version: 66.03
glider: 120
mission: 9
dive: 597
start: 4 10 109 18 48 41
data:
$ID,120
$MISSION,9
$DIVE,597
$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,-30463.99
$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,18
$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
$GPS1,183625,5006.341,-14511.673,83,1.4,83,18.4
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-75.8
$GPS2,184743,5006.422,-14511.528,11,1.8,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.177
$KALMAN_X,-81355.8,176.6,-59.8,84756.7,-491.7
$KALMAN_Y,143186.4,-300.4,-302.1,-137129.1,3277.0
$MHEAD_RNG_PITCHd_Wd,158.3,22990,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-30.38,0.000,2,0.000,0.000,137,2409,2483
$GC,62,-0.67,-117.3,3.4,-5.1,3,107,13.77,2.40,-23.75,0.000,4,0.278,0.093,3094,3816,3355
$GC,217,-0.54,-117.3,18.3,-9.8,16,224,0.17,2.30,0.00,0.000,6,0.150,0.057,3143,2398,3357
$GC,546,-0.54,-117.3,44.0,-7.1,47,549,0.00,2.38,0.00,0.000,4,0.000,0.070,3144,991,3357
$GC,572,-0.54,-117.3,45.8,-7.0,49,576,0.00,2.38,0.00,0.000,6,0.000,0.062,3142,2412,3357
$GC,898,-0.54,-117.3,71.1,-7.8,79,902,0.00,2.40,0.00,0.000,4,0.000,0.081,3141,3808,3357
$GC,949,-0.54,-117.3,75.2,-8.2,83,954,0.00,2.30,0.00,0.000,6,0.000,0.054,3141,2386,3357
$GC,1279,-0.54,-117.3,101.0,-7.8,101,1283,0.00,2.38,0.00,0.000,4,0.000,0.070,3141,983,3357
$GC,1312,-0.54,-117.3,103.9,-8.0,102,1318,0.00,2.35,0.00,0.000,6,0.000,0.061,3141,2403,3357
$GC,1629,-0.54,-117.3,126.3,-6.8,118,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3357
$GC,1939,-0.58,-117.3,145.4,-5.9,133,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3357
$GC,2266,-0.65,-117.3,164.2,-5.6,145,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3357
$GC,2572,-0.73,-117.3,182.2,-6.0,155,2577,0.15,2.42,0.00,0.000,4,0.083,0.068,3078,985,3357
$GC,2612,-0.68,-117.3,185.4,-7.9,156,2616,0.00,2.38,0.00,0.000,6,0.000,0.061,3078,2409,3357
$GC,2937,-0.61,-117.3,211.8,-7.7,167,2939,0.15,0.00,0.00,0.000,6,0.141,0.000,3121,2408,3358
$GC,3242,-0.61,-117.3,230.5,-6.2,177,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2408,3358
$GC,3549,-0.61,-117.3,249.6,-6.3,187,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2408,3358
$GC,3855,-0.61,-117.3,269.0,-6.5,197,3859,0.00,2.42,0.00,0.000,4,0.000,0.069,3121,985,3358
$GC,3891,-0.67,-117.3,271.4,-7.5,198,3895,0.00,2.38,0.00,0.000,6,0.000,0.060,3121,2413,3358
$GC,4233,-0.72,-117.3,294.4,-6.6,209,4235,0.12,0.00,0.00,0.000,6,0.083,0.000,3072,2413,3357
$GC,4567,-0.72,-117.3,318.3,-7.1,216,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2412,3357
$GC,4870,-0.72,-117.3,337.7,-6.3,221,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2413,3358
$GC,5173,-0.72,-117.3,356.0,-6.0,226,5177,0.00,2.40,0.00,0.000,4,0.000,0.081,3071,3809,3357
$GC,5201,-0.67,-117.3,358.1,-7.1,226,5206,0.10,2.30,0.00,0.000,6,0.096,0.054,3098,2389,3357
$GC,5534,-0.67,-117.3,379.8,-6.7,232,5538,0.00,2.38,0.00,0.000,4,0.000,0.070,3098,994,3357
$GC,5591,-0.67,-117.3,384.1,-7.3,232,5597,0.00,2.35,0.00,0.000,6,0.000,0.062,3098,2400,3357
$GC,5901,-0.67,-117.3,406.2,-7.2,238,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,6205,-0.67,-117.3,426.2,-6.5,243,6209,0.00,2.42,0.00,0.000,4,0.000,0.082,3098,3807,3357
$GC,6233,-0.67,-117.3,428.0,-6.4,243,6237,0.00,2.28,0.00,0.000,6,0.000,0.054,3098,2404,3357
$GC,6566,-0.67,-117.3,447.7,-5.9,249,6570,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,986,3357
$GC,6605,-0.67,-117.3,450.3,-6.2,249,6609,0.00,2.38,0.00,0.000,6,0.000,0.061,3098,2406,3357
