version: 66.03
glider: 120
mission: 9
dive: 323
start: 12 28 108 2 21 28
data:
$ID,120
$MISSION,9
$DIVE,323
$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,-24492.801
$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,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
$GPS1,021225,5017.645,-14427.554,44,1.1,61,18.7
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,3.60
$_SM_ANGLEo,-63.8
$GPS2,022033,5017.625,-14427.526,16,1.2,16,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.178
$KALMAN_X,21317.5,146.0,272.3,4625.6,-782.3
$KALMAN_Y,241046.6,260.0,241.5,-219194.3,-792.9
$MHEAD_RNG_PITCHd_Wd,158.9,43819,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-10.90,0.000,2,0.000,0.000,143,2407,1600
$GC,38,-0.67,-117.3,3.4,-0.0,1,156,12.98,2.50,-94.40,0.000,4,0.260,0.087,3094,3807,3355
$GC,337,-0.44,-117.3,29.6,-11.7,28,342,0.28,2.35,0.00,0.000,6,0.156,0.057,3173,2399,3357
$GC,666,-0.50,-117.3,45.3,-6.4,58,671,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2399,3357
$GC,991,-0.56,-117.3,72.3,-6.1,89,993,0.12,0.00,0.00,0.000,6,0.084,0.000,3126,2400,3357
$GC,1303,-0.56,-117.3,99.4,-9.1,109,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3357
$GC,1612,-0.56,-117.3,123.7,-7.3,124,1616,0.00,2.38,0.00,0.000,4,0.000,0.069,3125,988,3357
$GC,1696,-0.56,-117.3,130.1,-7.9,127,1702,0.00,2.38,0.00,0.000,6,0.000,0.061,3125,2410,3357
$GC,2021,-0.56,-117.3,153.2,-7.1,143,2026,0.00,2.42,0.00,0.000,4,0.000,0.069,3125,983,3357
$GC,2072,-0.62,-117.3,157.1,-7.1,144,2076,0.00,2.33,0.00,0.000,6,0.000,0.061,3125,2400,3358
$GC,2385,-0.83,-117.3,179.8,-7.4,154,2389,0.17,2.35,0.00,0.000,4,0.089,0.078,3054,3807,3358
$GC,2619,-0.66,-117.3,200.9,-9.1,161,2624,0.17,2.33,0.00,0.000,6,0.154,0.055,3101,2390,3358
$GC,2948,-0.66,-117.3,221.6,-5.8,172,2952,0.00,2.42,0.00,0.000,4,0.000,0.079,3099,3805,3357
$GC,2986,-0.62,-117.3,224.0,-6.0,173,2990,0.00,2.30,0.00,0.000,6,0.000,0.054,3099,2394,3358
$GC,3310,-0.62,-117.3,244.7,-6.8,184,3314,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,992,3358
$GC,3343,-0.62,-117.3,247.2,-7.6,185,3347,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2403,3357
$GC,3678,-0.62,-117.3,272.0,-7.4,196,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,3985,-0.62,-117.3,295.0,-7.5,206,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,4319,-0.62,-117.3,317.8,-6.7,213,4323,0.00,2.40,0.00,0.000,4,0.000,0.070,3099,992,3357
$GC,4346,-0.62,-117.3,319.6,-7.0,213,4350,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2409,3358
$GC,4678,-0.62,-117.3,340.4,-6.2,219,4682,0.00,2.33,0.00,0.000,4,0.000,0.081,3099,3808,3357
$GC,4727,-0.62,-117.3,343.5,-6.6,219,4731,0.00,2.30,0.00,0.000,6,0.000,0.055,3099,2389,3357
$GC,5037,-0.62,-117.3,360.7,-5.5,224,5041,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,983,3357
$GC,5064,-0.62,-117.3,362.5,-6.4,224,5068,0.00,2.33,0.00,0.000,6,0.000,0.063,3099,2412,3357
$GC,5402,-0.62,-117.3,381.4,-5.6,230,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3357
$GC,5705,-0.62,-117.3,398.5,-5.7,235,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3357
$GC,6008,-0.62,-117.3,417.9,-6.5,240,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3357
$GC,6311,-0.62,-117.3,439.0,-7.0,245,6315,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,993,3356
$GC,6349,-0.62,-117.3,441.8,-7.0,245,6353,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2398,3356
