version: 66.03
glider: 120
mission: 9
dive: 237
start: 11 25 108 10 10 28
data:
$ID,120
$MISSION,9
$DIVE,237
$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,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,-22669.592
$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,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
$GPS1,095932,5014.824,-14437.256,64,1.0,64,18.6
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-71.1
$GPS2,100933,5014.844,-14437.304,11,1.0,11,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,0.094
$KALMAN_X,35256.6,301.2,-62.6,-20744.7,-2363.6
$KALMAN_Y,182039.7,-44.2,6.3,-164786.2,930.7
$MHEAD_RNG_PITCHd_Wd,39.5,14432,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,44,0.00,0.00,-21.30,0.000,2,0.000,0.000,135,2403,2182
$GC,47,-0.67,-117.3,3.1,-3.4,2,105,14.02,2.47,-37.85,0.000,4,0.284,0.082,3096,982,3356
$GC,358,-0.45,-117.3,40.2,-13.8,30,364,0.25,2.35,0.00,0.000,6,0.161,0.064,3166,2404,3358
$GC,686,-0.45,-117.3,64.6,-7.3,60,687,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2404,3358
$GC,1009,-0.45,-117.3,86.4,-6.2,86,1013,0.00,2.38,0.00,0.000,4,0.000,0.081,3166,3808,3359
$GC,1050,-0.53,-117.3,88.9,-6.0,88,1055,0.00,2.30,0.00,0.000,6,0.000,0.053,3166,2393,3359
$GC,1377,-0.59,-117.3,109.5,-6.4,104,1379,0.12,0.00,0.00,0.000,6,0.085,0.000,3116,2392,3359
$GC,1686,-0.59,-117.3,132.5,-6.7,119,1690,0.00,2.38,0.00,0.000,4,0.000,0.069,3116,988,3359
$GC,1713,-0.59,-117.3,134.5,-7.7,120,1716,0.00,2.30,0.00,0.000,6,0.000,0.061,3116,2401,3359
$GC,2055,-0.59,-117.3,158.7,-6.6,135,2059,0.00,2.35,0.00,0.000,4,0.000,0.080,3113,3812,3359
$GC,2098,-0.59,-117.3,162.0,-7.4,136,2102,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2397,3359
$GC,2423,-0.59,-117.3,185.7,-7.4,147,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2398,3359
$GC,2729,-0.59,-117.3,207.2,-6.8,157,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3359
$GC,3035,-0.59,-117.3,228.8,-7.0,167,3039,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,994,3359
$GC,3063,-0.59,-117.3,230.8,-7.6,168,3067,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2405,3359
$GC,3398,-0.59,-117.3,254.0,-6.9,179,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3359
$GC,3703,-0.59,-117.3,274.2,-6.4,189,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3359
$GC,4010,-0.59,-117.3,293.0,-6.1,199,4014,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,992,3359
$GC,4065,-0.63,-117.3,296.5,-6.1,200,4071,0.00,2.35,0.00,0.000,6,0.000,0.063,3113,2407,3359
$GC,4375,-0.63,-117.3,315.3,-6.1,207,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,4678,-0.63,-117.3,334.9,-6.6,212,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,4981,-0.63,-117.3,356.1,-7.1,217,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2407,3358
$GC,5284,-0.63,-117.3,376.3,-6.6,222,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,5588,-0.63,-117.3,394.2,-5.8,227,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,5891,-0.63,-117.3,410.8,-5.4,232,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,6193,-0.63,-117.3,426.5,-5.1,237,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,6496,-0.63,-117.3,443.3,-5.6,242,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3358
$GC,6800,-0.63,-117.3,462.1,-6.2,247,6804,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,995,3356
$GC,6827,-0.69,-117.3,463.9,-6.5,247,6831,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2408,3357
$GC,7158,-0.73,-117.3,485.6,-6.6,253,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3356
