version: 66.03
glider: 120
mission: 9
dive: 202
start: 11 12 108 4 0 32
data:
$ID,120
$MISSION,9
$DIVE,202
$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,-21855.959
$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
$GPS1,035358,5008.658,-14428.997,60,2.5,79,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.0
$GPS2,035938,5008.552,-14428.956,14,1.7,19,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.019,-0.177
$KALMAN_X,38838.8,299.6,-294.9,-14168.1,519.1
$KALMAN_Y,153313.5,-79.9,-353.9,-147310.4,1313.3
$MHEAD_RNG_PITCHd_Wd,167.4,26949,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,64,0.00,0.00,-41.92,0.000,2,0.000,0.000,146,2405,2630
$GC,67,-0.67,-117.3,3.2,-3.0,4,110,13.88,2.50,-19.23,0.000,4,0.286,0.094,3096,3815,3358
$GC,358,-0.42,-117.3,39.4,-11.9,30,363,0.30,2.33,0.00,0.000,6,0.156,0.058,3181,2396,3359
$GC,683,-0.47,-117.3,63.8,-7.3,60,687,0.00,2.35,0.00,0.000,4,0.000,0.068,3181,987,3360
$GC,715,-0.53,-117.3,66.4,-7.6,62,722,0.08,2.35,0.00,0.000,6,0.071,0.061,3126,2405,3360
$GC,1036,-0.45,-117.3,92.2,-7.5,85,1041,0.15,2.38,0.00,0.000,4,0.151,0.066,3174,989,3361
$GC,1068,-0.52,-117.3,94.5,-5.7,86,1075,0.00,2.33,0.00,0.000,6,0.000,0.060,3175,2397,3361
$GC,1384,-0.59,-117.3,115.7,-6.7,102,1386,0.15,0.00,0.00,0.000,6,0.080,0.000,3116,2397,3362
$GC,1693,-0.59,-117.3,141.6,-7.6,117,1697,0.00,2.35,0.00,0.000,4,0.000,0.067,3116,991,3361
$GC,1786,-0.59,-117.3,148.8,-7.2,121,1791,0.00,2.33,0.00,0.000,6,0.000,0.061,3115,2400,3362
$GC,2126,-0.55,-117.3,172.3,-7.2,133,2130,0.00,2.38,0.00,0.000,4,0.000,0.078,3113,3811,3362
$GC,2188,-0.55,-117.3,176.5,-6.5,135,2193,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2388,3362
$GC,2523,-0.55,-117.3,198.5,-6.7,146,2527,0.00,2.45,0.00,0.000,4,0.000,0.079,3113,3816,3361
$GC,2566,-0.55,-117.3,201.4,-6.9,147,2570,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2407,3362
$GC,2896,-0.55,-117.3,222.2,-6.3,158,2899,0.00,2.40,0.00,0.000,4,0.000,0.080,3113,3806,3362
$GC,2945,-0.55,-117.3,225.5,-6.4,159,2949,0.00,2.30,0.00,0.000,6,0.000,0.055,3113,2399,3361
$GC,3269,-0.55,-117.3,245.8,-6.3,170,3273,0.00,2.33,0.00,0.000,4,0.000,0.070,3114,991,3362
$GC,3312,-0.55,-117.3,248.6,-6.3,171,3316,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2399,3362
$GC,3642,-0.55,-117.3,269.8,-6.6,182,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3361
$GC,3948,-0.55,-117.3,288.8,-6.0,192,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3361
$GC,4253,-0.55,-117.3,308.2,-6.5,200,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3361
$GC,4556,-0.55,-117.3,327.9,-6.5,205,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3360
$GC,4859,-0.55,-117.3,346.5,-6.1,210,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3359
$GC,5162,-0.55,-117.3,365.5,-6.3,215,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3359
$GC,5465,-0.55,-117.3,384.9,-6.4,220,5469,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,989,3359
$GC,5498,-0.55,-117.3,387.1,-6.5,220,5502,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2401,3358
$GC,5830,-0.55,-117.3,408.3,-6.4,226,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6133,-0.55,-117.3,427.8,-6.4,231,6137,0.00,2.38,0.00,0.000,4,0.000,0.083,3113,3818,3358
$GC,6165,-0.55,-117.3,430.0,-6.8,231,6169,0.00,2.33,0.00,0.000,6,0.000,0.058,3113,2400,3358
