version: 66.03
glider: 119
mission: 5
dive: 288
start: 12 14 108 23 56 8
data:
$ID,119
$MISSION,5
$DIVE,288
$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,-215095.83
$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,24
$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
$GPS1,234908,4731.586,-12714.746,26,1.8,26,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.2
$GPS2,235514,4731.521,-12714.783,10,1.8,10,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.173,0.090
$KALMAN_X,-23930.7,-561.0,-150.3,-148177.6,-403.8
$KALMAN_Y,327966.6,457.3,-120.0,-267228.4,128.6
$MHEAD_RNG_PITCHd_Wd,43.7,136140,-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,-51.55,0.000,2,0.000,0.000,859,2214,2468
$GC,77,-0.67,-117.3,3.1,-3.2,5,123,12.25,2.45,-28.38,0.000,4,0.143,0.078,2648,3609,3317
$GC,222,-0.50,-117.3,15.6,-9.3,18,227,0.22,2.30,0.00,0.000,6,0.083,0.042,2685,2178,3317
$GC,550,-0.50,-117.3,39.9,-8.5,48,554,0.00,2.33,0.00,0.000,4,0.000,0.064,2684,798,3317
$GC,629,-0.50,-117.3,46.9,-8.0,61,635,0.00,2.10,0.00,0.000,6,0.000,0.043,2685,2152,3317
$GC,974,-0.71,-117.3,71.8,-9.1,122,981,0.17,2.45,0.00,0.000,4,0.051,0.064,2640,3604,3317
$GC,1032,-0.64,-117.3,76.3,-7.3,132,1039,0.00,2.17,0.00,0.000,6,0.000,0.041,2640,2221,3317
$GC,1368,-0.54,-117.3,99.1,-7.0,169,1372,0.20,2.40,0.00,0.000,4,0.080,0.064,2678,797,3317
$GC,1430,-0.65,-117.3,102.7,-5.7,174,1434,0.00,2.20,0.00,0.000,6,0.000,0.044,2678,2207,3317
$GC,1758,-0.90,-117.3,121.0,-7.2,204,1763,0.38,2.35,0.00,0.000,4,0.041,0.066,2597,3600,3317
$GC,1798,-0.64,-117.3,124.7,-9.5,207,1807,0.35,2.22,0.00,0.000,6,0.079,0.042,2656,2201,3317
$GC,2132,-0.64,-117.3,145.4,-5.5,238,2136,0.00,2.35,0.00,0.000,4,0.000,0.064,2656,799,3317
$GC,2182,-0.64,-117.3,148.5,-6.8,242,2186,0.00,2.22,0.00,0.000,6,0.000,0.044,2656,2213,3317
$GC,2499,-0.64,-117.3,167.1,-5.3,258,2503,0.00,2.35,0.00,0.000,4,0.000,0.067,2656,3602,3317
$GC,2538,-0.64,-117.3,169.1,-5.9,260,2542,0.00,2.22,0.00,0.000,6,0.000,0.044,2656,2206,3317
$GC,2865,-0.64,-117.3,186.4,-5.5,276,2869,0.00,2.35,0.00,0.000,4,0.000,0.065,2656,794,3317
$GC,2920,-0.69,-117.3,189.7,-6.3,278,2926,0.00,2.25,0.00,0.000,6,0.000,0.046,2656,2228,3317
$GC,3236,-0.69,-117.3,208.9,-6.2,294,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2228,3317
$GC,3545,-0.69,-117.3,228.3,-6.3,309,3549,0.00,2.30,0.00,0.000,4,0.000,0.070,2656,3606,3317
$GC,3577,-0.69,-117.3,230.6,-7.2,310,3581,0.00,2.22,0.00,0.000,6,0.000,0.044,2656,2225,3317
$GC,3900,-0.69,-117.3,251.3,-6.6,326,3904,0.00,2.35,0.00,0.000,4,0.000,0.066,2656,796,3316
$GC,3945,-0.74,-117.3,254.5,-7.3,328,3949,0.00,2.22,0.00,0.000,6,0.000,0.045,2656,2218,3317
$GC,4267,-0.74,-117.3,274.9,-6.5,344,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2218,3317
$GC,4576,-0.74,-117.3,295.8,-6.8,359,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2218,3317
$GC,4901,-0.79,-117.3,316.7,-6.4,367,4905,0.15,2.33,0.00,0.000,4,0.057,0.065,2619,803,3317
$GC,4956,-0.69,-117.3,321.2,-8.6,367,4962,0.17,2.20,0.00,0.000,6,0.081,0.045,2649,2209,3317
$GC,5265,-0.69,-117.3,340.6,-6.1,373,5269,0.00,2.35,0.00,0.000,4,0.000,0.070,2649,3608,3316
$GC,5303,-0.69,-117.3,343.2,-6.2,373,5307,0.00,2.22,0.00,0.000,6,0.000,0.045,2649,2209,3316
