version: 66.03
glider: 119
mission: 5
dive: 74
start: 10 9 108 7 23 37
data:
$ID,119
$MISSION,5
$DIVE,74
$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,-210999.42
$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,14
$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
$GPS1,071708,4724.659,-12712.978,25,1.5,25,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-68.3
$GPS2,072245,4724.617,-12712.798,14,1.7,14,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.191,0.041
$KALMAN_X,56220.0,27.8,92.2,-226653.9,-2283.0
$KALMAN_Y,131411.3,-452.4,-123.8,-82536.8,1730.7
$MHEAD_RNG_PITCHd_Wd,59.1,141082,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.90,0.000,2,0.000,0.000,864,2205,3218
$GC,97,-0.67,-117.3,5.3,-8.7,7,120,12.38,2.35,-1.77,0.000,4,0.150,0.076,2647,3598,3320
$GC,373,-0.43,-117.3,52.5,-10.1,42,380,0.32,2.28,0.00,0.000,6,0.080,0.047,2702,2167,3320
$GC,717,-0.51,-117.3,71.2,-5.5,103,724,0.00,2.40,0.00,0.000,4,0.000,0.069,2703,3612,3321
$GC,837,-0.59,-117.3,78.6,-6.4,124,844,0.17,2.22,0.00,0.000,6,0.051,0.048,2664,2198,3321
$GC,1165,-0.52,-117.3,100.7,-6.0,156,1170,0.12,2.33,0.00,0.000,4,0.089,0.070,2686,795,3321
$GC,1250,-0.59,-117.3,105.8,-5.7,163,1254,0.00,2.25,0.00,0.000,6,0.000,0.054,2685,2201,3322
$GC,1576,-0.82,-117.3,130.0,-7.3,193,1580,0.32,2.35,0.00,0.000,4,0.044,0.073,2614,3610,3322
$GC,1776,-0.59,-117.3,149.5,-9.0,210,1784,0.32,2.28,0.00,0.000,6,0.079,0.051,2669,2202,3322
$GC,2092,-0.59,-117.3,167.1,-5.4,226,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3322
$GC,2402,-0.64,-117.3,183.7,-4.7,241,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3322
$GC,2711,-0.70,-117.3,198.2,-5.3,256,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3322
$GC,3020,-0.77,-117.3,214.3,-4.8,271,3022,0.20,0.00,0.00,0.000,6,0.054,0.000,2627,2197,3322
$GC,3329,-0.65,-117.3,235.4,-7.1,286,3331,0.17,0.00,0.00,0.000,6,0.087,0.000,2657,2197,3322
$GC,3638,-0.65,-117.3,252.1,-5.1,301,3642,0.00,2.33,0.00,0.000,4,0.000,0.071,2657,793,3321
$GC,3671,-0.69,-117.3,254.1,-6.0,302,3678,0.00,2.25,0.00,0.000,6,0.000,0.053,2657,2210,3321
$GC,3987,-0.69,-117.3,270.6,-5.2,318,3991,0.00,2.33,0.00,0.000,4,0.000,0.077,2656,3603,3321
$GC,4019,-0.69,-117.3,272.7,-6.2,319,4026,0.00,2.25,0.00,0.000,6,0.000,0.050,2657,2204,3321
$GC,4335,-0.69,-117.3,290.1,-5.4,335,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3321
$GC,4662,-0.69,-117.3,306.8,-5.1,347,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3321
$GC,4965,-0.69,-117.3,323.5,-5.6,352,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3321
$GC,5268,-0.69,-117.3,340.6,-5.6,357,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3320
$GC,5571,-0.69,-117.3,356.7,-5.2,362,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3320
$GC,5874,-0.69,-117.3,372.3,-5.1,367,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3320
$GC,6178,-0.69,-117.3,388.9,-5.5,372,6182,0.00,2.35,0.00,0.000,4,0.000,0.075,2657,795,3320
$GC,6210,-0.75,-117.3,390.8,-6.0,372,6214,0.00,2.28,0.00,0.000,6,0.000,0.055,2656,2210,3320
$GC,6544,-0.79,-117.3,408.3,-5.2,378,6546,0.15,0.00,0.00,0.000,6,0.060,0.000,2624,2210,3319
$GC,6846,-0.69,-117.3,427.9,-6.6,383,6848,0.12,0.00,0.00,0.000,6,0.094,0.000,2645,2210,3319
$GC,7148,-0.69,-117.3,444.8,-5.6,388,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2210,3319
$GC,7451,-0.69,-117.3,461.7,-5.7,393,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2210,3318
