version: 66.03
glider: 120
mission: 9
dive: 156
start: 10 25 108 14 59 8
data:
$ID,120
$MISSION,9
$DIVE,156
$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,-20993.961
$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,21
$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
$GPS1,145227,5017.820,-14433.381,57,3.1,76,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-68.0
$GPS2,145814,5017.864,-14433.423,13,3.4,32,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,0.118
$KALMAN_X,37806.5,1.1,239.3,-18683.6,-1084.7
$KALMAN_Y,119038.1,-129.2,-174.5,-95922.9,1004.0
$MHEAD_RNG_PITCHd_Wd,29.7,7205,-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,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.75,0.000,2,0.000,0.000,138,2406,1826
$GC,36,-0.67,-117.3,3.3,-0.0,1,121,13.45,2.42,-62.10,0.000,4,0.276,0.093,3093,3805,3356
$GC,211,-0.38,-117.3,17.1,-10.7,17,217,0.35,2.30,0.00,0.000,6,0.163,0.058,3192,2387,3357
$GC,537,-0.44,-117.3,44.6,-7.4,47,538,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2387,3358
$GC,855,-0.71,-117.3,65.5,-6.8,77,859,0.28,2.30,0.00,0.000,4,0.086,0.066,3092,983,3359
$GC,886,-0.71,-117.3,68.2,-8.0,79,893,0.00,2.33,0.00,0.000,6,0.000,0.058,3092,2396,3359
$GC,1217,-0.50,-117.3,100.1,-10.5,102,1222,0.17,2.35,0.00,0.000,4,0.162,0.074,3141,3818,3360
$GC,1283,-0.45,-117.3,105.9,-8.1,105,1287,0.00,2.28,0.00,0.000,6,0.000,0.052,3141,2388,3360
$GC,1610,-0.45,-117.3,131.7,-7.9,121,1614,0.00,2.40,0.00,0.000,4,0.000,0.077,3141,3819,3361
$GC,1671,-0.45,-117.3,136.2,-6.8,124,1675,0.00,2.28,0.00,0.000,6,0.000,0.054,3141,2390,3360
$GC,1987,-0.45,-117.3,158.2,-7.4,138,1991,0.00,2.28,0.00,0.000,4,0.000,0.068,3141,992,3361
$GC,2049,-0.52,-117.3,163.1,-7.4,140,2053,0.00,2.28,0.00,0.000,6,0.000,0.061,3141,2400,3361
$GC,2383,-0.52,-117.3,186.4,-6.6,151,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2400,3361
$GC,2689,-0.52,-117.3,204.3,-5.7,161,2693,0.00,2.33,0.00,0.000,4,0.000,0.069,3141,984,3360
$GC,2738,-0.59,-117.3,207.3,-5.9,162,2742,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2400,3360
$GC,3056,-0.59,-117.3,226.7,-6.3,173,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2400,3359
$GC,3363,-0.63,-117.3,246.5,-6.4,183,3367,0.00,2.33,0.00,0.000,4,0.000,0.070,3141,983,3359
$GC,3391,-0.69,-117.3,248.3,-6.3,184,3396,0.15,2.30,0.00,0.000,6,0.085,0.062,3085,2402,3359
$GC,3726,-0.58,-117.3,274.4,-8.0,195,3730,0.15,2.33,0.00,0.000,4,0.158,0.079,3125,3816,3358
$GC,3796,-0.58,-117.3,279.4,-6.9,197,3801,0.00,2.28,0.00,0.000,6,0.000,0.056,3125,2402,3358
$GC,4127,-0.58,-117.3,300.6,-6.4,208,4131,0.00,2.30,0.00,0.000,4,0.000,0.071,3125,987,3358
$GC,4176,-0.58,-117.3,304.0,-6.9,208,4180,0.00,2.33,0.00,0.000,6,0.000,0.063,3125,2405,3358
$GC,4491,-0.58,-117.3,323.3,-6.1,214,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3358
$GC,4794,-0.58,-117.3,342.5,-6.3,219,4798,0.00,2.35,0.00,0.000,4,0.000,0.071,3125,983,3357
$GC,4843,-0.58,-117.3,346.0,-6.6,219,4847,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2394,3357
$GC,5158,-0.58,-117.3,365.6,-6.3,225,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3357
$GC,5461,-0.58,-117.3,384.9,-6.3,230,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3356
$GC,5764,-0.58,-117.3,405.3,-6.8,235,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3356
$GC,6067,-0.58,-117.3,427.8,-7.5,240,6071,0.00,2.33,0.00,0.000,4,0.000,0.073,3125,989,3355
$GC,6107,-0.62,-117.3,430.9,-8.0,240,6111,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2400,3356
$GC,6427,-0.62,-117.3,452.8,-6.7,246,6431,0.00,2.33,0.00,0.000,4,0.000,0.072,3125,989,3355
