version: 66.03
glider: 120
mission: 9
dive: 68
start: 9 22 108 3 15 59
data:
$ID,120
$MISSION,9
$DIVE,68
$D_SURF,6
$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,-18974.688
$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,21
$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
$GPS1,031007,5002.756,-14457.007,60,1.6,65,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.52
$_SM_ANGLEo,-77.5
$GPS2,031503,5002.724,-14457.028,16,1.6,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.148,0.098
$KALMAN_X,31533.8,-207.5,230.5,-40240.1,-1618.2
$KALMAN_Y,54283.8,8.8,-33.6,-59490.0,1301.9
$MHEAD_RNG_PITCHd_Wd,38.1,11476,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,32,0.00,0.00,-12.15,0.000,2,0.000,0.000,144,2407,1968
$GC,34,-0.67,-117.3,4.6,-0.0,1,109,13.43,2.42,-51.42,0.000,4,0.290,0.084,3094,988,3357
$GC,361,-0.34,-117.3,45.8,-11.5,30,369,0.35,2.33,0.00,0.000,6,0.165,0.062,3201,2398,3359
$GC,688,-0.68,-117.3,65.0,-6.5,61,693,0.28,2.33,0.00,0.000,4,0.084,0.066,3099,976,3361
$GC,806,-0.49,-117.3,74.5,-8.3,71,811,0.20,2.30,0.00,0.000,6,0.164,0.061,3154,2405,3362
$GC,1133,-0.49,-117.3,99.4,-7.8,90,1137,0.00,2.30,0.00,0.000,4,0.000,0.067,3153,990,3362
$GC,1158,-0.49,-117.3,101.5,-7.7,91,1163,0.00,2.30,0.00,0.000,6,0.000,0.059,3153,2401,3362
$GC,1480,-0.49,-117.3,120.9,-4.5,107,1485,0.00,2.33,0.00,0.000,4,0.000,0.069,3154,978,3362
$GC,1530,-0.49,-117.3,123.4,-5.0,109,1534,0.00,2.33,0.00,0.000,6,0.000,0.061,3154,2405,3363
$GC,1851,-0.54,-117.3,147.2,-8.1,125,1855,0.00,2.30,0.00,0.000,4,0.000,0.080,3154,3815,3363
$GC,1877,-0.61,-117.3,149.4,-8.3,126,1882,0.08,2.28,0.00,0.000,6,0.074,0.055,3115,2390,3362
$GC,2195,-0.56,-117.3,172.8,-6.4,137,2199,0.00,2.25,0.00,0.000,4,0.000,0.071,3115,994,3362
$GC,2243,-0.50,-117.3,176.3,-7.0,138,2249,0.10,2.30,0.00,0.000,6,0.162,0.062,3146,2405,3362
$GC,2561,-0.50,-117.3,197.0,-6.7,149,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2405,3362
$GC,2868,-0.50,-117.3,212.8,-4.4,159,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2405,3362
$GC,3174,-0.73,-117.3,229.6,-6.7,169,3179,0.17,2.30,0.00,0.000,4,0.086,0.072,3079,994,3361
$GC,3325,-0.59,-117.3,242.4,-9.5,173,3330,0.15,2.28,0.00,0.000,6,0.172,0.064,3119,2410,3361
$GC,3636,-0.59,-117.3,266.3,-7.5,183,3640,0.00,2.28,0.00,0.000,4,0.000,0.081,3113,3812,3361
$GC,3668,-0.55,-117.3,268.7,-7.7,184,3673,0.00,2.25,0.00,0.000,6,0.000,0.058,3113,2403,3361
$GC,4004,-0.49,-117.3,291.3,-6.9,195,4006,0.15,0.00,0.00,0.000,6,0.169,0.000,3153,2402,3361
$GC,4339,-0.59,-117.3,311.7,-6.1,203,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2402,3360
$GC,4642,-0.68,-117.3,327.4,-5.1,208,4646,0.17,2.30,0.00,0.000,4,0.084,0.074,3083,986,3359
$GC,4709,-0.57,-117.3,332.0,-7.3,209,4714,0.17,2.30,0.00,0.000,6,0.172,0.066,3130,2409,3359
$GC,5073,-0.57,-117.3,350.7,-5.0,215,5077,0.00,2.30,0.00,0.000,4,0.000,0.083,3128,3820,3359
$GC,5121,-0.62,-117.3,353.6,-6.0,215,5126,0.00,2.28,0.00,0.000,6,0.000,0.060,3128,2402,3359
$GC,5442,-0.62,-117.3,372.4,-6.0,221,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3358
$GC,5745,-0.62,-117.3,392.8,-6.8,226,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3358
$GC,6048,-0.62,-117.3,414.4,-7.2,231,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3358
$GC,6351,-0.62,-117.3,433.9,-6.4,236,6355,0.00,2.30,0.00,0.000,4,0.000,0.076,3128,984,3357
$GC,6377,-0.62,-117.3,435.7,-6.6,236,6382,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2396,3357
