version: 66.03
glider: 120
mission: 9
dive: 121
start: 10 12 108 8 4 58
data:
$ID,120
$MISSION,9
$DIVE,121
$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,-20168.955
$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,23
$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
$GPS1,075837,5008.649,-14428.896,70,1.0,75,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.97
$_SM_ANGLEo,-70.7
$GPS2,080403,5008.638,-14428.849,14,1.8,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,-0.173
$KALMAN_X,39857.0,-93.4,-22.1,-14933.7,1373.6
$KALMAN_Y,91182.7,70.5,276.8,-85822.5,1381.3
$MHEAD_RNG_PITCHd_Wd,174.6,27115,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.85,0.000,2,0.000,0.000,148,2403,1959
$GC,36,-0.67,-117.3,5.0,-0.0,1,103,13.68,2.38,-48.70,0.000,4,0.286,0.091,3094,985,3356
$GC,182,-0.34,-117.3,20.3,-13.7,14,189,0.40,2.33,0.00,0.000,6,0.168,0.074,3207,2399,3358
$GC,507,-0.40,-117.3,41.9,-6.9,45,509,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2399,3359
$GC,825,-0.76,-117.3,62.3,-6.8,75,827,0.40,0.00,0.00,0.000,6,0.085,0.000,3068,2399,3361
$GC,1139,-0.45,-117.3,98.4,-12.5,98,1144,0.32,2.30,0.00,0.000,4,0.171,0.064,3164,990,3362
$GC,1246,-0.45,-117.3,107.0,-7.2,103,1250,0.00,2.28,0.00,0.000,6,0.000,0.058,3164,2402,3362
$GC,1571,-0.45,-117.3,129.7,-7.2,119,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2402,3362
$GC,1882,-0.51,-117.3,148.5,-5.7,134,1886,0.00,2.30,0.00,0.000,4,0.000,0.067,3164,990,3362
$GC,1909,-0.59,-117.3,150.3,-6.6,135,1913,0.12,2.28,0.00,0.000,6,0.081,0.060,3116,2403,3362
$GC,2226,-0.54,-117.3,172.9,-6.6,146,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2404,3362
$GC,2532,-0.54,-117.3,192.7,-6.6,156,2536,0.00,2.33,0.00,0.000,4,0.000,0.069,3116,982,3362
$GC,2609,-0.50,-117.3,198.2,-6.9,158,2614,0.15,2.33,0.00,0.000,6,0.162,0.062,3154,2422,3362
$GC,2934,-0.57,-117.3,216.1,-5.5,169,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2422,3362
$GC,3240,-0.66,-117.3,232.2,-5.0,179,3245,0.15,2.35,0.00,0.000,4,0.082,0.069,3091,988,3361
$GC,3289,-0.56,-117.3,235.7,-7.5,180,3293,0.15,2.30,0.00,0.000,6,0.158,0.062,3131,2400,3361
$GC,3607,-0.56,-117.3,254.5,-5.9,191,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3361
$GC,3913,-0.56,-117.3,273.6,-6.4,201,3917,0.00,2.30,0.00,0.000,4,0.000,0.071,3131,991,3360
$GC,3961,-0.56,-117.3,277.0,-6.9,202,3966,0.00,2.30,0.00,0.000,6,0.000,0.062,3129,2404,3360
$GC,4280,-0.56,-117.3,297.6,-6.3,213,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2404,3360
$GC,4583,-0.56,-117.3,315.9,-6.0,219,4587,0.00,2.33,0.00,0.000,4,0.000,0.071,3129,985,3359
$GC,4615,-0.56,-117.3,318.0,-6.2,219,4620,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2406,3359
$GC,4947,-0.56,-117.3,338.3,-6.2,225,4951,0.00,2.30,0.00,0.000,4,0.000,0.081,3128,3810,3359
$GC,4980,-0.60,-117.3,340.6,-6.7,225,4984,0.00,2.28,0.00,0.000,6,0.000,0.058,3128,2393,3359
$GC,5312,-0.60,-117.3,362.9,-6.8,231,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2394,3358
$GC,5615,-0.60,-117.3,382.9,-6.6,236,5619,0.00,2.28,0.00,0.000,4,0.000,0.073,3129,988,3358
$GC,5641,-0.60,-117.3,384.7,-7.2,236,5645,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2399,3358
$GC,5979,-0.60,-117.3,406.3,-6.3,242,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3358
$GC,6282,-0.60,-117.3,423.8,-5.7,247,6286,0.00,2.30,0.00,0.000,4,0.000,0.072,3128,993,3357
$GC,6319,-0.64,-117.3,426.2,-6.2,247,6324,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2401,3357
