version: 66.03
glider: 120
mission: 9
dive: 204
start: 11 12 108 22 13 45
data:
$ID,120
$MISSION,9
$DIVE,204
$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,-21907.189
$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
$GPS1,220337,5003.557,-14430.537,41,1.1,41,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-70.8
$GPS2,221249,5003.459,-14430.668,9,1.2,13,18.6
$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,39673.6,-139.4,16.6,-16900.3,1003.8
$KALMAN_Y,157067.8,-76.1,236.1,-161103.2,2434.4
$MHEAD_RNG_PITCHd_Wd,167.5,17526,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-31.60,0.000,2,0.000,0.000,136,2408,2461
$GC,57,-0.67,-117.3,3.4,-4.0,3,100,14.05,2.45,-23.20,0.000,4,0.290,0.102,3092,3808,3357
$GC,257,-0.37,-117.3,30.2,-14.1,21,263,0.35,2.30,0.00,0.000,6,0.159,0.053,3190,2384,3359
$GC,582,-0.44,-117.3,51.6,-6.2,51,586,0.00,2.33,0.00,0.000,4,0.000,0.068,3190,995,3360
$GC,655,-0.52,-117.3,56.3,-6.0,57,660,0.12,2.30,0.00,0.000,6,0.082,0.061,3145,2401,3360
$GC,980,-0.52,-117.3,78.1,-6.0,87,985,0.00,2.35,0.00,0.000,4,0.000,0.066,3145,994,3361
$GC,1092,-0.56,-117.3,85.9,-7.0,93,1096,0.00,2.30,0.00,0.000,6,0.000,0.059,3145,2407,3361
$GC,1418,-0.56,-117.3,111.1,-8.3,109,1422,0.00,2.35,0.00,0.000,4,0.000,0.077,3142,3813,3361
$GC,1462,-0.56,-117.3,115.5,-9.8,111,1466,0.00,2.28,0.00,0.000,6,0.000,0.052,3142,2400,3361
$GC,1789,-0.56,-117.3,140.6,-6.1,127,1793,0.00,2.35,0.00,0.000,4,0.000,0.067,3141,987,3361
$GC,1828,-0.62,-117.3,142.8,-6.1,129,1832,0.00,2.28,0.00,0.000,6,0.000,0.059,3141,2400,3362
$GC,2169,-0.86,-117.3,164.4,-6.9,142,2174,0.28,2.35,0.00,0.000,4,0.086,0.077,3036,3810,3362
$GC,2341,-0.58,-117.3,183.5,-11.6,147,2346,0.32,2.28,0.00,0.000,6,0.161,0.054,3127,2402,3361
$GC,2665,-0.58,-117.3,206.7,-7.0,158,2669,0.00,2.35,0.00,0.000,4,0.000,0.069,3127,989,3361
$GC,2693,-0.58,-117.3,208.7,-7.1,159,2697,0.00,2.30,0.00,0.000,6,0.000,0.062,3127,2403,3362
$GC,3027,-0.58,-117.3,231.1,-6.7,170,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2403,3361
$GC,3333,-0.58,-117.3,249.7,-5.9,180,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3361
$GC,3640,-0.58,-117.3,268.0,-5.9,190,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2404,3360
$GC,3946,-0.58,-117.3,285.6,-5.7,200,3950,0.00,2.38,0.00,0.000,4,0.000,0.071,3127,992,3359
$GC,3983,-0.58,-117.3,288.1,-6.7,201,3988,0.00,2.33,0.00,0.000,6,0.000,0.064,3127,2399,3359
$GC,4343,-0.58,-117.3,308.4,-5.6,211,4347,0.00,2.38,0.00,0.000,4,0.000,0.071,3127,988,3359
$GC,4369,-0.58,-117.3,310.0,-6.2,211,4373,0.00,2.35,0.00,0.000,6,0.000,0.064,3127,2399,3359
$GC,4707,-0.58,-117.3,328.5,-5.5,217,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3359
$GC,5010,-0.58,-117.3,345.2,-5.5,222,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3358
$GC,5313,-0.58,-117.3,363.3,-6.1,227,5317,0.00,2.38,0.00,0.000,4,0.000,0.071,3127,988,3358
$GC,5356,-0.62,-117.3,366.2,-6.5,227,5360,0.00,2.33,0.00,0.000,6,0.000,0.064,3127,2400,3358
$GC,5677,-0.66,-117.3,386.9,-6.4,233,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3358
$GC,5980,-0.70,-117.3,405.8,-6.2,238,5982,0.12,0.00,0.00,0.000,6,0.092,0.000,3078,2401,3357
$GC,6284,-0.65,-117.3,426.4,-6.7,243,6288,0.00,2.38,0.00,0.000,4,0.000,0.072,3077,988,3357
$GC,6323,-0.57,-117.3,429.3,-7.5,243,6328,0.20,2.30,0.00,0.000,6,0.153,0.065,3131,2400,3357
