version: 66.03
glider: 120
mission: 9
dive: 153
start: 10 24 108 10 57 46
data:
$ID,120
$MISSION,9
$DIVE,153
$D_SURF,7
$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,-20914.355
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,104407,5010.002,-14445.540,90,1.1,95,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-69.2
$GPS2,105651,5010.106,-14445.492,13,2.0,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.104
$KALMAN_X,40461.9,-115.4,-14.2,-35302.9,-982.5
$KALMAN_Y,117483.5,-121.0,38.1,-108959.4,1013.7
$MHEAD_RNG_PITCHd_Wd,35.6,27388,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-12.15,0.000,2,0.000,0.000,134,2411,1969
$GC,38,-0.67,-117.3,3.6,-0.0,1,114,14.18,2.45,-55.78,0.000,4,0.291,0.079,3096,983,3356
$GC,332,-0.35,-117.3,34.0,-13.3,27,340,0.38,2.38,0.00,0.000,6,0.161,0.062,3202,2400,3359
$GC,658,-0.41,-117.3,57.6,-6.6,58,662,0.00,2.33,0.00,0.000,4,0.000,0.065,3203,989,3359
$GC,698,-0.49,-117.3,60.7,-7.2,61,703,0.15,2.33,0.00,0.000,6,0.078,0.059,3150,2412,3359
$GC,1022,-0.49,-117.3,83.1,-6.5,89,1026,0.00,2.33,0.00,0.000,4,0.000,0.076,3150,3818,3360
$GC,1083,-0.49,-117.3,87.6,-7.6,92,1087,0.00,2.28,0.00,0.000,6,0.000,0.051,3150,2383,3361
$GC,1409,-0.49,-117.3,112.7,-8.1,108,1412,0.00,2.25,0.00,0.000,4,0.000,0.066,3149,995,3361
$GC,1457,-0.49,-117.3,117.1,-8.5,110,1462,0.00,2.30,0.00,0.000,6,0.000,0.058,3150,2400,3362
$GC,1779,-0.49,-117.3,140.2,-6.5,126,1783,0.00,2.35,0.00,0.000,4,0.000,0.077,3149,3816,3362
$GC,1845,-0.55,-117.3,144.8,-7.4,129,1849,0.00,2.25,0.00,0.000,6,0.000,0.052,3150,2389,3361
$GC,2169,-0.79,-117.3,169.4,-7.9,141,2174,0.22,2.40,0.00,0.000,4,0.086,0.075,3061,3817,3362
$GC,2333,-0.58,-117.3,185.9,-10.5,146,2338,0.25,2.25,0.00,0.000,6,0.155,0.054,3131,2401,3361
$GC,2668,-0.58,-117.3,210.4,-7.0,157,2672,0.00,2.30,0.00,0.000,4,0.000,0.069,3132,990,3361
$GC,2711,-0.58,-117.3,213.8,-7.8,158,2715,0.00,2.30,0.00,0.000,6,0.000,0.060,3128,2399,3361
$GC,3035,-0.58,-117.3,237.5,-7.2,169,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2399,3360
$GC,3341,-0.58,-117.3,255.6,-5.5,179,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3360
$GC,3647,-0.58,-117.3,273.3,-6.0,189,3651,0.00,2.33,0.00,0.000,4,0.000,0.070,3128,988,3359
$GC,3691,-0.58,-117.3,276.1,-6.1,190,3695,0.00,2.33,0.00,0.000,6,0.000,0.062,3128,2396,3359
$GC,4015,-0.58,-117.3,294.4,-5.5,201,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2395,3359
$GC,4319,-0.58,-117.3,312.4,-6.0,208,4323,0.00,2.30,0.00,0.000,4,0.000,0.071,3128,996,3359
$GC,4356,-0.58,-117.3,315.0,-7.2,208,4361,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2393,3358
$GC,4682,-0.58,-117.3,336.9,-6.8,214,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2393,3358
$GC,4986,-0.58,-117.3,356.4,-6.4,219,4990,0.00,2.30,0.00,0.000,4,0.000,0.072,3128,996,3357
$GC,5023,-0.58,-117.3,358.9,-6.6,219,5027,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2396,3357
$GC,5350,-0.58,-117.3,377.6,-5.6,225,5354,0.00,2.33,0.00,0.000,4,0.000,0.071,3128,988,3356
$GC,5382,-0.58,-117.3,379.6,-5.7,225,5386,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2399,3357
$GC,5714,-0.58,-117.3,396.2,-5.0,231,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3356
$GC,6017,-0.58,-117.3,413.3,-5.7,236,6021,0.00,2.30,0.00,0.000,4,0.000,0.072,3128,996,3356
