version: 66.03
glider: 120
mission: 9
dive: 356
start: 1 9 109 14 24 9
data:
$ID,120
$MISSION,9
$DIVE,356
$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,-25242.92
$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,18
$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
$GPS1,141706,5001.172,-14456.278,64,0.8,69,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.91
$_SM_ANGLEo,-69.9
$GPS2,142314,5001.138,-14456.207,13,1.3,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.118,0.133
$KALMAN_X,20713.7,-132.0,216.6,-28504.2,-1302.1
$KALMAN_Y,262992.7,-320.5,-225.4,-270597.3,1065.6
$MHEAD_RNG_PITCHd_Wd,23.3,13384,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.35,0.000,2,0.000,0.000,133,2406,1912
$GC,39,-0.67,-117.3,3.8,-0.0,1,116,14.07,2.53,-56.12,0.000,4,0.285,0.081,3092,983,3356
$GC,368,-0.50,-117.3,39.5,-9.9,30,375,0.25,2.33,0.00,0.000,6,0.153,0.063,3156,2405,3358
$GC,696,-0.50,-117.3,64.3,-9.6,61,702,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2405,3358
$GC,1028,-0.50,-117.3,91.0,-6.4,86,1031,0.00,2.35,0.00,0.000,4,0.000,0.069,3157,983,3358
$GC,1055,-0.50,-117.3,92.6,-5.7,87,1059,0.00,2.30,0.00,0.000,6,0.000,0.063,3155,2402,3358
$GC,1381,-0.50,-117.3,118.1,-7.9,103,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2402,3358
$GC,1691,-0.55,-117.3,137.8,-5.5,118,1695,0.00,2.38,0.00,0.000,4,0.000,0.069,3154,983,3359
$GC,1713,-0.61,-117.3,139.3,-6.5,119,1717,0.12,2.33,0.00,0.000,6,0.084,0.061,3106,2406,3359
$GC,2043,-0.61,-117.3,162.2,-7.2,133,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2406,3359
$GC,2348,-0.61,-117.3,181.6,-6.4,143,2352,0.00,2.33,0.00,0.000,4,0.000,0.080,3104,3818,3359
$GC,2387,-0.61,-117.3,184.5,-7.6,144,2391,0.00,2.30,0.00,0.000,6,0.000,0.054,3104,2388,3359
$GC,2716,-0.61,-117.3,205.8,-6.2,155,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2388,3359
$GC,3022,-0.61,-117.3,225.6,-6.4,165,3026,0.00,2.33,0.00,0.000,4,0.000,0.071,3104,990,3359
$GC,3043,-0.61,-117.3,227.0,-6.4,165,3047,0.00,2.30,0.00,0.000,6,0.000,0.061,3104,2406,3359
$GC,3362,-0.61,-117.3,245.2,-5.3,176,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2406,3359
$GC,3669,-0.61,-117.3,262.1,-5.4,186,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2406,3359
$GC,3974,-0.61,-117.3,280.0,-5.9,196,3978,0.00,2.40,0.00,0.000,4,0.000,0.071,3104,994,3359
$GC,4019,-0.65,-117.3,282.9,-6.2,197,4023,0.00,2.33,0.00,0.000,6,0.000,0.062,3103,2404,3359
$GC,4368,-0.65,-117.3,304.3,-6.0,208,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3359
$GC,4670,-0.65,-117.3,323.5,-6.5,213,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2404,3359
$GC,4973,-0.65,-117.3,342.0,-6.0,218,4977,0.00,2.35,0.00,0.000,4,0.000,0.082,3100,3811,3358
$GC,5005,-0.65,-117.3,344.0,-6.1,218,5009,0.00,2.30,0.00,0.000,6,0.000,0.055,3099,2401,3358
$GC,5338,-0.65,-117.3,362.3,-5.5,224,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,5641,-0.65,-117.3,378.4,-5.3,229,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,5944,-0.65,-117.3,394.1,-5.2,234,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6247,-0.65,-117.3,409.7,-5.1,239,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6550,-0.65,-117.3,425.8,-5.3,244,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6854,-0.70,-117.3,443.0,-5.8,249,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,7157,-0.74,-117.3,461.1,-5.9,254,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,7460,-0.79,-117.3,479.0,-5.9,259,7461,0.12,0.00,0.00,0.000,6,0.095,0.000,3050,2401,3357
