version: 66.03
glider: 120
mission: 9
dive: 258
start: 12 3 108 11 36 39
data:
$ID,120
$MISSION,9
$DIVE,258
$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,-23073.736
$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,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
$GPS1,113007,5018.923,-14506.728,41,1.4,52,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-74.9
$GPS2,113544,5018.997,-14506.662,10,1.7,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,0.087
$KALMAN_X,34867.9,351.9,487.3,-55851.0,-626.9
$KALMAN_Y,194353.4,142.1,-175.8,-169416.3,269.4
$MHEAD_RNG_PITCHd_Wd,283.0,7270,-13.1,-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,-0.70,-101.2,0.0,0.0,0,35,0.00,0.00,-11.80,0.000,2,0.000,0.000,148,2406,1940
$GC,38,-0.72,-117.3,3.2,-0.0,1,114,14.00,2.45,-55.38,0.000,4,0.289,0.081,3081,983,3355
$GC,366,-0.51,-117.3,36.6,-13.4,30,373,0.25,2.35,0.00,0.000,6,0.164,0.065,3151,2402,3357
$GC,694,-0.51,-117.3,63.7,-7.9,61,698,0.00,2.40,0.00,0.000,4,0.000,0.068,3151,985,3357
$GC,733,-0.51,-117.3,67.1,-8.5,64,737,0.00,2.35,0.00,0.000,6,0.000,0.063,3151,2410,3357
$GC,1065,-0.55,-117.3,90.7,-7.1,88,1069,0.00,2.38,0.00,0.000,4,0.000,0.068,3151,989,3358
$GC,1172,-0.61,-117.3,98.8,-7.6,93,1176,0.00,2.33,0.00,0.000,6,0.000,0.062,3151,2402,3358
$GC,1499,-0.67,-117.3,122.0,-7.4,109,1504,0.15,2.38,0.00,0.000,4,0.077,0.067,3084,984,3358
$GC,1532,-0.55,-117.3,125.0,-9.6,110,1539,0.20,2.30,0.00,0.000,6,0.156,0.062,3138,2401,3359
$GC,1848,-0.60,-117.3,146.7,-6.7,126,1852,0.00,2.38,0.00,0.000,4,0.000,0.079,3139,3810,3359
$GC,1911,-0.72,-117.3,151.1,-7.5,129,1916,0.17,2.28,0.00,0.000,6,0.077,0.054,3073,2387,3359
$GC,2246,-0.67,-117.3,180.9,-8.8,140,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2387,3359
$GC,2552,-0.61,-117.3,203.5,-6.7,150,2554,0.15,0.00,0.00,0.000,6,0.114,0.000,3116,2387,3358
$GC,2858,-0.61,-117.3,220.8,-5.6,160,2862,0.00,2.33,0.00,0.000,4,0.000,0.071,3119,995,3359
$GC,2896,-0.61,-117.3,223.1,-5.8,161,2900,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2412,3359
$GC,3226,-0.61,-117.3,242.9,-6.3,172,3230,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,994,3358
$GC,3269,-0.61,-117.3,246.2,-7.2,173,3273,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2400,3358
$GC,3594,-0.61,-117.3,269.2,-7.3,184,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,3900,-0.61,-117.3,290.8,-7.0,194,3904,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,994,3358
$GC,3949,-0.66,-117.3,294.5,-7.4,195,3954,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2400,3357
$GC,4291,-0.71,-117.3,317.2,-6.6,202,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,4594,-0.75,-117.3,338.2,-7.0,207,4599,0.12,2.35,0.00,0.000,4,0.090,0.071,3061,995,3357
$GC,4632,-0.66,-117.3,341.6,-9.0,207,4637,0.17,2.30,0.00,0.000,6,0.163,0.064,3105,2404,3357
$GC,4953,-0.66,-117.3,364.4,-7.0,213,4957,0.00,2.35,0.00,0.000,4,0.000,0.071,3105,994,3357
$GC,4985,-0.66,-117.3,366.9,-7.8,213,4989,0.00,2.33,0.00,0.000,6,0.000,0.064,3105,2396,3357
$GC,5318,-0.66,-117.3,388.0,-6.3,219,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2396,3357
$GC,5620,-0.66,-117.3,406.5,-6.1,224,5624,0.00,2.38,0.00,0.000,4,0.000,0.072,3105,989,3356
$GC,5659,-0.70,-117.3,409.1,-6.7,224,5663,0.00,2.35,0.00,0.000,6,0.000,0.064,3106,2410,3356
