version: 66.03
glider: 120
mission: 9
dive: 550
start: 3 23 109 23 55 6
data:
$ID,120
$MISSION,9
$DIVE,550
$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,-29514.43
$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
$GPS1,234307,5018.695,-14511.917,50,1.4,50,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-68.4
$GPS2,235408,5018.734,-14511.853,14,1.3,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.177
$KALMAN_X,-48012.9,-120.5,18.2,51250.2,783.6
$KALMAN_Y,119456.5,356.1,247.3,-91822.8,1455.7
$MHEAD_RNG_PITCHd_Wd,168.0,45787,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,47,0.00,0.00,-20.20,0.000,2,0.000,0.000,134,2411,2189
$GC,51,-0.67,-117.3,3.3,-4.8,2,116,14.20,2.50,-40.42,0.000,4,0.284,0.098,3095,3808,3356
$GC,291,-0.52,-117.3,26.2,-9.6,23,298,0.17,2.28,0.00,0.000,6,0.157,0.055,3143,2388,3358
$GC,622,-0.52,-117.3,52.2,-6.5,54,627,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2389,3358
$GC,947,-0.52,-117.3,76.8,-7.6,85,948,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2389,3358
$GC,1258,-0.52,-117.3,100.5,-7.7,102,1262,0.00,2.35,0.00,0.000,4,0.000,0.071,3144,990,3358
$GC,1280,-0.52,-117.3,102.2,-7.6,103,1284,0.00,2.35,0.00,0.000,6,0.000,0.061,3141,2404,3358
$GC,1602,-0.52,-117.3,127.4,-7.5,119,1606,0.00,2.38,0.00,0.000,4,0.000,0.082,3138,3816,3358
$GC,1637,-0.60,-117.3,129.9,-7.6,120,1642,0.00,2.25,0.00,0.000,6,0.000,0.053,3138,2401,3358
$GC,1965,-0.66,-117.3,153.1,-7.0,135,1970,0.12,2.38,0.00,0.000,4,0.085,0.069,3092,984,3358
$GC,1994,-0.66,-117.3,155.6,-8.0,136,1998,0.00,2.35,0.00,0.000,6,0.000,0.060,3092,2404,3358
$GC,2329,-0.66,-117.3,183.6,-8.1,147,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3358
$GC,2636,-0.66,-117.3,207.2,-7.6,157,2640,0.00,2.38,0.00,0.000,4,0.000,0.081,3091,3814,3358
$GC,2714,-0.66,-117.3,213.4,-7.9,159,2718,0.00,2.28,0.00,0.000,6,0.000,0.054,3090,2385,3358
$GC,3032,-0.66,-117.3,234.9,-6.7,170,3036,0.00,2.33,0.00,0.000,4,0.000,0.070,3091,991,3358
$GC,3084,-0.66,-117.3,238.5,-7.0,171,3088,0.00,2.35,0.00,0.000,6,0.000,0.061,3090,2412,3358
$GC,3397,-0.62,-117.3,259.8,-6.9,181,3401,0.00,2.38,0.00,0.000,4,0.000,0.070,3090,996,3358
$GC,3425,-0.62,-117.3,261.8,-7.1,181,3432,0.00,2.33,0.00,0.000,6,0.000,0.061,3090,2409,3358
$GC,3739,-0.62,-117.3,281.7,-6.2,192,3743,0.00,2.38,0.00,0.000,4,0.000,0.069,3090,996,3358
$GC,3790,-0.62,-117.3,285.0,-6.7,193,3794,0.00,2.33,0.00,0.000,6,0.000,0.061,3090,2400,3358
$GC,4102,-0.62,-117.3,304.8,-6.5,202,4107,0.00,2.38,0.00,0.000,4,0.000,0.070,3090,991,3358
$GC,4181,-0.62,-117.3,310.4,-7.1,203,4185,0.00,2.35,0.00,0.000,6,0.000,0.062,3090,2406,3358
$GC,4531,-0.62,-117.3,335.6,-7.3,209,4535,0.00,2.38,0.00,0.000,4,0.000,0.081,3085,3817,3358
$GC,4559,-0.62,-117.3,337.9,-7.7,209,4563,0.00,2.25,0.00,0.000,6,0.000,0.054,3085,2404,3358
$GC,4897,-0.62,-117.3,360.1,-6.5,215,4902,0.10,2.42,0.00,0.000,4,0.123,0.082,3110,3812,3358
$GC,4925,-0.62,-117.3,361.7,-6.1,215,4930,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2398,3358
$GC,5258,-0.62,-117.3,379.8,-5.4,221,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3358
$GC,5561,-0.62,-117.3,396.3,-5.5,226,5565,0.00,2.42,0.00,0.000,4,0.000,0.082,3110,3811,3358
$GC,5606,-0.70,-117.3,398.9,-5.9,226,5610,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2402,3358
$GC,5922,-0.74,-117.3,417.4,-5.9,232,5926,0.00,2.38,0.00,0.000,4,0.000,0.071,3110,984,3357
