version: 66.03
glider: 120
mission: 9
dive: 639
start: 4 26 109 17 42 3
data:
$ID,120
$MISSION,9
$DIVE,639
$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,-31319.926
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,173407,5003.720,-14512.014,37,2.0,44,18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-77.7
$GPS2,174108,5003.736,-14512.035,12,1.8,12,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.177
$KALMAN_X,-103551.8,47.5,97.4,106324.0,-739.4
$KALMAN_Y,147490.6,-207.9,52.6,-146850.3,2997.8
$MHEAD_RNG_PITCHd_Wd,155.4,18010,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.30,0.000,2,0.000,0.000,140,2402,2521
$GC,63,-0.67,-117.3,3.3,-5.3,3,107,13.02,2.55,-21.25,0.000,4,0.260,0.080,3098,996,3357
$GC,136,-0.51,-117.3,11.7,-10.4,9,143,0.17,2.35,0.00,0.000,6,0.154,0.062,3146,2407,3357
$GC,465,-0.51,-117.3,37.1,-7.4,40,471,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,792,-0.51,-117.3,61.9,-7.7,71,793,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,1117,-0.51,-117.3,86.9,-7.7,98,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,1427,-0.51,-117.3,111.8,-8.3,113,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3359
$GC,1736,-0.57,-117.3,134.9,-6.7,128,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3359
$GC,2045,-0.65,-117.3,154.4,-6.1,142,2050,0.12,2.47,0.00,0.000,4,0.080,0.077,3096,3809,3359
$GC,2075,-0.65,-117.3,156.6,-7.7,143,2079,0.00,2.40,0.00,0.000,6,0.000,0.051,3096,2401,3359
$GC,2417,-0.65,-117.3,181.5,-7.3,154,2421,0.00,2.53,0.00,0.000,4,0.000,0.067,3096,982,3359
$GC,2467,-0.65,-117.3,185.4,-7.6,155,2471,0.00,2.40,0.00,0.000,6,0.000,0.059,3096,2412,3359
$GC,2782,-0.65,-117.3,208.6,-7.5,165,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2412,3359
$GC,3087,-0.65,-117.3,233.4,-8.3,175,3091,0.00,2.55,0.00,0.000,4,0.000,0.066,3096,987,3358
$GC,3138,-0.65,-117.3,237.6,-8.2,176,3142,0.00,2.40,0.00,0.000,6,0.000,0.060,3096,2408,3359
$GC,3457,-0.65,-117.3,262.0,-7.5,187,3461,0.00,2.47,0.00,0.000,4,0.000,0.079,3096,3812,3359
$GC,3487,-0.65,-117.3,264.1,-7.4,188,3491,0.00,2.38,0.00,0.000,6,0.000,0.052,3096,2391,3359
$GC,3822,-0.65,-117.3,287.7,-6.9,199,3827,0.00,2.47,0.00,0.000,4,0.000,0.067,3096,986,3358
$GC,3845,-0.65,-117.3,289.5,-6.8,199,3852,0.00,2.38,0.00,0.000,6,0.000,0.059,3096,2398,3359
$GC,4188,-0.65,-117.3,312.7,-6.9,208,4192,0.00,2.47,0.00,0.000,4,0.000,0.079,3096,3812,3359
$GC,4217,-0.65,-117.3,314.7,-7.1,208,4221,0.00,2.33,0.00,0.000,6,0.000,0.052,3096,2399,3359
$GC,4550,-0.65,-117.3,335.1,-6.0,214,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2400,3359
$GC,4853,-0.65,-117.3,355.7,-6.9,219,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2400,3359
$GC,5156,-0.65,-117.3,378.0,-7.4,224,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2400,3359
$GC,5460,-0.65,-117.3,399.3,-7.0,229,5464,0.00,2.53,0.00,0.000,4,0.000,0.068,3096,992,3359
$GC,5487,-0.65,-117.3,401.4,-7.2,229,5492,0.00,2.40,0.00,0.000,6,0.000,0.059,3096,2409,3359
$GC,5820,-0.65,-117.3,423.0,-6.4,235,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2408,3359
$GC,6124,-0.65,-117.3,440.0,-5.5,240,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2409,3358
$GC,6428,-0.65,-117.3,455.4,-5.1,245,6432,0.00,2.50,0.00,0.000,4,0.000,0.081,3096,3815,3358
$GC,6457,-0.65,-117.3,457.2,-6.1,245,6461,0.00,2.38,0.00,0.000,6,0.000,0.054,3096,2395,3358
