version: 66.03
glider: 119
mission: 5
dive: 100
start: 10 19 108 16 40 56
data:
$ID,119
$MISSION,5
$DIVE,100
$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,-211616.97
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,163423,4801.064,-12553.189,40,1.9,51,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.3
$GPS2,164003,4801.028,-12553.199,11,1.3,11,18.9
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.183,0.068
$KALMAN_X,-10952.5,521.7,549.9,-59863.1,-5299.1
$KALMAN_Y,128893.1,413.4,97.8,-13680.9,-1308.8
$MHEAD_RNG_PITCHd_Wd,50.7,21999,-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,-117.3,0.0,0.0,0,94,0.00,0.00,-71.62,0.000,2,0.000,0.000,861,2210,3111
$GC,97,-0.67,-117.3,4.7,-8.2,7,120,12.38,2.30,-3.85,0.000,4,0.148,0.075,2650,3598,3316
$GC,312,-0.42,-117.3,41.0,-11.0,26,319,0.28,2.25,0.00,0.000,6,0.072,0.042,2707,2201,3316
$GC,656,-0.49,-117.3,60.9,-5.7,87,662,0.00,2.30,0.00,0.000,4,0.000,0.064,2707,795,3316
$GC,719,-0.60,-117.3,64.6,-5.9,98,726,0.22,2.05,0.00,0.000,6,0.046,0.045,2659,2108,3316
$GC,1056,-0.50,-117.3,91.3,-9.2,147,1061,0.17,2.47,0.00,0.000,4,0.081,0.067,2691,3602,3317
$GC,1134,-0.56,-117.3,97.6,-8.3,153,1140,0.00,2.22,0.00,0.000,6,0.000,0.043,2692,2203,3317
$GC,1461,-0.64,-117.3,114.7,-3.9,184,1466,0.17,2.33,0.00,0.000,4,0.052,0.065,2650,792,3317
$GC,1489,-0.64,-117.3,116.2,-5.5,186,1493,0.00,2.22,0.00,0.000,6,0.000,0.048,2650,2205,3316
$GC,1815,-0.56,-117.3,138.0,-6.9,216,1820,0.15,2.33,0.00,0.000,4,0.085,0.069,2678,3607,3316
$GC,1858,-0.61,-117.3,140.9,-6.4,219,1865,0.00,2.28,0.00,0.000,6,0.000,0.045,2679,2178,3317
$GC,2180,-0.68,-117.3,158.5,-5.6,243,2185,0.15,2.28,0.00,0.000,4,0.057,0.065,2642,796,3316
$GC,2219,-0.60,-117.3,161.5,-7.8,245,2224,0.15,2.22,0.00,0.000,6,0.084,0.048,2667,2208,3316
$GC,2546,-0.60,-117.3,182.6,-6.2,261,2550,0.00,2.30,0.00,0.000,4,0.000,0.071,2667,3599,3316
$GC,2595,-0.60,-117.3,186.0,-6.5,263,2599,0.00,2.20,0.00,0.000,6,0.000,0.044,2668,2219,3316
$GC,2916,-0.60,-117.3,206.0,-5.8,279,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3316
$GC,3226,-0.60,-117.3,223.3,-5.5,294,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3316
$GC,3535,-0.60,-117.3,242.5,-6.6,309,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3316
$GC,3844,-0.60,-117.3,262.7,-6.1,324,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3316
$GC,4154,-0.60,-117.3,279.7,-5.2,339,4158,0.00,2.33,0.00,0.000,4,0.000,0.071,2667,3602,3317
$GC,4193,-0.60,-117.3,281.9,-5.9,341,4197,0.00,2.12,0.00,0.000,6,0.000,0.044,2668,2251,3316
$GC,4519,-0.60,-117.3,297.0,-4.4,357,4524,0.00,2.40,0.00,0.000,4,0.000,0.071,2668,808,3316
$GC,4570,-0.68,-117.3,299.5,-4.9,359,4574,0.00,2.30,0.00,0.000,6,0.000,0.050,2667,2266,3316
$GC,4900,-0.72,-117.3,316.8,-5.4,365,4901,0.12,0.00,0.00,0.000,6,0.064,0.000,2640,2266,3316
$GC,5204,-0.64,-117.3,337.6,-6.9,370,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2266,3316
$GC,5505,-0.56,-117.3,358.7,-6.9,375,5510,0.17,2.42,0.00,0.000,4,0.084,0.067,2673,805,3316
$GC,5555,-0.66,-117.3,361.8,-6.5,375,5559,0.00,2.20,0.00,0.000,6,0.000,0.050,2673,2199,3316
$GC,5870,-0.73,-117.3,379.3,-5.5,381,5872,0.17,0.00,0.00,0.000,6,0.055,0.000,2636,2199,3316
$GC,6173,-0.65,-117.3,398.9,-6.5,386,6178,0.12,2.33,0.00,0.000,4,0.093,0.070,2657,800,3316
$GC,6222,-0.65,-117.3,401.9,-5.8,386,6226,0.00,2.22,0.00,0.000,6,0.000,0.051,2657,2183,3316
$GC,6537,-0.65,-117.3,419.6,-5.6,392,6541,0.00,2.38,0.00,0.000,4,0.000,0.074,2657,3599,3316
$GC,6569,-0.65,-117.3,421.8,-7.3,392,6573,0.00,2.25,0.00,0.000,6,0.000,0.046,2657,2194,3315