$GC,5629,-0.69,-117.3,362.4,-5.8,379,5633,0.00,2.35,0.00,0.000,4,0.000,0.068,2649,801,3317
$GC,5673,-0.69,-117.3,365.1,-6.3,379,5676,0.00,2.22,0.00,0.000,6,0.000,0.045,2649,2214,3316
$GC,5995,-0.69,-117.3,382.3,-5.3,385,5999,0.00,2.35,0.00,0.000,4,0.000,0.070,2649,3604,3316
$GC,6035,-0.69,-117.3,384.5,-5.8,385,6039,0.00,2.22,0.00,0.000,6,0.000,0.046,2649,2202,3316
$GC,6357,-0.69,-117.3,401.9,-5.5,391,6361,0.00,2.38,0.00,0.000,4,0.000,0.071,2649,799,3316
$GC,6407,-0.74,-117.3,405.0,-5.5,391,6411,0.00,2.22,0.00,0.000,6,0.000,0.046,2649,2219,3315
$GC,6717,-0.74,-117.3,421.4,-5.3,396,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2219,3316
$GC,7021,-0.74,-117.3,436.1,-4.8,401,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2219,3315
$GC,7323,-0.74,-117.3,450.8,-4.8,406,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2219,3315
$GC,7626,-0.74,-117.3,464.9,-4.7,411,7630,0.00,2.35,0.00,0.000,4,0.000,0.072,2649,802,3315
$GC,7659,-0.79,-117.3,466.7,-5.4,411,7663,0.00,2.20,0.00,0.000,6,0.000,0.048,2649,2200,3315
$GC,7991,-0.79,-117.3,482.9,-4.9,417,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,3314
$GC,8294,-0.79,-117.3,497.8,-4.9,422,8298,0.00,2.35,0.00,0.000,4,0.000,0.074,2649,799,3314
$GC,8333,-0.84,-117.3,500.1,-5.8,422,8338,0.17,2.17,0.00,0.000,6,0.054,0.049,2612,2180,3315
$GC,8653,-0.73,-117.3,522.2,-7.0,428,8658,0.15,2.42,0.00,0.000,4,0.087,0.071,2641,3607,3314
$GC,8691,-0.73,-117.3,524.6,-5.9,428,8695,0.00,2.33,0.00,0.000,6,0.000,0.048,2642,2149,3313
$GC,9012,-0.73,-117.3,542.2,-5.5,434,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2149,3313
$GC,9315,-0.73,-117.3,558.8,-5.4,439,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2148,3313
$GC,9620,-0.73,-117.3,575.5,-5.5,444,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2147,3312
$GC,9921,-0.73,-117.3,593.1,-5.9,449,9925,0.00,2.50,0.00,0.000,4,0.000,0.074,2641,3603,3312
$GC,9959,-0.73,-117.3,595.4,-6.1,449,9963,0.00,2.33,0.00,0.000,6,0.000,0.048,2641,2167,3312
$GC,10285,-0.73,-117.3,613.4,-5.4,455,10289,0.00,2.38,0.00,0.000,4,0.000,0.081,2641,792,3312
$GC,10348,-0.78,-117.3,616.9,-5.4,456,10352,0.00,2.20,0.00,0.000,6,0.000,0.052,2641,2173,3313
$GC,10715,-0.78,-117.3,634.0,-4.5,462,10719,0.00,2.42,0.00,0.000,4,0.000,0.076,2641,3603,3312
$GC,10753,-0.78,-117.3,635.8,-4.7,462,10757,0.00,2.30,0.00,0.000,6,0.000,0.049,2641,2161,3312
$GC,11073,-0.78,-117.3,648.2,-3.8,468,11077,0.00,2.33,0.00,0.000,4,0.000,0.082,2641,798,3312
$GC,11123,-0.83,-117.3,650.2,-4.1,468,11127,0.12,2.20,0.00,0.000,6,0.063,0.052,2615,2180,3312
$GC,11438,-0.74,-117.3,666.2,-5.3,474,11442,0.12,2.40,0.00,0.000,4,0.093,0.074,2636,3605,3312
$GC,11476,-0.74,-117.3,668.4,-5.6,474,11480,0.00,2.35,0.00,0.000,6,0.000,0.050,2636,2138,3312
$GC,11796,-0.74,-117.3,684.8,-5.3,480,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2138,3311
$GC,12101,-0.74,-117.3,701.8,-5.6,485,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2138,3311
$GC,12402,-0.74,-117.3,720.2,-6.2,490,12406,0.00,2.55,0.00,0.000,4,0.000,0.076,2636,3600,3311
$GC,12451,-0.74,-117.3,723.6,-6.8,490,12455,0.00,2.35,0.00,0.000,6,0.000,0.050,2636,2145,3311
$GC,12760,-0.74,-117.3,743.1,-6.3,495,12764,0.00,2.33,0.00,0.000,4,0.000,0.084,2636,793,3311
