version: 66.03
glider: 120
mission: 9
dive: 519
start: 3 12 109 7 25 39
data:
$ID,120
$MISSION,9
$DIVE,519
$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,275
$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,-28893.191
$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,21
$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
$GPS1,071806,4956.723,-14503.098,36,1.2,41,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-72.1
$GPS2,072444,4956.751,-14503.089,13,1.2,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,0.072
$KALMAN_X,-33086.8,183.1,153.1,46295.5,-2079.0
$KALMAN_Y,119107.5,-144.0,-541.6,-130870.1,3099.4
$MHEAD_RNG_PITCHd_Wd,47.6,24635,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.12,0.000,2,0.000,0.000,148,2405,1979
$GC,41,-0.67,-117.3,3.3,-0.0,1,117,13.90,2.47,-51.47,0.000,4,0.281,0.094,3095,3802,3356
$GC,226,-0.53,-117.3,17.9,-9.2,17,233,0.17,2.25,0.00,0.000,6,0.156,0.055,3143,2395,3357
$GC,554,-0.53,-117.3,42.7,-7.4,48,557,0.00,2.35,0.00,0.000,4,0.000,0.070,3143,992,3357
$GC,615,-0.53,-117.3,47.6,-8.1,53,622,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2408,3358
$GC,942,-0.53,-117.3,70.5,-7.0,84,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2408,3358
$GC,1254,-0.53,-117.3,92.0,-7.1,106,1258,0.00,2.38,0.00,0.000,4,0.000,0.069,3141,986,3358
$GC,1282,-0.53,-117.3,94.3,-7.5,107,1286,0.00,2.33,0.00,0.000,6,0.000,0.062,3141,2399,3358
$GC,1609,-0.53,-117.3,116.8,-6.5,123,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3358
$GC,1920,-0.58,-117.3,133.8,-5.3,138,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3358
$GC,2228,-0.66,-117.3,150.1,-5.6,153,2233,0.12,2.38,0.00,0.000,4,0.085,0.067,3092,990,3358
$GC,2250,-0.66,-117.3,151.7,-6.5,153,2256,0.00,2.33,0.00,0.000,6,0.000,0.061,3092,2405,3358
$GC,2564,-0.66,-117.3,175.5,-7.7,164,2568,0.00,2.35,0.00,0.000,4,0.000,0.079,3086,3806,3358
$GC,2609,-0.60,-117.3,179.2,-8.2,165,2613,0.12,2.22,0.00,0.000,6,0.109,0.054,3121,2396,3358
$GC,2933,-0.60,-117.3,200.5,-6.6,176,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2397,3358
$GC,3240,-0.60,-117.3,220.2,-6.5,186,3244,0.00,2.35,0.00,0.000,4,0.000,0.070,3121,989,3358
$GC,3269,-0.60,-117.3,222.3,-7.4,187,3273,0.00,2.33,0.00,0.000,6,0.000,0.061,3121,2399,3358
$GC,3604,-0.64,-117.3,244.8,-6.8,198,3609,0.00,2.40,0.00,0.000,4,0.000,0.081,3121,3816,3358
$GC,3634,-0.70,-117.3,246.9,-7.4,199,3639,0.00,2.28,0.00,0.000,6,0.000,0.054,3121,2391,3358
$GC,3971,-0.75,-117.3,269.7,-6.3,210,3973,0.15,0.00,0.00,0.000,6,0.079,0.000,3061,2391,3358
$GC,4277,-0.68,-117.3,292.6,-7.5,220,4281,0.12,2.47,0.00,0.000,4,0.096,0.081,3097,3808,3358
$GC,4340,-0.68,-117.3,297.2,-7.3,222,4344,0.00,2.28,0.00,0.000,6,0.000,0.055,3097,2391,3358
$GC,4704,-0.68,-117.3,321.4,-6.6,229,4708,0.00,2.47,0.00,0.000,4,0.000,0.081,3098,3811,3357
$GC,4739,-0.68,-117.3,323.9,-6.8,229,4743,0.00,2.28,0.00,0.000,6,0.000,0.054,3097,2388,3358
$GC,5067,-0.68,-117.3,346.4,-6.9,235,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2388,3358
$GC,5370,-0.68,-117.3,368.2,-7.1,240,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2389,3358
$GC,5672,-0.68,-117.3,389.9,-7.1,245,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2389,3358
$GC,5976,-0.68,-117.3,410.0,-6.6,250,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2389,3357
$GC,6279,-0.68,-117.3,428.5,-6.1,255,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2389,3358
