version: 66.03
glider: 120
mission: 9
dive: 135
start: 10 17 108 16 36 58
data:
$ID,120
$MISSION,9
$DIVE,135
$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,-20437.914
$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
$GPS1,162807,5018.005,-14505.984,41,1.0,41,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.13
$_SM_ANGLEo,-68.2
$GPS2,163603,5018.001,-14505.949,15,1.2,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.155,0.087
$KALMAN_X,42139.6,6.3,-16.4,-61409.6,713.9
$KALMAN_Y,98237.6,-12.3,80.9,-75245.8,783.5
$MHEAD_RNG_PITCHd_Wd,280.9,9012,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.70,0.000,2,0.000,0.000,134,2415,1696
$GC,36,-0.67,-117.3,4.0,-0.0,1,124,13.35,2.38,-69.57,0.000,4,0.275,0.080,3095,990,3355
$GC,152,-0.32,-117.3,9.0,-10.8,11,159,0.35,2.35,0.00,0.000,6,0.163,0.061,3209,2396,3357
$GC,477,-0.40,-117.3,31.8,-6.5,42,481,0.00,2.33,0.00,0.000,4,0.000,0.066,3209,986,3358
$GC,505,-0.48,-117.3,33.8,-7.7,44,510,0.15,2.30,0.00,0.000,6,0.078,0.059,3156,2402,3358
$GC,831,-0.48,-117.3,62.6,-7.1,74,835,0.00,2.33,0.00,0.000,4,0.000,0.076,3155,3818,3359
$GC,897,-0.48,-117.3,68.0,-7.9,79,904,0.00,2.28,0.00,0.000,6,0.000,0.051,3155,2399,3359
$GC,1218,-0.48,-117.3,90.7,-7.0,103,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,3360
$GC,1527,-0.48,-117.3,113.4,-7.6,118,1531,0.00,2.28,0.00,0.000,4,0.000,0.067,3155,992,3360
$GC,1554,-0.48,-117.3,115.5,-8.3,119,1558,0.00,2.30,0.00,0.000,6,0.000,0.058,3155,2399,3360
$GC,1876,-0.48,-117.3,135.6,-5.9,135,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,3360
$GC,2194,-0.53,-117.3,157.7,-7.7,149,2198,0.00,2.30,0.00,0.000,4,0.000,0.067,3154,990,3360
$GC,2232,-0.59,-117.3,160.9,-8.5,150,2236,0.00,2.28,0.00,0.000,6,0.000,0.060,3155,2401,3360
$GC,2562,-0.66,-117.3,182.7,-6.0,161,2564,0.15,0.00,0.00,0.000,6,0.083,0.000,3095,2402,3360
$GC,2868,-0.55,-117.3,205.1,-7.2,171,2870,0.15,0.00,0.00,0.000,6,0.155,0.000,3134,2402,3359
$GC,3174,-0.55,-117.3,222.4,-5.7,181,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3359
$GC,3480,-0.55,-117.3,241.1,-6.2,191,3484,0.00,2.30,0.00,0.000,4,0.000,0.071,3135,995,3358
$GC,3512,-0.55,-117.3,243.4,-6.7,192,3517,0.00,2.30,0.00,0.000,6,0.000,0.063,3134,2396,3358
$GC,3848,-0.55,-117.3,263.7,-5.9,203,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3358
$GC,4154,-0.55,-117.3,282.0,-6.0,213,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3358
$GC,4460,-0.55,-117.3,301.5,-6.5,223,4464,0.00,2.30,0.00,0.000,4,0.000,0.072,3135,994,3357
$GC,4503,-0.55,-117.3,304.5,-6.8,223,4508,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2398,3357
$GC,4824,-0.55,-117.3,323.1,-5.6,229,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2397,3356
$GC,5127,-0.55,-117.3,340.7,-5.8,234,5131,0.00,2.30,0.00,0.000,4,0.000,0.072,3135,985,3356
$GC,5154,-0.55,-117.3,342.4,-6.5,234,5158,0.00,2.33,0.00,0.000,6,0.000,0.063,3135,2405,3356
$GC,5492,-0.55,-117.3,363.0,-6.1,240,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2405,3355
$GC,5795,-0.59,-117.3,382.6,-6.5,245,5799,0.00,2.33,0.00,0.000,4,0.000,0.073,3134,985,3355
$GC,5816,-0.63,-117.3,383.9,-6.4,245,5820,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2408,3355
$GC,6159,-0.68,-117.3,407.0,-6.7,251,6161,0.12,0.00,0.00,0.000,6,0.087,0.000,3087,2408,3354
$GC,6462,-0.64,-117.3,429.4,-7.4,256,6466,0.00,2.33,0.00,0.000,4,0.000,0.073,3087,992,3354
$GC,6506,-0.56,-117.3,432.9,-8.0,256,6511,0.17,2.28,0.00,0.000,6,0.160,0.064,3134,2401,3354
$GC,6827,-0.61,-117.3,451.9,-5.9,262,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2401,3353
