version: 66.03
glider: 119
mission: 5
dive: 77
start: 10 10 108 11 58 25
data:
$ID,119
$MISSION,5
$DIVE,77
$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,-211046.66
$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,11
$R_STBD_OVSHOOT,36
$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
$GPS1,115156,4728.565,-12704.516,38,1.6,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-63.0
$GPS2,115732,4728.633,-12704.506,13,1.5,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.192,0.033
$KALMAN_X,46599.4,228.7,-430.2,-206228.8,-3574.0
$KALMAN_Y,133232.9,-211.9,105.3,-77385.0,1140.7
$MHEAD_RNG_PITCHd_Wd,61.5,128421,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-61.62,0.000,2,0.000,0.000,859,2215,2876
$GC,87,-0.67,-117.3,3.1,-5.4,6,114,12.25,2.42,-9.32,0.000,4,0.145,0.079,2649,772,3316
$GC,198,-0.42,-117.3,24.7,-12.7,15,205,0.30,2.30,0.00,0.000,6,0.077,0.048,2707,2194,3317
$GC,530,-0.52,-117.3,47.2,-4.5,57,536,0.00,2.33,0.00,0.000,4,0.000,0.069,2707,3608,3317
$GC,601,-0.70,-117.3,51.5,-6.3,69,607,0.32,2.08,0.00,0.000,6,0.041,0.045,2639,2276,3317
$GC,945,-0.70,-117.3,79.3,-8.0,130,951,0.00,2.20,0.00,0.000,4,0.000,0.070,2639,3609,3318
$GC,1205,-0.57,-117.3,103.8,-7.8,154,1210,0.20,2.50,0.00,0.000,6,0.080,0.049,2673,2044,3318
$GC,1531,-0.57,-117.3,120.8,-5.0,184,1535,0.00,2.08,0.00,0.000,4,0.000,0.068,2673,775,3319
$GC,1577,-0.66,-117.3,123.5,-5.8,188,1580,0.00,2.00,0.00,0.000,6,0.000,0.050,2673,2042,3318
$GC,1909,-0.86,-117.3,141.3,-6.0,219,1914,0.30,2.58,0.00,0.000,4,0.043,0.071,2606,3608,3318
$GC,2070,-0.62,-117.3,156.1,-9.4,230,2075,0.32,2.35,0.00,0.000,6,0.081,0.049,2662,2127,3318
$GC,2386,-0.62,-117.3,172.9,-4.8,245,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2127,3318
$GC,2695,-0.62,-117.3,190.5,-6.3,260,2699,0.00,2.47,0.00,0.000,4,0.000,0.073,2661,3607,3318
$GC,2734,-0.62,-117.3,193.3,-7.0,262,2738,0.00,2.33,0.00,0.000,6,0.000,0.050,2662,2139,3318
$GC,3060,-0.62,-117.3,212.2,-5.6,278,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2138,3318
$GC,3370,-0.66,-117.3,229.0,-5.3,293,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2138,3318
$GC,3679,-0.70,-117.3,245.1,-5.1,308,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2138,3318
$GC,3989,-0.75,-117.3,261.4,-5.2,323,3991,0.12,0.00,0.00,0.000,6,0.064,0.000,2634,2136,3318
$GC,4298,-0.67,-117.3,279.7,-5.7,338,4302,0.00,2.45,0.00,0.000,4,0.000,0.074,2633,3604,3318
$GC,4347,-0.58,-117.3,282.9,-6.0,340,4352,0.22,2.30,0.00,0.000,6,0.081,0.049,2671,2149,3318
