version: 66.03
glider: 120
mission: 9
dive: 567
start: 3 30 109 9 57 18
data:
$ID,120
$MISSION,9
$DIVE,567
$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,-29859.561
$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,18
$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
$GPS1,094557,5007.957,-14443.611,35,4.0,54,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.5
$GPS2,095620,5007.997,-14443.540,13,1.1,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.138,0.112
$KALMAN_X,-68243.2,45.2,497.6,104484.0,-2627.1
$KALMAN_Y,134475.7,-48.5,-83.1,-125979.6,-271.4
$MHEAD_RNG_PITCHd_Wd,32.2,29036,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-10.90,0.000,2,0.000,0.000,135,2410,2025
$GC,42,-0.67,-117.3,3.1,-0.0,1,118,13.70,2.40,-54.85,0.000,4,0.278,0.097,3096,3816,3355
$GC,358,-0.52,-117.3,28.6,-10.4,29,362,0.17,2.28,0.00,0.000,6,0.150,0.055,3145,2392,3356
$GC,687,-0.52,-117.3,53.5,-7.5,59,690,0.00,2.35,0.00,0.000,4,0.000,0.071,3145,981,3357
$GC,726,-0.52,-117.3,57.2,-8.5,62,732,0.00,2.35,0.00,0.000,6,0.000,0.062,3141,2404,3356
$GC,1051,-0.52,-117.3,81.8,-7.4,92,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3357
$GC,1361,-0.52,-117.3,103.5,-6.9,107,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3356
$GC,1669,-0.52,-117.3,123.6,-6.1,122,1673,0.00,2.38,0.00,0.000,4,0.000,0.068,3141,987,3357
$GC,1716,-0.56,-117.3,126.5,-6.7,124,1721,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2411,3357
$GC,2045,-0.63,-117.3,148.4,-7.1,140,2049,0.00,2.35,0.00,0.000,4,0.000,0.081,3141,3806,3357
$GC,2096,-0.75,-117.3,152.0,-7.2,142,2101,0.20,2.25,0.00,0.000,6,0.077,0.054,3067,2390,3357
$GC,2411,-0.67,-117.3,178.4,-8.3,152,2416,0.12,2.35,0.00,0.000,4,0.096,0.067,3107,985,3357
$GC,2450,-0.67,-117.3,181.8,-8.1,153,2454,0.00,2.35,0.00,0.000,6,0.000,0.061,3107,2401,3357
$GC,2774,-0.67,-117.3,205.6,-7.4,164,2778,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3810,3357
$GC,2813,-0.67,-117.3,208.8,-8.5,165,2818,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2395,3357
$GC,3139,-0.67,-117.3,233.9,-8.0,176,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3357
$GC,3444,-0.67,-117.3,259.3,-8.2,186,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3357
$GC,3750,-0.67,-117.3,283.5,-8.0,196,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3357
$GC,4086,-0.67,-117.3,310.5,-8.0,205,4090,0.00,2.42,0.00,0.000,4,0.000,0.081,3100,3806,3357
$GC,4125,-0.67,-117.3,313.7,-8.5,205,4129,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2397,3357
$GC,4447,-0.67,-117.3,337.3,-7.3,211,4451,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,995,3356
$GC,4480,-0.67,-117.3,339.8,-7.2,211,4484,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2404,3357
$GC,4807,-0.67,-117.3,361.6,-6.6,217,4811,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3808,3357
$GC,4851,-0.67,-117.3,364.6,-6.5,217,4855,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2397,3357
$GC,5167,-0.67,-117.3,385.0,-6.5,223,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3357
$GC,5470,-0.67,-117.3,403.3,-6.0,228,5475,0.00,2.42,0.00,0.000,4,0.000,0.082,3100,3813,3357
$GC,5516,-0.67,-117.3,406.1,-6.0,228,5520,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2401,3357
$GC,5831,-0.67,-117.3,424.4,-5.8,234,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,6134,-0.67,-117.3,441.9,-5.8,239,6139,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,987,3357
$GC,6162,-0.67,-117.3,443.8,-6.4,239,6167,0.00,2.38,0.00,0.000,6,0.000,0.062,3100,2410,3356
