version: 66.03
glider: 119
mission: 5
dive: 90
start: 10 15 108 17 24 5
data:
$ID,119
$MISSION,5
$DIVE,90
$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,-211438.64
$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,41
$R_STBD_OVSHOOT,20
$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
$GPS1,171417,4745.764,-12623.015,77,1.8,77,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-71.0
$GPS2,172314,4745.798,-12623.175,12,1.0,18,18.8
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,0.116
$KALMAN_X,15568.3,89.3,-85.0,-123193.3,-1442.9
$KALMAN_Y,129763.5,792.0,-337.6,-42703.3,-876.0
$MHEAD_RNG_PITCHd_Wd,34.6,68501,-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,-62.20,0.000,2,0.000,0.000,863,2165,2865
$GC,87,-0.67,-117.3,3.1,-5.9,6,114,12.40,2.42,-9.80,0.000,4,0.150,0.077,2648,3606,3316
$GC,277,-0.46,-117.3,31.0,-11.4,22,284,0.22,2.25,0.00,0.000,6,0.075,0.044,2697,2207,3316
$GC,614,-0.54,-117.3,51.4,-5.0,72,620,0.00,2.35,0.00,0.000,4,0.000,0.067,2697,3618,3316
$GC,666,-0.62,-117.3,54.3,-5.6,81,673,0.17,2.17,0.00,0.000,6,0.051,0.043,2659,2231,3316
$GC,1011,-0.54,-117.3,79.2,-7.4,142,1017,0.12,0.00,0.00,0.000,6,0.087,0.000,2681,2226,3317
$GC,1344,-0.61,-117.3,99.2,-5.4,174,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2225,3317
$GC,1662,-0.70,-117.3,115.6,-5.4,204,1664,0.17,0.00,0.00,0.000,6,0.054,0.000,2642,2225,3317
$GC,1980,-0.62,-117.3,138.7,-7.3,234,1984,0.12,2.38,0.00,0.000,4,0.089,0.070,2664,794,3316
$GC,2046,-0.67,-117.3,143.3,-6.5,239,2052,0.00,2.47,0.00,0.000,6,0.000,0.051,2664,2356,3317
$GC,2375,-0.67,-117.3,161.9,-5.4,261,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2356,3316
$GC,2685,-0.67,-117.3,176.7,-5.0,276,2689,0.00,2.55,0.00,0.000,4,0.000,0.064,2664,803,3317
$GC,2756,-0.77,-117.3,180.8,-5.4,279,2761,0.17,2.25,0.00,0.000,6,0.051,0.051,2626,2228,3317
$GC,3072,-0.64,-117.3,204.1,-7.5,294,3077,0.15,2.30,0.00,0.000,4,0.087,0.072,2655,3609,3317
$GC,3111,-0.64,-117.3,206.8,-6.5,296,3115,0.00,2.20,0.00,0.000,6,0.000,0.046,2656,2210,3316
$GC,3439,-0.64,-117.3,225.1,-5.4,312,3443,0.00,2.33,0.00,0.000,4,0.000,0.070,2656,796,3317
$GC,3495,-0.70,-117.3,228.5,-6.0,314,3501,0.00,2.22,0.00,0.000,6,0.000,0.051,2656,2206,3317
$GC,3810,-0.70,-117.3,245.1,-5.2,330,3814,0.00,2.33,0.00,0.000,4,0.000,0.074,2656,3608,3316
$GC,3854,-0.70,-117.3,247.9,-6.4,332,3858,0.00,2.25,0.00,0.000,6,0.000,0.047,2656,2193,3316
