version: 66.03
glider: 120
mission: 9
dive: 487
start: 2 28 109 3 26 34
data:
$ID,120
$MISSION,9
$DIVE,487
$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,-28186.561
$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,22
$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
$GPS1,031737,5017.603,-14432.404,33,1.3,33,18.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,3.91
$_SM_ANGLEo,-72.7
$GPS2,032538,5017.559,-14432.429,51,1.9,51,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.098,0.126
$KALMAN_X,-23384.3,79.1,116.2,73188.7,-785.6
$KALMAN_Y,85424.1,-224.1,-309.0,-58816.8,1416.3
$MHEAD_RNG_PITCHd_Wd,19.3,7087,-14.0,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.72,-90.7,0.0,0.0,0,37,0.00,0.00,-10.65,0.000,2,0.000,0.000,140,2417,2022
$GC,41,-0.75,-117.3,3.9,-0.0,1,116,13.90,2.40,-53.62,0.000,4,0.285,0.080,3065,984,3355
$GC,187,-0.66,-117.3,18.4,-16.0,14,192,0.15,2.35,0.00,0.000,6,0.166,0.065,3105,2403,3356
$GC,518,-0.60,-117.3,51.3,-12.5,44,523,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3356
$GC,853,-0.60,-117.3,81.9,-7.4,75,857,0.00,2.38,0.00,0.000,4,0.000,0.082,3097,3815,3356
$GC,900,-0.53,-117.3,85.5,-8.8,77,904,0.17,2.28,0.00,0.000,6,0.159,0.055,3144,2388,3356
$GC,1227,-0.60,-117.3,108.0,-8.6,93,1231,0.00,2.30,0.00,0.000,4,0.000,0.070,3143,991,3357
$GC,1272,-0.70,-117.3,111.5,-7.7,95,1276,0.15,2.30,0.00,0.000,6,0.078,0.061,3083,2399,3357
$GC,1595,-0.70,-117.3,136.1,-7.3,111,1599,0.00,2.35,0.00,0.000,4,0.000,0.079,3083,3814,3357
$GC,1735,-0.70,-117.3,148.2,-7.8,117,1739,0.00,2.25,0.00,0.000,6,0.000,0.054,3083,2397,3356
$GC,2069,-0.70,-117.3,174.9,-7.8,128,2073,0.00,2.33,0.00,0.000,4,0.000,0.069,3083,985,3357
$GC,2221,-0.70,-117.3,186.4,-7.7,132,2225,0.00,2.33,0.00,0.000,6,0.000,0.061,3083,2409,3357
$GC,2534,-0.70,-117.3,209.4,-7.2,142,2538,0.00,2.35,0.00,0.000,4,0.000,0.068,3083,995,3357
$GC,2607,-0.70,-117.3,215.0,-7.6,144,2611,0.00,2.30,0.00,0.000,6,0.000,0.061,3083,2402,3357
$GC,2931,-0.70,-117.3,237.8,-7.0,155,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,3237,-0.70,-117.3,259.1,-7.0,165,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,3544,-0.70,-117.3,282.2,-7.7,175,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,3849,-0.70,-117.3,305.3,-7.3,184,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,4152,-0.70,-117.3,325.6,-6.7,189,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,4455,-0.70,-117.3,346.9,-7.1,194,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,4758,-0.74,-117.3,370.1,-7.7,199,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,5062,-0.74,-117.3,392.9,-7.5,204,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,5364,-0.74,-117.3,414.9,-7.3,209,5368,0.00,2.38,0.00,0.000,4,0.000,0.071,3083,986,3356
$GC,5404,-0.81,-117.3,418.0,-7.5,209,5408,0.00,2.33,0.00,0.000,6,0.000,0.063,3083,2402,3356
$GC,5725,-0.86,-117.3,441.8,-7.5,215,5727,0.12,0.00,0.00,0.000,6,0.087,0.000,3029,2401,3356
$GC,6029,-0.78,-117.3,469.1,-9.1,220,6031,0.12,0.00,0.00,0.000,6,0.112,0.000,3063,2401,3356
$GC,6331,-0.78,-117.3,493.0,-7.8,225,6335,0.00,2.35,0.00,0.000,4,0.000,0.071,3063,996,3356
$GC,6381,-0.78,-117.3,497.1,-7.9,225,6385,0.00,2.33,0.00,0.000,6,0.000,0.063,3059,2411,3355
$GC,6691,-0.78,-117.3,520.4,-7.5,230,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2410,3356
