version: 66.03
glider: 120
mission: 9
dive: 278
start: 12 11 108 2 7 10
data:
$ID,120
$MISSION,9
$DIVE,278
$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,-23504.359
$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,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
$GPS1,020026,5013.580,-14437.350,46,2.0,65,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-70.5
$GPS2,020615,5013.591,-14437.319,11,1.9,11,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,0.129
$KALMAN_X,29118.0,51.0,33.7,-14466.6,-1576.1
$KALMAN_Y,214579.2,-138.0,-40.9,-199495.0,-62.0
$MHEAD_RNG_PITCHd_Wd,24.9,16340,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.60,0.000,2,0.000,0.000,139,2408,1938
$GC,38,-0.67,-117.3,3.4,-0.0,1,114,14.12,2.53,-55.55,0.000,4,0.288,0.090,3085,3815,3356
$GC,366,-0.43,-117.3,36.4,-10.5,30,373,0.32,2.35,0.00,0.000,6,0.160,0.054,3176,2394,3358
$GC,693,-0.48,-117.3,58.7,-6.4,61,695,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2394,3359
$GC,1009,-0.54,-117.3,80.5,-6.4,91,1014,0.12,2.40,0.00,0.000,4,0.084,0.067,3127,985,3359
$GC,1031,-0.54,-117.3,82.1,-7.0,92,1035,0.00,2.35,0.00,0.000,6,0.000,0.060,3127,2408,3359
$GC,1352,-0.54,-117.3,105.6,-7.6,108,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2407,3360
$GC,1661,-0.54,-117.3,129.3,-7.9,123,1665,0.00,2.38,0.00,0.000,4,0.000,0.078,3126,3815,3360
$GC,1710,-0.54,-117.3,133.6,-8.7,125,1714,0.00,2.33,0.00,0.000,6,0.000,0.052,3126,2392,3360
$GC,2035,-0.54,-117.3,156.3,-6.7,139,2039,0.00,2.47,0.00,0.000,4,0.000,0.077,3126,3808,3359
$GC,2118,-0.59,-117.3,162.1,-7.1,141,2122,0.00,2.33,0.00,0.000,6,0.000,0.052,3126,2400,3360
$GC,2431,-0.59,-117.3,182.6,-6.6,151,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3360
$GC,2737,-0.64,-117.3,203.1,-6.5,161,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3360
$GC,3043,-0.69,-117.3,220.9,-5.6,171,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3360
$GC,3350,-0.74,-117.3,237.6,-5.5,181,3355,0.15,2.40,0.00,0.000,4,0.086,0.069,3059,993,3359
$GC,3384,-0.59,-117.3,240.4,-8.8,182,3389,0.22,2.30,0.00,0.000,6,0.158,0.063,3121,2402,3360
$GC,3712,-0.59,-117.3,261.2,-6.2,193,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3359
$GC,4019,-0.59,-117.3,279.3,-5.7,203,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3359
$GC,4325,-0.59,-117.3,297.1,-5.9,213,4329,0.00,2.40,0.00,0.000,4,0.000,0.070,3121,993,3359
$GC,4359,-0.59,-117.3,299.2,-6.4,214,4363,0.00,2.35,0.00,0.000,6,0.000,0.064,3121,2410,3359
$GC,4696,-0.59,-117.3,320.3,-6.3,220,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2410,3359
$GC,5000,-0.59,-117.3,338.4,-6.0,225,5004,0.00,2.40,0.00,0.000,4,0.000,0.071,3121,993,3359
$GC,5027,-0.59,-117.3,340.1,-6.5,225,5031,0.00,2.30,0.00,0.000,6,0.000,0.063,3121,2400,3358
$GC,5365,-0.63,-117.3,359.3,-5.7,231,5369,0.00,2.35,0.00,0.000,4,0.000,0.082,3121,3808,3358
$GC,5398,-0.70,-117.3,361.4,-5.8,231,5402,0.00,2.28,0.00,0.000,6,0.000,0.055,3121,2396,3358
$GC,5725,-0.76,-117.3,379.0,-5.4,237,5727,0.15,0.00,0.00,0.000,6,0.083,0.000,3064,2396,3358
$GC,6027,-0.69,-117.3,400.0,-7.0,242,6029,0.10,0.00,0.00,0.000,6,0.102,0.000,3092,2395,3358
$GC,6330,-0.64,-117.3,421.0,-6.9,247,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2396,3358
$GC,6633,-0.64,-117.3,442.2,-7.0,252,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2396,3358
$GC,6936,-0.64,-117.3,462.7,-6.7,257,6941,0.00,2.50,0.00,0.000,4,0.000,0.081,3086,3814,3357