$GC,6901,-0.65,-117.3,441.9,-6.1,398,6905,0.00,2.33,0.00,0.000,4,0.000,0.075,2657,806,3315
$GC,6944,-0.69,-117.3,444.7,-6.1,398,6948,0.00,2.22,0.00,0.000,6,0.000,0.051,2657,2203,3315
$GC,7265,-0.69,-117.3,463.1,-5.7,404,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,3315
$GC,7568,-0.69,-117.3,479.6,-5.5,409,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,3315
$GC,7871,-0.69,-117.3,497.0,-5.8,414,7875,0.00,2.35,0.00,0.000,4,0.000,0.076,2657,803,3314
$GC,7903,-0.73,-117.3,499.0,-6.0,414,7907,0.00,2.20,0.00,0.000,6,0.000,0.054,2657,2179,3314
$GC,8235,-0.73,-117.3,516.9,-5.4,420,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2179,3314
$GC,8538,-0.73,-117.3,532.1,-5.1,425,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2179,3314
$GC,8841,-0.73,-117.3,549.1,-5.6,430,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2179,3313
$GC,9145,-0.77,-117.3,563.8,-4.9,435,9147,0.12,0.00,0.00,0.000,6,0.064,0.000,2629,2179,3313
$GC,9449,-0.68,-117.3,583.4,-6.6,440,9454,0.12,2.42,0.00,0.000,4,0.092,0.079,2650,3606,3312
$GC,9487,-0.68,-117.3,586.2,-6.6,440,9491,0.00,2.30,0.00,0.000,6,0.000,0.049,2650,2158,3312
$GC,9815,-0.68,-117.3,605.2,-5.9,446,9819,0.00,2.33,0.00,0.000,4,0.000,0.086,2650,803,3312
$GC,9854,-0.68,-117.3,607.5,-5.7,446,9858,0.00,2.20,0.00,0.000,6,0.000,0.057,2650,2174,3312
$GC,10174,-0.68,-117.3,624.2,-5.2,452,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2174,3311
$GC,10477,-0.68,-117.3,639.3,-5.0,457,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2174,3311
$GC,10780,-0.68,-117.3,653.8,-4.7,462,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2174,3311
$GC,11083,-0.68,-117.3,667.9,-4.6,467,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2174,3311
$GC,11386,-0.68,-117.3,683.7,-5.3,472,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2174,3311
$GC,11689,-0.68,-117.3,699.2,-5.0,477,11693,0.00,2.35,0.00,0.000,4,0.000,0.083,2650,801,3311
$GC,11727,-0.73,-117.3,701.2,-4.8,477,11731,0.00,2.20,0.00,0.000,6,0.000,0.059,2650,2155,3310
$GC,12047,-0.73,-117.3,716.5,-4.9,483,12052,0.00,2.50,0.00,0.000,4,0.000,0.087,2650,3598,3310
$GC,12091,-0.73,-117.3,719.1,-6.8,483,12095,0.00,2.33,0.00,0.000,6,0.000,0.051,2651,2148,3310
$GC,12414,-0.73,-117.3,734.5,-4.7,489,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2148,3310
$GC,12715,-0.73,-117.3,747.7,-4.4,494,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2148,3310
$GC,13018,-0.73,-117.3,759.8,-3.9,499,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2148,3309
$GC,13321,-0.73,-117.3,771.2,-3.8,504,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2148,3309
$GC,13624,-0.73,-117.3,783.8,-4.3,509,13628,0.00,2.38,0.00,0.000,4,0.000,0.092,2650,799,3309
$GC,13657,-0.78,-117.3,785.5,-5.3,509,13661,0.00,2.25,0.00,0.000,6,0.000,0.061,2650,2180,3309
$GC,13983,-0.78,-117.3,803.4,-5.8,515,13987,0.00,2.47,0.00,0.000,4,0.000,0.091,2650,3596,3309
$GC,14020,-0.78,-117.3,805.9,-6.0,515,14025,0.00,2.33,0.00,0.000,6,0.000,0.053,2650,2154,3309
$GC,14348,-0.82,-117.3,821.9,-4.9,521,14352,0.15,2.38,0.00,0.000,4,0.061,0.093,2615,802,3309
$GC,14404,-0.73,-117.3,825.2,-5.4,521,14410,0.12,2.17,0.00,0.000,6,0.093,0.063,2636,2136,3309
$GC,14713,-0.73,-117.3,835.4,-3.0,527,14717,0.00,2.55,0.00,0.000,4,0.000,0.090,2636,3598,3308
$GC,14774,-0.73,-117.3,837.9,-4.6,528,14778,0.00,2.35,0.00,0.000,6,0.000,0.056,2636,2148,3309
$GC,15141,-0.73,-117.3,854.9,-4.6,534,15145,0.00,2.55,0.00,0.000,4,0.000,0.089,2636,3602,3307