$GC,7763,-0.70,-117.3,501.4,-7.4,264,7765,0.12,0.00,0.00,0.000,6,0.103,0.000,3085,2398,3357
$GC,8066,-0.70,-117.3,521.3,-6.5,269,8070,0.00,2.40,0.00,0.000,4,0.000,0.072,3085,990,3356
$GC,8092,-0.70,-117.3,523.0,-6.4,269,8097,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2411,3357
$GC,8425,-0.70,-117.3,542.6,-5.9,275,8429,0.00,2.35,0.00,0.000,4,0.000,0.084,3085,3814,3356
$GC,8452,-0.70,-117.3,544.3,-6.4,275,8456,0.00,2.28,0.00,0.000,6,0.000,0.057,3085,2399,3356
$GC,8784,-0.70,-117.3,563.1,-5.7,281,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,9087,-0.70,-117.3,581.0,-6.0,286,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,9390,-0.70,-117.3,600.6,-6.5,291,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,9693,-0.70,-117.3,621.1,-6.7,296,9697,0.00,2.40,0.00,0.000,4,0.000,0.084,3085,3806,3356
$GC,9720,-0.70,-117.3,622.9,-7.3,296,9724,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2393,3356
$GC,10058,-0.70,-117.3,644.8,-6.5,302,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3356
$GC,10361,-0.70,-117.3,664.3,-6.4,307,10365,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,988,3356
$GC,10399,-0.70,-117.3,667.1,-7.3,307,10403,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2409,3356
$GC,10720,-0.70,-117.3,687.7,-6.4,313,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3356
$GC,11024,-0.70,-117.3,706.2,-6.0,318,11028,0.00,2.35,0.00,0.000,4,0.000,0.074,3085,991,3355
$GC,11056,-0.70,-117.3,708.3,-6.3,318,11060,0.00,2.30,0.00,0.000,6,0.000,0.065,3085,2400,3355
$GC,11383,-0.70,-117.3,727.2,-5.7,324,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,11686,-0.70,-117.3,743.5,-5.4,329,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,11990,-0.70,-117.3,760.0,-5.4,334,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,12292,-0.70,-117.3,775.4,-5.1,339,12296,0.00,2.38,0.00,0.000,4,0.000,0.085,3085,3814,3355
$GC,12325,-0.70,-117.3,777.1,-4.7,339,12329,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2393,3355
$GC,12651,-0.70,-117.3,792.5,-4.8,345,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3355
$GC,12954,-0.70,-117.3,807.4,-5.0,350,12958,0.00,2.42,0.00,0.000,4,0.000,0.084,3085,3808,3354
$GC,12987,-0.70,-117.3,809.3,-5.3,350,12991,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2393,3354
$GC,13314,-0.70,-117.3,825.6,-5.1,356,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3355
$GC,13617,-0.70,-117.3,841.2,-5.1,361,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3354
$GC,13921,-0.70,-117.3,857.5,-5.4,366,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3354
$GC,14223,-0.70,-117.3,874.4,-5.6,371,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3354
$GC,14526,-0.70,-117.3,891.8,-5.8,376,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3354
$GC,14830,-0.70,-117.3,909.6,-5.9,381,14831,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3354
$GC,15132,-0.70,-117.3,926.4,-5.5,386,15136,0.00,2.42,0.00,0.000,4,0.000,0.074,3086,990,3354
$GC,15166,-0.70,-117.3,928.4,-5.8,386,15170,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2408,3354
$GC,15492,-0.70,-117.3,945.1,-5.0,392,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2408,3354
