version: 66.03
glider: 120
mission: 9
dive: 254
start: 12 1 108 22 26 17
data:
$ID,120
$MISSION,9
$DIVE,254
$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,-22993.666
$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,19
$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
$GPS1,221908,5007.282,-14451.540,25,1.5,25,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-72.3
$GPS2,222523,5007.281,-14451.623,11,2.5,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.123,0.128
$KALMAN_X,35445.0,-375.0,-105.4,-37216.6,330.0
$KALMAN_Y,193452.9,-7.7,286.8,-190523.1,-266.3
$MHEAD_RNG_PITCHd_Wd,297.5,34973,-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,-117.3,0.0,0.0,0,45,0.00,0.00,-22.00,0.000,2,0.000,0.000,136,2407,2194
$GC,48,-0.67,-117.3,3.3,-4.4,2,105,14.12,2.53,-36.33,0.000,4,0.288,0.092,3085,3806,3357
$GC,307,-0.42,-117.3,34.3,-14.3,25,314,0.32,2.33,0.00,0.000,6,0.162,0.057,3176,2395,3358
$GC,633,-0.42,-117.3,57.8,-7.2,56,637,0.00,2.38,0.00,0.000,4,0.000,0.070,3176,985,3359
$GC,666,-0.48,-117.3,60.5,-7.8,58,673,0.00,2.33,0.00,0.000,6,0.000,0.062,3176,2411,3359
$GC,990,-0.75,-117.3,85.0,-7.9,86,992,0.30,0.00,0.00,0.000,6,0.085,0.000,3071,2411,3360
$GC,1299,-0.82,-117.3,110.9,-9.0,101,1303,0.00,2.38,0.00,0.000,4,0.000,0.077,3071,3811,3360
$GC,1490,-0.63,-117.3,133.5,-10.7,109,1497,0.15,2.30,0.00,0.000,6,0.154,0.054,3110,2390,3360
$GC,1805,-0.57,-117.3,159.5,-7.5,123,1809,0.00,2.35,0.00,0.000,4,0.000,0.069,3110,988,3361
$GC,1843,-0.53,-117.3,162.4,-7.1,124,1848,0.12,2.33,0.00,0.000,6,0.160,0.061,3144,2410,3361
$GC,2167,-0.59,-117.3,181.8,-6.0,135,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2410,3360
$GC,2473,-0.67,-117.3,199.4,-5.6,145,2475,0.12,0.00,0.00,0.000,6,0.083,0.000,3096,2410,3360
$GC,2779,-0.67,-117.3,221.4,-7.3,155,2783,0.00,2.40,0.00,0.000,4,0.000,0.070,3096,990,3360
$GC,2811,-0.67,-117.3,224.0,-7.6,156,2815,0.00,2.38,0.00,0.000,6,0.000,0.062,3096,2410,3360
$GC,3147,-0.62,-117.3,248.3,-7.0,167,3151,0.00,2.38,0.00,0.000,4,0.000,0.071,3096,994,3360
$GC,3167,-0.62,-117.3,249.9,-7.3,167,3174,0.00,2.33,0.00,0.000,6,0.000,0.063,3096,2395,3360
$GC,3481,-0.56,-117.3,272.4,-7.4,178,3483,0.15,0.00,0.00,0.000,6,0.155,0.000,3136,2396,3360
$GC,3787,-0.63,-117.3,291.9,-6.4,188,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2396,3360
$GC,4122,-0.70,-117.3,314.2,-6.7,196,4126,0.15,2.40,0.00,0.000,4,0.084,0.071,3072,986,3359
$GC,4160,-0.59,-117.3,317.8,-9.5,196,4165,0.20,2.33,0.00,0.000,6,0.159,0.064,3126,2400,3360
$GC,4480,-0.63,-117.3,337.7,-6.0,202,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3360
$GC,4783,-0.68,-117.3,353.7,-5.2,207,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3359
$GC,5087,-0.73,-117.3,370.4,-5.6,212,5088,0.12,0.00,0.00,0.000,6,0.090,0.000,3078,2401,3359
$GC,5389,-0.73,-117.3,392.0,-7.2,217,5393,0.00,2.38,0.00,0.000,4,0.000,0.082,3078,3810,3359
$GC,5417,-0.67,-117.3,394.2,-7.8,217,5420,0.00,2.28,0.00,0.000,6,0.000,0.058,3078,2398,3359
$GC,5754,-0.62,-117.3,418.6,-7.1,223,5759,0.12,2.35,0.00,0.000,4,0.120,0.072,3119,992,3358
$GC,5792,-0.62,-117.3,421.2,-6.6,223,5796,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2400,3358
$GC,6119,-0.62,-117.3,440.9,-6.0,229,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,6421,-0.62,-117.3,458.5,-5.8,234,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,6725,-0.62,-117.3,474.6,-5.3,239,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,7028,-0.62,-117.3,490.2,-5.1,244,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,7331,-0.62,-117.3,506.0,-5.2,249,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,7634,-0.62,-117.3,522.7,-5.5,254,7638,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,987,3357