$GC,6964,-0.60,-117.3,464.7,-7.3,257,6969,0.15,2.33,0.00,0.000,6,0.161,0.056,3125,2400,3357
$GC,7295,-0.67,-117.3,482.8,-5.4,263,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3357
$GC,7598,-0.74,-117.3,500.0,-5.7,268,7600,0.15,0.00,0.00,0.000,6,0.084,0.000,3067,2400,3357
$GC,7902,-0.74,-117.3,521.7,-7.3,273,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2400,3357
$GC,8205,-0.70,-117.3,544.9,-7.7,278,8209,0.00,2.40,0.00,0.000,4,0.000,0.072,3067,986,3356
$GC,8238,-0.63,-117.3,547.8,-9.3,278,8242,0.15,2.30,0.00,0.000,6,0.153,0.064,3106,2400,3357
$GC,8564,-0.63,-117.3,570.0,-6.7,284,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,8866,-0.63,-117.3,587.9,-5.8,289,8870,0.00,2.38,0.00,0.000,4,0.000,0.082,3099,3809,3356
$GC,8899,-0.63,-117.3,589.8,-5.6,289,8903,0.00,2.30,0.00,0.000,6,0.000,0.056,3100,2398,3356
$GC,9231,-0.63,-117.3,608.0,-5.4,295,9235,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,990,3356
$GC,9269,-0.63,-117.3,610.2,-5.6,295,9273,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2399,3356
$GC,9590,-0.63,-117.3,626.9,-5.3,301,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,9893,-0.63,-117.3,643.1,-5.3,306,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,10196,-0.63,-117.3,660.8,-5.9,311,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,10499,-0.63,-117.3,679.3,-6.2,316,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,10802,-0.63,-117.3,699.2,-6.6,321,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,11105,-0.63,-117.3,719.2,-6.6,326,11109,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,987,3355
$GC,11133,-0.68,-117.3,721.1,-7.2,326,11137,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2407,3355
$GC,11464,-0.68,-117.3,740.7,-5.8,332,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,11768,-0.68,-117.3,756.1,-5.0,337,11772,0.00,2.40,0.00,0.000,4,0.000,0.084,3100,3811,3355
$GC,11795,-0.68,-117.3,757.4,-5.8,337,11799,0.00,2.30,0.00,0.000,6,0.000,0.057,3099,2405,3354
$GC,12134,-0.68,-117.3,773.1,-4.6,343,12138,0.00,2.35,0.00,0.000,4,0.000,0.074,3099,990,3354
$GC,12161,-0.72,-117.3,774.4,-4.9,343,12165,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2403,3354
$GC,12499,-0.72,-117.3,790.6,-4.8,349,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,12801,-0.72,-117.3,805.6,-5.0,354,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,13104,-0.72,-117.3,821.3,-5.2,359,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3354
$GC,13408,-0.72,-117.3,838.0,-5.5,364,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3354
$GC,13711,-0.72,-117.3,854.5,-5.4,369,13712,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,14013,-0.72,-117.3,870.5,-5.2,374,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3354
$GC,14317,-0.76,-117.3,885.8,-5.0,379,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3354
$GC,14621,-0.80,-117.3,900.7,-4.9,384,14622,0.12,0.00,0.00,0.000,6,0.094,0.000,3051,2404,3353
$GC,14924,-0.76,-117.3,917.9,-5.7,389,14928,0.00,2.40,0.00,0.000,4,0.000,0.084,3051,3808,3353
$GC,14957,-0.70,-117.3,920.0,-6.6,389,14961,0.15,2.30,0.00,0.000,6,0.120,0.058,3093,2394,3353
$GC,15283,-0.70,-117.3,936.3,-5.0,395,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2394,3353
$GC,15585,-0.70,-117.3,952.1,-5.2,400,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2394,3353
$GC,15889,-0.70,-117.3,969.0,-5.6,405,15893,0.00,2.38,0.00,0.000,4,0.000,0.074,3093,992,3352