$GC,4181,-0.70,-117.3,265.6,-5.6,348,4185,0.00,2.30,0.00,0.000,4,0.000,0.072,2656,790,3317
$GC,4237,-0.76,-117.3,269.0,-6.3,350,4243,0.00,2.22,0.00,0.000,6,0.000,0.052,2656,2179,3316
$GC,4552,-0.76,-117.3,286.9,-5.7,366,4556,0.00,2.38,0.00,0.000,4,0.000,0.074,2655,3607,3316
$GC,4597,-0.76,-117.3,289.6,-5.9,368,4601,0.00,2.25,0.00,0.000,6,0.000,0.047,2656,2174,3316
$GC,4961,-0.76,-117.3,310.2,-5.5,380,4964,0.00,2.28,0.00,0.000,4,0.000,0.073,2656,796,3316
$GC,5016,-0.82,-117.3,313.4,-6.0,380,5022,0.20,2.20,0.00,0.000,6,0.050,0.052,2613,2185,3316
$GC,5325,-0.66,-117.3,337.1,-7.8,386,5330,0.20,2.38,0.00,0.000,4,0.086,0.072,2650,3609,3315
$GC,5386,-0.66,-117.3,341.4,-6.5,387,5391,0.00,2.25,0.00,0.000,6,0.000,0.048,2651,2181,3315
$GC,5753,-0.66,-117.3,363.6,-6.0,393,5757,0.00,2.30,0.00,0.000,4,0.000,0.075,2650,793,3314
$GC,5802,-0.70,-117.3,366.8,-6.1,393,5806,0.00,2.20,0.00,0.000,6,0.000,0.053,2650,2178,3314
$GC,6119,-0.70,-117.3,383.9,-5.4,399,6123,0.00,2.38,0.00,0.000,4,0.000,0.074,2650,3601,3314
$GC,6163,-0.70,-117.3,386.7,-6.4,399,6167,0.00,2.22,0.00,0.000,6,0.000,0.048,2650,2188,3314
$GC,6485,-0.70,-117.3,403.6,-5.3,405,6489,0.00,2.33,0.00,0.000,4,0.000,0.077,2650,796,3314
$GC,6529,-0.75,-117.3,406.4,-6.0,405,6533,0.00,2.20,0.00,0.000,6,0.000,0.054,2650,2173,3314
$GC,6844,-0.75,-117.3,423.1,-5.3,411,6848,0.00,2.40,0.00,0.000,4,0.000,0.076,2650,3609,3314
$GC,6883,-0.75,-117.3,425.2,-6.0,411,6887,0.00,2.30,0.00,0.000,6,0.000,0.049,2651,2155,3313
$GC,7203,-0.75,-117.3,441.9,-5.3,417,7207,0.00,2.28,0.00,0.000,4,0.000,0.079,2650,799,3314
$GC,7257,-0.82,-117.3,445.2,-6.4,417,7264,0.15,2.15,0.00,0.000,6,0.058,0.055,2618,2143,3313
$GC,7567,-0.70,-117.3,466.8,-7.1,423,7572,0.15,2.45,0.00,0.000,4,0.087,0.074,2647,3601,3313
$GC,7628,-0.70,-117.3,470.7,-6.5,424,7632,0.00,2.33,0.00,0.000,6,0.000,0.050,2647,2136,3312
$GC,7992,-0.70,-117.3,491.2,-5.6,430,7996,0.00,2.25,0.00,0.000,4,0.000,0.083,2647,802,3312
$GC,8033,-0.74,-117.3,493.6,-6.2,430,8037,0.00,2.17,0.00,0.000,6,0.000,0.056,2647,2161,3312
$GC,8354,-0.74,-117.3,512.5,-5.9,436,8358,0.00,2.42,0.00,0.000,4,0.000,0.078,2647,3602,3312
$GC,8393,-0.74,-117.3,514.9,-6.6,436,8397,0.00,2.33,0.00,0.000,6,0.000,0.050,2647,2136,3311
$GC,8714,-0.74,-117.3,532.3,-5.3,442,8718,0.00,2.28,0.00,0.000,4,0.000,0.086,2647,804,3311
$GC,8769,-0.80,-117.3,535.6,-6.1,442,8775,0.00,2.17,0.00,0.000,6,0.000,0.059,2647,2148,3311
