version: 66.03
glider: 120
mission: 9
dive: 375
start: 1 16 109 19 7 23
data:
$ID,120
$MISSION,9
$DIVE,375
$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,-25604.473
$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,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
$GPS1,185907,4955.150,-14435.480,45,1.2,45,18.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,3.93
$_SM_ANGLEo,-70.5
$GPS2,190626,4955.146,-14435.520,16,1.2,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,0.119
$KALMAN_X,17387.5,-133.8,23.3,-405.6,93.8
$KALMAN_Y,277894.5,88.8,-449.1,-296779.3,1758.2
$MHEAD_RNG_PITCHd_Wd,293.3,29280,-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,-11.38,0.000,2,0.000,0.000,136,2407,1919
$GC,39,-0.67,-117.3,3.8,-0.0,1,119,14.18,2.45,-59.55,0.000,4,0.286,0.081,3096,991,3355
$GC,346,-0.50,-117.3,30.4,-11.3,28,351,0.20,2.33,0.00,0.000,6,0.158,0.062,3152,2407,3357
$GC,674,-0.50,-117.3,55.7,-7.0,58,678,0.00,2.40,0.00,0.000,4,0.000,0.068,3153,991,3357
$GC,703,-0.50,-117.3,57.9,-7.8,60,707,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2410,3357
$GC,1038,-0.50,-117.3,83.4,-7.8,89,1042,0.00,2.40,0.00,0.000,4,0.000,0.067,3152,983,3357
$GC,1070,-0.50,-117.3,86.3,-8.5,90,1076,0.00,2.30,0.00,0.000,6,0.000,0.061,3153,2407,3357
$GC,1387,-0.55,-117.3,110.0,-6.0,106,1391,0.00,2.35,0.00,0.000,4,0.000,0.081,3153,3814,3357
$GC,1443,-0.66,-117.3,113.3,-6.0,108,1451,0.15,2.25,0.00,0.000,6,0.081,0.052,3097,2396,3357
$GC,1759,-0.61,-117.3,135.0,-7.4,124,1763,0.00,2.33,0.00,0.000,4,0.000,0.067,3096,994,3357
$GC,1816,-0.56,-117.3,139.6,-8.2,126,1820,0.15,2.28,0.00,0.000,6,0.140,0.060,3137,2400,3358
$GC,2141,-0.60,-117.3,159.1,-5.7,139,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,3358
$GC,2447,-0.66,-117.3,177.0,-5.8,149,2451,0.12,2.38,0.00,0.000,4,0.087,0.067,3092,989,3358
$GC,2491,-0.66,-117.3,180.1,-7.0,150,2495,0.00,2.28,0.00,0.000,6,0.000,0.060,3093,2400,3358
$GC,2809,-0.66,-117.3,204.2,-7.4,161,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3358
$GC,3115,-0.66,-117.3,224.9,-6.5,171,3119,0.00,2.38,0.00,0.000,4,0.000,0.068,3092,992,3358
$GC,3150,-0.66,-117.3,227.2,-6.7,172,3154,0.00,2.30,0.00,0.000,6,0.000,0.061,3092,2410,3358
$GC,3491,-0.66,-117.3,248.8,-6.2,183,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2410,3358
$GC,3797,-0.66,-117.3,268.4,-6.5,193,3801,0.00,2.40,0.00,0.000,4,0.000,0.069,3093,989,3358
$GC,3858,-0.66,-117.3,272.7,-7.0,194,3864,0.00,2.28,0.00,0.000,6,0.000,0.061,3092,2399,3358
$GC,4171,-0.66,-117.3,294.8,-7.1,205,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,4505,-0.66,-117.3,318.0,-6.9,212,4509,0.00,2.35,0.00,0.000,4,0.000,0.081,3092,3805,3357
$GC,4533,-0.66,-117.3,320.0,-7.1,212,4537,0.00,2.28,0.00,0.000,6,0.000,0.054,3092,2397,3357
$GC,4871,-0.66,-117.3,342.5,-6.7,218,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3357
$GC,5174,-0.66,-117.3,362.8,-6.7,223,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3357
$GC,5477,-0.66,-117.3,382.0,-6.3,228,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2397,3357
$GC,5780,-0.66,-117.3,400.3,-6.0,233,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3357
$GC,6083,-0.66,-117.3,417.2,-5.5,238,6087,0.00,2.38,0.00,0.000,4,0.000,0.071,3093,995,3356
$GC,6116,-0.66,-117.3,419.0,-4.9,238,6120,0.00,2.30,0.00,0.000,6,0.000,0.062,3093,2408,3356
$GC,6442,-0.66,-117.3,435.9,-5.2,244,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2409,3356
$GC,6745,-0.66,-117.3,452.6,-5.6,249,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3356
