version: 66.03
glider: 120
mission: 9
dive: 130
start: 10 15 108 18 7 46
data:
$ID,120
$MISSION,9
$DIVE,130
$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,-20359.633
$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,21
$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
$GPS1,180132,5003.527,-14447.207,82,0.9,82,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.36
$_SM_ANGLEo,-75.0
$GPS2,180651,5003.498,-14447.194,15,1.4,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,0.149
$KALMAN_X,39582.0,-109.3,-99.4,-36367.2,171.5
$KALMAN_Y,95708.4,-278.0,122.8,-99343.4,295.5
$MHEAD_RNG_PITCHd_Wd,308.5,8628,-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,-11.82,0.000,2,0.000,0.000,136,2412,1951
$GC,36,-0.67,-117.3,4.3,-0.0,1,112,13.52,2.42,-56.88,0.000,4,0.280,0.078,3096,987,3356
$GC,213,-0.35,-117.3,20.3,-14.4,17,218,0.38,2.33,0.00,0.000,6,0.169,0.062,3201,2399,3357
$GC,540,-0.35,-117.3,45.1,-7.5,47,541,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2399,3359
$GC,856,-0.68,-117.3,64.8,-6.7,77,861,0.28,2.30,0.00,0.000,4,0.086,0.064,3100,989,3360
$GC,907,-0.63,-117.3,68.8,-8.5,81,911,0.00,2.28,0.00,0.000,6,0.000,0.058,3100,2405,3360
$GC,1236,-0.41,-117.3,104.2,-11.1,102,1238,0.28,0.00,0.00,0.000,6,0.166,0.000,3176,2404,3362
$GC,1545,-0.46,-117.3,125.5,-6.6,117,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2405,3362
$GC,1855,-0.72,-117.3,144.6,-6.8,132,1859,0.25,2.33,0.00,0.000,4,0.082,0.067,3082,979,3362
$GC,1920,-0.55,-117.3,150.4,-9.1,135,1925,0.20,2.30,0.00,0.000,6,0.166,0.061,3137,2408,3362
$GC,2243,-0.55,-117.3,173.3,-7.1,146,2247,0.00,2.30,0.00,0.000,4,0.000,0.079,3137,3814,3362
$GC,2293,-0.59,-117.3,176.7,-6.6,147,2297,0.00,2.25,0.00,0.000,6,0.000,0.054,3136,2385,3362
$GC,2611,-0.59,-117.3,195.1,-5.6,158,2615,0.00,2.25,0.00,0.000,4,0.000,0.069,3137,987,3362
$GC,2642,-0.59,-117.3,197.2,-6.4,159,2647,0.00,2.30,0.00,0.000,6,0.000,0.061,3136,2396,3361
$GC,2978,-0.59,-117.3,216.9,-5.6,170,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2396,3361
$GC,3284,-0.59,-117.3,233.2,-5.6,180,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2397,3360
$GC,3590,-0.59,-117.3,253.6,-7.1,190,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2397,3360
$GC,3896,-0.59,-117.3,275.7,-7.0,200,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2397,3360
$GC,4202,-0.59,-117.3,295.8,-6.4,210,4206,0.00,2.30,0.00,0.000,4,0.000,0.071,3137,986,3359
$GC,4252,-0.63,-117.3,299.2,-6.7,211,4256,0.00,2.28,0.00,0.000,6,0.000,0.063,3137,2400,3359
$GC,4597,-0.63,-117.3,318.2,-5.4,218,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,3358
$GC,4901,-0.68,-117.3,333.2,-5.0,223,4903,0.12,0.00,0.00,0.000,6,0.090,0.000,3089,2400,3357
$GC,5204,-0.62,-117.3,352.5,-6.4,228,5208,0.00,2.30,0.00,0.000,4,0.000,0.071,3089,995,3357
$GC,5259,-0.53,-117.3,356.9,-8.0,228,5266,0.15,2.30,0.00,0.000,6,0.158,0.064,3134,2399,3357
$GC,5569,-0.57,-117.3,374.7,-5.7,234,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2399,3357
$GC,5872,-0.62,-117.3,392.0,-5.7,239,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2399,3357
$GC,6174,-0.67,-117.3,408.6,-5.5,244,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2399,3356
$GC,6478,-0.71,-117.3,424.0,-5.1,249,6483,0.15,2.30,0.00,0.000,4,0.086,0.072,3072,995,3356
$GC,6521,-0.58,-117.3,427.1,-7.1,249,6526,0.20,2.28,0.00,0.000,6,0.166,0.065,3125,2403,3355
$GC,6842,-0.58,-117.3,443.5,-5.0,255,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3356
