version: 66.03
glider: 120
mission: 9
dive: 149
start: 10 22 108 23 8 51
data:
$ID,120
$MISSION,9
$DIVE,149
$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,-20818.785
$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,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
$GPS1,230237,4959.287,-14459.386,38,1.2,38,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-70.0
$GPS2,230756,4959.294,-14459.418,9,1.2,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,0.111
$KALMAN_X,42302.3,-147.1,11.3,-53683.6,-1172.0
$KALMAN_Y,116735.6,-182.4,-220.2,-127902.6,2066.4
$MHEAD_RNG_PITCHd_Wd,32.7,18277,-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,-117.3,0.0,0.0,0,34,0.00,0.00,-12.38,0.000,2,0.000,0.000,137,2412,1744
$GC,37,-0.67,-117.3,3.5,-0.0,1,122,13.88,2.45,-60.90,0.000,4,0.285,0.081,3096,989,3356
$GC,374,-0.39,-117.3,44.6,-12.0,31,381,0.28,2.35,0.00,0.000,6,0.156,0.062,3195,2398,3358
$GC,702,-0.74,-117.3,66.5,-6.3,62,707,0.32,2.33,0.00,0.000,4,0.087,0.064,3077,989,3359
$GC,745,-0.61,-117.3,70.4,-8.6,65,752,0.12,2.33,0.00,0.000,6,0.152,0.060,3111,2401,3359
$GC,1075,-0.45,-117.3,100.7,-10.5,87,1080,0.17,2.35,0.00,0.000,4,0.169,0.075,3155,3816,3360
$GC,1106,-0.45,-117.3,103.8,-8.9,88,1114,0.00,2.28,0.00,0.000,6,0.000,0.051,3155,2401,3360
$GC,1422,-0.45,-117.3,124.3,-6.5,104,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3361
$GC,1732,-0.50,-117.3,144.9,-6.1,119,1736,0.00,2.30,0.00,0.000,4,0.000,0.068,3155,990,3361
$GC,1753,-0.57,-117.3,146.0,-5.0,120,1757,0.00,2.30,0.00,0.000,6,0.000,0.059,3155,2410,3361
$GC,2067,-0.82,-117.3,165.3,-7.3,132,2072,0.28,2.33,0.00,0.000,4,0.087,0.076,3048,3812,3360
$GC,2313,-0.57,-117.3,191.2,-10.9,139,2318,0.30,2.25,0.00,0.000,6,0.159,0.055,3133,2401,3360
$GC,2637,-0.57,-117.3,211.1,-6.1,150,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2401,3360
$GC,2943,-0.57,-117.3,232.1,-7.0,160,2947,0.00,2.30,0.00,0.000,4,0.000,0.071,3133,992,3359
$GC,2974,-0.57,-117.3,234.4,-7.0,161,2979,0.00,2.33,0.00,0.000,6,0.000,0.061,3131,2403,3360
$GC,3310,-0.57,-117.3,257.5,-6.8,172,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2403,3359
$GC,3617,-0.57,-117.3,276.6,-6.1,182,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2403,3359
$GC,3923,-0.57,-117.3,297.2,-7.0,192,3927,0.00,2.33,0.00,0.000,4,0.000,0.071,3131,993,3358
$GC,3960,-0.57,-117.3,300.0,-7.6,193,3965,0.00,2.33,0.00,0.000,6,0.000,0.063,3129,2402,3358
$GC,4287,-0.57,-117.3,320.4,-6.2,199,4291,0.00,2.33,0.00,0.000,4,0.000,0.071,3128,989,3357
$GC,4324,-0.57,-117.3,322.8,-6.0,199,4329,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2400,3357
$GC,4651,-0.57,-117.3,342.5,-6.1,205,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3357
$GC,4954,-0.57,-117.3,362.4,-6.6,210,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3357
$GC,5257,-0.57,-117.3,383.0,-6.8,215,5261,0.00,2.33,0.00,0.000,4,0.000,0.072,3129,986,3356
$GC,5300,-0.62,-117.3,386.1,-7.5,215,5304,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2406,3356
$GC,5621,-0.62,-117.3,406.0,-6.2,221,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2407,3356
$GC,5924,-0.62,-117.3,424.5,-6.1,226,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3355
$GC,6227,-0.62,-117.3,442.2,-5.8,231,6231,0.00,2.33,0.00,0.000,4,0.000,0.074,3129,992,3355
$GC,6253,-0.66,-117.3,443.9,-6.3,231,6257,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2411,3355
$GC,6591,-0.66,-117.3,463.3,-5.8,237,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2411,3354
