version: 66.03
glider: 120
mission: 9
dive: 19
start: 9 4 108 5 21 44
data:
$ID,120
$MISSION,9
$DIVE,19
$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,615
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$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,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,608.58929
$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,-18010.09
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$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,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,050638,5000.997,-14516.132,45,1.1,45,18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.8
$GPS2,052050,5001.038,-14516.300,11,1.1,16,18.4
$SPEED_LIMITS,0.095,0.184
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.184
$KALMAN_X,15284.2,-495.5,-268.2,-46081.5,1640.9
$KALMAN_Y,11480.9,-163.5,-14.5,-19656.3,1779.9
$MHEAD_RNG_PITCHd_Wd,159.2,14012,-13.3,-5.500
$D_GRID,1001
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-117.3,0.0,0.0,0,53,0.00,0.00,-32.85,0.000,2,0.000,0.000,148,2412,2517
$GC,55,-0.72,-117.3,3.1,-6.7,3,98,13.50,2.45,-19.75,0.000,4,0.297,0.089,3077,983,3357
$GC,155,-0.36,-117.3,18.2,-16.9,12,160,0.45,2.35,0.00,0.000,6,0.186,0.069,3196,2412,3358
$GC,479,-0.51,-117.3,44.2,-6.3,42,483,0.15,2.35,0.00,0.000,4,0.081,0.072,3135,987,3360
$GC,551,-0.51,-117.3,50.2,-8.5,48,555,0.00,2.30,0.00,0.000,6,0.000,0.063,3136,2408,3360
$GC,875,-0.45,-117.3,79.6,-9.1,78,880,0.12,2.33,0.00,0.000,4,0.176,0.072,3167,989,3362
$GC,900,-0.45,-117.3,81.9,-8.7,79,905,0.00,2.30,0.00,0.000,6,0.000,0.062,3167,2397,3362
$GC,1223,-0.50,-117.3,105.1,-7.3,95,1227,0.00,2.30,0.00,0.000,4,0.000,0.081,3167,3807,3362
$GC,1262,-0.59,-117.3,108.1,-7.4,97,1266,0.12,2.25,0.00,0.000,6,0.084,0.061,3117,2388,3361
$GC,1592,-0.59,-117.3,138.1,-8.7,113,1596,0.00,2.28,0.00,0.000,4,0.000,0.076,3117,987,3362
$GC,1663,-0.59,-117.3,144.5,-8.9,116,1668,0.00,2.33,0.00,0.000,6,0.000,0.066,3116,2405,3361
$GC,1982,-0.59,-117.3,169.4,-7.2,128,1986,0.00,2.33,0.00,0.000,4,0.000,0.076,3116,986,3361
$GC,2031,-0.59,-117.3,172.6,-6.2,129,2036,0.00,2.33,0.00,0.000,6,0.000,0.067,3116,2406,3361
$GC,2349,-0.59,-117.3,191.9,-6.5,140,2353,0.00,2.33,0.00,0.000,4,0.000,0.078,3116,988,3360
$GC,2377,-0.59,-117.3,193.9,-7.4,141,2381,0.00,2.28,0.00,0.000,6,0.000,0.067,3116,2400,3361
$GC,2710,-0.59,-117.3,217.9,-7.2,152,2714,0.00,2.33,0.00,0.000,4,0.000,0.079,3116,984,3360
$GC,2753,-0.59,-117.3,221.3,-7.8,153,2758,0.00,2.33,0.00,0.000,6,0.000,0.067,3116,2405,3360
$GC,3077,-0.59,-117.3,244.2,-7.0,164,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2405,3359
$GC,3383,-0.59,-117.3,266.2,-7.1,174,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2405,3358
$GC,3690,-0.59,-117.3,288.2,-7.3,184,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2405,3359
$GC,3995,-0.59,-117.3,310.0,-7.0,192,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2405,3358
$GC,4298,-0.59,-117.3,329.6,-6.3,197,4302,0.00,2.33,0.00,0.000,4,0.000,0.081,3116,990,3357
$GC,4336,-0.59,-117.3,332.2,-6.9,197,4340,0.00,2.28,0.00,0.000,6,0.000,0.069,3116,2402,3357
$GC,4655,-0.59,-117.3,351.8,-6.1,203,4659,0.00,2.30,0.00,0.000,4,0.000,0.081,3116,989,3356
$GC,4698,-0.59,-117.3,354.9,-6.7,203,4703,0.00,2.30,0.00,0.000,6,0.000,0.069,3116,2398,3356
$GC,5024,-0.59,-117.3,376.9,-6.8,209,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3356
