version: 66.03
glider: 119
mission: 5
dive: 258
start: 12 3 108 12 49 41
data:
$ID,119
$MISSION,5
$DIVE,258
$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,-214550.3
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,124208,4659.484,-12717.352,41,1.2,53,18.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-70.5
$GPS2,124850,4659.478,-12717.339,14,1.3,31,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.172,-0.092
$KALMAN_X,-13222.0,360.7,108.1,-163300.8,-2031.8
$KALMAN_Y,319717.0,-720.1,306.7,-317555.5,3449.0
$MHEAD_RNG_PITCHd_Wd,223.3,53892,-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,-51.70,0.000,2,0.000,0.000,859,2212,2555
$GC,78,-0.67,-117.3,3.2,-3.8,5,120,12.20,2.40,-22.25,0.000,4,0.140,0.075,2649,3593,3316
$GC,205,-0.43,-117.3,18.1,-12.4,16,212,0.32,2.25,0.00,0.000,6,0.082,0.039,2703,2203,3316
$GC,532,-0.43,-117.3,41.2,-7.6,48,539,0.00,2.35,0.00,0.000,4,0.000,0.058,2703,786,3316
$GC,574,-0.43,-117.3,44.8,-8.1,55,581,0.00,2.15,0.00,0.000,6,0.000,0.041,2703,2168,3316
$GC,920,-0.43,-117.3,70.8,-6.4,116,926,0.00,2.20,0.00,0.000,4,0.000,0.058,2703,792,3316
$GC,950,-0.47,-117.3,72.7,-5.8,121,956,0.00,2.08,0.00,0.000,6,0.000,0.041,2703,2139,3316
$GC,1282,-0.67,-117.3,95.0,-6.7,162,1286,0.25,2.15,0.00,0.000,4,0.043,0.055,2643,792,3316
$GC,1406,-0.54,-117.3,105.5,-8.4,173,1411,0.20,2.50,0.00,0.000,6,0.076,0.044,2678,2392,3316
$GC,1730,-0.54,-117.3,125.8,-6.1,203,1735,0.00,2.65,0.00,0.000,4,0.000,0.058,2679,798,3316
$GC,1786,-0.61,-117.3,129.7,-7.1,207,1792,0.00,2.40,0.00,0.000,6,0.000,0.044,2679,2338,3316
$GC,2115,-0.66,-117.3,150.6,-6.1,238,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2338,3316
$GC,2420,-0.71,-117.3,168.6,-5.8,253,2425,0.15,2.50,0.00,0.000,4,0.054,0.058,2640,796,3316
$GC,2505,-0.64,-117.3,175.0,-7.8,257,2512,0.00,2.35,0.00,0.000,6,0.000,0.046,2640,2295,3316
$GC,2840,-0.53,-117.3,201.6,-7.4,273,2842,0.25,0.00,0.00,0.000,6,0.076,0.000,2684,2295,3316
$GC,3149,-0.73,-117.3,218.5,-6.1,288,3154,0.20,2.45,0.00,0.000,4,0.048,0.060,2633,788,3316
$GC,3227,-0.63,-117.3,224.3,-7.3,291,3234,0.15,2.38,0.00,0.000,6,0.083,0.046,2659,2313,3317
$GC,3543,-0.63,-117.3,243.9,-6.2,307,3547,0.00,2.47,0.00,0.000,4,0.000,0.062,2659,793,3316
$GC,3592,-0.63,-117.3,247.1,-5.8,309,3596,0.00,2.33,0.00,0.000,6,0.000,0.045,2659,2275,3316
$GC,3914,-0.63,-117.3,265.9,-5.8,325,3918,0.00,2.40,0.00,0.000,4,0.000,0.062,2659,795,3316
$GC,3937,-0.63,-117.3,267.4,-6.3,326,3941,0.00,2.30,0.00,0.000,6,0.000,0.046,2659,2263,3316
$GC,4263,-0.63,-117.3,285.4,-5.2,342,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2264,3316
$GC,4574,-0.63,-117.3,301.1,-4.9,357,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3315
$GC,4875,-0.63,-117.3,316.9,-5.3,362,4879,0.00,2.40,0.00,0.000,4,0.000,0.064,2659,799,3315
$GC,4896,-0.63,-117.3,318.1,-5.7,362,4901,0.00,2.28,0.00,0.000,6,0.000,0.045,2659,2226,3315
$GC,5240,-0.63,-117.3,337.9,-5.7,368,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2227,3315
$GC,5543,-0.63,-117.3,354.7,-5.5,373,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2227,3314
$GC,5846,-0.63,-117.3,370.5,-5.1,378,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2226,3314
$GC,6151,-0.63,-117.3,385.5,-5.0,383,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2227,3313
