version: 66.03
glider: 119
mission: 5
dive: 49
start: 9 29 108 10 20 1
data:
$ID,119
$MISSION,5
$DIVE,49
$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,-210579.83
$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,13
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,101332,4655.647,-12711.556,40,1.5,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.8
$GPS2,101909,4655.654,-12711.561,12,1.5,12,18.6
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.189,-0.047
$KALMAN_X,58775.4,51.3,71.1,-227648.2,1124.7
$KALMAN_Y,99669.4,76.7,114.9,-105196.6,2446.1
$MHEAD_RNG_PITCHd_Wd,237.4,61709,-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,20,-0.67,-117.3,0.0,0.0,0,84,0.00,0.00,-62.05,0.000,2,0.000,0.000,863,2213,2935
$GC,87,-0.67,-117.3,4.2,-8.1,6,113,12.43,2.47,-7.28,0.000,4,0.150,0.088,2650,786,3318
$GC,366,-0.52,-117.3,48.4,-10.2,38,373,0.20,2.30,0.00,0.000,6,0.083,0.055,2683,2214,3319
$GC,711,-0.52,-117.3,72.4,-6.4,99,717,0.00,2.40,0.00,0.000,4,0.000,0.073,2683,773,3320
$GC,785,-0.52,-117.3,77.4,-6.9,112,791,0.00,2.33,0.00,0.000,6,0.000,0.061,2683,2204,3320
$GC,1113,-0.52,-117.3,101.0,-7.5,146,1118,0.00,2.40,0.00,0.000,4,0.000,0.077,2683,782,3321
$GC,1142,-0.56,-117.3,103.2,-7.2,148,1146,0.00,2.33,0.00,0.000,6,0.000,0.064,2683,2200,3321
$GC,1469,-0.56,-117.3,123.9,-6.1,178,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2201,3321
$GC,1786,-0.64,-117.3,141.7,-5.0,208,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2200,3321
$GC,2109,-0.89,-117.3,162.4,-7.2,231,2115,0.40,2.40,0.00,0.000,4,0.044,0.078,2598,783,3321
$GC,2307,-0.66,-117.3,182.0,-10.3,240,2312,0.32,2.35,0.00,0.000,6,0.083,0.071,2652,2198,3321
$GC,2633,-0.66,-117.3,203.9,-6.2,256,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3321
$GC,2942,-0.66,-117.3,222.5,-5.9,271,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3321
$GC,3251,-0.66,-117.3,240.6,-5.8,286,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3321
$GC,3560,-0.66,-117.3,259.3,-6.1,301,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3320
$GC,3870,-0.66,-117.3,278.5,-6.2,316,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3320
$GC,4180,-0.66,-117.3,296.6,-5.7,331,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3320
$GC,4483,-0.66,-117.3,313.9,-5.7,338,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,3319
$GC,4786,-0.66,-117.3,332.7,-6.2,343,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3318
$GC,5090,-0.66,-117.3,352.2,-6.4,348,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3318
$GC,5393,-0.66,-117.3,369.1,-5.5,353,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3317
$GC,5697,-0.66,-117.3,383.9,-4.8,358,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2198,3316
$GC,5999,-0.66,-117.3,397.5,-4.3,363,6003,0.00,2.45,0.00,0.000,4,0.000,0.089,2652,783,3316
$GC,6025,-0.66,-117.3,398.7,-4.8,363,6029,0.00,2.38,0.00,0.000,6,0.000,0.072,2653,2204,3316
$GC,6363,-0.66,-117.3,411.8,-3.8,369,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2204,3316
$GC,6666,-0.66,-117.3,424.5,-4.3,374,6670,0.00,2.45,0.00,0.000,4,0.000,0.089,2653,787,3315
$GC,6704,-0.71,-117.3,426.4,-4.9,374,6708,0.00,2.38,0.00,0.000,6,0.000,0.074,2652,2207,3315
$GC,7024,-0.71,-117.3,441.5,-4.8,380,7029,0.00,2.47,0.00,0.000,4,0.000,0.089,2653,780,3315
