version: 66.03
glider: 119
mission: 5
dive: 348
start: 1 4 109 20 18 27
data:
$ID,119
$MISSION,5
$DIVE,348
$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,-216116.8
$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,19
$R_STBD_OVSHOOT,34
$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
$GPS1,200801,4716.066,-12725.935,51,1.5,51,18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-50.5
$GPS2,201734,4716.215,-12725.748,14,2.3,33,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,-0.134
$KALMAN_X,-84942.9,304.9,217.0,-102255.0,-773.0
$KALMAN_Y,452758.1,16.9,-72.2,-419955.1,753.3
$MHEAD_RNG_PITCHd_Wd,207.9,52664,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,105,0.00,0.00,-80.78,0.000,2,0.000,0.000,857,2226,2661
$GC,109,-0.67,-117.3,3.0,-2.8,8,152,12.23,2.50,-24.50,0.000,4,0.140,0.074,2648,785,3316
$GC,180,-0.46,-117.3,8.2,-11.0,14,187,0.30,2.22,0.00,0.000,6,0.078,0.048,2698,2198,3309
$GC,507,-0.46,-117.3,25.2,-4.3,45,512,0.00,2.33,-0.20,0.000,4,0.000,0.074,2698,781,3316
$GC,558,-0.46,-117.3,29.3,-10.7,49,562,0.00,2.17,0.00,0.000,6,0.000,0.044,2698,2175,3316
$GC,891,-0.46,-117.3,48.1,-4.5,91,897,0.00,2.25,0.00,0.000,4,0.000,0.061,2698,776,3316
$GC,943,-0.46,-117.3,48.9,-1.5,100,950,0.00,2.12,0.00,0.000,6,0.000,0.044,2698,2148,3316
$GC,1288,-0.46,-117.3,68.9,-8.7,161,1294,0.00,2.45,0.00,0.000,4,0.000,0.069,2698,3604,3316
$GC,1323,-0.46,-117.3,72.0,-8.6,167,1330,0.00,2.38,0.00,0.000,6,0.000,0.042,2698,2114,3316
$GC,1658,-0.65,-117.3,94.8,-8.0,212,1663,0.17,2.55,0.00,0.000,4,0.052,0.064,2654,3606,3316
$GC,1669,-0.77,-117.3,95.7,-8.1,212,1676,0.08,1.83,0.00,0.000,6,0.051,0.041,2630,2472,3316
$GC,1994,-0.59,-117.3,126.6,-8.3,243,1998,0.20,1.92,0.00,0.000,4,0.082,0.066,2667,3605,3316
$GC,2044,-0.59,-117.3,130.3,-6.8,247,2050,0.00,1.88,0.00,0.000,6,0.000,0.042,2668,2434,3315
$GC,2373,-0.59,-117.3,150.0,-6.0,278,2378,0.00,2.72,0.00,0.000,4,0.000,0.059,2667,786,3316
$GC,2486,-0.64,-117.3,157.4,-6.1,284,2490,0.00,2.50,0.00,0.000,6,0.000,0.046,2667,2372,3316
$GC,2813,-0.64,-117.3,176.6,-5.7,300,2817,0.00,2.58,0.00,0.000,4,0.000,0.060,2667,779,3316
$GC,2857,-0.69,-117.3,179.5,-6.4,302,2861,0.00,2.40,0.00,0.000,6,0.000,0.045,2667,2320,3316
$GC,3184,-0.69,-117.3,198.6,-5.8,318,3188,0.00,2.50,0.00,0.000,4,0.000,0.061,2667,777,3316
$GC,3224,-0.74,-117.3,200.9,-6.0,320,3229,0.15,2.38,0.00,0.000,6,0.054,0.045,2634,2293,3316
$GC,3551,-0.62,-117.3,224.5,-7.3,336,3553,0.17,0.00,0.00,0.000,6,0.083,0.000,2664,2293,3316
$GC,3860,-0.62,-117.3,242.2,-5.8,351,3864,0.00,2.45,0.00,0.000,4,0.000,0.061,2665,784,3316
$GC,3916,-0.68,-117.3,245.9,-7.0,353,3922,0.00,2.33,0.00,0.000,6,0.000,0.046,2665,2263,3316
$GC,4232,-0.68,-117.3,264.2,-5.7,369,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2263,3316
$GC,4541,-0.68,-117.3,282.1,-6.0,384,4545,0.00,2.42,0.00,0.000,4,0.000,0.063,2665,774,3316
$GC,4568,-0.73,-117.3,283.8,-6.1,385,4573,0.12,2.28,0.00,0.000,6,0.060,0.045,2636,2227,3316
$GC,4923,-0.63,-117.3,309.1,-7.2,398,4925,0.15,0.00,0.00,0.000,6,0.085,0.000,2662,2227,3316
$GC,5227,-0.63,-117.3,325.3,-5.3,403,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2227,3315
$GC,5529,-0.63,-117.3,340.2,-4.9,408,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2227,3315
$GC,5832,-0.63,-117.3,355.4,-5.0,413,5836,0.00,2.38,0.00,0.000,4,0.000,0.065,2662,779,3315
