version: 66.03
glider: 120
mission: 9
dive: 49
start: 9 14 108 23 8 5
data:
$ID,120
$MISSION,9
$DIVE,49
$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,660
$T_MISSION,675
$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,300
$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,-18615.873
$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,18
$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
$GPS1,230239,5007.949,-14450.863,33,1.7,35,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-76.7
$GPS2,230709,5007.931,-14450.795,13,2.0,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.134,0.117
$KALMAN_X,22325.3,134.6,126.5,-23863.9,624.7
$KALMAN_Y,35846.0,-178.4,96.6,-31356.8,-142.2
$MHEAD_RNG_PITCHd_Wd,292.8,34803,-12.0,-5.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,32,0.00,0.00,-12.30,0.000,2,0.000,0.000,148,2409,1973
$GC,34,-0.67,-117.3,3.3,-0.0,1,109,13.45,2.40,-51.88,0.000,4,0.288,0.099,3097,3805,3356
$GC,260,-0.30,-117.3,28.8,-15.8,21,268,0.38,2.30,0.00,0.000,6,0.166,0.056,3210,2395,3358
$GC,587,-0.60,-117.3,51.4,-6.0,52,592,0.22,2.30,0.00,0.000,4,0.086,0.067,3127,984,3359
$GC,607,-0.80,-117.3,53.2,-7.5,53,615,0.15,2.33,0.00,0.000,6,0.063,0.059,3055,2404,3359
$GC,940,-0.45,-117.3,94.2,-13.3,80,943,0.40,0.00,0.00,0.000,6,0.178,0.000,3168,2404,3361
$GC,1249,-0.45,-117.3,116.6,-6.8,95,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2404,3362
$GC,1559,-0.45,-117.3,135.0,-4.8,110,1563,0.00,2.30,0.00,0.000,4,0.000,0.077,3168,3819,3362
$GC,1602,-0.52,-117.3,136.9,-4.5,112,1607,0.00,2.25,0.00,0.000,6,0.000,0.055,3168,2395,3362
$GC,1929,-0.61,-117.3,154.3,-6.4,127,1931,0.15,0.00,0.00,0.000,6,0.083,0.000,3109,2395,3362
$GC,2235,-0.53,-117.3,180.7,-8.3,137,2239,0.12,2.35,0.00,0.000,4,0.159,0.079,3141,3817,3361
$GC,2277,-0.53,-117.3,183.4,-5.7,138,2282,0.00,2.28,0.00,0.000,6,0.000,0.058,3141,2395,3361
$GC,2601,-0.53,-117.3,199.1,-4.8,149,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2395,3361
$GC,2907,-0.53,-117.3,216.5,-6.2,159,2911,0.00,2.28,0.00,0.000,4,0.000,0.074,3141,988,3360
$GC,2956,-0.53,-117.3,220.0,-7.4,160,2961,0.00,2.30,0.00,0.000,6,0.000,0.064,3141,2404,3360
$GC,3274,-0.53,-117.3,241.6,-6.7,171,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2404,3359
$GC,3580,-0.53,-117.3,259.3,-5.4,181,3584,0.00,2.30,0.00,0.000,4,0.000,0.075,3141,993,3359
$GC,3612,-0.53,-117.3,261.3,-6.1,182,3617,0.00,2.28,0.00,0.000,6,0.000,0.065,3141,2395,3359
$GC,3947,-0.53,-117.3,278.8,-5.1,193,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2395,3358
$GC,4254,-0.53,-117.3,292.1,-4.1,203,4258,0.00,2.30,0.00,0.000,4,0.000,0.076,3141,988,3358
$GC,4291,-0.53,-117.3,293.8,-4.4,204,4296,0.00,2.30,0.00,0.000,6,0.000,0.065,3141,2397,3358
$GC,4619,-0.53,-117.3,310.0,-5.4,212,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3357
$GC,4923,-0.58,-117.3,330.1,-6.7,217,4927,0.00,2.30,0.00,0.000,4,0.000,0.077,3141,988,3357
$GC,4955,-0.62,-117.3,332.7,-7.8,217,4959,0.00,2.30,0.00,0.000,6,0.000,0.066,3141,2400,3357
$GC,5287,-0.67,-117.3,355.3,-6.8,223,5289,0.12,0.00,0.00,0.000,6,0.094,0.000,3093,2400,3356
$GC,5590,-0.62,-117.3,377.0,-7.1,228,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3355
$GC,5893,-0.58,-117.3,396.9,-6.6,233,5895,0.12,0.00,0.00,0.000,6,0.124,0.000,3126,2401,3355