$GC,6643,-0.62,-117.3,445.8,-5.1,249,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3357
$GC,6946,-0.69,-117.3,461.9,-5.3,254,6951,0.12,2.38,0.00,0.000,4,0.088,0.071,3084,994,3357
$GC,6968,-0.69,-117.3,463.3,-6.4,254,6972,0.00,2.30,0.00,0.000,6,0.000,0.064,3083,2408,3357
$GC,7306,-0.60,-117.3,488.4,-7.5,260,7308,0.15,0.00,0.00,0.000,6,0.164,0.000,3123,2408,3357
$GC,7609,-0.65,-117.3,506.0,-5.8,265,7613,0.00,2.40,0.00,0.000,4,0.000,0.073,3123,986,3356
$GC,7641,-0.69,-117.3,508.0,-6.0,265,7645,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2400,3356
$GC,7967,-0.74,-117.3,526.6,-5.7,271,7972,0.15,2.38,0.00,0.000,4,0.086,0.072,3059,990,3356
$GC,7994,-0.64,-117.3,528.6,-7.9,271,7999,0.17,2.33,0.00,0.000,6,0.166,0.065,3104,2409,3356
$GC,8332,-0.64,-117.3,549.4,-6.0,277,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2409,3356
$GC,8635,-0.64,-117.3,567.4,-6.0,282,8639,0.00,2.40,0.00,0.000,4,0.000,0.073,3105,987,3355
$GC,8661,-0.64,-117.3,569.2,-7.2,282,8665,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2392,3355
$GC,8999,-0.64,-117.3,589.8,-6.1,288,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3355
$GC,9302,-0.64,-117.3,608.1,-6.1,293,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3355
$GC,9605,-0.64,-117.3,627.0,-6.2,298,9609,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,988,3355
$GC,9631,-0.64,-117.3,628.7,-6.6,298,9635,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2405,3355
$GC,9969,-0.64,-117.3,649.9,-6.3,304,9973,0.00,2.35,0.00,0.000,4,0.000,0.084,3100,3808,3355
$GC,9990,-0.64,-117.3,651.3,-6.3,304,9994,0.00,2.30,0.00,0.000,6,0.000,0.059,3100,2406,3355
$GC,10333,-0.64,-117.3,672.3,-6.1,310,10337,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,988,3355
$GC,10373,-0.64,-117.3,674.9,-6.7,310,10377,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2400,3355
$GC,10693,-0.64,-117.3,694.0,-6.0,316,10697,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,991,3354
$GC,10725,-0.64,-117.3,696.1,-6.1,316,10729,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2396,3354
$GC,11057,-0.64,-117.3,715.4,-5.7,322,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,11360,-0.64,-117.3,731.6,-5.4,327,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,11664,-0.64,-117.3,745.8,-4.7,332,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,11967,-0.64,-117.3,759.4,-4.4,337,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3354
$GC,12270,-0.64,-117.3,774.2,-4.9,342,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3353
$GC,12572,-0.64,-117.3,789.4,-5.0,347,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3353
$GC,12876,-0.64,-117.3,805.8,-5.4,352,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3353
$GC,13179,-0.64,-117.3,822.9,-5.6,357,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3353
$GC,13482,-0.64,-117.3,840.1,-5.7,362,13486,0.00,2.40,0.00,0.000,4,0.000,0.075,3100,991,3353
$GC,13519,-0.64,-117.3,842.4,-5.8,362,13524,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2398,3353
$GC,13846,-0.64,-117.3,861.4,-5.9,368,13847,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3353
$GC,14149,-0.64,-117.3,879.8,-6.1,373,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3352
$GC,14452,-0.64,-117.3,898.3,-6.1,378,14456,0.00,2.40,0.00,0.000,4,0.000,0.075,3100,993,3352
