version: 66.03
glider: 120
mission: 9
dive: 370
start: 1 14 109 21 53 14
data:
$ID,120
$MISSION,9
$DIVE,370
$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,-25529.145
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,214536,5003.848,-14429.661,86,0.9,86,18.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-65.9
$GPS2,215219,5003.870,-14429.735,13,1.1,18,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,-0.174
$KALMAN_X,18007.4,-430.9,-85.2,6263.6,833.8
$KALMAN_Y,270670.1,331.4,191.2,-274300.6,1806.6
$MHEAD_RNG_PITCHd_Wd,168.6,18259,-12.3,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-113.2,0.0,0.0,0,36,0.00,0.00,-9.48,0.000,2,0.000,0.000,136,2407,1807
$GC,39,-0.68,-117.3,3.6,-0.0,1,140,13.18,2.45,-81.25,0.000,4,0.264,0.079,3090,993,3355
$GC,213,-0.47,-117.3,10.1,-11.0,16,220,0.28,2.30,0.00,0.000,6,0.160,0.064,3162,2403,3356
$GC,540,-0.56,-117.3,33.1,-6.6,47,544,0.00,2.35,0.00,0.000,4,0.000,0.070,3162,986,3356
$GC,569,-0.63,-117.3,34.7,-5.5,49,574,0.15,2.33,0.00,0.000,6,0.081,0.062,3107,2409,3356
$GC,898,-0.56,-117.3,54.9,-4.9,79,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2409,3356
$GC,1223,-0.44,-117.3,86.1,-14.7,108,1225,0.22,0.00,0.00,0.000,6,0.153,0.000,3170,2409,3357
$GC,1532,-0.56,-117.3,105.1,-5.5,123,1537,0.12,2.38,0.00,0.000,4,0.083,0.067,3123,989,3357
$GC,1581,-0.56,-117.3,108.7,-7.6,125,1586,0.00,2.30,0.00,0.000,6,0.000,0.060,3122,2409,3357
$GC,1897,-0.56,-117.3,133.2,-8.0,140,1901,0.00,2.35,0.00,0.000,4,0.000,0.068,3122,991,3357
$GC,1937,-0.61,-117.3,136.8,-8.7,141,1943,0.00,2.28,0.00,0.000,6,0.000,0.061,3122,2401,3357
$GC,2252,-0.61,-117.3,159.2,-7.0,155,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3357
$GC,2558,-0.65,-117.3,179.8,-6.7,165,2562,0.00,2.38,0.00,0.000,4,0.000,0.079,3122,3807,3357
$GC,2592,-0.71,-117.3,182.3,-6.9,166,2596,0.12,2.28,0.00,0.000,6,0.085,0.053,3073,2388,3357
$GC,2921,-0.66,-117.3,207.3,-7.2,177,2923,0.10,0.00,0.00,0.000,6,0.097,0.000,3101,2389,3357
$GC,3227,-0.66,-117.3,226.9,-6.3,187,3231,0.00,2.33,0.00,0.000,4,0.000,0.069,3101,991,3357
$GC,3248,-0.66,-117.3,228.5,-6.9,187,3255,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2412,3357
$GC,3562,-0.66,-117.3,248.9,-6.6,198,3566,0.00,2.35,0.00,0.000,4,0.000,0.069,3100,993,3357
$GC,3606,-0.66,-117.3,252.2,-6.8,199,3610,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2409,3357
$GC,3924,-0.66,-117.3,273.1,-6.5,210,3928,0.00,2.35,0.00,0.000,4,0.000,0.069,3100,992,3357
$GC,3963,-0.66,-117.3,275.9,-7.3,211,3967,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2400,3357
$GC,4286,-0.66,-117.3,296.5,-6.3,222,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,4592,-0.66,-117.3,316.4,-6.6,228,4596,0.00,2.33,0.00,0.000,4,0.000,0.070,3100,995,3357
$GC,4658,-0.66,-117.3,321.3,-6.8,229,4662,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2410,3357
$GC,5019,-0.66,-117.3,345.5,-6.8,235,5023,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,995,3357
$GC,5075,-0.66,-117.3,349.7,-7.5,235,5081,0.00,2.28,0.00,0.000,6,0.000,0.063,3100,2400,3357
$GC,5385,-0.66,-117.3,371.3,-7.0,241,5389,0.00,2.30,0.00,0.000,4,0.000,0.071,3100,994,3356
$GC,5430,-0.66,-117.3,374.7,-8.0,241,5434,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2403,3356
$GC,5746,-0.66,-117.3,395.5,-6.6,247,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,6048,-0.66,-117.3,414.3,-6.2,252,6052,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,991,3356
