version: 66.03
glider: 120
mission: 9
dive: 530
start: 3 16 109 12 1 46
data:
$ID,120
$MISSION,9
$DIVE,530
$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,-29128.238
$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,22
$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
$GPS1,115030,5021.979,-14428.649,58,1.3,58,18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-70.0
$GPS2,120051,5021.891,-14428.621,15,1.4,15,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.177
$KALMAN_X,-44361.9,-89.1,241.4,98730.6,-829.9
$KALMAN_Y,112933.7,-124.0,164.1,-78890.4,-1379.6
$MHEAD_RNG_PITCHd_Wd,156.4,51654,-12.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-116.6,0.0,0.0,0,38,0.00,0.00,-10.65,0.000,2,0.000,0.000,147,2402,2011
$GC,42,-0.67,-117.3,3.2,-0.0,1,118,14.00,2.38,-54.38,0.000,4,0.283,0.094,3085,3804,3354
$GC,372,-0.48,-117.3,37.8,-11.5,30,379,0.28,2.25,0.00,0.000,6,0.154,0.056,3161,2389,3356
$GC,700,-0.53,-117.3,58.4,-7.3,61,706,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2390,3356
$GC,1026,-0.59,-117.3,79.2,-5.6,92,1028,0.12,0.00,0.00,0.000,6,0.081,0.000,3111,2390,3356
$GC,1335,-0.59,-117.3,103.8,-8.4,108,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2390,3356
$GC,1645,-0.59,-117.3,124.1,-7.0,123,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2390,3356
$GC,1954,-0.59,-117.3,145.2,-6.6,138,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2390,3356
$GC,2281,-0.59,-117.3,166.4,-6.5,150,2285,0.00,2.33,0.00,0.000,4,0.000,0.071,3111,990,3356
$GC,2303,-0.63,-117.3,167.9,-6.3,150,2307,0.00,2.33,0.00,0.000,6,0.000,0.061,3111,2400,3356
$GC,2617,-0.63,-117.3,188.8,-6.6,160,2621,0.00,2.38,0.00,0.000,4,0.000,0.081,3111,3816,3357
$GC,2652,-0.63,-117.3,191.5,-7.6,161,2656,0.00,2.25,0.00,0.000,6,0.000,0.054,3111,2392,3356
$GC,2993,-0.63,-117.3,215.3,-7.0,172,2997,0.00,2.30,0.00,0.000,4,0.000,0.070,3111,996,3357
$GC,3016,-0.63,-117.3,216.9,-6.7,172,3020,0.00,2.33,0.00,0.000,6,0.000,0.060,3111,2410,3356
$GC,3329,-0.63,-117.3,236.5,-5.9,182,3333,0.00,2.35,0.00,0.000,4,0.000,0.080,3111,3810,3356
$GC,3364,-0.63,-117.3,238.6,-6.5,183,3367,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2400,3357
$GC,3706,-0.67,-117.3,258.0,-5.6,194,3710,0.00,2.33,0.00,0.000,4,0.000,0.070,3111,995,3357
$GC,3745,-0.73,-117.3,260.4,-5.8,195,3749,0.00,2.33,0.00,0.000,6,0.000,0.061,3111,2408,3356
$GC,4076,-0.77,-117.3,281.3,-6.3,206,4078,0.12,0.00,0.00,0.000,6,0.089,0.000,3061,2407,3356
$GC,4412,-0.69,-117.3,306.4,-7.3,216,4414,0.10,0.00,0.00,0.000,6,0.095,0.000,3090,2407,3357
$GC,4716,-0.65,-117.3,327.1,-6.7,221,4720,0.00,2.38,0.00,0.000,4,0.000,0.070,3091,988,3356
$GC,4751,-0.65,-117.3,329.6,-6.8,221,4755,0.00,2.33,0.00,0.000,6,0.000,0.062,3086,2399,3356
$GC,5078,-0.60,-117.3,351.5,-6.7,227,5080,0.12,0.00,0.00,0.000,6,0.153,0.000,3119,2399,3356
$GC,5382,-0.66,-117.3,368.7,-5.7,232,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2399,3356
$GC,5684,-0.72,-117.3,386.4,-5.9,237,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2399,3356
$GC,5988,-0.78,-117.3,404.0,-5.8,242,5992,0.15,2.40,0.00,0.000,4,0.081,0.080,3054,3816,3356
$GC,6016,-0.71,-117.3,406.1,-8.6,242,6020,0.12,2.25,0.00,0.000,6,0.099,0.055,3089,2398,3356
$GC,6354,-0.71,-117.3,429.7,-7.0,248,6358,0.00,2.40,0.00,0.000,4,0.000,0.082,3086,3807,3356
$GC,6393,-0.71,-117.3,432.7,-8.1,248,6398,0.00,2.25,0.00,0.000,6,0.000,0.055,3085,2399,3356
$GC,6715,-0.71,-117.3,455.9,-7.3,254,6719,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,987,3356
