version: 66.03
glider: 120
mission: 9
dive: 46
start: 9 13 108 21 4 58
data:
$ID,120
$MISSION,9
$DIVE,46
$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,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,-18572.549
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,205907,5000.587,-14444.211,42,1.4,53,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-72.9
$GPS2,210403,5000.568,-14444.229,15,1.5,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,0.138
$KALMAN_X,20559.0,-47.7,-41.8,-13941.6,86.4
$KALMAN_Y,37343.1,-265.0,-394.4,-45894.0,1543.6
$MHEAD_RNG_PITCHd_Wd,302.6,15093,-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,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,43,0.00,0.00,-22.50,0.000,2,0.000,0.000,142,2406,2168
$GC,45,-0.67,-117.3,3.1,-3.1,2,100,13.38,2.35,-34.28,0.000,4,0.290,0.085,3097,990,3355
$GC,347,-0.33,-117.3,46.3,-15.6,29,352,0.38,2.30,0.00,0.000,6,0.172,0.064,3204,2401,3358
$GC,672,-0.70,-117.3,70.0,-6.2,59,677,0.30,2.33,0.00,0.000,4,0.087,0.075,3095,3825,3360
$GC,805,-0.51,-117.3,81.6,-9.8,70,810,0.15,2.30,0.00,0.000,6,0.153,0.054,3142,2390,3360
$GC,1132,-0.43,-117.3,109.8,-8.8,86,1137,0.12,2.25,0.00,0.000,4,0.173,0.068,3176,995,3362
$GC,1193,-0.50,-117.3,114.4,-6.6,89,1197,0.00,2.28,0.00,0.000,6,0.000,0.061,3176,2410,3362
$GC,1519,-0.60,-117.3,132.9,-5.5,105,1524,0.15,2.28,0.00,0.000,4,0.081,0.077,3111,3810,3362
$GC,1562,-0.51,-117.3,136.2,-8.5,107,1567,0.10,2.25,0.00,0.000,6,0.127,0.056,3144,2402,3362
$GC,1877,-0.51,-117.3,156.8,-6.6,121,1881,0.00,2.28,0.00,0.000,4,0.000,0.071,3144,991,3362
$GC,1920,-0.51,-117.3,159.8,-7.4,122,1924,0.00,2.30,0.00,0.000,6,0.000,0.062,3144,2405,3361
$GC,2243,-0.51,-117.3,184.2,-7.1,133,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2405,3361
$GC,2550,-0.51,-117.3,200.6,-5.1,143,2554,0.00,2.30,0.00,0.000,4,0.000,0.073,3144,993,3361
$GC,2587,-0.55,-117.3,202.8,-5.7,144,2592,0.00,2.30,0.00,0.000,6,0.000,0.064,3144,2403,3361
$GC,2917,-0.59,-117.3,223.5,-6.7,155,2921,0.00,2.30,0.00,0.000,4,0.000,0.074,3144,994,3360
$GC,2960,-0.64,-117.3,226.5,-7.1,156,2965,0.08,2.28,0.00,0.000,6,0.075,0.063,3106,2396,3360
$GC,3283,-0.64,-117.3,250.2,-7.2,167,3287,0.00,2.30,0.00,0.000,4,0.000,0.081,3106,3811,3360
$GC,3327,-0.58,-117.3,253.8,-8.2,168,3331,0.00,2.25,0.00,0.000,6,0.000,0.060,3106,2407,3359
$GC,3650,-0.58,-117.3,275.9,-6.1,179,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3359
$GC,3956,-0.58,-117.3,293.0,-5.6,189,3960,0.00,2.30,0.00,0.000,4,0.000,0.076,3106,990,3358
$GC,3985,-0.53,-117.3,294.7,-6.7,190,3989,0.15,2.28,0.00,0.000,6,0.167,0.066,3145,2402,3359
$GC,4347,-0.59,-117.3,314.2,-5.4,198,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2402,3359
$GC,4650,-0.65,-117.3,329.6,-5.0,203,4654,0.12,2.33,0.00,0.000,4,0.090,0.076,3099,984,3357
$GC,4704,-0.59,-117.3,333.0,-6.6,203,4711,0.00,2.30,0.00,0.000,6,0.000,0.066,3099,2397,3357
$GC,5013,-0.51,-117.3,354.1,-6.8,209,5015,0.17,0.00,0.00,0.000,6,0.170,0.000,3146,2397,3357
$GC,5317,-0.58,-117.3,371.7,-5.8,214,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2397,3357
$GC,5620,-0.65,-117.3,389.1,-5.7,219,5624,0.12,2.30,0.00,0.000,4,0.092,0.076,3099,985,3356
$GC,5657,-0.61,-117.3,391.7,-7.3,219,5661,0.00,2.30,0.00,0.000,6,0.000,0.065,3099,2397,3356
$GC,5989,-0.53,-117.3,412.6,-6.3,225,5991,0.15,0.00,0.00,0.000,6,0.171,0.000,3139,2398,3356
$GC,6292,-0.59,-117.3,426.2,-4.4,230,6296,0.00,2.30,0.00,0.000,4,0.000,0.077,3139,991,3355
