version: 66.03
glider: 120
mission: 9
dive: 97
start: 10 3 108 4 57 20
data:
$ID,120
$MISSION,9
$DIVE,97
$D_SURF,6
$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,-19623.137
$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
$GPS1,045108,5015.698,-14513.567,46,1.3,46,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,5.04
$_SM_ANGLEo,-75.4
$GPS2,045626,5015.702,-14513.537,11,1.6,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.176
$KALMAN_X,43235.1,46.1,2.8,-71576.1,1287.0
$KALMAN_Y,71599.9,165.8,364.9,-53336.5,634.3
$MHEAD_RNG_PITCHd_Wd,169.6,40216,-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,-11.90,0.000,2,0.000,0.000,147,2413,1953
$GC,35,-0.67,-117.3,5.2,-0.0,1,111,13.65,2.38,-52.55,0.000,4,0.291,0.092,3085,3804,3356
$GC,325,-0.28,-117.3,43.2,-16.8,27,330,0.50,2.25,0.00,0.000,6,0.171,0.054,3226,2395,3358
$GC,649,-0.82,-117.3,66.0,-7.8,57,654,0.50,2.35,0.00,0.000,4,0.097,0.074,3051,3816,3360
$GC,733,-0.48,-117.3,74.4,-12.4,64,738,0.38,2.22,0.00,0.000,6,0.169,0.052,3157,2396,3360
$GC,1050,-0.48,-117.3,97.5,-6.8,82,1054,0.00,2.28,0.00,0.000,4,0.000,0.066,3157,985,3362
$GC,1111,-0.48,-117.3,101.6,-6.7,85,1115,0.00,2.30,0.00,0.000,6,0.000,0.059,3156,2414,3362
$GC,1436,-0.48,-117.3,122.6,-6.6,101,1440,0.00,2.33,0.00,0.000,4,0.000,0.067,3156,986,3362
$GC,1490,-0.48,-117.3,126.2,-6.8,103,1497,0.00,2.30,0.00,0.000,6,0.000,0.059,3156,2398,3362
$GC,1806,-0.53,-117.3,146.0,-5.9,119,1810,0.00,2.30,0.00,0.000,4,0.000,0.077,3156,3811,3362
$GC,1867,-0.63,-117.3,149.5,-5.6,122,1872,0.12,2.22,0.00,0.000,6,0.082,0.054,3105,2394,3361
$GC,2190,-0.56,-117.3,173.4,-7.3,133,2195,0.12,2.28,0.00,0.000,4,0.156,0.068,3137,985,3362
$GC,2251,-0.56,-117.3,177.4,-6.4,135,2256,0.00,2.28,0.00,0.000,6,0.000,0.061,3137,2402,3362
$GC,2585,-0.56,-117.3,197.4,-6.0,146,2589,0.00,2.28,0.00,0.000,4,0.000,0.070,3137,993,3361
$GC,2612,-0.56,-117.3,199.2,-6.8,146,2619,0.00,2.28,0.00,0.000,6,0.000,0.061,3137,2398,3362
$GC,2925,-0.56,-117.3,218.9,-6.3,157,2928,0.00,2.28,0.00,0.000,4,0.000,0.071,3137,994,3361
$GC,2963,-0.56,-117.3,221.5,-6.9,158,2967,0.00,2.25,0.00,0.000,6,0.000,0.062,3137,2400,3361
$GC,3292,-0.56,-117.3,243.0,-6.8,169,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,3360
$GC,3598,-0.56,-117.3,262.9,-6.4,179,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,3360
$GC,3905,-0.60,-117.3,283.1,-6.7,189,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,3360
$GC,4241,-0.64,-117.3,305.9,-6.7,199,4245,0.00,2.30,0.00,0.000,4,0.000,0.072,3137,987,3359
$GC,4290,-0.69,-117.3,309.3,-6.7,199,4295,0.10,2.30,0.00,0.000,6,0.073,0.064,3090,2399,3359
$GC,4610,-0.61,-117.3,333.8,-7.7,205,4612,0.12,0.00,0.00,0.000,6,0.159,0.000,3122,2399,3358
$GC,4913,-0.61,-117.3,354.4,-6.8,210,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3359
$GC,5216,-0.61,-117.3,374.5,-6.6,215,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3358
$GC,5519,-0.61,-117.3,393.8,-6.3,220,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3357
$GC,5824,-0.61,-117.3,412.0,-6.0,225,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3357
$GC,6125,-0.61,-117.3,430.1,-5.9,230,6129,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,989,3357
$GC,6168,-0.61,-117.3,432.7,-6.2,230,6173,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2397,3357
$GC,6490,-0.61,-117.3,448.8,-5.0,236,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3356
$GC,6792,-0.61,-117.3,464.3,-5.2,241,6796,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,989,3356
$GC,6819,-0.61,-117.3,465.8,-6.2,241,6823,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2401,3356
$GC,7156,-0.61,-117.3,484.3,-5.6,247,7160,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,988,3356
$GC,7188,-0.61,-117.3,486.3,-5.9,247,7193,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2398,3356
