version: 66.03
glider: 119
mission: 5
dive: 65
start: 10 5 108 17 26 49
data:
$ID,119
$MISSION,5
$DIVE,65
$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,-210864.8
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,172015,4709.037,-12745.604,34,1.2,34,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-69.7
$GPS2,172557,4709.098,-12745.602,11,1.4,11,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.175,0.086
$KALMAN_X,74252.1,-454.6,86.1,-285630.8,-341.0
$KALMAN_Y,123545.2,86.4,-42.0,-104026.5,1086.1
$MHEAD_RNG_PITCHd_Wd,45.2,190770,-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,-62.00,0.000,2,0.000,0.000,861,2203,2913
$GC,87,-0.67,-117.3,3.5,-6.8,6,113,12.32,2.33,-8.18,0.000,4,0.145,0.080,2650,3604,3317
$GC,288,-0.37,-117.3,37.5,-13.7,24,293,0.40,2.25,0.00,0.000,6,0.082,0.047,2716,2196,3317
$GC,630,-0.50,-117.3,59.1,-5.6,82,637,0.15,2.33,0.00,0.000,4,0.054,0.067,2676,3604,3318
$GC,660,-0.59,-117.3,60.9,-5.8,87,667,0.00,2.25,0.00,0.000,6,0.000,0.046,2677,2189,3318
$GC,1005,-0.74,-117.3,85.6,-7.3,142,1010,0.17,2.35,0.00,0.000,4,0.049,0.071,2632,3603,3320
$GC,1262,-0.53,-117.3,110.2,-10.3,164,1270,0.30,2.25,0.00,0.000,6,0.078,0.052,2684,2214,3320
$GC,1589,-0.53,-117.3,129.7,-5.4,195,1593,0.00,2.35,0.00,0.000,4,0.000,0.075,2683,800,3320
$GC,1641,-0.62,-117.3,132.8,-5.7,199,1645,0.00,2.25,0.00,0.000,6,0.000,0.058,2683,2199,3320
$GC,1965,-0.85,-117.3,155.3,-7.5,226,1970,0.35,2.35,0.00,0.000,4,0.044,0.077,2609,3602,3320
$GC,2222,-0.63,-117.3,179.5,-8.8,237,2229,0.30,2.28,0.00,0.000,6,0.081,0.056,2659,2180,3320
$GC,2538,-0.63,-117.3,196.3,-5.1,253,2542,0.00,2.40,0.00,0.000,4,0.000,0.080,2659,3608,3320
$GC,2570,-0.63,-117.3,198.1,-5.6,254,2575,0.00,2.30,0.00,0.000,6,0.000,0.057,2659,2200,3320
$GC,2892,-0.63,-117.3,213.4,-4.6,270,2896,0.00,2.33,0.00,0.000,4,0.000,0.075,2659,795,3320
$GC,2924,-0.63,-117.3,214.9,-4.7,271,2931,0.00,2.28,0.00,0.000,6,0.000,0.058,2659,2191,3320
$GC,3240,-0.63,-117.3,231.3,-5.4,287,3245,0.00,2.38,0.00,0.000,4,0.000,0.080,2659,3606,3320
$GC,3280,-0.63,-117.3,233.6,-6.1,289,3284,0.00,2.28,0.00,0.000,6,0.000,0.058,2659,2196,3320
$GC,3606,-0.63,-117.3,251.8,-5.8,305,3610,0.00,2.33,0.00,0.000,4,0.000,0.075,2659,790,3320
$GC,3655,-0.68,-117.3,254.9,-6.4,307,3659,0.00,2.28,0.00,0.000,6,0.000,0.058,2659,2200,3319
$GC,3976,-0.68,-117.3,273.2,-5.7,323,3980,0.00,2.35,0.00,0.000,4,0.000,0.081,2659,3605,3319
$GC,4010,-0.68,-117.3,275.3,-6.6,324,4016,0.00,2.25,0.00,0.000,6,0.000,0.058,2659,2199,3318
$GC,4325,-0.68,-117.3,293.5,-5.7,340,4329,0.00,2.30,0.00,0.000,4,0.000,0.076,2659,799,3318
$GC,4374,-0.73,-117.3,296.5,-6.0,342,4378,0.00,2.25,0.00,0.000,6,0.000,0.059,2659,2200,3318
$GC,4696,-0.73,-117.3,312.8,-5.0,350,4700,0.00,2.35,0.00,0.000,4,0.000,0.081,2659,3603,3318
$GC,4734,-0.73,-117.3,315.0,-5.7,350,4738,0.00,2.28,0.00,0.000,6,0.000,0.058,2659,2194,3317
$GC,5062,-0.73,-117.3,329.8,-4.5,356,5066,0.00,2.33,0.00,0.000,4,0.000,0.077,2659,799,3317
$GC,5117,-0.81,-117.3,332.4,-4.6,356,5124,0.20,2.28,0.00,0.000,6,0.054,0.060,2617,2206,3317
$GC,5429,-0.66,-117.3,351.5,-6.3,362,5433,0.17,2.35,0.00,0.000,4,0.087,0.081,2651,3606,3316
$GC,5472,-0.66,-117.3,354.1,-5.5,362,5476,0.00,2.30,0.00,0.000,6,0.000,0.059,2652,2204,3316
