version: 66.03
glider: 119
mission: 5
dive: 265
start: 12 6 108 7 43 9
data:
$ID,119
$MISSION,5
$DIVE,265
$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,-214675.78
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,073621,4658.717,-12750.935,41,2.2,60,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.6
$GPS2,074215,4658.741,-12750.870,13,1.1,13,18.6
$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,-0.017
$KALMAN_X,-10140.6,-60.6,188.4,-208418.4,1035.1
$KALMAN_Y,334748.7,171.2,-363.6,-334175.4,1824.5
$MHEAD_RNG_PITCHd_Wd,246.3,11765,-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,-51.90,0.000,2,0.000,0.000,860,2229,2555
$GC,77,-0.67,-117.3,3.4,-4.3,5,121,12.18,2.47,-21.95,0.000,4,0.140,0.068,2648,789,3316
$GC,182,-0.47,-117.3,13.6,-9.3,14,189,0.28,2.20,0.00,0.000,6,0.081,0.041,2694,2196,3316
$GC,508,-0.47,-117.3,38.9,-7.5,45,512,0.00,2.28,0.00,0.000,4,0.000,0.058,2694,785,3316
$GC,548,-0.47,-117.3,41.7,-7.1,50,555,0.00,2.12,0.00,0.000,6,0.000,0.040,2694,2163,3316
$GC,893,-0.47,-117.3,65.3,-6.6,111,899,0.00,2.20,0.00,0.000,4,0.000,0.057,2694,786,3316
$GC,922,-0.47,-117.3,67.3,-6.9,116,928,0.00,2.05,0.00,0.000,6,0.000,0.040,2694,2121,3317
$GC,1258,-0.51,-117.3,89.8,-5.9,163,1262,0.00,2.15,0.00,0.000,4,0.000,0.058,2694,782,3317
$GC,1279,-0.57,-117.3,91.2,-6.4,164,1286,0.00,2.05,0.00,0.000,6,0.000,0.041,2694,2124,3317
$GC,1607,-0.62,-117.3,109.9,-5.6,195,1614,0.15,0.00,0.00,0.000,6,0.055,0.000,2659,2124,3317
$GC,1935,-0.55,-117.3,133.8,-6.7,226,1936,0.12,0.00,0.00,0.000,6,0.087,0.000,2681,2124,3317
$GC,2252,-0.59,-117.3,151.6,-6.1,255,2256,0.00,2.47,0.00,0.000,4,0.000,0.067,2681,3598,3317
$GC,2292,-0.65,-117.3,154.3,-7.2,257,2297,0.12,2.40,0.00,0.000,6,0.060,0.043,2653,2087,3317
$GC,2619,-0.61,-117.3,178.3,-7.3,273,2623,0.00,2.55,0.00,0.000,4,0.000,0.064,2652,3602,3317
$GC,2645,-0.61,-117.3,180.4,-7.6,274,2649,0.00,2.33,0.00,0.000,6,0.000,0.043,2652,2134,3317
$GC,2967,-0.61,-117.3,201.4,-6.2,290,2971,0.00,2.45,0.00,0.000,4,0.000,0.064,2652,3595,3318
$GC,2999,-0.61,-117.3,203.6,-6.6,291,3006,0.00,2.33,0.00,0.000,6,0.000,0.042,2652,2150,3318
$GC,3315,-0.61,-117.3,223.0,-6.4,307,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2145,3317
$GC,3625,-0.61,-117.3,240.9,-5.5,322,3629,0.00,2.28,0.00,0.000,4,0.000,0.067,2652,797,3317
$GC,3651,-0.61,-117.3,242.6,-5.9,323,3655,0.00,2.12,0.00,0.000,6,0.000,0.044,2652,2157,3317
$GC,3973,-0.61,-117.3,260.9,-5.8,339,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2158,3317
$GC,4282,-0.61,-117.3,278.5,-5.7,354,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2158,3316
$GC,4591,-0.61,-117.3,296.1,-6.0,369,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2158,3317
$GC,4916,-0.61,-117.3,316.5,-6.3,377,4920,0.00,2.40,0.00,0.000,4,0.000,0.068,2652,3599,3316
$GC,4949,-0.61,-117.3,318.9,-7.5,377,4952,0.00,2.33,0.00,0.000,6,0.000,0.045,2652,2136,3316
$GC,5286,-0.61,-117.3,341.3,-6.7,383,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2135,3315
$GC,5589,-0.61,-117.3,360.7,-6.4,388,5593,0.00,2.47,0.00,0.000,4,0.000,0.068,2652,3604,3315
$GC,5615,-0.61,-117.3,362.5,-7.1,388,5619,0.00,2.33,0.00,0.000,6,0.000,0.045,2652,2152,3315
$GC,5954,-0.61,-117.3,383.9,-6.4,394,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2152,3314
