version: 66.03
glider: 120
mission: 9
dive: 691
start: 5 16 109 5 12 57
data:
$ID,120
$MISSION,9
$DIVE,691
$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,-32406.369
$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,20
$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
$GPS1,050436,4958.962,-14455.840,77,1.3,77,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-76.2
$GPS2,051202,4958.958,-14455.865,16,1.5,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,0.124
$KALMAN_X,-140086.7,264.6,223.9,161722.9,-3142.9
$KALMAN_Y,154167.1,-257.7,-46.8,-162224.5,161.9
$MHEAD_RNG_PITCHd_Wd,27.3,16903,-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,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.67,0.000,2,0.000,0.000,143,2405,2755
$GC,74,-0.67,-117.3,3.6,-5.9,4,108,14.65,2.42,-11.98,0.000,4,0.278,0.091,3085,3821,3356
$GC,361,-0.47,-117.3,42.0,-11.0,29,368,0.28,2.30,0.00,0.000,6,0.146,0.054,3159,2397,3359
$GC,692,-0.51,-117.3,64.2,-6.3,60,696,0.00,2.45,0.00,0.000,4,0.000,0.068,3159,989,3358
$GC,722,-0.56,-117.3,66.4,-6.7,62,726,0.00,2.42,0.00,0.000,6,0.000,0.059,3155,2408,3359
$GC,1046,-0.61,-117.3,88.5,-6.8,86,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3359
$GC,1354,-0.61,-117.3,110.3,-6.9,101,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3360
$GC,1664,-0.68,-117.3,131.8,-7.3,116,1666,0.17,0.00,0.00,0.000,6,0.075,0.000,3086,2406,3360
$GC,1983,-0.64,-117.3,158.2,-7.6,130,1988,0.00,2.72,0.00,0.000,4,0.000,0.065,3086,984,3360
$GC,2023,-0.59,-117.3,161.6,-8.1,131,2028,0.15,2.45,0.00,0.000,6,0.128,0.059,3122,2400,3360
$GC,2348,-0.59,-117.3,179.8,-5.1,142,2352,0.00,2.55,0.00,0.000,4,0.000,0.077,3122,3815,3359
$GC,2379,-0.64,-117.3,181.4,-4.9,143,2383,0.00,2.38,0.00,0.000,6,0.000,0.051,3123,2400,3359
$GC,2716,-0.69,-117.3,197.5,-5.0,154,2721,0.00,2.62,0.00,0.000,4,0.000,0.065,3123,994,3360
$GC,2757,-0.74,-117.3,200.0,-6.1,155,2762,0.15,2.45,0.00,0.000,6,0.074,0.058,3071,2409,3359
$GC,3083,-0.68,-117.3,223.6,-7.8,166,3087,0.00,2.45,0.00,0.000,4,0.000,0.077,3071,3809,3359
$GC,3180,-0.60,-117.3,232.2,-9.3,169,3185,0.17,2.33,0.00,0.000,6,0.110,0.052,3118,2393,3360
$GC,3517,-0.60,-117.3,255.3,-6.8,180,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2394,3360
$GC,3822,-0.60,-117.3,275.9,-6.7,190,3827,0.00,2.55,0.00,0.000,4,0.000,0.067,3118,989,3359
$GC,3857,-0.64,-117.3,278.4,-7.0,191,3861,0.00,2.45,0.00,0.000,6,0.000,0.059,3113,2410,3359
$GC,4187,-0.64,-117.3,300.0,-6.4,202,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3359
$GC,4522,-0.64,-117.3,319.5,-5.7,208,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3359
$GC,4824,-0.64,-117.3,334.9,-5.0,213,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3359
$GC,5127,-0.64,-117.3,351.9,-5.7,218,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3359
$GC,5430,-0.64,-117.3,370.3,-6.1,223,5434,0.00,2.67,0.00,0.000,4,0.000,0.066,3113,996,3359
$GC,5459,-0.68,-117.3,372.2,-6.5,223,5464,0.00,2.53,0.00,0.000,6,0.000,0.060,3113,2409,3359
$GC,5793,-0.73,-117.3,393.9,-6.6,229,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3359
$GC,6096,-0.77,-117.3,414.2,-6.8,234,6098,0.15,0.00,0.00,0.000,6,0.081,0.000,3054,2407,3358
$GC,6400,-0.70,-117.3,440.7,-8.9,239,6401,0.12,0.00,0.00,0.000,6,0.096,0.000,3089,2407,3358
$GC,6703,-0.70,-117.3,465.7,-8.2,244,6707,0.00,2.72,0.00,0.000,4,0.000,0.067,3089,989,3358
$GC,6731,-0.70,-117.3,468.3,-8.5,244,6735,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2398,3358
