version: 66.03
glider: 120
mission: 9
dive: 553
start: 3 25 109 3 34 9
data:
$ID,120
$MISSION,9
$DIVE,553
$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,275
$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,-29585.957
$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,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
$GPS1,032606,5010.663,-14514.238,26,1.8,26,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-75.0
$GPS2,033314,5010.677,-14514.208,14,1.9,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.006,-0.178
$KALMAN_X,-48121.3,-246.1,-29.4,48737.1,575.6
$KALMAN_Y,126316.7,110.8,-403.5,-112690.8,3078.9
$MHEAD_RNG_PITCHd_Wd,163.4,30983,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-18.00,0.000,2,0.000,0.000,137,2412,2181
$GC,52,-0.67,-117.3,3.2,-3.7,2,116,13.93,2.45,-41.20,0.000,4,0.281,0.097,3095,3799,3356
$GC,164,-0.51,-117.3,12.4,-13.0,12,169,0.20,2.28,0.00,0.000,6,0.158,0.055,3150,2389,3357
$GC,490,-0.51,-117.3,36.2,-8.7,42,491,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2389,3358
$GC,808,-0.51,-117.3,62.4,-8.0,72,812,0.00,2.45,0.00,0.000,4,0.000,0.081,3150,3806,3358
$GC,860,-0.60,-117.3,66.2,-6.9,76,864,0.00,2.25,0.00,0.000,6,0.000,0.054,3150,2401,3358
$GC,1183,-0.60,-117.3,88.9,-6.7,100,1187,0.00,2.35,0.00,0.000,4,0.000,0.070,3150,994,3358
$GC,1205,-0.60,-117.3,90.6,-7.3,101,1209,0.00,2.35,0.00,0.000,6,0.000,0.061,3150,2410,3358
$GC,1527,-0.60,-117.3,112.8,-7.0,117,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2410,3358
$GC,1836,-0.67,-117.3,133.1,-6.4,132,1841,0.15,2.42,0.00,0.000,4,0.078,0.068,3084,987,3358
$GC,1960,-0.62,-117.3,144.4,-8.9,137,1966,0.12,2.35,0.00,0.000,6,0.133,0.061,3116,2407,3358
$GC,2295,-0.62,-117.3,170.3,-7.5,150,2299,0.00,2.38,0.00,0.000,4,0.000,0.081,3112,3814,3358
$GC,2324,-0.62,-117.3,172.5,-7.6,151,2328,0.00,2.28,0.00,0.000,6,0.000,0.054,3112,2390,3358
$GC,2660,-0.62,-117.3,195.1,-6.7,162,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2391,3358
$GC,2966,-0.62,-117.3,213.9,-6.0,172,2970,0.00,2.47,0.00,0.000,4,0.000,0.081,3112,3817,3358
$GC,3005,-0.62,-117.3,216.4,-6.1,173,3009,0.00,2.28,0.00,0.000,6,0.000,0.054,3112,2392,3358
$GC,3329,-0.62,-117.3,236.8,-6.7,184,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2392,3358
$GC,3636,-0.62,-117.3,255.8,-6.0,194,3640,0.00,2.35,0.00,0.000,4,0.000,0.071,3112,990,3358
$GC,3659,-0.62,-117.3,257.3,-6.2,194,3665,0.00,2.35,0.00,0.000,6,0.000,0.061,3112,2409,3358
$GC,3972,-0.62,-117.3,276.7,-6.4,205,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2409,3358
$GC,4278,-0.62,-117.3,295.2,-6.0,215,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2409,3358
$GC,4612,-0.62,-117.3,314.3,-5.6,222,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,4917,-0.62,-117.3,330.7,-5.5,227,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,5219,-0.62,-117.3,348.5,-5.9,232,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,5522,-0.62,-117.3,367.7,-6.3,237,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,5825,-0.62,-117.3,386.4,-6.2,242,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,6128,-0.62,-117.3,404.4,-5.9,247,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,6432,-0.66,-117.3,421.9,-5.8,252,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3358
$GC,6735,-0.70,-117.3,440.9,-6.4,257,6739,0.00,2.42,0.00,0.000,4,0.000,0.071,3112,987,3357
$GC,6763,-0.77,-117.3,442.9,-7.3,257,6768,0.12,2.35,0.00,0.000,6,0.086,0.063,3067,2399,3357
$GC,7096,-0.77,-117.3,468.0,-7.6,263,7100,0.00,2.40,0.00,0.000,4,0.000,0.081,3066,3808,3358
$GC,7168,-0.77,-117.3,474.2,-7.9,264,7173,0.00,2.25,0.00,0.000,6,0.000,0.056,3067,2402,3357