$GC,6256,-0.61,-117.3,402.8,-6.3,399,6261,0.00,2.45,0.00,0.000,4,0.000,0.068,2652,3606,3313
$GC,6283,-0.61,-117.3,404.7,-7.2,399,6287,0.00,2.30,0.00,0.000,6,0.000,0.045,2652,2151,3313
$GC,6622,-0.61,-117.3,425.2,-6.0,405,6626,0.00,2.45,0.00,0.000,4,0.000,0.068,2652,3606,3313
$GC,6643,-0.61,-117.3,426.5,-5.9,405,6647,0.00,2.28,0.00,0.000,6,0.000,0.046,2652,2187,3313
$GC,6986,-0.61,-117.3,444.4,-5.1,411,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2186,3313
$GC,7289,-0.61,-117.3,459.1,-4.8,416,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2186,3313
$GC,7593,-0.61,-117.3,473.3,-4.7,421,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2186,3312
$GC,7895,-0.61,-117.3,487.5,-4.7,426,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2186,3312
$GC,8199,-0.61,-117.3,502.2,-4.9,431,8203,0.00,2.35,0.00,0.000,4,0.000,0.079,2652,800,3312
$GC,8227,-0.65,-117.3,503.8,-5.7,431,8231,0.00,2.22,0.00,0.000,6,0.000,0.050,2652,2209,3312
$GC,8558,-0.65,-117.3,521.7,-5.4,437,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2209,3311
$GC,8861,-0.65,-117.3,539.1,-5.7,442,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2209,3310
$GC,9165,-0.65,-117.3,557.0,-5.9,447,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2209,3310
$GC,9467,-0.65,-117.3,574.3,-5.6,452,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2210,3309
$GC,9771,-0.69,-117.3,589.8,-5.1,457,9775,0.00,2.35,0.00,0.000,4,0.000,0.077,2652,806,3310
$GC,9798,-0.74,-117.3,591.3,-5.5,457,9802,0.00,2.25,0.00,0.000,6,0.000,0.051,2652,2220,3309
$GC,10135,-0.74,-117.3,607.3,-4.8,463,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2221,3309
$GC,10439,-0.79,-117.3,621.5,-4.7,468,10443,0.12,2.40,0.00,0.000,4,0.066,0.076,2624,803,3309
$GC,10477,-0.73,-117.3,623.8,-6.2,468,10481,0.00,2.25,0.00,0.000,6,0.000,0.052,2624,2215,3309
$GC,10797,-0.66,-117.3,642.3,-5.8,474,10802,0.15,2.40,0.00,0.000,4,0.087,0.077,2653,803,3309
$GC,10818,-0.66,-117.3,643.5,-5.3,474,10822,0.00,2.20,0.00,0.000,6,0.000,0.052,2653,2184,3309
$GC,11156,-0.70,-117.3,659.7,-4.9,480,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2184,3308
$GC,11460,-0.76,-117.3,675.1,-5.0,485,11464,0.00,2.35,0.00,0.000,4,0.000,0.079,2653,798,3308
$GC,11499,-0.83,-117.3,677.2,-5.5,485,11503,0.20,2.20,0.00,0.000,6,0.054,0.054,2612,2173,3308
$GC,11819,-0.71,-117.3,698.2,-6.6,491,11820,0.17,0.00,0.00,0.000,6,0.087,0.000,2642,2173,3308
$GC,12121,-0.78,-117.3,714.9,-5.6,496,12126,0.00,2.45,0.00,0.000,4,0.000,0.080,2642,3606,3308
$GC,12205,-0.78,-117.3,719.8,-6.2,497,12209,0.00,2.35,0.00,0.000,6,0.000,0.050,2643,2132,3307
$GC,12548,-0.89,-117.3,740.0,-6.1,503,12552,0.15,2.55,0.00,0.000,4,0.060,0.075,2605,3602,3307
$GC,12558,-0.96,-117.3,740.8,-6.1,503,12562,0.00,2.83,0.00,0.000,6,0.000,0.052,2605,1856,3307
$GC,12906,-0.90,-117.3,764.4,-6.9,509,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1856,3307
$GC,13209,-0.84,-117.3,786.3,-7.3,514,13214,0.00,3.00,0.00,0.000,4,0.000,0.076,2605,3602,3307
$GC,13270,-0.66,-117.3,791.1,-8.1,515,13275,0.22,1.80,0.00,0.000,6,0.076,0.049,2653,2482,3306
$GC,13642,-0.78,-117.3,814.5,-6.3,521,13647,0.12,2.88,0.00,0.000,4,0.066,0.080,2625,806,3306
$GC,13747,-0.78,-117.3,821.6,-7.1,522,13751,0.00,1.83,0.00,0.000,6,0.000,0.056,2625,1929,3306
$GC,14074,-0.78,-117.3,841.8,-6.2,528,14079,0.00,2.85,0.00,0.000,4,0.000,0.080,2625,3609,3305