$GC,7130,-0.66,-117.3,469.6,-5.8,267,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2401,3353
$GC,7433,-0.72,-117.3,484.8,-4.9,272,7438,0.15,2.33,0.00,0.000,4,0.085,0.072,3071,991,3353
$GC,7465,-0.60,-117.3,486.9,-7.4,272,7470,0.17,2.30,0.00,0.000,6,0.168,0.064,3117,2408,3353
$GC,7796,-0.60,-117.3,504.4,-5.2,278,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2408,3353
$GC,8100,-0.60,-117.3,521.7,-5.7,283,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2408,3352
$GC,8403,-0.60,-117.3,540.1,-6.1,288,8407,0.00,2.33,0.00,0.000,4,0.000,0.073,3117,995,3353
$GC,8434,-0.60,-117.3,542.3,-7.0,288,8439,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2393,3352
$GC,8767,-0.60,-117.3,564.7,-6.8,294,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3352
$GC,9070,-0.60,-117.3,586.4,-7.2,299,9074,0.00,2.30,0.00,0.000,4,0.000,0.075,3114,995,3352
$GC,9107,-0.60,-117.3,589.3,-7.5,299,9112,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2394,3352
$GC,9434,-0.60,-117.3,611.7,-6.8,305,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2394,3352
$GC,9737,-0.60,-117.3,631.6,-6.6,310,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2395,3351
$GC,10040,-0.60,-117.3,651.2,-6.5,315,10044,0.00,2.30,0.00,0.000,4,0.000,0.075,3113,995,3351
$GC,10067,-0.60,-117.3,653.0,-7.4,315,10071,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2398,3351
$GC,10405,-0.60,-117.3,673.0,-5.8,321,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3351
$GC,10708,-0.60,-117.3,690.0,-5.6,326,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3351
$GC,11011,-0.60,-117.3,706.3,-5.3,331,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3351
$GC,11314,-0.60,-117.3,721.9,-5.1,336,11318,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,989,3350
$GC,11346,-0.60,-117.3,723.4,-4.7,336,11350,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2421,3350
$GC,11678,-0.60,-117.3,739.4,-4.9,342,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2421,3351
$GC,11980,-0.60,-117.3,755.8,-5.5,347,11985,0.00,2.35,0.00,0.000,4,0.000,0.074,3114,995,3350
$GC,12018,-0.60,-117.3,758.3,-6.6,347,12023,0.00,2.30,0.00,0.000,6,0.000,0.065,3114,2397,3350
$GC,12345,-0.60,-117.3,777.5,-5.9,353,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3350
$GC,12648,-0.60,-117.3,796.3,-6.2,358,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3350
$GC,12951,-0.60,-117.3,815.6,-6.4,363,12955,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,991,3349
$GC,12988,-0.60,-117.3,818.3,-7.0,363,12992,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2399,3349
$GC,13314,-0.60,-117.3,839.6,-6.6,369,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3350
$GC,13618,-0.64,-117.3,858.8,-6.3,374,13622,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,988,3349
$GC,13644,-0.69,-117.3,860.6,-6.8,374,13649,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2405,3349
$GC,13982,-0.74,-117.3,879.3,-5.5,380,13984,0.10,0.00,0.00,0.000,6,0.097,0.000,3077,2407,3349
$GC,14285,-0.74,-117.3,896.9,-5.8,385,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2406,3349
$GC,14588,-0.74,-117.3,912.8,-5.2,390,14593,0.00,2.35,0.00,0.000,4,0.000,0.076,3077,989,3349
$GC,14615,-0.74,-117.3,914.4,-6.0,390,14619,0.00,2.33,0.00,0.000,6,0.000,0.067,3077,2399,3348
$GC,14953,-0.69,-117.3,933.2,-5.6,396,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3349
$GC,15256,-0.65,-117.3,950.4,-5.6,401,15258,0.12,0.00,0.00,0.000,6,0.156,0.000,3109,2399,3349
$GC,15560,-0.69,-117.3,965.8,-5.0,406,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3348
