version: 66.03
glider: 120
mission: 9
dive: 95
start: 10 2 108 10 44 59
data:
$ID,120
$MISSION,9
$DIVE,95
$D_SURF,6
$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,-19573.719
$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,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
$GPS1,103601,5021.684,-14512.276,58,1.3,63,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.96
$_SM_ANGLEo,-71.3
$GPS2,104403,5021.668,-14512.211,15,1.1,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.055,-0.175
$KALMAN_X,41721.4,-133.7,-255.2,-68050.3,2222.6
$KALMAN_Y,68950.5,276.2,-10.7,-39374.5,-285.5
$MHEAD_RNG_PITCHd_Wd,178.9,51221,-11.5,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.64,-117.3,0.0,0.0,0,33,0.00,0.00,-12.35,0.000,2,0.000,0.000,145,2410,1963
$GC,35,-0.64,-117.3,4.9,-0.0,1,110,13.82,2.42,-50.90,0.000,4,0.292,0.100,3099,3813,3356
$GC,340,-0.29,-117.3,42.3,-15.7,28,347,0.38,2.30,0.00,0.000,6,0.165,0.054,3213,2393,3359
$GC,667,-0.68,-117.3,59.2,-4.9,59,672,0.32,2.28,0.00,0.000,4,0.089,0.065,3096,989,3360
$GC,729,-0.56,-117.3,63.7,-7.7,64,734,0.15,2.28,0.00,0.000,6,0.166,0.059,3135,2401,3361
$GC,1061,-0.45,-117.3,92.0,-9.2,89,1065,0.12,2.33,0.00,0.000,4,0.178,0.075,3167,3821,3362
$GC,1092,-0.45,-117.3,94.9,-8.3,90,1099,0.00,2.28,0.00,0.000,6,0.000,0.051,3167,2395,3362
$GC,1408,-0.45,-117.3,118.6,-7.5,106,1412,0.00,2.28,0.00,0.000,4,0.000,0.067,3167,985,3362
$GC,1434,-0.49,-117.3,120.5,-7.3,107,1438,0.00,2.28,0.00,0.000,6,0.000,0.058,3167,2403,3362
$GC,1756,-0.76,-117.3,137.8,-5.2,123,1761,0.25,2.30,0.00,0.000,4,0.087,0.067,3078,988,3362
$GC,1799,-0.66,-117.3,140.8,-7.1,125,1803,0.00,2.28,0.00,0.000,6,0.000,0.061,3078,2405,3362
$GC,2135,-0.47,-117.3,170.5,-9.4,138,2139,0.25,2.28,0.00,0.000,4,0.165,0.078,3154,3814,3362
$GC,2189,-0.56,-117.3,174.3,-6.4,139,2196,0.00,2.25,0.00,0.000,6,0.000,0.054,3154,2404,3362
$GC,2502,-0.62,-117.3,193.7,-6.3,150,2506,0.12,2.28,0.00,0.000,4,0.087,0.069,3105,987,3361
$GC,2602,-0.55,-117.3,201.8,-7.8,153,2607,0.12,2.28,0.00,0.000,6,0.156,0.061,3136,2404,3361
$GC,2936,-0.55,-117.3,222.1,-5.8,164,2940,0.00,2.30,0.00,0.000,4,0.000,0.071,3136,989,3360
$GC,2968,-0.55,-117.3,224.0,-6.1,165,2972,0.00,2.30,0.00,0.000,6,0.000,0.061,3136,2403,3360
$GC,3303,-0.55,-117.3,243.6,-6.2,176,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2403,3359
$GC,3609,-0.55,-117.3,265.0,-7.2,186,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2403,3359
$GC,3915,-0.55,-117.3,285.3,-6.3,196,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2403,3359
$GC,4251,-0.55,-117.3,305.0,-5.7,206,4255,0.00,2.30,0.00,0.000,4,0.000,0.073,3136,993,3358
$GC,4283,-0.55,-117.3,307.0,-6.3,206,4288,0.00,2.30,0.00,0.000,6,0.000,0.063,3136,2403,3358
$GC,4616,-0.55,-117.3,327.3,-6.2,212,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2403,3357
$GC,4918,-0.55,-117.3,345.7,-6.1,217,4922,0.00,2.30,0.00,0.000,4,0.000,0.073,3136,993,3357
$GC,4961,-0.55,-117.3,348.6,-6.3,217,4966,0.00,2.28,0.00,0.000,6,0.000,0.064,3136,2395,3357
$GC,5282,-0.55,-117.3,368.0,-6.1,223,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2395,3357
$GC,5586,-0.55,-117.3,386.6,-6.1,228,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2395,3356
$GC,5889,-0.55,-117.3,405.0,-6.1,233,5893,0.00,2.30,0.00,0.000,4,0.000,0.074,3136,989,3356
$GC,5928,-0.59,-117.3,407.3,-6.2,233,5932,0.00,2.28,0.00,0.000,6,0.000,0.064,3136,2406,3356
$GC,6248,-0.63,-117.3,424.9,-5.4,239,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2406,3356
$GC,6551,-0.68,-117.3,439.3,-4.7,244,6556,0.12,2.33,0.00,0.000,4,0.091,0.074,3089,983,3355