$GC,5854,-0.68,-117.3,356.5,-4.9,413,5858,0.00,2.25,0.00,0.000,6,0.000,0.045,2662,2215,3315
$GC,6191,-0.68,-117.3,374.1,-5.3,419,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2216,3315
$GC,6494,-0.68,-117.3,390.4,-5.4,424,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2216,3315
$GC,6799,-0.68,-117.3,406.5,-5.3,429,6803,0.00,2.35,0.00,0.000,4,0.000,0.067,2662,789,3315
$GC,6832,-0.74,-117.3,408.3,-5.1,429,6837,0.12,2.22,0.00,0.000,6,0.059,0.046,2633,2206,3315
$GC,7167,-0.65,-117.3,428.6,-6.1,435,7169,0.12,0.00,0.00,0.000,6,0.090,0.000,2655,2207,3315
$GC,7467,-0.65,-117.3,445.0,-5.4,440,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2207,3314
$GC,7770,-0.65,-117.3,462.4,-5.8,445,7774,0.00,2.35,0.00,0.000,4,0.000,0.069,2655,789,3314
$GC,7797,-0.65,-117.3,464.1,-6.3,445,7801,0.00,2.20,0.00,0.000,6,0.000,0.047,2655,2189,3314
$GC,8128,-0.65,-117.3,481.9,-5.3,451,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2189,3314
$GC,8431,-0.65,-117.3,496.4,-4.7,456,8435,0.00,2.33,0.00,0.000,4,0.000,0.071,2655,789,3314
$GC,8465,-0.65,-117.3,498.1,-5.1,456,8469,0.00,2.20,0.00,0.000,6,0.000,0.048,2655,2185,3314
$GC,8797,-0.65,-117.3,512.5,-4.3,462,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2185,3314
$GC,9102,-0.65,-117.3,525.5,-4.3,467,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2185,3314
$GC,9403,-0.65,-117.3,539.1,-4.5,472,9407,0.00,2.35,0.00,0.000,4,0.000,0.072,2655,780,3313
$GC,9431,-0.70,-117.3,540.4,-5.1,472,9435,0.00,2.20,0.00,0.000,6,0.000,0.048,2655,2172,3313
$GC,9762,-0.70,-117.3,556.3,-4.9,478,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2172,3312
$GC,10066,-0.70,-117.3,571.4,-5.0,483,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2172,3312
$GC,10369,-0.70,-117.3,587.5,-5.3,488,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2172,3312
$GC,10672,-0.70,-117.3,604.0,-5.4,493,10676,0.00,2.33,0.00,0.000,4,0.000,0.074,2654,785,3312
$GC,10699,-0.74,-117.3,605.7,-5.7,493,10703,0.00,2.17,0.00,0.000,6,0.000,0.050,2655,2151,3312
$GC,11031,-0.74,-117.3,623.6,-5.5,499,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2151,3311
$GC,11334,-0.74,-117.3,638.4,-4.8,504,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2151,3311
$GC,11641,-0.79,-117.3,651.6,-4.2,509,11642,0.15,0.00,0.00,0.000,6,0.058,0.000,2622,2151,3312
$GC,11941,-0.69,-117.3,667.7,-5.4,514,11943,0.15,0.00,0.00,0.000,6,0.087,0.000,2647,2151,3311
$GC,12243,-0.69,-117.3,681.7,-4.6,519,12248,0.00,2.50,0.00,0.000,4,0.000,0.077,2647,3604,3311
$GC,12266,-0.69,-117.3,682.9,-5.0,519,12270,0.00,2.38,0.00,0.000,6,0.000,0.048,2648,2131,3311
$GC,12603,-0.69,-117.3,699.6,-5.0,525,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2131,3310
$GC,12906,-0.69,-117.3,716.0,-5.4,530,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2131,3310
$GC,13209,-0.69,-117.3,732.2,-5.3,535,13213,0.00,2.53,0.00,0.000,4,0.000,0.075,2647,3598,3310
$GC,13248,-0.69,-117.3,734.5,-5.9,535,13252,0.00,2.35,0.00,0.000,6,0.000,0.048,2647,2149,3310
$GC,13570,-0.69,-117.3,752.7,-5.7,541,13571,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2148,3310
$GC,13871,-0.69,-117.3,770.1,-5.8,546,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2148,3309
$GC,14175,-0.69,-117.3,787.2,-5.6,551,14179,0.00,2.53,0.00,0.000,4,0.000,0.077,2647,3605,3309