$GC,7520,-0.61,-117.3,505.8,-6.0,253,7524,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,992,3355
$GC,7547,-0.61,-117.3,507.8,-7.2,253,7551,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2403,3355
$GC,7885,-0.61,-117.3,529.6,-6.5,259,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3356
$GC,8188,-0.61,-117.3,548.7,-6.2,264,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3355
$GC,8493,-0.65,-117.3,567.6,-6.2,269,8497,0.00,2.33,0.00,0.000,4,0.000,0.075,3122,987,3355
$GC,8524,-0.65,-117.3,569.8,-7.1,269,8529,0.00,2.33,0.00,0.000,6,0.000,0.066,3122,2407,3355
$GC,8857,-0.69,-117.3,589.8,-6.0,275,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2408,3355
$GC,9160,-0.74,-117.3,607.1,-5.7,280,9165,0.15,2.33,0.00,0.000,4,0.087,0.074,3066,986,3354
$GC,9192,-0.63,-117.3,609.5,-7.7,280,9197,0.12,2.30,0.00,0.000,6,0.166,0.066,3115,2396,3354
$GC,9523,-0.63,-117.3,627.3,-5.3,286,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3354
$GC,9827,-0.63,-117.3,642.0,-4.8,291,9831,0.00,2.30,0.00,0.000,4,0.000,0.074,3115,989,3354
$GC,9864,-0.63,-117.3,644.0,-5.0,291,9869,0.00,2.30,0.00,0.000,6,0.000,0.065,3114,2402,3354
$GC,10191,-0.63,-117.3,658.8,-4.6,297,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3354
$GC,10494,-0.63,-117.3,671.5,-4.1,302,10498,0.00,2.30,0.00,0.000,4,0.000,0.075,3114,991,3354
$GC,10543,-0.63,-117.3,673.7,-4.5,302,10547,0.00,2.30,0.00,0.000,6,0.000,0.065,3114,2419,3354
$GC,10858,-0.63,-117.3,687.6,-4.6,308,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2419,3354
$GC,11160,-0.63,-117.3,703.4,-5.2,313,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2419,3354
$GC,11464,-0.63,-117.3,721.2,-6.0,318,11468,0.00,2.33,0.00,0.000,4,0.000,0.076,3114,995,3353
$GC,11507,-0.63,-117.3,724.0,-6.8,318,11511,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2424,3354
$GC,11828,-0.63,-117.3,743.0,-5.9,324,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2423,3353
$GC,12130,-0.63,-117.3,760.2,-5.7,329,12134,0.00,2.33,0.00,0.000,4,0.000,0.076,3114,995,3353
$GC,12180,-0.67,-117.3,763.1,-6.1,329,12184,0.00,2.28,0.00,0.000,6,0.000,0.066,3114,2408,3353
$GC,12495,-0.72,-117.3,780.7,-5.6,335,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2408,3353
$GC,12798,-0.76,-117.3,798.9,-6.1,340,12800,0.12,0.00,0.00,0.000,6,0.094,0.000,3067,2408,3352
$GC,13101,-0.72,-117.3,821.0,-7.3,345,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2408,3353
$GC,13404,-0.67,-117.3,843.0,-7.3,350,13406,0.12,0.00,0.00,0.000,6,0.123,0.000,3101,2408,3352
$GC,13707,-0.67,-117.3,863.7,-6.8,355,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2408,3352
$GC,14011,-0.67,-117.3,883.4,-6.3,360,14015,0.00,2.30,0.00,0.000,4,0.000,0.076,3101,997,3352
$GC,14038,-0.67,-117.3,885.3,-7.0,360,14042,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2401,3352
$GC,14376,-0.67,-117.3,904.8,-5.8,366,14377,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,14679,-0.67,-117.3,922.1,-5.6,371,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,14982,-0.67,-117.3,939.1,-5.6,376,14986,0.00,2.30,0.00,0.000,4,0.000,0.077,3100,991,3351
$GC,15025,-0.67,-117.3,941.8,-6.2,376,15029,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2397,3351
$GC,15346,-0.67,-117.3,958.6,-5.2,382,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3351
$GC,15649,-0.67,-117.3,974.7,-5.3,387,15650,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3351
$STATE,15952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15952,begin apogee
$GC,15956,-0.22,0.0,990.8,5.4,392,16060,0.47,0.00,100.35,1.509,6,0.154,0.000,3243,2197,2876
$STATE,16060,end apogee,CONTROL_FINISHED_OK
$STATE,16060,begin climb
$GC,16062,0.67,117.3,992.5,0.0,393,16170,0.88,0.00,103.95,1.458,6,0.101,0.000,3529,2197,2397
$GC,16427,0.30,117.3,972.1,8.7,399,16429,0.43,0.00,0.00,0.000,6,0.186,0.000,3418,2197,2394