$GC,5980,-0.74,-117.3,428.7,-6.2,230,5984,0.00,2.38,0.00,0.000,4,0.000,0.072,3105,985,3356
$GC,6018,-0.79,-117.3,431.3,-6.8,230,6023,0.12,2.33,0.00,0.000,6,0.088,0.064,3058,2412,3356
$GC,6339,-0.74,-117.3,455.1,-7.5,236,6343,0.00,2.38,0.00,0.000,4,0.000,0.071,3058,988,3356
$GC,6394,-0.67,-117.3,459.8,-9.2,236,6401,0.15,2.33,0.00,0.000,6,0.164,0.065,3097,2411,3356
$GC,6703,-0.67,-117.3,480.6,-6.8,242,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2411,3356
$GC,7006,-0.67,-117.3,500.6,-6.6,247,7010,0.00,2.38,0.00,0.000,4,0.000,0.072,3097,987,3355
$GC,7033,-0.67,-117.3,502.5,-7.1,247,7037,0.00,2.33,0.00,0.000,6,0.000,0.065,3097,2405,3355
$GC,7364,-0.67,-117.3,524.9,-6.9,253,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3355
$GC,7667,-0.67,-117.3,546.0,-7.0,258,7671,0.00,2.38,0.00,0.000,4,0.000,0.073,3097,988,3355
$GC,7699,-0.67,-117.3,548.4,-6.9,258,7703,0.00,2.33,0.00,0.000,6,0.000,0.065,3096,2405,3355
$GC,8032,-0.67,-117.3,569.6,-6.3,264,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3355
$GC,8335,-0.71,-117.3,586.1,-5.4,269,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3355
$GC,8637,-0.71,-117.3,603.1,-5.6,274,8641,0.00,2.35,0.00,0.000,4,0.000,0.074,3097,995,3355
$GC,8693,-0.75,-117.3,606.5,-6.4,274,8699,0.00,2.33,0.00,0.000,6,0.000,0.065,3097,2401,3354
$GC,9003,-0.79,-117.3,623.9,-5.6,280,9005,0.12,0.00,0.00,0.000,6,0.090,0.000,3046,2401,3354
$GC,9305,-0.74,-117.3,644.6,-6.9,285,9310,0.12,2.40,0.00,0.000,4,0.110,0.072,3081,994,3354
$GC,9332,-0.74,-117.3,646.5,-7.1,285,9336,0.00,2.33,0.00,0.000,6,0.000,0.065,3081,2401,3354
$GC,9669,-0.74,-117.3,667.0,-6.0,291,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,9973,-0.74,-117.3,685.9,-6.3,296,9977,0.00,2.35,0.00,0.000,4,0.000,0.074,3081,991,3354
$GC,10011,-0.74,-117.3,688.7,-7.0,296,10015,0.00,2.33,0.00,0.000,6,0.000,0.067,3081,2401,3354
$GC,10337,-0.74,-117.3,708.9,-6.2,302,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,10641,-0.74,-117.3,726.8,-5.9,307,10645,0.00,2.38,0.00,0.000,4,0.000,0.074,3081,985,3354
$GC,10673,-0.74,-117.3,729.0,-6.8,307,10677,0.00,2.35,0.00,0.000,6,0.000,0.067,3081,2401,3354
$GC,11005,-0.74,-117.3,748.5,-5.9,313,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,11309,-0.74,-117.3,766.9,-6.0,318,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3354
$GC,11611,-0.74,-117.3,785.5,-6.2,323,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3353
$GC,11915,-0.74,-117.3,804.5,-6.3,328,11919,0.00,2.35,0.00,0.000,4,0.000,0.074,3081,991,3353
$GC,11941,-0.74,-117.3,806.4,-6.7,328,11946,0.00,2.38,0.00,0.000,6,0.000,0.067,3081,2405,3353
$GC,12279,-0.74,-117.3,826.7,-6.0,334,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3353
$GC,12582,-0.74,-117.3,844.1,-5.7,339,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3353
$GC,12886,-0.74,-117.3,861.3,-5.6,344,12890,0.00,2.38,0.00,0.000,4,0.000,0.074,3081,985,3353
$GC,12924,-0.74,-117.3,863.5,-5.7,344,12928,0.00,2.38,0.00,0.000,6,0.000,0.067,3081,2408,3353
$GC,13250,-0.74,-117.3,880.2,-5.0,350,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2408,3352
$GC,13554,-0.74,-117.3,895.3,-5.0,355,13558,0.00,2.38,0.00,0.000,4,0.000,0.076,3081,985,3353
$GC,13586,-0.74,-117.3,897.1,-5.8,355,13590,0.00,2.35,0.00,0.000,6,0.000,0.068,3081,2404,3353
$GC,13918,-0.74,-117.3,914.5,-5.3,361,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3353
