version: 66.03
glider: 120
mission: 9
dive: 249
start: 11 29 108 23 22 6
data:
$ID,120
$MISSION,9
$DIVE,249
$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,-22903.549
$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,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
$GPS1,231538,4954.299,-14431.188,58,1.0,58,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-74.5
$GPS2,232109,4954.278,-14431.259,13,1.2,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.161,0.076
$KALMAN_X,36395.0,-340.4,-203.9,-13900.6,1157.8
$KALMAN_Y,195094.6,-4.3,-107.1,-215860.3,2473.4
$MHEAD_RNG_PITCHd_Wd,276.7,33819,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,44,0.00,0.00,-21.45,0.000,2,0.000,0.000,138,2406,2175
$GC,47,-0.67,-117.3,3.3,-5.2,2,112,14.10,2.45,-41.50,0.000,4,0.289,0.081,3092,994,3357
$GC,158,-0.42,-117.3,10.8,-10.1,12,163,0.30,2.33,0.00,0.000,6,0.166,0.064,3176,2399,3358
$GC,482,-0.42,-117.3,33.9,-7.1,42,483,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2399,3359
$GC,801,-0.42,-117.3,57.3,-7.5,72,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2399,3360
$GC,1120,-0.51,-117.3,77.9,-5.5,102,1124,0.00,2.42,0.00,0.000,4,0.000,0.079,3168,3809,3360
$GC,1182,-0.63,-117.3,81.9,-6.6,106,1187,0.15,2.30,0.00,0.000,6,0.081,0.052,3111,2393,3360
$GC,1509,-0.57,-117.3,108.0,-8.0,122,1513,0.00,2.35,0.00,0.000,4,0.000,0.067,3110,988,3361
$GC,1537,-0.49,-117.3,110.5,-9.1,123,1541,0.17,2.33,0.00,0.000,6,0.154,0.060,3157,2411,3361
$GC,1853,-0.54,-117.3,130.3,-6.1,138,1857,0.00,2.38,0.00,0.000,4,0.000,0.067,3157,995,3361
$GC,1897,-0.63,-117.3,133.2,-6.2,140,1901,0.12,2.30,0.00,0.000,6,0.086,0.061,3109,2407,3361
$GC,2227,-0.63,-117.3,156.8,-6.8,155,2231,0.00,2.38,0.00,0.000,4,0.000,0.068,3109,988,3361
$GC,2281,-0.63,-117.3,160.9,-7.5,156,2288,0.00,2.35,0.00,0.000,6,0.000,0.061,3109,2399,3361
$GC,2594,-0.63,-117.3,183.1,-6.8,167,2598,0.00,2.38,0.00,0.000,4,0.000,0.080,3109,3815,3361
$GC,2656,-0.63,-117.3,187.6,-6.9,169,2660,0.00,2.28,0.00,0.000,6,0.000,0.054,3109,2398,3361
$GC,2990,-0.63,-117.3,210.5,-7.3,180,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3361
$GC,3297,-0.63,-117.3,234.2,-7.6,190,3301,0.00,2.33,0.00,0.000,4,0.000,0.071,3109,991,3361
$GC,3329,-0.63,-117.3,236.8,-7.6,191,3333,0.00,2.30,0.00,0.000,6,0.000,0.062,3108,2408,3360
$GC,3665,-0.63,-117.3,261.4,-7.1,202,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3360
$GC,3971,-0.63,-117.3,281.3,-6.4,212,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3360
$GC,4277,-0.63,-117.3,301.3,-6.6,222,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3360
$GC,4580,-0.63,-117.3,320.5,-6.4,227,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3359
$GC,4883,-0.63,-117.3,338.8,-6.0,232,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3359
$GC,5186,-0.63,-117.3,356.4,-5.8,237,5190,0.00,2.40,0.00,0.000,4,0.000,0.071,3109,992,3359
$GC,5226,-0.63,-117.3,358.8,-5.9,237,5230,0.00,2.38,0.00,0.000,6,0.000,0.064,3109,2408,3358
$GC,5546,-0.63,-117.3,376.9,-5.7,243,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3358
$GC,5849,-0.63,-117.3,393.4,-5.5,248,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3358
$GC,6152,-0.63,-117.3,410.8,-5.7,253,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3358