$GC,6790,-0.65,-117.3,475.8,-5.7,251,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3358
$GC,7093,-0.65,-117.3,493.4,-5.8,256,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2397,3358
$GC,7398,-0.65,-117.3,511.1,-5.8,261,7402,0.00,2.55,0.00,0.000,4,0.000,0.069,3096,987,3357
$GC,7426,-0.70,-117.3,512.9,-6.2,261,7430,0.00,2.40,0.00,0.000,6,0.000,0.061,3096,2404,3357
$GC,7765,-0.70,-117.3,531.9,-5.6,267,7769,0.00,2.50,0.00,0.000,4,0.000,0.081,3096,3807,3358
$GC,7800,-0.78,-117.3,534.0,-6.4,267,7804,0.00,2.38,0.00,0.000,6,0.000,0.054,3096,2397,3357
$GC,8129,-0.99,-117.3,556.0,-6.8,273,8134,0.25,2.58,0.00,0.000,4,0.082,0.078,2998,3809,3357
$GC,8197,-0.76,-117.3,562.1,-9.3,274,8202,0.28,2.42,0.00,0.000,6,0.153,0.056,3070,2392,3357
$GC,8559,-0.89,-117.3,588.1,-7.2,280,8564,0.12,2.60,0.00,0.000,4,0.084,0.078,3022,3813,3357
$GC,8672,-0.77,-117.3,597.3,-8.3,281,8677,0.17,2.40,0.00,0.000,6,0.122,0.054,3069,2395,3357
$GC,8989,-0.90,-117.3,619.3,-7.0,287,8994,0.12,2.55,0.00,0.000,4,0.084,0.078,3020,3806,3357
$GC,9097,-0.78,-117.3,628.0,-8.1,288,9102,0.15,2.40,0.00,0.000,6,0.118,0.054,3060,2390,3357
$GC,9419,-0.88,-117.3,651.2,-7.2,294,9423,0.00,2.58,0.00,0.000,4,0.000,0.079,3059,3817,3356
$GC,9532,-0.88,-117.3,659.8,-7.3,295,9536,0.00,2.38,0.00,0.000,6,0.000,0.055,3059,2402,3356
$GC,9848,-0.98,-117.3,683.1,-7.5,301,9853,0.15,2.53,0.00,0.000,4,0.085,0.079,2996,3809,3356
$GC,9950,-0.74,-117.3,692.2,-8.9,302,9955,0.30,2.35,0.00,0.000,6,0.151,0.056,3076,2390,3356
$GC,10278,-0.89,-117.3,715.5,-7.1,308,10283,0.15,2.53,0.00,0.000,4,0.079,0.079,3014,3813,3356
$GC,10405,-0.77,-117.3,725.8,-8.8,309,10412,0.20,2.35,0.00,0.000,6,0.150,0.055,3065,2390,3356
$GC,10717,-0.89,-117.3,748.4,-7.2,315,10722,0.00,2.53,0.00,0.000,4,0.000,0.081,3065,3817,3356
$GC,10825,-0.89,-117.3,756.5,-6.9,316,10829,0.00,2.35,0.00,0.000,6,0.000,0.055,3065,2392,3356
$GC,11147,-1.02,-117.3,780.3,-7.4,322,11152,0.20,2.53,0.00,0.000,4,0.077,0.079,2985,3809,3356
$GC,11216,-0.75,-117.3,786.7,-9.2,323,11221,0.32,2.33,0.00,0.000,6,0.160,0.056,3070,2399,3355
$GC,11578,-0.89,-117.3,814.0,-7.6,329,11583,0.12,2.55,0.00,0.000,4,0.087,0.079,3022,3816,3355
$GC,11713,-0.83,-117.3,824.6,-8.5,331,11717,0.00,2.38,0.00,0.000,6,0.000,0.056,3022,2399,3355
$GC,12085,-0.83,-117.3,854.3,-7.9,337,12089,0.00,2.53,0.00,0.000,4,0.000,0.080,3018,3806,3355
$GC,12192,-0.73,-117.3,863.1,-7.5,338,12197,0.22,2.35,0.00,0.000,6,0.132,0.055,3079,2392,3355
$GC,12515,-0.90,-117.3,884.7,-6.7,344,12519,0.15,2.55,0.00,0.000,4,0.081,0.080,3018,3814,3355
$GC,12588,-0.82,-117.3,890.3,-7.3,345,12593,0.12,2.35,0.00,0.000,6,0.098,0.055,3051,2395,3355
$GC,12944,-0.91,-117.3,913.5,-6.5,351,12949,0.00,2.50,0.00,0.000,4,0.000,0.081,3051,3809,3355
$GC,13068,-0.91,-117.3,921.4,-5.6,352,13075,0.00,2.33,0.00,0.000,6,0.000,0.056,3051,2405,3355
$GC,13380,-1.01,-117.3,941.8,-6.6,358,13385,0.15,2.53,0.00,0.000,4,0.080,0.079,2989,3807,3355
$GC,13482,-0.78,-117.3,949.9,-7.9,359,13487,0.28,2.35,0.00,0.000,6,0.155,0.057,3060,2397,3354
$GC,13810,-0.90,-117.3,970.9,-6.5,365,13814,0.00,2.53,0.00,0.000,4,0.000,0.081,3059,3818,3354
$GC,13929,-0.94,-117.3,978.6,-6.3,366,13934,0.15,2.35,0.00,0.000,6,0.077,0.057,3003,2394,3355
$STATE,14114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14115,begin apogee
$GC,14123,-0.22,0.0,991.9,7.1,369,14237,0.80,0.00,108.32,1.490,6,0.133,0.000,3241,2194,2876
$STATE,14238,end apogee,CONTROL_FINISHED_OK
$STATE,14238,begin climb
