version: 66.03
glider: 120
mission: 9
dive: 143
start: 10 20 108 18 2 47
data:
$ID,120
$MISSION,9
$DIVE,143
$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,-20663.049
$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,21
$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
$GPS1,175508,4959.893,-14515.534,29,2.0,29,18.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-69.3
$GPS2,180153,4959.886,-14515.514,33,2.3,52,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.046,-0.172
$KALMAN_X,47054.4,-20.4,-174.7,-77493.7,73.1
$KALMAN_Y,109180.4,-38.0,-145.3,-119475.1,1902.4
$MHEAD_RNG_PITCHd_Wd,146.5,11683,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.95,0.000,2,0.000,0.000,135,2406,1949
$GC,36,-0.67,-117.3,3.9,-0.0,1,112,13.43,2.42,-56.30,0.000,4,0.278,0.093,3085,3810,3355
$GC,150,-0.26,-117.3,11.5,-15.9,11,158,0.45,2.30,0.00,0.000,6,0.174,0.056,3225,2400,3357
$GC,478,-0.40,-117.3,31.1,-4.4,42,483,0.12,2.30,0.00,0.000,4,0.081,0.064,3181,986,3358
$GC,510,-0.40,-117.3,33.4,-7.1,44,517,0.00,2.33,0.00,0.000,6,0.000,0.059,3181,2396,3358
$GC,838,-0.50,-117.3,55.9,-6.3,75,839,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2396,3360
$GC,1153,-0.58,-117.3,77.6,-7.1,105,1155,0.15,0.00,0.00,0.000,6,0.082,0.000,3120,2396,3361
$GC,1474,-0.51,-117.3,107.2,-9.0,122,1476,0.12,0.00,0.00,0.000,6,0.109,0.000,3155,2396,3362
$GC,1783,-0.51,-117.3,128.6,-6.4,137,1787,0.00,2.30,0.00,0.000,4,0.000,0.067,3155,990,3362
$GC,1821,-0.51,-117.3,131.2,-7.3,139,1825,0.00,2.28,0.00,0.000,6,0.000,0.061,3155,2401,3361
$GC,2163,-0.55,-117.3,152.8,-6.5,155,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3362
$GC,2470,-0.61,-117.3,175.5,-7.5,165,2474,0.12,2.33,0.00,0.000,4,0.087,0.069,3105,988,3361
$GC,2519,-0.55,-117.3,179.9,-8.8,166,2523,0.12,2.30,0.00,0.000,6,0.160,0.062,3138,2404,3361
$GC,2842,-0.55,-117.3,202.0,-6.7,177,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3361
$GC,3149,-0.55,-117.3,220.5,-5.8,187,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3361
$GC,3455,-0.55,-117.3,238.0,-6.0,197,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3360
$GC,3761,-0.55,-117.3,258.2,-6.7,207,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3360
$GC,4067,-0.55,-117.3,278.4,-6.5,217,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3360
$GC,4373,-0.55,-117.3,298.5,-6.5,227,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3359
$GC,4707,-0.59,-117.3,318.0,-5.8,233,4711,0.00,2.33,0.00,0.000,4,0.000,0.072,3139,994,3358
$GC,4751,-0.65,-117.3,320.9,-6.3,233,4755,0.00,2.30,0.00,0.000,6,0.000,0.064,3138,2407,3358
$GC,5072,-0.70,-117.3,338.6,-5.6,239,5074,0.15,0.00,0.00,0.000,6,0.085,0.000,3082,2408,3358
$GC,5375,-0.64,-117.3,361.2,-7.5,244,5379,0.00,2.35,0.00,0.000,4,0.000,0.082,3082,3822,3358
$GC,5412,-0.52,-117.3,364.4,-8.7,244,5417,0.22,2.28,0.00,0.000,6,0.150,0.058,3145,2389,3357
$GC,5738,-0.60,-117.3,384.3,-6.0,250,5742,0.00,2.28,0.00,0.000,4,0.000,0.073,3145,995,3357
$GC,5777,-0.69,-117.3,387.0,-7.1,250,5781,0.15,2.30,0.00,0.000,6,0.088,0.064,3087,2413,3357
$GC,6102,-0.62,-117.3,413.0,-8.1,256,6107,0.10,2.33,0.00,0.000,4,0.139,0.083,3112,3822,3356
$GC,6145,-0.62,-117.3,416.3,-7.2,256,6150,0.00,2.28,0.00,0.000,6,0.000,0.058,3112,2406,3357
$GC,6466,-0.62,-117.3,439.9,-7.4,262,6470,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,983,3357
$GC,6493,-0.62,-117.3,442.0,-8.1,262,6497,0.00,2.33,0.00,0.000,6,0.000,0.064,3112,2401,3356
$GC,6831,-0.62,-117.3,465.0,-6.8,268,6835,0.00,2.33,0.00,0.000,4,0.000,0.073,3112,986,3356
$GC,6880,-0.62,-117.3,468.4,-6.8,268,6884,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2397,3356