$GC,6715,-0.62,-117.3,454.5,-5.6,242,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2396,3357
$GC,7018,-0.62,-117.3,471.2,-5.5,247,7022,0.00,2.33,0.00,0.000,4,0.000,0.084,3128,3819,3356
$GC,7045,-0.67,-117.3,472.7,-6.4,247,7049,0.00,2.28,0.00,0.000,6,0.000,0.061,3128,2402,3356
$GC,7383,-0.71,-117.3,491.1,-5.5,253,7387,0.12,2.30,0.00,0.000,4,0.096,0.076,3080,983,3356
$GC,7414,-0.62,-117.3,493.5,-8.3,253,7419,0.08,2.30,0.00,0.000,6,0.166,0.065,3113,2398,3356
$GC,7746,-0.62,-117.3,515.0,-6.6,259,7750,0.00,2.30,0.00,0.000,4,0.000,0.084,3113,3809,3356
$GC,7784,-0.62,-117.3,517.7,-6.9,259,7789,0.00,2.22,0.00,0.000,6,0.000,0.061,3113,2398,3356
$GC,8104,-0.62,-117.3,540.1,-7.0,265,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3356
$GC,8407,-0.62,-117.3,559.4,-6.2,270,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3355
$GC,8710,-0.62,-117.3,576.6,-5.6,275,8714,0.00,2.28,0.00,0.000,4,0.000,0.077,3113,991,3355
$GC,8735,-0.62,-117.3,578.2,-6.1,275,8740,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2402,3355
$GC,9079,-0.62,-117.3,595.9,-5.1,281,9083,0.00,2.30,0.00,0.000,4,0.000,0.084,3113,3810,3355
$GC,9110,-0.62,-117.3,597.5,-5.2,281,9115,0.00,2.25,0.00,0.000,6,0.000,0.061,3113,2404,3354
$GC,9443,-0.62,-117.3,613.9,-4.9,287,9447,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,985,3354
$GC,9497,-0.62,-117.3,616.9,-5.6,287,9504,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2408,3354
$GC,9807,-0.62,-117.3,633.4,-5.4,293,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3355
$GC,10110,-0.62,-117.3,650.9,-5.8,298,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3354
$GC,10413,-0.62,-117.3,670.2,-6.5,303,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3354
$GC,10716,-0.62,-117.3,691.4,-7.0,308,10720,0.00,2.33,0.00,0.000,4,0.000,0.078,3113,984,3354
$GC,10742,-0.62,-117.3,693.4,-7.4,308,10747,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2406,3354
$GC,11085,-0.62,-117.3,716.5,-6.7,314,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3354
$GC,11388,-0.62,-117.3,734.6,-5.9,319,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3354
$GC,11691,-0.62,-117.3,751.0,-5.3,324,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3354
$GC,11995,-0.62,-117.3,765.6,-4.8,329,11999,0.00,2.33,0.00,0.000,4,0.000,0.079,3113,991,3353
$GC,12027,-0.62,-117.3,767.2,-5.2,329,12032,0.00,2.30,0.00,0.000,6,0.000,0.068,3112,2396,3353
$GC,12365,-0.62,-117.3,782.5,-4.5,335,12369,0.00,2.33,0.00,0.000,4,0.000,0.085,3113,3820,3353
$GC,12391,-0.62,-117.3,783.8,-4.5,335,12395,0.00,2.28,0.00,0.000,6,0.000,0.062,3113,2403,3353
$GC,12728,-0.62,-117.3,799.5,-4.7,341,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3353
$GC,13031,-0.62,-117.3,816.3,-5.6,346,13035,0.00,2.30,0.00,0.000,4,0.000,0.079,3113,987,3353
$GC,13063,-0.62,-117.3,818.4,-6.0,346,13068,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2395,3353
$GC,13395,-0.62,-117.3,838.9,-6.2,352,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3353
$GC,13698,-0.62,-117.3,858.1,-6.4,357,13702,0.00,2.30,0.00,0.000,4,0.000,0.079,3112,991,3353
$GC,13724,-0.62,-117.3,860.0,-6.7,357,13729,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2402,3352
$GC,14062,-0.62,-117.3,880.6,-6.1,363,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,14365,-0.62,-117.3,896.7,-5.3,368,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,14669,-0.62,-117.3,910.8,-4.6,373,14673,0.00,2.33,0.00,0.000,4,0.000,0.079,3113,988,3352
$GC,14706,-0.62,-117.3,912.8,-5.0,373,14711,0.00,2.33,0.00,0.000,6,0.000,0.069,3113,2403,3352
