version: 66.03
glider: 120
mission: 9
dive: 485
start: 2 27 109 8 45 39
data:
$ID,120
$MISSION,9
$DIVE,485
$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,275
$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,-28095.582
$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
$GPS1,083506,5012.000,-14439.956,37,1.1,37,18.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-66.3
$GPS2,084443,5011.977,-14439.887,11,1.6,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.138,0.112
$KALMAN_X,-22574.9,273.2,-7.1,63437.5,-1410.1
$KALMAN_Y,84688.6,-182.9,87.1,-68854.9,1199.6
$MHEAD_RNG_PITCHd_Wd,32.2,20517,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.45,0.000,2,0.000,0.000,134,2405,1623
$GC,41,-0.67,-117.3,3.5,-0.0,1,137,13.45,2.47,-72.28,0.000,4,0.269,0.081,3093,991,3355
$GC,301,-0.51,-117.3,23.3,-10.8,24,308,0.20,2.33,0.00,0.000,6,0.153,0.064,3150,2412,3357
$GC,629,-0.51,-117.3,51.4,-6.4,55,632,0.00,2.33,0.00,0.000,4,0.000,0.081,3141,3807,3357
$GC,654,-0.51,-117.3,53.1,-6.8,57,658,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2398,3357
$GC,980,-0.51,-117.3,70.1,-6.1,87,984,0.00,2.33,0.00,0.000,4,0.000,0.069,3140,993,3357
$GC,1058,-0.51,-117.3,74.7,-5.5,93,1064,0.00,2.30,0.00,0.000,6,0.000,0.064,3141,2401,3357
$GC,1389,-0.51,-117.3,96.9,-10.4,114,1393,0.00,2.35,0.00,0.000,4,0.000,0.081,3141,3810,3357
$GC,1430,-0.51,-117.3,100.2,-7.3,116,1434,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2394,3356
$GC,1757,-0.51,-117.3,127.5,-7.6,132,1761,0.00,2.30,0.00,0.000,4,0.000,0.070,3140,990,3357
$GC,1798,-0.51,-117.3,130.0,-6.4,134,1802,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2405,3356
$GC,2121,-0.56,-117.3,152.9,-7.2,149,2125,0.00,2.33,0.00,0.000,4,0.000,0.081,3140,3807,3357
$GC,2160,-0.66,-117.3,155.7,-6.7,150,2165,0.12,2.25,0.00,0.000,6,0.083,0.054,3091,2387,3357
$GC,2484,-0.66,-117.3,179.9,-7.1,161,2489,0.00,2.40,0.00,0.000,4,0.000,0.079,3087,3819,3357
$GC,2540,-0.66,-117.3,184.3,-8.0,162,2547,0.00,2.28,0.00,0.000,6,0.000,0.054,3087,2389,3356
$GC,2853,-0.66,-117.3,205.9,-6.7,173,2857,0.00,2.38,0.00,0.000,4,0.000,0.078,3087,3809,3357
$GC,2917,-0.66,-117.3,210.4,-7.5,175,2921,0.00,2.25,0.00,0.000,6,0.000,0.054,3087,2397,3357
$GC,3252,-0.66,-117.3,235.2,-7.7,186,3256,0.00,2.38,0.00,0.000,4,0.000,0.078,3087,3809,3357
$GC,3318,-0.66,-117.3,240.7,-8.4,188,3323,0.00,2.25,0.00,0.000,6,0.000,0.054,3087,2398,3357
$GC,3649,-0.66,-117.3,263.9,-6.6,199,3653,0.00,2.35,0.00,0.000,4,0.000,0.070,3091,987,3357
$GC,3683,-0.66,-117.3,266.3,-6.6,200,3687,0.00,2.30,0.00,0.000,6,0.000,0.061,3091,2400,3357
$GC,4014,-0.66,-117.3,287.6,-6.7,211,4018,0.00,2.38,0.00,0.000,4,0.000,0.069,3091,984,3357
$GC,4069,-0.66,-117.3,291.4,-6.7,212,4075,0.00,2.33,0.00,0.000,6,0.000,0.062,3091,2408,3357
$GC,4411,-0.66,-117.3,313.3,-6.4,221,4416,0.00,2.35,0.00,0.000,4,0.000,0.070,3091,993,3357
$GC,4479,-0.66,-117.3,317.8,-6.4,222,4482,0.00,2.30,0.00,0.000,6,0.000,0.061,3091,2403,3357
$GC,4845,-0.66,-117.3,340.1,-6.0,228,4849,0.00,2.35,0.00,0.000,4,0.000,0.070,3091,990,3357
$GC,4884,-0.66,-117.3,342.6,-6.5,228,4888,0.00,2.30,0.00,0.000,6,0.000,0.061,3091,2401,3357
$GC,5206,-0.66,-117.3,361.9,-6.1,234,5210,0.00,2.35,0.00,0.000,4,0.000,0.070,3091,985,3357
$GC,5233,-0.66,-117.3,363.5,-6.2,234,5237,0.00,2.33,0.00,0.000,6,0.000,0.061,3091,2405,3357
$GC,5566,-0.66,-117.3,383.2,-6.0,240,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2405,3357
$GC,5869,-0.66,-117.3,401.9,-6.1,245,5873,0.00,2.35,0.00,0.000,4,0.000,0.081,3086,3814,3356
