version: 66.03
glider: 120
mission: 9
dive: 142
start: 10 20 108 8 51 8
data:
$ID,120
$MISSION,9
$DIVE,142
$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,-20609.217
$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
$GPS1,084401,5003.041,-14515.253,64,1.4,64,18.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-70.5
$GPS2,085014,5003.049,-14515.235,14,1.4,31,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.002,-0.178
$KALMAN_X,47514.3,-253.6,-79.8,-77474.2,1081.5
$KALMAN_Y,108255.1,-370.4,16.1,-112518.2,2765.9
$MHEAD_RNG_PITCHd_Wd,162.3,17193,-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,-11.62,0.000,2,0.000,0.000,136,2410,1862
$GC,36,-0.67,-117.3,3.9,-0.0,1,111,13.98,2.42,-53.05,0.000,4,0.290,0.097,3086,3812,3357
$GC,235,-0.30,-117.3,24.6,-14.0,19,240,0.47,2.28,0.00,0.000,6,0.166,0.055,3219,2399,3359
$GC,562,-0.42,-117.3,45.6,-8.4,49,567,0.12,2.33,0.00,0.000,4,0.083,0.067,3174,982,3359
$GC,601,-0.47,-117.3,49.0,-8.5,52,605,0.00,2.30,0.00,0.000,6,0.000,0.059,3174,2401,3359
$GC,927,-0.54,-117.3,75.0,-7.3,82,931,0.00,2.33,0.00,0.000,4,0.000,0.065,3175,981,3361
$GC,955,-0.64,-117.3,77.1,-7.5,84,960,0.20,2.30,0.00,0.000,6,0.081,0.057,3100,2412,3361
$GC,1281,-0.45,-117.3,110.0,-9.5,101,1283,0.25,0.00,0.00,0.000,6,0.160,0.000,3170,2412,3362
$GC,1590,-0.45,-117.3,128.2,-5.5,116,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2412,3362
$GC,1900,-0.53,-117.3,144.5,-5.6,131,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2412,3362
$GC,2217,-0.79,-117.3,167.4,-8.1,143,2222,0.28,2.35,0.00,0.000,4,0.085,0.069,3068,980,3362
$GC,2279,-0.62,-117.3,173.7,-10.7,145,2284,0.17,2.33,0.00,0.000,6,0.166,0.063,3115,2409,3362
$GC,2613,-0.56,-117.3,201.5,-7.7,156,2617,0.00,2.33,0.00,0.000,4,0.000,0.070,3119,989,3362
$GC,2642,-0.51,-117.3,203.7,-8.0,157,2647,0.12,2.30,0.00,0.000,6,0.169,0.063,3152,2409,3362
$GC,2976,-0.59,-117.3,221.1,-5.1,168,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2409,3361
$GC,3282,-0.66,-117.3,237.3,-5.3,178,3287,0.15,2.33,0.00,0.000,4,0.084,0.070,3089,991,3360
$GC,3320,-0.55,-117.3,240.3,-8.0,179,3325,0.17,2.30,0.00,0.000,6,0.159,0.063,3134,2406,3360
$GC,3649,-0.55,-117.3,261.8,-6.6,190,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2406,3360
$GC,3955,-0.55,-117.3,283.4,-7.2,200,3959,0.00,2.35,0.00,0.000,4,0.000,0.072,3133,982,3360
$GC,3987,-0.55,-117.3,285.9,-7.3,201,3992,0.00,2.33,0.00,0.000,6,0.000,0.064,3134,2400,3360
$GC,4321,-0.55,-117.3,307.9,-6.3,210,4325,0.00,2.33,0.00,0.000,4,0.000,0.071,3134,986,3359
$GC,4348,-0.55,-117.3,309.6,-6.5,210,4352,0.00,2.33,0.00,0.000,6,0.000,0.064,3134,2399,3359
$GC,4686,-0.55,-117.3,329.8,-6.1,216,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2399,3359
$GC,4989,-0.60,-117.3,349.6,-6.6,221,4993,0.00,2.33,0.00,0.000,4,0.000,0.072,3134,989,3358
$GC,5016,-0.64,-117.3,351.5,-6.8,221,5020,0.00,2.28,0.00,0.000,6,0.000,0.064,3134,2401,3358
$GC,5354,-0.68,-117.3,370.7,-5.6,227,5356,0.12,0.00,0.00,0.000,6,0.088,0.000,3086,2400,3358
$GC,5657,-0.63,-117.3,389.5,-6.2,232,5661,0.00,2.33,0.00,0.000,4,0.000,0.081,3085,3816,3357
$GC,5689,-0.54,-117.3,391.6,-6.9,232,5694,0.20,2.25,0.00,0.000,6,0.140,0.057,3142,2397,3357
$GC,6021,-0.61,-117.3,406.5,-4.4,238,6025,0.00,2.30,0.00,0.000,4,0.000,0.073,3141,989,3357
$GC,6059,-0.70,-117.3,408.3,-5.0,238,6064,0.15,2.28,0.00,0.000,6,0.087,0.063,3087,2402,3357
$GC,6379,-0.65,-117.3,426.1,-5.7,244,6383,0.00,2.33,0.00,0.000,4,0.000,0.081,3086,3817,3357