$GC,6080,-0.66,-117.3,416.5,-6.9,252,6084,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2409,3356
$GC,6407,-0.66,-117.3,437.0,-6.3,258,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,6710,-0.66,-117.3,456.3,-6.4,263,6714,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,995,3356
$GC,6748,-0.66,-117.3,459.0,-7.1,263,6752,0.00,2.28,0.00,0.000,6,0.000,0.063,3100,2400,3356
$GC,7069,-0.66,-117.3,480.6,-6.8,269,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,7372,-0.66,-117.3,499.5,-6.3,274,7376,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,989,3355
$GC,7411,-0.66,-117.3,502.2,-6.9,274,7415,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2409,3355
$GC,7731,-0.66,-117.3,522.5,-6.4,280,7735,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,988,3355
$GC,7759,-0.66,-117.3,524.3,-6.4,280,7763,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2404,3355
$GC,8091,-0.66,-117.3,546.0,-6.6,286,8095,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,995,3355
$GC,8124,-0.71,-117.3,548.4,-7.0,286,8128,0.00,2.28,0.00,0.000,6,0.000,0.063,3100,2400,3355
$GC,8456,-0.71,-117.3,569.2,-6.2,292,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,8759,-0.71,-117.3,585.9,-5.4,297,8763,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,988,3354
$GC,8792,-0.76,-117.3,587.7,-5.6,297,8796,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2403,3354
$GC,9118,-0.76,-117.3,604.1,-5.0,303,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,9422,-0.76,-117.3,620.2,-5.4,308,9426,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,990,3354
$GC,9466,-0.80,-117.3,622.8,-5.8,308,9471,0.12,2.30,0.00,0.000,6,0.091,0.064,3052,2408,3354
$GC,9782,-0.76,-117.3,642.2,-6.3,314,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2408,3354
$GC,10084,-0.72,-117.3,661.3,-6.2,319,10089,0.10,2.35,0.00,0.000,4,0.105,0.081,3073,3814,3354
$GC,10111,-0.72,-117.3,662.9,-5.5,319,10115,0.00,2.25,0.00,0.000,6,0.000,0.057,3073,2398,3354
$GC,10444,-0.72,-117.3,682.8,-6.0,325,10448,0.00,2.30,0.00,0.000,4,0.000,0.072,3073,990,3354
$GC,10506,-0.72,-117.3,687.0,-6.8,326,10510,0.00,2.30,0.00,0.000,6,0.000,0.064,3072,2400,3354
$GC,10872,-0.72,-117.3,710.1,-6.3,332,10876,0.00,2.33,0.00,0.000,4,0.000,0.072,3073,989,3353
$GC,10899,-0.72,-117.3,711.9,-7.1,332,10903,0.00,2.30,0.00,0.000,6,0.000,0.063,3073,2403,3353
$GC,11231,-0.72,-117.3,732.8,-6.3,338,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3353
$GC,11534,-0.72,-117.3,751.5,-6.2,343,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3353
$GC,11838,-0.72,-117.3,769.9,-6.0,348,11842,0.00,2.33,0.00,0.000,4,0.000,0.072,3073,993,3353
$GC,11865,-0.72,-117.3,771.7,-6.4,348,11869,0.00,2.30,0.00,0.000,6,0.000,0.064,3073,2404,3352
$GC,12204,-0.72,-117.3,791.4,-5.8,354,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2404,3353
$GC,12506,-0.72,-117.3,808.6,-5.7,359,12510,0.00,2.35,0.00,0.000,4,0.000,0.073,3073,984,3352
$GC,12533,-0.72,-117.3,810.2,-5.8,359,12537,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2411,3353
$GC,12865,-0.72,-117.3,829.2,-5.8,365,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2412,3352
$GC,13167,-0.72,-117.3,847.0,-5.9,370,13171,0.00,2.35,0.00,0.000,4,0.000,0.074,3072,991,3352
$GC,13212,-0.72,-117.3,849.8,-6.3,370,13216,0.00,2.30,0.00,0.000,6,0.000,0.064,3073,2402,3352
$GC,13527,-0.72,-117.3,868.2,-5.9,376,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3352
