version: 66.03
glider: 119
mission: 5
dive: 84
start: 10 13 108 6 52 32
data:
$ID,119
$MISSION,5
$DIVE,84
$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,-211160
$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,17
$R_STBD_OVSHOOT,31
$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
$GPS1,064608,4734.792,-12642.488,36,1.2,36,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-68.0
$GPS2,065139,4734.811,-12642.417,14,1.2,14,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.181,0.072
$KALMAN_X,28197.1,125.0,-427.6,-159808.9,-2919.1
$KALMAN_Y,130717.7,-579.4,-95.7,-62850.0,292.1
$MHEAD_RNG_PITCHd_Wd,49.5,99786,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.70,0.000,2,0.000,0.000,862,2222,3163
$GC,97,-0.67,-117.3,4.8,-8.5,7,120,12.40,2.30,-2.80,0.000,4,0.150,0.075,2646,3606,3319
$GC,375,-0.45,-117.3,49.9,-12.1,38,382,0.32,2.22,0.00,0.000,6,0.082,0.044,2700,2185,3319
$GC,721,-0.52,-117.3,69.4,-4.9,99,727,0.00,2.35,0.00,0.000,4,0.000,0.069,2700,3601,3320
$GC,784,-0.62,-117.3,72.9,-5.6,110,791,0.20,2.20,0.00,0.000,6,0.050,0.045,2657,2194,3320
$GC,1122,-0.52,-117.3,96.5,-7.7,150,1126,0.17,2.30,0.00,0.000,4,0.084,0.069,2689,800,3320
$GC,1176,-0.61,-117.3,100.0,-6.4,154,1183,0.00,2.12,0.00,0.000,6,0.000,0.049,2689,2150,3320
$GC,1504,-0.86,-117.3,122.5,-6.9,185,1509,0.38,2.40,0.00,0.000,4,0.043,0.071,2607,3609,3320
$GC,1724,-0.62,-117.3,142.1,-9.3,204,1728,0.32,1.98,0.00,0.000,6,0.082,0.047,2662,2354,3320
$GC,2055,-0.62,-117.3,161.9,-6.1,226,2059,0.00,2.55,0.00,0.000,4,0.000,0.067,2662,800,3320
$GC,2132,-0.68,-117.3,166.9,-6.0,229,2139,0.00,2.35,0.00,0.000,6,0.000,0.051,2662,2286,3320
$GC,2448,-0.68,-117.3,184.6,-5.5,245,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2286,3320
$GC,2758,-0.68,-117.3,200.8,-5.3,260,2762,0.00,2.45,0.00,0.000,4,0.000,0.066,2662,790,3320
$GC,2798,-0.74,-117.3,202.9,-5.5,262,2802,0.12,2.30,0.00,0.000,6,0.061,0.051,2634,2253,3320
$GC,3130,-0.65,-117.3,223.6,-6.2,278,3132,0.12,0.00,0.00,0.000,6,0.091,0.000,2655,2253,3320
$GC,3439,-0.65,-117.3,240.1,-5.3,293,3443,0.00,2.38,0.00,0.000,4,0.000,0.066,2655,802,3320
$GC,3478,-0.65,-117.3,242.4,-6.0,294,3484,0.00,2.22,0.00,0.000,6,0.000,0.051,2655,2214,3320
$GC,3793,-0.65,-117.3,260.4,-5.6,310,3797,0.00,2.30,0.00,0.000,4,0.000,0.074,2655,3603,3320
$GC,3843,-0.65,-117.3,263.4,-5.9,312,3847,0.00,2.15,0.00,0.000,6,0.000,0.047,2655,2230,3320