$GC,6749,-0.71,-117.3,458.5,-7.9,254,6753,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2406,3356
$GC,7082,-0.71,-117.3,481.8,-6.9,260,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,7384,-0.71,-117.3,502.6,-6.9,265,7389,0.00,2.38,0.00,0.000,4,0.000,0.082,3086,3808,3355
$GC,7412,-0.71,-117.3,504.6,-7.0,265,7416,0.00,2.25,0.00,0.000,6,0.000,0.055,3085,2400,3355
$GC,7746,-0.71,-117.3,526.6,-6.6,271,7750,0.00,2.42,0.00,0.000,4,0.000,0.083,3086,3817,3355
$GC,7773,-0.71,-117.3,528.7,-7.4,271,7778,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2396,3355
$GC,8106,-0.71,-117.3,551.3,-6.8,277,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3355
$GC,8409,-0.71,-117.3,570.7,-6.4,282,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3355
$GC,8713,-0.71,-117.3,587.9,-5.5,287,8717,0.00,2.42,0.00,0.000,4,0.000,0.083,3085,3811,3355
$GC,8747,-0.71,-117.3,589.8,-5.1,287,8751,0.00,2.28,0.00,0.000,6,0.000,0.055,3086,2393,3355
$GC,9075,-0.71,-117.3,607.4,-5.4,293,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3355
$GC,9377,-0.71,-117.3,625.3,-6.0,298,9381,0.00,2.42,0.00,0.000,4,0.000,0.083,3086,3805,3355
$GC,9411,-0.71,-117.3,627.5,-6.5,298,9415,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2389,3355
$GC,9738,-0.71,-117.3,649.8,-6.9,304,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2390,3355
$GC,10040,-0.71,-117.3,671.5,-7.2,309,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2390,3355
$GC,10344,-0.71,-117.3,693.7,-7.3,314,10348,0.00,2.45,0.00,0.000,4,0.000,0.084,3086,3813,3354
$GC,10394,-0.71,-117.3,697.6,-7.9,314,10398,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2398,3354
$GC,10705,-0.71,-117.3,718.9,-6.9,319,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3354
$GC,11007,-0.71,-117.3,738.2,-6.4,324,11011,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3809,3355
$GC,11040,-0.71,-117.3,740.5,-6.8,324,11044,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2393,3354
$GC,11367,-0.71,-117.3,761.4,-6.5,330,11368,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3354
$GC,11670,-0.71,-117.3,780.4,-6.3,335,11675,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3805,3354
$GC,11704,-0.71,-117.3,782.6,-6.4,335,11708,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2394,3354
$GC,12031,-0.71,-117.3,802.2,-6.0,341,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3354
$GC,12334,-0.71,-117.3,819.6,-5.6,346,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3353
$GC,12638,-0.71,-117.3,836.4,-5.5,351,12642,0.00,2.45,0.00,0.000,4,0.000,0.084,3086,3811,3353
$GC,12665,-0.71,-117.3,838.0,-5.7,351,12669,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2389,3353
$GC,13003,-0.71,-117.3,854.3,-4.7,357,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2390,3353
$GC,13306,-0.71,-117.3,867.1,-4.2,362,13310,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3806,3353
$GC,13336,-0.75,-117.3,868.4,-4.5,362,13340,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2396,3353
$GC,13669,-0.75,-117.3,880.4,-3.6,368,13673,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,983,3353
$GC,13703,-0.75,-117.3,881.8,-4.2,368,13707,0.00,2.38,0.00,0.000,6,0.000,0.064,3085,2408,3353
$GC,14031,-0.75,-117.3,895.6,-4.3,374,14035,0.00,2.40,0.00,0.000,4,0.000,0.084,3086,3809,3353
$GC,14065,-0.79,-117.3,897.2,-5.0,374,14069,0.00,2.28,0.00,0.000,6,0.000,0.057,3085,2399,3352
$GC,14392,-0.95,-117.3,914.7,-5.6,380,14396,0.17,2.40,0.00,0.000,4,0.091,0.074,3015,984,3352
$GC,14526,-0.77,-117.3,924.2,-7.4,382,14531,0.20,2.38,0.00,0.000,6,0.166,0.066,3066,2400,3352