$GC,14125,-0.74,-117.3,844.9,-5.2,528,14128,0.00,2.00,0.00,0.000,6,0.000,0.049,2625,2343,3305
$GC,14439,-0.74,-117.3,863.4,-5.9,534,14443,0.00,2.62,0.00,0.000,4,0.000,0.085,2625,808,3305
$GC,14511,-0.74,-117.3,867.6,-5.8,535,14515,0.00,1.70,0.00,0.000,6,0.000,0.058,2625,1846,3305
$GC,14870,-0.74,-117.3,888.4,-5.7,541,14875,0.00,2.97,0.00,0.000,4,0.000,0.080,2625,3599,3305
$GC,14948,-0.69,-117.3,893.0,-6.6,542,14952,0.12,1.95,0.00,0.000,6,0.091,0.049,2646,2372,3305
$GC,15304,-0.80,-117.3,912.2,-5.4,548,15308,0.00,2.70,0.00,0.000,4,0.000,0.087,2646,801,3305
$GC,15393,-0.91,-117.3,917.4,-5.0,549,15397,0.17,1.73,0.00,0.000,6,0.044,0.059,2600,1853,3305
$GC,15737,-0.85,-117.3,939.1,-6.4,555,15742,0.00,2.97,0.00,0.000,4,0.000,0.082,2600,3598,3305
$GC,15786,-0.67,-117.3,942.7,-6.6,555,15791,0.30,2.03,0.00,0.000,6,0.084,0.050,2649,2332,3304
$GC,16097,-0.80,-117.3,960.3,-5.9,560,16102,0.12,2.22,0.00,0.000,4,0.064,0.087,2621,3604,3305
$GC,16113,-0.86,-117.3,961.4,-5.7,560,16118,0.00,2.85,0.00,0.000,6,0.000,0.055,2621,1853,3304
$GC,16456,-0.86,-117.3,982.4,-6.1,566,16459,0.00,1.85,0.00,0.000,4,0.000,0.100,2621,803,3305
$GC,16500,-0.86,-117.3,985.1,-6.0,566,16504,0.00,2.65,0.00,0.000,6,0.000,0.062,2621,2409,3304
$STATE,16642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16642,begin apogee
$GC,16648,-0.23,0.0,993.6,5.9,569,16755,0.75,0.00,103.38,1.506,6,0.074,0.000,2748,2191,2837
$STATE,16755,end apogee,CONTROL_FINISHED_OK
$STATE,16755,begin climb
$GC,16758,0.67,117.3,995.9,0.0,570,16881,1.12,2.70,115.22,1.461,4,0.048,0.085,2944,3595,2358
$GC,17136,0.39,117.3,970.8,9.6,575,17141,0.35,2.30,0.00,0.000,6,0.093,0.060,2889,2221,2358
$GC,17450,0.39,117.3,951.4,5.9,581,17454,0.00,2.40,0.00,0.000,4,0.000,0.084,2889,3608,2358
$GC,17494,0.34,117.3,948.4,6.7,581,17498,0.00,2.28,0.00,0.000,6,0.000,0.057,2889,2208,2358
$GC,17820,0.34,117.3,930.1,5.6,587,17821,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2207,2358
$GC,18123,0.34,117.5,913.5,5.5,592,18124,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2207,2358
$GC,18426,0.34,117.5,896.1,5.7,597,18427,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2207,2358
$GC,18730,0.34,117.5,879.4,5.6,602,18734,0.00,2.45,0.00,0.000,4,0.000,0.095,2889,786,2358
$GC,18762,0.30,117.5,877.5,5.7,602,18767,0.15,2.30,0.00,0.000,6,0.092,0.058,2865,2212,2357
$GC,19088,0.40,141.1,862.0,4.8,608,19118,0.12,2.53,23.08,1.407,4,0.066,0.088,2892,791,2261
$GC,19157,0.40,141.1,857.8,6.4,609,19161,0.00,2.22,0.00,0.000,6,0.000,0.057,2892,2152,2261
$GC,19522,0.40,141.1,834.4,6.5,615,19523,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2152,2261
$GC,19825,0.40,141.1,814.4,6.6,620,19829,0.00,2.47,0.00,0.000,4,0.000,0.081,2891,3607,2261
$GC,19857,0.40,141.1,812.1,6.4,620,19861,0.00,2.35,0.00,0.000,6,0.000,0.054,2892,2154,2261
$GC,20189,0.40,141.1,790.8,6.3,626,20191,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2154,2261
$GC,20492,0.40,141.1,772.7,6.0,631,20493,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2154,2261
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$STATE,33118,end climb,SURFACE_DEPTH_REACHED
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$STATE,33162,end surface coast,CONTROL_FINISHED_OK
$STATE,33163,begin surface
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