version: 66.03
glider: 120
mission: 9
dive: 508
start: 3 8 109 2 17 29
data:
$ID,120
$MISSION,9
$DIVE,508
$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,-28694.037
$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,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
$GPS1,021000,5015.775,-14512.891,38,1.5,44,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-74.4
$GPS2,021632,5015.760,-14512.858,12,1.4,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.001,-0.178
$KALMAN_X,-26851.2,-100.1,7.6,28887.8,132.4
$KALMAN_Y,96941.7,-333.5,112.6,-73981.3,3410.1
$MHEAD_RNG_PITCHd_Wd,161.8,40293,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-10.95,0.000,2,0.000,0.000,142,2403,2024
$GC,42,-0.67,-117.3,3.7,-0.0,1,118,14.12,2.40,-54.83,0.000,4,0.285,0.095,3096,3814,3354
$GC,372,-0.54,-117.3,31.8,-10.7,30,379,0.17,2.28,0.00,0.000,6,0.155,0.056,3144,2388,3356
$GC,701,-0.54,-117.3,57.5,-7.8,61,707,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2388,3356
$GC,1036,-0.54,-117.3,83.2,-7.5,91,1040,0.00,2.35,0.00,0.000,4,0.000,0.071,3144,985,3356
$GC,1064,-0.54,-117.3,85.5,-8.2,92,1068,0.00,2.35,0.00,0.000,6,0.000,0.061,3141,2407,3356
$GC,1380,-0.54,-117.3,108.9,-7.4,107,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2407,3356
$GC,1689,-0.54,-117.3,131.1,-7.2,122,1693,0.00,2.38,0.00,0.000,4,0.000,0.081,3139,3809,3356
$GC,1723,-0.59,-117.3,133.7,-7.5,123,1730,0.00,2.28,0.00,0.000,6,0.000,0.054,3138,2405,3356
$GC,2039,-0.64,-117.3,153.8,-6.2,138,2043,0.00,2.38,0.00,0.000,4,0.000,0.069,3139,986,3357
$GC,2089,-0.72,-117.3,157.3,-7.3,139,2094,0.17,2.33,0.00,0.000,6,0.080,0.061,3075,2402,3357
$GC,2404,-0.66,-117.3,182.3,-7.8,149,2407,0.00,2.38,0.00,0.000,4,0.000,0.079,3074,3816,3357
$GC,2432,-0.57,-117.3,184.7,-8.3,149,2439,0.20,2.30,0.00,0.000,6,0.120,0.054,3132,2397,3357
$GC,2745,-0.63,-117.3,201.8,-5.2,160,2749,0.00,2.38,0.00,0.000,4,0.000,0.069,3132,986,3357
$GC,2796,-0.71,-117.3,204.6,-5.6,161,2801,0.15,2.33,0.00,0.000,6,0.080,0.061,3079,2401,3357
$GC,3109,-0.71,-117.3,225.5,-7.0,171,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3357
$GC,3416,-0.71,-117.3,247.0,-7.2,181,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3357
$GC,3722,-0.71,-117.3,270.0,-7.5,191,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2400,3357
$GC,4029,-0.71,-117.3,291.6,-6.9,201,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3357
$GC,4363,-0.71,-117.3,313.5,-6.4,209,4367,0.00,2.40,0.00,0.000,4,0.000,0.071,3079,988,3357
$GC,4402,-0.71,-117.3,316.3,-6.8,209,4406,0.00,2.33,0.00,0.000,6,0.000,0.062,3079,2398,3357
$GC,4723,-0.66,-117.3,338.4,-7.0,215,4727,0.00,2.38,0.00,0.000,4,0.000,0.081,3073,3812,3357
$GC,4751,-0.59,-117.3,340.5,-7.8,215,4756,0.17,2.28,0.00,0.000,6,0.122,0.054,3122,2395,3357
$GC,5084,-0.66,-117.3,360.5,-6.0,221,5088,0.00,2.35,0.00,0.000,4,0.000,0.071,3122,997,3357
$GC,5112,-0.72,-117.3,362.3,-6.8,221,5117,0.12,2.33,0.00,0.000,6,0.084,0.062,3078,2409,3356
$GC,5445,-0.72,-117.3,385.7,-7.1,227,5449,0.00,2.38,0.00,0.000,4,0.000,0.082,3077,3819,3356
$GC,5484,-0.68,-117.3,388.7,-7.4,227,5488,0.00,2.28,0.00,0.000,6,0.000,0.055,3077,2400,3356
$GC,5805,-0.68,-117.3,411.3,-7.1,233,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3356
$GC,6109,-0.68,-117.3,432.9,-7.1,238,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3356
$GC,6412,-0.68,-117.3,454.5,-7.1,243,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3356
