version: 66.03
glider: 120
mission: 9
dive: 283
start: 12 12 108 22 14 30
data:
$ID,120
$MISSION,9
$DIVE,283
$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,-23620.869
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,220437,5014.793,-14427.536,33,1.2,33,18.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-73.2
$GPS2,221335,5014.763,-14427.619,10,2.3,29,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.178
$KALMAN_X,27199.6,-211.9,312.9,-1044.4,-648.3
$KALMAN_Y,216093.9,355.7,306.2,-199714.2,240.9
$MHEAD_RNG_PITCHd_Wd,159.9,38522,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.50,0.000,2,0.000,0.000,136,2405,1800
$GC,38,-0.67,-117.3,3.6,-0.0,1,135,13.60,2.55,-73.68,0.000,4,0.276,0.103,3094,3805,3356
$GC,382,-0.47,-117.3,36.1,-9.5,32,387,0.25,2.33,0.00,0.000,6,0.160,0.055,3164,2398,3358
$GC,707,-0.47,-117.3,61.2,-8.8,62,711,0.00,2.40,0.00,0.000,4,0.000,0.069,3164,987,3358
$GC,723,-0.47,-117.3,62.8,-9.5,63,730,0.00,2.38,0.00,0.000,6,0.000,0.061,3164,2402,3358
$GC,1046,-0.51,-117.3,86.6,-7.3,90,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2402,3358
$GC,1355,-0.58,-117.3,106.9,-5.7,105,1360,0.12,2.38,0.00,0.000,4,0.083,0.077,3113,3809,3359
$GC,1377,-0.58,-117.3,108.5,-6.9,106,1381,0.00,2.33,0.00,0.000,6,0.000,0.052,3113,2386,3359
$GC,1698,-0.53,-117.3,132.1,-7.5,122,1703,0.10,2.38,0.00,0.000,4,0.121,0.067,3140,984,3359
$GC,1747,-0.53,-117.3,135.8,-7.5,124,1751,0.00,2.33,0.00,0.000,6,0.000,0.060,3140,2407,3359
$GC,2090,-0.58,-117.3,158.2,-6.7,139,2095,0.00,2.42,0.00,0.000,4,0.000,0.067,3140,985,3359
$GC,2123,-0.63,-117.3,160.8,-7.1,140,2128,0.00,2.35,0.00,0.000,6,0.000,0.061,3139,2406,3359
$GC,2454,-0.69,-117.3,181.9,-6.1,151,2456,0.15,0.00,0.00,0.000,6,0.082,0.000,3081,2407,3359
$GC,2760,-0.64,-117.3,204.4,-7.4,161,2761,0.10,0.00,0.00,0.000,6,0.100,0.000,3110,2407,3359
$GC,3065,-0.64,-117.3,227.2,-7.6,171,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3359
$GC,3372,-0.64,-117.3,250.5,-7.5,181,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3359
$GC,3678,-0.64,-117.3,273.4,-7.3,191,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3359
$GC,3984,-0.64,-117.3,294.6,-6.8,201,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3359
$GC,4318,-0.64,-117.3,316.8,-6.6,208,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3359
$GC,4621,-0.64,-117.3,336.3,-6.5,213,4625,0.00,2.42,0.00,0.000,4,0.000,0.071,3110,992,3358
$GC,4653,-0.64,-117.3,338.6,-7.0,213,4657,0.00,2.33,0.00,0.000,6,0.000,0.063,3110,2407,3358
$GC,4980,-0.64,-117.3,357.9,-5.8,219,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3358
$GC,5283,-0.64,-117.3,374.2,-5.3,224,5287,0.00,2.40,0.00,0.000,4,0.000,0.071,3110,995,3357
$GC,5321,-0.64,-117.3,376.5,-6.1,224,5325,0.00,2.33,0.00,0.000,6,0.000,0.064,3110,2399,3357
$GC,5648,-0.64,-117.3,395.8,-6.0,230,5652,0.00,2.38,0.00,0.000,4,0.000,0.084,3110,3818,3357
$GC,5670,-0.64,-117.3,397.2,-6.1,230,5675,0.00,2.28,0.00,0.000,6,0.000,0.056,3110,2399,3357
$GC,6008,-0.64,-117.3,418.1,-6.1,236,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3357
$GC,6311,-0.64,-117.3,436.3,-6.0,241,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3357
$GC,6615,-0.64,-117.3,454.3,-5.9,246,6619,0.00,2.38,0.00,0.000,4,0.000,0.072,3110,995,3356
$GC,6647,-0.64,-117.3,456.4,-6.9,246,6652,0.00,2.33,0.00,0.000,6,0.000,0.064,3110,2398,3356
$GC,6980,-0.64,-117.3,475.4,-5.7,252,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3356
$GC,7282,-0.64,-117.3,490.8,-5.0,257,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3356