$GC,6582,-0.68,-117.3,446.3,-5.9,260,6586,0.00,2.47,0.00,0.000,4,0.000,0.083,3098,3811,3357
$GC,6615,-0.68,-117.3,448.3,-6.2,260,6619,0.00,2.28,0.00,0.000,6,0.000,0.055,3097,2392,3357
$GC,6943,-0.68,-117.3,466.2,-5.4,266,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2393,3357
$GC,7245,-0.68,-117.3,483.7,-5.8,271,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2393,3357
$GC,7549,-0.68,-117.3,502.2,-6.1,276,7553,0.00,2.47,0.00,0.000,4,0.000,0.083,3097,3815,3357
$GC,7588,-0.68,-117.3,504.7,-6.4,276,7592,0.00,2.28,0.00,0.000,6,0.000,0.055,3098,2394,3356
$GC,7910,-0.68,-117.3,523.9,-5.9,282,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2394,3357
$GC,8213,-0.68,-117.3,540.8,-5.6,287,8217,0.00,2.35,0.00,0.000,4,0.000,0.072,3097,989,3356
$GC,8240,-0.68,-117.3,542.5,-6.4,287,8245,0.00,2.35,0.00,0.000,6,0.000,0.063,3097,2406,3357
$GC,8574,-0.68,-117.3,560.4,-5.3,293,8578,0.00,2.40,0.00,0.000,4,0.000,0.083,3097,3811,3356
$GC,8602,-0.68,-117.3,562.0,-5.2,293,8606,0.00,2.28,0.00,0.000,6,0.000,0.055,3098,2394,3356
$GC,8934,-0.68,-117.3,579.8,-5.4,299,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2394,3356
$GC,9237,-0.68,-117.3,597.1,-5.7,304,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2394,3356
$GC,9541,-0.68,-117.3,614.7,-5.8,309,9545,0.00,2.47,0.00,0.000,4,0.000,0.083,3097,3812,3356
$GC,9581,-0.74,-117.3,616.9,-5.9,309,9585,0.00,2.28,0.00,0.000,6,0.000,0.056,3097,2395,3356
$GC,9902,-0.74,-117.3,633.9,-5.2,315,9906,0.00,2.35,0.00,0.000,4,0.000,0.073,3097,991,3356
$GC,9942,-0.74,-117.3,636.2,-5.5,315,9946,0.00,2.35,0.00,0.000,6,0.000,0.063,3098,2409,3356
$GC,10265,-0.74,-117.3,652.3,-5.0,321,10269,0.00,2.38,0.00,0.000,4,0.000,0.083,3097,3809,3355
$GC,10304,-0.79,-117.3,654.4,-5.1,321,10309,0.12,2.28,0.00,0.000,6,0.084,0.056,3051,2392,3356
$GC,10625,-0.79,-117.3,675.4,-6.7,327,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2392,3355
$GC,10928,-0.79,-117.3,697.2,-7.2,332,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2392,3355
$GC,11232,-0.79,-117.3,720.2,-7.7,337,11236,0.00,2.35,0.00,0.000,4,0.000,0.073,3051,994,3355
$GC,11260,-0.74,-117.3,722.6,-8.2,337,11264,0.00,2.35,0.00,0.000,6,0.000,0.063,3051,2410,3355
$GC,11593,-0.67,-117.3,748.7,-7.8,343,11597,0.15,2.40,0.00,0.000,4,0.145,0.083,3097,3806,3355
$GC,11632,-0.74,-117.3,751.4,-6.5,343,11636,0.00,2.28,0.00,0.000,6,0.000,0.057,3097,2396,3355
$GC,11954,-0.94,-117.3,773.9,-7.2,349,11959,0.20,2.42,0.00,0.000,4,0.087,0.081,3016,3811,3355
$GC,12179,-0.76,-117.3,794.1,-9.1,352,12184,0.20,2.28,0.00,0.000,6,0.150,0.058,3069,2402,3355
$GC,12517,-0.76,-117.3,817.1,-6.7,358,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2402,3355
$GC,12820,-0.76,-117.3,837.2,-6.7,363,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3355
$GC,13124,-0.76,-117.3,857.7,-6.8,368,13128,0.00,2.47,0.00,0.000,4,0.000,0.084,3069,3808,3354
$GC,13169,-0.76,-117.3,860.9,-6.5,368,13173,0.00,2.30,0.00,0.000,6,0.000,0.058,3069,2389,3354
$GC,13485,-0.76,-117.3,880.9,-6.3,374,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2389,3354
$GC,13787,-0.76,-117.3,899.0,-5.9,379,13792,0.00,2.47,0.00,0.000,4,0.000,0.084,3070,3806,3354
$GC,13815,-0.76,-117.3,900.8,-5.8,379,13819,0.00,2.28,0.00,0.000,6,0.000,0.058,3069,2399,3354
$GC,14148,-0.76,-117.3,920.2,-5.8,385,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2399,3354
$GC,14451,-0.76,-117.3,937.5,-5.8,390,14455,0.00,2.45,0.00,0.000,4,0.000,0.085,3069,3810,3354
