version: 66.03
glider: 119
mission: 5
dive: 266
start: 12 6 108 17 4 55
data:
$ID,119
$MISSION,5
$DIVE,266
$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,-214692.48
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,165807,4658.673,-12754.322,25,1.9,25,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.2
$GPS2,170403,4658.645,-12754.268,13,1.8,13,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.191,-0.038
$KALMAN_X,-7988.1,426.7,271.5,-215435.2,755.0
$KALMAN_Y,335817.5,-746.7,-84.9,-334775.1,3474.4
$MHEAD_RNG_PITCHd_Wd,240.3,7663,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.17,0.000,2,0.000,0.000,859,2219,2534
$GC,78,-0.67,-117.3,3.3,-4.1,5,121,12.27,2.42,-23.30,0.000,4,0.143,0.071,2648,796,3317
$GC,149,-0.46,-117.3,10.4,-11.3,11,156,0.30,2.17,0.00,0.000,6,0.079,0.041,2698,2200,3317
$GC,475,-0.46,-117.3,34.7,-7.2,42,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2200,3317
$GC,808,-0.46,-117.3,59.9,-7.1,95,814,0.00,2.25,0.00,0.000,4,0.000,0.057,2698,792,3317
$GC,831,-0.46,-117.3,61.7,-6.7,99,838,0.00,2.25,0.00,0.000,6,0.000,0.041,2698,2248,3317
$GC,1172,-0.52,-117.3,83.3,-6.0,155,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2248,3318
$GC,1493,-0.59,-117.3,101.2,-5.2,185,1497,0.15,2.35,0.00,0.000,4,0.055,0.058,2660,795,3318
$GC,1561,-0.52,-117.3,106.2,-7.6,191,1566,0.15,2.22,0.00,0.000,6,0.081,0.044,2686,2223,3318
$GC,1887,-0.52,-117.3,125.6,-6.2,221,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2223,3318
$GC,2206,-0.59,-117.3,145.4,-6.0,251,2210,0.00,2.33,0.00,0.000,4,0.000,0.061,2686,788,3318
$GC,2227,-0.67,-117.3,146.8,-5.8,252,2234,0.17,2.20,0.00,0.000,6,0.051,0.044,2648,2208,3318
$GC,2545,-0.60,-117.3,170.3,-6.9,270,2549,0.00,2.30,0.00,0.000,4,0.000,0.061,2648,784,3318
$GC,2572,-0.55,-117.3,172.4,-7.1,271,2576,0.17,2.20,0.00,0.000,6,0.078,0.044,2678,2196,3318
$GC,2888,-0.63,-117.3,189.5,-5.5,286,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2196,3318
$GC,3197,-0.84,-117.3,207.9,-6.1,301,3202,0.30,2.35,0.00,0.000,4,0.044,0.066,2611,3602,3318
$GC,3207,-0.97,-117.3,208.7,-6.2,301,3214,0.10,1.70,0.00,0.000,6,0.051,0.041,2585,2523,3318
$GC,3524,-0.66,-117.3,239.5,-10.6,317,3528,0.38,1.80,0.00,0.000,4,0.084,0.067,2651,3602,3318
$GC,3563,-0.66,-117.3,242.8,-7.4,319,3567,0.00,1.98,0.00,0.000,6,0.000,0.043,2652,2346,3318
$GC,3895,-0.66,-117.3,265.9,-7.0,335,3900,0.00,2.58,0.00,0.000,4,0.000,0.065,2651,796,3318
$GC,3935,-0.66,-117.3,268.9,-8.0,337,3939,0.00,2.45,0.00,0.000,6,0.000,0.046,2651,2353,3318
$GC,4267,-0.66,-117.3,291.6,-6.6,353,4271,0.00,2.55,0.00,0.000,4,0.000,0.065,2651,795,3318
$GC,4334,-0.66,-117.3,296.1,-6.7,356,4338,0.00,2.38,0.00,0.000,6,0.000,0.046,2651,2308,3318
$GC,4649,-0.66,-117.3,314.8,-5.9,364,4653,0.00,2.47,0.00,0.000,4,0.000,0.067,2652,799,3318
$GC,4692,-0.66,-117.3,317.6,-6.6,364,4696,0.00,2.30,0.00,0.000,6,0.000,0.046,2651,2268,3317
$GC,5015,-0.66,-117.3,337.0,-6.0,370,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2268,3317
$GC,5317,-0.66,-117.3,353.1,-5.2,375,5321,0.00,2.42,0.00,0.000,4,0.000,0.067,2651,795,3317
$GC,5355,-0.66,-117.3,355.3,-5.7,375,5359,0.00,2.28,0.00,0.000,6,0.000,0.047,2651,2245,3316
$GC,5681,-0.66,-117.3,371.7,-5.0,381,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2245,3315