$GC,14221,-0.74,-117.3,931.1,-5.5,366,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3353
$GC,14524,-0.74,-117.3,949.3,-6.0,371,14528,0.00,2.38,0.00,0.000,4,0.000,0.075,3081,989,3353
$GC,14574,-0.74,-117.3,952.6,-6.7,371,14578,0.00,2.35,0.00,0.000,6,0.000,0.067,3081,2411,3352
$GC,14884,-0.74,-117.3,971.0,-5.9,376,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2411,3353
$GC,15186,-0.74,-117.3,988.7,-5.9,381,15191,0.00,2.38,0.00,0.000,4,0.000,0.076,3081,988,3352
$STATE,15207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15207,begin apogee
$GC,15215,-0.22,0.0,990.0,5.9,381,15322,0.50,0.00,104.38,1.498,6,0.150,0.000,3237,2202,2876
$STATE,15323,end apogee,CONTROL_FINISHED_OK
$STATE,15323,begin climb
$GC,15326,0.72,117.3,993.6,0.0,383,15443,0.93,2.67,109.60,1.439,4,0.092,0.078,3546,789,2396
$GC,15465,0.35,117.3,992.6,5.9,384,15470,0.45,2.53,0.00,0.000,6,0.189,0.061,3437,2200,2394
$GC,15808,0.31,117.3,973.4,5.7,390,15813,0.00,2.40,0.00,0.000,4,0.000,0.081,3437,3609,2392
$GC,15847,0.20,117.3,970.9,7.0,390,15852,0.20,2.35,0.00,0.000,6,0.180,0.065,3387,2197,2392
$GC,16168,0.34,144.3,957.4,4.1,396,16197,0.12,2.47,24.27,1.411,4,0.088,0.081,3433,781,2286
$GC,16232,0.34,144.3,954.1,5.1,397,16236,0.00,2.40,0.00,0.000,6,0.000,0.065,3433,2208,2286
$GC,16597,0.34,144.3,932.5,5.9,403,16599,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2207,2285
$GC,16901,0.34,144.3,915.4,5.6,408,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2207,2285
$GC,17204,0.34,144.3,899.3,5.3,413,17208,0.00,2.38,0.00,0.000,4,0.000,0.083,3433,3618,2285
$GC,17243,0.27,144.3,896.9,5.9,413,17247,0.00,2.35,0.00,0.000,6,0.000,0.066,3436,2190,2284
$GC,17564,0.27,144.3,879.8,5.3,419,17568,0.00,2.38,0.00,0.000,4,0.000,0.081,3435,786,2285
$GC,17596,0.28,149.8,877.9,4.8,419,17607,0.00,2.30,6.15,1.146,6,0.000,0.064,3436,2200,2265
$GC,17922,0.28,149.8,858.7,6.0,425,17926,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3617,2265
$GC,17967,0.22,149.8,855.4,6.6,425,17971,0.17,2.35,0.00,0.000,6,0.176,0.066,3391,2190,2265
$GC,18282,0.37,151.1,839.8,5.0,431,18284,0.15,0.00,0.00,0.000,6,0.091,0.000,3448,2190,2265
$GC,18584,0.37,151.1,821.7,6.0,436,18585,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2190,2265
$GC,18887,0.37,151.1,804.0,5.8,441,18892,0.00,2.45,0.00,0.000,4,0.000,0.082,3448,3611,2265
$GC,18920,0.28,151.1,801.8,6.7,441,18925,0.15,2.33,0.00,0.000,6,0.173,0.066,3411,2195,2264
$GC,19253,0.36,151.1,784.7,5.1,447,19254,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2195,2264
$GC,19555,0.46,158.1,770.0,4.8,452,19567,0.17,0.00,9.00,1.220,6,0.084,0.000,3479,2195,2231
$GC,19858,0.37,158.1,749.0,7.1,457,19860,0.15,0.00,0.00,0.000,6,0.155,0.000,3439,2195,2230
$GC,20161,0.37,158.1,730.6,6.1,462,20162,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2195,2230
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$GC,20767,0.37,158.1,693.8,6.0,472,20768,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2196,2230
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$STATE,31824,end climb,SURFACE_DEPTH_REACHED
$STATE,31824,begin surface coast
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$STATE,31923,end surface coast,CONTROL_FINISHED_OK
$STATE,31923,begin surface
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