version: 66.03
glider: 120
mission: 9
dive: 105
start: 10 6 108 5 44 57
data:
$ID,120
$MISSION,9
$DIVE,105
$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,-19804.311
$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,22
$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
$GPS1,053840,4953.891,-14513.282,46,1.2,46,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.25
$_SM_ANGLEo,-78.9
$GPS2,054402,4953.904,-14513.252,11,1.2,29,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,0.066
$KALMAN_X,44059.9,-268.7,-101.9,-71637.1,-161.7
$KALMAN_Y,86942.9,-151.4,-228.5,-108126.8,3427.3
$MHEAD_RNG_PITCHd_Wd,49.8,36606,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.45,0.000,2,0.000,0.000,136,2414,1958
$GC,35,-0.67,-117.3,4.9,-0.0,1,103,13.82,2.38,-48.30,0.000,4,0.292,0.097,3096,3808,3356
$GC,357,-0.48,-117.3,45.2,-10.7,30,362,0.22,2.25,0.00,0.000,6,0.166,0.054,3158,2393,3359
$GC,683,-0.48,-117.3,71.8,-8.6,60,687,0.00,2.28,0.00,0.000,4,0.000,0.067,3159,993,3361
$GC,722,-0.48,-117.3,75.5,-8.9,63,726,0.00,2.28,0.00,0.000,6,0.000,0.058,3156,2406,3361
$GC,1048,-0.48,-117.3,101.0,-7.1,81,1052,0.00,2.33,0.00,0.000,4,0.000,0.067,3156,985,3362
$GC,1097,-0.48,-117.3,104.4,-6.6,83,1102,0.00,2.33,0.00,0.000,6,0.000,0.060,3156,2405,3362
$GC,1418,-0.48,-117.3,125.2,-6.5,99,1422,0.00,2.30,0.00,0.000,4,0.000,0.080,3156,3809,3362
$GC,1473,-0.53,-117.3,129.0,-6.6,101,1480,0.00,2.25,0.00,0.000,6,0.000,0.054,3155,2402,3362
$GC,1790,-0.58,-117.3,149.3,-5.9,117,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3362
$GC,2116,-0.65,-117.3,168.2,-5.9,128,2118,0.15,0.00,0.00,0.000,6,0.085,0.000,3097,2402,3362
$GC,2422,-0.59,-117.3,193.2,-8.5,138,2427,0.10,2.30,0.00,0.000,4,0.109,0.070,3124,987,3361
$GC,2454,-0.59,-117.3,196.0,-8.8,139,2458,0.00,2.30,0.00,0.000,6,0.000,0.063,3124,2395,3361
$GC,2789,-0.59,-117.3,220.7,-7.1,150,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3361
$GC,3095,-0.59,-117.3,242.1,-7.0,160,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3360
$GC,3401,-0.59,-117.3,263.3,-7.1,170,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3360
$GC,3707,-0.59,-117.3,285.0,-7.0,180,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2395,3360
$GC,4013,-0.59,-117.3,304.5,-6.2,189,4017,0.00,2.33,0.00,0.000,4,0.000,0.083,3124,3812,3359
$GC,4044,-0.59,-117.3,306.4,-5.9,189,4049,0.00,2.28,0.00,0.000,6,0.000,0.058,3124,2402,3359
$GC,4377,-0.59,-117.3,325.4,-5.7,195,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3359
$GC,4680,-0.59,-117.3,343.5,-6.1,200,4684,0.00,2.30,0.00,0.000,4,0.000,0.074,3124,989,3358
$GC,4706,-0.59,-117.3,345.4,-7.5,200,4710,0.00,2.30,0.00,0.000,6,0.000,0.064,3124,2400,3358
$GC,5043,-0.59,-117.3,367.7,-6.7,206,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3358
$GC,5347,-0.59,-117.3,388.7,-6.9,211,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3358
$GC,5650,-0.59,-117.3,408.3,-6.4,216,5654,0.00,2.33,0.00,0.000,4,0.000,0.074,3124,982,3357
$GC,5693,-0.59,-117.3,411.2,-6.8,216,5697,0.00,2.33,0.00,0.000,6,0.000,0.065,3124,2402,3357
$GC,6014,-0.59,-117.3,430.7,-6.0,222,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3357
$GC,6317,-0.59,-117.3,448.1,-5.7,227,6321,0.00,2.30,0.00,0.000,4,0.000,0.074,3124,991,3357
$GC,6343,-0.59,-117.3,449.7,-6.1,227,6347,0.00,2.30,0.00,0.000,6,0.000,0.064,3124,2403,3357
$GC,6680,-0.59,-117.3,467.4,-5.2,233,6684,0.00,2.30,0.00,0.000,4,0.000,0.083,3124,3808,3357
$GC,6718,-0.63,-117.3,469.4,-5.5,233,6723,0.00,2.25,0.00,0.000,6,0.000,0.058,3124,2403,3357