$GC,6454,-0.63,-117.3,401.2,-5.2,388,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2227,3313
$GC,6755,-0.63,-117.3,416.2,-4.9,393,6759,0.00,2.38,0.00,0.000,4,0.000,0.070,2659,796,3313
$GC,6789,-0.68,-117.3,418.0,-5.3,393,6793,0.00,2.22,0.00,0.000,6,0.000,0.046,2659,2216,3313
$GC,7115,-0.68,-117.3,433.4,-4.7,399,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2216,3312
$GC,7418,-0.68,-117.3,447.2,-4.6,404,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2216,3312
$GC,7721,-0.68,-117.3,463.1,-5.4,409,7725,0.00,2.38,0.00,0.000,4,0.000,0.071,2659,794,3312
$GC,7754,-0.73,-117.3,465.1,-5.9,409,7758,0.00,2.22,0.00,0.000,6,0.000,0.048,2659,2202,3312
$GC,8087,-0.73,-117.3,483.7,-5.6,415,8091,0.00,2.35,0.00,0.000,4,0.000,0.072,2659,799,3312
$GC,8119,-0.79,-117.3,485.6,-5.8,415,8124,0.17,2.17,0.00,0.000,6,0.054,0.048,2622,2179,3312
$GC,8453,-0.66,-117.3,508.6,-6.9,421,8454,0.17,0.00,0.00,0.000,6,0.085,0.000,2652,2179,3311
$GC,8754,-0.66,-117.3,524.8,-5.4,426,8759,0.00,2.40,0.00,0.000,4,0.000,0.072,2652,3609,3311
$GC,8775,-0.66,-117.3,526.2,-6.1,426,8779,0.00,2.30,0.00,0.000,6,0.000,0.047,2652,2162,3311
$GC,9123,-0.66,-117.3,545.8,-5.7,432,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2161,3310
$GC,9426,-0.66,-117.3,563.2,-5.8,437,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2161,3310
$GC,9730,-0.66,-117.3,580.0,-5.5,442,9734,0.00,2.45,0.00,0.000,4,0.000,0.072,2652,3597,3309
$GC,9746,-0.66,-117.3,580.9,-5.5,442,9750,0.00,2.28,0.00,0.000,6,0.000,0.048,2652,2170,3309
$GC,10094,-0.66,-117.3,598.6,-5.0,448,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2170,3309
$GC,10397,-0.66,-117.3,613.5,-5.0,453,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2169,3309
$GC,10703,-0.66,-117.3,629.2,-5.2,458,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2169,3309
$GC,11004,-0.66,-117.3,644.3,-5.0,463,11008,0.00,2.38,0.00,0.000,4,0.000,0.081,2652,796,3309
$GC,11036,-0.71,-117.3,646.2,-5.7,463,11040,0.00,2.17,0.00,0.000,6,0.000,0.052,2652,2164,3309
$GC,11368,-0.71,-117.3,661.6,-4.6,469,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2164,3308
$GC,11673,-0.71,-117.3,676.1,-4.8,474,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2165,3308
$GC,11974,-0.71,-117.3,690.7,-4.9,479,11978,0.00,2.30,0.00,0.000,4,0.000,0.078,2652,799,3308
$GC,12002,-0.75,-117.3,692.0,-5.8,479,12005,0.00,2.17,0.00,0.000,6,0.000,0.051,2652,2161,3307
$GC,12345,-0.75,-117.3,710.0,-5.3,485,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2161,3308
$GC,12648,-0.75,-117.3,726.1,-5.3,490,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2162,3307
$GC,12951,-0.80,-117.3,742.7,-5.4,495,12953,0.12,0.00,0.00,0.000,6,0.066,0.000,2624,2161,3307
$GC,13256,-0.71,-117.3,761.7,-6.3,500,13260,0.00,2.47,0.00,0.000,4,0.000,0.078,2624,3604,3307
$GC,13296,-0.60,-117.3,764.6,-7.6,500,13301,0.25,2.30,0.00,0.000,6,0.081,0.049,2666,2172,3307
$GC,13618,-0.79,-117.3,782.6,-5.9,506,13622,0.17,2.47,0.00,0.000,4,0.056,0.077,2623,3604,3306
$GC,13695,-0.69,-117.3,788.0,-6.4,507,13700,0.12,1.98,0.00,0.000,6,0.094,0.048,2644,2368,3306
$GC,14051,-0.80,-117.3,810.5,-6.4,513,14055,0.00,2.15,0.00,0.000,4,0.000,0.081,2644,3609,3306
