version: 66.03
glider: 120
mission: 9
dive: 324
start: 12 28 108 11 36 4
data:
$ID,120
$MISSION,9
$DIVE,324
$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,-24509.809
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,112902,5014.373,-14426.584,41,1.4,41,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-68.1
$GPS2,113509,5014.333,-14426.490,16,1.2,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,-0.177
$KALMAN_X,22389.0,173.4,231.5,4796.4,-109.0
$KALMAN_Y,242176.3,93.7,334.2,-226351.7,22.1
$MHEAD_RNG_PITCHd_Wd,166.5,37846,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.68,0.000,2,0.000,0.000,134,2410,1753
$GC,39,-0.67,-117.3,3.7,-0.0,1,126,13.82,2.38,-64.93,0.000,4,0.281,0.095,3094,3818,3356
$GC,272,-0.50,-117.3,18.4,-7.2,22,277,0.20,2.28,0.00,0.000,6,0.156,0.056,3150,2395,3357
$GC,597,-0.50,-117.3,46.4,-8.8,52,599,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2395,3357
$GC,916,-0.50,-117.3,71.0,-9.5,82,920,0.00,2.33,0.00,0.000,4,0.000,0.071,3150,987,3358
$GC,937,-0.50,-117.3,73.8,-12.0,83,944,0.00,2.33,0.00,0.000,6,0.000,0.062,3150,2398,3357
$GC,1266,-0.50,-117.3,101.2,-8.3,103,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2398,3358
$GC,1575,-0.50,-117.3,124.3,-6.7,118,1579,0.00,2.35,0.00,0.000,4,0.000,0.081,3150,3815,3358
$GC,1637,-0.58,-117.3,128.7,-7.1,121,1641,0.00,2.28,0.00,0.000,6,0.000,0.054,3150,2390,3358
$GC,1974,-0.85,-117.3,153.3,-7.6,137,1979,0.28,2.35,0.00,0.000,4,0.085,0.068,3051,985,3358
$GC,2052,-0.62,-117.3,160.9,-10.2,139,2057,0.25,2.30,0.00,0.000,6,0.157,0.062,3116,2402,3359
$GC,2370,-0.62,-117.3,182.6,-6.4,150,2374,0.00,2.35,0.00,0.000,4,0.000,0.069,3117,993,3358
$GC,2398,-0.62,-117.3,184.5,-6.6,151,2402,0.00,2.33,0.00,0.000,6,0.000,0.061,3113,2412,3358
$GC,2732,-0.62,-117.3,209.1,-7.5,162,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,3038,-0.62,-117.3,231.2,-7.1,172,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,3345,-0.62,-117.3,254.2,-7.4,182,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,3651,-0.62,-117.3,275.9,-6.8,192,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,3957,-0.62,-117.3,295.7,-6.5,202,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,4291,-0.62,-117.3,317.1,-6.5,209,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,4595,-0.62,-117.3,336.7,-6.5,214,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,4898,-0.62,-117.3,357.9,-7.1,219,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,5201,-0.62,-117.3,378.8,-6.9,224,5205,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,995,3358
$GC,5228,-0.62,-117.3,380.7,-7.1,224,5232,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2400,3357
$GC,5560,-0.62,-117.3,400.0,-5.7,230,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,5862,-0.62,-117.3,416.0,-5.3,235,5866,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,993,3357
$GC,5886,-0.67,-117.3,417.3,-5.3,235,5890,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2408,3357
$GC,6223,-0.67,-117.3,435.7,-5.5,241,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3357
$GC,6527,-0.71,-117.3,453.1,-5.8,246,6531,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,987,3356
$GC,6565,-0.77,-117.3,455.6,-6.1,246,6570,0.12,2.30,0.00,0.000,6,0.089,0.063,3066,2402,3356
$GC,6885,-0.77,-117.3,477.8,-7.0,252,6889,0.00,2.35,0.00,0.000,4,0.000,0.081,3066,3815,3356
$GC,6913,-0.70,-117.3,480.0,-7.9,252,6917,0.00,2.25,0.00,0.000,6,0.000,0.057,3066,2402,3356
$GC,7245,-0.66,-117.3,503.7,-7.2,258,7247,0.12,0.00,0.00,0.000,6,0.119,0.000,3101,2399,3356