$GC,6676,-0.62,-117.3,463.1,-6.4,251,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,6978,-0.62,-117.3,482.3,-6.4,256,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,7281,-0.62,-117.3,502.3,-6.6,261,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,7584,-0.62,-117.3,521.5,-6.3,266,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,7888,-0.62,-117.3,540.3,-6.2,271,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,8191,-0.62,-117.3,559.4,-6.3,276,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3355
$GC,8494,-0.62,-117.3,579.6,-6.7,281,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3355
$GC,8797,-0.62,-117.3,600.9,-7.0,286,8801,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,993,3356
$GC,8823,-0.62,-117.3,602.9,-7.3,286,8828,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2419,3355
$GC,9162,-0.62,-117.3,624.2,-6.2,292,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2419,3355
$GC,9464,-0.62,-117.3,641.7,-5.8,297,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2419,3355
$GC,9767,-0.62,-117.3,660.5,-6.3,302,9772,0.00,2.45,0.00,0.000,4,0.000,0.073,3099,990,3355
$GC,9806,-0.62,-117.3,663.3,-6.4,302,9810,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2410,3355
$GC,10132,-0.62,-117.3,686.1,-7.0,308,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3355
$GC,10436,-0.62,-117.3,707.5,-7.1,313,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3355
$GC,10739,-0.62,-117.3,726.9,-6.3,318,10743,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,986,3354
$GC,10766,-0.62,-117.3,728.7,-6.7,318,10770,0.00,2.33,0.00,0.000,6,0.000,0.065,3099,2400,3354
$GC,11098,-0.62,-117.3,746.9,-5.5,324,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,11401,-0.62,-117.3,762.4,-5.1,329,11405,0.00,2.35,0.00,0.000,4,0.000,0.084,3099,3809,3354
$GC,11428,-0.67,-117.3,763.7,-4.8,329,11432,0.00,2.25,0.00,0.000,6,0.000,0.058,3099,2394,3354
$GC,11761,-0.72,-117.3,779.2,-4.6,335,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3354
$GC,12064,-0.76,-117.3,792.8,-4.5,340,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3354
$GC,12367,-0.81,-117.3,806.4,-4.5,345,12369,0.12,0.00,0.00,0.000,6,0.094,0.000,3051,2394,3353
$GC,12669,-0.81,-117.3,824.0,-5.9,350,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2394,3353
$GC,12972,-0.81,-117.3,842.5,-6.1,355,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2394,3353
$GC,13276,-0.81,-117.3,862.7,-6.8,360,13280,0.00,2.47,0.00,0.000,4,0.000,0.082,3050,3808,3353
$GC,13331,-0.73,-117.3,866.9,-7.8,360,13338,0.12,2.33,0.00,0.000,6,0.117,0.058,3084,2398,3353
$GC,13641,-0.73,-117.3,886.8,-6.3,366,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3353
$GC,13944,-0.73,-117.3,906.0,-6.3,371,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3353
$GC,14247,-0.73,-117.3,925.3,-6.3,376,14251,0.00,2.40,0.00,0.000,4,0.000,0.074,3084,995,3353
$GC,14268,-0.73,-117.3,926.7,-6.9,376,14272,0.00,2.30,0.00,0.000,6,0.000,0.065,3084,2400,3353
$GC,14606,-0.73,-117.3,946.2,-5.7,382,14610,0.00,2.40,0.00,0.000,4,0.000,0.086,3084,3811,3352
$GC,14633,-0.73,-117.3,947.9,-6.3,382,14637,0.00,2.28,0.00,0.000,6,0.000,0.060,3084,2402,3353
$GC,14971,-0.73,-117.3,965.7,-5.2,388,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2402,3353
$GC,15274,-0.73,-117.3,981.0,-5.0,393,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2402,3352
$STATE,15515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15515,begin apogee