$GC,6927,-0.67,-117.3,469.9,-6.2,255,6931,0.00,2.42,0.00,0.000,4,0.000,0.070,3098,991,3357
$GC,6955,-0.67,-117.3,471.9,-6.9,255,6959,0.00,2.38,0.00,0.000,6,0.000,0.061,3098,2406,3357
$GC,7287,-0.67,-117.3,494.4,-6.8,261,7291,0.00,2.42,0.00,0.000,4,0.000,0.069,3098,992,3357
$GC,7331,-0.67,-117.3,497.8,-7.6,261,7335,0.00,2.38,0.00,0.000,6,0.000,0.061,3098,2406,3357
$GC,7648,-0.67,-117.3,519.9,-7.1,267,7652,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,993,3357
$GC,7676,-0.67,-117.3,522.0,-7.7,267,7680,0.00,2.38,0.00,0.000,6,0.000,0.062,3098,2402,3357
$GC,8008,-0.67,-117.3,545.2,-7.0,273,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,8311,-0.67,-117.3,565.9,-6.8,278,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,8615,-0.67,-117.3,586.2,-6.7,283,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,8917,-0.67,-117.3,606.3,-6.6,288,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,9221,-0.67,-117.3,627.4,-7.0,293,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3356
$GC,9524,-0.67,-117.3,647.9,-6.7,298,9528,0.00,2.45,0.00,0.000,4,0.000,0.071,3098,990,3356
$GC,9570,-0.71,-117.3,651.2,-7.1,298,9574,0.00,2.38,0.00,0.000,6,0.000,0.063,3098,2401,3356
$GC,9886,-0.75,-117.3,673.3,-7.0,304,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3356
$GC,10189,-0.75,-117.3,693.8,-6.7,309,10193,0.00,2.45,0.00,0.000,4,0.000,0.072,3099,986,3356
$GC,10234,-0.80,-117.3,696.9,-6.8,309,10239,0.12,2.40,0.00,0.000,6,0.085,0.062,3053,2407,3355
$GC,10550,-0.80,-117.3,718.8,-6.9,315,10555,0.00,2.42,0.00,0.000,4,0.000,0.081,3053,3812,3355
$GC,10590,-0.72,-117.3,721.8,-8.0,315,10595,0.10,2.30,0.00,0.000,6,0.100,0.055,3079,2395,3355
$GC,10911,-0.72,-117.3,742.4,-6.4,321,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2396,3355
$GC,11215,-0.72,-117.3,762.1,-6.5,326,11220,0.00,2.42,0.00,0.000,4,0.000,0.072,3079,992,3355
$GC,11260,-0.72,-117.3,765.2,-6.8,326,11265,0.00,2.40,0.00,0.000,6,0.000,0.063,3079,2409,3355
$GC,11576,-0.72,-117.3,784.7,-6.2,332,11580,0.00,2.45,0.00,0.000,4,0.000,0.072,3079,994,3355
$GC,11604,-0.72,-117.3,786.5,-6.8,332,11608,0.00,2.40,0.00,0.000,6,0.000,0.064,3079,2411,3355
$GC,11937,-0.72,-117.3,805.7,-5.8,338,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3355
$GC,12239,-0.72,-117.3,823.4,-5.8,343,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3355
$GC,12543,-0.72,-117.3,841.7,-6.1,348,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3355
$GC,12845,-0.72,-117.3,860.8,-6.4,353,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3355
$GC,13148,-0.72,-117.3,880.2,-6.4,358,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3354
$GC,13453,-0.72,-117.3,898.6,-6.0,363,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3354
$GC,13755,-0.72,-117.3,914.9,-5.3,368,13756,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2410,3354
$GC,14059,-0.72,-117.3,930.4,-5.1,373,14063,0.00,2.45,0.00,0.000,4,0.000,0.073,3079,995,3353
$GC,14103,-0.72,-117.3,933.0,-5.9,373,14107,0.00,2.40,0.00,0.000,6,0.000,0.065,3079,2405,3354
$GC,14420,-0.72,-117.3,949.5,-5.3,379,14424,0.00,2.45,0.00,0.000,4,0.000,0.074,3079,997,3354
$GC,14459,-0.72,-117.3,952.0,-5.8,379,14463,0.00,2.40,0.00,0.000,6,0.000,0.064,3079,2409,3354
$GC,14780,-0.72,-117.3,971.4,-6.1,385,14784,0.00,2.45,0.00,0.000,4,0.000,0.085,3079,3815,3353
$GC,14819,-0.72,-117.3,974.0,-6.4,385,14823,0.00,2.33,0.00,0.000,6,0.000,0.057,3079,2394,3354
$STATE,15076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15076,begin apogee