$GC,6454,-0.67,-117.3,454.6,-6.6,246,6458,0.00,2.30,0.00,0.000,6,0.000,0.063,3125,2407,3355
$GC,6791,-0.67,-117.3,474.2,-5.8,252,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2407,3355
$GC,7094,-0.67,-117.3,491.3,-5.6,257,7098,0.00,2.35,0.00,0.000,4,0.000,0.073,3125,987,3355
$GC,7127,-0.72,-117.3,493.3,-5.7,257,7132,0.08,2.33,0.00,0.000,6,0.077,0.064,3086,2393,3355
$GC,7459,-0.72,-117.3,513.9,-6.2,263,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3355
$GC,7762,-0.72,-117.3,531.6,-5.8,268,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3354
$GC,8065,-0.72,-117.3,548.8,-5.6,273,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3354
$GC,8368,-0.72,-117.3,568.0,-6.4,278,8372,0.00,2.33,0.00,0.000,4,0.000,0.074,3086,990,3354
$GC,8394,-0.72,-117.3,569.9,-7.3,278,8398,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2396,3354
$GC,8732,-0.65,-117.3,597.0,-8.1,284,8737,0.00,2.33,0.00,0.000,4,0.000,0.074,3086,989,3354
$GC,8765,-0.59,-117.3,599.8,-8.6,284,8770,0.15,2.30,0.00,0.000,6,0.159,0.065,3125,2401,3354
$GC,9097,-0.65,-117.3,622.1,-6.6,290,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3354
$GC,9401,-0.71,-117.3,640.0,-5.8,295,9402,0.12,0.00,0.00,0.000,6,0.089,0.000,3078,2401,3353
$GC,9703,-0.71,-117.3,658.2,-6.0,300,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2400,3353
$GC,10006,-0.71,-117.3,676.1,-6.0,305,10010,0.00,2.35,0.00,0.000,4,0.000,0.082,3077,3813,3353
$GC,10044,-0.65,-117.3,678.6,-7.0,305,10048,0.00,2.28,0.00,0.000,6,0.000,0.059,3077,2392,3352
$GC,10370,-0.60,-117.3,700.9,-6.9,311,10372,0.15,0.00,0.00,0.000,6,0.134,0.000,3118,2389,3353
$GC,10673,-0.65,-117.3,718.7,-5.9,316,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2390,3352
$GC,10976,-0.70,-117.3,735.7,-5.5,321,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2389,3352
$GC,11280,-0.75,-117.3,749.7,-4.5,326,11282,0.12,0.00,0.00,0.000,6,0.091,0.000,3071,2389,3352
$GC,11582,-0.75,-117.3,764.9,-5.0,331,11586,0.00,2.33,0.00,0.000,4,0.000,0.075,3072,985,3352
$GC,11608,-0.69,-117.3,766.3,-6.2,331,11612,0.00,2.33,0.00,0.000,6,0.000,0.067,3071,2405,3352
$GC,11946,-0.59,-117.3,786.4,-6.1,337,11948,0.20,0.00,0.00,0.000,6,0.167,0.000,3125,2405,3352
$GC,12250,-0.68,-117.3,800.9,-4.8,342,12254,0.00,2.35,0.00,0.000,4,0.000,0.075,3125,992,3352
$GC,12289,-0.75,-117.3,803.0,-5.2,342,12294,0.15,2.30,0.00,0.000,6,0.088,0.066,3072,2405,3351
$GC,12609,-0.75,-117.3,822.8,-6.3,348,12613,0.00,2.33,0.00,0.000,4,0.000,0.084,3072,3809,3351
$GC,12658,-0.68,-117.3,826.2,-7.2,348,12662,0.00,2.25,0.00,0.000,6,0.000,0.060,3072,2399,3351
$GC,12973,-0.62,-117.3,846.5,-6.4,354,12975,0.15,0.00,0.00,0.000,6,0.145,0.000,3112,2396,3351
$GC,13276,-0.67,-117.3,861.4,-4.8,359,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3351
$GC,13579,-0.71,-117.3,876.1,-4.9,364,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3351
$GC,13882,-0.76,-117.3,891.6,-5.1,369,13887,0.12,2.33,0.00,0.000,4,0.094,0.075,3066,990,3351
$GC,13915,-0.68,-117.3,893.9,-7.4,369,13919,0.12,2.30,0.00,0.000,6,0.173,0.067,3096,2409,3351
$GC,14246,-0.68,-117.3,912.8,-5.7,375,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3351
$GC,14549,-0.68,-117.3,930.0,-5.7,380,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3350
$GC,14852,-0.68,-117.3,946.8,-5.5,385,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3351
$GC,15155,-0.68,-117.3,962.4,-5.1,390,15157,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3351
$GC,15458,-0.68,-117.3,977.8,-5.0,395,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3351
$STATE,15760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15760,begin apogee