$GC,7547,-0.66,-117.3,523.5,-6.6,263,7551,0.00,2.38,0.00,0.000,4,0.000,0.071,3101,992,3356
$GC,7580,-0.66,-117.3,525.9,-7.6,263,7584,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2402,3356
$GC,7913,-0.66,-117.3,548.6,-6.9,269,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,8216,-0.66,-117.3,569.5,-6.9,274,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,8518,-0.66,-117.3,590.2,-6.9,279,8522,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,992,3356
$GC,8546,-0.66,-117.3,592.1,-7.6,279,8550,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2399,3356
$GC,8878,-0.66,-117.3,613.6,-6.5,285,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3356
$GC,9181,-0.66,-117.3,632.2,-6.2,290,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,9484,-0.66,-117.3,649.8,-5.8,295,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,9787,-0.66,-117.3,667.3,-5.9,300,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,10090,-0.66,-117.3,684.0,-5.5,305,10094,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,990,3355
$GC,10128,-0.66,-117.3,686.3,-6.3,305,10132,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2407,3355
$GC,10449,-0.66,-117.3,704.1,-5.5,311,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3355
$GC,10752,-0.66,-117.3,721.7,-5.9,316,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,11055,-0.66,-117.3,740.0,-6.0,321,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3355
$GC,11358,-0.66,-117.3,758.1,-6.0,326,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3354
$GC,11662,-0.66,-117.3,776.3,-6.0,331,11666,0.00,2.47,0.00,0.000,4,0.000,0.072,3100,984,3353
$GC,11700,-0.70,-117.3,778.8,-5.9,331,11704,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2399,3354
$GC,12020,-0.70,-117.3,798.4,-6.1,337,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3354
$GC,12324,-0.75,-117.3,816.5,-6.0,342,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3354
$GC,12627,-0.79,-117.3,833.9,-5.7,347,12632,0.12,2.42,0.00,0.000,4,0.094,0.072,3053,990,3354
$GC,12661,-0.74,-117.3,836.2,-7.4,347,12665,0.00,2.33,0.00,0.000,6,0.000,0.064,3053,2407,3353
$GC,12987,-0.68,-117.3,859.4,-7.1,353,12992,0.15,2.38,0.00,0.000,4,0.155,0.084,3099,3811,3353
$GC,13015,-0.72,-117.3,861.2,-5.9,353,13019,0.00,2.30,0.00,0.000,6,0.000,0.058,3099,2391,3353
$GC,13353,-0.78,-117.3,880.2,-5.6,359,13357,0.10,2.38,0.00,0.000,4,0.101,0.073,3064,989,3353
$GC,13379,-0.78,-117.3,881.9,-7.2,359,13383,0.00,2.30,0.00,0.000,6,0.000,0.064,3064,2403,3353
$GC,13718,-0.78,-117.3,904.0,-6.6,365,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2403,3353
$GC,14020,-0.78,-117.3,923.8,-6.5,370,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2403,3353
$GC,14323,-0.78,-117.3,942.6,-6.2,375,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2403,3353
$GC,14627,-0.78,-117.3,961.8,-6.4,380,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2403,3353
$GC,14929,-0.78,-117.3,981.1,-6.4,385,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2403,3353
$STATE,15109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15109,begin apogee
$GC,15116,-0.22,0.0,992.3,6.2,388,15226,0.60,0.00,107.25,1.495,6,0.143,0.000,3247,2194,2876
$STATE,15226,end apogee,CONTROL_FINISHED_OK
$STATE,15226,begin climb
$GC,15229,0.67,117.3,994.2,0.0,389,15350,0.85,2.78,111.78,1.440,4,0.092,0.075,3533,793,2396
$GC,15389,0.32,117.3,994.7,6.9,392,15395,0.43,2.47,0.00,0.000,6,0.177,0.062,3426,2195,2395
