version: 66.03
glider: 120
mission: 9
dive: 23
start: 9 5 108 15 9 50
data:
$ID,120
$MISSION,9
$DIVE,23
$D_SURF,2
$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,600
$T_MISSION,615
$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,608.58929
$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,-18076.447
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,145438,4955.836,-14507.564,33,1.0,33,18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.6
$GPS2,150856,4955.971,-14507.595,10,1.3,15,18.4
$SPEED_LIMITS,0.095,0.184
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,0.107
$KALMAN_X,17202.2,243.9,-378.0,-38297.1,528.3
$KALMAN_Y,15798.8,-252.0,-449.7,-32829.7,2544.6
$MHEAD_RNG_PITCHd_Wd,36.2,29157,-13.3,-5.500
$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,18,-0.72,-117.3,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,148,2404,2428
$GC,105,-0.72,-117.3,3.0,-3.9,8,150,13.25,2.35,-23.45,0.000,4,0.290,0.100,3072,3811,3355
$GC,401,-0.44,-117.3,49.4,-14.5,34,409,0.32,2.30,0.00,0.000,6,0.163,0.058,3171,2395,3357
$GC,728,-0.49,-117.3,75.2,-7.1,65,732,0.00,2.35,0.00,0.000,4,0.000,0.080,3170,3814,3358
$GC,756,-0.55,-117.3,77.2,-7.2,67,760,0.00,2.25,0.00,0.000,6,0.000,0.058,3169,2396,3358
$GC,1072,-0.61,-117.3,98.2,-6.9,84,1074,0.15,0.00,0.00,0.000,6,0.077,0.000,3106,2396,3358
$GC,1382,-0.51,-117.3,131.4,-10.5,99,1386,0.15,2.30,0.00,0.000,4,0.164,0.073,3150,984,3358
$GC,1413,-0.51,-117.3,134.1,-7.2,100,1420,0.00,2.33,0.00,0.000,6,0.000,0.064,3150,2404,3358
$GC,1740,-0.58,-117.3,152.3,-5.0,116,1744,0.00,2.30,0.00,0.000,4,0.000,0.083,3150,3810,3358
$GC,1783,-0.69,-117.3,154.6,-5.1,117,1788,0.17,2.28,0.00,0.000,6,0.075,0.061,3084,2379,3357
$GC,2106,-0.57,-117.3,181.2,-8.9,128,2111,0.15,2.25,0.00,0.000,4,0.165,0.075,3130,993,3357
$GC,2201,-0.57,-117.3,188.3,-7.4,131,2205,0.00,2.28,0.00,0.000,6,0.000,0.064,3129,2410,3357
$GC,2535,-0.57,-117.3,211.6,-7.0,142,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2410,3356
$GC,2841,-0.57,-117.3,232.7,-7.0,152,2845,0.00,2.33,0.00,0.000,4,0.000,0.077,3129,987,3355
$GC,2889,-0.57,-117.3,236.6,-7.6,153,2894,0.00,2.33,0.00,0.000,6,0.000,0.067,3129,2408,3355
$GC,3208,-0.57,-117.3,259.3,-6.9,164,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2408,3354
$GC,3514,-0.57,-117.3,278.1,-6.2,174,3518,0.00,2.33,0.00,0.000,4,0.000,0.078,3129,987,3353
$GC,3568,-0.57,-117.3,281.8,-6.8,175,3575,0.00,2.30,0.00,0.000,6,0.000,0.067,3129,2395,3353
$GC,3881,-0.61,-117.3,301.8,-6.7,186,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2395,3352
$GC,4184,-0.61,-117.3,321.9,-6.6,191,4188,0.00,2.30,0.00,0.000,4,0.000,0.079,3129,991,3351
$GC,4255,-0.65,-117.3,327.1,-7.0,192,4260,0.00,2.30,0.00,0.000,6,0.000,0.068,3129,2400,3351
$GC,4615,-0.70,-117.3,352.6,-7.1,198,4617,0.12,0.00,0.00,0.000,6,0.090,0.000,3077,2400,3350
$GC,4919,-0.60,-117.3,379.0,-8.7,203,4923,0.15,2.30,0.00,0.000,4,0.164,0.079,3122,992,3350
$GC,4955,-0.60,-117.3,381.8,-7.3,203,4960,0.00,2.30,0.00,0.000,6,0.000,0.068,3122,2402,3350
$GC,5282,-0.65,-117.3,402.1,-6.2,209,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3349
$GC,5585,-0.69,-117.3,421.3,-6.4,214,5589,0.00,2.30,0.00,0.000,4,0.000,0.080,3122,994,3349
$GC,5633,-0.74,-117.3,424.7,-6.3,214,5638,0.10,2.30,0.00,0.000,6,0.074,0.069,3073,2400,3348
$GC,5949,-0.68,-117.3,449.2,-7.9,220,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3348
$GC,6252,-0.61,-117.3,472.1,-7.5,225,6254,0.15,0.00,0.00,0.000,6,0.142,0.000,3113,2401,3348
$GC,6555,-0.61,-117.3,490.3,-5.9,230,6559,0.00,2.33,0.00,0.000,4,0.000,0.081,3114,984,3348