$GC,12798,-0.74,-117.3,745.4,-6.2,495,12802,0.00,2.20,0.00,0.000,6,0.000,0.053,2635,2168,3311
$GC,13124,-0.74,-117.3,764.5,-5.8,501,13128,0.00,2.45,0.00,0.000,4,0.000,0.078,2635,3604,3311
$GC,13174,-0.74,-117.3,767.6,-5.2,501,13178,0.00,2.33,0.00,0.000,6,0.000,0.051,2636,2151,3311
$GC,13483,-0.74,-117.3,785.0,-5.6,506,13487,0.00,2.33,0.00,0.000,4,0.000,0.084,2636,802,3310
$GC,13532,-0.78,-117.3,787.9,-5.6,506,13536,0.00,2.17,0.00,0.000,6,0.000,0.054,2635,2158,3310
$GC,13842,-0.78,-117.3,804.5,-5.3,511,13846,0.00,2.50,0.00,0.000,4,0.000,0.078,2635,3607,3309
$GC,13886,-0.78,-117.3,807.1,-5.9,511,13890,0.00,2.35,0.00,0.000,6,0.000,0.051,2636,2152,3309
$GC,14207,-0.78,-117.3,823.1,-5.0,517,14211,0.00,2.33,0.00,0.000,4,0.000,0.086,2636,802,3309
$GC,14240,-0.78,-117.3,824.9,-5.3,517,14245,0.00,2.20,0.00,0.000,6,0.000,0.054,2635,2175,3309
$GC,14571,-0.78,-117.3,840.1,-4.6,523,14575,0.00,2.47,0.00,0.000,4,0.000,0.081,2635,3609,3309
$GC,14609,-0.78,-117.3,842.0,-5.1,523,14613,0.00,2.33,0.00,0.000,6,0.000,0.050,2636,2162,3309
$GC,14929,-0.78,-117.3,855.5,-4.1,529,14934,0.00,2.35,0.00,0.000,4,0.000,0.087,2635,802,3309
$GC,14968,-0.78,-117.3,857.3,-4.4,529,14972,0.00,2.25,0.00,0.000,6,0.000,0.054,2636,2205,3309
$GC,15289,-0.78,-117.3,870.7,-4.2,535,15290,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,3309
$GC,15592,-0.78,-117.3,884.2,-4.5,540,15596,0.00,2.42,0.00,0.000,4,0.000,0.084,2636,802,3309
$GC,15631,-0.82,-117.3,886.2,-4.9,540,15635,0.00,2.20,0.00,0.000,6,0.000,0.055,2635,2169,3309
$GC,15953,-0.82,-117.3,901.2,-4.9,546,15954,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2169,3309
$GC,16253,-0.82,-117.3,918.0,-5.6,551,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2169,3308
$GC,16557,-0.82,-117.3,935.8,-5.9,556,16558,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2169,3309
$GC,16861,-0.82,-117.3,953.3,-5.7,561,16865,0.00,2.40,0.00,0.000,4,0.000,0.090,2635,796,3308
$GC,16899,-0.86,-117.3,955.7,-6.2,561,16904,0.12,2.20,0.00,0.000,6,0.063,0.058,2609,2153,3308
$GC,17220,-0.78,-117.3,977.9,-7.1,567,17224,0.00,2.55,0.00,0.000,4,0.000,0.088,2608,3605,3308
$GC,17298,-0.68,-117.3,984.0,-7.6,568,17303,0.25,2.38,0.00,0.000,6,0.083,0.054,2650,2141,3308
$STATE,17401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17401,begin apogee
$GC,17407,-0.23,0.0,990.2,5.4,570,17514,0.57,0.00,104.57,1.508,6,0.071,0.000,2749,2208,2837
$STATE,17515,end apogee,CONTROL_FINISHED_OK
$STATE,17515,begin climb
$GC,17518,0.67,117.3,992.6,0.0,571,17641,1.10,2.67,115.35,1.464,4,0.046,0.083,2942,3594,2357
$GC,17657,0.39,117.3,991.7,6.4,573,17663,0.38,2.50,0.00,0.000,6,0.094,0.058,2887,2213,2357
$GC,18006,0.40,121.6,973.3,5.4,579,18017,0.00,2.53,5.97,1.135,4,0.000,0.099,2887,782,2340
$GC,18056,0.33,121.6,970.2,6.0,579,18061,0.00,2.28,0.00,0.000,6,0.000,0.061,2887,2173,2340
$GC,18365,0.33,121.6,950.7,6.4,584,18366,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2173,2340
$GC,18668,0.33,121.6,930.2,6.8,589,18672,0.00,2.42,0.00,0.000,4,0.000,0.093,2887,778,2340
$GC,18691,0.29,121.6,928.7,8.3,589,18695,0.15,2.22,0.00,0.000,6,0.096,0.059,2863,2150,2340
$GC,19028,0.36,121.6,908.6,5.9,595,19032,0.00,2.35,0.00,0.000,4,0.000,0.090,2863,786,2340
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