$GC,7047,-0.75,-117.3,442.7,-5.1,380,7051,0.00,2.38,0.00,0.000,6,0.000,0.073,2652,2201,3315
$GC,7383,-0.75,-117.3,460.1,-5.2,386,7387,0.00,2.47,0.00,0.000,4,0.000,0.091,2653,777,3314
$GC,7410,-0.80,-117.3,461.6,-5.6,386,7415,0.15,2.40,0.00,0.000,6,0.062,0.074,2622,2207,3314
$GC,7748,-0.71,-117.3,483.3,-6.5,392,7750,0.12,0.00,0.00,0.000,6,0.097,0.000,2643,2207,3314
$GC,8050,-0.71,-117.3,500.0,-5.5,397,8054,0.00,2.50,0.00,0.000,4,0.000,0.093,2643,780,3314
$GC,8093,-0.71,-117.3,502.7,-6.7,397,8097,0.00,2.40,0.00,0.000,6,0.000,0.075,2642,2202,3314
$GC,8414,-0.71,-117.3,519.4,-5.3,403,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2203,3313
$GC,8717,-0.71,-117.3,534.8,-5.0,408,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,3313
$GC,9021,-0.71,-117.3,550.8,-5.3,413,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,3313
$GC,9323,-0.71,-117.3,567.5,-5.5,418,9327,0.00,2.50,0.00,0.000,4,0.000,0.097,2643,787,3312
$GC,9349,-0.71,-117.3,569.1,-5.8,418,9354,0.00,2.38,0.00,0.000,6,0.000,0.078,2643,2200,3312
$GC,9687,-0.71,-117.3,585.7,-4.8,424,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2200,3312
$GC,9990,-0.71,-117.3,599.2,-4.5,429,9994,0.00,2.50,0.00,0.000,4,0.000,0.094,2643,780,3312
$GC,10033,-0.71,-117.3,601.4,-4.9,429,10037,0.00,2.40,0.00,0.000,6,0.000,0.077,2643,2199,3311
$GC,10354,-0.71,-117.3,616.5,-4.7,435,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3312
$GC,10657,-0.71,-117.3,632.0,-5.1,440,10661,0.00,2.50,0.00,0.000,4,0.000,0.095,2643,782,3311
$GC,10689,-0.71,-117.3,633.7,-5.6,440,10693,0.00,2.40,0.00,0.000,6,0.000,0.077,2643,2201,3311
$GC,11022,-0.71,-117.3,650.5,-5.0,446,11026,0.00,2.50,0.00,0.000,4,0.000,0.095,2643,784,3310
$GC,11048,-0.71,-117.3,652.0,-5.1,446,11052,0.00,2.40,0.00,0.000,6,0.000,0.077,2642,2201,3311
$GC,11386,-0.71,-117.3,666.4,-4.2,452,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,3310
$GC,11689,-0.71,-117.3,678.3,-4.0,457,11693,0.00,2.50,0.00,0.000,4,0.000,0.097,2643,787,3311
$GC,11727,-0.76,-117.3,680.1,-4.8,457,11731,0.00,2.40,0.00,0.000,6,0.000,0.078,2643,2202,3311
$GC,12047,-0.76,-117.3,694.0,-4.4,463,12051,0.00,2.53,0.00,0.000,4,0.000,0.098,2643,780,3310
$GC,12074,-0.80,-117.3,695.4,-5.4,463,12078,0.00,2.42,0.00,0.000,6,0.000,0.080,2643,2206,3310
$GC,12404,-0.80,-117.3,711.8,-5.0,469,12409,0.00,2.53,0.00,0.000,4,0.000,0.100,2643,787,3310
$GC,12426,-0.80,-117.3,712.9,-5.2,469,12430,0.00,2.40,0.00,0.000,6,0.000,0.081,2643,2205,3310
$GC,12769,-0.80,-117.3,730.5,-5.2,475,12773,0.00,2.53,0.00,0.000,4,0.000,0.101,2643,787,3309
$GC,12807,-0.85,-117.3,732.5,-6.1,475,12812,0.15,2.40,0.00,0.000,6,0.061,0.083,2612,2198,3309
$GC,13128,-0.75,-117.3,753.5,-6.7,481,13129,0.12,0.00,0.00,0.000,6,0.097,0.000,2632,2198,3309
$GC,13429,-0.75,-117.3,770.6,-5.6,486,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,3309
$GC,13734,-0.75,-117.3,787.7,-5.7,491,13738,0.00,2.55,0.00,0.000,4,0.000,0.106,2632,789,3309
$GC,13777,-0.75,-117.3,790.3,-5.8,491,13781,0.00,2.42,0.00,0.000,6,0.000,0.086,2632,2203,3309
$GC,14099,-0.75,-117.3,808.3,-5.5,497,14103,0.00,2.58,0.00,0.000,4,0.000,0.107,2632,786,3309
$GC,14121,-0.75,-117.3,809.6,-5.5,497,14125,0.00,2.42,0.00,0.000,6,0.000,0.087,2632,2200,3309