$GC,7462,-0.77,-117.3,505.9,-6.7,258,7466,0.12,2.35,0.00,0.000,4,0.091,0.072,3066,991,3356
$GC,7488,-0.71,-117.3,507.9,-7.9,258,7492,0.00,2.30,0.00,0.000,6,0.000,0.065,3066,2405,3356
$GC,7827,-0.60,-117.3,535.2,-8.0,264,7832,0.15,2.35,0.00,0.000,4,0.169,0.073,3119,994,3356
$GC,7860,-0.60,-117.3,537.6,-6.4,264,7864,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2409,3356
$GC,8187,-0.60,-117.3,555.0,-5.3,270,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3355
$GC,8490,-0.60,-117.3,570.2,-4.9,275,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3356
$GC,8793,-0.60,-117.3,585.2,-5.0,280,8797,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,990,3355
$GC,8814,-0.60,-117.3,586.5,-5.9,280,8818,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2394,3355
$GC,9157,-0.60,-117.3,603.9,-5.1,286,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3355
$GC,9462,-0.64,-117.3,618.3,-4.7,291,9466,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,990,3355
$GC,9489,-0.69,-117.3,619.7,-4.8,291,9493,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2404,3355
$GC,9827,-0.73,-117.3,635.6,-4.8,297,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,10129,-0.78,-117.3,651.2,-5.2,302,10134,0.15,2.38,0.00,0.000,4,0.087,0.073,3049,985,3354
$GC,10179,-0.65,-117.3,655.0,-8.2,302,10184,0.22,2.33,0.00,0.000,6,0.162,0.067,3108,2406,3355
$GC,10488,-0.65,-117.3,672.9,-5.7,307,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2406,3354
$GC,10791,-0.65,-117.3,690.9,-5.9,312,10795,0.00,2.35,0.00,0.000,4,0.000,0.074,3108,991,3354
$GC,10818,-0.69,-117.3,692.7,-6.5,312,10823,0.00,2.30,0.00,0.000,6,0.000,0.066,3108,2399,3354
$GC,11150,-0.74,-117.3,712.2,-5.9,318,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3354
$GC,11453,-0.78,-117.3,729.8,-5.8,323,11455,0.15,0.00,0.00,0.000,6,0.091,0.000,3053,2399,3354
$GC,11757,-0.72,-117.3,750.4,-6.8,328,11759,0.12,0.00,0.00,0.000,6,0.113,0.000,3088,2399,3354
$GC,12060,-0.72,-117.3,769.4,-6.2,333,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3354
$GC,12362,-0.72,-117.3,788.7,-6.4,338,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2399,3354
$GC,12666,-0.72,-117.3,808.5,-6.5,343,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3354
$GC,12968,-0.72,-117.3,827.9,-6.3,348,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3354
$GC,13272,-0.72,-117.3,846.4,-6.1,353,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3354
$GC,13575,-0.72,-117.3,865.2,-6.2,358,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2399,3354
$GC,13878,-0.72,-117.3,883.8,-6.2,363,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3354
$GC,14181,-0.72,-117.3,902.3,-6.1,368,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3353
$GC,14484,-0.72,-117.3,919.6,-5.6,373,14488,0.00,2.38,0.00,0.000,4,0.000,0.075,3088,987,3353
$GC,14511,-0.72,-117.3,921.3,-6.0,373,14516,0.00,2.35,0.00,0.000,6,0.000,0.068,3086,2404,3353
$GC,14849,-0.72,-117.3,939.2,-5.2,379,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3353
$GC,15152,-0.72,-117.3,955.7,-5.5,384,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3353
$GC,15455,-0.72,-117.3,972.2,-5.4,389,15456,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3353
$GC,15758,-0.72,-117.3,989.4,-5.7,394,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3352
$STATE,15817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15817,begin apogee
$GC,15823,-0.22,0.0,993.0,5.8,395,15930,0.52,0.00,104.75,1.497,6,0.151,0.000,3242,2193,2876
$STATE,15931,end apogee,CONTROL_FINISHED_OK