$GC,4164,-0.65,-117.3,280.8,-5.4,328,4168,0.00,2.35,0.00,0.000,4,0.000,0.071,2655,799,3320
$GC,4220,-0.70,-117.3,283.9,-5.9,330,4226,0.00,2.28,0.00,0.000,6,0.000,0.051,2655,2242,3320
$GC,4537,-0.70,-117.3,300.5,-5.3,346,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2242,3320
$GC,4838,-0.70,-117.3,316.0,-5.1,351,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2242,3320
$GC,5141,-0.70,-117.3,332.4,-5.4,356,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2242,3320
$GC,5444,-0.70,-117.3,348.8,-5.4,361,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2242,3320
$GC,5748,-0.70,-117.3,364.2,-5.0,366,5752,0.00,2.40,0.00,0.000,4,0.000,0.071,2655,802,3319
$GC,5787,-0.75,-117.3,366.2,-5.0,366,5791,0.00,2.25,0.00,0.000,6,0.000,0.052,2655,2218,3319
$GC,6109,-0.75,-117.3,382.0,-4.9,372,6113,0.00,2.30,0.00,0.000,4,0.000,0.074,2655,3602,3319
$GC,6142,-0.75,-117.3,383.9,-5.3,372,6146,0.00,2.20,0.00,0.000,6,0.000,0.048,2655,2197,3318
$GC,6476,-0.75,-117.3,401.3,-5.4,378,6480,0.00,2.33,0.00,0.000,4,0.000,0.075,2655,796,3318
$GC,6525,-0.82,-117.3,404.5,-6.4,378,6530,0.17,2.25,0.00,0.000,6,0.056,0.054,2618,2209,3318
$GC,6836,-0.69,-117.3,427.1,-7.4,383,6840,0.15,2.33,0.00,0.000,4,0.089,0.074,2647,3601,3317
$GC,6897,-0.69,-117.3,431.2,-6.5,384,6900,0.00,2.20,0.00,0.000,6,0.000,0.049,2647,2201,3317
$GC,7268,-0.69,-117.3,451.5,-5.4,390,7272,0.00,2.35,0.00,0.000,4,0.000,0.077,2647,797,3317
$GC,7306,-0.69,-117.3,453.8,-5.7,390,7310,0.00,2.28,0.00,0.000,6,0.000,0.054,2647,2219,3317
$GC,7633,-0.69,-117.3,470.8,-5.2,396,7637,0.00,2.33,0.00,0.000,4,0.000,0.077,2647,3610,3317
$GC,7671,-0.69,-117.3,473.1,-6.3,396,7675,0.00,2.22,0.00,0.000,6,0.000,0.049,2647,2225,3317
$GC,7997,-0.69,-117.3,489.9,-5.1,402,8001,0.00,2.40,0.00,0.000,4,0.000,0.081,2647,798,3317
$GC,8036,-0.69,-117.3,491.8,-5.1,402,8040,0.00,2.30,0.00,0.000,6,0.000,0.055,2647,2228,3316
$GC,8357,-0.69,-117.3,506.6,-4.6,408,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2229,3316
$GC,8659,-0.69,-117.3,519.9,-4.3,413,8663,0.00,2.42,0.00,0.000,4,0.000,0.078,2647,795,3316
$GC,8691,-0.69,-117.3,521.4,-4.5,413,8695,0.00,2.25,0.00,0.000,6,0.000,0.057,2647,2190,3316
$GC,9017,-0.69,-117.3,535.3,-4.2,419,9021,0.00,2.38,0.00,0.000,4,0.000,0.080,2647,3602,3316
$GC,9049,-0.69,-117.3,536.8,-5.2,419,9054,0.00,2.28,0.00,0.000,6,0.000,0.051,2647,2194,3316
$GC,9383,-0.69,-117.3,551.9,-4.6,425,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2195,3316