$GC,6411,-0.56,-117.3,428.3,-7.0,244,6416,0.17,2.25,0.00,0.000,6,0.147,0.058,3134,2398,3356
$GC,6743,-0.61,-117.3,445.9,-5.3,250,6747,0.00,2.30,0.00,0.000,4,0.000,0.073,3134,990,3356
$GC,6770,-0.67,-117.3,447.6,-6.5,250,6774,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2413,3356
$GC,7108,-0.74,-117.3,466.6,-5.6,256,7110,0.17,0.00,0.00,0.000,6,0.084,0.000,3069,2413,3356
$GC,7411,-0.60,-117.3,489.3,-7.6,261,7413,0.20,0.00,0.00,0.000,6,0.163,0.000,3123,2414,3356
$GC,7714,-0.60,-117.3,506.6,-5.7,266,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2413,3356
$GC,8017,-0.60,-117.3,524.5,-5.9,271,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2413,3356
$GC,8320,-0.60,-117.3,542.2,-5.8,276,8324,0.00,2.35,0.00,0.000,4,0.000,0.074,3124,992,3355
$GC,8369,-0.64,-117.3,545.3,-6.2,276,8373,0.00,2.30,0.00,0.000,6,0.000,0.065,3123,2404,3355
$GC,8684,-0.64,-117.3,562.7,-5.5,282,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3355
$GC,8988,-0.69,-117.3,580.2,-5.8,287,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3355
$GC,9291,-0.73,-117.3,596.9,-5.4,292,9293,0.12,0.00,0.00,0.000,6,0.091,0.000,3076,2404,3354
$GC,9594,-0.69,-117.3,614.7,-5.9,297,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2404,3354
$GC,9897,-0.65,-117.3,633.6,-6.3,302,9899,0.12,0.00,0.00,0.000,6,0.116,0.000,3110,2404,3354
$GC,10200,-0.65,-117.3,651.0,-5.8,307,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3354
$GC,10502,-0.65,-117.3,670.0,-6.3,312,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3354
$GC,10806,-0.65,-117.3,690.0,-6.6,317,10810,0.00,2.35,0.00,0.000,4,0.000,0.074,3110,986,3354
$GC,10838,-0.65,-117.3,692.2,-7.2,317,10842,0.00,2.35,0.00,0.000,6,0.000,0.067,3110,2398,3354
$GC,11170,-0.65,-117.3,711.6,-5.9,323,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3354
$GC,11473,-0.65,-117.3,728.6,-5.5,328,11477,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,991,3353
$GC,11499,-0.65,-117.3,730.1,-5.7,328,11504,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2399,3353
$GC,11837,-0.65,-117.3,747.4,-5.1,334,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3353
$GC,12140,-0.65,-117.3,762.8,-5.1,339,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3353
$GC,12443,-0.65,-117.3,778.5,-5.2,344,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3353
$GC,12746,-0.65,-117.3,795.6,-5.7,349,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3353
$GC,13049,-0.65,-117.3,813.9,-6.1,354,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3353
$GC,13352,-0.65,-117.3,832.0,-5.9,359,13356,0.00,2.33,0.00,0.000,4,0.000,0.075,3110,996,3352
$GC,13390,-0.65,-117.3,834.5,-6.3,359,13394,0.00,2.33,0.00,0.000,6,0.000,0.067,3110,2400,3352
$GC,13716,-0.69,-117.3,853.6,-5.8,365,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3352
$GC,14020,-0.73,-117.3,869.5,-5.1,370,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3352
$GC,14322,-0.73,-117.3,885.9,-5.4,375,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3352
$GC,14626,-0.77,-117.3,902.8,-5.6,380,14628,0.12,0.00,0.00,0.000,6,0.091,0.000,3062,2401,3352
$GC,14929,-0.73,-117.3,923.0,-6.6,385,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2401,3352
$GC,15232,-0.68,-117.3,941.0,-5.9,390,15234,0.12,0.00,0.00,0.000,6,0.117,0.000,3097,2401,3352
$GC,15535,-0.68,-117.3,955.8,-4.8,395,15536,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3352
$GC,15838,-0.68,-117.3,969.5,-4.5,400,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3351