$GC,6496,-0.67,-117.3,465.1,-6.5,245,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,6798,-0.67,-117.3,486.7,-7.2,250,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,7102,-0.67,-117.3,510.3,-7.8,255,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,7404,-0.67,-117.3,532.4,-7.2,260,7409,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,984,3356
$GC,7438,-0.67,-117.3,534.9,-6.8,260,7442,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2406,3355
$GC,7765,-0.67,-117.3,554.5,-5.9,266,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,8068,-0.67,-117.3,570.9,-5.3,271,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3356
$GC,8371,-0.67,-117.3,588.4,-5.8,276,8375,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,985,3355
$GC,8399,-0.67,-117.3,590.3,-6.5,276,8402,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2399,3355
$GC,8738,-0.67,-117.3,612.5,-6.7,282,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3355
$GC,9040,-0.67,-117.3,632.6,-6.6,287,9044,0.00,2.40,0.00,0.000,4,0.000,0.082,3100,3809,3355
$GC,9074,-0.71,-117.3,635.0,-6.9,287,9078,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2390,3355
$GC,9401,-0.76,-117.3,656.5,-6.5,293,9405,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,984,3355
$GC,9441,-0.76,-117.3,659.3,-7.4,293,9445,0.00,2.38,0.00,0.000,6,0.000,0.062,3100,2405,3355
$GC,9762,-0.76,-117.3,680.7,-6.6,299,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,10065,-0.76,-117.3,699.7,-6.2,304,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,10369,-0.76,-117.3,717.4,-5.8,309,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,10672,-0.76,-117.3,733.6,-5.3,314,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3356
$GC,10975,-0.80,-117.3,748.7,-4.9,319,10977,0.12,0.00,0.00,0.000,6,0.088,0.000,3048,2404,3354
$GC,11278,-0.76,-117.3,766.7,-6.0,324,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2404,3354
$GC,11581,-0.76,-117.3,785.7,-6.2,329,11585,0.00,2.40,0.00,0.000,4,0.000,0.083,3048,3813,3354
$GC,11645,-0.68,-117.3,790.1,-7.0,330,11650,0.17,2.30,0.00,0.000,6,0.112,0.057,3097,2387,3354
$GC,12013,-0.72,-117.3,809.1,-5.0,336,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2387,3354
$GC,12316,-0.77,-117.3,824.1,-5.0,341,12321,0.00,2.38,0.00,0.000,4,0.000,0.073,3097,990,3354
$GC,12340,-0.82,-117.3,825.5,-5.5,341,12345,0.15,2.38,0.00,0.000,6,0.081,0.064,3044,2406,3354
$GC,12679,-0.77,-117.3,846.9,-6.4,347,12683,0.00,2.40,0.00,0.000,4,0.000,0.083,3044,3810,3354
$GC,12735,-0.67,-117.3,851.1,-7.3,347,12742,0.20,2.28,0.00,0.000,6,0.122,0.057,3100,2393,3354
$GC,13047,-0.74,-117.3,868.1,-5.4,353,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3354
$GC,13349,-0.84,-117.3,883.0,-4.9,358,13354,0.15,2.38,0.00,0.000,4,0.081,0.073,3054,997,3353
$GC,13412,-0.84,-117.3,886.7,-6.0,359,13416,0.00,2.35,0.00,0.000,6,0.000,0.064,3054,2400,3353
$GC,13785,-0.94,-117.3,908.5,-5.8,365,13790,0.12,2.42,0.00,0.000,4,0.089,0.082,3008,3818,3353
$GC,13975,-0.74,-117.3,922.2,-7.2,367,13982,0.25,2.28,0.00,0.000,6,0.153,0.058,3075,2403,3353
$GC,14287,-0.74,-117.3,936.9,-4.6,373,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2403,3353
$GC,14589,-0.74,-117.3,951.6,-4.8,378,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2404,3353
$GC,14892,-0.74,-117.3,967.7,-5.4,383,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2403,3353
$GC,15195,-0.74,-117.3,984.6,-5.6,388,15199,0.00,2.45,0.00,0.000,4,0.000,0.084,3072,3812,3353
$GC,15235,-0.74,-117.3,986.9,-4.8,388,15239,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2391,3353