$GC,6605,-0.61,-117.3,442.8,-6.3,244,6613,0.08,2.30,0.00,0.000,6,0.149,0.065,3114,2397,3355
$GC,6915,-0.61,-117.3,459.9,-5.5,250,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3355
$GC,7218,-0.61,-117.3,475.4,-5.1,255,7222,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,990,3354
$GC,7244,-0.61,-117.3,476.9,-5.5,255,7248,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2405,3355
$GC,7581,-0.61,-117.3,494.3,-5.2,261,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3354
$GC,7884,-0.61,-117.3,510.6,-5.5,266,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3354
$GC,8188,-0.61,-117.3,527.9,-5.7,271,8192,0.00,2.33,0.00,0.000,4,0.000,0.075,3114,984,3354
$GC,8225,-0.61,-117.3,530.4,-6.0,271,8230,0.00,2.33,0.00,0.000,6,0.000,0.066,3114,2403,3354
$GC,8552,-0.61,-117.3,549.1,-5.7,277,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3354
$GC,8856,-0.61,-117.3,566.3,-5.7,282,8860,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,992,3354
$GC,8918,-0.61,-117.3,570.2,-6.2,283,8922,0.00,2.28,0.00,0.000,6,0.000,0.065,3114,2408,3354
$GC,9282,-0.61,-117.3,592.9,-6.4,289,9286,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,993,3354
$GC,9320,-0.61,-117.3,595.6,-6.8,289,9324,0.00,2.25,0.00,0.000,6,0.000,0.065,3114,2400,3354
$GC,9640,-0.61,-117.3,616.7,-6.6,295,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3353
$GC,9943,-0.61,-117.3,637.2,-6.7,300,9947,0.00,2.30,0.00,0.000,4,0.000,0.075,3114,994,3353
$GC,9975,-0.61,-117.3,639.6,-6.9,300,9980,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2402,3353
$GC,10307,-0.61,-117.3,660.3,-6.2,306,10311,0.00,2.30,0.00,0.000,4,0.000,0.075,3114,991,3353
$GC,10339,-0.61,-117.3,662.3,-6.2,306,10343,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2402,3353
$GC,10671,-0.61,-117.3,682.8,-6.2,312,10675,0.00,2.30,0.00,0.000,4,0.000,0.075,3114,989,3353
$GC,10709,-0.61,-117.3,685.3,-6.8,312,10713,0.00,2.28,0.00,0.000,6,0.000,0.066,3114,2406,3353
$GC,11029,-0.61,-117.3,704.2,-5.8,318,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3352
$GC,11332,-0.61,-117.3,721.1,-5.6,323,11333,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3352
$GC,11635,-0.61,-117.3,737.9,-5.5,328,11639,0.00,2.30,0.00,0.000,4,0.000,0.076,3114,994,3352
$GC,11667,-0.61,-117.3,739.9,-6.2,328,11672,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2404,3352
$GC,11999,-0.61,-117.3,759.2,-5.9,334,12003,0.00,2.33,0.00,0.000,4,0.000,0.076,3114,985,3352
$GC,12031,-0.61,-117.3,761.4,-6.3,334,12036,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2391,3352
$GC,12363,-0.61,-117.3,781.9,-6.3,340,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3352
$GC,12666,-0.61,-117.3,801.3,-6.4,345,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3352
$GC,12970,-0.61,-117.3,820.2,-6.2,350,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3351
$GC,13272,-0.61,-117.3,838.2,-5.9,355,13277,0.00,2.33,0.00,0.000,4,0.000,0.077,3114,984,3351
$GC,13304,-0.61,-117.3,840.2,-6.6,355,13309,0.00,2.33,0.00,0.000,6,0.000,0.067,3114,2401,3351
$GC,13636,-0.61,-117.3,858.3,-5.4,361,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3351
$GC,13940,-0.61,-117.3,874.2,-5.2,366,13944,0.00,2.33,0.00,0.000,4,0.000,0.077,3114,985,3351
$GC,13977,-0.61,-117.3,876.3,-6.0,366,13982,0.00,2.33,0.00,0.000,6,0.000,0.067,3114,2406,3350
$GC,14304,-0.61,-117.3,892.8,-5.1,372,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3351
$GC,14607,-0.61,-117.3,908.1,-5.0,377,14611,0.00,2.33,0.00,0.000,4,0.000,0.077,3114,991,3350
$GC,14638,-0.61,-117.3,910.0,-6.0,377,14643,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2398,3350
