version: 66.03
glider: 120
mission: 9
dive: 245
start: 11 28 108 10 1 41
data:
$ID,120
$MISSION,9
$DIVE,245
$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,-22844.682
$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
$GPS1,094734,5005.950,-14425.921,57,3.3,76,18.6
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.2
$GPS2,100045,5006.025,-14425.649,11,1.7,11,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,-0.177
$KALMAN_X,34562.9,188.9,298.5,-6455.8,-88.0
$KALMAN_Y,190206.0,-171.9,-105.8,-189043.7,2819.9
$MHEAD_RNG_PITCHd_Wd,168.3,22803,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-21.70,0.000,2,0.000,0.000,134,2413,2186
$GC,48,-0.67,-117.3,3.0,-3.9,2,106,14.02,2.42,-38.20,0.000,4,0.286,0.093,3085,3819,3356
$GC,169,-0.39,-117.3,15.8,-13.5,12,176,0.35,2.35,0.00,0.000,6,0.160,0.056,3183,2391,3358
$GC,497,-0.45,-117.3,41.8,-9.8,43,502,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2391,3359
$GC,822,-0.51,-117.3,63.6,-7.4,74,823,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2391,3359
$GC,1150,-0.62,-117.3,82.8,-5.5,103,1155,0.17,2.47,0.00,0.000,4,0.078,0.075,3112,3809,3360
$GC,1280,-0.54,-117.3,94.8,-9.1,109,1284,0.00,2.30,0.00,0.000,6,0.000,0.052,3113,2397,3360
$GC,1607,-0.45,-117.3,121.4,-8.0,125,1609,0.20,0.00,0.00,0.000,6,0.149,0.000,3169,2395,3361
$GC,1916,-0.73,-117.3,141.1,-6.3,140,1920,0.22,2.38,0.00,0.000,4,0.085,0.067,3082,991,3361
$GC,1993,-0.59,-117.3,147.0,-8.0,143,2000,0.15,2.30,0.00,0.000,6,0.164,0.061,3122,2401,3361
$GC,2316,-0.59,-117.3,169.7,-6.6,155,2320,0.00,2.38,0.00,0.000,4,0.000,0.079,3122,3812,3361
$GC,2344,-0.59,-117.3,171.8,-7.2,156,2348,0.00,2.30,0.00,0.000,6,0.000,0.053,3122,2396,3361
$GC,2679,-0.59,-117.3,193.7,-6.4,167,2683,0.00,2.38,0.00,0.000,4,0.000,0.068,3122,989,3361
$GC,2711,-0.59,-117.3,196.0,-7.2,168,2715,0.00,2.30,0.00,0.000,6,0.000,0.061,3122,2401,3361
$GC,3046,-0.59,-117.3,216.2,-5.8,179,3050,0.00,2.40,0.00,0.000,4,0.000,0.068,3122,985,3361
$GC,3079,-0.59,-117.3,218.3,-6.1,180,3083,0.00,2.35,0.00,0.000,6,0.000,0.062,3122,2403,3361
$GC,3414,-0.59,-117.3,239.1,-6.4,191,3419,0.00,2.38,0.00,0.000,4,0.000,0.068,3122,993,3360
$GC,3607,-0.59,-117.3,252.2,-6.4,196,3613,0.00,2.38,0.00,0.000,6,0.000,0.063,3122,2414,3360
$GC,3920,-0.59,-117.3,271.8,-6.1,207,3924,0.00,2.38,0.00,0.000,4,0.000,0.070,3121,994,3360
$GC,4094,-0.59,-117.3,283.7,-7.2,212,4098,0.00,2.28,0.00,0.000,6,0.000,0.064,3122,2404,3360
$GC,4422,-0.59,-117.3,305.0,-6.7,222,4426,0.00,2.38,0.00,0.000,4,0.000,0.070,3122,993,3359
$GC,4552,-0.59,-117.3,314.3,-7.6,224,4556,0.00,2.30,0.00,0.000,6,0.000,0.063,3122,2400,3359
$GC,4917,-0.59,-117.3,338.6,-6.6,230,4921,0.00,2.35,0.00,0.000,4,0.000,0.071,3122,994,3359
$GC,4950,-0.59,-117.3,341.0,-6.9,230,4954,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2403,3359
$GC,5281,-0.59,-117.3,362.5,-6.5,236,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3359
$GC,5585,-0.59,-117.3,381.7,-6.3,241,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3358
$GC,5888,-0.64,-117.3,399.3,-5.7,246,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2404,3358
$GC,6191,-0.68,-117.3,415.2,-5.2,251,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3358
$GC,6495,-0.73,-117.3,430.3,-5.1,256,6500,0.12,2.40,0.00,0.000,4,0.090,0.071,3075,991,3357
$GC,6527,-0.67,-117.3,432.4,-6.2,256,6531,0.00,2.35,0.00,0.000,6,0.000,0.064,3075,2410,3357