$GC,6498,-0.55,-117.3,452.0,-6.7,237,6502,0.00,2.35,0.00,0.000,4,0.000,0.073,3113,993,3358
$GC,6538,-0.59,-117.3,454.7,-7.1,237,6542,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2412,3358
$GC,6858,-0.59,-117.3,475.1,-6.4,243,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3357
$GC,7161,-0.59,-117.3,493.2,-5.9,248,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3357
$GC,7464,-0.59,-117.3,510.2,-5.6,253,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3357
$GC,7768,-0.59,-117.3,527.1,-5.6,258,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3357
$GC,8070,-0.59,-117.3,544.4,-5.8,263,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3357
$GC,8373,-0.59,-117.3,563.8,-6.4,268,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3357
$GC,8676,-0.59,-117.3,584.5,-6.9,273,8681,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,993,3356
$GC,8721,-0.65,-117.3,587.6,-7.2,273,8725,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2403,3356
$GC,9037,-0.69,-117.3,608.7,-6.7,279,9041,0.00,2.35,0.00,0.000,4,0.000,0.084,3113,3811,3356
$GC,9069,-0.74,-117.3,611.1,-7.0,279,9074,0.10,2.30,0.00,0.000,6,0.100,0.058,3076,2382,3356
$GC,9401,-0.74,-117.3,634.3,-7.0,285,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2382,3356
$GC,9704,-0.74,-117.3,653.6,-6.4,290,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2382,3356
$GC,10007,-0.74,-117.3,672.6,-6.3,295,10011,0.00,2.45,0.00,0.000,4,0.000,0.082,3074,3806,3355
$GC,10039,-0.69,-117.3,674.8,-7.1,295,10043,0.00,2.30,0.00,0.000,6,0.000,0.059,3075,2391,3355
$GC,10371,-0.69,-117.3,696.2,-6.4,301,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2390,3355
$GC,10674,-0.69,-117.3,716.3,-6.7,306,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2390,3355
$GC,10977,-0.69,-117.3,737.2,-6.9,311,10981,0.00,2.45,0.00,0.000,4,0.000,0.083,3075,3815,3354
$GC,11010,-0.63,-117.3,739.7,-7.5,311,11015,0.12,2.30,0.00,0.000,6,0.119,0.059,3109,2393,3355
$GC,11341,-0.63,-117.3,760.3,-6.2,317,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3355
$GC,11645,-0.63,-117.3,778.1,-5.8,322,11649,0.00,2.35,0.00,0.000,4,0.000,0.076,3109,995,3354
$GC,11671,-0.63,-117.3,779.8,-6.3,322,11676,0.00,2.30,0.00,0.000,6,0.000,0.067,3108,2402,3355
$GC,12009,-0.68,-117.3,799.7,-5.9,328,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2403,3354
$GC,12312,-0.72,-117.3,816.6,-5.6,333,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3354
$GC,12615,-0.76,-117.3,832.4,-5.2,338,12617,0.12,0.00,0.00,0.000,6,0.093,0.000,3061,2403,3354
$GC,12918,-0.72,-117.3,850.4,-5.9,343,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2403,3354
$GC,13221,-0.72,-117.3,868.5,-6.0,348,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2403,3354
$GC,13524,-0.72,-117.3,887.6,-6.3,353,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2403,3353
$GC,13827,-0.72,-117.3,905.8,-6.0,358,13831,0.00,2.40,0.00,0.000,4,0.000,0.084,3060,3816,3353
$GC,13866,-0.63,-117.3,908.4,-7.6,358,13870,0.17,2.33,0.00,0.000,6,0.133,0.060,3108,2393,3353
$GC,14192,-0.68,-117.3,924.7,-4.9,364,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3353
$GC,14495,-0.72,-117.3,939.3,-4.8,369,14497,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,3353
$GC,14798,-0.77,-117.3,953.3,-4.6,374,14800,0.12,0.00,0.00,0.000,6,0.093,0.000,3061,2393,3353
$GC,15100,-0.77,-117.3,970.3,-5.7,379,15102,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2393,3353
