version: 66.03
glider: 120
mission: 9
dive: 727
start: 5 29 109 20 25 12
data:
$ID,120
$MISSION,9
$DIVE,727
$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,-33238.16
$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,17
$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
$GPS1,201736,5005.344,-14511.298,27,1.3,27,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.3
$GPS2,202414,5005.348,-14511.262,12,1.5,12,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.002,-0.178
$KALMAN_X,-152996.7,-125.5,18.8,156941.6,-261.1
$KALMAN_Y,145418.5,-143.1,-112.7,-141703.0,1992.5
$MHEAD_RNG_PITCHd_Wd,161.1,21011,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-39.97,0.000,2,0.000,0.000,145,2406,2781
$GC,75,-0.67,-117.3,3.7,-6.4,4,108,13.55,2.65,-11.25,0.000,4,0.277,0.094,3095,3809,3358
$GC,231,-0.51,-117.3,26.6,-10.7,17,238,0.20,2.45,0.00,0.000,6,0.153,0.052,3150,2399,3360
$GC,563,-0.51,-117.3,51.5,-6.9,48,569,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2400,3360
$GC,890,-0.51,-117.3,75.2,-7.2,79,894,0.00,2.60,0.00,0.000,4,0.000,0.065,3150,988,3361
$GC,964,-0.55,-117.3,80.9,-7.7,84,968,0.00,2.40,0.00,0.000,6,0.000,0.058,3150,2402,3361
$GC,1282,-0.55,-117.3,102.7,-7.0,99,1286,0.00,2.62,0.00,0.000,4,0.000,0.065,3150,983,3361
$GC,1328,-0.60,-117.3,106.3,-7.4,101,1332,0.00,2.40,0.00,0.000,6,0.000,0.058,3150,2401,3361
$GC,1651,-0.66,-117.3,127.7,-6.8,117,1653,0.15,0.00,0.00,0.000,6,0.078,0.000,3091,2400,3361
$GC,1970,-0.66,-117.3,152.7,-7.2,132,1975,0.00,2.58,0.00,0.000,4,0.000,0.066,3091,987,3361
$GC,2038,-0.66,-117.3,157.5,-6.3,134,2043,0.00,2.42,0.00,0.000,6,0.000,0.058,3090,2411,3361
$GC,2370,-0.61,-117.3,180.6,-7.2,145,2372,0.12,0.00,0.00,0.000,6,0.134,0.000,3124,2410,3361
$GC,2677,-0.65,-117.3,199.0,-6.0,155,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2409,3361
$GC,2982,-0.69,-117.3,217.2,-5.9,165,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2410,3361
$GC,3288,-0.75,-117.3,236.0,-6.0,175,3293,0.15,2.67,0.00,0.000,4,0.079,0.065,3059,985,3361
$GC,3320,-0.67,-117.3,238.4,-8.2,176,3325,0.15,2.45,0.00,0.000,6,0.139,0.059,3097,2408,3361
$GC,3656,-0.67,-117.3,261.1,-6.7,187,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2407,3361
$GC,3962,-0.67,-117.3,282.7,-7.2,197,3966,0.00,2.62,0.00,0.000,4,0.000,0.067,3097,987,3362
$GC,4008,-0.67,-117.3,286.1,-7.5,198,4012,0.00,2.42,0.00,0.000,6,0.000,0.059,3097,2401,3361
$GC,4356,-0.67,-117.3,310.1,-6.9,208,4361,0.00,2.53,0.00,0.000,4,0.000,0.067,3097,979,3361
$GC,4391,-0.67,-117.3,312.7,-7.1,208,4395,0.00,2.45,0.00,0.000,6,0.000,0.060,3097,2408,3361
$GC,4719,-0.67,-117.3,334.5,-6.7,214,4723,0.00,2.50,0.00,0.000,4,0.000,0.069,3097,985,3361
$GC,4759,-0.67,-117.3,337.4,-6.7,214,4764,0.00,2.42,0.00,0.000,6,0.000,0.060,3097,2399,3361
$GC,5082,-0.67,-117.3,359.6,-6.9,220,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3361
$GC,5385,-0.67,-117.3,378.8,-6.3,225,5389,0.00,2.50,0.00,0.000,4,0.000,0.069,3097,979,3360
$GC,5430,-0.67,-117.3,381.9,-6.9,225,5434,0.00,2.45,0.00,0.000,6,0.000,0.060,3097,2406,3360
$GC,5747,-0.67,-117.3,402.9,-6.7,231,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3360
$GC,6049,-0.67,-117.3,424.2,-7.0,236,6053,0.00,2.50,0.00,0.000,4,0.000,0.069,3097,987,3360
$GC,6100,-0.67,-117.3,427.9,-7.3,236,6104,0.00,2.42,0.00,0.000,6,0.000,0.060,3097,2399,3360
$GC,6411,-0.67,-117.3,448.7,-6.7,241,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3360
