22,0.00,0.000,6,0.000,0.043,2704,2198,3317
$GC,847,-0.55,-117.3,67.0,-4.8,111,853,0.00,2.28,0.00,0.000,4,0.000,0.057,2704,778,3317
$GC,900,-0.66,-117.3,69.8,-5.3,120,907,0.28,2.05,0.00,0.000,6,0.043,0.041,2645,2112,3317
$GC,1238,-0.53,-117.3,98.8,-8.1,162,1240,0.22,0.00,0.00,0.000,6,0.075,0.000,2684,2112,3317
$GC,1558,-0.73,-117.3,118.4,-7.2,192,1563,0.20,2.53,0.00,0.000,4,0.047,0.065,2635,3609,3317
$GC,1613,-0.57,-117.3,123.3,-8.7,196,1620,0.22,2.50,0.00,0.000,6,0.077,0.044,2674,2034,3318
$GC,1939,-0.74,-117.3,145.2,-6.6,227,1943,0.20,2.08,0.00,0.000,4,0.047,0.062,2626,781,3317
$GC,1988,-0.61,-117.3,148.9,-7.3,231,1995,0.22,2.62,0.00,0.000,6,0.074,0.047,2664,2452,3317
$GC,2315,-0.61,-117.3,168.0,-5.7,248,2319,0.00,2.78,0.00,0.000,4,0.000,0.060,2664,783,3317
$GC,2387,-0.67,-117.3,172.3,-5.4,251,2391,0.00,2.53,0.00,0.000,6,0.000,0.047,2664,2389,3317
$GC,2703,-0.67,-117.3,189.0,-5.3,266,2707,0.00,2.60,0.00,0.000,4,0.000,0.061,2664,785,3317
$GC,2769,-0.73,-117.3,192.9,-5.4,269,2774,0.12,2.40,0.00,0.000,6,0.058,0.047,2635,2316,3317
$GC,3090,-0.65,-117.3,214.3,-6.9,285,3095,0.12,2.50,0.00,0.000,4,0.087,0.061,2657,780,3317
$GC,3134,-0.65,-117.3,217.0,-5.6,287,3138,0.00,2.30,0.00,0.000,6,0.000,0.046,2657,2251,3317
$GC,3461,-0.65,-117.3,235.3,-5.5,303,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2251,3317
$GC,3771,-0.65,-117.3,252.4,-5.4,318,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2251,3317
$GC,4080,-0.65,-117.3,268.7,-5.2,333,4084,0.00,2.40,0.00,0.000,4,0.000,0.064,2657,782,3317
$GC,4107,-0.65,-117.3,270.3,-5.4,334,4111,0.00,2.30,0.00,0.000,6,0.000,0.046,2657,2247,3317
$GC,4434,-0.65,-117.3,287.9,-5.7,350,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2247,3317
$GC,4781,-0.65,-117.3,307.2,-5.7,363,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2247,3317
$GC,5085,-0.65,-117.3,326.1,-6.3,368,5089,0.00,2.40,0.00,0.000,4,0.000,0.065,2657,785,3316
$GC,5114,-0.70,-117.3,328.0,-7.2,368,5118,0.00,2.28,0.00,0.000,6,0.000,0.046,2657,2240,3317
$GC,5445,-0.70,-117.3,346.2,-5.2,374,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2240,3316
$GC,5748,-0.70,-117.3,361.3,-5.1,379,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2240,3316
$GC,6053,-0.70,-117.3,378.3,-5.6,384,6057,0.00,2.40,0.00,0.000,4,0.000,0.068,2657,788,3316
$GC,6086,-0.75,-117.3,380.4,-5.9,384,6090,0.00,2.25,0.00,0.000,6,0.000,0.046,2657,2222,3316
$GC,6418,-0.75,-117.3,398.1,-5.2,390,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2223,3315
$GC,6721,-0.80,-117.3,412.7,-4.8,395,6726,0.15,2.40,0.00,0.000,4,0.057,0.069,2619,780,3315
$GC,6755,-0.71,-117.3,414.7,-7.1,395,6760,0.15,2.25,0.00,0.000,6,0.082,0.046,2645,2216,3315
$GC,7083,-0.71,-117.3,431.6,-5.2,401,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2216,3314
$GC,7383,-0.71,-117.3,448.1,-5.5,406,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2216,3314
$GC,7686,-0.71,-117.3,466.3,-6.2,411,7691,0.00,2.40,0.00,0.000,4,0.000,0.072,2645,782,3313