$GC,6894,-0.70,-117.3,480.0,-5.5,242,6899,0.12,2.35,0.00,0.000,4,0.093,0.072,3079,991,3355
$GC,6943,-0.61,-117.3,483.7,-8.2,242,6948,0.15,2.30,0.00,0.000,6,0.163,0.066,3118,2399,3354
$GC,7259,-0.61,-117.3,502.6,-6.0,248,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3355
$GC,7561,-0.61,-117.3,521.0,-6.1,253,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3354
$GC,7864,-0.61,-117.3,538.2,-5.7,258,7868,0.00,2.33,0.00,0.000,4,0.000,0.073,3119,988,3353
$GC,7891,-0.61,-117.3,539.8,-6.2,258,7895,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2405,3354
$GC,8229,-0.61,-117.3,557.7,-5.2,264,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3353
$GC,8531,-0.61,-117.3,573.7,-5.3,269,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3353
$GC,8835,-0.61,-117.3,592.4,-6.2,274,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3354
$GC,9138,-0.61,-117.3,611.5,-6.3,279,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3353
$GC,9441,-0.61,-117.3,630.1,-6.1,284,9445,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,987,3352
$GC,9484,-0.61,-117.3,633.2,-6.6,284,9488,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2392,3352
$GC,9805,-0.61,-117.3,652.1,-5.8,290,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3352
$GC,10108,-0.61,-117.3,669.4,-5.7,295,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3352
$GC,10411,-0.61,-117.3,686.1,-5.5,300,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3352
$GC,10714,-0.61,-117.3,702.8,-5.5,305,10719,0.00,2.38,0.00,0.000,4,0.000,0.085,3113,3809,3352
$GC,10741,-0.66,-117.3,704.4,-5.7,305,10746,0.00,2.25,0.00,0.000,6,0.000,0.061,3113,2402,3352
$GC,11079,-0.66,-117.3,722.9,-5.5,311,11083,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,986,3352
$GC,11116,-0.66,-117.3,725.1,-5.6,311,11121,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2399,3351
$GC,11443,-0.66,-117.3,743.8,-5.8,317,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3351
$GC,11746,-0.66,-117.3,761.8,-5.9,322,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3351
$GC,12049,-0.66,-117.3,779.8,-5.9,327,12053,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,983,3351
$GC,12081,-0.71,-117.3,781.7,-5.7,327,12085,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2404,3351
$GC,12413,-0.71,-117.3,800.5,-5.6,333,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3351
$GC,12716,-0.71,-117.3,816.7,-5.3,338,12720,0.00,2.35,0.00,0.000,4,0.000,0.075,3113,989,3351
$GC,12742,-0.76,-117.3,818.2,-5.6,338,12747,0.12,2.30,0.00,0.000,6,0.093,0.067,3066,2401,3351
$GC,13080,-0.69,-117.3,840.8,-6.8,344,13084,0.00,2.35,0.00,0.000,4,0.000,0.084,3062,3816,3351
$GC,13112,-0.58,-117.3,843.3,-7.7,344,13117,0.22,2.28,0.00,0.000,6,0.154,0.060,3125,2393,3351
$GC,13438,-0.65,-117.3,860.2,-5.1,350,13442,0.00,2.33,0.00,0.000,4,0.000,0.076,3125,987,3351
$GC,13476,-0.73,-117.3,862.4,-5.7,350,13481,0.15,2.33,0.00,0.000,6,0.088,0.066,3072,2412,3350
$GC,13802,-0.73,-117.3,884.8,-7.0,356,13806,0.00,2.33,0.00,0.000,4,0.000,0.085,3073,3809,3350
$GC,13835,-0.66,-117.3,887.5,-7.5,356,13839,0.12,2.28,0.00,0.000,6,0.134,0.061,3105,2390,3350
$GC,14167,-0.66,-117.3,910.1,-6.8,362,14171,0.00,2.33,0.00,0.000,4,0.000,0.076,3105,985,3350
$GC,14199,-0.66,-117.3,912.3,-6.5,362,14203,0.00,2.35,0.00,0.000,6,0.000,0.067,3101,2421,3350
$GC,14531,-0.66,-117.3,933.1,-6.1,368,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2421,3350
$GC,14834,-0.66,-117.3,949.3,-5.2,373,14838,0.00,2.38,0.00,0.000,4,0.000,0.076,3101,994,3350
$GC,14866,-0.66,-117.3,951.2,-5.1,373,14870,0.00,2.33,0.00,0.000,6,0.000,0.066,3101,2400,3350