$GC,15179,-0.73,-117.3,856.7,-5.5,534,15184,0.00,2.28,0.00,0.000,6,0.000,0.057,2636,2205,3307
$GC,15506,-0.73,-117.3,871.3,-4.5,540,15510,0.00,2.47,0.00,0.000,4,0.000,0.098,2636,796,3307
$GC,15555,-0.73,-117.3,873.7,-5.2,540,15559,0.00,2.33,0.00,0.000,6,0.000,0.066,2636,2200,3307
$GC,15864,-0.73,-117.3,887.8,-4.6,545,15868,0.00,2.47,0.00,0.000,4,0.000,0.094,2635,3607,3307
$GC,15913,-0.73,-117.3,890.8,-6.2,545,15917,0.00,2.33,0.00,0.000,6,0.000,0.059,2636,2192,3307
$GC,16229,-0.73,-117.3,909.3,-6.1,551,16234,0.00,2.47,0.00,0.000,4,0.000,0.100,2636,789,3307
$GC,16291,-0.73,-117.3,913.0,-4.7,552,16295,0.00,2.33,0.00,0.000,6,0.000,0.067,2636,2189,3307
$GC,16658,-0.69,-117.3,931.3,-5.1,558,16663,0.00,2.50,0.00,0.000,4,0.000,0.096,2635,3601,3307
$GC,16736,-0.69,-117.3,934.4,-1.9,559,16741,0.00,2.33,0.00,0.000,6,0.000,0.064,2636,2203,3307
$STATE,16961,end dive,NO_VERTICAL_VELOCITY
$STATE,16961,begin apogee
$GC,16966,-0.23,0.0,936.1,0.0,563,17071,0.65,0.00,101.38,1.452,6,0.075,0.000,2745,2202,2837
$STATE,17071,end apogee,CONTROL_FINISHED_OK
$STATE,17071,begin climb
$GC,17073,0.67,117.3,935.0,0.0,564,17190,1.15,2.75,109.12,1.404,4,0.055,0.091,2942,3605,2357
$GC,17403,0.39,117.3,900.6,10.6,568,17409,0.35,2.42,0.00,0.000,6,0.098,0.064,2888,2198,2357
$GC,17758,0.35,117.3,871.4,8.2,574,17759,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2197,2357
$GC,18060,0.35,117.3,850.4,6.6,579,18061,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2197,2356
$GC,18363,0.35,117.3,828.5,7.4,584,18364,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2197,2357
$GC,18666,0.35,117.3,809.5,6.2,589,18667,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2197,2357
$GC,18969,0.35,117.3,789.4,6.9,594,18970,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2197,2356
$GC,19272,0.35,117.3,770.5,6.1,599,19273,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2197,2356
$GC,19575,0.36,128.0,754.3,5.2,604,19591,0.00,2.45,10.65,1.239,4,0.000,0.097,2889,787,2315
$GC,19641,0.39,155.5,751.1,4.6,605,19671,0.00,2.30,24.92,1.314,6,0.000,0.062,2889,2192,2203
$GC,20003,0.39,155.5,728.8,6.6,611,20008,0.00,2.45,0.00,0.000,4,0.000,0.091,2888,788,2203
$GC,20075,0.39,155.5,723.3,7.5,612,20079,0.00,2.30,0.00,0.000,6,0.000,0.062,2888,2189,2203
$GC,20435,0.39,155.5,696.6,7.5,618,20436,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2189,2203
$GC,20738,0.39,155.5,673.9,7.5,623,20742,0.00,2.42,0.00,0.000,4,0.000,0.087,2888,778,2203
$GC,20781,0.39,155.5,670.5,8.5,623,20785,0.00,2.30,0.00,0.000,6,0.000,0.060,2888,2175,2203
$GC,21102,0.39,155.5,649.1,6.7,629,21103,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2176,2203
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$STATE,30962,end climb,SURFACE_DEPTH_REACHED
$STATE,30962,begin surface coast
$FINISH,-0.1,1.012938
$STATE,30997,end surface coast,CONTROL_FINISHED_OK
$STATE,30997,begin surface
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$TT8_MAMPS,0.027612
$HUMID,2022
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$TCM_TEMP,17.00
$XPDR_PINGS,1
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$10V_AH,10.5,34.474
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$DEVICE_SECS,29.075,223.525,337.300,45.900,0.000,28.726,24.714,163.572,8.750,0.000,0.000,13.122,2223.692,25261.805,577.329,2785.673,539.896,33.370,1942.161,0.000,2744.698,0.000,56.290
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56810,1125
$CAP_FILE_SIZE,202346,0
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,012001,4802.781,-12549.629,43,1.1,43,18.9