$GC,4663,-0.80,-117.3,298.8,-5.8,355,4668,0.22,2.45,0.00,0.000,4,0.048,0.074,2618,3609,3318
$GC,4741,-0.64,-117.3,304.0,-6.4,358,4745,0.22,2.05,0.00,0.000,6,0.080,0.050,2657,2311,3317
$GC,5089,-0.64,-117.3,321.0,-4.8,364,5093,0.00,2.53,0.00,0.000,4,0.000,0.071,2657,778,3317
$GC,5144,-0.71,-117.3,323.8,-5.5,364,5150,0.00,2.45,0.00,0.000,6,0.000,0.052,2657,2316,3317
$GC,5453,-0.71,-117.3,339.8,-5.2,370,5457,0.00,2.55,0.00,0.000,4,0.000,0.068,2657,770,3316
$GC,5485,-0.77,-117.3,341.6,-5.6,370,5490,0.15,2.40,0.00,0.000,6,0.057,0.052,2624,2285,3316
$GC,5818,-0.67,-117.3,363.5,-6.7,376,5823,0.15,2.50,0.00,0.000,4,0.090,0.068,2653,779,3316
$GC,5862,-0.72,-117.3,366.3,-5.9,376,5867,0.00,2.30,0.00,0.000,6,0.000,0.052,2653,2226,3316
$GC,6177,-0.72,-117.3,381.4,-4.7,382,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2225,3315
$GC,6480,-0.72,-117.3,395.2,-4.6,387,6484,0.00,2.40,0.00,0.000,4,0.000,0.071,2653,779,3315
$GC,6513,-0.77,-117.3,396.9,-5.5,387,6516,0.00,2.30,0.00,0.000,6,0.000,0.052,2653,2230,3315
$GC,6844,-0.77,-117.3,413.4,-5.0,393,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2230,3315
$GC,7147,-0.77,-117.3,428.3,-4.9,398,7151,0.00,2.42,0.00,0.000,4,0.000,0.072,2653,775,3314
$GC,7186,-0.82,-117.3,430.3,-5.3,398,7190,0.17,2.28,0.00,0.000,6,0.054,0.053,2616,2201,3314
$GC,7506,-0.70,-117.3,450.1,-6.2,404,7511,0.15,2.35,0.00,0.000,4,0.090,0.077,2645,3602,3314
$GC,7555,-0.70,-117.3,452.8,-5.1,404,7559,0.00,2.25,0.00,0.000,6,0.000,0.051,2646,2182,3314
$GC,7870,-0.70,-117.3,467.5,-4.7,410,7874,0.00,2.30,0.00,0.000,4,0.000,0.077,2645,802,3314
$GC,7897,-0.70,-117.3,468.8,-4.8,410,7900,0.00,2.25,0.00,0.000,6,0.000,0.054,2645,2205,3313
$GC,8234,-0.70,-117.3,485.4,-5.0,416,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,3313
$GC,8538,-0.70,-117.3,500.8,-5.1,421,8542,0.00,2.38,0.00,0.000,4,0.000,0.077,2645,798,3313
$GC,8565,-0.70,-117.3,502.4,-5.8,421,8569,0.00,2.28,0.00,0.000,6,0.000,0.056,2645,2194,3313
$GC,8902,-0.70,-117.3,521.5,-5.7,427,8906,0.00,2.40,0.00,0.000,4,0.000,0.081,2645,3610,3312
$GC,8935,-0.70,-117.3,523.6,-6.2,427,8939,0.00,2.30,0.00,0.000,6,0.000,0.053,2645,2193,3312
$GC,9267,-0.70,-117.3,541.4,-5.4,433,9271,0.00,2.38,0.00,0.000,4,0.000,0.084,2645,792,3312
$GC,9310,-0.74,-117.3,543.8,-5.7,433,9314,0.00,2.28,0.00,0.000,6,0.000,0.058,2645,2194,3313
$GC,9631,-0.74,-117.3,561.4,-5.5,439,9635,0.00,2.40,0.00,0.000,4,0.000,0.083,2645,3607,3312
$GC,9665,-0.74,-117.3,563.3,-5.9,439,9669,0.00,2.30,0.00,0.000,6,0.000,0.054,2645,2170,3311
$GC,9991,-0.74,-117.3,581.6,-5.6,445,9995,0.00,2.35,0.00,0.000,4,0.000,0.085,2645,789,3311