$GC,14971,-0.61,-117.3,927.1,-5.2,383,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3350
$GC,15276,-0.61,-117.3,942.0,-4.9,388,15277,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3350
$GC,15577,-0.61,-117.3,957.3,-5.0,393,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3350
$GC,15880,-0.61,-117.3,973.3,-5.3,398,15884,0.00,2.33,0.00,0.000,4,0.000,0.077,3114,985,3350
$GC,15912,-0.66,-117.3,975.1,-5.3,398,15916,0.00,2.33,0.00,0.000,6,0.000,0.068,3114,2402,3350
$STATE,16242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16242,begin apogee
$GC,16247,-0.22,0.0,993.4,5.5,404,16350,0.43,0.00,100.12,1.509,6,0.150,0.000,3243,2201,2876
$STATE,16350,end apogee,CONTROL_FINISHED_OK
$STATE,16350,begin climb
$GC,16352,0.64,117.3,995.4,0.0,405,16463,0.85,2.62,103.90,1.458,4,0.102,0.081,3519,787,2397
$GC,16580,0.28,117.3,988.8,7.9,408,16585,0.43,2.45,0.00,0.000,6,0.188,0.064,3410,2202,2394
$GC,16912,0.24,117.8,972.2,5.0,414,16913,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2202,2393
$GC,17215,0.19,117.8,956.4,5.3,419,17217,0.12,0.00,0.00,0.000,6,0.187,0.000,3380,2202,2393
$GC,17518,0.24,127.6,941.9,4.7,424,17530,0.00,0.00,9.80,1.317,6,0.000,0.000,3380,2202,2355
$GC,17822,0.29,127.7,926.7,5.0,429,17826,0.00,2.35,0.00,0.000,4,0.000,0.081,3380,3613,2355
$GC,17853,0.29,127.7,924.9,5.3,429,17858,0.00,2.35,0.00,0.000,6,0.000,0.067,3381,2201,2355
$GC,18187,0.37,139.3,909.1,4.7,435,18200,0.15,0.00,11.18,1.344,6,0.094,0.000,3436,2200,2308
$GC,18489,0.28,139.3,890.3,6.3,440,18490,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2307
$GC,18792,0.19,139.3,871.5,6.2,445,18797,0.17,2.35,0.00,0.000,4,0.162,0.080,3394,786,2307
$GC,18835,0.26,139.3,869.2,5.1,445,18839,0.00,2.30,0.00,0.000,6,0.000,0.064,3394,2203,2307
$GC,19156,0.32,149.4,854.0,4.7,451,19168,0.00,0.00,10.23,1.305,6,0.000,0.000,3395,2204,2267
$GC,19460,0.38,163.0,839.8,4.6,456,19479,0.15,2.40,13.07,1.335,4,0.096,0.083,3457,3607,2211
$GC,19531,0.18,163.0,834.6,8.1,457,19536,0.32,2.33,0.00,0.000,6,0.177,0.067,3376,2199,2210
$GC,19890,0.35,201.3,819.8,4.0,463,19927,0.17,0.00,33.97,1.385,6,0.091,0.000,3437,2199,2055
$GC,20193,0.35,201.3,801.2,6.3,468,20194,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2051
$GC,20496,0.35,201.3,780.8,6.8,473,20497,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2049
$GC,20799,0.35,201.3,758.9,7.3,478,20800,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2049
$GC,21103,0.35,201.3,736.2,7.4,483,21104,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2049
$GC,21405,0.35,201.3,715.0,6.9,488,21406,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2048
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$STATE,32637,end climb,SURFACE_DEPTH_REACHED
$STATE,32637,begin surface coast
$FINISH,3.9,1.012435
$STATE,32734,end surface coast,CONTROL_FINISHED_OK
$STATE,32734,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2155
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$TCM_TEMP,17.00
$XPDR_PINGS,999
$24V_AH,22.9,21.896
$10V_AH,10.7,12.708
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$DEVICE_SECS,29.550,195.025,352.375,11.075,0.000,51.732,71.026,194.075,249.750,0.000,0.000,15.100,1839.894,27948.471,544.280,2372.559,538.358,33.374,1698.845,0.000,2351.544,0.000,0.467
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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,50695,862
$CAP_FILE_SIZE,185754,0
$CFSIZE,260165632,251322368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,195307,5018.525,-14513.362,84,1.4,89,18.5