$GC,7713,-0.71,-117.3,468.1,-6.9,411,7717,0.00,2.25,0.00,0.000,6,0.000,0.048,2645,2211,3313
$GC,8051,-0.71,-117.3,490.3,-6.6,417,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2210,3313
$GC,8354,-0.71,-117.3,511.6,-7.0,422,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2211,3313
$GC,8657,-0.71,-117.3,531.8,-6.6,427,8661,0.00,2.40,0.00,0.000,4,0.000,0.076,2645,782,3312
$GC,8679,-0.71,-117.3,533.3,-7.2,427,8683,0.00,2.25,0.00,0.000,6,0.000,0.049,2645,2199,3313
$GC,9016,-0.71,-117.3,553.4,-5.9,433,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3312
$GC,9319,-0.71,-117.3,570.0,-5.4,438,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3312
$GC,9623,-0.71,-117.3,585.9,-5.2,443,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3312
$GC,9925,-0.71,-117.3,602.4,-5.5,448,9929,0.00,2.40,0.00,0.000,4,0.000,0.077,2645,781,3311
$GC,9957,-0.71,-117.3,604.4,-6.3,448,9961,0.00,2.22,0.00,0.000,6,0.000,0.051,2645,2180,3311
$GC,10289,-0.71,-117.3,623.0,-5.6,454,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2180,3311
$GC,10592,-0.71,-117.3,640.3,-5.7,459,10596,0.00,2.38,0.00,0.000,4,0.000,0.078,2645,782,3310
$GC,10624,-0.71,-117.3,642.4,-6.1,459,10628,0.00,2.20,0.00,0.000,6,0.000,0.051,2645,2161,3310
$GC,10956,-0.71,-117.3,661.4,-5.7,465,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2161,3310
$GC,11259,-0.71,-117.3,678.2,-5.5,470,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2161,3310
$GC,11562,-0.71,-117.3,694.8,-5.5,475,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2161,3309
$GC,11866,-0.71,-117.3,709.7,-4.9,480,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2161,3309
$GC,12168,-0.71,-117.3,724.0,-4.7,485,12172,0.00,2.35,0.00,0.000,4,0.000,0.081,2645,780,3309
$GC,12202,-0.75,-117.3,725.8,-5.4,485,12206,0.00,2.20,0.00,0.000,6,0.000,0.053,2645,2157,3309
$GC,12539,-0.75,-117.3,742.3,-5.0,491,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2157,3309
$GC,12842,-0.75,-117.3,757.0,-4.8,496,12844,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2157,3309
$GC,13145,-0.75,-117.3,771.9,-4.9,501,13149,0.00,2.35,0.00,0.000,4,0.000,0.083,2645,787,3309
$GC,13172,-0.80,-117.3,773.3,-5.2,501,13176,0.00,2.17,0.00,0.000,6,0.000,0.054,2645,2139,3309
$GC,13504,-0.80,-117.3,790.3,-5.1,507,13508,0.00,2.53,0.00,0.000,4,0.000,0.081,2645,3606,3309
$GC,13519,-0.80,-117.3,791.1,-5.0,507,13523,0.00,2.40,0.00,0.000,6,0.000,0.050,2645,2113,3308
$GC,13862,-0.80,-117.3,807.2,-4.6,513,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2112,3308
$GC,14166,-0.85,-117.3,820.6,-4.4,518,14171,0.15,2.58,0.00,0.000,4,0.061,0.077,2609,3598,3308
$GC,14182,-0.85,-117.3,821.5,-4.3,518,14186,0.00,2.35,0.00,0.000,6,0.000,0.051,2609,2131,3307
$GC,14524,-0.74,-117.3,841.3,-5.8,524,14526,0.15,0.00,0.00,0.000,6,0.090,0.000,2635,2131,3308
$GC,14827,-0.74,-117.3,857.7,-5.5,529,14832,0.00,2.55,0.00,0.000,4,0.000,0.079,2635,3604,3308