$GC,15403,-0.77,-117.3,988.2,-5.9,384,15408,0.00,2.47,0.00,0.000,4,0.000,0.085,3061,3818,3353
$STATE,15428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15428,begin apogee
$GC,15436,-0.22,0.0,990.0,6.0,384,15543,0.57,0.00,103.62,1.493,6,0.143,0.000,3238,2200,2876
$STATE,15544,end apogee,CONTROL_FINISHED_OK
$STATE,15544,begin climb
$GC,15546,0.67,117.3,993.4,0.0,386,15658,0.93,0.00,109.18,1.440,6,0.096,0.000,3536,2200,2397
$GC,15951,0.30,117.3,971.1,8.3,393,15953,0.45,0.00,0.00,0.000,6,0.179,0.000,3416,2200,2393
$GC,16254,0.31,124.5,956.0,4.8,398,16263,0.00,0.00,7.43,1.208,6,0.000,0.000,3417,2200,2368
$GC,16557,0.31,124.7,940.9,5.0,403,16561,0.00,2.45,0.00,0.000,4,0.000,0.081,3414,3614,2367
$GC,16590,0.23,124.7,938.9,5.4,403,16595,0.12,2.38,0.00,0.000,6,0.186,0.064,3394,2188,2367
$GC,16923,0.29,134.9,923.3,4.7,409,16939,0.00,2.47,11.00,1.324,4,0.000,0.081,3394,3617,2324
$GC,16966,0.29,134.9,920.9,5.3,409,16970,0.00,2.40,0.00,0.000,6,0.000,0.065,3394,2204,2324
$GC,17288,0.34,135.3,905.0,5.0,415,17289,0.10,0.00,0.00,0.000,6,0.098,0.000,3434,2204,2324
$GC,17591,0.29,135.3,887.1,6.0,420,17592,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2204,2323
$GC,17894,0.23,135.3,870.2,5.5,425,17896,0.15,0.00,0.00,0.000,6,0.151,0.000,3395,2204,2323
$GC,18197,0.32,160.0,857.1,4.3,430,18221,0.00,0.00,22.48,1.381,6,0.000,0.000,3395,2204,2223
$GC,18500,0.42,164.7,842.3,4.9,435,18509,0.17,0.00,5.70,1.091,6,0.084,0.000,3461,2204,2204
$GC,18804,0.32,164.7,822.4,6.7,440,18805,0.15,0.00,0.00,0.000,6,0.150,0.000,3421,2204,2203
$GC,19106,0.32,164.7,805.2,5.6,445,19107,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2204,2203
$GC,19409,0.32,164.7,787.7,5.8,450,19413,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,3609,2203
$GC,19435,0.32,164.7,786.0,6.1,450,19439,0.00,2.38,0.00,0.000,6,0.000,0.065,3421,2201,2203
$GC,19773,0.32,164.7,764.7,6.4,456,19778,0.00,2.40,0.00,0.000,4,0.000,0.081,3422,791,2203
$GC,19817,0.36,164.7,761.6,7.9,456,19821,0.00,2.30,0.00,0.000,6,0.000,0.064,3422,2200,2203
$GC,20138,0.36,164.7,740.0,6.9,462,20142,0.00,2.38,0.00,0.000,4,0.000,0.081,3422,3621,2203
$GC,20170,0.31,164.7,737.4,7.1,462,20174,0.00,2.35,0.00,0.000,6,0.000,0.065,3422,2195,2203
$GC,20496,0.31,164.7,714.9,6.9,468,20497,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2195,2203
$GC,20799,0.31,164.7,695.4,6.4,473,20800,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2194,2202
$GC,21103,0.31,164.7,678.0,5.7,478,21107,0.00,2.40,0.00,0.000,4,0.000,0.082,3422,784,2202
$GC,21136,0.36,164.7,676.1,5.7,478,21140,0.00,2.33,0.00,0.000,6,0.000,0.065,3422,2208,2202
$GC,21467,0.36,164.7,658.7,5.3,484,21469,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2208,2202
$GC,21770,0.36,164.7,642.4,5.4,489,21774,0.00,2.42,0.00,0.000,4,0.000,0.081,3422,787,2202
$GC,21808,0.41,164.7,640.2,5.0,489,21812,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2209,2202
$GC,22134,0.41,164.7,622.6,5.4,495,22138,0.00,2.33,0.00,0.000,4,0.000,0.081,3422,3612,2203
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$STATE,32316,end climb,SURFACE_DEPTH_REACHED
$STATE,32316,begin surface coast
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$STATE,32473,end surface coast,CONTROL_FINISHED_OK
$STATE,32474,begin surface
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