$GC,6994,-0.78,-117.3,543.0,-7.5,235,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2410,3356
$GC,7297,-0.78,-117.3,565.9,-7.5,240,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2410,3356
$GC,7600,-0.78,-117.3,588.1,-7.3,245,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2410,3356
$GC,7903,-0.78,-117.3,610.4,-7.4,250,7907,0.00,2.38,0.00,0.000,4,0.000,0.072,3059,996,3355
$GC,7936,-0.78,-117.3,613.1,-7.8,250,7940,0.00,2.33,0.00,0.000,6,0.000,0.064,3059,2405,3355
$GC,8263,-0.78,-117.3,636.7,-7.3,256,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2405,3355
$GC,8565,-0.78,-117.3,657.9,-7.0,261,8570,0.00,2.38,0.00,0.000,4,0.000,0.071,3059,996,3355
$GC,8588,-0.78,-117.3,659.6,-7.2,261,8592,0.00,2.33,0.00,0.000,6,0.000,0.064,3059,2407,3355
$GC,8926,-0.78,-117.3,683.2,-7.0,267,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2406,3355
$GC,9229,-0.78,-117.3,705.4,-7.4,272,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2406,3355
$GC,9532,-0.78,-117.3,727.2,-7.1,277,9536,0.00,2.38,0.00,0.000,4,0.000,0.072,3059,996,3354
$GC,9576,-0.78,-117.3,730.4,-7.1,277,9580,0.00,2.33,0.00,0.000,6,0.000,0.065,3059,2401,3354
$GC,9891,-0.78,-117.3,752.4,-7.0,283,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3354
$GC,10195,-0.78,-117.3,773.8,-7.0,288,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3354
$GC,10497,-0.78,-117.3,796.2,-7.4,293,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3354
$GC,10801,-0.78,-117.3,819.6,-7.7,298,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3354
$GC,11103,-0.78,-117.3,842.1,-7.4,303,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3353
$GC,11407,-0.78,-117.3,862.5,-6.7,308,11411,0.00,2.40,0.00,0.000,4,0.000,0.085,3059,3812,3353
$GC,11446,-0.78,-117.3,865.1,-6.5,308,11450,0.00,2.28,0.00,0.000,6,0.000,0.058,3058,2396,3353
$GC,11767,-0.78,-117.3,884.7,-6.1,314,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2396,3353
$GC,12070,-0.78,-117.3,902.8,-5.9,319,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2396,3353
$GC,12374,-0.78,-117.3,921.9,-6.4,324,12378,0.00,2.45,0.00,0.000,4,0.000,0.085,3059,3819,3352
$GC,12402,-0.78,-117.3,923.8,-6.4,324,12406,0.00,2.30,0.00,0.000,6,0.000,0.058,3059,2391,3352
$GC,12740,-0.78,-117.3,945.5,-6.4,330,12744,0.00,2.45,0.00,0.000,4,0.000,0.085,3059,3809,3352
$GC,12775,-0.78,-117.3,947.7,-6.8,330,12779,0.00,2.30,0.00,0.000,6,0.000,0.058,3059,2390,3353
$GC,13103,-0.78,-117.3,968.2,-6.2,336,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2390,3352
$GC,13405,-0.78,-117.3,986.9,-6.2,341,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2390,3352
$STATE,13462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13462,begin apogee
$GC,13470,-0.22,0.0,990.6,6.2,342,13585,0.62,0.00,108.43,1.482,6,0.142,0.000,3247,2193,2876
$STATE,13586,end apogee,CONTROL_FINISHED_OK
$STATE,13586,begin climb
$GC,13589,0.75,117.3,994.7,0.0,344,13713,0.93,2.70,113.35,1.427,4,0.087,0.076,3559,796,2397
$GC,13775,0.42,117.3,991.6,7.4,346,13782,0.40,2.45,0.00,0.000,6,0.178,0.061,3458,2207,2395
$GC,14086,0.38,117.3,974.9,5.3,352,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2207,2394
$GC,14388,0.33,117.3,959.4,5.1,357,14393,0.12,2.42,0.00,0.000,4,0.186,0.077,3436,786,2394
$GC,14452,0.39,128.0,956.4,4.6,358,14468,0.00,2.30,10.57,1.305,6,0.000,0.062,3435,2197,2354
$GC,14818,0.40,129.6,938.6,4.9,364,14822,0.00,2.35,0.00,0.000,4,0.000,0.081,3435,3611,2353