$GC,5908,-0.66,-117.3,404.7,-7.0,245,5912,0.00,2.25,0.00,0.000,6,0.000,0.055,3086,2396,3356
$GC,6230,-0.66,-117.3,426.2,-6.8,251,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3356
$GC,6533,-0.66,-117.3,448.9,-7.5,256,6537,0.00,2.40,0.00,0.000,4,0.000,0.081,3086,3819,3355
$GC,6561,-0.66,-117.3,451.3,-8.4,256,6565,0.00,2.28,0.00,0.000,6,0.000,0.055,3086,2388,3356
$GC,6893,-0.66,-117.3,474.1,-6.7,262,6897,0.00,2.33,0.00,0.000,4,0.000,0.071,3086,983,3356
$GC,6926,-0.66,-117.3,476.3,-6.3,262,6930,0.00,2.33,0.00,0.000,6,0.000,0.062,3086,2402,3356
$GC,7253,-0.66,-117.3,496.5,-6.1,268,7257,0.00,2.35,0.00,0.000,4,0.000,0.081,3086,3807,3355
$GC,7292,-0.66,-117.3,498.9,-6.1,268,7296,0.00,2.25,0.00,0.000,6,0.000,0.055,3086,2392,3355
$GC,7613,-0.66,-117.3,520.3,-6.8,274,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3355
$GC,7916,-0.66,-117.3,541.6,-7.1,279,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3356
$GC,8219,-0.66,-117.3,561.1,-6.3,284,8223,0.00,2.40,0.00,0.000,4,0.000,0.082,3086,3807,3355
$GC,8255,-0.66,-117.3,563.2,-7.0,284,8259,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2396,3355
$GC,8582,-0.66,-117.3,580.9,-5.4,290,8586,0.00,2.33,0.00,0.000,4,0.000,0.071,3086,993,3355
$GC,8626,-0.66,-117.3,583.4,-5.1,290,8630,0.00,2.30,0.00,0.000,6,0.000,0.061,3086,2400,3355
$GC,8942,-0.66,-117.3,598.9,-4.8,296,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,9245,-0.66,-117.3,613.9,-5.0,301,9249,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,993,3354
$GC,9278,-0.66,-117.3,615.8,-5.3,301,9282,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2399,3355
$GC,9604,-0.66,-117.3,633.0,-5.4,307,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3354
$GC,9907,-0.66,-117.3,650.3,-5.8,312,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3354
$GC,10211,-0.66,-117.3,668.5,-6.1,317,10216,0.00,2.38,0.00,0.000,4,0.000,0.083,3086,3809,3354
$GC,10239,-0.66,-117.3,670.4,-6.6,317,10243,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2401,3354
$GC,10578,-0.66,-117.3,689.1,-5.4,323,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3354
$GC,10881,-0.83,-117.3,706.5,-5.7,328,10886,0.12,2.40,0.00,0.000,4,0.098,0.082,3042,3807,3354
$GC,10950,-0.77,-117.3,710.7,-6.7,329,10954,0.00,2.28,0.00,0.000,6,0.000,0.057,3041,2388,3354
$GC,11311,-0.67,-117.3,733.8,-6.5,335,11315,0.17,2.35,0.00,0.000,4,0.140,0.071,3097,987,3354
$GC,11350,-0.72,-117.3,736.0,-5.1,335,11354,0.00,2.33,0.00,0.000,6,0.000,0.064,3097,2398,3354
$GC,11672,-0.76,-117.3,753.2,-5.4,341,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3354
$GC,11975,-0.81,-117.3,770.2,-5.6,346,11977,0.12,0.00,0.00,0.000,6,0.091,0.000,3049,2398,3353
$GC,12278,-0.81,-117.3,790.0,-6.7,351,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2398,3353
$GC,12581,-0.81,-117.3,810.2,-6.7,356,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2398,3353
$GC,12884,-0.81,-117.3,829.0,-6.1,361,12888,0.00,2.38,0.00,0.000,4,0.000,0.084,3046,3809,3353
$GC,12929,-0.72,-117.3,832.2,-6.8,361,12933,0.12,2.28,0.00,0.000,6,0.113,0.058,3080,2393,3353
$GC,13244,-0.72,-117.3,849.7,-5.5,367,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2393,3353
$GC,13547,-0.72,-117.3,865.6,-5.2,372,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2393,3353
$GC,13850,-0.72,-117.3,882.2,-5.6,377,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2393,3353
$GC,14153,-0.72,-117.3,900.0,-5.8,382,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2394,3353
$GC,14456,-0.72,-117.3,917.1,-5.6,387,14460,0.00,2.45,0.00,0.000,4,0.000,0.085,3080,3816,3353
