version: 66.03
glider: 119
mission: 5
dive: 305
start: 12 21 108 17 36 29
data:
$ID,119
$MISSION,5
$DIVE,305
$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,-215384.28
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,172902,4800.097,-12605.191,36,1.9,36,18.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.8
$GPS2,173538,4800.147,-12605.248,8,1.4,8,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.189,-0.047
$KALMAN_X,-50892.7,64.6,143.8,-34277.1,-1107.5
$KALMAN_Y,361476.8,188.0,-37.4,-247521.5,4612.6
$MHEAD_RNG_PITCHd_Wd,85.0,35244,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-60.97,0.000,2,0.000,0.000,860,2184,2660
$GC,88,-0.67,-117.3,3.2,-3.6,6,125,12.25,2.47,-19.15,0.000,4,0.144,0.080,2649,3599,3315
$GC,366,-0.49,-117.3,32.7,-10.5,30,373,0.25,2.25,0.00,0.000,6,0.081,0.044,2690,2205,3315
$GC,704,-0.49,-117.3,58.0,-7.2,83,710,0.00,2.38,0.00,0.000,4,0.000,0.063,2690,787,3315
$GC,739,-0.49,-117.3,60.5,-7.0,89,745,0.00,2.22,0.00,0.000,6,0.000,0.044,2690,2205,3315
$GC,1081,-0.74,-117.3,83.3,-7.1,146,1086,0.25,2.30,0.00,0.000,4,0.048,0.060,2635,785,3315
$GC,1114,-0.74,-117.3,86.2,-8.6,148,1120,0.00,2.38,0.00,0.000,6,0.000,0.044,2635,2314,3315
$GC,1442,-0.61,-117.3,112.4,-8.1,179,1449,0.17,0.00,0.00,0.000,6,0.083,0.000,2665,2313,3315
$GC,1769,-0.61,-117.3,133.6,-6.3,210,1773,0.00,2.45,0.00,0.000,4,0.000,0.061,2666,798,3315
$GC,1832,-0.68,-117.3,137.7,-6.6,215,1836,0.00,2.28,0.00,0.000,6,0.000,0.045,2666,2252,3315
$GC,2159,-0.68,-117.3,157.9,-6.1,240,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2252,3315
$GC,2468,-0.68,-117.3,174.8,-5.5,255,2476,0.00,2.38,0.00,0.000,4,0.000,0.062,2665,786,3316
$GC,2503,-0.74,-117.3,176.9,-5.5,256,2508,0.15,2.28,0.00,0.000,6,0.056,0.044,2632,2243,3315
$GC,2825,-0.64,-117.3,198.0,-6.5,272,2829,0.15,2.38,0.00,0.000,4,0.084,0.062,2661,787,3316
$GC,2852,-0.64,-117.3,199.7,-5.8,273,2856,0.00,2.20,0.00,0.000,6,0.000,0.044,2662,2198,3315
$GC,3168,-0.64,-117.3,216.3,-5.1,288,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2199,3315
$GC,3478,-0.64,-117.3,232.2,-5.1,303,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2199,3315
$GC,3786,-0.64,-117.3,248.5,-5.5,318,3790,0.00,2.35,0.00,0.000,4,0.000,0.068,2661,3606,3315
$GC,3813,-0.64,-117.3,250.2,-6.0,319,3817,0.00,2.30,0.00,0.000,6,0.000,0.043,2661,2152,3315
$GC,4130,-0.69,-117.3,270.2,-6.8,334,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2146,3315
$GC,4439,-0.74,-117.3,289.4,-6.1,349,4443,0.00,2.45,0.00,0.000,4,0.000,0.067,2661,3600,3315
$GC,4478,-0.79,-117.3,291.9,-6.0,351,4483,0.17,2.22,0.00,0.000,6,0.056,0.044,2625,2200,3315
$GC,4841,-0.68,-117.3,319.6,-7.8,361,4846,0.15,2.35,0.00,0.000,4,0.087,0.067,2654,800,3315
$GC,4908,-0.72,-117.3,324.4,-7.0,362,4912,0.00,2.17,0.00,0.000,6,0.000,0.046,2654,2174,3315
$GC,5267,-0.72,-117.3,345.7,-5.8,368,5271,0.00,2.40,0.00,0.000,4,0.000,0.069,2654,3601,3315
$GC,5312,-0.72,-117.3,348.3,-6.1,368,5316,0.00,2.28,0.00,0.000,6,0.000,0.045,2654,2168,3315
$GC,5638,-0.72,-117.3,366.1,-5.4,374,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2163,3315
$GC,5941,-0.72,-117.3,382.6,-5.4,379,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2163,3315
$GC,6244,-0.72,-117.3,398.7,-5.2,384,6248,0.00,2.45,0.00,0.000,4,0.000,0.069,2654,3600,3315