$GC,7045,-0.63,-117.3,486.3,-5.3,239,7049,0.00,2.30,0.00,0.000,4,0.000,0.074,3124,986,3357
$GC,7083,-0.63,-117.3,488.6,-6.2,239,7087,0.00,2.28,0.00,0.000,6,0.000,0.064,3124,2402,3356
$GC,7403,-0.63,-117.3,506.2,-5.5,245,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,7706,-0.63,-117.3,524.1,-6.0,250,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,8009,-0.63,-117.3,542.9,-6.2,255,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,8314,-0.63,-117.3,561.3,-6.0,260,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,8615,-0.63,-117.3,578.2,-5.6,265,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,8918,-0.63,-117.3,594.1,-5.2,270,8922,0.00,2.33,0.00,0.000,4,0.000,0.074,3124,988,3355
$GC,8951,-0.68,-117.3,595.7,-5.1,270,8955,0.00,2.33,0.00,0.000,6,0.000,0.066,3124,2405,3355
$GC,9283,-0.72,-117.3,611.6,-4.7,276,9285,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2405,3355
$GC,9586,-0.72,-117.3,630.1,-6.2,281,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3355
$GC,9889,-0.72,-117.3,649.6,-6.5,286,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3355
$GC,10192,-0.68,-117.3,670.8,-7.1,291,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3355
$GC,10495,-0.68,-117.3,693.3,-7.4,296,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3355
$GC,10799,-0.68,-117.3,714.9,-7.1,301,10803,0.00,2.30,0.00,0.000,4,0.000,0.084,3078,3807,3355
$GC,10826,-0.61,-117.3,717.2,-8.2,301,10831,0.10,2.28,0.00,0.000,6,0.133,0.061,3121,2395,3355
$GC,11163,-0.61,-117.3,737.7,-6.0,307,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3355
$GC,11467,-0.66,-117.3,754.7,-5.6,312,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3355
$GC,11770,-0.71,-117.3,771.4,-5.5,317,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3354
$GC,12073,-0.76,-117.3,788.2,-5.6,322,12077,0.15,2.30,0.00,0.000,4,0.088,0.076,3058,991,3354
$GC,12104,-0.63,-117.3,790.6,-8.0,322,12109,0.12,2.30,0.00,0.000,6,0.173,0.067,3106,2396,3354
$GC,12436,-0.63,-117.3,811.1,-6.2,328,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2396,3354
$GC,12739,-0.63,-117.3,829.7,-6.1,333,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2396,3354
$GC,13042,-0.63,-117.3,848.3,-6.1,338,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2396,3354
$GC,13345,-0.63,-117.3,866.9,-6.2,343,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2396,3354
$GC,13650,-0.63,-117.3,884.8,-5.9,348,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3354
$GC,13952,-0.63,-117.3,901.9,-5.6,353,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3354
$GC,14255,-0.63,-117.3,917.5,-5.1,358,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3353
$GC,14560,-0.63,-117.3,932.7,-4.9,363,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3354
$GC,14861,-0.63,-117.3,946.4,-4.5,368,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3353
$GC,15164,-0.63,-117.3,959.9,-4.5,373,15168,0.00,2.33,0.00,0.000,4,0.000,0.077,3105,987,3352
$GC,15197,-0.63,-117.3,961.5,-4.6,373,15201,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2400,3352
$GC,15529,-0.63,-117.3,977.4,-4.9,379,15533,0.00,2.33,0.00,0.000,4,0.000,0.086,3106,3807,3352
$GC,15556,-0.67,-117.3,978.9,-5.8,379,15560,0.00,2.25,0.00,0.000,6,0.000,0.061,3106,2395,3352
$STATE,15831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15831,begin apogee
$GC,15835,-0.22,0.0,992.7,5.0,384,15939,0.47,0.00,100.85,1.506,6,0.159,0.000,3248,2198,2876
