version: 66.03
glider: 120
mission: 9
dive: 299
start: 12 19 108 2 0 3
data:
$ID,120
$MISSION,9
$DIVE,299
$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,-23881.551
$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,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
$GPS1,015258,5016.716,-14507.296,31,6.6,50,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-72.4
$GPS2,015908,5016.711,-14507.323,31,1.7,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.123,0.128
$KALMAN_X,28081.7,-24.1,130.6,-49102.1,682.6
$KALMAN_Y,230403.5,-374.4,-303.3,-209045.2,1021.3
$MHEAD_RNG_PITCHd_Wd,297.5,9653,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,30,0.00,0.00,-6.12,0.000,2,0.000,0.000,139,2405,1800
$GC,33,-0.67,-117.3,3.7,-0.0,1,133,13.50,2.45,-80.22,0.000,4,0.275,0.081,3097,989,3355
$GC,375,-0.49,-117.3,31.0,-9.2,32,380,0.22,2.33,0.00,0.000,6,0.160,0.064,3160,2404,3357
$GC,702,-0.49,-117.3,54.3,-8.3,62,703,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2404,3357
$GC,1020,-0.49,-117.3,79.9,-8.3,92,1024,0.00,2.40,0.00,0.000,4,0.000,0.067,3161,984,3357
$GC,1060,-0.49,-117.3,83.2,-8.7,94,1064,0.00,2.35,0.00,0.000,6,0.000,0.062,3155,2407,3358
$GC,1386,-0.49,-117.3,105.1,-6.5,110,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2407,3358
$GC,1696,-0.53,-117.3,125.3,-6.3,125,1700,0.00,2.35,0.00,0.000,4,0.000,0.080,3155,3809,3359
$GC,1746,-0.63,-117.3,128.5,-6.5,127,1751,0.12,2.28,0.00,0.000,6,0.083,0.053,3106,2388,3358
$GC,2076,-0.63,-117.3,153.8,-7.5,143,2080,0.00,2.33,0.00,0.000,4,0.000,0.068,3106,990,3359
$GC,2109,-0.63,-117.3,156.3,-7.6,144,2113,0.00,2.30,0.00,0.000,6,0.000,0.060,3105,2413,3358
$GC,2445,-0.63,-117.3,180.1,-6.9,155,2449,0.00,2.33,0.00,0.000,4,0.000,0.080,3100,3807,3359
$GC,2550,-0.63,-117.3,187.5,-6.8,158,2554,0.00,2.33,0.00,0.000,6,0.000,0.054,3100,2394,3358
$GC,2880,-0.63,-117.3,209.6,-6.9,169,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3359
$GC,3187,-0.63,-117.3,230.7,-6.8,179,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3359
$GC,3492,-0.63,-117.3,251.8,-6.7,189,3496,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,990,3359
$GC,3531,-0.63,-117.3,254.8,-8.0,190,3535,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2405,3358
$GC,3866,-0.63,-117.3,277.2,-6.4,201,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3358
$GC,4172,-0.63,-117.3,295.6,-6.1,211,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3358
$GC,4506,-0.63,-117.3,316.9,-6.5,218,4510,0.00,2.40,0.00,0.000,4,0.000,0.071,3101,995,3357
$GC,4545,-0.63,-117.3,319.8,-7.3,218,4549,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2411,3357
$GC,4872,-0.63,-117.3,340.5,-6.3,224,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3357
$GC,5175,-0.63,-117.3,358.8,-6.0,229,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3357
$GC,5477,-0.63,-117.3,377.8,-6.3,234,5481,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,994,3357
$GC,5510,-0.63,-117.3,379.8,-6.5,234,5514,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2410,3356
$GC,5842,-0.63,-117.3,400.4,-6.2,240,5846,0.00,2.35,0.00,0.000,4,0.000,0.083,3100,3816,3357
$GC,5880,-0.63,-117.3,402.9,-6.2,240,5884,0.00,2.30,0.00,0.000,6,0.000,0.057,3100,2392,3356
$GC,6201,-0.63,-117.3,423.6,-6.5,246,6205,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,986,3357
$GC,6240,-0.63,-117.3,426.4,-6.9,246,6244,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2405,3356
