version: 66.03
glider: 120
mission: 9
dive: 224
start: 11 20 108 11 42 14
data:
$ID,120
$MISSION,9
$DIVE,224
$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,-22307.695
$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,21
$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
$GPS1,112908,5004.710,-14511.285,125,1.4,125,18.4
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-75.3
$GPS2,114120,5004.613,-14510.982,16,1.4,35,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.034,-0.175
$KALMAN_X,44703.7,170.8,240.9,-70377.0,1183.0
$KALMAN_Y,172989.4,-758.9,-220.3,-173730.2,4149.3
$MHEAD_RNG_PITCHd_Wd,172.6,19668,-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,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.55,0.000,2,0.000,0.000,134,2404,2422
$GC,57,-0.67,-117.3,3.3,-5.1,3,101,13.93,2.50,-24.60,0.000,4,0.282,0.095,3097,3816,3356
$GC,275,-0.40,-117.3,31.4,-12.5,22,282,0.32,2.35,0.00,0.000,6,0.154,0.055,3189,2388,3358
$GC,603,-0.47,-117.3,50.2,-7.0,53,609,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2388,3359
$GC,928,-0.57,-117.3,75.5,-6.9,84,933,0.15,2.47,0.00,0.000,4,0.079,0.076,3126,3812,3359
$GC,1017,-0.57,-117.3,80.9,-6.7,91,1021,0.00,2.30,0.00,0.000,6,0.000,0.053,3126,2396,3359
$GC,1344,-0.57,-117.3,102.9,-7.1,107,1348,0.00,2.45,0.00,0.000,4,0.000,0.077,3126,3819,3360
$GC,1376,-0.53,-117.3,105.7,-8.5,108,1383,0.00,2.33,0.00,0.000,6,0.000,0.053,3126,2402,3360
$GC,1692,-0.53,-117.3,130.6,-8.4,124,1696,0.00,2.35,0.00,0.000,4,0.000,0.067,3126,992,3360
$GC,1754,-0.53,-117.3,135.9,-8.4,127,1758,0.00,2.30,0.00,0.000,6,0.000,0.061,3126,2408,3360
$GC,2089,-0.53,-117.3,161.2,-6.8,141,2093,0.00,2.35,0.00,0.000,4,0.000,0.080,3126,3808,3360
$GC,2151,-0.53,-117.3,165.3,-6.6,143,2155,0.00,2.28,0.00,0.000,6,0.000,0.054,3126,2401,3360
$GC,2485,-0.53,-117.3,185.9,-6.4,154,2489,0.00,2.35,0.00,0.000,4,0.000,0.070,3126,994,3360
$GC,2514,-0.57,-117.3,187.8,-7.1,155,2518,0.00,2.30,0.00,0.000,6,0.000,0.062,3126,2410,3360
$GC,2848,-0.57,-117.3,211.0,-6.9,166,2852,0.00,2.33,0.00,0.000,4,0.000,0.081,3126,3811,3360
$GC,2876,-0.57,-117.3,213.2,-7.0,167,2880,0.00,2.28,0.00,0.000,6,0.000,0.055,3125,2400,3360
$GC,3210,-0.57,-117.3,234.3,-6.0,178,3214,0.00,2.35,0.00,0.000,4,0.000,0.071,3126,993,3360
$GC,3233,-0.61,-117.3,235.7,-5.9,178,3240,0.00,2.28,0.00,0.000,6,0.000,0.062,3126,2401,3360
$GC,3545,-0.61,-117.3,255.5,-6.7,189,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3359
$GC,3852,-0.61,-117.3,277.1,-7.0,199,3856,0.00,2.38,0.00,0.000,4,0.000,0.081,3126,3811,3359
$GC,3879,-0.66,-117.3,279.1,-7.5,199,3885,0.00,2.30,0.00,0.000,6,0.000,0.056,3126,2398,3358
$GC,4192,-0.71,-117.3,298.7,-6.0,210,4196,0.12,2.38,0.00,0.000,4,0.091,0.071,3078,990,3358
$GC,4226,-0.62,-117.3,301.2,-7.6,211,4230,0.12,2.30,0.00,0.000,6,0.162,0.064,3111,2405,3358
$GC,4563,-0.62,-117.3,322.0,-6.0,217,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3358
$GC,4865,-0.62,-117.3,339.9,-5.9,222,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3357
$GC,5168,-0.62,-117.3,358.1,-6.0,227,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3358
$GC,5472,-0.62,-117.3,376.9,-6.2,232,5476,0.00,2.40,0.00,0.000,4,0.000,0.072,3112,990,3357
$GC,5499,-0.62,-117.3,378.7,-6.6,232,5503,0.00,2.35,0.00,0.000,6,0.000,0.065,3111,2403,3357