$GC,5793,-0.66,-117.3,369.7,-4.9,368,5797,0.00,2.35,0.00,0.000,4,0.000,0.079,2652,794,3316
$GC,5836,-0.66,-117.3,372.3,-5.9,368,5840,0.00,2.28,0.00,0.000,6,0.000,0.061,2651,2199,3315
$GC,6157,-0.66,-117.3,389.3,-5.4,374,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,3315
$GC,6460,-0.66,-117.3,406.1,-5.6,379,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,3314
$GC,6763,-0.66,-117.3,423.2,-5.6,384,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,3313
$GC,7066,-0.66,-117.3,439.4,-5.3,389,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2199,3313
$GC,7371,-0.66,-117.3,454.1,-4.8,394,7375,0.00,2.38,0.00,0.000,4,0.000,0.080,2651,797,3312
$GC,7420,-0.66,-117.3,456.6,-4.8,394,7424,0.00,2.30,0.00,0.000,6,0.000,0.061,2651,2207,3312
$GC,7735,-0.66,-117.3,471.9,-4.9,400,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3312
$GC,8038,-0.66,-117.3,487.1,-5.0,405,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2207,3312
$GC,8342,-0.66,-117.3,502.2,-5.0,410,8346,0.00,2.40,0.00,0.000,4,0.000,0.081,2652,797,3311
$GC,8391,-0.71,-117.3,504.7,-5.7,410,8395,0.00,2.30,0.00,0.000,6,0.000,0.062,2651,2202,3311
$GC,8706,-0.71,-117.3,519.9,-4.8,416,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2202,3311
$GC,9009,-0.71,-117.3,533.8,-4.6,421,9013,0.00,2.42,0.00,0.000,4,0.000,0.084,2651,789,3311
$GC,9042,-0.77,-117.3,535.3,-5.0,421,9046,0.00,2.33,0.00,0.000,6,0.000,0.064,2651,2204,3311
$GC,9367,-0.77,-117.3,549.2,-4.3,427,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,3311
$GC,9670,-0.77,-117.3,563.0,-4.6,432,9674,0.00,2.40,0.00,0.000,4,0.000,0.084,2652,799,3310
$GC,9722,-0.84,-117.3,565.5,-5.3,432,9727,0.20,2.33,0.00,0.000,6,0.057,0.067,2611,2207,3310
$GC,10037,-0.70,-117.3,586.3,-6.7,438,10042,0.15,2.40,0.00,0.000,4,0.092,0.088,2641,3609,3310
$GC,10075,-0.70,-117.3,588.9,-6.0,438,10079,0.00,2.30,0.00,0.000,6,0.000,0.062,2640,2203,3309
$GC,10402,-0.70,-117.3,607.8,-5.9,444,10407,0.00,2.42,0.00,0.000,4,0.000,0.091,2641,796,3309
$GC,10446,-0.70,-117.3,610.6,-6.2,444,10450,0.00,2.30,0.00,0.000,6,0.000,0.066,2641,2201,3309
$GC,10768,-0.70,-117.3,629.0,-5.7,450,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,3308
$GC,11070,-0.70,-117.3,645.5,-5.4,455,11074,0.00,2.45,0.00,0.000,4,0.000,0.087,2641,790,3309
$GC,11108,-0.70,-117.3,647.8,-5.8,455,11112,0.00,2.33,0.00,0.000,6,0.000,0.067,2641,2208,3308
$GC,11435,-0.70,-117.3,664.8,-5.3,461,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2209,3308
$GC,11738,-0.70,-117.3,680.6,-5.2,466,11742,0.00,2.47,0.00,0.000,4,0.000,0.089,2641,787,3308
$GC,11787,-0.70,-117.3,683.5,-5.2,466,11791,0.00,2.33,0.00,0.000,6,0.000,0.068,2641,2201,3308
$GC,12102,-0.70,-117.3,699.3,-5.0,472,12106,0.00,2.45,0.00,0.000,4,0.000,0.094,2641,3605,3308
$GC,12139,-0.70,-117.3,701.4,-5.7,472,12143,0.00,2.33,0.00,0.000,6,0.000,0.064,2641,2194,3307
$GC,12466,-0.70,-117.3,717.5,-4.9,478,12470,0.00,2.45,0.00,0.000,4,0.000,0.097,2641,792,3307
$GC,12532,-0.70,-117.3,721.0,-5.2,479,12536,0.00,2.35,0.00,0.000,6,0.000,0.071,2640,2210,3307
$GC,12897,-0.70,-117.3,739.7,-5.2,485,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2210,3307
