version: 66.03
glider: 120
mission: 9
dive: 552
start: 3 24 109 18 13 28
data:
$ID,120
$MISSION,9
$DIVE,552
$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,-29570.85
$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
$GPS1,180526,5013.098,-14512.957,33,4.2,52,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-73.0
$GPS2,181234,5013.143,-14512.930,13,4.3,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.176
$KALMAN_X,-47441.3,-146.3,-295.3,49736.9,1215.0
$KALMAN_Y,124008.7,-180.1,-145.7,-105780.1,3182.6
$MHEAD_RNG_PITCHd_Wd,170.4,35451,-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,-117.3,0.0,0.0,0,32,0.00,0.00,-5.22,0.000,2,0.000,0.000,134,2410,1884
$GC,36,-0.67,-117.3,3.4,-0.0,1,126,13.85,2.42,-69.80,0.000,4,0.281,0.082,3094,993,3355
$GC,144,-0.45,-117.3,5.9,-9.7,10,151,0.28,2.35,0.00,0.000,6,0.154,0.064,3171,2409,3355
$GC,475,-0.53,-117.3,28.5,-5.9,41,480,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2409,3356
$GC,801,-0.62,-117.3,49.9,-5.8,72,805,0.15,2.38,0.00,0.000,4,0.077,0.080,3101,3812,3357
$GC,834,-0.52,-117.3,53.0,-9.1,74,841,0.17,2.25,0.00,0.000,6,0.119,0.054,3150,2391,3357
$GC,1163,-0.52,-117.3,77.6,-7.3,105,1167,0.00,2.35,0.00,0.000,4,0.000,0.071,3150,988,3357
$GC,1190,-0.52,-117.3,80.0,-7.3,107,1197,0.00,2.35,0.00,0.000,6,0.000,0.061,3150,2411,3357
$GC,1508,-0.52,-117.3,102.0,-6.8,123,1512,0.00,2.40,0.00,0.000,4,0.000,0.081,3150,3818,3357
$GC,1530,-0.52,-117.3,103.6,-6.0,124,1534,0.00,2.25,0.00,0.000,6,0.000,0.054,3150,2405,3357
$GC,1852,-0.57,-117.3,125.9,-7.5,140,1856,0.00,2.40,0.00,0.000,4,0.000,0.081,3150,3808,3357
$GC,1876,-0.65,-117.3,127.7,-7.2,141,1881,0.12,2.25,0.00,0.000,6,0.077,0.053,3103,2396,3356
$GC,2203,-0.65,-117.3,155.0,-8.1,156,2207,0.00,2.35,0.00,0.000,4,0.000,0.069,3103,986,3357
$GC,2270,-0.65,-117.3,160.2,-7.4,158,2274,0.00,2.35,0.00,0.000,6,0.000,0.061,3103,2402,3357
$GC,2601,-0.65,-117.3,182.2,-6.4,169,2605,0.00,2.40,0.00,0.000,4,0.000,0.080,3100,3821,3357
$GC,2645,-0.65,-117.3,185.3,-7.0,170,2649,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2392,3357
$GC,2965,-0.65,-117.3,207.2,-6.9,181,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3357
$GC,3271,-0.65,-117.3,227.5,-6.6,191,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3357
$GC,3578,-0.65,-117.3,246.1,-5.8,201,3582,0.00,2.42,0.00,0.000,4,0.000,0.080,3099,3809,3357
$GC,3640,-0.65,-117.3,249.8,-6.1,203,3644,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2389,3357
$GC,3982,-0.65,-117.3,270.2,-6.2,214,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2389,3357
$GC,4289,-0.65,-117.3,290.1,-6.7,224,4293,0.00,2.45,0.00,0.000,4,0.000,0.081,3099,3815,3357
$GC,4334,-0.65,-117.3,293.5,-7.3,225,4338,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2392,3357
$GC,4686,-0.65,-117.3,318.9,-7.3,233,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3356
$GC,4990,-0.65,-117.3,340.9,-7.2,238,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3357
$GC,5292,-0.65,-117.3,360.5,-6.4,243,5297,0.00,2.42,0.00,0.000,4,0.000,0.081,3099,3809,3357
$GC,5327,-0.65,-117.3,362.9,-7.1,243,5331,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2400,3357
$GC,5653,-0.65,-117.3,384.7,-6.7,249,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,5956,-0.65,-117.3,404.3,-6.4,254,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,6260,-0.69,-117.3,423.4,-6.2,259,6264,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,983,3357