$GC,6860,-0.57,-117.3,454.7,-6.9,262,6862,0.20,0.00,0.00,0.000,6,0.158,0.000,3131,2410,3357
$GC,7163,-0.65,-117.3,470.0,-4.9,267,7167,0.00,2.40,0.00,0.000,4,0.000,0.071,3131,995,3357
$GC,7202,-0.74,-117.3,472.1,-5.0,267,7207,0.15,2.35,0.00,0.000,6,0.091,0.064,3076,2406,3357
$GC,7522,-0.74,-117.3,491.3,-6.1,273,7526,0.00,2.42,0.00,0.000,4,0.000,0.081,3075,3807,3357
$GC,7566,-0.69,-117.3,494.2,-6.6,273,7570,0.00,2.30,0.00,0.000,6,0.000,0.057,3074,2396,3357
$GC,7881,-0.65,-117.3,513.4,-6.1,279,7883,0.12,0.00,0.00,0.000,6,0.122,0.000,3109,2394,3357
$GC,8183,-0.65,-117.3,531.2,-5.8,284,8187,0.00,2.38,0.00,0.000,4,0.000,0.072,3109,994,3356
$GC,8210,-0.65,-117.3,533.0,-6.6,284,8214,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2398,3356
$GC,8548,-0.65,-117.3,553.1,-5.9,290,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3356
$GC,8851,-0.65,-117.3,570.6,-5.8,295,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3356
$GC,9154,-0.65,-117.3,588.2,-5.9,300,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3355
$GC,9457,-0.65,-117.3,606.3,-6.0,305,9461,0.00,2.40,0.00,0.000,4,0.000,0.073,3109,988,3355
$GC,9495,-0.65,-117.3,608.8,-6.6,305,9499,0.00,2.35,0.00,0.000,6,0.000,0.065,3109,2406,3355
$GC,9821,-0.65,-117.3,628.8,-6.1,311,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3355
$GC,10125,-0.69,-117.3,647.0,-6.0,316,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2407,3355
$GC,10428,-0.73,-117.3,663.8,-5.5,321,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3355
$GC,10731,-0.77,-117.3,680.5,-5.5,326,10733,0.12,0.00,0.00,0.000,6,0.094,0.000,3062,2407,3354
$GC,11034,-0.73,-117.3,699.8,-6.3,331,11038,0.00,2.42,0.00,0.000,4,0.000,0.073,3061,995,3354
$GC,11077,-0.66,-117.3,702.8,-8.0,331,11082,0.15,2.33,0.00,0.000,6,0.160,0.065,3099,2408,3354
$GC,11392,-0.66,-117.3,720.1,-5.4,337,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3354
$GC,11695,-0.66,-117.3,735.6,-5.1,342,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3354
$GC,11999,-0.66,-117.3,750.3,-4.8,347,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3354
$GC,12301,-0.66,-117.3,765.2,-5.0,352,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3354
$GC,12604,-0.66,-117.3,781.6,-5.5,357,12608,0.00,2.45,0.00,0.000,4,0.000,0.074,3100,988,3354
$GC,12642,-0.66,-117.3,784.0,-6.6,357,12646,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2405,3353
$GC,12968,-0.66,-117.3,804.0,-6.2,363,12969,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3353
$GC,13271,-0.66,-117.3,823.5,-6.5,368,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3353
$GC,13574,-0.66,-117.3,842.1,-6.1,373,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3353
$GC,13877,-0.66,-117.3,859.4,-5.7,378,13881,0.00,2.40,0.00,0.000,4,0.000,0.075,3100,989,3353
$GC,13910,-0.66,-117.3,861.5,-6.3,378,13914,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2406,3353
$GC,14242,-0.66,-117.3,880.3,-5.6,384,14243,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3353
$GC,14545,-0.66,-117.3,897.5,-5.7,389,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3353
$GC,14848,-0.66,-117.3,913.7,-5.3,394,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3353
$GC,15152,-0.66,-117.3,928.7,-4.9,399,15156,0.00,2.40,0.00,0.000,4,0.000,0.075,3100,994,3353
$GC,15189,-0.66,-117.3,930.7,-5.6,399,15194,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2405,3353
