version: 66.03
glider: 119
mission: 5
dive: 257
start: 12 3 108 3 6 56
data:
$ID,119
$MISSION,5
$DIVE,257
$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,-214517.09
$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,31
$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
$GPS1,030014,4659.832,-12711.521,30,1.3,36,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-69.7
$GPS2,030604,4659.816,-12711.563,14,2.1,33,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.190,-0.044
$KALMAN_X,-12310.1,-282.5,291.9,-156452.4,-1236.1
$KALMAN_Y,317720.6,376.3,243.8,-315988.5,1621.1
$MHEAD_RNG_PITCHd_Wd,238.4,61179,-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,-51.58,0.000,2,0.000,0.000,860,2220,2543
$GC,77,-0.67,-117.3,3.3,-3.9,5,121,12.23,2.38,-22.48,0.000,4,0.143,0.074,2646,3595,3317
$GC,133,-0.39,-117.3,9.2,-11.0,10,138,0.38,2.22,0.00,0.000,6,0.081,0.040,2709,2199,3317
$GC,459,-0.39,-117.3,32.1,-6.0,40,463,0.00,2.33,0.00,0.000,4,0.000,0.059,2709,796,3317
$GC,492,-0.47,-117.3,34.5,-6.4,42,498,0.00,2.15,0.00,0.000,6,0.000,0.042,2709,2180,3317
$GC,830,-0.47,-117.3,56.3,-6.5,95,836,0.00,2.22,0.00,0.000,4,0.000,0.058,2709,789,3317
$GC,860,-0.52,-117.3,58.2,-6.5,100,866,0.00,2.12,0.00,0.000,6,0.000,0.041,2709,2168,3317
$GC,1205,-0.62,-117.3,79.3,-4.5,161,1212,0.22,2.38,0.00,0.000,4,0.047,0.061,2655,3606,3317
$GC,1252,-0.51,-117.3,82.7,-8.0,166,1257,0.17,2.10,0.00,0.000,6,0.081,0.038,2686,2269,3317
$GC,1577,-0.51,-117.3,104.5,-6.1,196,1581,0.00,2.45,0.00,0.000,4,0.000,0.060,2686,793,3318
$GC,1655,-0.60,-117.3,109.3,-5.9,202,1661,0.00,2.25,0.00,0.000,6,0.000,0.044,2686,2248,3318
$GC,1981,-0.66,-117.3,126.5,-4.8,233,1986,0.15,2.35,0.00,0.000,4,0.054,0.061,2648,792,3318
$GC,2010,-0.61,-117.3,128.3,-6.6,235,2014,0.00,2.20,0.00,0.000,6,0.000,0.044,2648,2206,3318
$GC,2345,-0.53,-117.3,152.1,-7.7,265,2350,0.15,2.30,0.00,0.000,4,0.084,0.061,2679,794,3319
$GC,2378,-0.61,-117.3,154.2,-6.3,266,2384,0.00,2.15,0.00,0.000,6,0.000,0.045,2678,2186,3318
$GC,2694,-0.68,-117.3,171.5,-5.5,282,2696,0.15,0.00,0.00,0.000,6,0.055,0.000,2644,2186,3319
$GC,3004,-0.61,-117.3,192.2,-6.3,297,3009,0.12,2.28,0.00,0.000,4,0.089,0.061,2666,786,3318
$GC,3044,-0.65,-117.3,194.6,-6.0,299,3047,0.00,2.17,0.00,0.000,6,0.000,0.045,2666,2181,3318
$GC,3370,-0.65,-117.3,212.8,-6.1,315,3374,0.00,2.35,0.00,0.000,4,0.000,0.067,2666,3605,3318
$GC,3392,-0.65,-117.3,214.3,-6.5,316,3396,0.00,2.25,0.00,0.000,6,0.000,0.043,2666,2185,3318
$GC,3719,-0.65,-117.3,234.0,-5.7,332,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2179,3318
$GC,4029,-0.65,-117.3,250.0,-5.4,347,4033,0.00,2.38,0.00,0.000,4,0.000,0.067,2666,3604,3318
$GC,4056,-0.65,-117.3,251.7,-6.0,348,4059,0.00,2.25,0.00,0.000,6,0.000,0.044,2666,2190,3318
$GC,4377,-0.65,-117.3,270.6,-6.2,364,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2183,3318
$GC,4687,-0.70,-117.3,290.0,-6.2,379,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2184,3317
$GC,4993,-0.70,-117.3,307.9,-5.7,390,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2184,3317
$GC,5296,-0.74,-117.3,324.6,-5.4,395,5301,0.15,2.35,0.00,0.000,4,0.059,0.066,2629,796,3317
$GC,5329,-0.66,-117.3,326.9,-7.5,395,5333,0.15,2.22,0.00,0.000,6,0.082,0.045,2655,2218,3317