$GC,7144,-0.58,-117.3,459.3,-5.2,260,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3355
$GC,7448,-0.58,-117.3,474.7,-5.1,265,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3355
$GC,7753,-0.58,-117.3,489.9,-5.0,270,7757,0.00,2.33,0.00,0.000,4,0.000,0.073,3126,988,3354
$GC,7790,-0.58,-117.3,492.1,-5.3,270,7795,0.00,2.30,0.00,0.000,6,0.000,0.065,3126,2393,3354
$GC,8118,-0.62,-117.3,507.8,-4.8,276,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2393,3354
$GC,8421,-0.66,-117.3,522.9,-5.0,281,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2394,3354
$GC,8723,-0.71,-117.3,539.6,-5.6,286,8728,0.12,2.35,0.00,0.000,4,0.094,0.082,3073,3813,3354
$GC,8761,-0.60,-117.3,542.5,-8.0,286,8766,0.17,2.25,0.00,0.000,6,0.142,0.060,3122,2396,3354
$GC,9087,-0.60,-117.3,562.8,-6.2,292,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2396,3353
$GC,9390,-0.60,-117.3,581.5,-6.2,297,9394,0.00,2.30,0.00,0.000,4,0.000,0.075,3122,987,3353
$GC,9428,-0.64,-117.3,584.0,-6.4,297,9432,0.00,2.28,0.00,0.000,6,0.000,0.064,3122,2400,3353
$GC,9754,-0.68,-117.3,603.0,-5.8,303,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3353
$GC,10057,-0.72,-117.3,620.2,-5.7,308,10062,0.12,2.33,0.00,0.000,4,0.092,0.074,3075,987,3353
$GC,10100,-0.63,-117.3,623.3,-7.9,308,10105,0.15,2.30,0.00,0.000,6,0.168,0.065,3112,2411,3353
$GC,10420,-0.63,-117.3,642.8,-6.1,314,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3353
$GC,10724,-0.63,-117.3,661.5,-6.1,319,10728,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,992,3352
$GC,10750,-0.63,-117.3,663.3,-6.4,319,10755,0.00,2.30,0.00,0.000,6,0.000,0.065,3112,2398,3352
$GC,11088,-0.63,-117.3,683.3,-5.9,325,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2398,3352
$GC,11391,-0.63,-117.3,700.3,-5.6,330,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3352
$GC,11694,-0.63,-117.3,717.0,-5.5,335,11698,0.00,2.30,0.00,0.000,4,0.000,0.075,3112,994,3352
$GC,11731,-0.63,-117.3,719.3,-5.2,335,11736,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2395,3352
$GC,12058,-0.63,-117.3,737.6,-5.7,341,12062,0.00,2.33,0.00,0.000,4,0.000,0.084,3112,3809,3352
$GC,12085,-0.67,-117.3,739.2,-5.3,341,12089,0.00,2.22,0.00,0.000,6,0.000,0.060,3112,2403,3352
$GC,12422,-0.67,-117.3,758.2,-5.7,347,12426,0.00,2.30,0.00,0.000,4,0.000,0.076,3112,992,3352
$GC,12449,-0.67,-117.3,760.0,-6.8,347,12453,0.00,2.28,0.00,0.000,6,0.000,0.066,3113,2401,3351
$GC,12781,-0.67,-117.3,780.5,-6.2,353,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3352
$GC,13083,-0.67,-117.3,798.5,-5.9,358,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3351
$GC,13386,-0.67,-117.3,815.8,-5.6,363,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3351
$GC,13691,-0.67,-117.3,832.5,-5.5,368,13695,0.00,2.33,0.00,0.000,4,0.000,0.076,3112,992,3351
$GC,13717,-0.67,-117.3,834.1,-5.8,368,13721,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2405,3351
$GC,14055,-0.67,-117.3,851.5,-5.1,374,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3351
$GC,14359,-0.72,-117.3,866.5,-5.0,379,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3351
$GC,14661,-0.72,-117.3,881.0,-4.7,384,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3350
$GC,14965,-0.72,-117.3,895.3,-4.8,389,14969,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,988,3350
$GC,15003,-0.76,-117.3,897.3,-4.9,389,15008,0.12,2.30,0.00,0.000,6,0.097,0.067,3069,2408,3350
$GC,15329,-0.76,-117.3,915.9,-5.8,395,15333,0.00,2.33,0.00,0.000,4,0.000,0.084,3068,3816,3350