$GC,5327,-0.59,-117.3,398.6,-7.1,214,5331,0.00,2.30,0.00,0.000,4,0.000,0.082,3115,992,3356
$GC,5359,-0.59,-117.3,401.0,-7.4,214,5364,0.00,2.30,0.00,0.000,6,0.000,0.069,3116,2402,3356
$GC,5697,-0.59,-117.3,423.1,-6.5,220,5701,0.00,2.33,0.00,0.000,4,0.000,0.082,3116,983,3355
$GC,5745,-0.59,-117.3,426.4,-6.8,220,5750,0.00,2.33,0.00,0.000,6,0.000,0.070,3115,2407,3355
$GC,6060,-0.59,-117.3,446.2,-6.2,226,6064,0.00,2.33,0.00,0.000,4,0.000,0.082,3115,985,3355
$GC,6102,-0.59,-117.3,449.1,-7.0,226,6107,0.00,2.30,0.00,0.000,6,0.000,0.069,3115,2396,3355
$GC,6423,-0.59,-117.3,468.7,-6.1,232,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2396,3355
$GC,6726,-0.59,-117.3,486.8,-6.0,237,6730,0.00,2.30,0.00,0.000,4,0.000,0.083,3116,984,3354
$GC,6764,-0.63,-117.3,489.2,-6.4,237,6769,0.00,2.30,0.00,0.000,6,0.000,0.069,3115,2397,3354
$GC,7096,-0.63,-117.3,507.4,-5.5,243,7100,0.00,2.33,0.00,0.000,4,0.000,0.084,3115,984,3354
$GC,7139,-0.68,-117.3,509.8,-5.4,243,7143,0.00,2.30,0.00,0.000,6,0.000,0.070,3115,2412,3354
$GC,7460,-0.68,-117.3,527.0,-5.3,249,7464,0.00,2.33,0.00,0.000,4,0.000,0.083,3115,993,3354
$GC,7503,-0.73,-117.3,529.5,-6.1,249,7508,0.08,2.28,0.00,0.000,6,0.079,0.068,3077,2396,3353
$GC,7823,-0.73,-117.3,551.6,-7.1,255,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2396,3353
$GC,8126,-0.73,-117.3,574.3,-7.6,260,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2396,3353
$GC,8429,-0.73,-117.3,597.9,-7.8,265,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2396,3353
$GC,8732,-0.73,-117.3,620.9,-7.5,270,8736,0.00,2.30,0.00,0.000,4,0.000,0.083,3077,992,3353
$GC,8771,-0.69,-117.3,624.0,-8.5,270,8776,0.00,2.28,0.00,0.000,6,0.000,0.069,3076,2409,3353
$GC,9091,-0.62,-117.3,648.9,-7.7,276,9093,0.15,0.00,0.00,0.000,6,0.176,0.000,3114,2409,3353
$GC,9394,-0.67,-117.3,666.1,-5.6,281,9398,0.00,2.33,0.00,0.000,4,0.000,0.083,3114,990,3352
$GC,9426,-0.73,-117.3,668.0,-5.7,281,9431,0.00,2.30,0.00,0.000,6,0.000,0.069,3114,2400,3353
$GC,9765,-0.79,-117.3,685.6,-5.2,287,9769,0.15,2.33,0.00,0.000,4,0.091,0.082,3050,985,3352
$GC,9813,-0.67,-117.3,689.4,-8.7,287,9818,0.15,2.30,0.00,0.000,6,0.179,0.071,3093,2394,3352
$GC,10127,-0.67,-117.3,709.3,-6.4,293,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2395,3352
$GC,10430,-0.67,-117.3,728.9,-6.5,298,10434,0.00,2.30,0.00,0.000,4,0.000,0.084,3093,994,3352
$GC,10507,-0.67,-117.3,734.5,-7.3,299,10512,0.00,2.30,0.00,0.000,6,0.000,0.071,3093,2401,3352
$GC,10861,-0.67,-117.3,758.6,-6.8,305,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3352
$GC,11165,-0.67,-117.3,780.5,-7.2,310,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3351
$GC,11468,-0.67,-117.3,802.2,-7.2,315,11472,0.00,2.33,0.00,0.000,4,0.000,0.084,3093,987,3352
$GC,11505,-0.67,-117.3,804.9,-7.0,315,11510,0.00,2.30,0.00,0.000,6,0.000,0.071,3093,2394,3352
$GC,11832,-0.67,-117.3,826.3,-6.5,321,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2394,3351
$GC,12135,-0.67,-117.3,846.0,-6.5,326,12139,0.00,2.30,0.00,0.000,4,0.000,0.085,3093,994,3351
$GC,12183,-0.67,-117.3,849.4,-7.6,326,12188,0.00,2.30,0.00,0.000,6,0.000,0.071,3093,2398,3351
$GC,12498,-0.67,-117.3,869.0,-6.2,332,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3351
$GC,12801,-0.67,-117.3,887.1,-5.9,337,12806,0.00,2.33,0.00,0.000,4,0.000,0.085,3093,988,3350
$GC,12839,-0.67,-117.3,889.4,-5.8,337,12844,0.00,2.33,0.00,0.000,6,0.000,0.071,3093,2408,3350
$GC,13165,-0.67,-117.3,907.9,-5.6,343,13169,0.00,2.33,0.00,0.000,4,0.000,0.085,3093,994,3350