$GC,6282,-0.72,-117.3,400.7,-5.4,384,6287,0.00,2.22,0.00,0.000,6,0.000,0.045,2654,2206,3314
$GC,6603,-0.72,-117.3,416.6,-5.0,390,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,3314
$GC,6906,-0.72,-117.3,432.8,-5.3,395,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,3314
$GC,7210,-0.76,-117.3,448.5,-5.2,400,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,3314
$GC,7512,-0.76,-117.3,463.3,-4.9,405,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2200,3314
$GC,7817,-0.80,-117.3,477.9,-4.8,410,7819,0.15,0.00,0.00,0.000,6,0.061,0.000,2622,2200,3314
$GC,8118,-0.70,-117.3,497.2,-6.4,415,8123,0.12,2.38,0.00,0.000,4,0.091,0.069,2643,3601,3314
$GC,8157,-0.70,-117.3,499.6,-6.2,415,8161,0.00,2.20,0.00,0.000,6,0.000,0.046,2643,2214,3313
$GC,8477,-0.70,-117.3,517.3,-5.5,421,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2214,3313
$GC,8780,-0.70,-117.3,533.7,-5.5,426,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2214,3313
$GC,9084,-0.70,-117.3,551.1,-5.7,431,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2212,3313
$GC,9386,-0.70,-117.3,568.2,-5.6,436,9390,0.00,2.45,0.00,0.000,4,0.000,0.077,2643,794,3312
$GC,9418,-0.70,-117.3,570.3,-6.4,436,9422,0.00,2.28,0.00,0.000,6,0.000,0.049,2643,2227,3312
$GC,9750,-0.70,-117.3,590.3,-6.2,442,9754,0.00,2.35,0.00,0.000,4,0.000,0.074,2643,3608,3312
$GC,9794,-0.70,-117.3,593.5,-8.0,442,9798,0.00,2.20,0.00,0.000,6,0.000,0.048,2643,2236,3312
$GC,10108,-0.70,-117.3,613.5,-6.3,448,10112,0.00,2.45,0.00,0.000,4,0.000,0.079,2643,801,3311
$GC,10136,-0.70,-117.3,615.3,-6.9,448,10140,0.00,2.30,0.00,0.000,6,0.000,0.051,2643,2248,3311
$GC,10467,-0.70,-117.3,635.3,-6.0,454,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2248,3311
$GC,10771,-0.70,-117.3,653.4,-6.0,459,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2248,3311
$GC,11073,-0.70,-117.3,672.4,-6.3,464,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2248,3311
$GC,11376,-0.70,-117.3,692.3,-6.6,469,11380,0.00,2.45,0.00,0.000,4,0.000,0.077,2643,799,3311
$GC,11432,-0.76,-117.3,696.1,-6.6,469,11438,0.00,2.28,0.00,0.000,6,0.000,0.052,2643,2225,3311
$GC,11741,-0.76,-117.3,714.9,-6.0,475,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2225,3311
$GC,12044,-0.76,-117.3,731.5,-5.4,480,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2226,3310
$GC,12347,-0.76,-117.3,746.4,-4.8,485,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2226,3310
$GC,12650,-0.76,-117.3,760.8,-4.8,490,12654,0.00,2.42,0.00,0.000,4,0.000,0.078,2643,793,3310
$GC,12695,-0.81,-117.3,762.9,-4.7,490,12700,0.00,2.28,0.00,0.000,6,0.000,0.053,2643,2217,3310
$GC,13012,-0.81,-117.3,778.7,-4.9,496,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2217,3310
$GC,13313,-0.81,-117.3,792.2,-4.4,501,13317,0.00,2.42,0.00,0.000,4,0.000,0.079,2643,793,3310
$GC,13347,-0.85,-117.3,793.8,-4.8,501,13352,0.15,2.22,0.00,0.000,6,0.058,0.054,2611,2186,3310
$GC,13673,-0.73,-117.3,813.3,-6.1,507,13678,0.15,2.40,0.00,0.000,4,0.091,0.077,2640,3601,3310
$GC,13716,-0.73,-117.3,816.0,-5.7,507,13720,0.00,2.22,0.00,0.000,6,0.000,0.050,2640,2203,3309
$GC,14038,-0.73,-117.3,833.6,-5.6,513,14042,0.00,2.38,0.00,0.000,4,0.000,0.084,2640,802,3309