$GC,7063,-0.70,-117.3,494.2,-7.8,250,7068,0.00,2.55,0.00,0.000,4,0.000,0.079,3085,3815,3358
$GC,7098,-0.70,-117.3,496.9,-7.5,250,7102,0.00,2.40,0.00,0.000,6,0.000,0.053,3085,2394,3358
$GC,7426,-0.70,-117.3,521.0,-7.3,256,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3358
$GC,7730,-0.70,-117.3,542.8,-7.2,261,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3358
$GC,8031,-0.70,-117.3,563.6,-6.8,266,8035,0.00,2.72,0.00,0.000,4,0.000,0.078,3085,3806,3358
$GC,8064,-0.70,-117.3,565.9,-6.0,266,8069,0.00,2.45,0.00,0.000,6,0.000,0.051,3085,2403,3358
$GC,8393,-0.70,-117.3,585.7,-6.0,272,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3358
$GC,8695,-0.70,-117.3,603.3,-5.8,277,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3358
$GC,8999,-0.70,-117.3,621.7,-6.2,282,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3358
$GC,9301,-0.70,-117.3,641.1,-6.4,287,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3358
$GC,9604,-0.70,-117.3,662.4,-7.1,292,9609,0.00,2.75,0.00,0.000,4,0.000,0.067,3085,981,3357
$GC,9633,-0.70,-117.3,664.6,-8.0,292,9638,0.00,2.50,0.00,0.000,6,0.000,0.061,3085,2413,3357
$GC,9967,-0.70,-117.3,689.8,-7.6,298,9971,0.00,2.58,0.00,0.000,4,0.000,0.081,3085,3815,3357
$GC,9995,-0.70,-117.3,692.1,-7.5,298,9999,0.00,2.45,0.00,0.000,6,0.000,0.054,3085,2388,3357
$GC,10328,-0.70,-117.3,716.8,-7.4,304,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3357
$GC,10632,-0.70,-117.3,738.4,-7.1,309,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3357
$GC,10933,-0.70,-117.3,758.0,-6.4,314,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3357
$GC,11236,-0.70,-117.3,774.5,-5.4,319,11241,0.00,2.67,0.00,0.000,4,0.000,0.067,3085,992,3357
$GC,11270,-0.70,-117.3,776.5,-5.5,319,11274,0.00,2.47,0.00,0.000,6,0.000,0.062,3085,2408,3356
$GC,11599,-0.70,-117.3,791.4,-4.6,325,11603,0.00,2.58,0.00,0.000,4,0.000,0.081,3085,3816,3357
$GC,11632,-0.70,-117.3,793.2,-5.2,325,11636,0.00,2.42,0.00,0.000,6,0.000,0.054,3085,2396,3356
$GC,11960,-0.70,-117.3,808.0,-4.6,331,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3356
$GC,12265,-0.70,-117.3,822.7,-4.8,336,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3356
$GC,12567,-0.70,-117.3,838.0,-5.1,341,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3356
$GC,12869,-0.70,-117.3,852.8,-4.9,346,12874,0.00,2.62,0.00,0.000,4,0.000,0.081,3085,3807,3356
$GC,12903,-0.70,-117.3,854.5,-5.5,346,12907,0.00,2.42,0.00,0.000,6,0.000,0.054,3085,2390,3356
$GC,13231,-0.70,-117.3,870.1,-4.8,352,13235,0.00,2.60,0.00,0.000,4,0.000,0.068,3085,992,3356
$GC,13271,-0.70,-117.3,872.4,-6.0,352,13275,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2407,3356
$GC,13593,-0.70,-117.3,887.6,-4.7,358,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3356
$GC,13896,-0.70,-117.3,901.6,-4.6,363,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3356
$GC,14200,-0.70,-117.3,916.1,-4.8,368,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3356
$GC,14502,-0.70,-117.3,930.8,-4.9,373,14506,0.00,2.67,0.00,0.000,4,0.000,0.069,3085,989,3355
$GC,14536,-0.70,-117.3,932.8,-5.6,373,14540,0.00,2.53,0.00,0.000,6,0.000,0.063,3085,2402,3355
$GC,14863,-0.70,-117.3,949.8,-5.2,379,14867,0.00,2.53,0.00,0.000,4,0.000,0.083,3085,3820,3355
$GC,14893,-0.75,-117.3,951.4,-5.5,379,14897,0.00,2.38,0.00,0.000,6,0.000,0.055,3085,2392,3355
$GC,15227,-0.94,-117.3,971.6,-6.3,385,15232,0.20,2.58,0.00,0.000,4,0.085,0.080,3009,3820,3355
$GC,15426,-0.75,-117.3,987.2,-8.5,388,15431,0.25,2.38,0.00,0.000,6,0.145,0.056,3071,2398,3355