$GC,6301,-0.75,-117.3,426.1,-6.3,259,6305,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2409,3356
$GC,6622,-0.75,-117.3,445.7,-6.1,265,6626,0.00,2.38,0.00,0.000,4,0.000,0.082,3099,3810,3357
$GC,6651,-0.80,-117.3,447.6,-6.6,265,6655,0.12,2.25,0.00,0.000,6,0.089,0.054,3050,2392,3356
$GC,6990,-0.73,-117.3,471.4,-7.1,271,6995,0.10,2.35,0.00,0.000,4,0.094,0.071,3081,995,3356
$GC,7029,-0.73,-117.3,474.4,-7.4,271,7033,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2400,3356
$GC,7351,-0.68,-117.3,495.6,-6.7,277,7355,0.00,2.40,0.00,0.000,4,0.000,0.082,3081,3815,3356
$GC,7386,-0.68,-117.3,498.0,-6.8,277,7390,0.00,2.28,0.00,0.000,6,0.000,0.055,3081,2394,3356
$GC,7714,-0.68,-117.3,519.9,-6.7,283,7718,0.00,2.42,0.00,0.000,4,0.000,0.081,3081,3809,3356
$GC,7769,-0.68,-117.3,523.9,-7.3,283,7776,0.00,2.25,0.00,0.000,6,0.000,0.055,3081,2401,3355
$GC,8080,-0.68,-117.3,544.8,-6.8,289,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3355
$GC,8383,-0.68,-117.3,564.8,-6.5,294,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3356
$GC,8686,-0.68,-117.3,584.0,-6.3,299,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3356
$GC,8989,-0.68,-117.3,602.9,-6.2,304,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3355
$GC,9292,-0.68,-117.3,622.4,-6.5,309,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3356
$GC,9595,-0.68,-117.3,643.1,-6.9,314,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3355
$GC,9899,-0.68,-117.3,663.5,-6.8,319,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3355
$GC,10201,-0.68,-117.3,683.0,-6.4,324,10205,0.00,2.45,0.00,0.000,4,0.000,0.084,3081,3818,3355
$GC,10245,-0.68,-117.3,685.9,-6.6,324,10250,0.00,2.30,0.00,0.000,6,0.000,0.057,3081,2389,3355
$GC,10561,-0.68,-117.3,705.6,-6.3,330,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3355
$GC,10865,-0.68,-117.3,723.2,-5.7,335,10869,0.00,2.45,0.00,0.000,4,0.000,0.084,3081,3808,3355
$GC,10904,-0.68,-117.3,725.5,-6.1,335,10908,0.00,2.28,0.00,0.000,6,0.000,0.056,3081,2396,3355
$GC,11225,-0.68,-117.3,743.7,-5.7,341,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2397,3355
$GC,11528,-0.68,-117.3,760.3,-5.5,346,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2397,3355
$GC,11832,-0.68,-117.3,778.3,-6.0,351,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2397,3354
$GC,12135,-0.68,-117.3,797.4,-6.3,356,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2397,3355
$GC,12438,-0.68,-117.3,815.6,-5.9,361,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2397,3355
$GC,12741,-0.68,-117.3,832.5,-5.5,366,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2396,3354
$GC,13044,-0.68,-117.3,848.6,-5.3,371,13048,0.00,2.45,0.00,0.000,4,0.000,0.085,3081,3808,3354
$GC,13083,-0.68,-117.3,850.7,-5.7,371,13087,0.00,2.28,0.00,0.000,6,0.000,0.057,3081,2400,3354
$GC,13405,-0.79,-117.3,869.1,-5.8,377,13409,0.00,2.38,0.00,0.000,4,0.000,0.074,3081,995,3353
$GC,13483,-0.86,-117.3,874.3,-6.4,378,13488,0.12,2.38,0.00,0.000,6,0.082,0.065,3037,2409,3353
$GC,13834,-0.96,-117.3,899.1,-7.3,384,13838,0.00,2.42,0.00,0.000,4,0.000,0.073,3038,990,3353
$GC,13929,-0.92,-117.3,906.5,-7.5,385,13933,0.00,2.38,0.00,0.000,6,0.000,0.063,3039,2407,3353
$GC,14262,-1.01,-117.3,932.8,-8.1,391,14266,0.15,2.42,0.00,0.000,4,0.084,0.083,2977,3821,3353