$GC,15516,-0.66,-117.3,945.9,-4.6,405,15518,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3353
$GC,15820,-0.71,-117.3,960.2,-4.8,410,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3353
$GC,16123,-0.71,-117.3,975.5,-5.0,415,16124,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3352
$STATE,16423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16424,begin apogee
$GC,16429,-0.22,0.0,991.8,5.5,420,16537,0.47,0.00,104.97,1.497,6,0.146,0.000,3243,2199,2876
$STATE,16538,end apogee,CONTROL_FINISHED_OK
$STATE,16538,begin climb
$GC,16540,0.67,117.3,993.6,0.0,421,16657,0.88,2.67,109.53,1.440,4,0.098,0.078,3533,792,2396
$GC,16696,0.30,117.3,994.0,7.5,422,16701,0.47,2.50,0.00,0.000,6,0.183,0.063,3415,2198,2395
$GC,17022,0.30,121.6,977.9,4.9,428,17029,0.00,0.00,5.00,1.025,6,0.000,0.000,3415,2198,2380
$GC,17326,0.31,127.5,963.2,4.8,433,17339,0.00,2.45,7.10,1.201,4,0.000,0.081,3414,3611,2356
$GC,17368,0.23,127.5,960.8,5.8,433,17372,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2194,2356
$GC,17689,0.23,127.5,944.3,5.2,439,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2194,2355
$GC,17992,0.23,127.5,928.3,5.3,444,17993,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2194,2355
$GC,18296,0.23,127.5,912.7,5.1,449,18300,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,791,2354
$GC,18339,0.23,127.5,910.4,5.1,449,18343,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2206,2355
$GC,18660,0.23,127.5,894.2,5.1,455,18664,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3612,2354
$GC,18698,0.14,127.5,892.1,5.4,455,18703,0.22,2.33,0.00,0.000,6,0.171,0.065,3363,2196,2354
$GC,19020,0.38,188.5,881.4,3.3,461,19079,0.22,0.00,54.15,1.422,6,0.084,0.000,3444,2196,2106
$GC,19382,0.38,188.5,859.3,6.3,467,19383,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2196,2101
$GC,19684,0.38,188.5,840.4,6.3,472,19689,0.00,2.42,0.00,0.000,4,0.000,0.081,3449,784,2101
$GC,19717,0.38,188.5,838.3,6.6,472,19721,0.00,2.33,0.00,0.000,6,0.000,0.064,3448,2200,2101
$GC,20049,0.38,188.5,817.0,6.4,478,20053,0.00,2.35,0.00,0.000,4,0.000,0.082,3449,3609,2100
$GC,20081,0.30,188.5,814.5,6.9,478,20086,0.12,2.33,0.00,0.000,6,0.176,0.066,3418,2194,2100
$GC,20408,0.36,188.5,795.4,5.9,484,20412,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,788,2100
$GC,20457,0.44,188.5,792.3,6.3,484,20462,0.12,2.33,0.00,0.000,6,0.096,0.064,3467,2212,2100
$GC,20769,0.38,188.5,768.3,7.9,489,20773,0.00,2.35,0.00,0.000,4,0.000,0.082,3467,3615,2099
$GC,20809,0.24,188.5,764.7,9.2,489,20814,0.30,2.35,0.00,0.000,6,0.166,0.065,3394,2195,2099
$GC,21129,0.38,188.5,746.1,5.7,495,21131,0.15,0.00,0.00,0.000,6,0.094,0.000,3448,2196,2099
$GC,21432,0.38,188.5,725.7,6.7,500,21433,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2196,2099
$GC,21735,0.38,188.5,705.9,6.5,505,21739,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,788,2099
$GC,21767,0.38,188.5,703.6,6.4,505,21771,0.00,2.33,0.00,0.000,6,0.000,0.066,3448,2206,2099
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$STATE,33610,end climb,SURFACE_DEPTH_REACHED
$STATE,33610,begin surface coast
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$STATE,33696,end surface coast,CONTROL_FINISHED_OK
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$DATA_FILE_SIZE,50579,884
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