$GC,15722,0.28,117.3,977.9,5.0,398,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2195,2394
$GC,16024,0.28,117.9,962.7,5.0,403,16026,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2195,2393
$GC,16328,0.26,137.4,949.2,4.4,408,16352,0.00,2.47,18.50,1.399,4,0.000,0.079,3436,797,2315
$GC,16387,0.26,137.4,946.2,5.1,408,16394,0.12,2.35,0.00,0.000,6,0.165,0.064,3405,2214,2314
$GC,16698,0.36,177.9,934.2,3.8,414,16737,0.00,0.00,37.25,1.430,6,0.000,0.000,3405,2214,2149
$GC,17001,0.49,205.2,921.5,4.2,419,17029,0.20,0.00,25.70,1.399,6,0.081,0.000,3479,2214,2039
$GC,17303,0.41,205.2,898.9,7.7,424,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2214,2036
$GC,17606,0.33,205.2,874.5,8.0,429,17611,0.17,2.50,0.00,0.000,4,0.150,0.079,3425,783,2035
$GC,17656,0.42,205.2,871.1,6.9,429,17660,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2203,2034
$GC,17966,0.50,205.2,851.5,6.3,434,17968,0.15,0.00,0.00,0.000,6,0.089,0.000,3485,2203,2034
$GC,18269,0.41,205.2,827.0,8.2,439,18271,0.12,0.00,0.00,0.000,6,0.146,0.000,3452,2203,2034
$GC,18571,0.41,205.2,805.8,6.9,444,18573,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2203,2034
$GC,18875,0.41,205.2,783.3,7.4,449,18879,0.00,2.35,0.00,0.000,4,0.000,0.081,3452,3620,2033
$GC,18908,0.36,205.2,780.4,7.9,449,18912,0.00,2.30,0.00,0.000,6,0.000,0.064,3452,2202,2034
$GC,19240,0.36,205.2,754.8,7.7,455,19244,0.00,2.42,0.00,0.000,4,0.000,0.080,3452,783,2033
$GC,19266,0.36,205.2,752.5,7.8,455,19271,0.00,2.30,0.00,0.000,6,0.000,0.063,3452,2209,2033
$GC,19605,0.36,205.2,725.7,8.0,461,19609,0.00,2.33,0.00,0.000,4,0.000,0.080,3452,3617,2033
$GC,19638,0.31,205.2,722.7,8.8,461,19642,0.12,2.30,0.00,0.000,6,0.173,0.065,3420,2199,2033
$GC,19970,0.42,205.2,701.0,6.4,467,19971,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2200,2033
$GC,20273,0.53,205.2,683.2,5.8,472,20278,0.17,2.40,0.00,0.000,4,0.084,0.078,3494,781,2033
$GC,20306,0.44,205.2,680.7,6.8,472,20310,0.12,2.30,0.00,0.000,6,0.146,0.064,3461,2199,2033
$GC,20631,0.44,205.2,658.1,6.9,478,20632,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2199,2033
$GC,20934,0.44,205.2,637.4,6.8,483,20938,0.00,2.35,0.00,0.000,4,0.000,0.081,3462,3607,2033
$GC,20968,0.38,205.2,634.8,8.0,483,20972,0.00,2.35,0.00,0.000,6,0.000,0.065,3462,2192,2033
$GC,21293,0.38,205.2,611.6,7.1,489,21298,0.00,2.40,0.00,0.000,4,0.000,0.080,3462,784,2033
$GC,21360,0.38,205.2,606.9,5.9,490,21364,0.00,2.30,0.00,0.000,6,0.000,0.063,3462,2198,2033
$GC,21726,0.38,205.2,582.3,6.7,496,21727,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2198,2033
$GC,22029,0.38,205.2,561.0,7.1,501,22030,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2198,2033
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$STATE,30929,end climb,SURFACE_DEPTH_REACHED
$STATE,30929,begin surface coast
$FINISH,2.7,1.022669
$STATE,31123,end surface coast,CONTROL_FINISHED_OK
$STATE,31123,begin surface
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$XPDR_PINGS,936
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$10V_AH,10.6,43.290
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$DEVICE_SECS,29.000,161.725,363.900,19.575,0.000,27.987,35.777,173.610,234.000,0.000,0.000,16.377,1708.563,26496.582,533.364,2173.372,612.252,33.380,1589.933,0.000,2152.948,0.000,0.465
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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,47552,823
$CAP_FILE_SIZE,167048,0
$CFSIZE,260165632,233472000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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