$GC,14520,-0.70,-117.3,961.6,-11.3,394,14527,0.40,2.30,0.00,0.000,6,0.167,0.059,3083,2392,3353
$GC,14830,-0.70,-117.3,982.8,-6.6,400,14834,0.00,2.45,0.00,0.000,4,0.000,0.085,3083,3808,3353
$GC,14887,-0.78,-117.3,986.4,-6.7,400,14893,0.00,2.28,0.00,0.000,6,0.000,0.058,3083,2399,3353
$STATE,14951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14951,begin apogee
$GC,14959,-0.22,0.0,990.7,6.4,402,15074,0.52,0.00,108.57,1.490,6,0.124,0.000,3249,2198,2876
$STATE,15075,end apogee,CONTROL_FINISHED_OK
$STATE,15075,begin climb
$GC,15078,0.67,117.3,997.3,0.0,404,15202,0.85,2.70,114.43,1.435,4,0.089,0.078,3528,3608,2396
$GC,15259,0.24,117.3,995.0,8.1,406,15264,0.52,2.45,0.00,0.000,6,0.184,0.064,3403,2201,2395
$GC,15569,0.24,117.3,979.2,5.1,411,15573,0.00,2.38,0.00,0.000,4,0.000,0.079,3408,785,2393
$GC,15637,0.29,117.3,975.5,5.7,412,15641,0.00,2.33,0.00,0.000,6,0.000,0.061,3408,2203,2393
$GC,15997,0.29,117.3,956.9,5.1,418,16001,0.00,2.35,0.00,0.000,4,0.000,0.080,3408,3620,2392
$GC,16036,0.29,117.3,954.7,5.2,418,16040,0.00,2.30,0.00,0.000,6,0.000,0.063,3408,2196,2392
$GC,16358,0.29,118.1,938.7,5.0,424,16362,0.00,2.38,0.00,0.000,4,0.000,0.079,3408,779,2392
$GC,16408,0.34,120.0,936.1,4.9,424,16412,0.00,2.33,0.00,0.000,6,0.000,0.061,3408,2201,2392
$GC,16719,0.34,120.0,920.7,5.0,429,16720,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2201,2392
$GC,17022,0.35,130.5,906.3,4.7,434,17036,0.00,0.00,12.32,1.342,6,0.000,0.000,3408,2201,2344
$GC,17326,0.42,146.4,892.6,4.5,439,17348,0.12,2.38,15.93,1.365,4,0.091,0.080,3463,3609,2278
$GC,17377,0.24,146.4,889.4,6.3,439,17382,0.25,2.30,0.00,0.000,6,0.170,0.064,3397,2199,2278
$GC,17689,0.37,176.4,876.1,4.1,444,17719,0.12,0.00,28.27,1.393,6,0.086,0.000,3445,2199,2156
$GC,17990,0.37,176.4,861.0,5.0,449,17995,0.00,2.38,0.00,0.000,4,0.000,0.079,3447,785,2153
$GC,18047,0.37,176.4,858.1,5.7,449,18053,0.00,2.33,0.00,0.000,6,0.000,0.062,3446,2205,2153
$GC,18357,0.38,181.5,842.9,4.9,455,18365,0.00,0.00,5.53,1.079,6,0.000,0.000,3447,2205,2136
$GC,18661,0.38,181.5,827.6,5.1,460,18665,0.00,2.40,0.00,0.000,4,0.000,0.079,3447,787,2135
$GC,18696,0.39,187.9,825.7,4.8,460,18710,0.00,2.33,7.80,1.197,6,0.000,0.062,3446,2205,2108
$GC,19027,0.39,187.9,808.8,5.1,466,19031,0.00,2.40,0.00,0.000,4,0.000,0.079,3447,789,2107
$GC,19062,0.39,187.9,806.8,5.1,466,19066,0.00,2.33,0.00,0.000,6,0.000,0.061,3447,2205,2108
$GC,19389,0.39,187.9,789.0,5.5,472,19393,0.00,2.40,0.00,0.000,4,0.000,0.080,3447,792,2107
$GC,19433,0.39,187.9,786.4,6.4,472,19437,0.00,2.33,0.00,0.000,6,0.000,0.062,3447,2207,2107
$GC,19748,0.39,187.9,769.4,5.5,478,19750,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2207,2107
$GC,20052,0.39,187.9,753.4,5.3,483,20056,0.00,2.42,0.00,0.000,4,0.000,0.079,3447,783,2107
$GC,20121,0.39,187.9,749.7,6.2,484,20125,0.00,2.35,0.00,0.000,6,0.000,0.063,3446,2203,2107
$GC,20487,0.39,187.9,730.2,5.3,490,20488,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2202,2106
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$STATE,32982,end climb,SURFACE_DEPTH_REACHED
$STATE,32983,begin surface coast
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$STATE,33045,end surface coast,CONTROL_FINISHED_OK
$STATE,33045,begin surface
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$DATA_FILE_SIZE,50708,879
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