$GC,15795,-0.70,-117.3,960.6,-5.1,397,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2408,3354
$GC,16098,-0.70,-117.3,977.4,-5.6,402,16103,0.00,2.38,0.00,0.000,4,0.000,0.087,3085,3812,3353
$GC,16134,-0.75,-117.3,979.5,-6.0,402,16138,0.00,2.30,0.00,0.000,6,0.000,0.059,3085,2400,3353
$STATE,16336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16336,begin apogee
$GC,16342,-0.22,0.0,993.6,6.9,406,16458,0.52,0.00,108.22,1.492,6,0.130,0.000,3248,2192,2876
$STATE,16458,end apogee,CONTROL_FINISHED_OK
$STATE,16459,begin climb
$GC,16461,0.67,117.3,1000.9,0.0,408,16585,0.85,2.72,112.72,1.442,4,0.090,0.079,3528,3607,2396
$GC,16731,0.26,117.3,992.5,8.0,412,16737,0.50,2.42,0.00,0.000,6,0.186,0.066,3405,2204,2394
$GC,17087,0.33,170.9,979.7,3.5,418,17142,0.00,2.53,48.17,1.439,4,0.000,0.082,3405,3606,2178
$GC,17165,0.33,170.9,976.2,5.2,419,17169,0.00,2.38,0.00,0.000,6,0.000,0.064,3408,2199,2177
$GC,17514,0.41,170.9,958.8,5.1,425,17516,0.12,0.00,0.00,0.000,6,0.090,0.000,3460,2199,2175
$GC,17817,0.41,170.9,938.5,6.8,430,17818,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2199,2174
$GC,18120,0.41,170.9,917.0,7.0,435,18124,0.00,2.42,0.00,0.000,4,0.000,0.081,3460,782,2174
$GC,18169,0.37,170.9,913.3,7.0,435,18173,0.00,2.33,0.00,0.000,6,0.000,0.066,3460,2209,2174
$GC,18480,0.31,170.9,890.7,7.2,440,18484,0.15,2.38,0.00,0.000,4,0.143,0.078,3421,789,2174
$GC,18519,0.39,170.9,888.3,5.6,440,18523,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2206,2174
$GC,18840,0.45,170.9,871.1,5.3,446,18842,0.12,0.00,0.00,0.000,6,0.097,0.000,3475,2206,2173
$GC,19143,0.36,170.9,850.1,7.0,451,19145,0.15,0.00,0.00,0.000,6,0.141,0.000,3433,2206,2173
$GC,19446,0.36,170.9,832.8,5.7,456,19450,0.00,2.35,0.00,0.000,4,0.000,0.083,3433,3608,2173
$GC,19501,0.31,170.9,829.0,7.1,456,19508,0.00,2.33,0.00,0.000,6,0.000,0.066,3435,2179,2173
$GC,19811,0.31,170.9,810.1,6.2,462,19815,0.00,2.40,0.00,0.000,4,0.000,0.081,3435,3614,2173
$GC,19855,0.27,170.9,807.1,6.7,462,19859,0.12,2.30,0.00,0.000,6,0.173,0.065,3405,2190,2173
$GC,20170,0.37,170.9,789.8,5.5,468,20171,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2191,2173
$GC,20473,0.48,170.9,772.2,5.8,473,20475,0.20,0.00,0.00,0.000,6,0.080,0.000,3484,2190,2173
$GC,20776,0.37,170.9,748.9,7.8,478,20778,0.17,0.00,0.00,0.000,6,0.145,0.000,3434,2190,2173
$GC,21079,0.37,170.9,730.4,6.0,483,21080,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2191,2173
$GC,21381,0.37,170.9,713.0,5.7,488,21386,0.00,2.42,0.00,0.000,4,0.000,0.081,3434,3611,2173
$GC,21414,0.37,170.9,710.8,6.2,488,21418,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2194,2173
$GC,21741,0.37,171.2,694.3,5.0,494,21742,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2173
$GC,22045,0.38,178.1,679.8,4.8,499,22054,0.00,0.00,7.35,1.118,6,0.000,0.000,3436,2194,2149
$GC,22347,0.38,178.1,663.5,5.4,504,22351,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3609,2148
$GC,22386,0.38,178.1,661.0,7.1,504,22390,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2189,2148
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$STATE,32457,end climb,SURFACE_DEPTH_REACHED
$STATE,32457,begin surface coast
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$STATE,32575,end surface coast,CONTROL_FINISHED_OK
$STATE,32575,begin surface
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