$GC,6066,-0.63,-117.3,416.4,-6.3,236,6070,0.00,2.28,0.00,0.000,6,0.000,0.064,3128,2401,3356
$GC,6381,-0.63,-117.3,434.5,-5.7,242,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3356
$GC,6684,-0.63,-117.3,452.2,-5.8,247,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2401,3355
$GC,6987,-0.63,-117.3,469.7,-5.8,252,6991,0.00,2.30,0.00,0.000,4,0.000,0.072,3128,996,3355
$GC,7031,-0.69,-117.3,472.3,-5.7,252,7035,0.00,2.28,0.00,0.000,6,0.000,0.064,3128,2402,3355
$GC,7352,-0.73,-117.3,488.9,-5.1,258,7357,0.15,2.33,0.00,0.000,4,0.088,0.071,3064,992,3354
$GC,7379,-0.63,-117.3,490.8,-7.2,258,7384,0.17,2.30,0.00,0.000,6,0.165,0.065,3109,2411,3354
$GC,7716,-0.63,-117.3,510.7,-6.0,264,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2411,3354
$GC,8019,-0.63,-117.3,529.7,-6.3,269,8023,0.00,2.33,0.00,0.000,4,0.000,0.072,3109,992,3354
$GC,8057,-0.63,-117.3,532.4,-7.1,269,8061,0.00,2.33,0.00,0.000,6,0.000,0.065,3110,2404,3354
$GC,8383,-0.63,-117.3,553.6,-6.5,275,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3354
$GC,8686,-0.63,-117.3,573.1,-6.3,280,8690,0.00,2.33,0.00,0.000,4,0.000,0.073,3109,992,3353
$GC,8717,-0.63,-117.3,575.1,-6.3,280,8722,0.00,2.33,0.00,0.000,6,0.000,0.065,3110,2406,3353
$GC,9050,-0.63,-117.3,594.1,-5.7,286,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3353
$GC,9353,-0.63,-117.3,612.2,-6.0,291,9357,0.00,2.33,0.00,0.000,4,0.000,0.074,3109,990,3353
$GC,9379,-0.63,-117.3,613.9,-6.6,291,9383,0.00,2.33,0.00,0.000,6,0.000,0.065,3109,2402,3353
$GC,9717,-0.63,-117.3,634.9,-6.3,297,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3352
$GC,10020,-0.63,-117.3,654.4,-6.4,302,10024,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,987,3352
$GC,10063,-0.63,-117.3,657.3,-7.2,302,10067,0.00,2.33,0.00,0.000,6,0.000,0.066,3109,2412,3352
$GC,10384,-0.63,-117.3,677.5,-6.2,308,10388,0.00,2.33,0.00,0.000,4,0.000,0.074,3109,994,3353
$GC,10410,-0.63,-117.3,679.3,-6.6,308,10414,0.00,2.33,0.00,0.000,6,0.000,0.065,3109,2402,3352
$GC,10748,-0.63,-117.3,698.8,-5.7,314,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3352
$GC,11051,-0.63,-117.3,715.0,-5.3,319,11055,0.00,2.33,0.00,0.000,4,0.000,0.074,3109,989,3352
$GC,11083,-0.63,-117.3,716.8,-5.7,319,11087,0.00,2.33,0.00,0.000,6,0.000,0.065,3109,2399,3352
$GC,11415,-0.63,-117.3,733.6,-5.0,325,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3351
$GC,11718,-0.63,-117.3,750.1,-5.5,330,11722,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,987,3351
$GC,11750,-0.63,-117.3,752.2,-6.5,330,11754,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2396,3351
$GC,12081,-0.63,-117.3,773.5,-6.5,336,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2396,3351
$GC,12385,-0.63,-117.3,794.9,-7.1,341,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2396,3351
$GC,12688,-0.63,-117.3,817.3,-7.4,346,12692,0.00,2.30,0.00,0.000,4,0.000,0.074,3109,997,3351
$GC,12727,-0.63,-117.3,820.1,-7.6,346,12731,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2408,3351
$GC,13047,-0.63,-117.3,842.6,-6.9,352,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3351
$GC,13349,-0.63,-117.3,861.7,-6.3,357,13353,0.00,2.33,0.00,0.000,4,0.000,0.075,3109,997,3351
$GC,13381,-0.63,-117.3,863.8,-6.2,357,13386,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2400,3350
$GC,13714,-0.63,-117.3,881.5,-5.2,363,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3351