$GC,16141,-0.68,-117.3,983.6,-4.7,405,16145,0.00,2.38,0.00,0.000,4,0.000,0.088,3097,3816,3352
$GC,16174,-0.68,-117.3,985.3,-4.9,405,16178,0.00,2.30,0.00,0.000,6,0.000,0.061,3097,2402,3351
$STATE,16322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16322,begin apogee
$GC,16327,-0.22,0.0,992.1,4.6,408,16431,0.47,0.00,101.57,1.501,6,0.150,0.000,3241,2191,2876
$STATE,16432,end apogee,CONTROL_FINISHED_OK
$STATE,16432,begin climb
$GC,16434,0.67,117.3,993.2,0.0,409,16548,0.90,2.62,105.72,1.444,4,0.094,0.081,3534,793,2395
$GC,16604,0.28,117.3,989.0,9.0,412,16610,0.50,2.47,0.00,0.000,6,0.195,0.063,3411,2202,2394
$GC,16930,0.28,117.3,970.0,5.7,418,16934,0.00,2.40,0.00,0.000,4,0.000,0.081,3411,3610,2392
$GC,16973,0.18,117.3,967.3,6.7,418,16978,0.15,2.38,0.00,0.000,6,0.185,0.065,3375,2194,2392
$GC,17294,0.31,153.4,954.4,4.0,424,17328,0.12,0.00,31.42,1.430,6,0.088,0.000,3420,2194,2250
$GC,17597,0.31,153.4,938.3,5.4,429,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2195,2248
$GC,17899,0.31,153.4,922.6,5.2,434,17901,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2194,2247
$GC,18203,0.31,153.4,906.9,5.2,439,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2194,2248
$GC,18506,0.31,158.9,892.1,4.8,444,18514,0.00,0.00,6.12,1.159,6,0.000,0.000,3421,2194,2228
$GC,18809,0.31,158.9,876.9,5.0,449,18813,0.00,2.42,0.00,0.000,4,0.000,0.082,3421,3617,2227
$GC,18842,0.25,158.9,874.9,5.9,449,18846,0.00,2.35,0.00,0.000,6,0.000,0.066,3421,2200,2227
$GC,19174,0.25,158.9,856.6,5.6,455,19178,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,790,2227
$GC,19235,0.25,158.9,852.9,6.2,456,19239,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2213,2227
$GC,19600,0.25,158.9,830.0,6.4,462,19601,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2227
$GC,19903,0.25,158.9,809.8,6.7,467,19904,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2227
$GC,20206,0.25,158.9,789.2,6.8,472,20208,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2227
$GC,20510,0.25,158.9,769.4,6.5,477,20511,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2227
$GC,20812,0.25,158.9,750.7,6.1,482,20816,0.00,2.40,0.00,0.000,4,0.000,0.082,3421,780,2226
$GC,20856,0.25,158.9,747.8,5.9,482,20860,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2199,2226
$GC,21176,0.25,158.9,728.2,6.2,488,21178,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2226
$GC,21480,0.25,158.9,709.5,6.2,493,21484,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,787,2227
$GC,21542,0.25,158.9,705.5,6.0,494,21546,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2205,2226
$GC,21907,0.25,158.9,682.1,6.4,500,21908,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2226
$GC,22210,0.25,158.9,662.1,6.6,505,22211,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2226
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$STATE,32489,end climb,SURFACE_DEPTH_REACHED
$STATE,32490,begin surface coast
$FINISH,2.8,1.012529
$STATE,32554,end surface coast,CONTROL_FINISHED_OK
$STATE,32554,begin surface
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$DEVICE_SECS,31.725,178.625,366.575,2.150,0.000,23.080,30.719,195.557,240.000,0.000,0.000,31.888,1774.122,27890.848,515.379,2251.114,511.815,33.377,1620.283,0.000,2220.434,0.000,0.466
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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,47470,833
$CAP_FILE_SIZE,182255,0
$CFSIZE,260165632,247635968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201008,175508,4959.893,-14515.534,29,2.0,29,18.4