$GC,7754,-0.69,-117.3,478.4,-5.5,398,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2210,3318
$GC,8057,-0.69,-117.3,494.7,-5.3,403,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2210,3318
$GC,8360,-0.69,-117.3,510.3,-5.1,408,8364,0.00,2.40,0.00,0.000,4,0.000,0.080,2645,805,3318
$GC,8404,-0.69,-117.3,512.6,-4.8,408,8408,0.00,2.28,0.00,0.000,6,0.000,0.058,2645,2203,3318
$GC,8726,-0.69,-117.3,529.3,-5.2,414,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3317
$GC,9027,-0.69,-117.3,546.0,-5.5,419,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3317
$GC,9331,-0.69,-117.3,562.5,-5.5,424,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3317
$GC,9634,-0.69,-117.3,578.6,-5.3,429,9638,0.00,2.40,0.00,0.000,4,0.000,0.081,2645,804,3316
$GC,9672,-0.69,-117.3,580.8,-6.3,429,9676,0.00,2.28,0.00,0.000,6,0.000,0.061,2645,2200,3316
$GC,9998,-0.69,-117.3,598.5,-5.4,435,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3316
$GC,10301,-0.69,-117.3,614.4,-5.2,440,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,3315
$GC,10606,-0.69,-117.3,630.1,-5.1,445,10610,0.00,2.40,0.00,0.000,4,0.000,0.082,2645,803,3316
$GC,10638,-0.69,-117.3,632.0,-5.6,445,10642,0.00,2.30,0.00,0.000,6,0.000,0.061,2645,2192,3315
$GC,10970,-0.69,-117.3,649.3,-5.2,451,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2192,3314
$GC,11273,-0.69,-117.3,665.3,-5.3,456,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2192,3314
$GC,11576,-0.69,-117.3,680.9,-5.1,461,11581,0.00,2.40,0.00,0.000,4,0.000,0.084,2645,799,3314
$GC,11610,-0.74,-117.3,682.6,-5.3,461,11614,0.00,2.30,0.00,0.000,6,0.000,0.061,2645,2208,3314
$GC,11935,-0.74,-117.3,697.7,-4.5,467,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2208,3314
$GC,12238,-0.74,-117.3,710.9,-4.3,472,12243,0.00,2.42,0.00,0.000,4,0.000,0.084,2645,802,3313
$GC,12277,-0.79,-117.3,712.7,-4.9,472,12281,0.00,2.30,0.00,0.000,6,0.000,0.061,2645,2207,3313
$GC,12598,-0.79,-117.3,727.1,-4.6,478,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2207,3313
$GC,12901,-0.79,-117.3,741.5,-4.8,483,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2208,3313
$GC,13204,-0.79,-117.3,755.1,-4.5,488,13208,0.00,2.45,0.00,0.000,4,0.000,0.086,2645,799,3312
$GC,13259,-0.86,-117.3,757.8,-5.0,488,13265,0.17,2.33,0.00,0.000,6,0.056,0.064,2609,2208,3313
$GC,13569,-0.74,-117.3,777.2,-6.4,494,13574,0.15,2.45,0.00,0.000,4,0.094,0.094,2637,3602,3312
$GC,13623,-0.74,-117.3,780.4,-6.3,494,13630,0.00,2.25,0.00,0.000,6,0.000,0.055,2638,2208,3312
$GC,13933,-0.74,-117.3,794.5,-4.6,500,13937,0.00,2.47,0.00,0.000,4,0.000,0.094,2637,789,3312
$GC,13988,-0.74,-117.3,797.3,-5.6,500,13995,0.00,2.33,0.00,0.000,6,0.000,0.065,2637,2204,3312
$GC,14298,-0.74,-117.3,810.9,-4.3,506,14299,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2205,3312
$GC,14601,-0.74,-117.3,823.7,-4.1,511,14605,0.00,2.47,0.00,0.000,4,0.000,0.091,2638,799,3311
$GC,14639,-0.74,-117.3,825.4,-4.6,511,14643,0.00,2.30,0.00,0.000,6,0.000,0.067,2637,2201,3311
$GC,14965,-0.74,-117.3,838.5,-4.1,517,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2201,3311
$GC,15269,-0.74,-117.3,851.0,-4.1,522,15273,0.00,2.47,0.00,0.000,4,0.000,0.094,2637,799,3311
$GC,15307,-0.74,-117.3,852.9,-4.5,522,15311,0.00,2.33,0.00,0.000,6,0.000,0.068,2637,2203,3311
$GC,15633,-0.74,-117.3,865.4,-3.9,528,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2204,3311
$GC,15936,-0.74,-117.3,877.7,-4.1,533,15940,0.00,2.50,0.00,0.000,4,0.000,0.096,2638,799,3311
$GC,15974,-0.74,-117.3,879.6,-5.4,533,15978,0.00,2.33,0.00,0.000,6,0.000,0.069,2637,2200,3310