$GC,15915,-0.70,-117.3,970.6,-6.5,405,15920,0.00,2.35,0.00,0.000,6,0.000,0.067,3093,2405,3352
$GC,16254,-0.70,-117.3,989.4,-5.5,411,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3353
$STATE,16312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16312,begin apogee
$GC,16318,-0.22,0.0,992.7,5.5,412,16426,0.50,0.00,105.65,1.499,6,0.143,0.000,3245,2199,2876
$STATE,16427,end apogee,CONTROL_FINISHED_OK
$STATE,16427,begin climb
$GC,16429,0.67,117.3,994.6,0.0,413,16544,0.88,0.00,111.12,1.439,6,0.094,0.000,3528,2198,2397
$GC,16800,0.34,117.3,978.1,7.8,420,16802,0.38,0.00,0.00,0.000,6,0.168,0.000,3426,2199,2394
$GC,17102,0.34,117.3,960.6,5.7,425,17106,0.00,2.45,0.00,0.000,4,0.000,0.077,3435,783,2393
$GC,17151,0.29,117.3,957.7,5.5,425,17156,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2210,2393
$GC,17463,0.22,117.3,939.8,5.8,430,17464,0.17,0.00,0.00,0.000,6,0.168,0.000,3391,2211,2393
$GC,17764,0.32,144.1,926.6,4.2,435,17790,0.00,0.00,24.10,1.413,6,0.000,0.000,3390,2211,2288
$GC,18068,0.45,169.2,913.6,4.3,440,18094,0.22,0.00,23.67,1.402,6,0.078,0.000,3476,2211,2186
$GC,18371,0.34,169.2,893.2,6.9,445,18375,0.15,2.47,0.00,0.000,4,0.154,0.078,3436,790,2182
$GC,18404,0.34,169.2,891.2,5.6,445,18408,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2199,2182
$GC,18731,0.34,169.2,874.3,5.2,451,18732,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2199,2182
$GC,19034,0.34,169.2,858.0,5.4,456,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2181
$GC,19337,0.34,169.2,840.4,5.9,461,19338,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2182
$GC,19640,0.34,169.2,820.8,6.6,466,19644,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,791,2182
$GC,19701,0.34,169.2,816.5,7.0,467,19706,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2181
$GC,20067,0.34,169.2,791.7,6.8,473,20068,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2181
$GC,20370,0.34,169.2,773.1,6.0,478,20374,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,790,2181
$GC,20413,0.34,169.2,770.6,6.0,478,20417,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2200,2181
$GC,20734,0.34,169.2,753.6,5.2,484,20735,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2181
$GC,21038,0.34,169.2,738.2,5.1,489,21042,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,780,2181
$GC,21087,0.34,171.1,735.5,4.9,489,21091,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2206,2181
$GC,21402,0.34,171.1,718.9,5.4,495,21406,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,790,2181
$GC,21441,0.34,171.1,716.9,5.0,495,21444,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2181
$GC,21768,0.34,171.1,699.5,5.3,501,21772,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,789,2181
$GC,21817,0.35,178.2,696.9,4.8,501,21832,0.00,2.33,8.90,1.183,6,0.000,0.064,3436,2214,2148
$GC,22198,0.35,178.2,676.4,5.4,508,22202,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,786,2147
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$STATE,33373,end climb,SURFACE_DEPTH_REACHED
$STATE,33374,begin surface coast
$FINISH,2.5,1.013380
$STATE,33460,end surface coast,CONTROL_FINISHED_OK
$STATE,33460,begin surface
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$10V_AH,10.6,37.161
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$DATA_FILE_SIZE,50632,867
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$CFSIZE,260165632,236986368
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$GPS,111208,112707,5016.151,-14433.246,46,1.4,46,18.6