$GC,6561,-0.63,-117.3,447.2,-6.5,252,6565,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,992,3356
$GC,6601,-0.67,-117.3,449.8,-6.5,252,6605,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2404,3356
$GC,6921,-0.67,-117.3,470.1,-6.3,258,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,7224,-0.67,-117.3,489.3,-6.4,263,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,7527,-0.67,-117.3,509.3,-6.7,268,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,7831,-0.67,-117.3,530.4,-7.0,273,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,8133,-0.67,-117.3,551.2,-6.9,278,8137,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,990,3355
$GC,8166,-0.73,-117.3,553.5,-7.0,278,8170,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2408,3355
$GC,8493,-0.73,-117.3,574.3,-6.3,284,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,8796,-0.73,-117.3,592.0,-5.7,289,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,9099,-0.73,-117.3,609.8,-5.9,294,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,9402,-0.73,-117.3,628.5,-6.1,299,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,9705,-0.73,-117.3,645.4,-5.6,304,9709,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,994,3354
$GC,9743,-0.79,-117.3,647.7,-6.5,304,9748,0.12,2.30,0.00,0.000,6,0.095,0.064,3055,2411,3354
$GC,10064,-0.74,-117.3,668.4,-6.5,310,10068,0.00,2.33,0.00,0.000,4,0.000,0.083,3055,3807,3354
$GC,10091,-0.66,-117.3,670.5,-7.7,310,10096,0.17,2.28,0.00,0.000,6,0.120,0.057,3104,2397,3354
$GC,10423,-0.70,-117.3,688.8,-5.6,316,10427,0.00,2.40,0.00,0.000,4,0.000,0.072,3105,995,3354
$GC,10451,-0.75,-117.3,690.5,-6.2,316,10455,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2410,3354
$GC,10782,-0.75,-117.3,711.6,-6.5,322,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3354
$GC,11085,-0.75,-117.3,732.1,-6.8,327,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3354
$GC,11389,-0.75,-117.3,752.0,-6.6,332,11393,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,992,3354
$GC,11427,-0.79,-117.3,754.6,-7.4,332,11432,0.12,2.30,0.00,0.000,6,0.090,0.064,3053,2402,3353
$GC,11747,-0.75,-117.3,776.8,-6.9,338,11751,0.00,2.35,0.00,0.000,4,0.000,0.083,3053,3809,3353
$GC,11781,-0.67,-117.3,779.4,-7.6,338,11786,0.17,2.28,0.00,0.000,6,0.124,0.058,3102,2395,3353
$GC,12107,-0.71,-117.3,798.6,-5.9,344,12111,0.00,2.40,0.00,0.000,4,0.000,0.073,3102,996,3353
$GC,12139,-0.76,-117.3,800.7,-6.5,344,12143,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2400,3353
$GC,12466,-0.94,-117.3,822.5,-7.0,350,12471,0.22,2.38,0.00,0.000,4,0.088,0.072,3013,987,3353
$GC,12695,-0.74,-117.3,844.0,-9.2,353,12700,0.25,2.33,0.00,0.000,6,0.173,0.066,3080,2405,3353
$GC,13027,-0.74,-117.3,866.3,-6.6,359,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,3353
$GC,13330,-0.74,-117.3,885.8,-6.4,364,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2406,3353
$GC,13633,-0.74,-117.3,904.4,-6.1,369,13637,0.00,2.38,0.00,0.000,4,0.000,0.086,3080,3810,3352
$GC,13665,-0.74,-117.3,906.4,-6.2,369,13670,0.00,2.35,0.00,0.000,6,0.000,0.059,3080,2397,3353
$GC,13998,-0.74,-117.3,925.6,-5.8,375,13999,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3353
$GC,14300,-0.74,-117.3,944.2,-6.1,380,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3353
$GC,14603,-0.74,-117.3,963.8,-6.5,385,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3352
$GC,14907,-0.74,-117.3,983.4,-6.5,390,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3352