$GC,7529,-0.77,-117.3,501.5,-7.5,270,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2402,3357
$GC,7832,-0.77,-117.3,522.8,-7.0,275,7836,0.00,2.45,0.00,0.000,4,0.000,0.081,3067,3817,3357
$GC,7867,-0.77,-117.3,525.3,-7.3,275,7871,0.00,2.28,0.00,0.000,6,0.000,0.055,3067,2400,3357
$GC,8194,-0.77,-117.3,545.7,-6.2,281,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3357
$GC,8497,-0.77,-117.3,564.9,-6.4,286,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3357
$GC,8800,-0.77,-117.3,584.1,-6.2,291,8804,0.00,2.42,0.00,0.000,4,0.000,0.082,3066,3805,3357
$GC,8836,-0.77,-117.3,586.4,-6.8,291,8840,0.00,2.28,0.00,0.000,6,0.000,0.056,3067,2390,3356
$GC,9164,-0.77,-117.3,606.8,-6.3,297,9168,0.00,2.42,0.00,0.000,4,0.000,0.081,3067,3806,3356
$GC,9192,-0.77,-117.3,608.8,-6.9,297,9195,0.00,2.25,0.00,0.000,6,0.000,0.055,3067,2397,3356
$GC,9530,-0.77,-117.3,631.9,-7.0,303,9534,0.00,2.45,0.00,0.000,4,0.000,0.081,3067,3810,3356
$GC,9559,-0.77,-117.3,634.0,-7.7,303,9563,0.00,2.25,0.00,0.000,6,0.000,0.055,3066,2398,3356
$GC,9897,-0.77,-117.3,658.1,-7.1,309,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2398,3356
$GC,10200,-0.77,-117.3,679.3,-7.0,314,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2398,3356
$GC,10503,-0.77,-117.3,699.9,-6.7,319,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2398,3356
$GC,10807,-0.77,-117.3,719.8,-6.5,324,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2398,3356
$GC,11109,-0.77,-117.3,738.7,-6.2,329,11113,0.00,2.45,0.00,0.000,4,0.000,0.082,3066,3807,3356
$GC,11148,-0.77,-117.3,741.5,-6.8,329,11152,0.00,2.28,0.00,0.000,6,0.000,0.056,3066,2395,3356
$GC,11469,-0.77,-117.3,760.2,-5.8,335,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2395,3356
$GC,11772,-0.77,-117.3,777.0,-5.5,340,11776,0.00,2.45,0.00,0.000,4,0.000,0.082,3066,3818,3355
$GC,11807,-0.77,-117.3,779.1,-6.2,340,11811,0.00,2.30,0.00,0.000,6,0.000,0.057,3066,2391,3355
$GC,12133,-0.77,-117.3,797.4,-5.7,346,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3355
$GC,12437,-0.77,-117.3,814.4,-5.6,351,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3355
$GC,12739,-0.77,-117.3,832.0,-5.8,356,12744,0.00,2.45,0.00,0.000,4,0.000,0.083,3067,3812,3355
$GC,12774,-0.77,-117.3,834.2,-6.1,356,12778,0.00,2.28,0.00,0.000,6,0.000,0.058,3066,2402,3355
$GC,13100,-0.77,-117.3,853.7,-5.9,362,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2402,3355
$GC,13403,-0.77,-117.3,872.4,-6.2,367,13405,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2402,3355
$GC,13707,-0.77,-117.3,891.4,-6.2,372,13711,0.00,2.40,0.00,0.000,4,0.000,0.075,3066,988,3355
$GC,13735,-0.77,-117.3,893.3,-6.4,372,13739,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2405,3354
$GC,14073,-0.77,-117.3,914.7,-6.3,378,14077,0.00,2.40,0.00,0.000,4,0.000,0.084,3067,3810,3354
$GC,14118,-0.77,-117.3,917.6,-6.4,378,14122,0.00,2.28,0.00,0.000,6,0.000,0.057,3067,2399,3354
$GC,14434,-0.77,-117.3,936.3,-5.9,384,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2399,3354
$GC,14736,-0.77,-117.3,954.5,-6.0,389,14741,0.00,2.45,0.00,0.000,4,0.000,0.084,3067,3811,3354
$GC,14781,-0.77,-117.3,957.5,-6.9,389,14785,0.00,2.30,0.00,0.000,6,0.000,0.057,3066,2389,3354
$GC,15097,-0.77,-117.3,976.3,-6.0,395,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2390,3354
$STATE,15336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15336,begin apogee
$GC,15345,-0.22,0.0,991.1,6.1,399,15459,0.60,0.00,108.65,1.493,6,0.136,0.000,3247,2190,2875
$STATE,15460,end apogee,CONTROL_FINISHED_OK
$STATE,15460,begin climb