$GC,6715,-0.68,-117.3,474.4,-6.5,248,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3357
$GC,7018,-0.68,-117.3,493.1,-6.2,253,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3356
$GC,7321,-0.68,-117.3,511.1,-5.9,258,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3356
$GC,7625,-0.68,-117.3,529.7,-6.2,263,7629,0.00,2.40,0.00,0.000,4,0.000,0.072,3077,986,3355
$GC,7675,-0.68,-117.3,533.2,-6.7,263,7679,0.00,2.35,0.00,0.000,6,0.000,0.064,3077,2405,3355
$GC,7985,-0.68,-117.3,554.7,-7.0,268,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2404,3355
$GC,8288,-0.68,-117.3,575.7,-6.9,273,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2404,3355
$GC,8591,-0.68,-117.3,594.7,-6.2,278,8595,0.00,2.42,0.00,0.000,4,0.000,0.083,3072,3819,3355
$GC,8642,-0.68,-117.3,598.0,-6.3,278,8646,0.00,2.30,0.00,0.000,6,0.000,0.056,3073,2400,3355
$GC,8952,-0.68,-117.3,616.1,-5.8,283,8957,0.00,2.38,0.00,0.000,4,0.000,0.072,3073,993,3355
$GC,8987,-0.68,-117.3,618.2,-5.7,283,8992,0.00,2.33,0.00,0.000,6,0.000,0.063,3073,2400,3355
$GC,9315,-0.68,-117.3,636.4,-5.5,289,9319,0.00,2.40,0.00,0.000,4,0.000,0.082,3073,3813,3355
$GC,9350,-0.68,-117.3,638.4,-6.4,289,9354,0.00,2.28,0.00,0.000,6,0.000,0.056,3073,2399,3355
$GC,9678,-0.68,-117.3,656.1,-5.4,295,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3355
$GC,9980,-0.68,-117.3,672.6,-5.5,300,9984,0.00,2.45,0.00,0.000,4,0.000,0.083,3073,3818,3355
$GC,10020,-0.68,-117.3,675.0,-5.9,300,10024,0.00,2.30,0.00,0.000,6,0.000,0.056,3073,2393,3355
$GC,10341,-0.68,-117.3,693.1,-5.7,306,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3355
$GC,10644,-0.68,-117.3,710.1,-5.6,311,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3355
$GC,10947,-0.68,-117.3,727.5,-5.8,316,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2394,3355
$GC,11250,-0.68,-117.3,745.0,-5.8,321,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3354
$GC,11554,-0.68,-117.3,762.7,-5.8,326,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3354
$GC,11856,-0.68,-117.3,781.4,-6.2,331,11861,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3819,3354
$GC,11890,-0.68,-117.3,783.5,-6.8,331,11894,0.00,2.30,0.00,0.000,6,0.000,0.057,3073,2401,3354
$GC,12217,-0.68,-117.3,803.7,-6.2,337,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3354
$GC,12520,-0.68,-117.3,822.7,-6.2,342,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3354
$GC,12823,-0.68,-117.3,841.3,-6.1,347,12827,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,995,3354
$GC,12856,-0.68,-117.3,843.4,-5.8,347,12860,0.00,2.35,0.00,0.000,6,0.000,0.064,3073,2411,3354
$GC,13183,-0.68,-117.3,861.0,-5.3,353,13187,0.00,2.40,0.00,0.000,4,0.000,0.084,3072,3817,3354
$GC,13227,-0.68,-117.3,863.5,-5.5,353,13232,0.00,2.30,0.00,0.000,6,0.000,0.058,3073,2400,3354
$GC,13544,-0.68,-117.3,879.1,-4.9,359,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3354
$GC,13847,-0.68,-117.3,893.9,-4.9,364,13851,0.00,2.45,0.00,0.000,4,0.000,0.084,3073,3809,3353
$GC,13891,-0.68,-117.3,896.4,-5.2,364,13896,0.00,2.30,0.00,0.000,6,0.000,0.057,3072,2394,3353
$GC,14208,-0.68,-117.3,912.4,-5.1,370,14209,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2394,3353
$GC,14510,-0.68,-117.3,928.4,-5.3,375,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2394,3353
$GC,14813,-0.68,-117.3,944.5,-5.3,380,14817,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3817,3353
$GC,14852,-0.68,-117.3,946.7,-5.3,380,14856,0.00,2.33,0.00,0.000,6,0.000,0.058,3073,2392,3353