$GC,5956,-0.80,-117.3,419.8,-6.7,232,5961,0.15,2.35,0.00,0.000,6,0.082,0.061,3056,2401,3357
$GC,6283,-0.73,-117.3,443.1,-7.2,238,6287,0.00,2.38,0.00,0.000,4,0.000,0.081,3056,3809,3358
$GC,6380,-0.64,-117.3,451.2,-8.7,239,6385,0.20,2.28,0.00,0.000,6,0.126,0.055,3112,2384,3358
$GC,6713,-0.69,-117.3,472.6,-6.3,245,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2385,3357
$GC,7016,-0.73,-117.3,493.1,-6.8,250,7020,0.00,2.33,0.00,0.000,4,0.000,0.071,3112,998,3358
$GC,7053,-0.80,-117.3,495.6,-7.1,250,7058,0.17,2.35,0.00,0.000,6,0.077,0.062,3050,2412,3357
$GC,7380,-0.73,-117.3,522.2,-8.1,256,7384,0.10,2.38,0.00,0.000,4,0.094,0.081,3073,3810,3357
$GC,7435,-0.73,-117.3,526.8,-8.3,256,7442,0.00,2.25,0.00,0.000,6,0.000,0.055,3072,2402,3357
$GC,7747,-0.68,-117.3,549.7,-7.4,262,7751,0.00,2.38,0.00,0.000,4,0.000,0.071,3073,982,3357
$GC,7775,-0.63,-117.3,552.0,-8.0,262,7780,0.15,2.38,0.00,0.000,6,0.144,0.063,3112,2410,3357
$GC,8108,-0.69,-117.3,571.5,-5.9,268,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2410,3356
$GC,8411,-0.76,-117.3,588.4,-5.6,273,8412,0.12,0.00,0.00,0.000,6,0.085,0.000,3064,2410,3356
$GC,8714,-0.76,-117.3,606.7,-6.0,278,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2410,3356
$GC,9017,-0.76,-117.3,625.0,-6.1,283,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2410,3356
$GC,9319,-0.76,-117.3,643.9,-6.2,288,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2410,3356
$GC,9623,-0.76,-117.3,663.4,-6.4,293,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2410,3356
$GC,9926,-0.76,-117.3,682.7,-6.3,298,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2410,3356
$GC,10230,-0.76,-117.3,701.5,-6.2,303,10234,0.00,2.40,0.00,0.000,4,0.000,0.083,3063,3808,3356
$GC,10263,-0.76,-117.3,704.0,-6.7,303,10267,0.00,2.28,0.00,0.000,6,0.000,0.056,3063,2394,3356
$GC,10590,-0.76,-117.3,725.2,-6.5,309,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2394,3356
$GC,10893,-0.76,-117.3,744.5,-6.4,314,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2394,3356
$GC,11197,-0.76,-117.3,762.0,-5.7,319,11201,0.00,2.45,0.00,0.000,4,0.000,0.082,3063,3818,3355
$GC,11241,-0.76,-117.3,764.7,-5.9,319,11246,0.00,2.30,0.00,0.000,6,0.000,0.056,3063,2389,3355
$GC,11558,-0.76,-117.3,780.4,-5.0,325,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2389,3355
$GC,11861,-0.76,-117.3,794.6,-4.6,330,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2389,3355
$GC,12165,-0.76,-117.3,808.7,-4.7,335,12169,0.00,2.45,0.00,0.000,4,0.000,0.083,3064,3814,3355
$GC,12209,-0.76,-117.3,811.2,-5.3,335,12213,0.00,2.28,0.00,0.000,6,0.000,0.056,3063,2400,3355
$GC,12525,-0.76,-117.3,828.0,-5.4,341,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2400,3355
$GC,12828,-0.76,-117.3,847.0,-6.4,346,12832,0.00,2.42,0.00,0.000,4,0.000,0.083,3063,3810,3355
$GC,12851,-0.76,-117.3,848.7,-7.3,346,12856,0.00,2.28,0.00,0.000,6,0.000,0.056,3063,2396,3355
$GC,13190,-0.76,-117.3,871.6,-6.7,352,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2397,3355
$GC,13493,-0.76,-117.3,891.8,-6.6,357,13497,0.00,2.42,0.00,0.000,4,0.000,0.084,3063,3806,3355
$GC,13537,-0.76,-117.3,894.8,-6.4,357,13541,0.00,2.28,0.00,0.000,6,0.000,0.057,3064,2394,3355
$GC,13853,-0.76,-117.3,912.4,-5.5,363,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2395,3355