$GC,5836,-0.62,-117.3,398.7,-5.9,238,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2403,3357
$GC,6140,-0.62,-117.3,416.1,-5.7,243,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2403,3357
$GC,6442,-0.62,-117.3,433.0,-5.5,248,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2403,3356
$GC,6746,-0.62,-117.3,449.3,-5.4,253,6750,0.00,2.40,0.00,0.000,4,0.000,0.072,3112,995,3356
$GC,6777,-0.62,-117.3,451.2,-5.9,253,6782,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2394,3356
$GC,7110,-0.62,-117.3,470.3,-5.7,259,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2395,3356
$GC,7413,-0.62,-117.3,489.2,-6.3,264,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2394,3356
$GC,7716,-0.62,-117.3,509.0,-6.5,269,7720,0.00,2.40,0.00,0.000,4,0.000,0.074,3112,986,3355
$GC,7743,-0.62,-117.3,510.8,-7.1,269,7747,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2409,3355
$GC,8074,-0.62,-117.3,531.6,-6.2,275,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2410,3355
$GC,8377,-0.62,-117.3,549.7,-6.0,280,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2409,3355
$GC,8680,-0.62,-117.3,568.0,-6.0,285,8684,0.00,2.42,0.00,0.000,4,0.000,0.074,3112,990,3355
$GC,8713,-0.62,-117.3,570.1,-6.5,285,8717,0.00,2.35,0.00,0.000,6,0.000,0.066,3111,2405,3354
$GC,9045,-0.62,-117.3,589.9,-6.0,291,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3354
$GC,9348,-0.62,-117.3,606.5,-5.4,296,9352,0.00,2.40,0.00,0.000,4,0.000,0.074,3112,991,3354
$GC,9375,-0.62,-117.3,608.1,-5.8,296,9379,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2394,3354
$GC,9713,-0.62,-117.3,625.5,-5.2,302,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2394,3354
$GC,10016,-0.62,-117.3,641.7,-5.3,307,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2394,3354
$GC,10319,-0.66,-117.3,658.6,-5.7,312,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2394,3354
$GC,10622,-0.71,-117.3,676.2,-5.7,317,10627,0.00,2.40,0.00,0.000,4,0.000,0.075,3112,988,3354
$GC,10656,-0.75,-117.3,678.1,-5.5,317,10660,0.12,2.33,0.00,0.000,6,0.089,0.066,3066,2407,3353
$GC,10981,-0.75,-117.3,699.1,-6.4,323,10985,0.00,2.38,0.00,0.000,4,0.000,0.084,3066,3812,3353
$GC,11013,-0.67,-117.3,701.5,-7.1,323,11018,0.12,2.30,0.00,0.000,6,0.120,0.058,3099,2397,3353
$GC,11340,-0.67,-117.3,720.7,-5.8,329,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3353
$GC,11642,-0.67,-117.3,738.5,-5.9,334,11646,0.00,2.38,0.00,0.000,4,0.000,0.074,3099,995,3353
$GC,11669,-0.67,-117.3,740.3,-6.6,334,11673,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2397,3353
$GC,12007,-0.67,-117.3,760.9,-6.2,340,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3353
$GC,12310,-0.67,-117.3,779.3,-6.1,345,12315,0.00,2.40,0.00,0.000,4,0.000,0.074,3099,988,3353
$GC,12343,-0.67,-117.3,781.5,-6.0,345,12347,0.00,2.35,0.00,0.000,6,0.000,0.066,3099,2400,3353
$GC,12675,-0.67,-117.3,799.8,-5.5,351,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,12978,-0.67,-117.3,815.6,-5.1,356,12979,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,13281,-0.67,-117.3,831.9,-5.4,361,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,13585,-0.67,-117.3,848.5,-5.4,366,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,13887,-0.67,-117.3,865.5,-5.6,371,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3352
