version: 66.03
glider: 120
mission: 9
dive: 362
start: 1 11 109 22 14 45
data:
$ID,120
$MISSION,9
$DIVE,362
$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,-25370.707
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,220131,5016.221,-14434.195,60,0.9,60,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.10
$_SM_ANGLEo,-71.6
$GPS2,221350,5016.339,-14434.112,15,1.1,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.112,0.138
$KALMAN_X,16019.9,277.3,-50.4,2287.7,-1418.5
$KALMAN_Y,262071.2,91.9,-98.9,-242079.0,-398.0
$MHEAD_RNG_PITCHd_Wd,20.2,10019,-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,-117.3,0.0,0.0,0,38,0.00,0.00,-11.52,0.000,2,0.000,0.000,148,2405,1926
$GC,41,-0.67,-117.3,3.9,-0.0,1,120,14.25,2.50,-57.70,0.000,4,0.290,0.096,3094,3805,3356
$GC,344,-0.49,-117.3,32.4,-11.3,28,351,0.22,2.30,0.00,0.000,6,0.155,0.055,3158,2401,3358
$GC,673,-0.49,-117.3,57.7,-7.8,59,677,0.00,2.40,0.00,0.000,4,0.000,0.069,3158,987,3358
$GC,705,-0.49,-117.3,60.5,-7.2,61,712,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2404,3358
$GC,1040,-0.49,-117.3,84.6,-7.0,90,1044,0.00,2.40,0.00,0.000,4,0.000,0.068,3155,991,3358
$GC,1067,-0.49,-117.3,86.7,-7.7,91,1071,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2403,3358
$GC,1384,-0.54,-117.3,108.0,-6.8,106,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2403,3358
$GC,1692,-0.60,-117.3,128.4,-6.4,121,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2403,3358
$GC,2002,-0.71,-117.3,147.3,-6.4,136,2006,0.17,2.38,0.00,0.000,4,0.085,0.067,3084,992,3359
$GC,2046,-0.71,-117.3,151.0,-7.9,138,2050,0.00,2.30,0.00,0.000,6,0.000,0.061,3083,2403,3359
$GC,2365,-0.83,-117.3,176.6,-7.8,149,2369,0.00,2.38,0.00,0.000,4,0.000,0.068,3083,981,3359
$GC,2437,-0.83,-117.3,182.4,-7.9,151,2441,0.00,2.30,0.00,0.000,6,0.000,0.061,3083,2400,3359
$GC,2762,-0.97,-117.3,207.2,-7.8,162,2767,0.20,2.35,0.00,0.000,4,0.084,0.069,3003,983,3359
$GC,2898,-0.66,-117.3,223.3,-12.8,166,2903,0.35,2.30,0.00,0.000,6,0.165,0.064,3100,2400,3358
$GC,3227,-0.66,-117.3,248.8,-7.2,177,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3359
$GC,3534,-0.66,-117.3,271.6,-7.6,187,3538,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,987,3358
$GC,3583,-0.66,-117.3,275.9,-8.2,188,3587,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2403,3359
$GC,3902,-0.66,-117.3,299.3,-7.1,199,3906,0.00,2.33,0.00,0.000,4,0.000,0.081,3099,3808,3358
$GC,3935,-0.66,-117.3,301.6,-7.0,200,3939,0.00,2.22,0.00,0.000,6,0.000,0.054,3099,2397,3358
$GC,4261,-0.66,-117.3,323.0,-6.6,206,4265,0.00,2.30,0.00,0.000,4,0.000,0.071,3099,986,3359
$GC,4310,-0.66,-117.3,326.6,-6.8,206,4314,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2406,3358
$GC,4620,-0.66,-117.3,348.0,-7.0,211,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3358
$GC,4923,-0.66,-117.3,369.4,-7.1,216,4927,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,988,3358
$GC,4968,-0.66,-117.3,372.8,-7.3,216,4972,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2404,3358
$GC,5283,-0.66,-117.3,395.0,-7.1,222,5287,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,988,3358
$GC,5312,-0.66,-117.3,397.1,-7.1,222,5316,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2411,3358
$GC,5644,-0.66,-117.3,418.8,-6.5,228,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3358
$GC,5947,-0.66,-117.3,438.7,-6.6,233,5951,0.00,2.33,0.00,0.000,4,0.000,0.072,3099,994,3357
$GC,5979,-0.66,-117.3,441.0,-7.3,233,5983,0.00,2.28,0.00,0.000,6,0.000,0.063,3099,2399,3357