$GC,7195,-0.62,-117.3,486.2,-5.6,274,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3356
$GC,7498,-0.62,-117.3,502.4,-5.2,279,7502,0.00,2.33,0.00,0.000,4,0.000,0.073,3112,991,3356
$GC,7529,-0.62,-117.3,504.2,-5.6,279,7534,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2402,3356
$GC,7861,-0.62,-117.3,521.0,-5.1,285,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3356
$GC,8165,-0.62,-117.3,537.2,-5.4,290,8169,0.00,2.35,0.00,0.000,4,0.000,0.074,3112,984,3355
$GC,8208,-0.62,-117.3,539.8,-6.1,290,8212,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2396,3355
$GC,8529,-0.62,-117.3,558.3,-5.8,296,8533,0.00,2.35,0.00,0.000,4,0.000,0.084,3112,3813,3355
$GC,8555,-0.62,-117.3,559.9,-6.1,296,8559,0.00,2.28,0.00,0.000,6,0.000,0.058,3112,2405,3355
$GC,8893,-0.62,-117.3,579.5,-5.9,302,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3355
$GC,9196,-0.62,-117.3,598.4,-6.2,307,9200,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,990,3355
$GC,9227,-0.62,-117.3,600.6,-6.8,307,9232,0.00,2.33,0.00,0.000,6,0.000,0.064,3112,2402,3355
$GC,9560,-0.62,-117.3,621.4,-6.3,313,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3355
$GC,9863,-0.62,-117.3,640.9,-6.4,318,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3355
$GC,10166,-0.62,-117.3,658.7,-5.8,323,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3355
$GC,10470,-0.62,-117.3,677.3,-6.2,328,10474,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,993,3354
$GC,10497,-0.62,-117.3,679.2,-6.7,328,10501,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2402,3354
$GC,10835,-0.62,-117.3,701.7,-6.8,334,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3355
$GC,11138,-0.62,-117.3,723.6,-7.3,339,11142,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,993,3354
$GC,11169,-0.62,-117.3,726.1,-7.4,339,11174,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2400,3354
$GC,11502,-0.62,-117.3,750.6,-7.4,345,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3354
$GC,11805,-0.62,-117.3,771.3,-6.7,350,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3354
$GC,12108,-0.62,-117.3,789.2,-5.9,355,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3353
$GC,12412,-0.62,-117.3,805.4,-5.3,360,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3353
$GC,12714,-0.62,-117.3,820.9,-5.1,365,12718,0.00,2.33,0.00,0.000,4,0.000,0.075,3112,991,3353
$GC,12740,-0.62,-117.3,822.4,-5.5,365,12744,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2402,3353
$GC,13079,-0.66,-117.3,838.4,-4.7,371,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3353
$GC,13381,-0.66,-117.3,852.6,-4.7,376,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3354
$GC,13685,-0.70,-117.3,867.6,-5.0,381,13689,0.00,2.33,0.00,0.000,4,0.000,0.075,3112,992,3353
$GC,13717,-0.70,-117.3,869.4,-5.4,381,13721,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2400,3353
$GC,14049,-0.74,-117.3,887.1,-5.3,387,14051,0.10,0.00,0.00,0.000,6,0.097,0.000,3075,2400,3352
$GC,14352,-0.74,-117.3,904.6,-5.8,392,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2400,3352
$GC,14655,-0.74,-117.3,922.3,-5.9,397,14659,0.00,2.35,0.00,0.000,4,0.000,0.084,3074,3819,3352
$GC,14682,-0.69,-117.3,924.0,-5.8,397,14686,0.00,2.28,0.00,0.000,6,0.000,0.061,3074,2395,3352
$GC,15019,-0.69,-117.3,945.3,-6.4,403,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2395,3352
$GC,15322,-0.69,-117.3,965.2,-6.6,408,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2395,3352
$GC,15625,-0.69,-117.3,984.3,-6.3,413,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2395,3352
$STATE,15745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15745,begin apogee