$GC,10031,-0.79,-117.3,583.8,-5.8,445,10035,0.00,2.25,0.00,0.000,6,0.000,0.060,2645,2176,3311
$GC,10354,-0.79,-117.3,600.9,-5.2,451,10358,0.00,2.45,0.00,0.000,4,0.000,0.085,2645,3610,3311
$GC,10397,-0.79,-117.3,603.6,-5.9,451,10401,0.00,2.30,0.00,0.000,6,0.000,0.054,2645,2177,3311
$GC,10718,-0.79,-117.3,619.9,-5.1,457,10722,0.00,2.38,0.00,0.000,4,0.000,0.087,2645,793,3311
$GC,10761,-0.84,-117.3,622.3,-5.3,457,10766,0.15,2.25,0.00,0.000,6,0.060,0.061,2613,2176,3311
$GC,11076,-0.72,-117.3,643.2,-6.8,463,11081,0.15,2.45,0.00,0.000,4,0.092,0.085,2642,3601,3311
$GC,11130,-0.72,-117.3,646.8,-6.4,463,11137,0.00,2.30,0.00,0.000,6,0.000,0.054,2642,2196,3310
$GC,11440,-0.72,-117.3,663.1,-5.2,469,11444,0.00,2.42,0.00,0.000,4,0.000,0.090,2642,788,3310
$GC,11490,-0.77,-117.3,665.8,-5.3,469,11494,0.00,2.28,0.00,0.000,6,0.000,0.061,2642,2179,3310
$GC,11800,-0.77,-117.3,680.8,-4.8,474,11804,0.00,2.45,0.00,0.000,4,0.000,0.088,2642,3604,3309
$GC,11833,-0.77,-117.3,682.6,-4.8,474,11837,0.00,2.35,0.00,0.000,6,0.000,0.054,2642,2148,3309
$GC,12165,-0.77,-117.3,696.5,-4.2,480,12169,0.00,2.35,0.00,0.000,4,0.000,0.092,2642,788,3309
$GC,12204,-0.81,-117.3,698.3,-4.7,480,12208,0.00,2.25,0.00,0.000,6,0.000,0.063,2641,2162,3309
$GC,12529,-0.81,-117.3,711.3,-4.0,486,12534,0.00,2.50,0.00,0.000,4,0.000,0.090,2642,3608,3309
$GC,12562,-0.81,-117.3,712.8,-4.4,486,12566,0.00,2.35,0.00,0.000,6,0.000,0.056,2642,2157,3308
$GC,12889,-0.81,-117.3,726.9,-4.4,492,12893,0.00,2.38,0.00,0.000,4,0.000,0.094,2642,789,3308
$GC,12921,-0.81,-117.3,728.5,-4.7,492,12925,0.00,2.28,0.00,0.000,6,0.000,0.064,2641,2169,3308
$GC,13253,-0.81,-117.3,743.7,-4.6,498,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2169,3309
$GC,13556,-0.81,-117.3,757.7,-4.6,503,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2169,3308
$GC,13859,-0.81,-117.3,772.3,-4.9,508,13863,0.00,2.42,0.00,0.000,4,0.000,0.094,2642,795,3308
$GC,13893,-0.86,-117.3,774.0,-5.6,508,13898,0.15,2.25,0.00,0.000,6,0.058,0.067,2610,2155,3308
$GC,14218,-0.75,-117.3,794.9,-6.5,514,14223,0.12,2.55,0.00,0.000,4,0.096,0.094,2631,3605,3308
$GC,14267,-0.75,-117.3,798.2,-7.1,514,14271,0.00,2.42,0.00,0.000,6,0.000,0.064,2632,2140,3307
$GC,14582,-0.75,-117.3,816.6,-5.8,520,14583,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2139,3307
$GC,14885,-0.75,-117.3,833.9,-5.8,525,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2139,3307
$GC,15191,-0.75,-117.3,850.6,-5.5,530,15195,0.00,2.60,0.00,0.000,4,0.000,0.097,2631,3601,3307