$GC,6330,-0.65,-117.3,428.2,-5.3,230,6334,0.00,2.30,0.00,0.000,6,0.000,0.066,3139,2402,3355
$GC,6657,-0.71,-117.3,445.9,-5.5,236,6659,0.17,0.00,0.00,0.000,6,0.087,0.000,3073,2402,3355
$GC,6960,-0.59,-117.3,470.7,-8.4,241,6964,0.15,2.33,0.00,0.000,4,0.165,0.077,3120,983,3355
$GC,6991,-0.59,-117.3,473.2,-7.0,241,6996,0.00,2.33,0.00,0.000,6,0.000,0.068,3120,2405,3355
$GC,7323,-0.59,-117.3,495.2,-6.7,247,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2405,3355
$GC,7626,-0.59,-117.3,516.7,-7.1,252,7630,0.00,2.33,0.00,0.000,4,0.000,0.077,3120,982,3354
$GC,7680,-0.59,-117.3,520.9,-8.5,252,7687,0.00,2.33,0.00,0.000,6,0.000,0.068,3120,2401,3354
$GC,7989,-0.59,-117.3,542.2,-6.9,258,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3354
$GC,8293,-0.59,-117.3,560.7,-6.0,263,8296,0.00,2.33,0.00,0.000,4,0.000,0.087,3115,3821,3354
$GC,8319,-0.59,-117.3,562.4,-6.0,263,8323,0.00,2.28,0.00,0.000,6,0.000,0.063,3116,2405,3354
$GC,8662,-0.59,-117.3,582.3,-5.8,269,8666,0.00,2.30,0.00,0.000,4,0.000,0.079,3116,984,3354
$GC,8699,-0.59,-117.3,584.6,-6.2,269,8703,0.00,2.30,0.00,0.000,6,0.000,0.067,3116,2396,3354
$GC,9025,-0.59,-117.3,603.2,-5.8,275,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2396,3353
$GC,9328,-0.59,-117.3,621.7,-6.1,280,9332,0.00,2.30,0.00,0.000,4,0.000,0.079,3116,988,3353
$GC,9354,-0.59,-117.3,623.5,-6.9,280,9359,0.00,2.30,0.00,0.000,6,0.000,0.068,3116,2396,3353
$GC,9692,-0.59,-117.3,644.7,-6.3,286,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2396,3353
$GC,9995,-0.59,-117.3,661.8,-5.6,291,9999,0.00,2.33,0.00,0.000,4,0.000,0.087,3116,3819,3353
$GC,10043,-0.59,-117.3,664.6,-5.7,291,10048,0.00,2.28,0.00,0.000,6,0.000,0.064,3115,2404,3352
$GC,10359,-0.75,-117.3,682.0,-5.7,297,10364,0.12,2.33,0.00,0.000,4,0.100,0.084,3071,3814,3352
$GC,10441,-0.71,-117.3,687.2,-6.1,298,10445,0.00,2.28,0.00,0.000,6,0.000,0.064,3071,2403,3352
$GC,10790,-0.60,-117.3,708.2,-6.1,304,10795,0.15,2.30,0.00,0.000,4,0.170,0.078,3118,987,3352
$GC,10832,-0.60,-117.3,710.5,-5.3,304,10837,0.00,2.30,0.00,0.000,6,0.000,0.068,3114,2397,3352
$GC,11154,-0.60,-117.3,725.7,-4.8,310,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3352
$GC,11457,-0.60,-117.3,741.4,-5.3,315,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3352
$GC,11760,-0.60,-117.3,759.3,-5.9,320,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3352
$GC,12063,-0.60,-117.3,778.8,-6.5,325,12067,0.00,2.33,0.00,0.000,4,0.000,0.080,3114,982,3351
$GC,12106,-0.60,-117.3,781.9,-6.9,325,12110,0.00,2.33,0.00,0.000,6,0.000,0.069,3114,2403,3351
$GC,12426,-0.60,-117.3,803.3,-6.8,331,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3351
$GC,12729,-0.60,-117.3,823.6,-6.7,336,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,13032,-0.60,-117.3,843.2,-6.5,341,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3352
$GC,13335,-0.60,-117.3,861.4,-6.0,346,13337,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,13638,-0.60,-117.3,877.6,-5.2,351,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,13942,-0.60,-117.3,890.9,-4.3,356,13943,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3351
$GC,14245,-0.60,-117.3,901.7,-3.4,361,14249,0.00,2.33,0.00,0.000,4,0.000,0.081,3113,984,3351
$GC,14277,-0.64,-117.3,903.0,-3.7,361,14281,0.00,2.30,0.00,0.000,6,0.000,0.070,3113,2405,3351
$GC,14614,-0.64,-117.3,914.1,-3.3,367,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3351