$GC,15085,-0.22,0.0,990.8,6.5,390,15199,0.55,0.00,107.93,1.493,6,0.137,0.000,3245,2194,2875
$STATE,15199,end apogee,CONTROL_FINISHED_OK
$STATE,15200,begin climb
$GC,15203,0.67,117.3,996.5,0.0,392,15327,0.85,2.75,114.25,1.440,4,0.086,0.078,3528,3608,2396
$GC,15362,0.21,117.3,997.0,6.2,394,15367,0.60,2.55,0.00,0.000,6,0.181,0.062,3390,2199,2395
$GC,15696,0.37,182.9,986.2,3.1,400,15761,0.15,2.53,59.42,1.442,4,0.076,0.079,3462,779,2129
$GC,15797,0.32,182.9,980.4,6.8,401,15802,0.15,2.40,0.00,0.000,6,0.140,0.061,3423,2206,2127
$GC,16124,0.37,182.9,961.7,5.8,407,16128,0.00,2.35,0.00,0.000,4,0.000,0.081,3423,3615,2124
$GC,16169,0.37,182.9,958.6,6.7,407,16174,0.00,2.30,0.00,0.000,6,0.000,0.063,3423,2196,2123
$GC,16486,0.42,182.9,940.3,5.7,413,16491,0.00,2.40,0.00,0.000,4,0.000,0.080,3423,783,2123
$GC,16577,0.51,182.9,935.1,5.7,414,16582,0.17,2.33,0.00,0.000,6,0.079,0.060,3491,2204,2124
$GC,16915,0.38,182.9,908.8,7.9,420,16917,0.17,0.00,0.00,0.000,6,0.153,0.000,3443,2204,2122
$GC,17219,0.38,182.9,890.0,6.2,425,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2122
$GC,17521,0.38,182.9,870.6,6.4,430,17522,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2122
$GC,17824,0.38,182.9,850.6,6.6,435,17825,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2122
$GC,18128,0.38,182.9,830.4,6.6,440,18132,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,780,2122
$GC,18168,0.38,182.9,827.5,6.7,440,18172,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2206,2122
$GC,18489,0.38,182.9,805.2,7.1,446,18491,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2121
$GC,18792,0.38,182.9,783.7,7.1,451,18796,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,791,2121
$GC,18826,0.38,182.9,781.1,6.8,451,18830,0.00,2.33,0.00,0.000,6,0.000,0.060,3449,2204,2121
$GC,19153,0.38,182.9,757.6,7.2,457,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2121
$GC,19456,0.38,182.9,736.8,6.8,462,19460,0.00,2.47,0.00,0.000,4,0.000,0.078,3449,779,2122
$GC,19500,0.38,182.9,733.7,6.7,462,19504,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2202,2121
$GC,19816,0.38,182.9,711.7,7.0,468,19818,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2121
$GC,20120,0.38,182.9,690.6,6.9,473,20121,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2121
$GC,20423,0.38,182.9,670.3,6.7,478,20427,0.00,2.47,0.00,0.000,4,0.000,0.078,3449,780,2121
$GC,20458,0.38,182.9,668.1,6.6,478,20462,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2202,2121
$GC,20785,0.38,182.9,646.7,6.5,484,20789,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,3611,2121
$GC,20814,0.38,182.9,644.6,6.9,484,20818,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2200,2121
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$STATE,31362,end climb,SURFACE_DEPTH_REACHED
$STATE,31362,begin surface coast
$FINISH,1.2,1.023624
$STATE,31488,end surface coast,CONTROL_FINISHED_OK
$STATE,31488,begin surface
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$XPDR_PINGS,983
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$10V_AH,10.3,80.663
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$DEVICE_SECS,29.000,239.550,369.625,0.000,0.000,62.182,68.211,312.367,245.750,0.000,0.000,16.524,1788.086,26462.459,523.628,2391.931,1073.453,33.409,1728.969,0.000,2352.931,0.000,0.466
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47563,827
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$CFSIZE,260165632,212279296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110409,033631,5003.674,-14511.583,58,1.1,58,18.4