$GC,15764,-0.22,0.0,992.7,4.9,400,15869,0.47,0.00,101.80,1.502,6,0.150,0.000,3241,2198,2876
$STATE,15870,end apogee,CONTROL_FINISHED_OK
$STATE,15870,begin climb
$GC,15871,0.67,117.3,994.0,0.0,401,15986,0.90,2.67,106.53,1.448,4,0.094,0.080,3533,800,2397
$GC,16025,0.28,117.3,991.5,9.1,404,16030,0.50,2.47,0.00,0.000,6,0.193,0.062,3410,2197,2394
$GC,16367,0.28,117.3,970.9,5.9,410,16368,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2197,2393
$GC,16671,0.28,117.3,953.9,5.6,415,16675,0.00,2.40,0.00,0.000,4,0.000,0.081,3410,3620,2392
$GC,16709,0.18,117.3,951.5,6.1,415,16714,0.12,2.35,0.00,0.000,6,0.190,0.065,3381,2203,2392
$GC,17029,0.26,130.9,936.6,4.6,421,17044,0.00,0.00,12.50,1.353,6,0.000,0.000,3381,2203,2342
$GC,17333,0.37,149.1,923.0,4.5,426,17352,0.17,0.00,17.23,1.384,6,0.087,0.000,3447,2203,2268
$GC,17635,0.27,149.1,903.8,6.5,431,17637,0.15,0.00,0.00,0.000,6,0.158,0.000,3410,2203,2266
$GC,17938,0.27,149.1,888.1,5.1,436,17939,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2203,2266
$GC,18241,0.28,153.8,873.2,4.9,441,18248,0.00,0.00,5.50,1.099,6,0.000,0.000,3410,2203,2249
$GC,18545,0.30,165.8,859.0,4.7,446,18558,0.00,0.00,12.07,1.322,6,0.000,0.000,3409,2203,2199
$GC,18847,0.30,165.8,844.0,5.0,451,18848,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2203,2198
$GC,19150,0.34,165.8,828.4,5.1,456,19151,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2203,2198
$GC,19453,0.38,165.8,812.2,5.4,461,19455,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2203,2198
$GC,19757,0.42,165.8,795.4,5.4,466,19762,0.15,2.38,0.00,0.000,4,0.087,0.081,3466,790,2198
$GC,19795,0.32,165.8,792.6,7.6,466,19800,0.17,2.33,0.00,0.000,6,0.173,0.064,3421,2216,2198
$GC,20115,0.32,165.8,773.3,6.0,472,20116,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2216,2197
$GC,20418,0.32,165.8,755.3,5.9,477,20422,0.00,2.40,0.00,0.000,4,0.000,0.082,3421,790,2197
$GC,20455,0.32,165.8,753.1,6.4,477,20460,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2198,2197
$GC,20781,0.32,165.8,735.0,5.5,483,20783,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2197
$GC,21085,0.33,170.5,720.0,4.9,488,21092,0.00,0.00,5.53,1.049,6,0.000,0.000,3421,2198,2180
$GC,21388,0.33,172.0,705.0,5.0,493,21392,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3610,2180
$GC,21421,0.33,172.0,703.2,5.8,493,21425,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2197,2180
$GC,21753,0.33,172.5,686.8,5.0,499,21757,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,785,2179
$GC,21793,0.38,172.5,684.8,5.3,499,21797,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2199,2179
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$GC,29091,0.46,210.9,228.8,4.6,639,29107,0.00,2.33,11.70,0.969,6,0.000,0.063,3449,2224,2015
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$STATE,32767,end climb,SURFACE_DEPTH_REACHED
$STATE,32767,begin surface coast
$FINISH,2.2,1.023684
$STATE,32855,end surface coast,CONTROL_FINISHED_OK
$STATE,32855,begin surface
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$10V_AH,10.7,20.794
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$DEVICE_SECS,29.575,197.050,391.800,0.000,0.000,29.053,25.342,163.338,246.000,0.000,0.000,33.565,1800.486,28117.205,563.601,2307.526,481.783,33.380,1691.065,0.000,2266.186,0.000,0.465
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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,50645,851
$CAP_FILE_SIZE,183845,0
$CFSIZE,260165632,246542336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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