$STATE,15026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15026,begin apogee
$GC,15032,-0.22,0.0,990.9,6.3,392,15141,0.55,0.00,106.20,1.495,6,0.143,0.000,3248,2195,2876
$STATE,15142,end apogee,CONTROL_FINISHED_OK
$STATE,15142,begin climb
$GC,15145,0.67,117.3,992.9,0.0,393,15260,0.85,0.00,111.55,1.438,6,0.093,0.000,3524,2195,2397
$GC,15509,0.36,117.3,978.7,7.2,399,15511,0.32,0.00,0.00,0.000,6,0.165,0.000,3436,2195,2394
$GC,15812,0.30,117.3,961.9,5.4,404,15816,0.00,2.47,0.00,0.000,4,0.000,0.080,3436,785,2393
$GC,15852,0.25,122.6,959.7,4.8,404,15863,0.15,2.33,5.78,1.112,6,0.163,0.063,3399,2200,2376
$GC,16173,0.32,130.5,944.3,4.8,410,16186,0.00,0.00,8.85,1.270,6,0.000,0.000,3399,2200,2343
$GC,16543,0.39,140.7,927.0,4.7,416,16560,0.15,2.40,10.88,1.320,4,0.078,0.081,3465,3610,2300
$GC,16606,0.19,140.7,922.8,7.3,417,16611,0.32,2.38,0.00,0.000,6,0.170,0.064,3378,2198,2301
$GC,16972,0.37,173.6,907.2,4.1,423,17004,0.17,0.00,30.10,1.416,6,0.084,0.000,3443,2198,2168
$GC,17275,0.37,173.6,889.6,5.9,428,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2198,2165
$GC,17577,0.37,173.6,870.6,6.4,433,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2197,2164
$GC,17880,0.37,173.6,850.6,6.6,438,17885,0.00,2.45,0.00,0.000,4,0.000,0.083,3443,3618,2164
$GC,17908,0.32,173.6,848.4,7.7,438,17912,0.00,2.40,0.00,0.000,6,0.000,0.064,3449,2190,2163
$GC,18239,0.32,173.6,824.0,7.4,444,18244,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,781,2163
$GC,18272,0.32,173.6,821.6,7.0,444,18276,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2209,2164
$GC,18604,0.32,173.6,798.7,6.9,450,18605,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2164
$GC,18908,0.32,173.6,779.4,6.2,455,18912,0.00,2.33,0.00,0.000,4,0.000,0.083,3449,3609,2163
$GC,18940,0.23,173.6,777.1,6.8,455,18945,0.20,2.35,0.00,0.000,6,0.162,0.065,3395,2193,2163
$GC,19268,0.39,195.1,762.8,4.4,461,19291,0.15,0.00,19.65,1.321,6,0.087,0.000,3451,2193,2080
$GC,19570,0.44,195.1,746.2,5.5,466,19571,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2193,2078
$GC,19873,0.49,195.1,729.0,5.7,471,19877,0.00,2.45,0.00,0.000,4,0.000,0.082,3451,3620,2077
$GC,19911,0.42,195.1,726.3,7.8,471,19915,0.00,2.38,0.00,0.000,6,0.000,0.064,3451,2200,2077
$GC,20231,0.42,195.1,704.5,6.9,477,20232,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,2077
$GC,20534,0.42,195.1,684.4,6.6,482,20538,0.00,2.40,0.00,0.000,4,0.000,0.079,3451,791,2077
$GC,20573,0.42,195.1,681.8,6.1,482,20577,0.00,2.30,0.00,0.000,6,0.000,0.063,3452,2207,2077
$GC,20899,0.42,195.1,660.7,6.5,488,20903,0.00,2.33,0.00,0.000,4,0.000,0.081,3451,3614,2077
$GC,20937,0.35,195.1,657.8,7.6,488,20941,0.00,2.33,0.00,0.000,6,0.000,0.064,3451,2193,2076
$GC,21258,0.35,195.1,636.6,6.6,494,21259,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2194,2077
$GC,21561,0.35,195.1,616.8,6.5,499,21562,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2193,2076
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$GC,26159,0.49,210.3,323.0,4.6,574,26176,0.17,0.00,14.55,1.031,6,0.082,0.000,3481,2199,2017
$GC,26462,0.49,210.3,304.2,6.3,579,26463,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2199,2015
$GC,26766,0.49,210.3,285.5,6.2,587,26770,0.00,2.42,0.00,0.000,4,0.000,0.081,3481,3609,2015
$GC,26804,0.41,210.3,282.5,7.4,588,26809,0.15,2.38,0.00,0.000,6,0.156,0.062,3450,2196,2015
$GC,27128,0.49,210.3,261.7,6.4,599,27132,0.00,2.40,0.00,0.000,4,0.000,0.078,3450,786,2015
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