$STATE,15931,begin climb
$GC,15933,0.67,117.3,994.7,0.0,396,16047,0.88,0.00,110.25,1.446,6,0.091,0.000,3530,2193,2397
$GC,16303,0.33,117.3,979.0,7.4,403,16305,0.38,0.00,0.00,0.000,6,0.170,0.000,3429,2193,2393
$GC,16606,0.30,136.5,964.9,4.5,408,16630,0.00,2.55,17.77,1.379,4,0.000,0.081,3428,3612,2319
$GC,16654,0.20,136.5,962.5,5.5,408,16659,0.20,2.40,0.00,0.000,6,0.173,0.064,3386,2201,2318
$GC,16969,0.34,170.2,949.8,4.0,414,17002,0.12,0.00,30.80,1.421,6,0.091,0.000,3432,2201,2182
$GC,17272,0.38,170.2,933.0,5.7,419,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2200,2180
$GC,17574,0.43,170.2,914.4,6.2,424,17576,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2201,2179
$GC,17878,0.48,170.2,894.9,6.5,429,17879,0.12,0.00,0.00,0.000,6,0.103,0.000,3482,2201,2178
$GC,18181,0.35,170.2,868.4,8.9,434,18183,0.17,0.00,0.00,0.000,6,0.155,0.000,3434,2201,2178
$GC,18484,0.35,170.2,846.3,7.3,439,18488,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,789,2177
$GC,18521,0.35,170.2,843.5,6.7,439,18525,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2206,2178
$GC,18848,0.35,170.2,821.5,6.7,445,18849,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2207,2177
$GC,19151,0.35,170.2,801.8,6.4,450,19152,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2177
$GC,19455,0.35,170.2,782.7,6.3,455,19456,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2207,2177
$GC,19757,0.35,170.2,763.4,6.3,460,19761,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,782,2177
$GC,19789,0.35,170.2,761.4,6.0,460,19793,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2203,2176
$GC,20121,0.35,170.2,741.2,6.1,466,20125,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3618,2176
$GC,20153,0.28,170.2,738.8,6.7,466,20158,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2197,2176
$GC,20479,0.28,170.2,719.5,5.9,472,20480,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2197,2176
$GC,20782,0.28,170.2,702.1,5.7,477,20786,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,791,2177
$GC,20826,0.28,170.2,699.7,5.6,477,20830,0.00,2.30,0.00,0.000,6,0.000,0.064,3435,2202,2176
$GC,21147,0.28,170.2,682.9,5.2,483,21148,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2177
$GC,21450,0.28,170.2,665.8,5.7,488,21454,0.00,2.45,0.00,0.000,4,0.000,0.081,3435,780,2177
$GC,21512,0.28,170.2,662.0,7.9,489,21516,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2201,2176
$GC,21878,0.28,170.2,640.2,5.9,495,21882,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3609,2177
$GC,21905,0.24,170.2,638.3,6.8,495,21910,0.15,2.33,0.00,0.000,6,0.173,0.064,3398,2199,2176
$GC,22237,0.38,183.0,622.7,4.6,501,22251,0.12,0.00,11.98,1.189,6,0.089,0.000,3444,2199,2130
$GC,22541,0.45,188.9,607.9,4.8,506,22554,0.00,2.47,6.62,1.052,4,0.000,0.080,3444,791,2106
$GC,22582,0.50,188.9,605.7,5.0,506,22587,0.10,2.33,0.00,0.000,6,0.110,0.065,3487,2201,2106
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$STATE,32441,end climb,SURFACE_DEPTH_REACHED
$STATE,32441,begin surface coast
$FINISH,1.5,1.025328
$STATE,32527,end surface coast,CONTROL_FINISHED_OK
$STATE,32527,begin surface
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$HUMID,2093
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$TCM_TEMP,14.60
$XPDR_PINGS,945
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$10V_AH,10.6,31.608
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47518,836
$CAP_FILE_SIZE,176622,0
$CFSIZE,260165632,240209920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251108,191507,5016.896,-14433.542,37,0.8,37,18.6