$GC,15033,-0.67,-117.3,927.6,-4.6,379,15035,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3352
$GC,15336,-0.71,-117.3,941.8,-4.7,384,15341,0.00,2.33,0.00,0.000,4,0.000,0.079,3113,990,3352
$GC,15368,-0.71,-117.3,943.5,-5.0,384,15373,0.00,2.33,0.00,0.000,6,0.000,0.068,3113,2408,3352
$GC,15701,-0.76,-117.3,959.1,-4.7,390,15703,0.12,0.00,0.00,0.000,6,0.097,0.000,3067,2408,3352
$GC,16003,-0.76,-117.3,975.8,-5.4,395,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2407,3352
$STATE,16305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16305,begin apogee
$GC,16310,-0.22,0.0,993.5,5.8,400,16412,0.57,0.00,99.90,1.509,6,0.153,0.000,3242,2194,2876
$STATE,16413,end apogee,CONTROL_FINISHED_OK
$STATE,16413,begin climb
$GC,16415,0.67,117.3,995.2,0.0,401,16527,0.90,2.65,102.97,1.463,4,0.107,0.082,3533,786,2397
$GC,16560,0.28,117.3,994.4,6.9,404,16565,0.43,2.50,0.00,0.000,6,0.190,0.064,3412,2196,2395
$GC,16920,0.28,117.3,975.5,5.2,410,16924,0.00,2.40,0.00,0.000,4,0.000,0.083,3411,3616,2393
$GC,16987,0.17,117.3,971.5,5.7,411,16992,0.15,2.38,0.00,0.000,6,0.184,0.068,3375,2196,2393
$GC,17352,0.28,137.6,955.5,4.4,417,17376,0.12,2.47,17.70,1.404,4,0.091,0.083,3418,3601,2314
$GC,17409,0.17,137.6,951.9,7.0,417,17417,0.15,2.38,0.00,0.000,6,0.171,0.068,3378,2203,2313
$GC,17719,0.27,137.6,936.1,5.1,423,17720,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2203,2313
$GC,18022,0.37,137.6,919.7,5.4,428,18027,0.15,2.38,0.00,0.000,4,0.091,0.084,3437,3608,2313
$GC,18059,0.19,137.6,916.9,7.9,428,18064,0.22,2.35,0.00,0.000,6,0.176,0.068,3379,2193,2312
$GC,18385,0.29,137.6,899.3,5.3,434,18386,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2192,2312
$GC,18688,0.38,137.6,883.1,5.3,439,18693,0.15,2.38,0.00,0.000,4,0.094,0.084,3439,3614,2312
$GC,18737,0.22,137.6,879.4,7.2,439,18742,0.22,2.33,0.00,0.000,6,0.176,0.068,3389,2201,2312
$GC,19052,0.29,137.6,862.6,5.2,445,19053,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2201,2312
$GC,19355,0.35,137.6,846.9,5.1,450,19357,0.12,0.00,0.00,0.000,6,0.092,0.000,3435,2201,2312
$GC,19658,0.29,137.6,828.3,6.2,455,19660,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2312
$GC,19961,0.22,137.6,810.0,6.0,460,19966,0.15,2.35,0.00,0.000,4,0.163,0.082,3394,776,2312
$GC,20012,0.31,138.4,807.3,5.0,460,20016,0.00,2.30,0.00,0.000,6,0.000,0.066,3395,2205,2311
$GC,20321,0.38,139.4,792.0,5.0,465,20325,0.15,2.30,0.00,0.000,4,0.095,0.084,3458,3608,2311
$GC,20392,0.16,139.4,786.5,8.1,466,20397,0.28,2.30,0.00,0.000,6,0.185,0.069,3374,2200,2311
$GC,20752,0.30,154.2,769.8,4.6,472,20769,0.12,0.00,14.77,1.316,6,0.096,0.000,3417,2200,2247
$GC,21056,0.37,155.2,754.5,5.0,477,21059,0.00,2.38,0.00,0.000,4,0.000,0.086,3417,3617,2246
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$STATE,33716,end climb,SURFACE_DEPTH_REACHED
$STATE,33716,begin surface coast
$FINISH,3.5,1.016767
$STATE,33812,end surface coast,CONTROL_FINISHED_OK
$STATE,33813,begin surface
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$TCM_TEMP,16.70
$XPDR_PINGS,1065
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$10V_AH,10.6,9.213
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$DEVICE_SECS,31.275,252.100,365.450,0.000,0.000,24.098,27.865,145.301,266.250,0.000,0.000,16.657,1934.426,28593.041,566.160,2676.678,412.278,33.372,1892.525,0.000,2646.149,0.000,0.466
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50721,873
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220908,124201,5004.709,-14452.526,40,1.1,40,18.5