$GC,15198,-0.66,-117.3,968.3,-5.2,379,15199,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3350
$GC,15501,-0.66,-117.3,984.1,-5.2,384,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3350
$STATE,15620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15620,begin apogee
$GC,15625,-0.22,0.0,990.4,5.2,386,15730,0.47,0.00,101.47,1.499,6,0.143,0.000,3245,2201,2876
$STATE,15730,end apogee,CONTROL_FINISHED_OK
$STATE,15730,begin climb
$GC,15732,0.67,117.3,992.0,0.0,387,15842,0.88,0.00,106.78,1.445,6,0.092,0.000,3530,2201,2397
$GC,16106,0.31,117.3,971.6,8.5,394,16111,0.38,2.42,0.00,0.000,4,0.182,0.077,3435,789,2393
$GC,16150,0.24,117.3,968.6,5.7,394,16155,0.15,2.40,0.00,0.000,6,0.171,0.063,3399,2203,2393
$GC,16471,0.24,120.6,952.9,4.9,400,16480,0.00,2.42,3.85,0.878,4,0.000,0.081,3399,3611,2384
$GC,16514,0.19,120.6,950.5,6.1,400,16518,0.00,2.35,0.00,0.000,6,0.000,0.064,3407,2194,2384
$GC,16840,0.19,120.6,933.9,5.1,406,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2194,2384
$GC,17143,0.19,126.3,919.0,4.8,411,17152,0.00,0.00,6.68,1.191,6,0.000,0.000,3408,2194,2361
$GC,17447,0.19,126.3,903.7,5.1,416,17448,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2194,2361
$GC,17750,0.19,126.3,886.8,5.6,421,17751,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2194,2361
$GC,18052,0.19,126.3,869.9,5.6,426,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2194,2360
$GC,18355,0.19,126.3,854.0,5.2,431,18360,0.00,2.42,0.00,0.000,4,0.000,0.084,3408,3614,2360
$GC,18395,0.12,126.3,851.7,6.6,431,18400,0.20,2.33,0.00,0.000,6,0.171,0.067,3356,2191,2360
$GC,18716,0.36,161.6,839.1,4.0,437,18749,0.22,0.00,30.83,1.394,6,0.093,0.000,3435,2190,2216
$GC,19018,0.41,161.6,821.4,5.9,442,19019,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2190,2215
$GC,19321,0.46,161.6,804.2,5.7,447,19325,0.00,2.42,0.00,0.000,4,0.000,0.083,3434,3609,2214
$GC,19353,0.36,161.6,802.3,5.3,447,19357,0.00,2.33,0.00,0.000,6,0.000,0.067,3435,2199,2214
$GC,19685,0.36,161.6,784.4,5.4,453,19686,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2199,2214
$GC,19988,0.36,161.6,766.9,5.8,458,19989,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2198,2214
$GC,20291,0.36,161.6,748.2,6.2,463,20295,0.00,2.40,0.00,0.000,4,0.000,0.083,3435,3615,2214
$GC,20335,0.26,161.6,745.0,6.9,463,20340,0.12,2.33,0.00,0.000,6,0.181,0.067,3405,2189,2213
$GC,20649,0.32,161.6,727.1,5.7,469,20654,0.00,2.38,0.00,0.000,4,0.000,0.081,3406,3609,2214
$GC,20681,0.32,161.6,724.9,6.0,469,20686,0.00,2.33,0.00,0.000,6,0.000,0.065,3408,2194,2213
$GC,21015,0.38,161.6,705.6,5.9,475,21017,0.10,0.00,0.00,0.000,6,0.101,0.000,3448,2194,2214
$GC,21317,0.34,161.6,684.8,6.9,480,21318,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2194,2214
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$STATE,32402,end climb,SURFACE_DEPTH_REACHED
$STATE,32402,begin surface coast
$FINISH,3.4,1.024886
$STATE,32434,end surface coast,CONTROL_FINISHED_OK
$STATE,32434,begin surface
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$TCM_TEMP,18.80
$XPDR_PINGS,942
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$10V_AH,10.6,19.854
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$DEVICE_SECS,31.175,215.975,530.325,0.000,0.000,23.752,31.798,151.692,235.500,0.000,0.000,15.708,1787.910,27503.688,689.196,2370.780,473.081,33.375,1891.121,0.000,2343.317,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50562,842
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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