$GC,6715,-0.67,-117.3,470.5,-7.1,246,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3360
$GC,7017,-0.67,-117.3,491.1,-6.8,251,7021,0.00,2.50,0.00,0.000,4,0.000,0.070,3097,987,3359
$GC,7062,-0.67,-117.3,494.2,-6.7,251,7066,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2409,3359
$GC,7378,-0.67,-117.3,513.3,-5.9,257,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2408,3359
$GC,7682,-0.67,-117.3,530.0,-5.5,262,7686,0.00,2.50,0.00,0.000,4,0.000,0.070,3097,985,3359
$GC,7710,-0.67,-117.3,531.8,-6.5,262,7714,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2406,3359
$GC,8043,-0.67,-117.3,550.8,-5.8,268,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3359
$GC,8346,-0.67,-117.3,569.1,-6.0,273,8350,0.00,2.50,0.00,0.000,4,0.000,0.070,3097,991,3358
$GC,8382,-0.67,-117.3,571.3,-6.2,273,8387,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2409,3358
$GC,8710,-0.67,-117.3,590.8,-5.9,279,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2408,3358
$GC,9013,-0.67,-117.3,608.0,-5.6,284,9018,0.00,2.60,0.00,0.000,4,0.000,0.069,3097,987,3358
$GC,9036,-0.67,-117.3,609.3,-5.3,284,9041,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2400,3359
$GC,9377,-0.71,-117.3,627.9,-5.5,290,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3358
$GC,9679,-0.71,-117.3,644.2,-5.4,295,9683,0.00,2.53,0.00,0.000,4,0.000,0.071,3097,981,3358
$GC,9707,-0.71,-117.3,645.9,-5.8,295,9711,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2400,3358
$GC,10046,-0.71,-117.3,663.6,-5.3,301,10051,0.00,2.58,0.00,0.000,4,0.000,0.070,3097,989,3358
$GC,10083,-0.76,-117.3,665.6,-5.5,301,10087,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2401,3358
$GC,10411,-0.80,-117.3,681.8,-4.9,307,10413,0.12,0.00,0.00,0.000,6,0.086,0.000,3050,2400,3357
$GC,10713,-0.80,-117.3,699.2,-5.8,312,10718,0.00,2.53,0.00,0.000,4,0.000,0.071,3052,992,3357
$GC,10755,-0.75,-117.3,701.8,-6.5,312,10759,0.00,2.45,0.00,0.000,6,0.000,0.061,3052,2400,3357
$GC,11077,-0.70,-117.3,722.0,-6.4,318,11079,0.12,0.00,0.00,0.000,6,0.133,0.000,3087,2400,3358
$GC,11380,-0.70,-117.3,740.3,-6.1,323,11381,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2399,3357
$GC,11683,-0.70,-117.3,759.3,-6.3,328,11687,0.00,2.55,0.00,0.000,4,0.000,0.071,3087,980,3357
$GC,11718,-0.70,-117.3,761.8,-6.6,328,11722,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2402,3357
$GC,12045,-0.70,-117.3,781.7,-6.0,334,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,12348,-0.70,-117.3,799.5,-5.9,339,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,12651,-0.70,-117.3,817.8,-6.1,344,12655,0.00,2.55,0.00,0.000,4,0.000,0.071,3086,981,3357
$GC,12680,-0.70,-117.3,819.7,-6.7,344,12684,0.00,2.47,0.00,0.000,6,0.000,0.062,3086,2401,3357
$GC,13014,-0.70,-117.3,840.8,-6.4,350,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3356
$GC,13316,-0.70,-117.3,861.2,-6.8,355,13320,0.00,2.53,0.00,0.000,4,0.000,0.071,3086,990,3356
$GC,13355,-0.70,-117.3,863.9,-7.0,355,13359,0.00,2.47,0.00,0.000,6,0.000,0.063,3086,2405,3356
$GC,13678,-0.70,-117.3,884.4,-6.3,361,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3357
$GC,13981,-0.70,-117.3,901.7,-5.6,366,13985,0.00,2.55,0.00,0.000,4,0.000,0.071,3086,985,3356
$GC,14009,-0.70,-117.3,903.2,-5.2,366,14013,0.00,2.47,0.00,0.000,6,0.000,0.062,3086,2404,3356