$GC,13202,-0.67,-117.3,910.3,-6.3,343,13207,0.00,2.30,0.00,0.000,6,0.000,0.071,3093,2401,3350
$GC,13529,-0.67,-117.3,928.9,-5.7,349,13531,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3350
$GC,13832,-0.67,-117.3,946.5,-5.9,354,13836,0.00,2.33,0.00,0.000,4,0.000,0.085,3093,988,3350
$GC,13876,-0.67,-117.3,949.4,-6.1,354,13880,0.00,2.30,0.00,0.000,6,0.000,0.071,3093,2396,3350
$GC,14196,-0.67,-117.3,968.1,-5.9,360,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2396,3350
$GC,14499,-0.67,-117.3,986.2,-6.0,365,14503,0.00,2.33,0.00,0.000,4,0.000,0.085,3093,985,3350
$GC,14554,-0.67,-117.3,989.7,-5.8,365,14558,0.00,2.33,0.00,0.000,6,0.000,0.074,3093,2398,3350
$STATE,14564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14564,begin apogee
$GC,14568,-0.22,0.0,990.3,5.6,366,14670,0.50,0.00,99.30,1.514,6,0.160,0.000,3246,2202,2876
$STATE,14671,end apogee,CONTROL_FINISHED_OK
$STATE,14671,begin climb
$GC,14672,0.72,117.3,992.0,0.0,367,14784,0.93,2.62,102.65,1.463,4,0.108,0.089,3546,793,2397
$GC,14850,0.34,117.3,988.4,8.7,369,14855,0.40,2.45,0.00,0.000,6,0.198,0.067,3433,2197,2395
$GC,15165,0.28,117.3,969.7,5.9,375,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2197,2394
$GC,15468,0.22,117.3,952.6,5.6,380,15470,0.17,0.00,0.00,0.000,6,0.185,0.000,3389,2197,2393
$GC,15771,0.35,163.5,940.1,4.0,385,15813,0.12,0.00,39.75,1.450,6,0.093,0.000,3433,2197,2209
$GC,16073,0.35,163.5,922.0,6.1,390,16075,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2197,2206
$GC,16376,0.35,163.5,903.2,6.2,395,16378,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2197,2205
$GC,16680,0.35,163.5,884.6,6.1,400,16683,0.00,2.40,0.00,0.000,4,0.000,0.091,3435,782,2205
$GC,16730,0.35,163.5,881.5,5.6,400,16734,0.00,2.33,0.00,0.000,6,0.000,0.070,3434,2200,2205
$GC,17043,0.35,163.5,861.5,6.4,406,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2205
$GC,17347,0.35,163.5,841.8,6.5,411,17348,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2205
$GC,17650,0.35,163.5,822.9,6.1,416,17654,0.00,2.38,0.00,0.000,4,0.000,0.090,3435,788,2205
$GC,17676,0.35,163.5,821.2,6.1,416,17681,0.00,2.33,0.00,0.000,6,0.000,0.069,3435,2200,2205
$GC,18019,0.35,163.5,800.0,6.3,422,18023,0.00,2.33,0.00,0.000,4,0.000,0.087,3435,3609,2204
$GC,18051,0.30,163.5,797.7,7.2,422,18056,0.00,2.33,0.00,0.000,6,0.000,0.076,3435,2201,2204
$GC,18383,0.30,163.5,777.2,6.1,428,18384,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2205
$GC,18686,0.30,163.5,758.4,6.2,433,18690,0.00,2.35,0.00,0.000,4,0.000,0.091,3435,784,2204
$GC,18734,0.30,163.5,755.3,6.2,433,18739,0.00,2.33,0.00,0.000,6,0.000,0.068,3436,2203,2205
$GC,19049,0.30,163.5,736.6,6.0,439,19050,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2205
$GC,19352,0.30,163.5,718.1,6.1,444,19356,0.00,2.35,0.00,0.000,4,0.000,0.089,3436,791,2204
$GC,19418,0.30,163.5,713.6,6.3,445,19423,0.00,2.33,0.00,0.000,6,0.000,0.070,3435,2207,2204
$GC,19784,0.30,163.5,689.5,6.7,451,19785,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2205
$GC,20087,0.30,163.5,669.8,6.5,456,20091,0.00,2.38,0.00,0.000,4,0.000,0.089,3436,783,2204
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$STATE,30830,end climb,SURFACE_DEPTH_REACHED
$STATE,30830,begin surface coast
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$STATE,30851,end surface coast,CONTROL_FINISHED_OK
$STATE,30851,begin surface
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