$GC,5655,-0.66,-117.3,344.2,-5.2,401,5659,0.00,2.33,0.00,0.000,4,0.000,0.065,2655,802,3317
$GC,5687,-0.66,-117.3,346.0,-5.5,401,5691,0.00,2.17,0.00,0.000,6,0.000,0.045,2655,2196,3317
$GC,6019,-0.66,-117.3,363.5,-5.3,407,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3316
$GC,6322,-0.66,-117.3,380.5,-5.7,412,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2197,3316
$GC,6625,-0.66,-117.3,398.0,-5.8,417,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3315
$GC,6928,-0.66,-117.3,414.6,-5.4,422,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3315
$GC,7231,-0.66,-117.3,431.6,-5.6,427,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3315
$GC,7536,-0.66,-117.3,450.1,-6.2,432,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3314
$GC,7837,-0.66,-117.3,468.6,-6.0,437,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3314
$GC,8141,-0.66,-117.3,485.0,-5.3,442,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2196,3314
$GC,8444,-0.66,-117.3,501.2,-5.4,447,8448,0.00,2.35,0.00,0.000,4,0.000,0.075,2655,800,3314
$GC,8466,-0.70,-117.3,502.4,-5.1,447,8470,0.00,2.22,0.00,0.000,6,0.000,0.048,2655,2209,3314
$GC,8810,-0.70,-117.3,519.9,-5.0,453,8814,0.00,2.35,0.00,0.000,4,0.000,0.073,2655,796,3313
$GC,8832,-0.75,-117.3,521.1,-5.3,453,8836,0.00,2.20,0.00,0.000,6,0.000,0.049,2655,2185,3312
$GC,9175,-0.75,-117.3,538.3,-5.0,459,9178,0.00,2.30,0.00,0.000,4,0.000,0.074,2655,806,3313
$GC,9197,-0.80,-117.3,539.5,-5.6,459,9201,0.15,2.15,0.00,0.000,6,0.056,0.050,2623,2162,3313
$GC,9539,-0.69,-117.3,564.0,-7.2,465,9544,0.15,2.40,0.00,0.000,4,0.087,0.071,2651,3598,3312
$GC,9560,-0.69,-117.3,565.4,-6.3,465,9564,0.00,2.30,0.00,0.000,6,0.000,0.048,2651,2158,3311
$GC,9903,-0.69,-117.3,584.1,-5.3,471,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2157,3311
$GC,10206,-0.69,-117.3,599.1,-4.9,476,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2157,3311
$GC,10509,-0.69,-117.3,612.8,-4.5,481,10513,0.00,2.30,0.00,0.000,4,0.000,0.081,2652,802,3310
$GC,10531,-0.73,-117.3,613.9,-5.0,481,10535,0.00,2.15,0.00,0.000,6,0.000,0.051,2651,2157,3310
$GC,10868,-0.73,-117.3,631.0,-5.1,487,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2158,3310
$GC,11171,-0.73,-117.3,647.9,-5.6,492,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2158,3309
$GC,11474,-0.73,-117.3,664.1,-5.3,497,11478,0.00,2.30,0.00,0.000,4,0.000,0.080,2652,802,3310
$GC,11501,-0.78,-117.3,665.7,-5.4,497,11505,0.00,2.15,0.00,0.000,6,0.000,0.053,2651,2150,3310
$GC,11832,-0.78,-117.3,681.2,-4.6,503,11837,0.00,2.45,0.00,0.000,4,0.000,0.077,2651,3602,3310
$GC,11854,-0.78,-117.3,682.2,-4.6,503,11858,0.00,2.35,0.00,0.000,6,0.000,0.050,2652,2136,3310
$GC,12191,-0.78,-117.3,696.4,-4.2,509,12195,0.00,2.28,0.00,0.000,4,0.000,0.085,2651,802,3310
$GC,12225,-0.84,-117.3,698.1,-5.0,509,12230,0.20,2.15,0.00,0.000,6,0.052,0.053,2610,2152,3309
$GC,12550,-0.69,-117.3,718.8,-6.5,515,12552,0.20,0.00,0.00,0.000,6,0.085,0.000,2645,2152,3309
$GC,12853,-0.69,-117.3,736.2,-5.8,520,12857,0.00,2.45,0.00,0.000,4,0.000,0.078,2644,3604,3309
$GC,12869,-0.69,-117.3,737.2,-5.8,520,12873,0.00,2.33,0.00,0.000,6,0.000,0.050,2645,2148,3308
$GC,13212,-0.69,-117.3,757.1,-5.7,526,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2148,3308