$GC,13830,-0.72,-117.3,886.3,-6.0,381,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3352
$GC,14134,-0.72,-117.3,905.4,-6.3,386,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3352
$GC,14436,-0.72,-117.3,924.7,-6.4,391,14440,0.00,2.35,0.00,0.000,4,0.000,0.074,3073,990,3351
$GC,14474,-0.72,-117.3,927.4,-6.5,391,14478,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2412,3352
$GC,14795,-0.72,-117.3,947.3,-6.2,397,14799,0.00,2.35,0.00,0.000,4,0.000,0.074,3073,991,3351
$GC,14823,-0.72,-117.3,949.0,-6.3,397,14827,0.00,2.30,0.00,0.000,6,0.000,0.065,3073,2400,3352
$GC,15154,-0.72,-117.3,968.1,-5.7,403,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3351
$GC,15458,-0.72,-117.3,983.3,-5.0,408,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3351
$STATE,15637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15637,begin apogee
$GC,15644,-0.22,0.0,991.9,4.8,411,15759,0.57,0.00,108.15,1.487,6,0.145,0.000,3245,2201,2876
$STATE,15760,end apogee,CONTROL_FINISHED_OK
$STATE,15760,begin climb
$GC,15763,0.68,117.3,994.4,0.0,413,15887,0.88,2.67,112.93,1.436,4,0.093,0.077,3534,797,2396
$GC,15921,0.33,117.3,990.6,7.3,415,15926,0.43,2.47,0.00,0.000,6,0.179,0.061,3428,2198,2395
$GC,16253,0.33,117.3,969.9,6.2,421,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2198,2393
$GC,16556,0.33,117.3,952.7,5.6,426,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2198,2393
$GC,16859,0.33,117.3,936.8,5.2,431,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2198,2392
$GC,17163,0.35,127.6,922.4,4.7,436,17174,0.00,0.00,10.15,1.299,6,0.000,0.000,3428,2198,2355
$GC,17466,0.36,141.1,908.4,4.6,441,17482,0.00,0.00,13.62,1.348,6,0.000,0.000,3428,2198,2301
$GC,17769,0.37,144.3,893.7,4.9,446,17775,0.00,0.00,4.62,0.999,6,0.000,0.000,3428,2198,2287
$GC,18072,0.37,144.3,877.9,5.2,451,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2198,2286
$GC,18374,0.37,144.3,862.1,5.2,456,18378,0.00,2.35,0.00,0.000,4,0.000,0.081,3428,3614,2286
$GC,18414,0.31,144.3,859.7,5.9,456,18418,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2195,2286
$GC,18734,0.31,144.3,841.8,5.6,462,18738,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,791,2286
$GC,18766,0.31,144.3,840.0,5.2,462,18770,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2212,2286
$GC,19093,0.31,144.3,823.0,5.1,468,19094,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2212,2286
$GC,19396,0.31,144.3,807.2,5.2,473,19397,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2286
$GC,19699,0.31,144.3,791.3,5.3,478,19701,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2286
$GC,20002,0.31,144.3,774.7,5.5,483,20006,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,786,2286
$GC,20046,0.31,144.3,772.2,5.8,483,20050,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2204,2286
$GC,20361,0.31,144.3,755.2,5.4,489,20362,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2286
$GC,20664,0.31,144.3,738.7,5.5,494,20668,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3608,2286
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$STATE,33136,end climb,SURFACE_DEPTH_REACHED
$STATE,33136,begin surface coast
$FINISH,2.8,1.013411
$STATE,33201,end surface coast,CONTROL_FINISHED_OK
$STATE,33201,begin surface
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$DATA_FILE_SIZE,50673,870
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