$GC,5985,-0.66,-117.3,387.8,-5.4,386,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2245,3315
$GC,6287,-0.66,-117.3,404.1,-5.3,391,6291,0.00,2.40,0.00,0.000,4,0.000,0.070,2651,800,3314
$GC,6325,-0.66,-117.3,406.2,-6.0,391,6329,0.00,2.25,0.00,0.000,6,0.000,0.047,2651,2232,3314
$GC,6652,-0.66,-117.3,423.2,-5.2,397,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2232,3315
$GC,6955,-0.66,-117.3,439.4,-5.3,402,6959,0.00,2.38,0.00,0.000,4,0.000,0.071,2652,802,3314
$GC,6977,-0.66,-117.3,440.6,-5.2,402,6981,0.00,2.22,0.00,0.000,6,0.000,0.048,2651,2213,3314
$GC,7320,-0.66,-117.3,458.2,-5.1,408,7324,0.00,2.33,0.00,0.000,4,0.000,0.071,2651,3606,3314
$GC,7341,-0.66,-117.3,459.3,-4.9,408,7345,0.00,2.20,0.00,0.000,6,0.000,0.046,2652,2217,3313
$GC,7685,-0.66,-117.3,475.8,-4.8,414,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2216,3313
$GC,7987,-0.66,-117.3,490.1,-4.7,419,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2216,3313
$GC,8290,-0.66,-117.3,506.1,-5.3,424,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2216,3313
$GC,8593,-0.66,-117.3,521.9,-5.2,429,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2216,3312
$GC,8897,-0.66,-117.3,537.7,-5.2,434,8901,0.00,2.40,0.00,0.000,4,0.000,0.079,2651,808,3312
$GC,8931,-0.66,-117.3,539.7,-5.9,434,8935,0.00,2.22,0.00,0.000,6,0.000,0.051,2651,2207,3311
$GC,9257,-0.66,-117.3,555.5,-4.8,440,9261,0.00,2.35,0.00,0.000,4,0.000,0.075,2652,809,3311
$GC,9278,-0.66,-117.3,556.6,-4.8,440,9282,0.00,2.17,0.00,0.000,6,0.000,0.051,2651,2184,3310
$GC,9616,-0.66,-117.3,572.3,-4.6,446,9620,0.00,2.33,0.00,0.000,4,0.000,0.077,2651,803,3310
$GC,9637,-0.66,-117.3,573.4,-4.8,446,9641,0.00,2.20,0.00,0.000,6,0.000,0.051,2651,2187,3310
$GC,9981,-0.66,-117.3,589.8,-4.8,452,9985,0.00,2.33,0.00,0.000,4,0.000,0.076,2651,807,3310
$GC,10014,-0.71,-117.3,591.6,-5.7,452,10017,0.00,2.15,0.00,0.000,6,0.000,0.051,2651,2156,3310
$GC,10345,-0.71,-117.3,607.9,-5.0,458,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2156,3309
$GC,10648,-0.71,-117.3,622.4,-4.7,463,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2156,3309
$GC,10952,-0.71,-117.3,637.2,-4.9,468,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2157,3309
$GC,11255,-0.71,-117.3,652.3,-5.0,473,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2157,3309
$GC,11558,-0.75,-117.3,666.7,-4.8,478,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2157,3309
$GC,11862,-0.75,-117.3,681.4,-4.8,483,11867,0.00,2.47,0.00,0.000,4,0.000,0.079,2651,3607,3309
$GC,11884,-0.75,-117.3,682.6,-5.2,483,11889,0.00,2.30,0.00,0.000,6,0.000,0.048,2652,2165,3308
$GC,12222,-0.80,-117.3,699.4,-4.9,489,12224,0.15,0.00,0.00,0.000,6,0.061,0.000,2620,2165,3308
$GC,12525,-0.70,-117.3,718.5,-6.3,494,12527,0.15,0.00,0.00,0.000,6,0.092,0.000,2645,2164,3308
$GC,12828,-0.70,-117.3,735.8,-5.7,499,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2164,3308
$GC,13131,-0.70,-117.3,753.9,-6.0,504,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2164,3307
$GC,13434,-0.70,-117.3,771.5,-5.7,509,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2163,3307
$GC,13737,-0.70,-117.3,787.6,-5.3,514,13741,0.00,2.50,0.00,0.000,4,0.000,0.079,2645,3604,3307
$GC,13753,-0.70,-117.3,788.5,-5.2,514,13757,0.00,2.28,0.00,0.000,6,0.000,0.048,2645,2190,3307
$GC,14095,-0.70,-117.3,804.9,-4.8,520,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2189,3307