$GC,9080,-0.80,-117.3,552.3,-5.5,448,9084,0.00,2.45,0.00,0.000,4,0.000,0.080,2647,3598,3311
$GC,9123,-0.80,-117.3,555.1,-6.0,448,9127,0.00,2.33,0.00,0.000,6,0.000,0.051,2647,2139,3310
$GC,9444,-0.80,-117.3,573.1,-5.6,454,9448,0.00,2.25,0.00,0.000,4,0.000,0.087,2647,807,3310
$GC,9482,-0.85,-117.3,575.5,-5.7,454,9487,0.17,2.20,0.00,0.000,6,0.057,0.060,2610,2146,3310
$GC,9814,-0.72,-117.3,599.8,-7.4,460,9822,0.15,2.45,0.00,0.000,4,0.090,0.081,2639,3595,3310
$GC,9872,-0.72,-117.3,603.7,-6.7,460,9876,0.00,2.30,0.00,0.000,6,0.000,0.051,2639,2151,3310
$GC,10186,-0.72,-117.3,621.4,-5.5,466,10190,0.00,2.30,0.00,0.000,4,0.000,0.087,2639,801,3310
$GC,10242,-0.72,-117.3,624.5,-5.5,466,10248,0.00,2.20,0.00,0.000,6,0.000,0.060,2639,2161,3310
$GC,10551,-0.72,-117.3,640.3,-5.1,472,10555,0.00,2.45,0.00,0.000,4,0.000,0.084,2639,3601,3309
$GC,10600,-0.72,-117.3,643.2,-6.3,472,10604,0.00,2.33,0.00,0.000,6,0.000,0.052,2639,2149,3309
$GC,10916,-0.72,-117.3,660.7,-5.6,478,10920,0.00,2.33,0.00,0.000,4,0.000,0.088,2639,800,3309
$GC,10959,-0.72,-117.3,663.4,-6.6,478,10963,0.00,2.20,0.00,0.000,6,0.000,0.061,2639,2157,3309
$GC,11282,-0.72,-117.3,680.9,-5.4,484,11286,0.00,2.47,0.00,0.000,4,0.000,0.086,2639,3602,3309
$GC,11325,-0.72,-117.3,683.6,-6.2,484,11329,0.00,2.35,0.00,0.000,6,0.000,0.052,2639,2135,3309
$GC,11648,-0.72,-117.3,701.6,-5.6,490,11652,0.00,2.30,0.00,0.000,4,0.000,0.091,2639,802,3309
$GC,11703,-0.72,-117.3,705.0,-5.8,490,11709,0.00,2.22,0.00,0.000,6,0.000,0.062,2639,2164,3309
$GC,12012,-0.72,-117.3,722.8,-5.8,496,12016,0.00,2.47,0.00,0.000,4,0.000,0.088,2639,3602,3309
$GC,12055,-0.72,-117.3,725.4,-5.8,496,12059,0.00,2.35,0.00,0.000,6,0.000,0.054,2639,2140,3308
$GC,12376,-0.72,-117.3,742.4,-5.2,502,12380,0.00,2.33,0.00,0.000,4,0.000,0.093,2639,799,3308
$GC,12414,-0.72,-117.3,744.6,-5.6,502,12418,0.00,2.25,0.00,0.000,6,0.000,0.063,2639,2172,3308
$GC,12740,-0.72,-117.3,761.3,-5.1,508,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2173,3308
$GC,13044,-0.72,-117.3,776.0,-4.8,513,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2172,3308
$GC,13346,-0.72,-117.3,789.9,-4.6,518,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2172,3308
$GC,13650,-0.72,-117.3,803.4,-4.5,523,13654,0.00,2.40,0.00,0.000,4,0.000,0.091,2639,800,3307
$GC,13700,-0.76,-117.3,805.9,-4.6,523,13704,0.00,2.25,0.00,0.000,6,0.000,0.065,2639,2167,3307
$GC,14009,-0.76,-117.3,819.4,-4.3,528,14013,0.00,2.50,0.00,0.000,4,0.000,0.093,2639,3601,3307