$GC,7048,-0.66,-117.3,470.3,-5.9,254,7053,0.00,2.42,0.00,0.000,4,0.000,0.071,3092,984,3356
$GC,7081,-0.66,-117.3,472.4,-6.2,254,7085,0.00,2.35,0.00,0.000,6,0.000,0.062,3092,2407,3356
$GC,7414,-0.66,-117.3,492.3,-6.0,260,7418,0.00,2.35,0.00,0.000,4,0.000,0.081,3093,3816,3355
$GC,7449,-0.66,-117.3,494.6,-7.0,260,7453,0.00,2.28,0.00,0.000,6,0.000,0.056,3093,2397,3355
$GC,7775,-0.66,-117.3,512.4,-5.4,266,7779,0.00,2.33,0.00,0.000,4,0.000,0.071,3092,993,3355
$GC,7831,-0.70,-117.3,515.4,-5.5,266,7837,0.00,2.28,0.00,0.000,6,0.000,0.063,3093,2400,3355
$GC,8141,-0.70,-117.3,531.5,-5.2,272,8145,0.00,2.38,0.00,0.000,4,0.000,0.071,3093,993,3355
$GC,8174,-0.70,-117.3,533.5,-6.0,272,8178,0.00,2.30,0.00,0.000,6,0.000,0.062,3093,2401,3355
$GC,8506,-0.70,-117.3,553.4,-6.1,278,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3355
$GC,8809,-0.70,-117.3,573.4,-6.6,283,8813,0.00,2.35,0.00,0.000,4,0.000,0.071,3092,993,3354
$GC,8854,-0.76,-117.3,576.7,-7.2,283,8858,0.00,2.30,0.00,0.000,6,0.000,0.063,3092,2401,3354
$GC,9168,-0.76,-117.3,597.5,-6.6,289,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3355
$GC,9472,-0.76,-117.3,616.8,-6.4,294,9476,0.00,2.40,0.00,0.000,4,0.000,0.082,3092,3817,3354
$GC,9505,-0.76,-117.3,619.1,-7.1,294,9509,0.00,2.28,0.00,0.000,6,0.000,0.055,3093,2400,3354
$GC,9831,-0.76,-117.3,641.2,-6.8,300,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3354
$GC,10134,-0.76,-117.3,661.8,-6.7,305,10138,0.00,2.38,0.00,0.000,4,0.000,0.072,3093,989,3354
$GC,10167,-0.81,-117.3,663.9,-6.7,305,10171,0.12,2.33,0.00,0.000,6,0.093,0.062,3047,2408,3354
$GC,10494,-0.75,-117.3,687.9,-7.4,311,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2409,3354
$GC,10796,-0.69,-117.3,709.8,-7.3,316,10801,0.15,2.38,0.00,0.000,4,0.116,0.082,3097,3808,3353
$GC,10829,-0.74,-117.3,712.2,-7.1,316,10833,0.00,2.28,0.00,0.000,6,0.000,0.057,3097,2390,3353
$GC,11156,-0.79,-117.3,730.5,-5.6,322,11158,0.10,0.00,0.00,0.000,6,0.098,0.000,3058,2391,3353
$GC,11458,-0.79,-117.3,747.8,-5.7,327,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2391,3353
$GC,11761,-0.79,-117.3,764.5,-5.4,332,11765,0.00,2.40,0.00,0.000,4,0.000,0.082,3058,3808,3353
$GC,11799,-0.73,-117.3,766.7,-6.7,332,11803,0.00,2.25,0.00,0.000,6,0.000,0.057,3058,2398,3352
$GC,12120,-0.73,-117.3,784.8,-5.6,338,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2398,3353
$GC,12423,-0.73,-117.3,801.5,-5.5,343,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2397,3353
$GC,12727,-0.73,-117.3,819.0,-5.8,348,12731,0.00,2.40,0.00,0.000,4,0.000,0.082,3058,3808,3353
$GC,12766,-0.68,-117.3,821.5,-6.3,348,12771,0.12,2.28,0.00,0.000,6,0.114,0.057,3092,2389,3353
$GC,13087,-0.68,-117.3,838.9,-5.4,354,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3353
$GC,13389,-0.68,-117.3,854.4,-5.1,359,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3353
$GC,13692,-0.68,-117.3,870.1,-5.2,364,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3353
$GC,13996,-0.68,-117.3,885.7,-5.1,369,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3353
$GC,14299,-0.68,-117.3,902.0,-5.4,374,14300,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3353
$GC,14602,-0.68,-117.3,918.8,-5.6,379,14603,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3352
$GC,14905,-0.73,-117.3,936.2,-5.7,384,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3352
$GC,15208,-0.77,-117.3,953.0,-5.5,389,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2389,3352
$GC,15511,-0.82,-117.3,969.8,-5.5,394,15513,0.12,0.00,0.00,0.000,6,0.087,0.000,3044,2389,3351