$GC,7586,-0.64,-117.3,505.7,-4.9,262,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3356
$GC,7889,-0.64,-117.3,521.2,-5.2,267,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3356
$GC,8192,-0.64,-117.3,537.0,-5.2,272,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3356
$GC,8495,-0.68,-117.3,553.9,-5.6,277,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3356
$GC,8799,-0.72,-117.3,570.8,-5.6,282,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3355
$GC,9102,-0.77,-117.3,589.9,-6.4,287,9104,0.12,0.00,0.00,0.000,6,0.091,0.000,3061,2399,3355
$GC,9405,-0.73,-117.3,613.6,-7.9,292,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2399,3355
$GC,9707,-0.73,-117.3,637.5,-7.9,297,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2399,3354
$GC,10010,-0.73,-117.3,659.5,-7.2,302,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2399,3354
$GC,10313,-0.73,-117.3,680.2,-6.8,307,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2399,3354
$GC,10617,-0.73,-117.3,699.8,-6.4,312,10621,0.00,2.40,0.00,0.000,4,0.000,0.083,3061,3814,3354
$GC,10656,-0.65,-117.3,702.6,-6.8,312,10660,0.15,2.33,0.00,0.000,6,0.119,0.058,3103,2390,3354
$GC,10976,-0.65,-117.3,719.5,-5.2,318,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2390,3354
$GC,11279,-0.69,-117.3,735.1,-5.1,323,11284,0.00,2.40,0.00,0.000,4,0.000,0.073,3103,986,3353
$GC,11301,-0.74,-117.3,736.3,-5.4,323,11306,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2401,3354
$GC,11639,-0.74,-117.3,753.5,-5.1,329,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,11942,-0.74,-117.3,768.5,-4.9,334,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,12246,-0.74,-117.3,783.2,-4.9,339,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,12548,-0.74,-117.3,799.9,-5.5,344,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,12851,-0.74,-117.3,817.7,-5.8,349,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,13155,-0.78,-117.3,835.6,-5.9,354,13160,0.10,2.40,0.00,0.000,4,0.098,0.082,3061,3809,3353
$GC,13189,-0.73,-117.3,837.8,-7.5,354,13194,0.00,2.33,0.00,0.000,6,0.000,0.058,3061,2403,3352
$GC,13516,-0.73,-117.3,859.0,-6.5,360,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2403,3353
$GC,13818,-0.73,-117.3,879.1,-6.7,365,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2403,3353
$GC,14122,-0.73,-117.3,899.8,-6.8,370,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2403,3352
$GC,14425,-0.73,-117.3,920.0,-6.6,375,14430,0.00,2.47,0.00,0.000,4,0.000,0.083,3061,3809,3352
$GC,14464,-0.67,-117.3,923.0,-7.3,375,14469,0.12,2.35,0.00,0.000,6,0.113,0.058,3095,2390,3352
$GC,14785,-0.67,-117.3,943.3,-6.3,381,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2390,3352
$GC,15087,-0.67,-117.3,963.1,-6.5,386,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2390,3352
$GC,15391,-0.67,-117.3,982.8,-6.5,391,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2390,3352
$STATE,15510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15510,begin apogee
$GC,15516,-0.22,0.0,990.4,6.4,393,15624,0.50,0.00,105.93,1.492,6,0.143,0.000,3247,2202,2876
$STATE,15625,end apogee,CONTROL_FINISHED_OK
$STATE,15625,begin climb
$GC,15627,0.67,117.3,992.8,0.0,394,15745,0.88,2.75,110.53,1.436,4,0.095,0.077,3533,783,2396
$GC,15790,0.31,117.3,993.7,7.0,395,15795,0.45,2.53,0.00,0.000,6,0.184,0.063,3421,2203,2394
$GC,16111,0.32,121.5,978.1,4.9,401,16120,0.00,2.42,4.85,1.011,4,0.000,0.081,3421,3612,2380
$GC,16171,0.22,121.5,974.6,6.0,401,16178,0.12,2.40,0.00,0.000,6,0.185,0.064,3393,2201,2380