$GC,16294,-0.74,-117.3,893.6,-4.4,539,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2200,3310
$GC,16597,-0.74,-117.3,907.9,-4.7,544,16601,0.00,2.53,0.00,0.000,4,0.000,0.098,2637,791,3310
$GC,16640,-0.74,-117.3,910.3,-5.0,544,16644,0.00,2.35,0.00,0.000,6,0.000,0.071,2637,2199,3310
$GC,16956,-0.74,-117.3,925.1,-4.7,550,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2199,3310
$GC,17258,-0.74,-117.3,939.6,-4.8,555,17262,0.00,2.53,0.00,0.000,4,0.000,0.101,2637,800,3310
$GC,17291,-0.78,-117.3,941.4,-4.9,555,17295,0.00,2.35,0.00,0.000,6,0.000,0.071,2637,2199,3310
$GC,17617,-0.78,-117.3,956.3,-4.5,561,17618,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2198,3310
$GC,17919,-0.78,-117.3,969.9,-4.6,566,17924,0.00,2.55,0.00,0.000,4,0.000,0.104,2638,793,3309
$GC,17958,-0.83,-117.3,971.7,-5.0,566,17962,0.00,2.38,0.00,0.000,6,0.000,0.074,2637,2199,3309
$GC,18284,-0.83,-117.3,986.9,-4.8,572,18285,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2198,3309
$STATE,18402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18402,begin apogee
$GC,18407,-0.23,0.0,992.5,4.7,574,18513,0.65,0.00,102.88,1.486,6,0.075,0.000,2748,2199,2837
$STATE,18514,end apogee,CONTROL_FINISHED_OK
$STATE,18514,begin climb
$GC,18516,0.67,117.3,993.9,0.0,575,18631,1.12,0.00,109.43,1.438,6,0.049,0.000,2943,2198,2358
$GC,18943,0.39,117.3,962.3,9.5,582,18948,0.32,2.58,0.00,0.000,4,0.093,0.105,2888,3602,2358
$GC,18992,0.28,117.3,957.9,7.5,582,18997,0.17,2.40,0.00,0.000,6,0.095,0.074,2861,2204,2358
$GC,19301,0.28,117.3,938.6,6.2,587,19305,0.00,2.55,0.00,0.000,4,0.000,0.107,2861,785,2356
$GC,19333,0.28,117.3,936.4,6.8,587,19338,0.00,2.38,0.00,0.000,6,0.000,0.073,2861,2200,2356
$GC,19659,0.28,117.3,916.1,6.3,593,19663,0.00,2.55,0.00,0.000,4,0.000,0.103,2861,782,2356
$GC,19674,0.28,117.3,915.1,6.1,593,19678,0.00,2.38,0.00,0.000,6,0.000,0.071,2861,2205,2356
$GC,20023,0.28,117.3,892.8,6.4,599,20027,0.00,2.55,0.00,0.000,4,0.000,0.101,2861,783,2356
$GC,20066,0.28,117.3,889.9,6.7,599,20070,0.00,2.35,0.00,0.000,6,0.000,0.072,2861,2199,2355
$GC,20386,0.28,117.3,871.1,5.8,605,20391,0.00,2.50,0.00,0.000,4,0.000,0.099,2861,789,2355
$GC,20420,0.29,127.3,869.1,5.2,605,20435,0.00,2.38,9.77,1.279,6,0.000,0.071,2861,2209,2318
$GC,20744,0.29,127.3,850.9,5.6,611,20749,0.00,2.53,0.00,0.000,4,0.000,0.097,2861,782,2318
$GC,20777,0.30,135.6,849.1,5.2,611,20791,0.00,2.35,9.18,1.258,6,0.000,0.069,2861,2199,2283
$GC,21108,0.37,145.1,831.6,5.2,617,21123,0.00,2.50,10.18,1.273,4,0.000,0.096,2861,785,2244
$GC,21162,0.37,145.1,828.7,6.3,617,21168,0.00,2.35,0.00,0.000,6,0.000,0.068,2861,2200,2243
$GC,21471,0.45,158.6,813.0,5.1,623,21491,0.15,2.53,13.20,1.304,4,0.062,0.097,2897,788,2190
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$STATE,33420,end climb,SURFACE_DEPTH_REACHED
$STATE,33421,begin surface coast
$FINISH,-0.3,1.019662
$STATE,33468,end surface coast,CONTROL_FINISHED_OK
$STATE,33468,begin surface
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$DEVICE_SECS,31.675,275.650,408.250,5.225,0.000,29.810,24.444,159.310,10.500,0.000,0.000,15.550,2259.480,27428.836,622.983,2958.381,549.172,33.368,2124.195,0.000,2898.098,0.000,56.650
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$DATA_FILE_SIZE,53628,1087
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$CFSIZE,260165632,253063168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,091008,164331,4725.978,-12709.463,60,1.1,60,18.7