$GC,14489,-0.76,-117.3,939.9,-6.5,390,14494,0.00,2.30,0.00,0.000,6,0.000,0.058,3069,2389,3354
$GC,14811,-0.76,-117.3,959.6,-6.2,396,14815,0.00,2.47,0.00,0.000,4,0.000,0.084,3069,3818,3354
$GC,14839,-0.76,-117.3,961.4,-6.2,396,14843,0.00,2.30,0.00,0.000,6,0.000,0.058,3069,2396,3353
$GC,15171,-0.76,-117.3,983.5,-6.7,402,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2397,3354
$STATE,15289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15289,begin apogee
$GC,15297,-0.22,0.0,991.8,6.7,404,15412,0.57,0.00,108.85,1.485,6,0.139,0.000,3244,2198,2875
$STATE,15412,end apogee,CONTROL_FINISHED_OK
$STATE,15413,begin climb
$GC,15416,0.67,117.3,997.4,0.0,406,15540,0.90,2.72,114.95,1.430,4,0.092,0.078,3533,798,2397
$GC,15575,0.30,117.3,997.8,5.4,408,15580,0.45,2.50,0.00,0.000,6,0.175,0.061,3420,2201,2394
$GC,15897,0.34,147.1,984.3,4.1,414,15926,0.00,0.00,27.52,1.407,6,0.000,0.000,3420,2201,2276
$GC,16200,0.34,147.1,969.1,5.0,419,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2274
$GC,16502,0.34,147.1,952.3,5.6,424,16504,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2273
$GC,16806,0.34,147.1,933.9,6.1,429,16808,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2274
$GC,17109,0.34,147.1,915.0,6.2,434,17113,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,3608,2273
$GC,17148,0.30,147.1,912.2,7.1,434,17152,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2192,2273
$GC,17470,0.30,147.1,892.6,6.1,440,17474,0.00,2.38,0.00,0.000,4,0.000,0.081,3422,780,2273
$GC,17509,0.34,147.1,889.9,6.3,440,17513,0.00,2.33,0.00,0.000,6,0.000,0.061,3423,2204,2272
$GC,17831,0.34,147.1,869.8,6.2,446,17832,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2204,2272
$GC,18134,0.34,147.1,851.3,6.1,451,18135,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2204,2273
$GC,18437,0.34,147.1,834.1,5.6,456,18441,0.00,2.42,0.00,0.000,4,0.000,0.080,3423,781,2272
$GC,18464,0.36,159.4,832.7,4.6,456,18483,0.00,2.33,11.88,1.298,6,0.000,0.061,3423,2200,2225
$GC,18800,0.41,164.3,816.0,4.9,462,18811,0.00,2.35,6.20,1.120,4,0.000,0.079,3423,3613,2205
$GC,18846,0.41,164.3,813.4,5.9,462,18850,0.00,2.30,0.00,0.000,6,0.000,0.063,3423,2195,2205
$GC,19162,0.48,184.3,799.3,4.4,468,19184,0.15,0.00,19.50,1.328,6,0.086,0.000,3489,2196,2124
$GC,19465,0.37,184.3,779.6,6.6,473,19467,0.17,0.00,0.00,0.000,6,0.143,0.000,3440,2196,2121
$GC,19768,0.37,184.3,763.9,5.2,478,19772,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,782,2120
$GC,19808,0.38,194.0,761.6,4.7,478,19822,0.00,2.33,9.75,1.220,6,0.000,0.061,3449,2203,2084
$GC,20128,0.38,194.0,742.1,6.2,483,20132,0.00,2.35,0.00,0.000,4,0.000,0.081,3449,3611,2083
$GC,20164,0.33,194.0,739.5,7.4,483,20168,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2194,2083
$GC,20492,0.33,194.0,715.7,7.4,489,20496,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,786,2083
$GC,20555,0.33,194.0,710.9,6.9,490,20559,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2202,2083
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$GC,27158,0.55,210.1,282.1,4.9,601,27168,0.00,2.42,5.55,0.844,4,0.000,0.077,3463,779,2018
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$STATE,31821,end climb,SURFACE_DEPTH_REACHED
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$STATE,31939,end surface coast,CONTROL_FINISHED_OK
$STATE,31939,begin surface
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