$GC,16481,0.29,124.8,959.4,4.9,407,16488,0.00,0.00,4.80,1.023,6,0.000,0.000,3393,2201,2367
$GC,16784,0.36,124.8,943.4,5.3,412,16789,0.12,2.47,0.00,0.000,4,0.088,0.081,3440,3619,2366
$GC,16839,0.21,124.8,939.6,7.9,412,16846,0.22,2.38,0.00,0.000,6,0.170,0.064,3390,2198,2366
$GC,17150,0.29,127.7,924.1,4.9,418,17156,0.00,0.00,4.45,0.990,6,0.000,0.000,3390,2198,2355
$GC,17452,0.39,144.2,910.3,4.5,423,17474,0.15,2.50,15.95,1.377,4,0.083,0.082,3454,3615,2287
$GC,17526,0.22,144.2,905.5,8.0,424,17531,0.28,2.40,0.00,0.000,6,0.170,0.064,3389,2200,2286
$GC,17881,0.37,177.2,890.5,4.1,430,17913,0.15,0.00,30.38,1.406,6,0.088,0.000,3446,2201,2153
$GC,18183,0.37,177.2,873.0,5.9,435,18184,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2201,2150
$GC,18486,0.37,177.2,854.7,6.1,440,18490,0.00,2.45,0.00,0.000,4,0.000,0.081,3448,784,2150
$GC,18519,0.37,177.2,852.6,6.5,440,18523,0.00,2.33,0.00,0.000,6,0.000,0.064,3448,2204,2149
$GC,18851,0.37,177.2,831.7,6.4,446,18852,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2150
$GC,19154,0.37,177.2,811.9,6.6,451,19158,0.00,2.35,0.00,0.000,4,0.000,0.083,3448,3614,2149
$GC,19181,0.29,177.2,810.0,7.2,451,19186,0.15,2.35,0.00,0.000,6,0.172,0.064,3410,2200,2149
$GC,19513,0.37,177.2,792.0,5.3,457,19514,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2200,2148
$GC,19816,0.45,177.2,776.6,5.0,462,19818,0.15,0.00,0.00,0.000,6,0.090,0.000,3468,2201,2149
$GC,20119,0.39,177.2,756.8,6.6,467,20123,0.00,2.45,0.00,0.000,4,0.000,0.078,3477,784,2148
$GC,20170,0.31,177.2,753.1,7.2,467,20174,0.22,2.33,0.00,0.000,6,0.151,0.064,3414,2212,2148
$GC,20479,0.39,177.2,737.0,5.1,472,20480,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2212,2148
$GC,20782,0.48,177.2,721.0,5.3,477,20784,0.17,0.00,0.00,0.000,6,0.085,0.000,3480,2212,2149
$GC,21086,0.38,177.2,698.4,7.6,482,21088,0.15,0.00,0.00,0.000,6,0.160,0.000,3440,2212,2148
$GC,21388,0.38,177.2,679.3,6.3,487,21389,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2212,2148
$GC,21691,0.38,177.2,660.3,6.2,492,21692,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2212,2148
$GC,21994,0.38,177.2,641.5,6.2,497,21995,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2212,2148
$GC,22297,0.38,177.2,623.9,5.8,502,22298,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2212,2147
$GC,22601,0.38,177.2,606.8,5.6,507,22605,0.00,2.45,0.00,0.000,4,0.000,0.080,3440,788,2148
$GC,22645,0.43,177.2,604.4,5.9,507,22649,0.00,2.30,0.00,0.000,6,0.000,0.064,3440,2200,2148
$GC,22960,0.43,177.2,587.3,5.5,513,22961,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2201,2148
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$STATE,32746,end climb,SURFACE_DEPTH_REACHED
$STATE,32746,begin surface coast
$FINISH,2.7,1.015338
$STATE,32951,end surface coast,CONTROL_FINISHED_OK
$STATE,32951,begin surface
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$HUMID,2082
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$TCM_TEMP,16.10
$XPDR_PINGS,969
$24V_AH,21.9,56.590
$10V_AH,10.6,37.811
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$DEVICE_SECS,30.075,167.750,327.325,52.575,0.000,56.263,53.881,224.499,242.250,0.000,0.000,30.158,1795.983,28287.137,550.788,2222.928,699.768,33.377,1626.297,0.000,2185.328,0.000,0.465
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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,50574,868
$CAP_FILE_SIZE,179464,0
$CFSIZE,260165632,236609536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131208,072607,5011.393,-14428.021,35,1.1,35,18.6