$GC,14067,-0.88,-117.3,811.7,-6.2,513,14073,0.20,2.85,0.00,0.000,6,0.054,0.053,2603,1853,3306
$GC,14418,-0.82,-117.3,834.9,-6.7,519,14421,0.00,1.83,0.00,0.000,4,0.000,0.089,2603,792,3306
$GC,14553,-0.69,-117.3,843.9,-6.8,521,14558,0.25,2.45,0.00,0.000,6,0.080,0.054,2645,2310,3306
$GC,14918,-0.69,-117.3,860.4,-4.4,527,14923,0.00,2.58,0.00,0.000,4,0.000,0.081,2645,803,3305
$GC,14974,-0.74,-117.3,863.0,-4.7,527,14980,0.00,2.35,0.00,0.000,6,0.000,0.056,2645,2260,3305
$GC,15286,-0.74,-117.3,876.1,-4.3,533,15290,0.00,2.53,0.00,0.000,4,0.000,0.083,2645,793,3305
$GC,15325,-0.78,-117.3,877.8,-5.4,533,15329,0.00,2.30,0.00,0.000,6,0.000,0.056,2645,2217,3305
$GC,15645,-0.78,-117.3,891.5,-4.2,539,15648,0.00,2.45,0.00,0.000,4,0.000,0.084,2645,793,3305
$GC,15683,-0.83,-117.3,893.2,-4.8,539,15688,0.15,2.22,0.00,0.000,6,0.058,0.057,2614,2173,3305
$GC,16009,-0.72,-117.3,912.3,-6.0,545,16014,0.15,2.47,0.00,0.000,4,0.091,0.084,2643,3604,3305
$GC,16031,-0.68,-117.3,913.6,-5.0,545,16035,0.00,2.30,0.00,0.000,6,0.000,0.051,2643,2168,3305
$GC,16368,-0.68,-117.3,930.2,-4.9,551,16369,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2168,3305
$GC,16671,-0.68,-117.3,943.8,-4.5,556,16675,0.00,2.38,0.00,0.000,4,0.000,0.090,2643,792,3305
$GC,16709,-0.72,-117.3,945.6,-4.7,556,16713,0.00,2.20,0.00,0.000,6,0.000,0.057,2643,2154,3305
$GC,17035,-0.72,-117.3,960.0,-4.5,562,17037,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2154,3304
$GC,17339,-0.72,-117.3,974.5,-4.8,567,17340,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2154,3304
$GC,17642,-0.72,-117.3,989.4,-4.9,572,17646,0.00,2.38,0.00,0.000,4,0.000,0.091,2643,798,3304
$STATE,17655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17655,begin apogee
$GC,17662,-0.23,0.0,990.3,5.1,572,17768,0.57,0.00,102.78,1.506,6,0.075,0.000,2744,2209,2837
$STATE,17769,end apogee,CONTROL_FINISHED_OK
$STATE,17769,begin climb
$GC,17771,0.67,117.3,993.5,0.0,574,17895,1.15,2.67,114.32,1.463,4,0.050,0.087,2943,3602,2358
$GC,17934,0.39,117.3,987.7,7.7,576,17939,0.38,2.45,0.00,0.000,6,0.091,0.057,2887,2212,2358
$GC,18259,0.39,117.3,969.3,5.6,582,18263,0.00,2.50,0.00,0.000,4,0.000,0.097,2887,783,2358
$GC,18314,0.39,117.3,966.0,5.8,582,18321,0.00,2.30,0.00,0.000,6,0.000,0.060,2888,2187,2358
$GC,18623,0.39,117.3,947.5,6.0,588,18625,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2186,2358
$GC,18927,0.39,117.3,929.7,5.9,593,18931,0.00,2.42,0.00,0.000,4,0.000,0.090,2887,782,2358
$GC,18976,0.39,117.3,926.3,6.1,593,18980,0.00,2.22,0.00,0.000,6,0.000,0.058,2888,2155,2358
$GC,19291,0.39,117.3,907.4,6.1,599,19295,0.00,2.47,0.00,0.000,4,0.000,0.084,2887,3602,2358
$GC,19329,0.39,117.3,904.7,6.2,599,19333,0.00,2.38,0.00,0.000,6,0.000,0.055,2888,2135,2358
$GC,19655,0.39,117.3,884.7,6.1,605,19656,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2135,2358
$GC,19958,0.39,117.3,866.5,6.0,610,19959,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2135,2358
$GC,20261,0.39,117.3,849.3,5.7,615,20265,0.00,2.53,0.00,0.000,4,0.000,0.080,2887,3604,2358
$GC,20298,0.39,117.3,847.0,5.8,615,20302,0.00,2.35,0.00,0.000,6,0.000,0.054,2887,2152,2357
$GC,20625,0.40,122.1,829.2,5.3,621,20636,0.00,2.33,6.35,1.159,4,0.000,0.090,2887,791,2338
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