$GC,14242,0.67,117.3,997.3,0.0,371,14366,0.88,2.75,115.32,1.449,4,0.079,0.076,3534,798,2396
$GC,14401,0.31,117.3,996.0,6.3,373,14407,0.47,2.60,0.00,0.000,6,0.170,0.058,3421,2197,2394
$GC,14735,0.31,117.3,978.3,5.3,379,14739,0.00,2.38,0.00,0.000,4,0.000,0.077,3421,3612,2392
$GC,14781,0.21,117.3,975.4,6.0,379,14786,0.15,2.30,0.00,0.000,6,0.179,0.061,3385,2204,2392
$GC,15098,0.32,131.6,960.8,4.6,385,15113,0.12,0.00,13.30,1.356,6,0.080,0.000,3436,2205,2339
$GC,15401,0.28,131.6,943.3,5.8,390,15402,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2338
$GC,15704,0.28,131.6,925.6,5.8,395,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2338
$GC,16006,0.28,131.6,909.6,5.3,400,16010,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,3620,2338
$GC,16040,0.16,131.6,907.7,5.3,400,16045,0.25,2.35,0.00,0.000,6,0.170,0.063,3371,2197,2337
$GC,16368,0.40,165.5,894.6,4.0,406,16402,0.22,0.00,31.40,1.415,6,0.074,0.000,3457,2198,2201
$GC,16671,0.40,165.5,876.2,6.2,411,16675,0.00,2.40,0.00,0.000,4,0.000,0.079,3457,3611,2198
$GC,16752,0.26,165.5,869.9,8.3,412,16757,0.22,2.33,0.00,0.000,6,0.163,0.062,3403,2191,2198
$GC,17103,0.36,165.5,850.2,5.6,418,17107,0.00,2.38,0.00,0.000,4,0.000,0.078,3408,791,2197
$GC,17137,0.47,165.5,848.1,5.2,418,17142,0.17,2.33,0.00,0.000,6,0.074,0.060,3479,2205,2197
$GC,17465,0.35,165.5,821.5,8.3,424,17469,0.15,2.42,0.00,0.000,4,0.148,0.078,3429,3618,2197
$GC,17529,0.30,165.5,816.5,8.0,425,17534,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2197,2197
$GC,17896,0.30,165.5,792.0,6.5,431,17897,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2197
$GC,18200,0.30,165.5,772.8,6.4,436,18204,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,3612,2197
$GC,18245,0.26,165.5,769.6,6.9,436,18250,0.15,2.35,0.00,0.000,6,0.167,0.061,3399,2194,2197
$GC,18563,0.38,165.5,753.5,5.0,442,18567,0.12,2.42,0.00,0.000,4,0.082,0.077,3448,784,2197
$GC,18592,0.38,165.5,751.8,6.0,442,18596,0.00,2.35,0.00,0.000,6,0.000,0.060,3448,2201,2197
$GC,18925,0.38,165.5,731.3,6.2,448,18929,0.00,2.42,0.00,0.000,4,0.000,0.081,3448,3606,2197
$GC,18960,0.29,165.5,728.9,6.7,448,18965,0.15,2.35,0.00,0.000,6,0.167,0.061,3412,2187,2196
$GC,19288,0.37,166.1,712.3,5.0,454,19292,0.00,2.40,0.00,0.000,4,0.000,0.075,3421,787,2197
$GC,19322,0.44,166.1,710.6,5.7,454,19327,0.12,2.35,0.00,0.000,6,0.083,0.059,3475,2201,2197
$GC,19650,0.36,166.1,690.6,6.2,460,19652,0.15,0.00,0.00,0.000,6,0.140,0.000,3432,2201,2196
$GC,19952,0.37,180.1,676.4,4.6,465,19971,0.00,2.47,13.75,1.237,4,0.000,0.078,3436,787,2141
$GC,20008,0.43,186.0,673.8,4.8,465,20020,0.00,2.35,6.93,1.081,6,0.000,0.060,3435,2208,2117
$GC,20325,0.48,188.0,658.3,4.9,471,20327,0.10,0.00,0.00,0.000,6,0.091,0.000,3479,2207,2116
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$STATE,31040,begin surface coast
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$STATE,31136,end surface coast,CONTROL_FINISHED_OK
$STATE,31137,begin surface
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$DEVICE_SECS,32.025,228.975,356.700,11.000,0.000,29.429,24.893,198.307,256.500,0.000,0.000,12.566,1832.601,25784.799,549.955,2511.722,902.902,33.382,1785.122,0.000,2483.233,0.000,0.466
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$DATA_FILE_SIZE,47620,825
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$CFSIZE,260165632,208998400
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