$GC,9684,-0.69,-117.3,566.1,-4.6,430,9688,0.00,2.40,0.00,0.000,4,0.000,0.087,2647,795,3315
$GC,9723,-0.74,-117.3,568.1,-6.1,430,9727,0.00,2.28,0.00,0.000,6,0.000,0.060,2647,2196,3315
$GC,10049,-0.74,-117.3,583.0,-4.6,436,10054,0.00,2.40,0.00,0.000,4,0.000,0.083,2647,3609,3315
$GC,10084,-0.74,-117.3,584.9,-5.5,436,10088,0.00,2.30,0.00,0.000,6,0.000,0.051,2647,2170,3315
$GC,10412,-0.74,-117.3,600.4,-4.7,442,10416,0.00,2.35,0.00,0.000,4,0.000,0.087,2647,799,3315
$GC,10467,-0.80,-117.3,603.4,-5.5,442,10473,0.00,2.20,0.00,0.000,6,0.000,0.059,2647,2156,3315
$GC,10776,-0.80,-117.3,619.0,-5.0,448,10780,0.00,2.45,0.00,0.000,4,0.000,0.084,2647,3605,3315
$GC,10820,-0.80,-117.3,621.5,-5.6,448,10824,0.00,2.35,0.00,0.000,6,0.000,0.052,2647,2157,3314
$GC,11146,-0.80,-117.3,638.5,-5.2,454,11150,0.00,2.33,0.00,0.000,4,0.000,0.088,2647,792,3314
$GC,11180,-0.85,-117.3,640.3,-5.5,454,11184,0.17,2.22,0.00,0.000,6,0.058,0.060,2611,2164,3314
$GC,11511,-0.73,-117.3,663.0,-6.9,460,11516,0.15,2.47,0.00,0.000,4,0.091,0.084,2640,3607,3314
$GC,11554,-0.73,-117.3,666.0,-6.1,460,11558,0.00,2.33,0.00,0.000,6,0.000,0.052,2640,2153,3314
$GC,11874,-0.73,-117.3,684.3,-5.7,466,11879,0.00,2.35,0.00,0.000,4,0.000,0.091,2640,792,3314
$GC,11913,-0.73,-117.3,686.6,-5.7,466,11917,0.00,2.22,0.00,0.000,6,0.000,0.061,2640,2156,3313
$GC,12239,-0.73,-117.3,704.4,-5.4,472,12243,0.00,2.50,0.00,0.000,4,0.000,0.087,2640,3609,3313
$GC,12276,-0.73,-117.3,706.6,-5.6,472,12281,0.00,2.35,0.00,0.000,6,0.000,0.054,2640,2147,3312
$GC,12603,-0.73,-117.3,722.6,-4.9,478,12607,0.00,2.35,0.00,0.000,4,0.000,0.093,2640,796,3312
$GC,12635,-0.73,-117.3,724.3,-4.8,478,12639,0.00,2.22,0.00,0.000,6,0.000,0.063,2640,2158,3312
$GC,12967,-0.73,-117.3,739.6,-4.6,484,12971,0.00,2.50,0.00,0.000,4,0.000,0.089,2640,3609,3312
$GC,13005,-0.73,-117.3,741.4,-4.6,484,13009,0.00,2.35,0.00,0.000,6,0.000,0.056,2639,2155,3312
$GC,13331,-0.73,-117.3,754.7,-4.0,490,13335,0.00,2.38,0.00,0.000,4,0.000,0.095,2640,795,3312
$GC,13375,-0.73,-117.3,756.7,-4.4,490,13379,0.00,2.25,0.00,0.000,6,0.000,0.064,2640,2165,3312
$GC,13696,-0.73,-117.3,769.2,-3.9,496,13700,0.00,2.50,0.00,0.000,4,0.000,0.091,2639,3606,3312
$GC,13734,-0.73,-117.3,770.9,-4.8,496,13738,0.00,2.35,0.00,0.000,6,0.000,0.058,2640,2156,3311
$GC,14055,-0.73,-117.3,784.5,-4.3,502,14059,0.00,2.38,0.00,0.000,4,0.000,0.097,2640,799,3311
$GC,14105,-0.73,-117.3,786.9,-4.3,502,14109,0.00,2.20,0.00,0.000,6,0.000,0.065,2639,2136,3311