$GC,15173,-0.68,-117.3,964.7,-5.6,386,15175,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3353
$GC,15476,-0.68,-117.3,982.0,-5.7,391,15480,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3810,3353
$GC,15509,-0.68,-117.3,984.2,-6.6,391,15513,0.00,2.33,0.00,0.000,6,0.000,0.058,3073,2392,3353
$STATE,15651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15651,begin apogee
$GC,15659,-0.22,0.0,992.3,5.7,394,15774,0.57,0.00,108.95,1.489,6,0.140,0.000,3244,2196,2875
$STATE,15774,end apogee,CONTROL_FINISHED_OK
$STATE,15774,begin climb
$GC,15778,0.67,117.3,996.6,0.0,396,15900,0.88,0.00,115.30,1.432,6,0.096,0.000,3527,2196,2396
$GC,16204,0.35,117.3,975.6,7.7,403,16206,0.35,0.00,0.00,0.000,6,0.165,0.000,3429,2196,2393
$GC,16506,0.35,117.3,959.8,5.1,408,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2196,2392
$GC,16810,0.36,121.7,945.0,4.9,413,16817,0.00,0.00,4.90,1.038,6,0.000,0.000,3430,2196,2379
$GC,17113,0.36,121.7,928.9,5.4,418,17117,0.00,2.40,0.00,0.000,4,0.000,0.081,3428,3615,2379
$GC,17225,0.26,121.7,921.9,6.8,419,17230,0.12,2.33,0.00,0.000,6,0.180,0.063,3406,2190,2378
$GC,17541,0.27,129.2,906.5,4.8,425,17555,0.00,2.42,8.32,1.251,4,0.000,0.079,3408,790,2349
$GC,17585,0.36,147.1,904.4,4.5,425,17607,0.00,2.30,17.83,1.367,6,0.000,0.061,3408,2199,2276
$GC,17911,0.43,147.1,888.0,5.1,431,17916,0.15,2.35,0.00,0.000,4,0.081,0.080,3478,3607,2274
$GC,17974,0.20,147.1,883.4,7.1,432,17979,0.35,2.30,0.00,0.000,6,0.170,0.065,3383,2200,2274
$GC,18341,0.38,177.4,867.4,4.1,438,18372,0.15,0.00,28.15,1.388,6,0.081,0.000,3449,2200,2152
$GC,18705,0.38,177.4,846.5,5.9,444,18709,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,785,2148
$GC,18750,0.38,177.4,843.7,6.5,444,18754,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2204,2148
$GC,19077,0.38,177.4,824.4,5.9,450,19081,0.00,2.42,0.00,0.000,4,0.000,0.080,3449,781,2148
$GC,19122,0.38,177.4,821.6,6.1,450,19126,0.00,2.33,0.00,0.000,6,0.000,0.063,3449,2201,2148
$GC,19437,0.38,177.4,803.6,5.6,456,19441,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,786,2148
$GC,19494,0.39,185.6,800.5,4.8,456,19508,0.00,2.33,8.27,1.210,6,0.000,0.064,3449,2209,2119
$GC,19871,0.39,185.6,780.3,5.3,463,19875,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,787,2118
$GC,19915,0.39,185.6,777.8,5.7,463,19919,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2209,2118
$GC,20231,0.39,185.6,760.9,5.5,469,20232,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2117
$GC,20534,0.39,185.6,743.6,5.7,474,20538,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,793,2117
$GC,20597,0.39,185.6,740.0,6.1,475,20601,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2204,2117
$GC,20964,0.39,185.6,719.6,5.4,481,20968,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,792,2117
$GC,21014,0.39,185.6,716.8,5.6,481,21018,0.00,2.33,0.00,0.000,6,0.000,0.062,3448,2207,2117
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$STATE,32684,end climb,SURFACE_DEPTH_REACHED
$STATE,32684,begin surface coast
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$STATE,32745,end surface coast,CONTROL_FINISHED_OK
$STATE,32745,begin surface
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$DEVICE_SECS,28.450,250.825,376.425,0.000,0.000,30.901,36.211,176.085,261.250,0.000,0.000,12.396,1839.091,27467.551,565.849,2536.364,801.510,33.377,1838.422,0.000,2500.733,0.000,0.466
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