$GC,14849,-0.74,-117.3,859.0,-6.5,529,14853,0.00,2.35,0.00,0.000,6,0.000,0.051,2635,2145,3307
$GC,15192,-0.74,-117.3,879.4,-6.0,535,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2144,3307
$GC,15495,-0.74,-117.3,898.0,-6.2,540,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2144,3307
$GC,15798,-0.74,-117.3,916.3,-6.0,545,15802,0.00,2.53,0.00,0.000,4,0.000,0.082,2635,3597,3306
$GC,15830,-0.74,-117.3,918.3,-6.9,545,15834,0.00,2.35,0.00,0.000,6,0.000,0.051,2635,2144,3305
$GC,16156,-0.74,-117.3,936.9,-5.7,551,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2144,3306
$GC,16459,-0.74,-117.3,954.8,-5.9,556,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2144,3305
$GC,16762,-0.74,-117.3,972.2,-5.8,561,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2143,3306
$GC,17066,-0.74,-117.3,989.9,-5.8,566,17067,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2143,3305
$STATE,17125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17125,begin apogee
$GC,17131,-0.23,0.0,993.3,5.8,567,17247,0.65,0.00,105.53,1.486,6,0.071,0.000,2747,2213,2837
$STATE,17247,end apogee,CONTROL_FINISHED_OK
$STATE,17247,begin climb
$GC,17249,0.67,117.3,997.7,0.0,569,17373,1.12,2.67,114.32,1.461,4,0.044,0.085,2945,3601,2358
$GC,17395,0.37,117.3,993.0,7.5,571,17400,0.40,2.50,0.00,0.000,6,0.089,0.056,2885,2201,2358
$GC,17737,0.37,117.3,973.2,5.8,577,17741,0.00,2.47,0.00,0.000,4,0.000,0.098,2885,789,2358
$GC,17781,0.33,117.3,970.5,6.7,577,17785,0.00,2.30,0.00,0.000,6,0.000,0.061,2885,2196,2358
$GC,18095,0.33,117.3,952.3,5.8,583,18099,0.00,2.40,0.00,0.000,4,0.000,0.085,2885,3609,2357
$GC,18121,0.33,117.3,950.5,7.6,583,18126,0.00,2.30,0.00,0.000,6,0.000,0.055,2885,2196,2358
$GC,18459,0.33,117.3,930.6,5.9,589,18460,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2196,2358
$GC,18762,0.33,117.3,912.4,6.0,594,18764,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2196,2358
$GC,19065,0.33,117.3,893.6,6.2,599,19066,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2196,2357
$GC,19368,0.33,117.3,874.5,6.3,604,19369,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2196,2357
$GC,19671,0.33,117.3,855.9,6.1,609,19675,0.00,2.42,0.00,0.000,4,0.000,0.091,2885,790,2357
$GC,19705,0.33,117.3,853.8,5.9,609,19709,0.00,2.22,0.00,0.000,6,0.000,0.056,2885,2186,2356
$GC,20031,0.33,117.3,834.5,5.8,615,20034,0.00,2.38,0.00,0.000,4,0.000,0.085,2885,793,2356
$GC,20069,0.33,118.1,832.4,5.5,615,20073,0.00,2.17,0.00,0.000,6,0.000,0.055,2885,2154,2356
$GC,20401,0.34,131.5,815.2,5.1,621,20416,0.00,0.00,14.02,1.337,6,0.000,0.000,2885,2154,2301
$GC,20704,0.35,132.9,798.7,5.5,626,20705,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2154,2301
$GC,21007,0.35,132.9,781.0,5.8,631,21011,0.00,2.33,0.00,0.000,4,0.000,0.083,2885,790,2301
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$GC,21371,0.35,132.9,758.6,6.1,637,21372,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2129,2301
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