$GC,14918,-0.69,-117.3,924.7,-3.5,372,14919,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3351
$GC,15221,-0.73,-117.3,936.5,-3.9,377,15225,0.00,2.33,0.00,0.000,4,0.000,0.081,3113,984,3350
$GC,15248,-0.78,-117.3,937.7,-4.6,377,15253,0.15,2.30,0.00,0.000,6,0.091,0.071,3059,2402,3350
$GC,15591,-0.68,-117.3,958.0,-6.1,383,15593,0.12,0.00,0.00,0.000,6,0.152,0.000,3091,2402,3350
$GC,15893,-0.68,-117.3,974.3,-5.4,388,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3350
$STATE,16195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16195,begin apogee
$GC,16200,-0.22,0.0,990.2,5.2,393,16302,0.50,0.00,99.40,1.506,6,0.163,0.000,3243,2202,2876
$STATE,16302,end apogee,CONTROL_FINISHED_OK
$STATE,16303,begin climb
$GC,16304,0.67,117.3,991.4,0.0,394,16415,0.88,2.62,102.62,1.451,4,0.107,0.083,3532,789,2397
$GC,16448,0.27,117.3,989.1,8.2,396,16453,0.43,2.47,0.00,0.000,6,0.191,0.065,3410,2194,2395
$GC,16796,0.27,117.3,968.7,5.8,402,16797,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2194,2393
$GC,17099,0.27,117.3,951.8,5.6,407,17100,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2194,2393
$GC,17402,0.27,117.3,935.7,5.3,412,17404,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2194,2392
$GC,17706,0.27,120.0,920.6,4.9,417,17707,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2194,2391
$GC,18009,0.28,126.3,906.1,4.8,422,18019,0.00,0.00,8.38,1.271,6,0.000,0.000,3410,2194,2361
$GC,18373,0.28,126.3,886.8,5.4,428,18377,0.00,2.35,0.00,0.000,4,0.000,0.085,3410,3610,2360
$GC,18423,0.19,126.3,883.9,5.6,428,18427,0.00,2.30,0.00,0.000,6,0.000,0.071,3410,2200,2360
$GC,18736,0.19,126.3,866.1,5.8,434,18740,0.00,2.35,0.00,0.000,4,0.000,0.087,3410,789,2360
$GC,18768,0.19,126.3,864.2,6.3,434,18773,0.00,2.33,0.00,0.000,6,0.000,0.067,3410,2198,2360
$GC,19100,0.19,126.3,844.5,6.0,440,19104,0.00,2.33,0.00,0.000,4,0.000,0.084,3410,3617,2360
$GC,19138,0.12,126.3,842.0,6.2,440,19143,0.15,2.33,0.00,0.000,6,0.177,0.071,3355,2201,2360
$GC,19464,0.31,126.3,825.3,5.1,446,19469,0.15,2.35,0.00,0.000,4,0.097,0.084,3412,3614,2360
$GC,19535,0.22,126.3,820.6,6.1,447,19540,0.10,2.33,0.00,0.000,6,0.171,0.071,3391,2201,2360
$GC,19896,0.27,126.3,801.3,5.3,453,19897,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2201,2359
$GC,20199,0.33,131.6,786.3,4.8,458,20209,0.00,2.38,5.97,1.115,4,0.000,0.084,3388,3622,2339
$GC,20236,0.33,131.6,784.3,5.2,458,20241,0.00,2.35,0.00,0.000,6,0.000,0.070,3394,2197,2339
$GC,20563,0.41,150.7,769.7,4.5,464,20588,0.15,2.45,17.33,1.324,4,0.100,0.086,3462,792,2260
$GC,20609,0.29,150.7,766.8,6.4,464,20615,0.15,2.38,0.00,0.000,6,0.163,0.067,3418,2205,2260
$GC,20930,0.29,150.7,749.3,5.5,470,20934,0.00,2.35,0.00,0.000,4,0.000,0.084,3418,3621,2259
$GC,20985,0.24,150.7,746.0,5.9,470,20992,0.00,2.38,0.00,0.000,6,0.000,0.072,3421,2196,2259
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$STATE,34007,end climb,SURFACE_DEPTH_REACHED
$STATE,34007,begin surface coast
$FINISH,1.9,1.013764
$STATE,34029,end surface coast,CONTROL_FINISHED_OK
$STATE,34029,begin surface
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$10V_AH,10.6,6.401
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$DEVICE_SECS,31.025,237.650,377.350,0.000,0.000,28.031,27.143,147.904,263.750,0.000,0.000,15.473,1922.527,28895.486,559.424,2632.770,387.356,33.371,1854.642,0.000,2600.042,0.000,0.465
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$DATA_FILE_SIZE,50671,873
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