$GC,14500,-0.72,-117.3,919.7,-5.9,387,14504,0.00,2.30,0.00,0.000,6,0.000,0.058,3080,2394,3352
$GC,14816,-0.72,-117.3,936.7,-5.5,393,14820,0.00,2.38,0.00,0.000,4,0.000,0.074,3080,986,3352
$GC,14844,-0.72,-117.3,938.6,-6.4,393,14848,0.00,2.35,0.00,0.000,6,0.000,0.065,3080,2407,3352
$GC,15176,-0.72,-117.3,956.9,-5.5,399,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3352
$GC,15479,-0.72,-117.3,973.2,-5.4,404,15480,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3352
$GC,15783,-0.72,-117.3,989.5,-5.3,409,15784,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3352
$STATE,15840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15840,begin apogee
$GC,15847,-0.22,0.0,992.5,5.2,410,15963,0.55,0.00,108.25,1.489,6,0.139,0.000,3248,2195,2876
$STATE,15963,end apogee,CONTROL_FINISHED_OK
$STATE,15963,begin climb
$GC,15967,0.67,117.3,996.5,0.0,412,16089,0.85,0.00,114.25,1.434,6,0.092,0.000,3527,2195,2396
$GC,16394,0.36,117.3,972.9,8.1,419,16398,0.30,2.40,0.00,0.000,4,0.163,0.081,3438,3612,2393
$GC,16438,0.24,117.3,969.5,6.8,419,16443,0.17,2.33,0.00,0.000,6,0.186,0.064,3394,2197,2393
$GC,16755,0.31,117.3,953.5,5.1,425,16756,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2197,2392
$GC,17058,0.39,121.1,938.6,4.9,430,17065,0.15,0.00,4.07,0.924,6,0.085,0.000,3452,2196,2383
$GC,17361,0.32,121.1,921.0,5.8,435,17365,0.12,2.40,0.00,0.000,4,0.138,0.077,3427,778,2382
$GC,17410,0.32,121.1,918.3,5.5,435,17414,0.00,2.33,0.00,0.000,6,0.000,0.062,3427,2206,2382
$GC,17721,0.34,140.2,904.3,4.5,440,17745,0.00,2.40,18.40,1.381,4,0.000,0.082,3427,3604,2304
$GC,17770,0.30,147.8,902.0,4.8,440,17787,0.00,2.33,8.93,1.239,6,0.000,0.064,3436,2190,2272
$GC,18091,0.30,151.1,886.1,4.9,446,18097,0.00,0.00,4.25,0.946,6,0.000,0.000,3436,2191,2260
$GC,18394,0.31,155.5,871.4,4.9,451,18401,0.00,0.00,5.80,1.113,6,0.000,0.000,3436,2191,2242
$GC,18697,0.32,167.8,857.2,4.6,456,18712,0.00,0.00,12.95,1.318,6,0.000,0.000,3436,2190,2191
$GC,19000,0.32,167.8,841.9,5.1,461,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2189
$GC,19302,0.32,167.8,825.0,5.6,466,19306,0.00,2.40,0.00,0.000,4,0.000,0.083,3436,3613,2189
$GC,19336,0.32,167.8,822.8,6.2,466,19340,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2196,2189
$GC,19662,0.32,167.8,803.6,5.9,472,19664,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2188
$GC,19965,0.32,167.8,786.3,5.7,477,19966,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2188
$GC,20268,0.32,167.8,769.1,5.7,482,20270,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2188
$GC,20571,0.32,167.8,751.2,5.8,487,20572,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2188
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$STATE,32659,end climb,SURFACE_DEPTH_REACHED
$STATE,32659,begin surface coast
$FINISH,2.7,1.004457
$STATE,32745,end surface coast,CONTROL_FINISHED_OK
$STATE,32746,begin surface
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$TCM_TEMP,14.10
$XPDR_PINGS,1001
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$10V_AH,10.5,65.230
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$DEVICE_SECS,28.125,229.250,390.450,0.000,0.000,61.025,60.125,235.408,250.250,0.000,0.000,18.487,1813.077,27641.188,589.479,2436.198,913.448,33.373,1807.958,0.000,2406.370,0.000,0.465
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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,47405,837
$CAP_FILE_SIZE,192275,0
$CFSIZE,260165632,220958720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,175500,5014.542,-14435.989,96,1.2,96,18.6