$GC,14892,-0.77,-117.3,947.4,-6.2,388,14896,0.00,2.42,0.00,0.000,4,0.000,0.085,3066,3816,3352
$GC,14937,-0.77,-117.3,950.3,-5.8,388,14941,0.00,2.30,0.00,0.000,6,0.000,0.058,3066,2395,3352
$GC,15252,-0.77,-117.3,968.7,-5.8,394,15257,0.00,2.45,0.00,0.000,4,0.000,0.085,3066,3812,3352
$GC,15280,-0.77,-117.3,970.5,-5.9,394,15284,0.00,2.28,0.00,0.000,6,0.000,0.058,3066,2400,3352
$STATE,15616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15616,begin apogee
$GC,15624,-0.22,0.0,990.6,5.9,400,15738,0.60,0.00,108.50,1.484,6,0.146,0.000,3245,2200,2876
$STATE,15739,end apogee,CONTROL_FINISHED_OK
$STATE,15739,begin climb
$GC,15742,0.67,117.3,995.2,0.0,402,15866,0.88,2.67,114.32,1.429,4,0.092,0.078,3533,796,2397
$GC,15930,0.33,117.3,992.3,6.7,404,15937,0.40,2.45,0.00,0.000,6,0.176,0.061,3431,2200,2395
$GC,16241,0.34,121.3,976.7,4.9,410,16248,0.00,0.00,4.70,0.992,6,0.000,0.000,3431,2199,2381
$GC,16544,0.34,123.9,962.0,4.9,415,16553,0.00,2.38,4.20,0.937,4,0.000,0.081,3428,3615,2370
$GC,16588,0.24,123.9,959.5,5.4,415,16593,0.15,2.30,0.00,0.000,6,0.183,0.062,3400,2193,2370
$GC,16911,0.33,152.9,946.1,4.2,421,16940,0.00,0.00,27.48,1.417,6,0.000,0.000,3400,2194,2252
$GC,17213,0.43,152.9,930.5,5.3,426,17218,0.17,2.38,0.00,0.000,4,0.081,0.079,3476,779,2250
$GC,17297,0.31,152.9,924.6,6.9,427,17302,0.20,2.33,0.00,0.000,6,0.147,0.062,3421,2203,2249
$GC,17641,0.31,152.9,904.2,5.9,433,17642,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2249
$GC,17944,0.31,152.9,885.4,6.2,438,17945,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2249
$GC,18247,0.31,152.9,866.4,6.2,443,18251,0.00,2.40,0.00,0.000,4,0.000,0.079,3421,792,2249
$GC,18320,0.37,152.9,861.9,6.1,444,18324,0.00,2.30,0.00,0.000,6,0.000,0.061,3421,2204,2249
$GC,18682,0.41,152.9,841.4,5.7,450,18686,0.00,2.40,0.00,0.000,4,0.000,0.079,3421,786,2249
$GC,18727,0.47,153.6,839.1,5.0,450,18732,0.15,2.33,0.00,0.000,6,0.084,0.061,3479,2210,2249
$GC,19043,0.34,153.6,817.8,6.8,456,19048,0.15,2.42,0.00,0.000,4,0.148,0.077,3436,789,2248
$GC,19082,0.34,153.6,815.3,5.8,456,19086,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2209,2248
$GC,19403,0.34,153.6,798.5,5.3,462,19404,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2248
$GC,19706,0.34,153.6,783.3,5.0,467,19707,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2248
$GC,20010,0.36,166.4,769.1,4.6,472,20030,0.00,2.47,12.75,1.275,4,0.000,0.079,3436,790,2197
$GC,20065,0.41,205.8,766.6,3.9,472,20107,0.00,2.33,36.92,1.328,6,0.000,0.061,3436,2205,2036
$GC,20441,0.46,205.8,747.3,5.3,479,20442,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2031
$GC,20744,0.51,205.8,731.0,5.4,484,20749,0.12,2.42,0.00,0.000,4,0.091,0.078,3489,789,2030
$GC,20811,0.42,205.8,726.2,7.2,485,20816,0.12,2.33,0.00,0.000,6,0.140,0.063,3456,2207,2030
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$STATE,31825,end climb,SURFACE_DEPTH_REACHED
$STATE,31825,begin surface coast
$FINISH,2.0,1.023477
$STATE,31968,end surface coast,CONTROL_FINISHED_OK
$STATE,31968,begin surface
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$10V_AH,10.4,71.414
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$DEVICE_SECS,29.425,264.850,375.200,0.000,0.000,51.467,72.148,274.280,266.500,0.000,0.000,15.251,1881.409,26555.508,548.258,2679.097,993.808,33.369,1886.679,0.000,2639.899,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47432,834
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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