$GC,14156,-0.76,-117.3,927.9,-5.1,368,14160,0.00,2.45,0.00,0.000,4,0.000,0.084,3063,3817,3354
$GC,14206,-0.76,-117.3,930.6,-5.1,368,14210,0.00,2.30,0.00,0.000,6,0.000,0.057,3063,2390,3354
$GC,14518,-0.76,-117.3,946.0,-5.0,373,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2391,3355
$GC,14819,-0.76,-117.3,962.1,-5.3,378,14823,0.00,2.45,0.00,0.000,4,0.000,0.083,3063,3812,3354
$GC,14853,-0.76,-117.3,964.2,-6.8,378,14857,0.00,2.28,0.00,0.000,6,0.000,0.057,3063,2402,3354
$GC,15179,-0.76,-117.3,983.9,-6.0,384,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2402,3354
$STATE,15297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15297,begin apogee
$GC,15306,-0.22,0.0,991.2,6.0,386,15420,0.60,0.00,108.88,1.486,6,0.131,0.000,3246,2187,2876
$STATE,15421,end apogee,CONTROL_FINISHED_OK
$STATE,15421,begin climb
$GC,15424,0.67,117.3,995.9,0.0,388,15549,0.85,2.67,114.93,1.433,4,0.089,0.077,3533,792,2396
$GC,15619,0.33,117.3,993.5,6.6,391,15624,0.40,2.47,0.00,0.000,6,0.166,0.061,3430,2201,2394
$GC,15987,0.30,133.1,976.6,4.5,397,16006,0.00,2.40,14.93,1.355,4,0.000,0.081,3429,3618,2333
$GC,16052,0.22,133.1,973.1,5.3,398,16057,0.17,2.30,0.00,0.000,6,0.170,0.064,3391,2203,2332
$GC,16414,0.34,156.2,957.4,4.3,404,16443,0.10,2.47,21.88,1.400,4,0.092,0.080,3433,787,2239
$GC,16466,0.34,156.2,954.7,5.5,404,16471,0.00,2.35,0.00,0.000,6,0.000,0.061,3433,2206,2238
$GC,16777,0.34,156.2,936.6,5.9,409,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2206,2237
$GC,17080,0.34,156.2,918.6,6.0,414,17081,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2206,2237
$GC,17383,0.34,156.2,900.6,6.0,419,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2206,2237
$GC,17686,0.34,156.2,881.7,6.3,424,17687,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2206,2236
$GC,17989,0.34,156.2,863.3,6.1,429,17990,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2205,2236
$GC,18293,0.34,156.2,845.3,5.9,434,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2205,2235
$GC,18595,0.34,156.2,828.0,5.7,439,18599,0.00,2.42,0.00,0.000,4,0.000,0.078,3435,783,2235
$GC,18639,0.34,156.2,825.3,5.3,439,18643,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2200,2235
$GC,18955,0.34,156.2,808.3,5.4,445,18956,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2199,2236
$GC,19259,0.34,162.0,793.4,4.8,450,19267,0.00,0.00,6.25,1.122,6,0.000,0.000,3435,2199,2215
$GC,19563,0.35,162.7,778.3,5.0,455,19567,0.00,2.42,0.00,0.000,4,0.000,0.078,3435,780,2215
$GC,19602,0.35,162.7,776.2,5.1,455,19606,0.00,2.35,0.00,0.000,6,0.000,0.062,3435,2210,2215
$GC,19923,0.35,162.7,760.0,5.1,461,19924,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2209,2215
$GC,20227,0.35,166.0,744.9,4.9,466,20237,0.00,2.42,5.55,1.052,4,0.000,0.078,3435,791,2198
$GC,20300,0.39,166.0,740.8,5.6,467,20304,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2208,2198
$GC,20655,0.39,166.0,721.4,5.6,473,20656,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2198
$GC,20958,0.39,166.0,703.4,5.9,478,20959,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2198
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$STATE,32294,end climb,SURFACE_DEPTH_REACHED
$STATE,32294,begin surface coast
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$STATE,32410,end surface coast,CONTROL_FINISHED_OK
$STATE,32410,begin surface
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