$GC,6455,-0.63,-117.3,428.2,-5.8,258,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3358
$GC,6758,-0.63,-117.3,445.8,-5.8,263,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,3358
$GC,7061,-0.63,-117.3,464.0,-6.0,268,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3358
$GC,7365,-0.63,-117.3,482.0,-6.0,273,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3358
$GC,7667,-0.63,-117.3,500.9,-6.2,278,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2408,3357
$GC,7970,-0.63,-117.3,520.6,-6.5,283,7974,0.00,2.42,0.00,0.000,4,0.000,0.072,3108,992,3357
$GC,7997,-0.68,-117.3,522.4,-6.8,283,8001,0.00,2.33,0.00,0.000,6,0.000,0.064,3109,2399,3357
$GC,8335,-0.68,-117.3,544.9,-6.7,289,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3357
$GC,8638,-0.68,-117.3,565.4,-6.8,294,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3357
$GC,8941,-0.68,-117.3,586.2,-6.9,299,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3357
$GC,9244,-0.68,-117.3,605.2,-6.2,304,9248,0.00,2.40,0.00,0.000,4,0.000,0.072,3109,993,3356
$GC,9282,-0.75,-117.3,607.7,-7.0,304,9287,0.10,2.33,0.00,0.000,6,0.100,0.064,3072,2410,3357
$GC,9602,-0.75,-117.3,628.5,-6.5,310,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3356
$GC,9905,-0.75,-117.3,648.0,-6.4,315,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3356
$GC,10209,-0.75,-117.3,667.4,-6.4,320,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3356
$GC,10511,-0.75,-117.3,688.2,-6.9,325,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3356
$GC,10815,-0.75,-117.3,708.5,-6.6,330,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2411,3356
$GC,11118,-0.75,-117.3,729.1,-6.8,335,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,3356
$GC,11420,-0.75,-117.3,748.6,-6.4,340,11425,0.00,2.42,0.00,0.000,4,0.000,0.074,3072,990,3355
$GC,11458,-0.75,-117.3,751.2,-6.6,340,11463,0.00,2.38,0.00,0.000,6,0.000,0.066,3072,2405,3355
$GC,11786,-0.71,-117.3,772.0,-6.4,346,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2405,3355
$GC,12089,-0.67,-117.3,790.5,-6.1,351,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2406,3355
$GC,12392,-0.63,-117.3,808.3,-5.8,356,12394,0.15,0.00,0.00,0.000,6,0.154,0.000,3112,2405,3356
$GC,12695,-0.70,-117.3,822.2,-4.6,361,12699,0.00,2.40,0.00,0.000,4,0.000,0.074,3112,991,3355
$GC,12723,-0.76,-117.3,823.7,-4.9,361,12728,0.12,2.33,0.00,0.000,6,0.092,0.066,3067,2406,3354
$GC,13054,-0.76,-117.3,842.0,-5.6,367,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2406,3354
$GC,13357,-0.76,-117.3,859.6,-5.8,372,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2406,3354
$GC,13661,-0.76,-117.3,877.6,-6.0,377,13662,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2406,3354
$GC,13964,-0.76,-117.3,896.0,-6.0,382,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2406,3354
$GC,14267,-0.76,-117.3,913.8,-5.8,387,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2406,3354
$GC,14570,-0.76,-117.3,930.9,-5.7,392,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2407,3354
$GC,14873,-0.76,-117.3,947.4,-5.4,397,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2407,3354
$GC,15176,-0.76,-117.3,962.7,-5.1,402,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2407,3354
$GC,15480,-0.76,-117.3,977.9,-5.1,407,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2407,3353