$GC,14058,-0.76,-117.3,821.9,-4.5,528,14062,0.00,2.38,0.00,0.000,6,0.000,0.059,2639,2143,3307
$GC,14369,-0.76,-117.3,835.1,-4.2,533,14373,0.00,2.35,0.00,0.000,4,0.000,0.097,2639,803,3307
$GC,14408,-0.80,-117.3,837.0,-4.0,533,14412,0.00,2.25,0.00,0.000,6,0.000,0.065,2639,2170,3307
$GC,14730,-0.80,-117.3,851.4,-4.5,539,14735,0.00,2.53,0.00,0.000,4,0.000,0.094,2639,3609,3307
$GC,14765,-0.80,-117.3,853.1,-5.1,539,14769,0.00,2.35,0.00,0.000,6,0.000,0.061,2639,2171,3306
$GC,15090,-0.80,-117.3,868.0,-4.6,545,15094,0.00,2.42,0.00,0.000,4,0.000,0.099,2639,796,3306
$GC,15134,-0.85,-117.3,870.2,-4.8,545,15139,0.12,2.28,0.00,0.000,6,0.065,0.067,2613,2170,3306
$GC,15448,-0.75,-117.3,887.4,-5.6,551,15453,0.12,2.53,0.00,0.000,4,0.096,0.095,2634,3603,3306
$GC,15503,-0.75,-117.3,890.3,-4.9,551,15509,0.00,2.38,0.00,0.000,6,0.000,0.063,2634,2162,3306
$GC,15812,-0.75,-117.3,904.8,-4.7,557,15817,0.00,2.42,0.00,0.000,4,0.000,0.101,2634,794,3305
$GC,15850,-0.75,-117.3,906.9,-5.5,557,15855,0.00,2.38,0.00,0.000,6,0.000,0.069,2634,2217,3305
$GC,16177,-0.75,-117.3,922.8,-4.8,563,16178,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2217,3305
$GC,16480,-0.75,-117.3,936.7,-4.6,568,16484,0.00,2.55,0.00,0.000,4,0.000,0.100,2634,791,3305
$GC,16518,-0.75,-117.3,938.6,-4.7,568,16522,0.00,2.35,0.00,0.000,6,0.000,0.071,2634,2193,3305
$GC,16839,-0.75,-117.3,952.2,-4.2,574,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2193,3305
$GC,17141,-0.75,-117.3,964.9,-4.1,579,17146,0.00,2.53,0.00,0.000,4,0.000,0.103,2634,792,3305
$GC,17191,-0.75,-117.3,967.0,-4.8,579,17195,0.00,2.28,0.00,0.000,6,0.000,0.072,2634,2148,3304
$GC,17500,-0.75,-117.3,978.8,-3.8,584,17505,0.00,2.62,0.00,0.000,4,0.000,0.104,2634,3609,3305
$GC,17544,-0.75,-117.3,980.7,-5.2,584,17548,0.00,2.47,0.00,0.000,6,0.000,0.071,2634,2139,3304
$STATE,17802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17802,begin apogee
$GC,17808,-0.23,0.0,991.0,3.9,589,17912,0.65,0.00,101.95,1.485,6,0.073,0.000,2746,2203,2837
$STATE,17913,end apogee,CONTROL_FINISHED_OK
$STATE,17913,begin climb
$GC,17915,0.67,117.3,991.9,0.0,590,18033,1.12,2.75,109.85,1.438,4,0.046,0.100,2944,3602,2357
$GC,18077,0.34,117.3,984.1,10.3,591,18083,0.45,2.55,0.00,0.000,6,0.094,0.074,2877,2202,2357
$GC,18397,0.34,117.3,963.2,6.4,597,18399,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2201,2357
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