$GC,13201,-0.70,-117.3,755.6,-5.2,490,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2210,3307
$GC,13503,-0.70,-117.3,771.8,-5.4,495,13508,0.00,2.50,0.00,0.000,4,0.000,0.095,2641,797,3307
$GC,13553,-0.70,-117.3,774.6,-5.5,495,13557,0.00,2.35,0.00,0.000,6,0.000,0.073,2641,2206,3307
$GC,13868,-0.70,-117.3,790.4,-5.0,501,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2206,3306
$GC,14171,-0.70,-117.3,804.8,-4.7,506,14175,0.00,2.53,0.00,0.000,4,0.000,0.098,2641,791,3306
$GC,14214,-0.70,-117.3,807.0,-5.2,506,14218,0.00,2.35,0.00,0.000,6,0.000,0.074,2641,2200,3306
$GC,14535,-0.70,-117.3,821.6,-4.6,512,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,3306
$GC,14838,-0.70,-117.3,835.5,-4.6,517,14842,0.00,2.53,0.00,0.000,4,0.000,0.100,2641,789,3306
$GC,14876,-0.70,-117.3,837.5,-5.1,517,14880,0.00,2.38,0.00,0.000,6,0.000,0.075,2640,2207,3306
$GC,15202,-0.70,-117.3,852.9,-4.7,523,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2207,3306
$GC,15505,-0.70,-117.3,867.2,-4.7,528,15510,0.00,2.55,0.00,0.000,4,0.000,0.102,2641,789,3306
$GC,15549,-0.75,-117.3,869.6,-5.7,528,15553,0.00,2.38,0.00,0.000,6,0.000,0.077,2641,2203,3305
$GC,15870,-0.75,-117.3,885.0,-4.8,534,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,3305
$GC,16173,-0.75,-117.3,898.6,-4.5,539,16177,0.00,2.55,0.00,0.000,4,0.000,0.104,2640,797,3305
$GC,16217,-0.79,-117.3,900.4,-4.7,539,16221,0.00,2.38,0.00,0.000,6,0.000,0.077,2641,2199,3305
$GC,16531,-0.79,-117.3,913.5,-4.1,545,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2199,3305
$GC,16835,-0.79,-117.3,925.3,-4.0,550,16839,0.00,2.55,0.00,0.000,4,0.000,0.106,2641,796,3305
$GC,16879,-0.84,-117.3,927.3,-3.8,550,16884,0.15,2.40,0.00,0.000,6,0.060,0.079,2610,2203,3305
$GC,17193,-0.74,-117.3,943.5,-5.2,556,17198,0.15,2.55,0.00,0.000,4,0.094,0.109,2638,3606,3305
$GC,17237,-0.74,-117.3,945.6,-4.3,556,17241,0.00,2.38,0.00,0.000,6,0.000,0.078,2638,2207,3305
$GC,17558,-0.74,-117.3,958.7,-4.1,562,17562,0.00,2.58,0.00,0.000,4,0.000,0.113,2638,790,3305
$GC,17607,-0.79,-117.3,961.0,-4.5,562,17611,0.00,2.42,0.00,0.000,6,0.000,0.081,2638,2208,3305
$GC,17916,-0.79,-117.3,973.8,-4.2,567,17917,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2208,3305
$GC,18219,-0.79,-117.3,988.1,-4.8,572,18224,0.00,2.60,0.00,0.000,4,0.000,0.111,2638,792,3304
$STATE,18255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18255,begin apogee
$GC,18263,-0.23,0.0,990.2,5.4,572,18368,0.60,0.00,101.55,1.485,6,0.076,0.000,2743,2200,2837
$STATE,18368,end apogee,CONTROL_FINISHED_OK
$STATE,18368,begin climb
$GC,18370,0.67,117.3,993.0,0.0,574,18484,1.20,0.00,110.40,1.437,6,0.051,0.000,2947,2200,2358
$GC,18767,0.39,117.3,966.0,8.6,581,18769,0.38,0.00,0.00,0.000,6,0.094,0.000,2888,2200,2357
$GC,19070,0.32,117.3,947.7,5.9,586,19074,0.00,2.55,0.00,0.000,4,0.000,0.109,2887,3605,2357
$GC,19102,0.22,117.3,945.6,6.9,586,19107,0.25,2.45,0.00,0.000,6,0.092,0.083,2848,2193,2357
$GC,19428,0.35,158.8,931.8,4.2,592,19473,0.15,2.67,37.15,1.420,4,0.063,0.115,2882,792,2189
$GC,19500,0.35,158.8,927.6,5.9,593,19505,0.00,2.45,0.00,0.000,6,0.000,0.080,2882,2200,2188
$GC,19860,0.35,158.8,905.7,6.1,599,19865,0.00,2.58,0.00,0.000,4,0.000,0.110,2882,791,2188
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