$GC,15862,-0.73,-117.3,982.1,-5.4,411,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3349
$STATE,16042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16042,begin apogee
$GC,16047,-0.22,0.0,992.2,5.4,414,16150,0.45,0.00,100.32,1.503,6,0.147,0.000,3247,2200,2876
$STATE,16151,end apogee,CONTROL_FINISHED_OK
$STATE,16151,begin climb
$GC,16153,0.67,117.3,994.3,0.0,415,16264,0.85,2.65,104.47,1.451,4,0.095,0.079,3532,786,2396
$GC,16348,0.29,117.3,991.5,7.2,418,16353,0.45,2.47,0.00,0.000,6,0.192,0.062,3419,2207,2393
$GC,16703,0.28,153.9,976.8,4.0,424,16737,0.00,0.00,32.22,1.430,6,0.000,0.000,3419,2207,2248
$GC,17005,0.30,171.4,963.3,4.5,429,17024,0.00,0.00,16.48,1.374,6,0.000,0.000,3419,2208,2176
$GC,17374,0.30,171.4,944.0,5.2,435,17375,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2207,2174
$GC,17677,0.30,171.4,927.3,5.6,440,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2207,2173
$GC,17980,0.30,171.4,909.2,6.0,445,17984,0.00,2.40,0.00,0.000,4,0.000,0.080,3421,781,2173
$GC,18028,0.30,171.4,906.0,6.6,445,18033,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2198,2173
$GC,18343,0.30,171.4,886.2,6.3,451,18347,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3613,2174
$GC,18382,0.24,171.4,883.2,8.1,451,18386,0.00,2.30,0.00,0.000,6,0.000,0.066,3421,2199,2173
$GC,18708,0.24,171.4,861.0,6.9,457,18709,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2173
$GC,19012,0.24,171.4,840.2,6.9,462,19016,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,789,2173
$GC,19044,0.24,171.4,837.9,6.8,462,19049,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2198,2173
$GC,19376,0.24,171.4,816.2,6.5,468,19380,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3619,2173
$GC,19403,0.24,171.4,814.3,6.8,468,19408,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2201,2172
$GC,19741,0.24,171.4,794.1,5.9,474,19745,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,780,2172
$GC,19779,0.24,171.4,791.9,5.5,474,19783,0.00,2.30,0.00,0.000,6,0.000,0.063,3421,2205,2173
$GC,20100,0.24,171.4,774.6,5.4,480,20101,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2172
$GC,20402,0.24,171.4,757.7,5.6,485,20406,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,791,2172
$GC,20457,0.28,171.4,754.4,6.2,485,20464,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2208,2173
$GC,20767,0.28,171.4,735.9,6.0,491,20771,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,783,2172
$GC,20810,0.33,171.4,733.3,5.6,491,20814,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2206,2172
$GC,21131,0.33,171.4,714.2,6.0,497,21132,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2172
$GC,21434,0.33,171.4,695.6,6.2,502,21435,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2172
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$STATE,32980,end climb,SURFACE_DEPTH_REACHED
$STATE,32980,begin surface coast
$FINISH,3.2,1.014771
$STATE,33066,end surface coast,CONTROL_FINISHED_OK
$STATE,33066,begin surface
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$10V_AH,10.7,18.002
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$DEVICE_SECS,27.775,177.750,367.175,0.000,0.000,53.521,54.468,199.618,249.750,0.000,0.000,15.239,1804.324,28433.459,555.786,2264.079,557.894,33.377,1659.029,0.000,2248.479,0.000,0.465
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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,50613,878
$CAP_FILE_SIZE,178304,0
$CFSIZE,260165632,248184832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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