$GC,6580,-0.61,-117.3,492.1,-6.9,230,6585,0.00,2.33,0.00,0.000,6,0.000,0.068,3114,2408,3347
$GC,6918,-0.61,-117.3,512.7,-6.1,236,6922,0.00,2.33,0.00,0.000,4,0.000,0.081,3114,988,3347
$GC,6950,-0.61,-117.3,514.9,-7.0,236,6955,0.00,2.30,0.00,0.000,6,0.000,0.069,3114,2395,3347
$GC,7282,-0.61,-117.3,535.3,-6.2,242,7286,0.00,2.30,0.00,0.000,4,0.000,0.081,3114,991,3347
$GC,7330,-0.61,-117.3,538.5,-6.7,242,7335,0.00,2.30,0.00,0.000,6,0.000,0.068,3114,2402,3347
$GC,7651,-0.61,-117.3,557.7,-5.9,248,7655,0.00,2.33,0.00,0.000,4,0.000,0.081,3114,984,3346
$GC,7682,-0.61,-117.3,559.6,-6.5,248,7687,0.00,2.33,0.00,0.000,6,0.000,0.069,3114,2403,3346
$GC,8015,-0.66,-117.3,579.8,-6.1,254,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3346
$GC,8318,-0.70,-117.3,598.4,-6.1,259,8322,0.00,2.33,0.00,0.000,4,0.000,0.081,3114,988,3346
$GC,8360,-0.70,-117.3,601.3,-6.5,259,8365,0.00,2.33,0.00,0.000,6,0.000,0.070,3114,2407,3346
$GC,8682,-0.75,-117.3,619.9,-5.8,265,8686,0.12,2.33,0.00,0.000,4,0.092,0.079,3064,987,3345
$GC,8719,-0.64,-117.3,622.9,-8.1,265,8724,0.12,2.30,0.00,0.000,6,0.170,0.069,3102,2395,3345
$GC,9045,-0.64,-117.3,642.4,-6.0,271,9049,0.00,2.30,0.00,0.000,4,0.000,0.081,3103,992,3345
$GC,9070,-0.64,-117.3,644.1,-5.9,271,9075,0.00,2.30,0.00,0.000,6,0.000,0.069,3103,2399,3345
$GC,9408,-0.64,-117.3,663.2,-5.6,277,9412,0.00,2.30,0.00,0.000,4,0.000,0.087,3100,3811,3345
$GC,9429,-0.64,-117.3,664.6,-6.3,277,9434,0.00,2.28,0.00,0.000,6,0.000,0.067,3100,2404,3345
$GC,9772,-0.64,-117.3,684.2,-5.8,283,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3345
$GC,10075,-0.64,-117.3,701.8,-5.8,288,10079,0.00,2.30,0.00,0.000,4,0.000,0.082,3100,991,3345
$GC,10103,-0.64,-117.3,703.5,-6.7,288,10107,0.00,2.28,0.00,0.000,6,0.000,0.070,3100,2403,3344
$GC,10433,-0.64,-117.3,723.0,-5.9,294,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3344
$GC,10736,-0.64,-117.3,741.9,-6.2,299,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3344
$GC,11040,-0.64,-117.3,761.8,-6.6,304,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3344
$GC,11343,-0.64,-117.3,780.5,-6.1,309,11347,0.00,2.33,0.00,0.000,4,0.000,0.082,3100,988,3344
$GC,11391,-0.64,-117.3,783.8,-7.1,309,11396,0.00,2.30,0.00,0.000,6,0.000,0.071,3100,2396,3343
$GC,11712,-0.64,-117.3,802.7,-5.9,315,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3343
$GC,12015,-0.64,-117.3,820.4,-5.8,320,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3343
$GC,12318,-0.64,-117.3,838.3,-5.9,325,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3344
$GC,12621,-0.64,-117.3,857.1,-6.2,330,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3343
$GC,12924,-0.64,-117.3,876.5,-6.4,335,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3343
$GC,13227,-0.64,-117.3,896.0,-6.4,340,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3343
$GC,13531,-0.64,-117.3,915.6,-6.5,345,13534,0.00,2.30,0.00,0.000,4,0.000,0.083,3100,991,3342
$GC,13568,-0.68,-117.3,918.3,-6.5,345,13573,0.00,2.30,0.00,0.000,6,0.000,0.071,3100,2396,3342
$GC,13900,-0.68,-117.3,939.2,-6.3,351,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3342
$GC,14203,-0.72,-117.3,958.8,-6.5,356,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3342
$GC,14507,-0.77,-117.3,977.1,-6.0,361,14508,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3342
$STATE,14748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14748,begin apogee
$GC,14751,-0.22,0.0,991.1,5.8,365,14852,0.47,0.00,97.62,1.513,6,0.162,0.000,3244,2199,2876