$GC,15373,-0.67,-117.3,918.8,-6.5,395,15377,0.12,2.25,0.00,0.000,6,0.136,0.061,3100,2399,3350
$GC,15692,-0.67,-117.3,936.7,-5.6,401,15693,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3350
$GC,15997,-0.67,-117.3,954.6,-6.0,406,16001,0.00,2.30,0.00,0.000,4,0.000,0.077,3101,992,3350
$GC,16023,-0.67,-117.3,956.4,-5.9,406,16027,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2391,3350
$GC,16361,-0.67,-117.3,976.5,-5.9,412,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2390,3350
$STATE,16601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16601,begin apogee
$GC,16606,-0.22,0.0,990.3,5.7,416,16710,0.47,0.00,100.97,1.503,6,0.150,0.000,3244,2193,2876
$STATE,16711,end apogee,CONTROL_FINISHED_OK
$STATE,16711,begin climb
$GC,16712,0.67,117.3,992.3,0.0,417,16823,0.88,0.00,104.93,1.447,6,0.100,0.000,3530,2193,2397
$GC,17140,0.31,117.3,969.1,8.4,424,17145,0.40,2.42,0.00,0.000,4,0.186,0.079,3429,790,2394
$GC,17202,0.25,117.3,965.1,6.2,425,17207,0.12,2.38,0.00,0.000,6,0.174,0.064,3399,2200,2393
$GC,17567,0.25,123.3,947.4,4.8,431,17575,0.00,0.00,6.25,1.151,6,0.000,0.000,3399,2199,2373
$GC,17870,0.26,132.0,933.0,4.8,436,17883,0.00,0.00,9.07,1.282,6,0.000,0.000,3399,2200,2337
$GC,18239,0.27,135.3,914.9,4.9,442,18246,0.00,0.00,4.90,1.044,6,0.000,0.000,3399,2199,2324
$GC,18542,0.27,135.3,899.5,5.1,447,18543,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2200,2323
$GC,18845,0.27,135.3,884.1,5.1,452,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2200,2323
$GC,19148,0.27,139.9,869.3,4.9,457,19159,0.00,2.35,5.60,1.109,4,0.000,0.081,3398,3615,2304
$GC,19214,0.27,139.9,865.6,5.3,458,19218,0.00,2.35,0.00,0.000,6,0.000,0.066,3398,2198,2305
$GC,19580,0.35,161.8,849.2,4.4,464,19604,0.00,0.00,19.70,1.376,6,0.000,0.000,3399,2198,2216
$GC,19949,0.44,179.2,832.7,4.5,470,19971,0.15,2.45,16.20,1.338,4,0.093,0.081,3460,3614,2144
$GC,20004,0.25,179.2,828.9,7.2,470,20011,0.17,2.40,0.00,0.000,6,0.164,0.067,3400,2196,2143
$GC,20314,0.35,188.8,814.0,4.7,476,20329,0.00,2.40,9.65,1.251,4,0.000,0.081,3408,787,2106
$GC,20346,0.44,206.9,812.4,4.5,476,20373,0.15,2.35,17.35,1.312,6,0.094,0.062,3462,2210,2032
$GC,20675,0.38,206.9,787.3,7.8,482,20679,0.00,2.35,0.00,0.000,4,0.000,0.083,3462,3609,2029
$GC,20714,0.24,206.9,783.7,9.0,482,20718,0.25,2.33,0.00,0.000,6,0.172,0.067,3397,2200,2028
$GC,21034,0.37,206.9,764.5,5.9,488,21036,0.12,0.00,0.00,0.000,6,0.099,0.000,3438,2200,2028
$GC,21337,0.43,206.9,743.9,6.8,493,21338,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2200,2028
$GC,21640,0.49,206.9,723.6,6.7,498,21642,0.12,0.00,0.00,0.000,6,0.109,0.000,3488,2200,2028
$GC,21943,0.37,206.9,696.6,9.0,503,21948,0.15,2.35,0.00,0.000,4,0.163,0.079,3448,784,2027
$GC,21981,0.37,206.9,693.4,7.1,503,21985,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2197,2027
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$STATE,32269,end climb,SURFACE_DEPTH_REACHED
$STATE,32269,begin surface coast
$FINISH,3.2,1.013324
$STATE,32354,end surface coast,CONTROL_FINISHED_OK
$STATE,32354,begin surface
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$DEVICE_SECS,29.875,177.375,412.175,0.000,0.000,25.042,33.987,152.060,239.250,0.000,0.000,15.675,1748.995,27739.721,539.786,2265.988,449.861,33.381,1671.419,0.000,2244.637,0.000,0.466
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$DATA_FILE_SIZE,47682,821
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$CFSIZE,260165632,248578048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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