$STATE,15721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15721,begin apogee
$GC,15727,-0.22,0.0,990.2,5.0,411,15835,0.57,0.00,105.07,1.493,6,0.140,0.000,3241,2199,2876
$STATE,15835,end apogee,CONTROL_FINISHED_OK
$STATE,15835,begin climb
$GC,15838,0.67,117.3,991.8,0.0,412,15954,0.88,2.75,109.47,1.438,4,0.092,0.079,3533,785,2396
$GC,15993,0.30,117.3,990.5,6.6,413,15999,0.45,2.53,0.00,0.000,6,0.181,0.063,3420,2196,2395
$GC,16319,0.30,117.3,972.7,5.4,419,16324,0.00,2.45,0.00,0.000,4,0.000,0.080,3420,3612,2393
$GC,16358,0.20,117.3,970.4,6.0,419,16363,0.15,2.40,0.00,0.000,6,0.183,0.064,3386,2199,2393
$GC,16679,0.30,141.2,956.3,4.3,425,16702,0.00,0.00,21.67,1.400,6,0.000,0.000,3386,2199,2299
$GC,16982,0.42,162.1,942.9,4.4,430,17005,0.20,0.00,19.88,1.389,6,0.083,0.000,3462,2199,2215
$GC,17285,0.32,162.1,922.6,6.8,435,17290,0.15,2.50,0.00,0.000,4,0.152,0.080,3415,3618,2213
$GC,17323,0.32,162.1,920.0,5.8,435,17327,0.00,2.40,0.00,0.000,6,0.000,0.064,3421,2188,2213
$GC,17650,0.32,162.1,901.6,5.6,441,17654,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,779,2213
$GC,17688,0.37,162.1,899.3,6.5,441,17692,0.00,2.33,0.00,0.000,6,0.000,0.063,3421,2202,2213
$GC,18008,0.37,162.1,880.9,5.8,447,18010,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2212
$GC,18311,0.37,162.1,862.8,6.0,452,18315,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,3616,2212
$GC,18348,0.37,162.1,860.3,6.5,452,18352,0.00,2.35,0.00,0.000,6,0.000,0.066,3421,2192,2212
$GC,18675,0.37,162.1,840.8,6.0,458,18676,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2212
$GC,18978,0.37,162.1,822.3,6.1,463,18979,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2192,2212
$GC,19281,0.37,162.1,802.4,6.6,468,19285,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,3613,2211
$GC,19325,0.37,162.1,799.1,7.4,468,19329,0.00,2.35,0.00,0.000,6,0.000,0.066,3421,2196,2212
$GC,19646,0.37,162.1,777.2,6.8,474,19647,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2211
$GC,19949,0.37,162.1,756.9,6.6,479,19951,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2211
$GC,20252,0.37,162.1,738.5,6.1,484,20253,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2211
$GC,20555,0.37,162.1,721.2,5.7,489,20560,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,3609,2211
$GC,20588,0.37,162.1,719.1,6.5,489,20592,0.00,2.38,0.00,0.000,6,0.000,0.065,3421,2197,2211
$GC,20921,0.41,162.1,700.8,5.5,495,20922,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2211
$GC,21224,0.46,162.1,684.3,5.4,500,21228,0.12,2.40,0.00,0.000,4,0.097,0.080,3476,782,2211
$GC,21262,0.35,162.1,681.7,6.2,500,21267,0.17,2.33,0.00,0.000,6,0.153,0.065,3429,2205,2211
$GC,21582,0.35,162.1,663.3,5.7,506,21583,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2205,2211
$GC,21885,0.35,162.1,646.6,5.6,511,21889,0.00,2.35,0.00,0.000,4,0.000,0.082,3428,3615,2211
$GC,21923,0.30,162.1,644.1,6.4,511,21927,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2198,2211
$GC,22249,0.30,162.1,625.2,5.8,517,22253,0.00,2.40,0.00,0.000,4,0.000,0.080,3435,790,2211
$GC,22305,0.30,162.1,622.0,6.3,517,22311,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2198,2211
$GC,22614,0.30,162.1,605.6,5.3,523,22615,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2198,2211
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