$GC,6196,-0.58,-117.3,414.2,-5.6,238,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3355
$GC,6499,-0.58,-117.3,430.0,-5.2,243,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3354
$GC,6802,-0.58,-117.3,447.0,-5.7,248,6806,0.00,2.30,0.00,0.000,4,0.000,0.077,3127,988,3354
$GC,6828,-0.58,-117.3,448.8,-6.7,248,6833,0.00,2.30,0.00,0.000,6,0.000,0.067,3127,2402,3354
$GC,7171,-0.58,-117.3,470.1,-6.3,254,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3354
$GC,7474,-0.58,-117.3,488.0,-5.9,259,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3354
$GC,7778,-0.58,-117.3,505.1,-5.6,264,7782,0.00,2.30,0.00,0.000,4,0.000,0.078,3127,987,3353
$GC,7815,-0.58,-117.3,507.5,-6.2,264,7820,0.00,2.30,0.00,0.000,6,0.000,0.067,3127,2400,3353
$GC,8147,-0.58,-117.3,527.1,-5.9,270,8151,0.00,2.30,0.00,0.000,4,0.000,0.078,3127,988,3353
$GC,8184,-0.58,-117.3,529.5,-7.1,270,8189,0.00,2.30,0.00,0.000,6,0.000,0.068,3127,2402,3353
$GC,8511,-0.58,-117.3,549.1,-6.1,276,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3353
$GC,8815,-0.62,-117.3,566.8,-5.8,281,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3352
$GC,9118,-0.67,-117.3,583.6,-5.5,286,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2402,3352
$GC,9421,-0.71,-117.3,599.0,-5.1,291,9425,0.12,2.30,0.00,0.000,4,0.095,0.078,3080,994,3352
$GC,9447,-0.64,-117.3,600.6,-6.5,291,9451,0.00,2.30,0.00,0.000,6,0.000,0.067,3079,2405,3352
$GC,9784,-0.53,-117.3,621.8,-6.4,297,9789,0.20,2.33,0.00,0.000,4,0.179,0.078,3139,985,3352
$GC,9816,-0.61,-117.3,623.5,-4.5,297,9820,0.00,2.28,0.00,0.000,6,0.000,0.067,3139,2402,3352
$GC,10148,-0.83,-117.3,639.8,-5.3,303,10153,0.22,2.33,0.00,0.000,4,0.095,0.078,3054,985,3351
$GC,10299,-0.66,-117.3,650.8,-7.9,305,10303,0.17,2.28,0.00,0.000,6,0.186,0.069,3099,2400,3351
$GC,10646,-0.66,-117.3,671.2,-5.8,311,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3351
$GC,10949,-0.66,-117.3,690.1,-6.3,316,10953,0.00,2.30,0.00,0.000,4,0.000,0.079,3100,993,3351
$GC,10993,-0.62,-117.3,693.0,-6.3,316,10997,0.00,2.28,0.00,0.000,6,0.000,0.068,3099,2395,3351
$GC,11313,-0.62,-117.3,714.0,-6.5,322,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3351
$GC,11616,-0.62,-117.3,734.2,-6.6,327,11620,0.00,2.30,0.00,0.000,4,0.000,0.081,3100,991,3351
$GC,11648,-0.62,-117.3,736.4,-7.3,327,11653,0.00,2.30,0.00,0.000,6,0.000,0.068,3099,2402,3351
$GC,11980,-0.62,-117.3,758.6,-6.7,333,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3351
$GC,12283,-0.62,-117.3,779.3,-6.8,338,12287,0.00,2.30,0.00,0.000,4,0.000,0.081,3099,993,3351
$GC,12320,-0.62,-117.3,782.0,-7.0,338,12325,0.00,2.30,0.00,0.000,6,0.000,0.069,3099,2402,3351
$GC,12646,-0.62,-117.3,802.8,-6.5,344,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3351
$GC,12949,-0.62,-117.3,821.9,-6.2,349,12953,0.00,2.33,0.00,0.000,4,0.000,0.081,3099,985,3350
$GC,12981,-0.62,-117.3,824.0,-7.2,349,12986,0.00,2.30,0.00,0.000,6,0.000,0.069,3100,2396,3350
$GC,13313,-0.62,-117.3,844.6,-6.2,355,13317,0.00,2.30,0.00,0.000,4,0.000,0.087,3099,3807,3350
$GC,13345,-0.62,-117.3,846.7,-6.2,355,13350,0.00,2.28,0.00,0.000,6,0.000,0.065,3099,2396,3350
$GC,13677,-0.62,-117.3,865.3,-5.6,361,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3350
$GC,13980,-0.62,-117.3,882.8,-5.8,366,13984,0.00,2.30,0.00,0.000,4,0.000,0.082,3099,984,3350