$GC,15229,-0.75,-117.3,852.9,-5.8,530,15233,0.00,2.38,0.00,0.000,6,0.000,0.068,2632,2173,3307
$GC,15554,-0.75,-117.3,871.1,-5.6,536,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2172,3307
$GC,15858,-0.75,-117.3,887.7,-5.5,541,15862,0.00,2.47,0.00,0.000,4,0.000,0.105,2632,788,3307
$GC,15897,-0.75,-117.3,890.0,-5.4,541,15901,0.00,2.30,0.00,0.000,6,0.000,0.072,2631,2156,3306
$GC,16223,-0.75,-117.3,906.5,-5.0,547,16227,0.00,2.58,0.00,0.000,4,0.000,0.102,2631,3602,3307
$GC,16260,-0.75,-117.3,908.6,-5.6,547,16264,0.00,2.45,0.00,0.000,6,0.000,0.071,2632,2147,3306
$GC,16587,-0.75,-117.3,924.4,-4.9,553,16591,0.00,2.42,0.00,0.000,4,0.000,0.107,2632,795,3306
$GC,16630,-0.75,-117.3,926.7,-4.7,553,16634,0.00,2.30,0.00,0.000,6,0.000,0.074,2631,2156,3306
$GC,16951,-0.75,-117.3,942.0,-4.8,559,16955,0.00,2.60,0.00,0.000,4,0.000,0.104,2631,3606,3306
$GC,16983,-0.75,-117.3,943.7,-5.3,559,16988,0.00,2.50,0.00,0.000,6,0.000,0.074,2632,2136,3306
$GC,17311,-0.75,-117.3,959.9,-5.0,565,17312,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2135,3305
$GC,17613,-0.75,-117.3,976.2,-5.5,570,17614,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2135,3305
$STATE,17913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17913,begin apogee
$GC,17919,-0.23,0.0,992.7,5.4,575,18023,0.68,0.00,101.80,1.488,6,0.076,0.000,2745,2210,2837
$STATE,18024,end apogee,CONTROL_FINISHED_OK
$STATE,18024,begin climb
$GC,18026,0.67,117.3,994.5,0.0,576,18144,1.17,2.90,109.85,1.442,4,0.048,0.114,2948,804,2358
$GC,18178,0.31,117.3,990.2,8.1,579,18183,0.52,2.55,0.00,0.000,6,0.093,0.079,2870,2197,2358
$GC,18521,0.31,121.4,971.6,5.4,585,18532,0.00,2.58,5.80,1.098,4,0.000,0.109,2870,796,2340
$GC,18553,0.31,121.4,969.6,6.5,585,18558,0.00,2.38,0.00,0.000,6,0.000,0.077,2869,2174,2340
$GC,18885,0.31,121.4,950.5,5.8,591,18886,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2174,2340
$GC,19188,0.31,121.4,932.6,6.0,596,19192,0.00,2.50,0.00,0.000,4,0.000,0.108,2869,791,2339
$GC,19232,0.31,121.4,929.7,6.3,596,19236,0.00,2.33,0.00,0.000,6,0.000,0.076,2870,2167,2339
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$STATE,34392,end climb,SURFACE_DEPTH_REACHED
$STATE,34392,begin surface coast
$FINISH,0.1,1.024389
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$STATE,34414,begin surface
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$DEVICE_SECS,31.500,280.725,378.000,25.675,0.000,30.000,23.633,161.159,10.750,0.000,0.000,15.002,2379.306,28304.832,630.023,2903.834,567.514,33.378,2086.719,0.000,2857.767,0.000,56.645
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