$GC,14201,-0.69,-117.3,789.0,-7.0,551,14205,0.00,2.35,0.00,0.000,6,0.000,0.048,2647,2156,3309
$GC,14539,-0.69,-117.3,807.1,-5.4,557,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2156,3309
$GC,14842,-0.69,-117.3,822.8,-5.1,562,14846,0.00,2.35,0.00,0.000,4,0.000,0.080,2647,796,3309
$GC,14871,-0.74,-117.3,824.3,-5.4,562,14875,0.00,2.20,0.00,0.000,6,0.000,0.052,2647,2180,3309
$GC,15208,-0.74,-117.3,841.3,-5.1,568,15210,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2181,3309
$GC,15511,-0.74,-117.3,857.1,-5.2,573,15515,0.00,2.35,0.00,0.000,4,0.000,0.077,2647,796,3309
$GC,15540,-0.78,-117.3,858.5,-5.8,573,15544,0.00,2.20,0.00,0.000,6,0.000,0.052,2647,2169,3309
$GC,15872,-0.78,-117.3,876.0,-5.3,579,15873,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2169,3309
$GC,16175,-0.78,-117.3,892.1,-5.3,584,16176,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2169,3309
$GC,16478,-0.82,-117.3,907.8,-5.2,589,16483,0.15,2.35,0.00,0.000,4,0.060,0.077,2611,795,3309
$GC,16523,-0.71,-117.3,910.8,-5.7,589,16527,0.20,2.17,0.00,0.000,6,0.082,0.053,2644,2146,3308
$GC,16839,-0.71,-117.3,927.8,-5.4,595,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2146,3309
$GC,17140,-0.71,-117.3,944.5,-5.6,600,17144,0.00,2.55,0.00,0.000,4,0.000,0.085,2644,3605,3308
$GC,17162,-0.71,-117.3,945.9,-5.5,600,17166,0.00,2.38,0.00,0.000,6,0.000,0.050,2644,2140,3307
$GC,17499,-0.71,-117.3,964.1,-5.4,606,17500,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2141,3307
$GC,17802,-0.71,-117.3,979.9,-5.3,611,17803,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2141,3307
$STATE,18041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18042,begin apogee
$GC,18048,-0.23,0.0,992.1,5.0,615,18156,0.60,0.00,104.65,1.506,6,0.073,0.000,2747,2209,2837
$STATE,18157,end apogee,CONTROL_FINISHED_OK
$STATE,18157,begin climb
$GC,18159,0.67,117.3,993.8,0.0,616,18283,1.12,2.75,115.62,1.458,4,0.044,0.082,2944,3594,2358
$GC,18328,0.40,117.3,988.7,8.7,618,18333,0.35,2.45,0.00,0.000,6,0.087,0.053,2890,2198,2358
$GC,18649,0.40,117.3,969.7,5.9,624,18653,0.00,2.42,0.00,0.000,4,0.000,0.089,2890,789,2358
$GC,18712,0.35,117.3,965.8,5.6,625,18716,0.00,2.25,0.00,0.000,6,0.000,0.056,2891,2180,2358
$GC,19077,0.35,117.3,944.5,5.8,631,19078,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2180,2359
$GC,19379,0.35,117.3,926.9,5.8,636,19381,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2180,2358
$GC,19683,0.36,117.5,910.3,5.5,641,19687,0.00,2.38,0.00,0.000,4,0.000,0.084,2890,785,2358
$GC,19727,0.36,117.5,907.8,6.2,641,19731,0.00,2.22,0.00,0.000,6,0.000,0.056,2890,2169,2358
$GC,20048,0.36,117.6,890.4,5.5,647,20049,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2169,2357
$GC,20350,0.36,117.6,873.6,5.6,652,20352,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2169,2357
$GC,20653,0.36,117.6,856.1,5.8,657,20657,0.00,2.33,0.00,0.000,4,0.000,0.083,2890,793,2357
$GC,20692,0.36,123.3,853.5,5.3,657,20706,0.00,2.17,7.20,1.219,6,0.000,0.055,2890,2144,2334
$GC,21022,0.36,123.3,833.1,6.2,663,21024,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2144,2333
$GC,21325,0.36,123.3,814.2,6.2,668,21326,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2144,2334
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