$GC,14892,0.40,129.6,934.4,5.3,365,14896,0.00,2.30,0.00,0.000,6,0.000,0.064,3435,2196,2353
$GC,15253,0.40,132.4,916.6,4.9,371,15264,0.00,2.38,5.65,1.112,4,0.000,0.079,3436,790,2336
$GC,15309,0.46,132.4,913.8,5.4,371,15316,0.00,2.33,0.00,0.000,6,0.000,0.062,3435,2198,2335
$GC,15621,0.52,144.1,899.6,4.6,377,15640,0.15,2.42,12.05,1.329,4,0.081,0.081,3507,3616,2287
$GC,15693,0.29,144.1,894.6,7.4,378,15698,0.38,2.30,0.00,0.000,6,0.172,0.065,3415,2201,2287
$GC,16054,0.43,167.5,879.2,4.1,384,16084,0.12,2.47,21.80,1.380,4,0.081,0.081,3465,783,2193
$GC,16137,0.43,167.5,874.5,6.0,385,16141,0.00,2.35,0.00,0.000,6,0.000,0.063,3465,2207,2192
$GC,16486,0.43,167.5,852.6,6.4,391,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2206,2191
$GC,16789,0.43,167.5,832.2,6.8,396,16793,0.00,2.40,0.00,0.000,4,0.000,0.081,3465,780,2191
$GC,16828,0.43,167.5,829.3,7.3,396,16832,0.00,2.33,0.00,0.000,6,0.000,0.063,3465,2205,2191
$GC,17155,0.43,167.5,806.2,7.1,402,17156,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2204,2191
$GC,17459,0.43,167.5,785.3,6.9,407,17460,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2204,2191
$GC,17761,0.43,167.5,765.3,6.5,412,17765,0.00,2.40,0.00,0.000,4,0.000,0.079,3465,791,2191
$GC,17795,0.43,167.5,763.0,6.1,412,17799,0.00,2.30,0.00,0.000,6,0.000,0.063,3465,2199,2191
$GC,18122,0.43,167.5,743.8,5.8,418,18123,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2199,2191
$GC,18426,0.43,167.5,727.9,5.2,423,18430,0.00,2.40,0.00,0.000,4,0.000,0.080,3465,789,2191
$GC,18505,0.43,167.5,723.9,5.2,424,18509,0.00,2.33,0.00,0.000,6,0.000,0.063,3465,2211,2191
$GC,18854,0.43,167.5,706.2,5.2,430,18855,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2211,2191
$GC,19157,0.43,167.5,689.5,5.5,435,19158,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2211,2190
$GC,19460,0.43,167.5,670.9,6.2,440,19461,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2211,2190
$GC,19764,0.43,167.5,651.8,6.3,445,19765,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2210,2190
$GC,20067,0.43,167.5,633.5,6.0,450,20071,0.00,2.42,0.00,0.000,4,0.000,0.080,3465,787,2190
$GC,20102,0.43,167.5,631.5,5.9,450,20106,0.00,2.33,0.00,0.000,6,0.000,0.063,3465,2208,2190
$GC,20429,0.43,167.5,612.6,5.8,456,20430,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2208,2190
$GC,20731,0.43,167.5,595.1,5.8,461,20736,0.00,2.35,0.00,0.000,4,0.000,0.082,3465,3613,2190
$GC,20782,0.43,167.5,591.8,6.5,461,20787,0.00,2.33,0.00,0.000,6,0.000,0.064,3465,2190,2190
$GC,21093,0.43,167.5,573.6,5.8,466,21097,0.00,2.38,0.00,0.000,4,0.000,0.079,3465,786,2190
$GC,21143,0.48,167.5,570.6,5.2,466,21147,0.00,2.30,0.00,0.000,6,0.000,0.061,3465,2198,2190
$GC,21454,0.48,167.5,552.7,5.8,471,21455,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2198,2190
$GC,21756,0.48,167.5,535.6,5.6,476,21757,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2198,2190
$GC,22059,0.48,167.5,518.5,5.6,481,22060,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2198,2190
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$STATE,30455,end climb,SURFACE_DEPTH_REACHED
$STATE,30455,begin surface coast
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$STATE,30542,end surface coast,CONTROL_FINISHED_OK
$STATE,30542,begin surface
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