$GC,7661,-0.62,-117.3,524.5,-6.5,254,7666,0.00,2.38,0.00,0.000,6,0.000,0.065,3113,2395,3357
$GC,7999,-0.62,-117.3,543.0,-5.5,260,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,8303,-0.67,-117.3,561.1,-6.0,265,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,8605,-0.67,-117.3,580.7,-6.5,270,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,8909,-0.67,-117.3,599.6,-6.2,275,8913,0.00,2.40,0.00,0.000,4,0.000,0.074,3113,983,3356
$GC,8941,-0.71,-117.3,601.8,-6.7,275,8945,0.00,2.38,0.00,0.000,6,0.000,0.064,3113,2412,3356
$GC,9274,-0.76,-117.3,621.2,-5.8,281,9276,0.12,0.00,0.00,0.000,6,0.091,0.000,3064,2412,3356
$GC,9577,-0.76,-117.3,641.3,-6.7,286,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2412,3356
$GC,9879,-0.76,-117.3,662.3,-6.9,291,9883,0.00,2.42,0.00,0.000,4,0.000,0.073,3064,990,3356
$GC,9918,-0.69,-117.3,665.3,-7.7,291,9923,0.12,2.33,0.00,0.000,6,0.154,0.065,3094,2401,3356
$GC,10238,-0.69,-117.3,686.4,-6.6,297,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3356
$GC,10541,-0.69,-117.3,705.5,-6.3,302,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3356
$GC,10844,-0.69,-117.3,724.5,-6.2,307,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3356
$GC,11147,-0.69,-117.3,743.3,-6.3,312,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3356
$GC,11450,-0.69,-117.3,762.4,-6.3,317,11451,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3356
$GC,11754,-0.69,-117.3,781.1,-6.1,322,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3356
$GC,12056,-0.69,-117.3,798.9,-5.8,327,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3355
$GC,12359,-0.69,-117.3,817.1,-6.0,332,12363,0.00,2.40,0.00,0.000,4,0.000,0.074,3094,993,3355
$GC,12386,-0.69,-117.3,818.7,-6.5,332,12390,0.00,2.35,0.00,0.000,6,0.000,0.067,3094,2407,3355
$GC,12724,-0.69,-117.3,839.4,-6.2,338,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3355
$GC,13028,-0.69,-117.3,857.7,-6.0,343,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3355
$GC,13330,-0.69,-117.3,876.2,-6.1,348,13334,0.00,2.40,0.00,0.000,4,0.000,0.075,3094,992,3354
$GC,13363,-0.69,-117.3,878.3,-6.0,348,13367,0.00,2.38,0.00,0.000,6,0.000,0.067,3095,2408,3354
$GC,13695,-0.69,-117.3,898.5,-6.0,354,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3354
$GC,13998,-0.69,-117.3,916.9,-6.0,359,14002,0.00,2.42,0.00,0.000,4,0.000,0.075,3095,989,3354
$GC,14036,-0.69,-117.3,919.5,-6.3,359,14040,0.00,2.38,0.00,0.000,6,0.000,0.067,3094,2403,3354
$GC,14363,-0.69,-117.3,939.3,-6.1,365,14367,0.00,2.38,0.00,0.000,4,0.000,0.086,3094,3808,3354
$GC,14390,-0.73,-117.3,941.1,-5.9,365,14393,0.00,2.30,0.00,0.000,6,0.000,0.060,3094,2394,3354
$GC,14728,-0.73,-117.3,961.0,-5.9,371,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3354
$GC,15031,-0.77,-117.3,978.3,-5.7,376,15035,0.00,2.38,0.00,0.000,4,0.000,0.076,3094,989,3354
$GC,15057,-0.77,-117.3,979.9,-6.2,376,15061,0.00,2.33,0.00,0.000,6,0.000,0.067,3094,2401,3354
$STATE,15272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15272,begin apogee
$GC,15278,-0.22,0.0,991.9,5.5,380,15386,0.50,0.00,105.45,1.495,6,0.147,0.000,3245,2191,2876
$STATE,15387,end apogee,CONTROL_FINISHED_OK
$STATE,15387,begin climb
$GC,15389,0.67,117.3,994.0,0.0,381,15506,0.88,2.67,109.62,1.440,4,0.096,0.079,3532,789,2396
$GC,15545,0.30,117.3,993.9,6.5,382,15551,0.45,2.50,0.00,0.000,6,0.180,0.062,3419,2197,2394