$GC,6312,-0.66,-117.3,461.3,-5.9,239,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,6616,-0.66,-117.3,478.8,-5.8,244,6620,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,988,3357
$GC,6648,-0.66,-117.3,481.0,-6.6,244,6653,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2407,3357
$GC,6981,-0.66,-117.3,499.9,-5.7,250,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3357
$GC,7284,-0.66,-117.3,517.0,-5.7,255,7288,0.00,2.33,0.00,0.000,4,0.000,0.072,3099,991,3357
$GC,7323,-0.66,-117.3,519.4,-6.3,255,7327,0.00,2.28,0.00,0.000,6,0.000,0.063,3099,2399,3357
$GC,7644,-0.66,-117.3,536.5,-5.3,261,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3357
$GC,7947,-0.66,-117.3,552.3,-5.2,266,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,8250,-0.66,-117.3,570.2,-5.9,271,8254,0.00,2.33,0.00,0.000,4,0.000,0.072,3099,989,3356
$GC,8282,-0.66,-117.3,572.3,-6.6,271,8286,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2410,3356
$GC,8615,-0.66,-117.3,592.3,-6.0,277,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3356
$GC,8918,-0.66,-117.3,611.2,-6.2,282,8922,0.00,2.35,0.00,0.000,4,0.000,0.072,3099,989,3356
$GC,8950,-0.66,-117.3,613.5,-6.6,282,8954,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2402,3356
$GC,9282,-0.66,-117.3,632.1,-5.4,288,9287,0.00,2.35,0.00,0.000,4,0.000,0.083,3099,3811,3355
$GC,9322,-0.71,-117.3,634.0,-4.8,288,9326,0.00,2.25,0.00,0.000,6,0.000,0.056,3099,2391,3356
$GC,9643,-0.71,-117.3,647.9,-4.2,294,9647,0.00,2.30,0.00,0.000,4,0.000,0.073,3099,985,3356
$GC,9677,-0.71,-117.3,649.5,-4.5,294,9681,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2401,3355
$GC,10004,-0.71,-117.3,662.7,-4.1,300,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3355
$GC,10306,-0.71,-117.3,676.3,-4.5,305,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3355
$GC,10609,-0.71,-117.3,693.4,-5.8,310,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3355
$GC,10913,-0.71,-117.3,713.2,-6.6,315,10917,0.00,2.33,0.00,0.000,4,0.000,0.073,3099,994,3355
$GC,10963,-0.76,-117.3,716.8,-7.2,315,10967,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2410,3354
$GC,11273,-0.81,-117.3,738.1,-6.9,320,11275,0.12,0.00,0.00,0.000,6,0.091,0.000,3049,2410,3354
$GC,11576,-0.81,-117.3,762.0,-8.0,325,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2410,3354
$GC,11879,-0.77,-117.3,785.3,-7.6,330,11883,0.00,2.38,0.00,0.000,4,0.000,0.073,3049,992,3354
$GC,11912,-0.71,-117.3,788.1,-8.1,330,11917,0.15,2.30,0.00,0.000,6,0.143,0.064,3089,2405,3354
$GC,12238,-0.71,-117.3,810.1,-6.8,336,12242,0.00,2.35,0.00,0.000,4,0.000,0.084,3086,3808,3354
$GC,12266,-0.71,-117.3,812.0,-6.7,336,12270,0.00,2.25,0.00,0.000,6,0.000,0.057,3085,2401,3354
$GC,12604,-0.71,-117.3,833.6,-6.4,342,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,12907,-0.71,-117.3,852.5,-6.2,347,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13210,-0.71,-117.3,869.8,-5.7,352,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13513,-0.71,-117.3,885.9,-5.2,357,13517,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,984,3353
$GC,13546,-0.71,-117.3,887.8,-5.7,357,13550,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2406,3353
$GC,13873,-0.71,-117.3,903.7,-4.8,363,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,14176,-0.71,-117.3,918.3,-4.8,368,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,14479,-0.71,-117.3,933.2,-4.9,373,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3353
