version: 66.03
glider: 120
mission: 9
dive: 547
start: 3 22 109 20 42 14
data:
$ID,120
$MISSION,9
$DIVE,547
$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,275
$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,-29468.588
$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
$GPS1,203407,5017.255,-14502.488,30,1.3,30,18.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.1
$GPS2,204120,5017.268,-14502.417,19,1.5,19,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,0.106
$KALMAN_X,-50715.6,247.0,-9.4,64818.2,-745.7
$KALMAN_Y,114703.6,256.6,24.3,-89455.1,-297.3
$MHEAD_RNG_PITCHd_Wd,288.2,13219,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,47,0.00,0.00,-20.05,0.000,2,0.000,0.000,135,2408,2166
$GC,51,-0.67,-117.3,3.4,-6.5,2,110,13.88,2.45,-39.25,0.000,4,0.280,0.082,3097,988,3355
$GC,161,-0.48,-117.3,13.0,-9.7,11,168,0.22,2.35,0.00,0.000,6,0.160,0.064,3159,2409,3356
$GC,490,-0.53,-117.3,37.4,-7.6,42,494,0.00,2.40,0.00,0.000,4,0.000,0.069,3159,986,3356
$GC,508,-0.57,-117.3,39.0,-6.8,43,514,0.00,2.35,0.00,0.000,6,0.000,0.063,3155,2406,3356
$GC,833,-0.57,-117.3,60.8,-7.1,74,834,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2405,3356
$GC,1152,-0.57,-117.3,82.2,-7.9,103,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2405,3356
$GC,1460,-0.57,-117.3,104.1,-6.4,118,1465,0.00,2.40,0.00,0.000,4,0.000,0.083,3154,3812,3357
$GC,1495,-0.64,-117.3,106.4,-6.8,119,1502,0.12,2.30,0.00,0.000,6,0.081,0.054,3106,2397,3357
$GC,1812,-0.64,-117.3,130.0,-6.7,135,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2397,3357
$GC,2120,-0.64,-117.3,150.8,-6.6,150,2124,0.00,2.47,0.00,0.000,4,0.000,0.079,3106,3815,3356
$GC,2176,-0.64,-117.3,155.0,-7.3,151,2183,0.00,2.28,0.00,0.000,6,0.000,0.054,3106,2396,3357
$GC,2490,-0.64,-117.3,177.1,-7.0,162,2495,0.00,2.47,0.00,0.000,4,0.000,0.078,3105,3805,3357
$GC,2540,-0.64,-117.3,180.8,-7.2,163,2544,0.00,2.28,0.00,0.000,6,0.000,0.054,3106,2389,3356
$GC,2854,-0.64,-117.3,200.4,-6.1,173,2858,0.00,2.35,0.00,0.000,4,0.000,0.070,3106,992,3357
$GC,2900,-0.70,-117.3,203.4,-6.5,174,2904,0.00,2.33,0.00,0.000,6,0.000,0.061,3106,2402,3357
$GC,3219,-0.70,-117.3,223.7,-6.5,185,3223,0.00,2.38,0.00,0.000,4,0.000,0.080,3101,3809,3357
$GC,3258,-0.70,-117.3,226.5,-7.2,186,3262,0.00,2.25,0.00,0.000,6,0.000,0.054,3101,2400,3357
$GC,3583,-0.70,-117.3,248.3,-6.8,197,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3357
$GC,3888,-0.70,-117.3,268.3,-6.4,207,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3357
$GC,4195,-0.70,-117.3,288.8,-6.8,217,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3357
$GC,4500,-0.70,-117.3,309.0,-6.6,225,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3357
$GC,4803,-0.70,-117.3,328.4,-6.3,230,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3357
$GC,5106,-0.70,-117.3,347.9,-6.5,235,5111,0.00,2.53,0.00,0.000,4,0.000,0.081,3101,3812,3357
$GC,5134,-0.70,-117.3,349.9,-6.6,235,5139,0.00,2.30,0.00,0.000,6,0.000,0.055,3101,2391,3357
$GC,5467,-0.74,-117.3,371.2,-6.4,241,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2391,3357
$GC,5771,-0.78,-117.3,389.5,-6.1,246,5775,0.12,2.50,0.00,0.000,4,0.094,0.080,3051,3809,3357
$GC,5828,-0.66,-117.3,394.1,-8.7,246,5834,0.17,2.28,0.00,0.000,6,0.114,0.055,3100,2392,3357
$GC,6138,-0.66,-117.3,415.9,-7.0,252,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3357
$GC,6441,-0.66,-117.3,439.4,-7.8,257,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3357
$GC,6745,-0.66,-117.3,462.6,-7.6,262,6749,0.00,2.50,0.00,0.000,4,0.000,0.081,3099,3810,3356
$GC,6801,-0.71,-117.3,466.8,-7.3,262,6808,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2396,3356
$GC,7112,-0.71,-117.3,488.0,-6.8,268,7116,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,986,3356