$GC,6646,-0.64,-117.3,445.3,-6.0,253,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3357
$GC,6949,-0.64,-117.3,464.3,-6.3,258,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3357
$GC,7252,-0.64,-117.3,483.7,-6.4,263,7256,0.00,2.30,0.00,0.000,4,0.000,0.073,3128,994,3356
$GC,7278,-0.69,-117.3,485.4,-6.5,263,7283,0.10,2.28,0.00,0.000,6,0.094,0.064,3090,2406,3356
$GC,7615,-0.69,-117.3,506.8,-6.3,269,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2406,3356
$GC,7918,-0.69,-117.3,524.2,-5.7,274,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2406,3355
$GC,8221,-0.69,-117.3,542.9,-6.3,279,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2406,3355
$GC,8524,-0.69,-117.3,562.3,-6.4,284,8528,0.00,2.33,0.00,0.000,4,0.000,0.074,3090,984,3355
$GC,8551,-0.69,-117.3,564.1,-7.2,284,8555,0.00,2.30,0.00,0.000,6,0.000,0.064,3090,2397,3355
$GC,8889,-0.64,-117.3,587.2,-6.9,290,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2396,3355
$GC,9192,-0.59,-117.3,607.4,-6.6,295,9194,0.12,0.00,0.00,0.000,6,0.157,0.000,3123,2396,3355
$GC,9495,-0.63,-117.3,624.6,-5.6,300,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2396,3355
$GC,9798,-0.67,-117.3,641.7,-5.6,305,9802,0.00,2.33,0.00,0.000,4,0.000,0.074,3122,983,3355
$GC,9825,-0.72,-117.3,643.3,-5.9,305,9830,0.12,2.33,0.00,0.000,6,0.088,0.065,3077,2415,3354
$GC,10162,-0.72,-117.3,664.8,-6.5,311,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2415,3354
$GC,10465,-0.72,-117.3,683.8,-6.2,316,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2415,3354
$GC,10768,-0.72,-117.3,702.1,-6.0,321,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2415,3354
$GC,11071,-0.72,-117.3,719.2,-5.6,326,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2415,3354
$GC,11376,-0.72,-117.3,735.5,-5.3,331,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2415,3354
$GC,11677,-0.72,-117.3,751.3,-5.2,336,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2415,3354
$GC,11980,-0.72,-117.3,767.3,-5.3,341,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2415,3354
$GC,12285,-0.72,-117.3,783.9,-5.5,346,12289,0.00,2.35,0.00,0.000,4,0.000,0.076,3077,993,3353
$GC,12334,-0.66,-117.3,787.1,-6.7,346,12338,0.00,2.30,0.00,0.000,6,0.000,0.065,3076,2413,3353
$GC,12649,-0.59,-117.3,806.9,-6.4,352,12651,0.17,0.00,0.00,0.000,6,0.161,0.000,3123,2414,3353
$GC,12952,-0.66,-117.3,822.4,-5.1,357,12956,0.00,2.35,0.00,0.000,4,0.000,0.076,3123,990,3353
$GC,12995,-0.73,-117.3,824.8,-5.5,357,13000,0.12,2.30,0.00,0.000,6,0.091,0.065,3078,2414,3353
$GC,13316,-0.73,-117.3,845.1,-6.4,363,13320,0.00,2.33,0.00,0.000,4,0.000,0.084,3076,3822,3353
$GC,13348,-0.67,-117.3,847.4,-7.7,363,13352,0.00,2.28,0.00,0.000,6,0.000,0.060,3077,2396,3352
$GC,13680,-0.67,-117.3,870.4,-6.9,369,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2396,3353
$GC,13983,-0.67,-117.3,891.3,-6.9,374,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2396,3353
$GC,14286,-0.67,-117.3,910.6,-6.3,379,14290,0.00,2.30,0.00,0.000,4,0.000,0.077,3076,992,3352
$GC,14324,-0.62,-117.3,913.1,-7.2,379,14328,0.15,2.30,0.00,0.000,6,0.158,0.066,3115,2409,3352
$GC,14651,-0.67,-117.3,928.7,-4.7,385,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2409,3352
$GC,14954,-0.74,-117.3,942.1,-4.4,390,14959,0.12,2.35,0.00,0.000,4,0.094,0.074,3069,990,3352
$GC,14986,-0.67,-117.3,943.9,-5.5,390,14991,0.08,2.33,0.00,0.000,6,0.161,0.067,3101,2398,3352
$GC,15318,-0.67,-117.3,958.6,-4.3,396,15319,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3352
$GC,15620,-0.67,-117.3,971.5,-4.2,401,15624,0.00,2.35,0.00,0.000,4,0.000,0.086,3100,3823,3351