$GC,14422,-0.73,-117.3,801.5,-4.6,508,14427,0.00,2.55,0.00,0.000,4,0.000,0.091,2640,3606,3311
$GC,14461,-0.73,-117.3,803.7,-5.3,508,14465,0.00,2.40,0.00,0.000,6,0.000,0.061,2640,2137,3311
$GC,14781,-0.73,-117.3,819.9,-5.2,514,14785,0.00,2.35,0.00,0.000,4,0.000,0.100,2640,796,3311
$GC,14819,-0.73,-117.3,822.2,-6.2,514,14824,0.00,2.22,0.00,0.000,6,0.000,0.067,2639,2138,3311
$GC,15151,-0.73,-117.3,840.7,-5.6,520,15155,0.00,2.55,0.00,0.000,4,0.000,0.094,2639,3602,3311
$GC,15188,-0.73,-117.3,843.0,-6.7,520,15193,0.00,2.40,0.00,0.000,6,0.000,0.062,2640,2142,3310
$GC,15515,-0.73,-117.3,861.1,-5.5,526,15519,0.00,2.38,0.00,0.000,4,0.000,0.102,2640,802,3310
$GC,15576,-0.78,-117.3,864.8,-6.0,527,15580,0.00,2.15,0.00,0.000,6,0.000,0.069,2640,2109,3310
$GC,15947,-0.78,-117.3,886.2,-5.8,533,15951,0.00,2.62,0.00,0.000,4,0.000,0.096,2639,3598,3310
$GC,16012,-0.78,-117.3,890.4,-6.6,534,16017,0.00,2.47,0.00,0.000,6,0.000,0.066,2640,2129,3310
$GC,16379,-0.78,-117.3,910.0,-5.3,540,16383,0.00,2.38,0.00,0.000,4,0.000,0.105,2640,802,3310
$GC,16411,-0.82,-117.3,911.9,-5.9,540,16415,0.00,2.25,0.00,0.000,6,0.000,0.071,2640,2147,3310
$GC,16744,-0.82,-117.3,928.8,-5.0,546,16745,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2147,3310
$GC,17046,-0.82,-117.3,943.1,-4.8,551,17050,0.00,2.45,0.00,0.000,4,0.000,0.104,2640,790,3310
$GC,17079,-0.82,-117.3,944.8,-5.4,551,17083,0.00,2.22,0.00,0.000,6,0.000,0.073,2639,2116,3309
$GC,17411,-0.82,-117.3,960.0,-4.6,557,17415,0.00,2.65,0.00,0.000,4,0.000,0.103,2639,3603,3310
$GC,17460,-0.82,-117.3,962.4,-5.5,557,17464,0.00,2.50,0.00,0.000,6,0.000,0.071,2640,2120,3309
$GC,17776,-0.82,-117.3,976.0,-4.3,563,17780,0.00,2.40,0.00,0.000,4,0.000,0.110,2640,790,3309
$GC,17808,-0.87,-117.3,977.8,-5.5,563,17813,0.17,2.28,0.00,0.000,6,0.058,0.074,2604,2138,3309
$STATE,18071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18071,begin apogee
$GC,18077,-0.23,0.0,992.8,5.8,568,18183,0.85,0.00,102.88,1.483,6,0.079,0.000,2746,2197,2837
$STATE,18183,end apogee,CONTROL_FINISHED_OK
$STATE,18183,begin climb
$GC,18186,0.67,117.3,993.6,0.0,569,18300,1.15,0.00,110.32,1.434,6,0.052,0.000,2944,2197,2359
$GC,18549,0.39,117.3,967.8,9.2,575,18555,0.35,2.62,0.00,0.000,4,0.093,0.113,2886,803,2358
$GC,18571,0.22,117.3,965.9,7.9,575,18576,0.22,2.42,0.00,0.000,6,0.091,0.075,2851,2201,2358
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