$GC,14464,-0.75,-117.3,827.2,-5.1,503,14469,0.00,2.58,0.00,0.000,4,0.000,0.108,2632,786,3309
$GC,14492,-0.75,-117.3,828.6,-5.4,503,14496,0.00,2.42,0.00,0.000,6,0.000,0.088,2632,2199,3309
$GC,14829,-0.75,-117.3,844.9,-4.8,509,14833,0.00,2.58,0.00,0.000,4,0.000,0.109,2632,786,3308
$GC,14856,-0.75,-117.3,846.2,-5.5,509,14860,0.00,2.45,0.00,0.000,6,0.000,0.088,2632,2207,3308
$GC,15187,-0.75,-117.3,861.8,-4.7,515,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2207,3308
$GC,15491,-0.75,-117.3,875.9,-4.7,520,15495,0.00,2.60,0.00,0.000,4,0.000,0.110,2633,789,3308
$GC,15541,-0.75,-117.3,878.5,-4.6,520,15545,0.00,2.45,0.00,0.000,6,0.000,0.091,2632,2198,3308
$GC,15850,-0.75,-117.3,893.8,-4.9,525,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2198,3308
$GC,16153,-0.75,-117.3,908.8,-4.9,530,16157,0.00,2.60,0.00,0.000,4,0.000,0.113,2632,786,3306
$GC,16208,-0.75,-117.3,912.0,-5.0,530,16214,0.00,2.47,0.00,0.000,6,0.000,0.093,2632,2206,3306
$GC,16518,-0.75,-117.3,928.0,-5.2,536,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2206,3306
$GC,16820,-0.75,-117.3,943.6,-5.2,541,16824,0.00,2.62,0.00,0.000,4,0.000,0.114,2632,784,3306
$GC,16863,-0.75,-117.3,945.8,-5.0,541,16868,0.00,2.47,0.00,0.000,6,0.000,0.094,2632,2203,3306
$GC,17179,-0.75,-117.3,960.3,-4.6,547,17183,0.00,2.62,0.00,0.000,4,0.000,0.115,2632,782,3306
$GC,17205,-0.75,-117.3,961.5,-4.3,547,17209,0.00,2.47,0.00,0.000,6,0.000,0.094,2632,2200,3306
$GC,17537,-0.75,-117.3,975.0,-4.0,553,17542,0.00,2.62,0.00,0.000,4,0.000,0.116,2633,786,3306
$GC,17569,-0.75,-117.3,976.2,-4.1,553,17573,0.00,2.47,0.00,0.000,6,0.000,0.095,2632,2200,3306
$GC,17901,-0.75,-117.3,988.9,-3.8,559,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,3305
$STATE,17959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17959,begin apogee
$GC,17964,-0.23,0.0,991.4,3.9,560,18068,0.68,0.00,101.68,1.482,6,0.077,0.000,2747,2200,2837
$STATE,18069,end apogee,CONTROL_FINISHED_OK
$STATE,18069,begin climb
$GC,18071,0.67,117.3,992.3,0.0,561,18188,1.12,2.95,108.38,1.436,4,0.048,0.135,2943,3605,2358
$GC,18232,0.32,117.3,984.5,10.8,562,18238,0.47,2.65,0.00,0.000,6,0.097,0.099,2872,2202,2359
$GC,18552,0.32,117.3,963.8,6.3,568,18553,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2202,2357
$GC,18855,0.32,117.3,945.9,5.9,573,18859,0.00,2.60,0.00,0.000,4,0.000,0.118,2872,788,2356
$GC,18882,0.27,117.3,944.3,6.1,573,18886,0.00,2.47,0.00,0.000,6,0.000,0.091,2872,2200,2356
$GC,19213,0.27,122.2,926.2,5.3,579,19220,0.00,0.00,5.75,1.108,6,0.000,0.000,2872,2201,2338
$GC,19515,0.27,122.2,909.6,5.5,584,19517,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2201,2337
$GC,19819,0.27,122.2,892.5,5.7,589,19820,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2201,2337
$GC,20122,0.27,122.2,873.6,6.3,594,20126,0.00,2.60,0.00,0.000,4,0.000,0.116,2872,787,2337
$GC,20165,0.23,122.2,870.6,6.5,594,20170,0.12,2.45,0.00,0.000,6,0.103,0.091,2853,2201,2337
$GC,20479,0.28,122.2,852.8,5.6,600,20484,0.00,2.60,0.00,0.000,4,0.000,0.114,2853,782,2337
$GC,20517,0.28,122.2,850.6,6.1,600,20522,0.00,2.47,0.00,0.000,6,0.000,0.091,2853,2208,2337
$GC,20844,0.37,140.7,834.3,4.9,606,20864,0.15,0.00,17.17,1.341,6,0.067,0.000,2884,2208,2263
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