$GC,15750,-0.22,0.0,991.8,6.2,415,15854,0.57,0.00,101.65,1.501,6,0.146,0.000,3248,2197,2877
$STATE,15855,end apogee,CONTROL_FINISHED_OK
$STATE,15855,begin climb
$GC,15857,0.67,117.3,993.6,0.0,416,15966,0.88,0.00,105.88,1.448,6,0.094,0.000,3532,2198,2397
$GC,16231,0.30,117.3,973.9,8.5,423,16233,0.43,0.00,0.00,0.000,6,0.185,0.000,3422,2197,2394
$GC,16534,0.24,117.3,956.5,5.6,428,16535,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2197,2393
$GC,16837,0.18,117.3,938.5,6.0,433,16842,0.15,2.40,0.00,0.000,4,0.179,0.080,3381,782,2392
$GC,16880,0.27,117.3,935.9,5.1,433,16884,0.00,2.35,0.00,0.000,6,0.000,0.064,3381,2204,2392
$GC,17201,0.35,120.3,920.1,4.9,439,17206,0.15,2.35,0.00,0.000,4,0.090,0.081,3446,3609,2392
$GC,17250,0.13,120.3,916.8,6.5,439,17256,0.32,2.30,0.00,0.000,6,0.179,0.067,3362,2204,2392
$GC,17561,0.30,152.6,903.7,4.1,444,17594,0.15,0.00,30.50,1.424,6,0.089,0.000,3417,2204,2253
$GC,17864,0.35,152.6,887.8,5.3,449,17865,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2204,2251
$GC,18166,0.41,152.6,872.4,5.1,454,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2204,2250
$GC,18469,0.48,158.2,857.8,4.8,459,18481,0.15,2.38,6.20,1.147,4,0.102,0.081,3490,789,2230
$GC,18520,0.28,158.2,854.0,7.8,459,18524,0.30,2.33,0.00,0.000,6,0.169,0.065,3408,2201,2230
$GC,18835,0.32,158.2,836.8,5.4,465,18836,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2201,2229
$GC,19138,0.32,158.2,819.9,5.6,470,19139,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2201,2229
$GC,19441,0.32,158.2,803.2,5.5,475,19445,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,789,2229
$GC,19473,0.38,158.2,801.3,5.7,475,19477,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2196,2229
$GC,19806,0.42,158.2,784.4,5.1,481,19807,0.15,0.00,0.00,0.000,6,0.091,0.000,3465,2196,2229
$GC,20108,0.30,158.2,765.2,6.4,486,20110,0.17,0.00,0.00,0.000,6,0.165,0.000,3419,2197,2229
$GC,20411,0.31,168.4,750.6,4.7,491,20423,0.00,0.00,10.07,1.243,6,0.000,0.000,3419,2197,2188
$GC,20714,0.31,168.4,734.5,5.4,496,20716,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2197,2187
$GC,21017,0.31,168.4,716.9,5.8,501,21021,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,780,2187
$GC,21054,0.36,168.4,714.6,5.6,501,21058,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2209,2187
$GC,21380,0.36,168.4,693.7,6.5,507,21381,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2209,2187
$GC,21684,0.36,168.4,672.7,7.0,512,21685,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2209,2187
$GC,21987,0.36,168.4,650.4,7.4,517,21991,0.00,2.33,0.00,0.000,4,0.000,0.083,3421,3614,2187
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$STATE,32005,end climb,SURFACE_DEPTH_REACHED
$STATE,32005,begin surface coast
$FINISH,2.8,1.012811
$STATE,32082,end surface coast,CONTROL_FINISHED_OK
$STATE,32082,begin surface
$SM_CCo,32100,10.52,0.802,0,0,1652,300.00
$SM_GC,5.23,0.00,0.00,10.52,0.000,0.000,0.802,148,2411,1652,-9.91,0.31,300.00
$IRIDIUM_FIX,4946.36,-14448.39,140198,080819
$TT8_MAMPS,0.026845
$HUMID,2152
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$TCM_TEMP,15.20
$XPDR_PINGS,960
$24V_AH,22.8,30.643
$10V_AH,10.7,19.070
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$DEVICE_SECS,30.150,186.575,353.525,10.525,0.000,30.605,32.159,195.524,240.000,0.000,0.000,53.203,1802.035,27368.797,535.174,2293.321,511.672,33.377,1639.167,0.000,2238.737,0.000,0.465
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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,50544,857
$CAP_FILE_SIZE,180255,0
$CFSIZE,260165632,247558144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,025938,4957.326,-14514.221,64,1.1,64,18.4