$GC,14017,-0.67,-117.3,895.8,-4.7,368,14019,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3351
$GC,14320,-0.67,-117.3,909.9,-4.7,373,14324,0.00,2.33,0.00,0.000,4,0.000,0.075,3109,993,3350
$GC,14364,-0.67,-117.3,912.5,-5.4,373,14368,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2400,3350
$GC,14686,-0.72,-117.3,928.3,-5.0,379,14687,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3350
$GC,14988,-0.76,-117.3,944.2,-5.3,384,14990,0.12,0.00,0.00,0.000,6,0.094,0.000,3063,2400,3349
$GC,15291,-0.76,-117.3,962.8,-6.2,389,15295,0.00,2.33,0.00,0.000,4,0.000,0.075,3063,995,3349
$GC,15329,-0.68,-117.3,965.5,-6.7,389,15334,0.12,2.30,0.00,0.000,6,0.165,0.066,3094,2400,3350
$GC,15649,-0.68,-117.3,984.2,-5.9,395,15650,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3350
$STATE,15769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15769,begin apogee
$GC,15774,-0.22,0.0,991.2,5.9,397,15878,0.50,0.00,101.60,1.501,6,0.149,0.000,3245,2201,2876
$STATE,15879,end apogee,CONTROL_FINISHED_OK
$STATE,15879,begin climb
$GC,15881,0.67,117.3,993.0,0.0,398,15996,0.90,2.67,105.85,1.447,4,0.094,0.077,3546,790,2397
$GC,16069,0.26,117.3,988.7,8.1,401,16074,0.55,2.47,0.00,0.000,6,0.191,0.063,3408,2202,2394
$GC,16378,0.26,117.3,972.2,5.2,406,16383,0.00,2.42,0.00,0.000,4,0.000,0.081,3408,3617,2394
$GC,16411,0.17,117.3,970.3,5.8,406,16416,0.15,2.38,0.00,0.000,6,0.179,0.064,3373,2201,2393
$GC,16743,0.30,146.1,956.3,4.2,412,16771,0.12,0.00,25.70,1.420,6,0.090,0.000,3418,2201,2280
$GC,17045,0.30,146.1,938.8,5.9,417,17047,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2201,2278
$GC,17349,0.30,146.1,920.8,6.0,422,17350,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2201,2278
$GC,17651,0.30,146.1,901.8,6.3,427,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2201,2277
$GC,17955,0.30,146.1,882.5,6.4,432,17956,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2201,2277
$GC,18257,0.30,146.1,863.6,6.2,437,18262,0.00,2.40,0.00,0.000,4,0.000,0.084,3418,3613,2276
$GC,18296,0.22,146.1,860.9,7.8,437,18301,0.12,2.33,0.00,0.000,6,0.180,0.066,3392,2194,2277
$GC,18616,0.30,146.1,844.5,5.0,443,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2194,2277
$GC,18920,0.38,151.8,829.8,4.8,448,18928,0.15,0.00,6.00,1.130,6,0.091,0.000,3449,2194,2257
$GC,19223,0.30,151.8,810.4,6.5,453,19225,0.12,0.00,0.00,0.000,6,0.159,0.000,3418,2194,2256
$GC,19526,0.30,151.8,793.4,5.5,458,19530,0.00,2.40,0.00,0.000,4,0.000,0.082,3418,3615,2256
$GC,19564,0.24,151.8,791.1,6.3,458,19568,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2189,2256
$GC,19890,0.24,151.8,772.2,5.7,464,19891,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2188,2256
$GC,20193,0.24,151.8,754.9,5.6,469,20197,0.00,2.40,0.00,0.000,4,0.000,0.083,3421,3620,2256
$GC,20225,0.18,151.8,752.7,6.9,469,20230,0.17,2.33,0.00,0.000,6,0.173,0.065,3377,2193,2256
$GC,20552,0.35,168.0,737.8,4.5,475,20569,0.15,0.00,15.05,1.292,6,0.090,0.000,3430,2193,2191
$GC,20855,0.40,168.0,720.1,5.9,480,20859,0.00,2.42,0.00,0.000,4,0.000,0.083,3430,3614,2190
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$STATE,32960,end climb,SURFACE_DEPTH_REACHED
$STATE,32961,begin surface coast
$FINISH,2.5,1.012645
$STATE,33057,end surface coast,CONTROL_FINISHED_OK
$STATE,33057,begin surface
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