$STATE,14853,end apogee,CONTROL_FINISHED_OK
$STATE,14853,begin climb
$GC,14854,0.72,117.3,992.9,0.0,366,14965,0.95,2.62,102.80,1.461,4,0.107,0.086,3546,789,2396
$GC,14986,0.33,117.3,993.3,5.5,368,14994,0.40,2.50,0.00,0.000,6,0.196,0.067,3429,2202,2395
$GC,15296,0.28,117.3,975.6,5.8,374,15299,0.00,2.40,0.00,0.000,4,0.000,0.084,3429,3618,2393
$GC,15346,0.16,117.3,972.3,6.6,374,15351,0.25,2.40,0.00,0.000,6,0.185,0.074,3372,2192,2393
$GC,15660,0.33,153.1,958.4,4.4,380,15694,0.17,0.00,31.00,1.438,6,0.090,0.000,3434,2192,2251
$GC,15963,0.33,153.1,938.1,7.0,385,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,2248
$GC,16266,0.33,153.1,917.2,6.9,390,16267,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,2248
$GC,16569,0.33,153.1,895.9,7.0,395,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2193,2248
$GC,16872,0.33,153.1,873.8,7.4,400,16873,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,2248
$GC,17175,0.33,153.1,851.9,7.2,405,17176,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,2247
$GC,17478,0.33,153.1,830.2,7.2,410,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2247
$GC,17781,0.33,153.1,809.5,6.7,415,17782,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,2247
$GC,18084,0.33,153.1,790.9,6.1,420,18088,0.00,2.35,0.00,0.000,4,0.000,0.088,3434,3610,2247
$GC,18135,0.25,153.1,787.6,5.9,420,18139,0.15,2.30,0.00,0.000,6,0.185,0.074,3398,2197,2247
$GC,18449,0.41,199.6,774.4,4.0,426,18490,0.15,0.00,39.03,1.372,6,0.093,0.000,3452,2197,2061
$GC,18751,0.41,199.6,756.6,6.0,431,18752,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2197,2057
$GC,19054,0.41,199.6,738.0,6.2,436,19058,0.00,2.38,0.00,0.000,4,0.000,0.085,3452,3611,2057
$GC,19086,0.35,199.6,735.6,8.2,436,19091,0.00,2.38,0.00,0.000,6,0.000,0.073,3453,2194,2057
$GC,19423,0.35,199.6,710.9,7.5,442,19425,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2194,2056
$GC,19726,0.35,199.6,685.6,8.4,447,19730,0.00,2.35,0.00,0.000,4,0.000,0.084,3452,3611,2056
$GC,19759,0.29,199.6,682.3,9.7,447,19764,0.12,2.35,0.00,0.000,6,0.178,0.074,3415,2194,2056
$GC,20091,0.41,199.6,658.4,7.1,453,20095,0.00,2.35,0.00,0.000,4,0.000,0.082,3415,3612,2056
$GC,20117,0.48,199.6,656.3,7.5,453,20122,0.10,2.33,0.00,0.000,6,0.080,0.071,3482,2202,2056
$GC,20455,0.41,199.6,626.0,9.0,459,20459,0.12,2.35,0.00,0.000,4,0.167,0.087,3452,789,2056
$GC,20486,0.41,199.6,623.5,8.4,459,20491,0.00,2.33,0.00,0.000,6,0.000,0.066,3452,2206,2056
$GC,20818,0.41,199.6,600.7,6.8,465,20819,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2206,2056
$GC,21121,0.41,199.6,581.5,6.3,470,21122,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2206,2056
$GC,21424,0.41,199.6,561.4,6.7,475,21428,0.00,2.35,0.00,0.000,4,0.000,0.087,3452,786,2056
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$STATE,29814,end climb,SURFACE_DEPTH_REACHED
$STATE,29814,begin surface coast
$FINISH,0.8,1.012062
$STATE,29835,end surface coast,CONTROL_FINISHED_OK
$STATE,29835,begin surface
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$10V_AH,10.6,3.628
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$DEVICE_SECS,29.400,200.400,335.875,235.600,0.000,151.522,375.800,0.000,222.750,0.000,0.000,15.852,1677.321,25586.230,800.334,2207.360,674.631,33.356,1886.789,0.000,2180.823,0.000,0.465
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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,44420,782
$CAP_FILE_SIZE,172121,0
$CFSIZE,260165632,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050908,233232,4958.277,-14502.935,41,1.1,41,18.4