$GC,14781,-0.71,-117.3,948.8,-5.2,378,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3353
$GC,15085,-0.71,-117.3,965.2,-5.5,383,15090,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,990,3353
$GC,15120,-0.71,-117.3,967.2,-5.7,383,15124,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2398,3353
$GC,15446,-0.71,-117.3,986.2,-5.9,389,15447,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3353
$STATE,15565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15565,begin apogee
$GC,15571,-0.22,0.0,993.5,6.0,391,15687,0.52,0.00,108.07,1.491,6,0.139,0.000,3244,2201,2876
$STATE,15687,end apogee,CONTROL_FINISHED_OK
$STATE,15687,begin climb
$GC,15690,0.67,117.3,998.7,0.0,393,15814,0.88,2.70,112.57,1.440,4,0.091,0.078,3530,3608,2396
$GC,15828,0.27,134.9,999.7,4.5,395,15853,0.50,2.53,18.40,1.333,6,0.185,0.064,3411,2201,2325
$GC,16187,0.33,147.8,983.5,4.6,401,16206,0.00,2.47,12.93,1.326,4,0.000,0.079,3417,784,2273
$GC,16241,0.40,156.6,980.7,4.8,401,16255,0.00,2.35,9.70,1.258,6,0.000,0.062,3416,2205,2236
$GC,16624,0.44,156.6,960.3,5.4,408,16628,0.12,2.35,0.00,0.000,4,0.087,0.080,3466,3613,2235
$GC,16656,0.27,156.6,957.8,7.1,408,16661,0.22,2.33,0.00,0.000,6,0.172,0.065,3406,2185,2235
$GC,16983,0.35,156.6,939.9,5.4,414,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2185,2234
$GC,17286,0.42,156.6,924.0,5.2,419,17288,0.15,0.00,0.00,0.000,6,0.084,0.000,3464,2185,2235
$GC,17589,0.37,156.6,904.7,6.4,424,17594,0.00,2.40,0.00,0.000,4,0.000,0.082,3465,3609,2235
$GC,17645,0.20,156.6,900.2,7.9,424,17652,0.30,2.28,0.00,0.000,6,0.169,0.066,3383,2202,2234
$GC,17956,0.38,173.3,885.9,4.5,430,17975,0.17,0.00,16.00,1.363,6,0.084,0.000,3449,2203,2169
$GC,18258,0.38,173.3,867.4,6.2,435,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2168
$GC,18561,0.38,173.3,848.4,6.3,440,18565,0.00,2.38,0.00,0.000,4,0.000,0.083,3449,3608,2167
$GC,18599,0.29,173.3,845.5,8.0,440,18604,0.15,2.30,0.00,0.000,6,0.172,0.065,3411,2191,2167
$GC,18920,0.38,173.3,826.0,6.1,446,18921,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2167
$GC,19223,0.47,173.3,806.6,6.4,451,19225,0.17,0.00,0.00,0.000,6,0.081,0.000,3478,2192,2167
$GC,19526,0.38,173.3,782.1,8.2,456,19531,0.15,2.40,0.00,0.000,4,0.143,0.081,3437,3616,2167
$GC,19571,0.34,173.3,778.5,8.0,456,19575,0.00,2.30,0.00,0.000,6,0.000,0.065,3437,2194,2167
$GC,19886,0.34,173.3,757.8,6.5,462,19890,0.00,2.35,0.00,0.000,4,0.000,0.079,3436,783,2167
$GC,19919,0.38,173.3,755.6,5.7,462,19923,0.00,2.28,0.00,0.000,6,0.000,0.061,3436,2201,2167
$GC,20251,0.38,173.3,735.2,6.1,468,20252,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2166
$GC,20554,0.38,173.3,716.9,6.1,473,20558,0.00,2.33,0.00,0.000,4,0.000,0.080,3437,3608,2166
$GC,20592,0.34,173.3,714.1,6.7,473,20596,0.00,2.28,0.00,0.000,6,0.000,0.064,3437,2197,2166
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$STATE,32855,end climb,SURFACE_DEPTH_REACHED
$STATE,32855,begin surface coast
$FINISH,2.9,1.014277
$STATE,33070,end surface coast,CONTROL_FINISHED_OK
$STATE,33070,begin surface
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$10V_AH,10.5,48.425
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$DEVICE_SECS,29.825,220.500,373.625,17.625,0.000,88.805,82.440,302.393,248.750,0.000,0.000,15.890,1825.256,28120.752,552.239,2403.318,940.369,33.383,1761.032,0.000,2379.359,0.000,0.465
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$DATA_FILE_SIZE,50570,850
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