$GC,14064,-0.73,-117.3,835.4,-6.2,513,14069,0.00,2.28,0.00,0.000,6,0.000,0.053,2640,2204,3309
$GC,14404,-0.73,-117.3,853.8,-5.4,519,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,3309
$GC,14705,-0.73,-117.3,870.3,-5.5,524,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,3308
$GC,15008,-0.73,-117.3,888.1,-5.9,529,15012,0.00,2.42,0.00,0.000,4,0.000,0.083,2640,792,3308
$GC,15041,-0.78,-117.3,890.2,-5.7,529,15045,0.00,2.25,0.00,0.000,6,0.000,0.054,2640,2194,3308
$GC,15368,-0.78,-117.3,907.8,-5.3,535,15372,0.00,2.40,0.00,0.000,4,0.000,0.084,2640,799,3308
$GC,15401,-0.83,-117.3,909.7,-5.9,535,15405,0.00,2.20,0.00,0.000,6,0.000,0.055,2640,2169,3308
$GC,15728,-0.83,-117.3,925.8,-5.0,541,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2169,3308
$GC,16030,-0.83,-117.3,940.5,-4.8,546,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2169,3308
$GC,16333,-0.83,-117.3,955.9,-5.0,551,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2169,3308
$GC,16637,-0.83,-117.3,972.5,-5.5,556,16638,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2170,3307
$GC,16939,-0.83,-117.3,989.9,-5.7,561,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2170,3307
$STATE,16998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16998,begin apogee
$GC,17003,-0.23,0.0,993.3,5.7,562,17111,0.62,0.00,105.05,1.508,6,0.075,0.000,2747,2170,2837
$STATE,17112,end apogee,CONTROL_FINISHED_OK
$STATE,17112,begin climb
$GC,17114,0.67,117.3,995.4,0.0,563,17238,1.12,2.80,115.82,1.466,4,0.044,0.084,2943,3595,2358
$GC,17254,0.39,117.3,993.8,7.0,565,17260,0.38,2.47,0.00,0.000,6,0.090,0.054,2888,2210,2358
$GC,17603,0.40,119.9,974.8,5.4,571,17612,0.00,2.50,4.28,0.954,4,0.000,0.094,2888,787,2348
$GC,17647,0.34,119.9,972.1,7.1,571,17651,0.00,2.28,0.00,0.000,6,0.000,0.058,2888,2186,2348
$GC,17967,0.34,119.9,954.0,5.7,577,17968,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2186,2348
$GC,18270,0.34,119.9,936.5,5.8,582,18274,0.00,2.40,0.00,0.000,4,0.000,0.088,2888,789,2348
$GC,18297,0.30,119.9,935.0,6.1,582,18302,0.12,2.20,0.00,0.000,6,0.100,0.057,2868,2152,2348
$GC,18629,0.36,125.4,917.1,5.3,588,18642,0.00,2.40,6.82,1.216,4,0.000,0.086,2868,780,2325
$GC,18677,0.37,136.6,914.5,5.1,588,18694,0.00,2.17,12.38,1.355,6,0.000,0.055,2868,2132,2279
$GC,18997,0.44,136.6,896.1,5.6,594,19002,0.15,2.30,0.00,0.000,4,0.062,0.084,2900,790,2279
$GC,19052,0.35,136.6,892.0,7.0,594,19059,0.12,2.08,0.00,0.000,6,0.099,0.055,2879,2083,2279
$GC,19362,0.40,136.6,873.3,5.9,600,19363,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2083,2279
$GC,19665,0.46,144.7,857.2,5.2,605,19676,0.00,0.00,8.98,1.279,6,0.000,0.000,2879,2083,2248
$GC,19968,0.53,160.2,841.7,5.0,610,19987,0.17,0.00,16.15,1.366,6,0.060,0.000,2914,2083,2183
$GC,20271,0.47,160.2,821.2,7.0,615,20275,0.00,2.58,0.00,0.000,4,0.000,0.080,2915,3604,2183
$GC,20315,0.38,160.2,817.7,7.7,615,20320,0.17,2.53,0.00,0.000,6,0.094,0.056,2886,2056,2183
$GC,20630,0.43,160.2,799.3,5.8,621,20634,0.00,2.62,0.00,0.000,4,0.000,0.077,2886,3605,2183
$GC,20656,0.43,160.2,797.6,6.0,621,20660,0.00,2.47,0.00,0.000,6,0.000,0.054,2886,2077,2183
$GC,20994,0.48,160.2,776.6,6.2,627,20998,0.00,2.20,0.00,0.000,4,0.000,0.087,2886,779,2183
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