$GC,14012,-0.62,-117.3,884.8,-6.3,366,14017,0.00,2.30,0.00,0.000,6,0.000,0.070,3099,2393,3350
$GC,14344,-0.62,-117.3,904.0,-5.8,372,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2393,3350
$GC,14648,-0.62,-117.3,920.9,-5.6,377,14651,0.00,2.30,0.00,0.000,4,0.000,0.082,3100,988,3349
$GC,14679,-0.62,-117.3,922.9,-6.4,377,14684,0.00,2.30,0.00,0.000,6,0.000,0.069,3099,2395,3349
$GC,15017,-0.62,-117.3,941.6,-5.6,383,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3349
$GC,15320,-0.62,-117.3,959.9,-6.1,388,15324,0.00,2.33,0.00,0.000,4,0.000,0.088,3099,3816,3349
$GC,15357,-0.62,-117.3,962.3,-6.2,388,15362,0.00,2.28,0.00,0.000,6,0.000,0.066,3100,2404,3349
$GC,15683,-0.62,-117.3,982.0,-6.0,394,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3349
$STATE,15864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15864,begin apogee
$GC,15868,-0.22,0.0,992.4,5.8,397,15970,0.47,0.00,99.35,1.504,6,0.160,0.000,3243,2192,2876
$STATE,15971,end apogee,CONTROL_FINISHED_OK
$STATE,15971,begin climb
$GC,15972,0.67,117.3,994.3,0.0,398,16079,0.88,0.00,103.20,1.461,6,0.112,0.000,3522,2193,2397
$GC,16336,0.32,117.3,973.4,8.8,404,16339,0.38,0.00,0.00,0.000,6,0.186,0.000,3423,2193,2394
$GC,16640,0.27,117.3,953.7,6.4,409,16643,0.00,2.40,0.00,0.000,4,0.000,0.083,3423,3614,2393
$GC,16700,0.13,117.3,949.3,7.9,409,16707,0.20,2.38,0.00,0.000,6,0.176,0.070,3364,2201,2393
$GC,17010,0.28,139.6,935.6,4.4,415,17032,0.15,0.00,19.67,1.407,6,0.096,0.000,3414,2201,2306
$GC,17312,0.28,139.6,919.3,5.4,420,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2201,2305
$GC,17615,0.28,139.6,903.5,5.2,425,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2201,2304
$GC,17918,0.29,147.5,888.9,4.8,430,17932,0.00,2.40,8.10,1.256,4,0.000,0.084,3421,793,2274
$GC,17966,0.30,156.2,886.5,4.8,430,17984,0.00,2.35,9.15,1.270,6,0.000,0.067,3421,2202,2238
$GC,18286,0.30,156.2,870.0,5.2,436,18287,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2237
$GC,18589,0.30,156.2,853.6,5.4,441,18592,0.00,2.33,0.00,0.000,4,0.000,0.084,3421,3613,2237
$GC,18632,0.25,156.2,850.9,6.3,441,18637,0.00,2.33,0.00,0.000,6,0.000,0.071,3421,2208,2237
$GC,18958,0.25,156.2,831.5,6.0,447,18962,0.00,2.35,0.00,0.000,4,0.000,0.085,3421,787,2236
$GC,18989,0.25,156.2,829.4,6.5,447,18994,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2203,2236
$GC,19321,0.25,156.2,806.2,7.2,453,19322,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2236
$GC,19624,0.25,156.2,782.9,7.7,458,19628,0.00,2.38,0.00,0.000,4,0.000,0.084,3421,780,2236
$GC,19667,0.25,156.2,779.4,7.4,458,19672,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2199,2236
$GC,19988,0.25,156.2,754.8,7.7,464,19992,0.00,2.30,0.00,0.000,4,0.000,0.082,3421,3611,2236
$GC,20031,0.21,156.2,751.3,7.5,464,20037,0.10,2.33,0.00,0.000,6,0.171,0.071,3391,2197,2236
$GC,20353,0.32,156.2,730.9,6.3,470,20354,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2197,2236
$GC,20656,0.42,156.2,713.9,5.6,475,20658,0.17,0.00,0.00,0.000,6,0.097,0.000,3451,2197,2236
$GC,20959,0.36,156.2,694.8,6.3,480,20963,0.00,2.33,0.00,0.000,4,0.000,0.086,3452,786,2236
$GC,20991,0.30,156.2,692.6,6.4,480,20996,0.10,2.33,0.00,0.000,6,0.169,0.067,3420,2208,2236
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