$STATE,15311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15311,begin apogee
$GC,15319,-0.22,0.0,991.2,5.5,390,15434,0.57,0.00,108.47,1.489,6,0.137,0.000,3246,2192,2875
$STATE,15435,end apogee,CONTROL_FINISHED_OK
$STATE,15435,begin climb
$GC,15438,0.67,117.3,995.3,0.0,392,15562,0.85,2.70,114.38,1.433,4,0.084,0.076,3533,791,2396
$GC,15580,0.34,134.0,994.6,4.5,394,15604,0.43,2.58,17.98,1.323,6,0.171,0.059,3429,2201,2328
$GC,15932,0.34,134.0,973.2,6.2,400,15933,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2326
$GC,16235,0.34,134.0,954.6,6.2,405,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2325
$GC,16539,0.34,134.0,936.4,6.0,410,16540,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2325
$GC,16841,0.34,134.0,918.5,5.9,415,16845,0.00,2.35,0.00,0.000,4,0.000,0.080,3429,3614,2325
$GC,16887,0.26,134.0,915.4,6.6,415,16891,0.15,2.30,0.00,0.000,6,0.176,0.062,3400,2190,2325
$GC,17203,0.33,134.0,898.7,5.3,421,17207,0.00,2.35,0.00,0.000,4,0.000,0.077,3408,789,2325
$GC,17260,0.40,134.0,895.8,5.2,421,17267,0.12,2.33,0.00,0.000,6,0.088,0.061,3462,2216,2325
$GC,17571,0.30,134.0,875.1,6.7,427,17576,0.15,2.45,0.00,0.000,4,0.147,0.077,3424,782,2324
$GC,17622,0.30,134.0,871.8,5.7,427,17626,0.00,2.33,0.00,0.000,6,0.000,0.060,3424,2201,2324
$GC,17933,0.30,134.0,854.0,5.8,432,17934,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2201,2324
$GC,18235,0.30,134.0,836.3,5.8,437,18236,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2324
$GC,18538,0.30,134.0,818.7,5.8,442,18542,0.00,2.42,0.00,0.000,4,0.000,0.078,3424,784,2324
$GC,18577,0.30,134.0,816.6,5.2,442,18581,0.00,2.35,0.00,0.000,6,0.000,0.061,3424,2209,2324
$GC,18898,0.30,134.0,799.3,5.3,448,18900,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2209,2324
$GC,19201,0.30,135.7,784.3,5.0,453,19205,0.00,2.45,0.00,0.000,4,0.000,0.078,3424,780,2324
$GC,19246,0.31,145.9,782.1,4.7,453,19263,0.00,2.35,11.05,1.262,6,0.000,0.061,3423,2204,2280
$GC,19567,0.31,146.4,766.2,5.0,459,19569,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2280
$GC,19869,0.31,146.4,750.6,5.1,464,19870,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2280
$GC,20173,0.31,149.2,735.6,4.9,469,20182,0.00,2.42,4.88,0.984,4,0.000,0.078,3424,777,2267
$GC,20211,0.36,149.2,733.5,5.5,469,20215,0.00,2.35,0.00,0.000,6,0.000,0.061,3424,2206,2267
$GC,20539,0.36,150.4,717.5,5.0,475,20540,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2205,2267
$GC,20841,0.36,150.4,701.9,5.1,480,20845,0.00,2.45,0.00,0.000,4,0.000,0.077,3424,776,2266
$GC,20891,0.42,150.4,699.2,5.3,480,20895,0.00,2.35,0.00,0.000,6,0.000,0.061,3424,2201,2267
$GC,21202,0.47,150.4,682.4,5.4,485,21204,0.12,0.00,0.00,0.000,6,0.093,0.000,3479,2200,2267
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$STATE,33306,end climb,SURFACE_DEPTH_REACHED
$STATE,33306,begin surface coast
$FINISH,1.8,1.012867
$STATE,33435,end surface coast,CONTROL_FINISHED_OK
$STATE,33437,begin surface
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$10V_AH,10.4,76.513
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$DEVICE_SECS,28.550,252.325,345.500,27.875,0.000,60.286,55.637,282.665,270.500,0.000,0.000,13.906,1910.470,27950.580,549.959,2657.713,1034.544,33.383,1872.473,0.000,2614.409,0.000,0.465
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$DATA_FILE_SIZE,50675,872
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$CFSIZE,260165632,214626304
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