$GC,15648,-0.67,-117.3,972.9,-4.0,401,15652,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2398,3352
$GC,15985,-0.67,-117.3,986.6,-4.0,407,15989,0.00,2.30,0.00,0.000,4,0.000,0.077,3100,990,3351
$GC,16012,-0.67,-117.3,987.8,-5.1,407,16017,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2411,3351
$STATE,16099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16100,begin apogee
$GC,16104,-0.22,0.0,991.5,4.3,409,16208,0.47,0.00,101.07,1.504,6,0.146,0.000,3245,2196,2876
$STATE,16209,end apogee,CONTROL_FINISHED_OK
$STATE,16209,begin climb
$GC,16211,0.67,117.3,992.5,0.0,410,16322,0.90,2.62,104.35,1.447,4,0.096,0.079,3545,786,2397
$GC,16355,0.23,117.3,989.7,9.0,413,16361,0.60,2.50,0.00,0.000,6,0.194,0.062,3397,2194,2394
$GC,16709,0.23,117.3,970.3,5.3,419,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2194,2393
$GC,17012,0.25,133.5,956.3,4.5,424,17032,0.00,2.42,14.65,1.368,4,0.000,0.082,3397,3611,2331
$GC,17060,0.21,135.8,954.0,4.9,424,17069,0.00,2.38,4.03,0.897,6,0.000,0.066,3397,2197,2321
$GC,17380,0.28,160.3,940.2,4.3,430,17409,0.00,2.53,22.27,1.409,4,0.000,0.081,3397,3613,2221
$GC,17437,0.28,160.3,937.4,5.3,430,17445,0.00,2.40,0.00,0.000,6,0.000,0.065,3397,2201,2221
$GC,17748,0.38,181.5,923.7,4.4,436,17770,0.15,0.00,19.73,1.393,6,0.092,0.000,3451,2201,2135
$GC,18051,0.32,181.5,904.7,6.4,441,18055,0.00,2.40,0.00,0.000,4,0.000,0.081,3451,782,2132
$GC,18090,0.27,181.5,902.1,6.4,441,18095,0.17,2.35,0.00,0.000,6,0.168,0.064,3407,2208,2132
$GC,18410,0.33,181.5,885.3,5.2,447,18411,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2208,2131
$GC,18713,0.39,181.5,868.0,5.8,452,18717,0.12,2.33,0.00,0.000,4,0.091,0.081,3452,3609,2131
$GC,18745,0.26,181.5,865.3,8.2,452,18749,0.20,2.33,0.00,0.000,6,0.179,0.067,3401,2187,2131
$GC,19077,0.35,181.5,845.4,6.0,458,19081,0.00,2.33,0.00,0.000,4,0.000,0.080,3408,784,2131
$GC,19109,0.43,181.5,843.3,6.8,458,19114,0.15,2.30,0.00,0.000,6,0.092,0.063,3463,2200,2131
$GC,19435,0.34,181.5,816.6,8.4,464,19440,0.12,2.33,0.00,0.000,4,0.163,0.081,3428,3608,2131
$GC,19461,0.28,181.5,814.4,9.1,464,19466,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2194,2131
$GC,19799,0.28,181.5,790.5,7.0,470,19800,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2131
$GC,20102,0.28,181.5,768.9,7.1,475,20106,0.00,2.38,0.00,0.000,4,0.000,0.083,3436,3611,2131
$GC,20145,0.19,181.5,765.6,8.5,475,20150,0.22,2.30,0.00,0.000,6,0.177,0.066,3376,2190,2131
$GC,20466,0.37,190.9,750.1,4.7,481,20477,0.17,0.00,8.77,1.216,6,0.091,0.000,3438,2190,2097
$GC,20769,0.42,190.9,732.5,5.8,486,20770,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2190,2096
$GC,21072,0.46,190.9,716.5,5.2,491,21076,0.00,2.40,0.00,0.000,4,0.000,0.084,3438,3620,2096
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$STATE,32857,end climb,SURFACE_DEPTH_REACHED
$STATE,32857,begin surface coast
$FINISH,3.5,1.010726
$STATE,32891,end surface coast,CONTROL_FINISHED_OK
$STATE,32891,begin surface
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$10V_AH,10.6,16.141
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$DEVICE_SECS,32.825,210.600,503.175,0.000,0.000,24.434,33.805,158.858,247.000,0.000,0.000,14.556,1836.480,27997.318,635.740,2360.843,457.670,33.372,1831.702,0.000,2334.600,0.000,0.465
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$DATA_FILE_SIZE,50559,860
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$CFSIZE,260165632,249257984
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