$GC,14479,-0.64,-117.3,899.9,-5.4,378,14483,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2411,3352
$GC,14817,-0.64,-117.3,918.0,-5.2,384,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3352
$GC,15120,-0.64,-117.3,932.7,-4.8,389,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3353
$GC,15423,-0.64,-117.3,948.3,-5.1,394,15428,0.00,2.42,0.00,0.000,4,0.000,0.075,3100,991,3352
$GC,15456,-0.64,-117.3,950.0,-5.1,394,15460,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2399,3352
$GC,15788,-0.64,-117.3,967.5,-5.3,400,15789,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3352
$GC,16091,-0.64,-117.3,984.2,-5.5,405,16092,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3352
$STATE,16210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16210,begin apogee
$GC,16216,-0.22,0.0,991.2,5.6,407,16323,0.47,0.00,103.72,1.493,6,0.144,0.000,3243,2187,2876
$STATE,16323,end apogee,CONTROL_FINISHED_OK
$STATE,16323,begin climb
$GC,16325,0.67,117.3,993.1,0.0,408,16443,0.90,2.65,108.38,1.442,4,0.090,0.077,3545,791,2397
$GC,16481,0.25,117.3,992.6,6.9,411,16487,0.57,2.50,0.00,0.000,6,0.192,0.064,3404,2200,2394
$GC,16818,0.27,128.6,976.4,4.7,417,16834,0.00,2.42,11.20,1.305,4,0.000,0.081,3405,3609,2350
$GC,16862,0.21,128.6,974.2,5.0,417,16866,0.00,2.40,0.00,0.000,6,0.000,0.064,3408,2203,2350
$GC,17183,0.22,138.4,959.0,4.7,423,17195,0.00,0.00,10.15,1.301,6,0.000,0.000,3408,2203,2310
$GC,17486,0.23,148.1,944.9,4.7,428,17501,0.00,2.45,10.30,1.307,4,0.000,0.081,3408,793,2271
$GC,17535,0.29,157.5,942.5,4.7,428,17549,0.00,2.35,9.95,1.284,6,0.000,0.065,3408,2200,2233
$GC,17917,0.34,160.3,923.7,4.9,435,17926,0.00,2.40,3.92,0.894,4,0.000,0.082,3408,3606,2222
$GC,17965,0.34,160.3,920.8,6.5,435,17969,0.00,2.38,0.00,0.000,6,0.000,0.066,3408,2197,2222
$GC,18286,0.39,160.3,904.0,5.3,441,18288,0.10,0.00,0.00,0.000,6,0.099,0.000,3446,2197,2222
$GC,18590,0.33,160.3,884.3,6.5,446,18594,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,794,2222
$GC,18633,0.28,160.3,881.2,6.1,446,18638,0.15,2.33,0.00,0.000,6,0.154,0.065,3410,2205,2222
$GC,18954,0.32,160.3,863.3,5.5,452,18958,0.00,2.35,0.00,0.000,4,0.000,0.083,3410,3610,2221
$GC,18986,0.32,160.3,861.2,6.0,452,18990,0.00,2.38,0.00,0.000,6,0.000,0.066,3410,2199,2221
$GC,19319,0.38,160.3,843.2,5.4,458,19320,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2199,2221
$GC,19621,0.43,160.3,826.3,5.7,463,19626,0.15,2.40,0.00,0.000,4,0.091,0.081,3477,792,2221
$GC,19659,0.29,160.3,823.4,7.1,463,19664,0.22,2.33,0.00,0.000,6,0.170,0.065,3417,2213,2221
$GC,19979,0.29,160.3,804.6,5.7,469,19983,0.00,2.35,0.00,0.000,4,0.000,0.083,3417,3617,2221
$GC,20012,0.29,160.3,802.5,6.0,469,20016,0.00,2.38,0.00,0.000,6,0.000,0.065,3421,2198,2221
$GC,20344,0.29,160.3,784.6,5.4,475,20348,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,790,2221
$GC,20382,0.33,160.3,782.5,5.4,475,20386,0.00,2.30,0.00,0.000,6,0.000,0.065,3421,2200,2221
$GC,20703,0.33,160.3,766.5,5.0,481,20707,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3613,2221
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$STATE,33379,begin surface coast
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$STATE,33465,end surface coast,CONTROL_FINISHED_OK
$STATE,33465,begin surface
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