$GC,15871,0.30,117.3,976.8,5.2,388,15875,0.00,2.40,0.00,0.000,4,0.000,0.080,3420,3612,2393
$GC,15921,0.20,117.3,973.8,6.1,388,15926,0.15,2.35,0.00,0.000,6,0.181,0.064,3386,2196,2393
$GC,16232,0.30,135.6,960.0,4.5,393,16255,0.00,2.47,16.62,1.381,4,0.000,0.079,3394,784,2323
$GC,16278,0.42,162.0,957.7,4.2,393,16309,0.17,2.38,25.00,1.399,6,0.084,0.064,3460,2212,2215
$GC,16665,0.33,162.0,929.3,7.5,400,16670,0.12,2.38,0.00,0.000,4,0.151,0.080,3427,3618,2212
$GC,16704,0.27,162.0,926.3,7.3,400,16708,0.12,2.35,0.00,0.000,6,0.169,0.064,3405,2200,2212
$GC,17024,0.33,162.0,908.2,5.6,406,17028,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,789,2212
$GC,17062,0.41,162.0,906.0,5.7,406,17067,0.12,2.33,0.00,0.000,6,0.094,0.064,3456,2212,2212
$GC,17383,0.33,162.0,883.7,7.1,412,17385,0.12,0.00,0.00,0.000,6,0.147,0.000,3423,2212,2212
$GC,17685,0.33,162.0,866.6,5.5,417,17689,0.00,2.42,0.00,0.000,4,0.000,0.081,3424,780,2212
$GC,17723,0.38,162.1,864.7,5.0,417,17727,0.00,2.33,0.00,0.000,6,0.000,0.063,3423,2205,2212
$GC,18044,0.38,162.1,848.1,5.2,423,18046,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2211
$GC,18347,0.38,162.1,832.8,5.2,428,18348,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2211
$GC,18650,0.38,162.1,817.1,5.2,433,18654,0.00,2.42,0.00,0.000,4,0.000,0.081,3424,791,2211
$GC,18683,0.43,162.1,815.2,5.5,433,18687,0.10,2.33,0.00,0.000,6,0.094,0.064,3462,2207,2211
$GC,19009,0.35,162.1,794.0,6.6,439,19010,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2207,2211
$GC,19312,0.28,162.1,773.5,6.8,444,19314,0.20,0.00,0.00,0.000,6,0.150,0.000,3406,2207,2211
$GC,19615,0.36,162.1,757.9,5.1,449,19616,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2207,2210
$GC,19918,0.45,166.1,743.0,4.9,454,19928,0.17,2.38,4.68,0.967,4,0.085,0.082,3477,3620,2197
$GC,19962,0.23,166.1,739.8,7.8,454,19967,0.30,2.38,0.00,0.000,6,0.172,0.066,3395,2191,2197
$GC,20277,0.37,178.4,725.0,4.6,460,20297,0.12,2.45,12.20,1.247,4,0.091,0.081,3440,790,2148
$GC,20313,0.37,178.4,722.8,5.1,460,20317,0.00,2.33,0.00,0.000,6,0.000,0.065,3440,2204,2147
$GC,20639,0.37,178.4,702.1,6.4,466,20640,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2204,2147
$GC,20942,0.37,178.4,682.6,6.5,471,20944,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2204,2147
$GC,21246,0.37,178.4,663.3,6.3,476,21250,0.00,2.40,0.00,0.000,4,0.000,0.083,3440,3610,2146
$GC,21284,0.32,178.4,660.8,5.9,476,21289,0.00,2.35,0.00,0.000,6,0.000,0.065,3449,2189,2146
$GC,21605,0.32,178.4,639.1,6.8,482,21609,0.00,2.38,0.00,0.000,4,0.000,0.081,3448,786,2146
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$STATE,32128,end climb,SURFACE_DEPTH_REACHED
$STATE,32128,begin surface coast
$FINISH,2.0,1.025358
$STATE,32215,end surface coast,CONTROL_FINISHED_OK
$STATE,32215,begin surface
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$HUMID,2109
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$TCM_TEMP,14.50
$XPDR_PINGS,973
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$10V_AH,10.6,33.894
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$DEVICE_SECS,31.775,218.725,375.775,5.350,0.000,29.807,30.835,172.265,243.250,0.000,0.000,31.617,1771.047,27399.082,537.105,2314.407,586.589,33.377,1700.224,0.000,2272.801,0.000,0.467
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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,47529,819
$CAP_FILE_SIZE,189224,0
$CFSIZE,260165632,238874624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021208,072508,5010.231,-14456.168,54,1.3,54,18.5