$GC,16729,0.25,117.3,954.4,5.6,404,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2393
$GC,17032,0.21,117.3,937.9,5.4,409,17034,0.12,0.00,0.00,0.000,6,0.182,0.000,3387,2197,2393
$GC,17336,0.29,139.8,924.5,4.4,414,17361,0.00,2.40,19.73,1.411,4,0.000,0.081,3395,790,2305
$GC,17399,0.36,139.8,921.5,5.3,415,17404,0.05,2.38,0.00,0.000,6,0.058,0.063,3434,2197,2304
$GC,17766,0.30,139.8,899.6,6.0,421,17770,0.00,2.35,0.00,0.000,4,0.000,0.083,3434,3609,2304
$GC,17809,0.16,139.8,896.4,6.7,421,17814,0.25,2.30,0.00,0.000,6,0.179,0.066,3371,2202,2303
$GC,18130,0.32,166.3,882.7,4.2,427,18156,0.15,0.00,23.60,1.407,6,0.094,0.000,3423,2202,2197
$GC,18433,0.37,166.3,865.1,5.9,432,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2202,2195
$GC,18736,0.43,166.3,847.3,5.9,437,18740,0.00,2.38,0.00,0.000,4,0.000,0.082,3423,784,2194
$GC,18767,0.43,166.3,845.2,6.4,437,18772,0.00,2.35,0.00,0.000,6,0.000,0.066,3423,2200,2194
$GC,19099,0.43,166.3,825.0,6.1,443,19103,0.00,2.35,0.00,0.000,4,0.000,0.084,3423,3620,2194
$GC,19132,0.37,166.3,822.8,7.0,443,19136,0.00,2.33,0.00,0.000,6,0.000,0.067,3423,2189,2194
$GC,19464,0.37,166.3,802.5,6.1,449,19465,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2189,2194
$GC,19766,0.37,166.3,782.5,6.6,454,19767,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2190,2194
$GC,20069,0.37,166.3,762.5,6.6,459,20073,0.00,2.33,0.00,0.000,4,0.000,0.083,3423,786,2193
$GC,20118,0.37,166.3,759.1,6.9,459,20123,0.00,2.33,0.00,0.000,6,0.000,0.064,3423,2204,2193
$GC,20433,0.37,166.3,738.5,6.5,465,20437,0.00,2.30,0.00,0.000,4,0.000,0.082,3423,3610,2193
$GC,20471,0.31,166.3,735.7,9.2,465,20476,0.00,2.30,0.00,0.000,6,0.000,0.067,3423,2202,2193
$GC,20797,0.31,166.3,714.5,6.6,471,20799,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2202,2193
$GC,21102,0.31,166.3,694.1,6.8,476,21103,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2202,2193
$GC,21404,0.31,166.3,673.2,7.0,481,21408,0.00,2.35,0.00,0.000,4,0.000,0.083,3423,3616,2193
$GC,21447,0.27,166.3,669.6,9.0,481,21451,0.00,2.33,0.00,0.000,6,0.000,0.067,3423,2193,2193
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$GC,26876,0.45,219.6,348.3,3.5,571,26922,0.17,0.00,43.55,1.098,6,0.091,0.000,3467,2198,1980
$GC,27179,0.45,219.6,332.1,5.5,576,27183,0.00,2.38,0.00,0.000,4,0.000,0.078,3476,780,1975
$GC,27210,0.45,219.6,330.2,5.4,576,27215,0.00,2.35,0.00,0.000,6,0.000,0.062,3476,2196,1975
$GC,27543,0.41,219.6,309.2,6.5,582,27544,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2196,1974
$GC,27847,0.41,219.6,289.0,6.6,589,27851,0.00,2.35,0.00,0.000,4,0.000,0.082,3476,3618,1973
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$GC,28214,0.46,226.2,270.3,4.8,601,28225,0.15,2.33,6.15,0.883,4,0.089,0.080,3476,788,1952
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$GC,29284,0.46,226.2,192.5,7.2,636,29285,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2195,1950
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$GC,30349,0.48,234.1,127.7,7.0,677,30353,0.00,2.28,0.00,0.000,6,0.000,0.062,3476,2200,1920
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$STATE,32476,end climb,SURFACE_DEPTH_REACHED
$STATE,32476,begin surface coast
$FINISH,4.0,1.015315
$STATE,32595,end surface coast,CONTROL_FINISHED_OK
$STATE,32595,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2146
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$10V_AH,10.7,12.972
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$DEVICE_SECS,29.200,204.025,352.350,6.900,0.000,33.323,32.367,151.325,249.000,0.000,0.000,16.081,1822.285,27767.502,548.152,2359.133,436.286,33.375,1699.137,0.000,2336.769,0.000,0.466
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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,50666,846
$CAP_FILE_SIZE,184046,0
$CFSIZE,260165632,251170816
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