$GC,15463,0.67,117.3,995.5,0.0,401,15587,0.85,0.00,114.47,1.436,6,0.092,0.000,3525,2190,2396
$GC,15893,0.36,117.3,975.2,7.4,408,15895,0.30,0.00,0.00,0.000,6,0.158,0.000,3440,2190,2393
$GC,16194,0.29,117.3,958.2,5.5,413,16196,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2190,2392
$GC,16497,0.23,117.3,941.6,5.5,418,16502,0.15,2.42,0.00,0.000,4,0.178,0.080,3387,3621,2392
$GC,16537,0.28,128.8,939.5,4.7,418,16553,0.00,2.30,11.12,1.318,6,0.000,0.062,3394,2198,2349
$GC,16859,0.38,142.3,924.8,4.6,423,16878,0.12,2.42,13.43,1.344,4,0.084,0.080,3448,789,2296
$GC,16907,0.33,142.3,922.0,6.2,423,16911,0.00,2.33,0.00,0.000,6,0.000,0.062,3448,2201,2295
$GC,17223,0.27,142.3,902.8,6.1,429,17225,0.15,0.00,0.00,0.000,6,0.143,0.000,3407,2201,2294
$GC,17528,0.33,146.4,887.9,4.9,434,17538,0.00,2.40,5.40,1.084,4,0.000,0.078,3408,780,2278
$GC,17584,0.42,152.8,885.0,4.8,434,17598,0.15,2.33,7.40,1.200,6,0.082,0.061,3465,2204,2253
$GC,17961,0.34,152.8,861.2,6.3,441,17966,0.15,2.42,0.00,0.000,4,0.147,0.078,3424,780,2252
$GC,18006,0.40,164.4,858.6,4.7,441,18023,0.00,2.35,12.00,1.305,6,0.000,0.061,3424,2212,2205
$GC,18327,0.44,164.4,840.8,5.6,447,18332,0.10,2.42,0.00,0.000,4,0.090,0.077,3472,787,2204
$GC,18384,0.35,164.4,836.8,7.1,447,18391,0.15,2.33,0.00,0.000,6,0.140,0.062,3432,2204,2204
$GC,18694,0.35,164.4,816.7,6.5,453,18696,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2203,2203
$GC,18997,0.35,164.4,797.0,6.4,458,19001,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,779,2204
$GC,19047,0.35,164.4,793.8,5.8,458,19051,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2212,2204
$GC,19358,0.35,164.4,775.4,5.8,463,19362,0.00,2.42,0.00,0.000,4,0.000,0.078,3437,790,2203
$GC,19403,0.35,164.4,772.8,5.1,463,19407,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2204,2203
$GC,19719,0.35,164.4,756.6,5.1,469,19720,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2203
$GC,20023,0.36,169.2,741.8,4.9,474,20033,0.00,2.42,5.78,1.068,4,0.000,0.079,3436,786,2185
$GC,20073,0.40,170.9,739.3,5.0,474,20078,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2200,2185
$GC,20384,0.42,186.4,724.8,4.6,479,20403,0.00,0.00,16.88,1.278,6,0.000,0.000,3436,2200,2115
$GC,20688,0.48,202.3,711.1,4.5,484,20709,0.10,2.42,15.55,1.258,4,0.094,0.079,3479,789,2050
$GC,20755,0.43,202.3,706.8,6.4,485,20759,0.00,2.35,0.00,0.000,6,0.000,0.061,3479,2210,2049
$GC,21122,0.36,202.3,680.7,7.3,491,21124,0.15,0.00,0.00,0.000,6,0.143,0.000,3437,2210,2048
$GC,21426,0.42,202.3,661.8,6.2,496,21430,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,788,2048
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$GC,28797,0.49,209.6,184.9,6.9,645,28802,0.15,2.45,0.00,0.000,4,0.143,0.077,3466,778,2020
$GC,28861,0.59,215.2,181.3,4.8,647,28875,0.12,2.35,6.45,0.844,6,0.084,0.060,3514,2198,1998
$GC,29200,0.59,215.2,161.3,5.5,658,29201,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2198,1997
$GC,29519,0.59,215.2,144.1,5.3,670,29520,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2198,1997
$GC,29827,0.62,242.4,129.0,4.2,685,29858,0.00,2.42,24.40,0.933,4,0.000,0.080,3515,3613,1885
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$STATE,31890,end climb,SURFACE_DEPTH_REACHED
$STATE,31890,begin surface coast
$FINISH,1.7,1.013313
$STATE,31976,end surface coast,CONTROL_FINISHED_OK
$STATE,31976,begin surface
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$10V_AH,10.4,74.566
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$DATA_FILE_SIZE,47537,844
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$CFSIZE,260165632,215740416
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