$GC,15521,-0.22,0.0,993.0,4.9,397,15636,0.52,0.00,107.07,1.498,6,0.146,0.000,3243,2200,2876
$STATE,15637,end apogee,CONTROL_FINISHED_OK
$STATE,15637,begin climb
$GC,15639,0.67,117.3,996.6,0.0,399,15755,0.88,0.00,112.18,1.443,6,0.097,0.000,3525,2199,2397
$GC,16005,0.35,117.3,978.2,7.7,405,16007,0.35,0.00,0.00,0.000,6,0.167,0.000,3430,2199,2394
$GC,16307,0.35,117.3,962.1,5.2,410,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2199,2393
$GC,16611,0.31,117.3,946.3,5.2,415,16612,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2199,2393
$GC,16914,0.31,117.3,929.9,5.5,420,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2199,2393
$GC,17217,0.26,117.3,913.6,5.4,425,17219,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2199,2393
$GC,17520,0.22,117.7,898.2,5.0,430,17522,0.15,0.00,0.00,0.000,6,0.177,0.000,3391,2200,2392
$GC,17824,0.35,160.1,886.4,3.8,435,17864,0.12,0.00,37.88,1.420,6,0.091,0.000,3438,2199,2223
$GC,18126,0.35,160.1,871.3,5.1,440,18128,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2199,2220
$GC,18429,0.36,167.0,856.7,4.8,445,18438,0.00,0.00,7.45,1.200,6,0.000,0.000,3438,2199,2195
$GC,18794,0.41,168.7,838.8,5.0,451,18799,0.00,2.45,0.00,0.000,4,0.000,0.079,3438,790,2194
$GC,18839,0.41,168.7,836.2,5.7,451,18843,0.00,2.33,0.00,0.000,6,0.000,0.065,3438,2212,2194
$GC,19154,0.41,168.7,819.2,5.4,457,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2212,2194
$GC,19456,0.41,168.7,802.2,5.6,462,19457,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2211,2194
$GC,19759,0.41,168.7,785.2,5.7,467,19761,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2212,2193
$GC,20063,0.41,168.7,766.9,6.1,472,20064,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2212,2193
$GC,20366,0.41,168.7,748.1,6.2,477,20370,0.00,2.45,0.00,0.000,4,0.000,0.080,3438,784,2193
$GC,20398,0.41,168.7,745.8,7.0,477,20402,0.00,2.33,0.00,0.000,6,0.000,0.065,3438,2206,2193
$GC,20730,0.41,168.7,723.7,6.7,483,20731,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2206,2193
$GC,21033,0.41,168.7,705.1,6.1,488,21035,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2206,2193
$GC,21337,0.41,168.7,688.2,5.5,493,21341,0.00,2.35,0.00,0.000,4,0.000,0.083,3438,3615,2193
$GC,21372,0.41,168.7,686.1,5.9,493,21376,0.00,2.35,0.00,0.000,6,0.000,0.064,3438,2201,2193
$GC,21698,0.41,168.7,669.3,5.1,499,21702,0.00,2.40,0.00,0.000,4,0.000,0.080,3438,793,2193
$GC,21732,0.47,178.3,667.5,4.7,499,21748,0.00,2.28,11.30,1.208,6,0.000,0.062,3438,2199,2149
$GC,22058,0.47,178.3,649.8,5.5,505,22059,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2199,2148
$GC,22361,0.47,178.3,631.7,6.0,510,22362,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2199,2147
$GC,22664,0.47,178.3,613.3,6.1,515,22665,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2199,2147
$GC,22967,0.47,178.3,594.9,6.0,520,22971,0.00,2.40,0.00,0.000,4,0.000,0.078,3438,791,2147
$GC,23006,0.53,178.3,592.6,5.5,520,23011,0.15,2.30,0.00,0.000,6,0.089,0.063,3499,2205,2147
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$STATE,32620,end climb,SURFACE_DEPTH_REACHED
$STATE,32620,begin surface coast
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$STATE,32696,end surface coast,CONTROL_FINISHED_OK
$STATE,32696,begin surface
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$10V_AH,10.6,43.161
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$DATA_FILE_SIZE,47496,827
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