$GC,7185,-0.75,-117.3,493.4,-7.7,269,7189,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2412,3356
$GC,7546,-0.75,-117.3,517.0,-6.6,275,7550,0.00,2.40,0.00,0.000,4,0.000,0.083,3099,3818,3356
$GC,7579,-0.75,-117.3,519.3,-6.9,275,7583,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2401,3356
$GC,7905,-0.75,-117.3,540.2,-6.4,281,7909,0.00,2.38,0.00,0.000,4,0.000,0.072,3099,990,3356
$GC,7934,-0.75,-117.3,542.2,-7.1,281,7939,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2405,3356
$GC,8267,-0.75,-117.3,562.6,-6.0,287,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3356
$GC,8570,-0.75,-117.3,578.9,-5.3,292,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3356
$GC,8874,-0.75,-117.3,594.1,-5.0,297,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3356
$GC,9176,-0.75,-117.3,610.2,-5.4,302,9180,0.00,2.42,0.00,0.000,4,0.000,0.082,3099,3811,3355
$GC,9206,-0.80,-117.3,611.7,-5.6,302,9210,0.12,2.30,0.00,0.000,6,0.084,0.056,3052,2389,3355
$GC,9538,-0.75,-117.3,633.6,-6.6,308,9542,0.00,2.35,0.00,0.000,4,0.000,0.072,3052,996,3355
$GC,9601,-0.69,-117.3,638.3,-7.6,309,9606,0.15,2.35,0.00,0.000,6,0.137,0.064,3091,2399,3355
$GC,9968,-0.69,-117.3,661.2,-6.2,315,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3355
$GC,10271,-0.69,-117.3,679.5,-6.1,320,10275,0.00,2.45,0.00,0.000,4,0.000,0.082,3086,3818,3355
$GC,10298,-0.69,-117.3,681.3,-6.6,320,10302,0.00,2.30,0.00,0.000,6,0.000,0.056,3086,2393,3355
$GC,10638,-0.69,-117.3,701.0,-5.7,326,10642,0.00,2.53,0.00,0.000,4,0.000,0.083,3086,3812,3355
$GC,10750,-0.69,-117.3,707.8,-6.8,327,10754,0.00,2.30,0.00,0.000,6,0.000,0.056,3086,2392,3355
$GC,11065,-0.69,-117.3,725.8,-5.7,333,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3355
$GC,11369,-0.69,-117.3,743.5,-5.9,338,11373,0.00,2.55,0.00,0.000,4,0.000,0.082,3086,3814,3355
$GC,11414,-0.69,-117.3,746.3,-6.3,338,11418,0.00,2.30,0.00,0.000,6,0.000,0.056,3085,2396,3355
$GC,11730,-0.69,-117.3,763.5,-5.4,344,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3355
$GC,12033,-0.69,-117.3,778.1,-4.7,349,12037,0.00,2.50,0.00,0.000,4,0.000,0.083,3086,3808,3354
$GC,12084,-0.69,-117.3,780.5,-5.1,349,12088,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2391,3354
$GC,12395,-0.69,-117.3,795.5,-4.8,354,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3354
$GC,12697,-0.69,-117.3,811.6,-5.3,359,12701,0.00,2.53,0.00,0.000,4,0.000,0.084,3086,3811,3354
$GC,12736,-0.69,-117.3,814.0,-6.9,359,12740,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2394,3354
$GC,13058,-0.69,-117.3,833.7,-6.2,365,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3354
$GC,13360,-0.69,-117.3,853.4,-6.6,370,13364,0.00,2.50,0.00,0.000,4,0.000,0.084,3085,3814,3354
$GC,13394,-0.69,-117.3,855.7,-6.3,370,13398,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2396,3354
$GC,13722,-0.69,-117.3,877.5,-6.7,376,13726,0.00,2.47,0.00,0.000,4,0.000,0.084,3086,3808,3354
$GC,13761,-0.69,-117.3,880.4,-7.0,376,13765,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2391,3353
$GC,14083,-0.69,-117.3,900.7,-6.3,382,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3354
$GC,14386,-0.69,-117.3,918.7,-5.9,387,14390,0.00,2.50,0.00,0.000,4,0.000,0.084,3086,3818,3353
$GC,14425,-0.73,-117.3,921.1,-6.4,387,14429,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2399,3353
$GC,14747,-0.73,-117.3,939.0,-5.6,393,14748,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,15049,-0.73,-117.3,955.5,-5.4,398,15053,0.00,2.47,0.00,0.000,4,0.000,0.084,3086,3812,3353
$GC,15088,-0.78,-117.3,957.7,-6.0,398,15092,0.00,2.30,0.00,0.000,6,0.000,0.058,3086,2391,3353
$GC,15410,-0.78,-117.3,975.4,-5.5,404,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3353