$GC,14342,-0.70,-117.3,920.1,-5.1,372,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,14646,-0.70,-117.3,934.7,-4.7,377,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,14949,-0.70,-117.3,949.6,-4.9,382,14950,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3356
$GC,15251,-0.70,-117.3,965.5,-5.3,387,15255,0.00,2.60,0.00,0.000,4,0.000,0.071,3086,987,3355
$GC,15279,-0.70,-117.3,967.1,-5.7,387,15283,0.00,2.47,0.00,0.000,6,0.000,0.062,3086,2399,3355
$GC,15613,-0.70,-117.3,985.5,-5.6,393,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3356
$STATE,15729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15729,begin apogee
$GC,15739,-0.22,0.0,992.5,5.6,395,15853,0.52,0.00,111.50,1.490,6,0.134,0.000,3241,2191,2876
$STATE,15854,end apogee,CONTROL_FINISHED_OK
$STATE,15854,begin climb
$GC,15858,0.67,117.3,997.7,0.0,397,15985,0.93,2.88,119.60,1.440,4,0.082,0.076,3533,792,2397
$GC,16008,0.37,158.2,999.4,3.8,399,16059,0.40,2.72,43.10,1.392,6,0.174,0.058,3444,2203,2230
$GC,16419,0.32,158.2,974.6,6.4,406,16423,0.00,2.67,0.00,0.000,4,0.000,0.077,3443,3610,2225
$GC,16484,0.20,158.2,969.6,6.8,407,16489,0.28,2.55,0.00,0.000,6,0.170,0.058,3386,2205,2225
$GC,16851,0.33,158.2,948.8,5.7,413,16856,0.12,2.65,0.00,0.000,4,0.079,0.074,3430,788,2225
$GC,16891,0.37,158.2,946.3,5.8,413,16896,0.00,2.58,0.00,0.000,6,0.000,0.059,3429,2212,2225
$GC,17214,0.37,158.2,925.5,6.4,419,17219,0.00,2.53,0.00,0.000,4,0.000,0.080,3430,3609,2225
$GC,17255,0.30,158.2,922.5,7.1,419,17259,0.00,2.45,0.00,0.000,6,0.000,0.059,3436,2197,2225
$GC,17576,0.30,158.2,903.0,6.0,425,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2225
$GC,17881,0.30,158.2,885.5,5.8,430,17885,0.00,2.50,0.00,0.000,4,0.000,0.078,3436,3608,2224
$GC,17911,0.23,158.2,883.6,5.7,430,17916,0.17,2.40,0.00,0.000,6,0.175,0.060,3395,2192,2224
$GC,18245,0.39,186.2,869.2,4.2,436,18273,0.15,0.00,25.55,1.392,6,0.085,0.000,3451,2193,2116
$GC,18549,0.39,186.2,852.9,5.4,441,18550,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2193,2113
$GC,18850,0.39,186.2,836.1,5.5,446,18855,0.00,2.58,0.00,0.000,4,0.000,0.079,3451,3617,2112
$GC,18902,0.29,186.2,832.5,7.4,446,18907,0.15,2.45,0.00,0.000,6,0.173,0.061,3416,2200,2112
$GC,19214,0.39,195.1,817.5,4.7,451,19228,0.00,2.47,8.98,1.247,4,0.000,0.079,3416,3614,2080
$GC,19284,0.39,195.1,813.6,5.9,452,19289,0.00,2.45,0.00,0.000,6,0.000,0.060,3421,2195,2079
$GC,19652,0.46,195.1,793.6,5.5,458,19654,0.12,0.00,0.00,0.000,6,0.088,0.000,3473,2196,2079
$GC,19955,0.41,195.1,772.0,7.2,463,19960,0.00,2.58,0.00,0.000,4,0.000,0.079,3473,3617,2078
$GC,19985,0.29,195.1,769.6,7.3,463,19990,0.25,2.47,0.00,0.000,6,0.166,0.060,3413,2192,2078
$GC,20319,0.40,195.1,750.9,5.5,469,20320,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2193,2078
$GC,20622,0.51,195.1,733.7,5.7,474,20627,0.17,2.58,0.00,0.000,4,0.077,0.074,3490,787,2078
$GC,20674,0.40,195.1,729.8,7.2,474,20679,0.17,2.42,0.00,0.000,6,0.141,0.060,3445,2200,2078
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$STATE,32842,end climb,SURFACE_DEPTH_REACHED
$STATE,32842,begin surface coast
$FINISH,0.4,1.025311
$STATE,32928,end surface coast,CONTROL_FINISHED_OK
$STATE,32928,begin surface
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$10V_AH,10.2,98.634
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$DEVICE_SECS,30.525,260.950,377.050,5.550,0.000,25.767,32.006,166.941,249.500,0.000,0.000,12.085,1858.973,27512.854,564.577,2428.212,984.418,33.383,1788.284,0.000,2396.943,0.000,0.465
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