$GC,14398,-0.70,-117.3,818.8,-4.5,525,14402,0.00,2.40,0.00,0.000,4,0.000,0.087,2645,799,3307
$GC,14419,-0.70,-117.3,819.9,-5.0,525,14423,0.00,2.25,0.00,0.000,6,0.000,0.055,2645,2193,3307
$GC,14768,-0.70,-117.3,836.1,-4.7,531,14773,0.00,2.40,0.00,0.000,4,0.000,0.086,2645,802,3306
$GC,14802,-0.74,-117.3,837.9,-5.4,531,14806,0.00,2.20,0.00,0.000,6,0.000,0.056,2645,2168,3306
$GC,15128,-0.74,-117.3,854.6,-5.2,537,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2168,3306
$GC,15431,-0.74,-117.3,870.0,-5.0,542,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2168,3306
$GC,15734,-0.74,-117.3,884.6,-4.8,547,15738,0.00,2.38,0.00,0.000,4,0.000,0.087,2645,798,3306
$GC,15761,-0.79,-117.3,885.8,-4.6,547,15765,0.00,2.22,0.00,0.000,6,0.000,0.058,2645,2168,3305
$GC,16100,-0.94,-117.3,903.7,-5.5,553,16105,0.25,2.40,0.00,0.000,4,0.051,0.086,2589,791,3305
$GC,16284,-0.76,-117.3,916.5,-7.2,555,16290,0.25,2.88,0.00,0.000,6,0.086,0.061,2630,2537,3305
$GC,16594,-0.76,-117.3,932.6,-5.2,560,16599,0.00,3.03,0.00,0.000,4,0.000,0.085,2630,794,3305
$GC,16694,-0.76,-117.3,938.0,-5.1,561,16699,0.00,2.72,0.00,0.000,6,0.000,0.061,2630,2449,3305
$GC,17021,-0.76,-117.3,954.4,-5.1,567,17025,0.00,2.88,0.00,0.000,4,0.000,0.087,2630,802,3305
$GC,17098,-0.76,-117.3,958.7,-4.9,568,17102,0.00,2.58,0.00,0.000,6,0.000,0.061,2630,2367,3305
$GC,17453,-0.76,-117.3,976.4,-5.0,574,17458,0.00,2.75,0.00,0.000,4,0.000,0.090,2630,797,3305
$GC,17520,-0.76,-117.3,980.0,-4.6,575,17525,0.00,2.47,0.00,0.000,6,0.000,0.061,2630,2304,3305
$STATE,17756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17756,begin apogee
$GC,17762,-0.23,0.0,991.7,4.9,579,17869,0.68,0.00,103.50,1.509,6,0.075,0.000,2746,2179,2837
$STATE,17869,end apogee,CONTROL_FINISHED_OK
$STATE,17869,begin climb
$GC,17872,0.67,117.3,993.0,0.0,580,17994,1.15,0.00,115.12,1.466,6,0.046,0.000,2946,2178,2358
$GC,18299,0.47,117.3,968.3,7.8,587,18304,0.22,2.47,0.00,0.000,4,0.091,0.088,2906,3603,2358
$GC,18354,0.37,117.3,964.1,7.4,587,18361,0.15,2.22,0.00,0.000,6,0.097,0.056,2882,2252,2358
$GC,18664,0.38,119.8,947.3,5.4,593,18673,0.00,2.53,4.10,0.934,4,0.000,0.099,2882,803,2348
$GC,18741,0.38,119.8,942.7,6.3,594,18745,0.00,2.22,0.00,0.000,6,0.000,0.061,2882,2172,2348
$GC,19101,0.38,119.8,922.3,5.8,600,19105,0.00,2.38,0.00,0.000,4,0.000,0.094,2882,809,2347
$GC,19139,0.38,119.8,920.0,5.7,600,19143,0.00,2.15,0.00,0.000,6,0.000,0.061,2882,2132,2348
$GC,19465,0.38,120.1,901.8,5.5,606,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2132,2348
$GC,19768,0.39,126.6,885.8,5.3,611,19778,0.00,0.00,7.80,1.253,6,0.000,0.000,2882,2132,2321
$GC,20072,0.44,138.8,870.2,5.1,616,20087,0.00,0.00,13.20,1.359,6,0.000,0.000,2882,2132,2271
$GC,20375,0.50,141.5,853.8,5.4,621,20385,0.15,2.33,4.40,0.978,4,0.061,0.091,2917,799,2260
$GC,20424,0.39,141.5,850.4,7.9,621,20429,0.17,2.15,0.00,0.000,6,0.091,0.058,2889,2121,2260
$GC,20738,0.39,141.5,832.9,5.5,627,20739,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2121,2260
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$STATE,33571,end climb,SURFACE_DEPTH_REACHED
$STATE,33571,begin surface coast
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$STATE,33606,end surface coast,CONTROL_FINISHED_OK
$STATE,33606,begin surface
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