$STATE,15709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15709,begin apogee
$GC,15717,-0.22,0.0,993.3,5.9,409,15832,0.52,0.00,108.40,1.490,6,0.138,0.000,3243,2194,2876
$STATE,15832,end apogee,CONTROL_FINISHED_OK
$STATE,15832,begin climb
$GC,15836,0.67,117.3,999.1,0.0,411,15960,0.88,2.70,114.47,1.432,4,0.091,0.077,3533,787,2397
$GC,16029,0.34,117.3,998.2,5.9,414,16034,0.40,2.47,0.00,0.000,6,0.169,0.061,3430,2201,2395
$GC,16397,0.34,155.5,983.4,3.9,420,16434,0.00,0.00,35.33,1.424,6,0.000,0.000,3430,2200,2241
$GC,16700,0.34,155.5,968.1,5.2,425,16701,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2200,2237
$GC,17003,0.34,155.5,951.1,5.6,430,17004,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2200,2237
$GC,17305,0.34,155.5,934.6,5.5,435,17309,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,782,2237
$GC,17355,0.34,155.5,931.6,5.9,435,17359,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2208,2237
$GC,17666,0.34,155.5,914.8,5.4,440,17667,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2236
$GC,17968,0.34,155.5,898.8,5.3,445,17972,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,791,2236
$GC,18012,0.34,155.5,896.4,6.3,445,18016,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2198,2236
$GC,18328,0.34,155.5,879.9,5.2,451,18329,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2236
$GC,18631,0.34,155.5,863.8,5.4,456,18632,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2236
$GC,18935,0.34,155.5,847.5,5.5,461,18939,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,792,2236
$GC,18980,0.37,173.0,845.0,4.5,461,19001,0.00,2.33,15.85,1.340,6,0.000,0.061,3436,2210,2170
$GC,19362,0.37,173.0,823.3,5.6,468,19366,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,791,2169
$GC,19407,0.41,173.0,820.6,6.0,468,19412,0.00,2.33,0.00,0.000,6,0.000,0.060,3436,2211,2169
$GC,19723,0.41,173.0,802.4,5.7,474,19727,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,783,2169
$GC,19763,0.45,173.0,800.1,5.7,474,19767,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2168
$GC,20084,0.45,173.0,781.4,5.8,480,20088,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,784,2168
$GC,20141,0.50,173.0,777.8,6.4,480,20148,0.12,2.33,0.00,0.000,6,0.086,0.061,3490,2205,2168
$GC,20452,0.35,173.0,754.5,7.6,486,20454,0.20,0.00,0.00,0.000,6,0.148,0.000,3433,2204,2168
$GC,20754,0.35,173.0,738.2,5.3,491,20758,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,791,2168
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$GC,29476,0.59,220.9,171.8,4.7,666,29492,0.00,2.35,11.40,0.919,6,0.000,0.059,3476,2206,1974
$GC,29812,0.64,220.9,152.9,5.6,677,29817,0.15,2.42,0.00,0.000,4,0.081,0.075,3548,785,1973
$GC,29952,0.50,220.9,143.0,7.2,682,29957,0.25,2.33,0.00,0.000,6,0.150,0.060,3480,2204,1973
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$STATE,31967,end climb,SURFACE_DEPTH_REACHED
$STATE,31968,begin surface coast
$FINISH,6.7,1.025748
$STATE,31975,end surface coast,CONTROL_FINISHED_OK
$STATE,31975,begin surface
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$HUMID,2106
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$TCM_TEMP,15.50
$XPDR_PINGS,1046
$24V_AH,21.0,107.050
$10V_AH,10.4,73.724
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$DEVICE_SECS,28.850,248.400,444.675,0.000,0.000,30.341,40.014,201.509,261.500,0.000,0.000,19.844,1819.930,26583.406,598.240,2614.197,860.172,33.367,1915.038,0.000,2567.082,0.000,0.465
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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,47497,822
$CAP_FILE_SIZE,195468,0
$CFSIZE,260165632,216203264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230309,053754,5020.038,-14506.254,25,1.0,43,18.5