$STATE,15462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15462,begin apogee
$GC,15471,-0.22,0.0,990.1,6.3,388,15583,0.57,0.00,109.28,1.499,6,0.134,0.000,3242,2201,2876
$STATE,15584,end apogee,CONTROL_FINISHED_OK
$STATE,15584,begin climb
$GC,15588,0.67,117.3,993.2,0.0,390,15714,0.95,2.85,118.45,1.448,4,0.082,0.074,3539,789,2396
$GC,15751,0.30,117.3,993.9,5.8,393,15757,0.55,2.75,0.00,0.000,6,0.168,0.057,3420,2200,2394
$GC,16102,0.32,133.9,978.0,4.5,399,16119,0.00,0.00,15.73,1.371,6,0.000,0.000,3421,2199,2330
$GC,16406,0.34,149.7,964.1,4.5,404,16424,0.00,0.00,15.80,1.385,6,0.000,0.000,3421,2199,2265
$GC,16708,0.34,156.5,949.6,4.8,409,16722,0.00,2.47,7.53,1.236,4,0.000,0.076,3425,791,2237
$GC,16764,0.34,156.5,946.7,5.2,409,16768,0.00,2.38,0.00,0.000,6,0.000,0.059,3424,2215,2237
$GC,17075,0.34,156.5,930.9,5.1,414,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2213,2237
$GC,17379,0.35,158.5,916.1,4.9,419,17383,0.00,2.47,0.00,0.000,4,0.000,0.077,3425,793,2236
$GC,17453,0.40,168.5,912.4,4.7,420,17471,0.00,2.38,12.07,1.351,6,0.000,0.059,3425,2209,2189
$GC,17814,0.40,168.5,894.1,5.1,426,17818,0.00,2.47,0.00,0.000,4,0.000,0.077,3425,780,2187
$GC,17855,0.46,168.5,891.9,5.1,426,17860,0.12,2.38,0.00,0.000,6,0.084,0.059,3475,2198,2187
$GC,18177,0.35,168.5,871.0,6.6,432,18182,0.15,2.47,0.00,0.000,4,0.145,0.074,3436,790,2187
$GC,18217,0.35,168.5,868.6,5.9,432,18221,0.00,2.38,0.00,0.000,6,0.000,0.058,3436,2202,2187
$GC,18540,0.35,168.5,850.2,5.8,438,18544,0.00,2.53,0.00,0.000,4,0.000,0.076,3437,790,2186
$GC,18579,0.35,168.5,847.6,6.0,438,18583,0.00,2.40,0.00,0.000,6,0.000,0.059,3437,2205,2187
$GC,18901,0.35,168.5,826.7,6.6,444,18905,0.00,2.53,0.00,0.000,4,0.000,0.077,3437,784,2187
$GC,18935,0.35,168.5,824.1,7.1,444,18940,0.00,2.42,0.00,0.000,6,0.000,0.058,3437,2208,2187
$GC,19263,0.35,168.5,801.9,6.8,450,19264,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2206,2186
$GC,19566,0.35,168.5,781.6,6.6,455,19571,0.00,2.60,0.00,0.000,4,0.000,0.076,3437,787,2186
$GC,19612,0.35,168.5,778.6,6.3,455,19616,0.00,2.42,0.00,0.000,6,0.000,0.058,3437,2204,2187
$GC,19929,0.35,168.5,759.2,6.1,461,19930,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2186
$GC,20233,0.35,168.5,742.2,5.6,466,20237,0.00,2.55,0.00,0.000,4,0.000,0.076,3437,785,2186
$GC,20273,0.36,180.4,740.0,4.7,466,20294,0.00,2.45,11.88,1.266,6,0.000,0.059,3437,2209,2140
$GC,20598,0.36,180.4,722.8,5.3,472,20603,0.00,2.50,0.00,0.000,4,0.000,0.076,3436,781,2139
$GC,20657,0.42,180.4,719.7,5.0,472,20663,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2205,2139
$GC,20968,0.42,180.4,703.2,5.4,478,20969,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2204,2139
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$STATE,32013,end climb,SURFACE_DEPTH_REACHED
$STATE,32013,begin surface coast
$FINISH,3.1,1.025558
$STATE,32081,end surface coast,CONTROL_FINISHED_OK
$STATE,32081,begin surface
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$10V_AH,10.3,93.646
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$DEVICE_SECS,30.725,284.375,361.900,16.175,0.000,28.276,27.233,200.467,263.250,0.000,0.000,16.429,1870.019,26459.631,571.067,2657.959,999.698,33.382,1899.294,0.000,2607.834,0.000,0.465
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$DATA_FILE_SIZE,47425,819
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$CFSIZE,260165632,204947456
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