$STATE,15940,end apogee,CONTROL_FINISHED_OK
$STATE,15940,begin climb
$GC,15941,0.67,117.3,994.2,0.0,385,16052,0.85,2.65,103.93,1.453,4,0.103,0.080,3523,3604,2397
$GC,16096,0.20,117.3,992.1,8.3,387,16102,0.52,2.50,0.00,0.000,6,0.197,0.065,3385,2210,2394
$GC,16435,0.26,126.7,975.5,4.7,393,16448,0.00,0.00,9.40,1.273,6,0.000,0.000,3385,2210,2359
$GC,16805,0.32,134.9,957.9,4.8,399,16816,0.12,0.00,8.65,1.266,6,0.092,0.000,3430,2210,2326
$GC,17170,0.26,134.9,935.0,6.3,405,17174,0.00,2.40,0.00,0.000,4,0.000,0.082,3435,786,2324
$GC,17232,0.19,134.9,930.8,6.7,406,17237,0.20,2.35,0.00,0.000,6,0.162,0.066,3383,2207,2324
$GC,17597,0.27,134.9,912.2,5.1,412,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2207,2324
$GC,17900,0.35,134.9,896.2,5.3,417,17905,0.15,2.35,0.00,0.000,4,0.093,0.083,3444,3623,2325
$GC,17943,0.16,134.9,892.9,9.4,417,17948,0.22,2.35,0.00,0.000,6,0.173,0.067,3373,2195,2324
$GC,18264,0.28,139.1,877.0,4.9,423,18274,0.10,2.33,5.07,1.066,4,0.102,0.082,3408,789,2308
$GC,18301,0.33,139.1,874.9,5.5,423,18306,0.00,2.35,0.00,0.000,6,0.000,0.066,3408,2204,2308
$GC,18628,0.37,139.1,858.1,5.1,429,18632,0.00,2.33,0.00,0.000,4,0.000,0.084,3408,3611,2308
$GC,18671,0.33,139.1,855.4,6.0,429,18675,0.00,2.33,0.00,0.000,6,0.000,0.067,3408,2200,2307
$GC,18992,0.33,139.1,839.2,5.0,435,18993,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2308
$GC,19296,0.35,159.2,825.5,4.4,440,19316,0.00,0.00,18.15,1.364,6,0.000,0.000,3408,2199,2227
$GC,19599,0.36,168.7,811.2,4.7,445,19612,0.00,0.00,9.60,1.259,6,0.000,0.000,3408,2200,2188
$GC,19968,0.41,168.7,791.9,5.3,451,19973,0.12,2.38,0.00,0.000,4,0.101,0.081,3454,783,2187
$GC,20011,0.35,168.7,788.9,6.0,451,20015,0.00,2.35,0.00,0.000,6,0.000,0.066,3454,2195,2187
$GC,20333,0.27,168.7,765.2,7.6,457,20334,0.17,0.00,0.00,0.000,6,0.163,0.000,3408,2196,2186
$GC,20635,0.33,168.7,746.3,6.2,462,20636,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2186
$GC,20938,0.38,168.7,727.1,6.3,467,20939,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2186
$GC,21242,0.43,168.7,707.7,6.4,472,21244,0.15,0.00,0.00,0.000,6,0.095,0.000,3463,2196,2186
$GC,21545,0.32,168.7,682.6,8.4,477,21547,0.15,0.00,0.00,0.000,6,0.169,0.000,3425,2196,2186
$GC,21847,0.32,168.7,661.2,6.9,482,21851,0.00,2.35,0.00,0.000,4,0.000,0.081,3425,786,2186
$GC,21878,0.32,168.7,658.9,6.9,482,21883,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2204,2187
$GC,22211,0.32,168.7,638.5,6.0,488,22212,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2204,2186
$GC,22514,0.32,168.7,622.7,5.1,493,22518,0.00,2.35,0.00,0.000,4,0.000,0.081,3425,787,2186
$GC,22546,0.38,179.2,621.0,4.7,493,22561,0.00,2.28,10.10,1.180,6,0.000,0.064,3425,2202,2144
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$STATE,32097,end climb,SURFACE_DEPTH_REACHED
$STATE,32098,begin surface coast
$FINISH,3.9,1.020596
$STATE,32216,end surface coast,CONTROL_FINISHED_OK
$STATE,32216,begin surface
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$XPDR_PINGS,948
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$10V_AH,10.7,14.020
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$DEVICE_SECS,30.325,167.900,371.600,0.000,0.000,29.307,33.173,141.837,237.000,0.000,0.000,29.994,1753.166,27706.230,503.074,2230.282,416.920,33.370,1592.077,0.000,2191.694,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47426,825
$CAP_FILE_SIZE,176526,0
$CFSIZE,260165632,250548224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,144425,4955.303,-14508.613,41,1.3,41,18.4