$GC,13515,-0.69,-117.3,773.4,-5.3,531,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2148,3308
$GC,13818,-0.69,-117.3,788.2,-4.8,536,13823,0.00,2.47,0.00,0.000,4,0.000,0.078,2644,3604,3308
$GC,13840,-0.69,-117.3,789.3,-4.3,536,13845,0.00,2.30,0.00,0.000,6,0.000,0.051,2645,2158,3308
$GC,14178,-0.69,-117.3,803.8,-4.2,542,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3308
$GC,14481,-0.69,-117.3,817.5,-4.5,547,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3308
$GC,14784,-0.69,-117.3,832.1,-4.9,552,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2158,3307
$GC,15087,-0.69,-117.3,848.0,-5.2,557,15091,0.00,2.47,0.00,0.000,4,0.000,0.081,2644,3598,3307
$GC,15103,-0.69,-117.3,849.0,-5.4,557,15107,0.00,2.30,0.00,0.000,6,0.000,0.051,2645,2166,3307
$GC,15457,-0.69,-117.3,867.8,-5.3,563,15458,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2166,3307
$GC,15761,-0.69,-117.3,882.6,-4.9,568,15765,0.00,2.38,0.00,0.000,4,0.000,0.089,2645,802,3307
$GC,15782,-0.69,-117.3,883.7,-4.9,568,15786,0.00,2.22,0.00,0.000,6,0.000,0.056,2644,2179,3307
$GC,16125,-0.69,-117.3,898.5,-4.3,574,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2179,3307
$GC,16429,-0.69,-117.3,911.0,-4.1,579,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2180,3306
$GC,16731,-0.69,-117.3,923.5,-4.2,584,16735,0.00,2.40,0.00,0.000,4,0.000,0.087,2644,798,3306
$GC,16765,-0.74,-117.3,925.0,-4.6,584,16770,0.00,2.22,0.00,0.000,6,0.000,0.058,2645,2170,3306
$GC,17091,-0.88,-117.3,942.4,-5.6,590,17096,0.17,2.40,0.00,0.000,4,0.055,0.088,2603,800,3305
$GC,17321,-0.76,-117.3,957.1,-7.0,593,17326,0.17,2.85,0.00,0.000,6,0.084,0.062,2632,2531,3305
$GC,17653,-0.76,-117.3,974.3,-5.2,599,17657,0.00,3.00,0.00,0.000,4,0.000,0.085,2632,805,3305
$GC,17735,-0.76,-117.3,979.0,-6.3,600,17740,0.00,2.75,0.00,0.000,6,0.000,0.061,2632,2474,3305
$STATE,17956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17956,begin apogee
$GC,17962,-0.23,0.0,990.4,5.1,604,18069,0.68,0.00,103.60,1.506,6,0.074,0.000,2747,2180,2837
$STATE,18070,end apogee,CONTROL_FINISHED_OK
$STATE,18070,begin climb
$GC,18072,0.67,117.3,991.8,0.0,605,18195,1.12,2.75,114.57,1.463,4,0.044,0.086,2943,3604,2358
$GC,18274,0.41,117.3,983.4,8.9,608,18279,0.32,2.40,0.00,0.000,6,0.090,0.058,2895,2224,2358
$GC,18628,0.41,117.3,962.4,5.9,614,18632,0.00,2.53,0.00,0.000,4,0.000,0.099,2894,783,2358
$GC,18666,0.36,117.3,959.8,6.6,614,18670,0.00,2.33,0.00,0.000,6,0.000,0.061,2894,2203,2358
$GC,18986,0.36,117.3,940.9,5.9,620,18987,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2203,2358
$GC,19289,0.36,117.3,923.0,5.9,625,19293,0.00,2.45,0.00,0.000,4,0.000,0.093,2895,789,2358
$GC,19333,0.31,117.3,920.1,5.9,625,19338,0.15,2.28,0.00,0.000,6,0.092,0.059,2870,2192,2357
$GC,19647,0.42,137.1,904.5,4.9,631,19672,0.00,2.45,19.58,1.410,4,0.000,0.089,2870,789,2278
$GC,19707,0.48,137.1,901.3,5.6,632,19712,0.17,2.20,0.00,0.000,6,0.055,0.057,2906,2134,2278
$GC,20072,0.48,137.1,879.5,6.0,638,20076,0.00,2.50,0.00,0.000,4,0.000,0.082,2906,3603,2278
$GC,20106,0.42,137.1,877.3,6.6,638,20110,0.00,2.42,0.00,0.000,6,0.000,0.055,2907,2116,2278
$GC,20432,0.42,137.1,857.4,6.0,644,20433,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2115,2278
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