$GC,15815,-0.82,-117.3,989.2,-6.4,399,15819,0.00,2.47,0.00,0.000,4,0.000,0.084,3044,3808,3351
$STATE,15828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15828,begin apogee
$GC,15837,-0.22,0.0,990.3,6.3,399,15948,0.62,0.00,107.80,1.488,6,0.141,0.000,3237,2204,2876
$STATE,15949,end apogee,CONTROL_FINISHED_OK
$STATE,15949,begin climb
$GC,15951,0.67,117.3,994.4,0.0,401,16075,0.88,2.70,113.22,1.433,4,0.091,0.076,3533,796,2397
$GC,16111,0.33,117.3,993.3,7.3,403,16116,0.43,2.47,0.00,0.000,6,0.173,0.061,3426,2199,2395
$GC,16443,0.33,120.7,977.0,4.9,409,16449,0.00,0.00,4.07,0.904,6,0.000,0.000,3426,2199,2384
$GC,16747,0.33,120.7,961.2,5.2,414,16748,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2199,2384
$GC,17049,0.33,120.7,944.6,5.5,419,17053,0.00,2.38,0.00,0.000,4,0.000,0.080,3426,787,2383
$GC,17099,0.34,129.6,941.8,4.7,419,17113,0.00,2.30,9.90,1.298,6,0.000,0.062,3426,2204,2347
$GC,17481,0.34,129.6,919.8,5.9,426,17482,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2204,2346
$GC,17784,0.34,129.6,902.8,5.5,431,17785,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2204,2346
$GC,18087,0.34,129.6,886.6,5.4,436,18091,0.00,2.40,0.00,0.000,4,0.000,0.080,3426,791,2345
$GC,18125,0.34,129.6,884.3,6.6,436,18129,0.00,2.30,0.00,0.000,6,0.000,0.063,3426,2208,2345
$GC,18447,0.34,129.6,867.5,5.3,442,18448,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2208,2345
$GC,18749,0.35,132.8,852.5,4.9,447,18756,0.00,0.00,4.43,0.977,6,0.000,0.000,3426,2208,2334
$GC,19053,0.35,136.1,837.6,4.9,452,19059,0.00,0.00,4.88,1.021,6,0.000,0.000,3426,2208,2321
$GC,19356,0.35,136.1,821.9,5.2,457,19360,0.00,2.40,0.00,0.000,4,0.000,0.080,3426,787,2321
$GC,19389,0.35,136.1,820.0,5.4,457,19393,0.00,2.28,0.00,0.000,6,0.000,0.062,3426,2201,2321
$GC,19722,0.35,138.3,803.6,4.9,463,19727,0.00,0.00,3.75,0.842,6,0.000,0.000,3426,2201,2312
$GC,20025,0.36,144.8,788.8,4.8,468,20034,0.00,0.00,7.85,1.190,6,0.000,0.000,3426,2201,2285
$GC,20327,0.36,144.8,772.9,5.3,473,20331,0.00,2.35,0.00,0.000,4,0.000,0.080,3426,3614,2284
$GC,20372,0.31,144.8,770.3,5.2,473,20377,0.00,2.33,0.00,0.000,6,0.000,0.064,3426,2197,2284
$GC,20688,0.31,144.8,753.6,5.3,479,20689,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2198,2284
$GC,20991,0.31,144.8,738.1,5.0,484,20995,0.00,2.40,0.00,0.000,4,0.000,0.079,3426,782,2284
$GC,21024,0.40,171.9,736.5,4.2,484,21053,0.00,2.30,24.67,1.310,6,0.000,0.062,3426,2202,2175
$GC,21424,0.46,176.4,716.5,4.9,491,21435,0.12,2.40,5.72,1.039,4,0.091,0.078,3476,788,2155
$GC,21463,0.39,176.4,714.1,5.8,491,21468,0.12,2.30,0.00,0.000,6,0.142,0.061,3444,2203,2155
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$STATE,33255,end climb,SURFACE_DEPTH_REACHED
$STATE,33255,begin surface coast
$FINISH,2.9,1.002202
$STATE,33395,end surface coast,CONTROL_FINISHED_OK
$STATE,33395,begin surface
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$HUMID,2091
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$TCM_TEMP,14.40
$XPDR_PINGS,1021
$24V_AH,21.5,73.978
$10V_AH,10.5,50.180
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$DEVICE_SECS,28.125,225.450,387.150,9.975,0.000,27.694,32.723,238.867,255.250,0.000,0.000,16.381,1848.590,28275.215,547.587,2425.704,763.340,33.379,1774.247,0.000,2394.471,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50560,872
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$CFSIZE,260165632,229490688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170109,042555,4957.995,-14440.336,47,1.7,47,18.5