$GC,14190,-0.67,-117.3,882.3,-5.5,376,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,14494,-0.67,-117.3,899.6,-5.8,381,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3353
$GC,14797,-0.67,-117.3,917.2,-5.8,386,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3353
$GC,15100,-0.67,-117.3,934.6,-5.7,391,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3353
$GC,15403,-0.67,-117.3,952.0,-5.7,396,15407,0.00,2.42,0.00,0.000,4,0.000,0.075,3100,990,3352
$GC,15429,-0.67,-117.3,953.4,-5.6,396,15433,0.00,2.35,0.00,0.000,6,0.000,0.068,3099,2395,3352
$GC,15768,-0.71,-117.3,970.6,-5.0,402,15772,0.00,2.40,0.00,0.000,4,0.000,0.087,3099,3812,3351
$GC,15794,-0.77,-117.3,972.1,-5.2,402,15798,0.00,2.30,0.00,0.000,6,0.000,0.060,3099,2404,3351
$GC,16133,-0.81,-117.3,987.9,-4.7,408,16135,0.15,0.00,0.00,0.000,6,0.088,0.000,3042,2404,3351
$STATE,16191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16191,begin apogee
$GC,16196,-0.22,0.0,991.4,4.9,409,16304,0.68,0.00,104.53,1.503,6,0.145,0.000,3246,2197,2876
$STATE,16304,end apogee,CONTROL_FINISHED_OK
$STATE,16304,begin climb
$GC,16307,0.67,117.3,993.0,0.0,410,16423,0.85,2.67,109.90,1.452,4,0.091,0.078,3533,790,2395
$GC,16445,0.29,117.3,992.8,6.5,413,16451,0.47,2.53,0.00,0.000,6,0.188,0.063,3417,2199,2394
$GC,16794,0.29,117.3,973.2,5.6,419,16795,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2199,2392
$GC,17097,0.29,117.3,956.1,5.6,424,17098,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2198,2391
$GC,17400,0.29,117.3,939.7,5.4,429,17404,0.00,2.42,0.00,0.000,4,0.000,0.079,3423,792,2391
$GC,17437,0.29,117.3,937.6,5.8,429,17441,0.00,2.35,0.00,0.000,6,0.000,0.064,3424,2211,2391
$GC,17764,0.24,117.3,920.5,5.3,435,17769,0.00,2.35,0.00,0.000,4,0.000,0.082,3423,3614,2391
$GC,17803,0.13,117.3,918.1,6.0,435,17808,0.25,2.35,0.00,0.000,6,0.173,0.066,3358,2200,2391
$GC,18124,0.33,152.9,905.2,4.0,441,18158,0.20,0.00,31.12,1.430,6,0.084,0.000,3432,2200,2252
$GC,18427,0.33,152.9,887.0,6.2,446,18431,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,792,2250
$GC,18482,0.33,152.9,883.4,6.4,446,18489,0.00,2.38,0.00,0.000,6,0.000,0.065,3435,2204,2250
$GC,18792,0.33,152.9,865.0,5.9,452,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2204,2250
$GC,19095,0.33,152.9,848.6,5.4,457,19099,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,791,2249
$GC,19133,0.33,152.9,846.5,5.3,457,19136,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2208,2249
$GC,19459,0.33,152.9,829.2,5.3,463,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2249
$GC,19762,0.33,152.9,813.2,5.3,468,19763,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2249
$GC,20065,0.33,152.9,795.7,5.9,473,20069,0.00,2.45,0.00,0.000,4,0.000,0.081,3435,785,2249
$GC,20098,0.33,152.9,793.6,6.0,473,20102,0.00,2.35,0.00,0.000,6,0.000,0.064,3435,2200,2249
$GC,20430,0.33,152.9,773.3,6.2,479,20434,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,782,2249
$GC,20468,0.33,152.9,771.0,6.0,479,20472,0.00,2.33,0.00,0.000,6,0.000,0.067,3435,2200,2249
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$GC,20857,0.33,152.9,748.0,6.2,486,20861,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2208,2249
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