version: 66.03
glider: 120
mission: 9
dive: 579
start: 4 3 109 23 4 34
data:
$ID,120
$MISSION,9
$DIVE,579
$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,-30106.801
$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,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
$GPS1,225707,5001.719,-14427.579,35,1.5,35,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.4
$GPS2,230338,5001.743,-14427.597,13,1.3,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.006,-0.178
$KALMAN_X,-75897.2,61.0,158.3,131417.5,-832.8
$KALMAN_Y,131833.0,-80.2,78.8,-135044.8,1267.9
$MHEAD_RNG_PITCHd_Wd,163.3,14566,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-29.95,0.000,2,0.000,0.000,135,2414,2275
$GC,62,-0.67,-117.3,3.2,-5.2,3,117,13.80,2.42,-35.20,0.000,4,0.278,0.094,3086,3804,3356
$GC,216,-0.48,-117.3,17.1,-10.6,16,223,0.25,2.28,0.00,0.000,6,0.151,0.055,3156,2379,3357
$GC,545,-0.48,-117.3,43.2,-8.4,47,551,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2380,3358
$GC,871,-0.48,-117.3,68.2,-7.9,78,875,0.00,2.35,0.00,0.000,4,0.000,0.071,3158,993,3358
$GC,917,-0.54,-117.3,71.8,-7.5,81,923,0.00,2.35,0.00,0.000,6,0.000,0.062,3155,2408,3358
$GC,1248,-0.54,-117.3,94.7,-6.8,103,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2407,3358
$GC,1557,-0.58,-117.3,115.9,-7.0,118,1561,0.00,2.42,0.00,0.000,4,0.000,0.070,3155,987,3358
$GC,1602,-0.64,-117.3,119.3,-7.6,120,1607,0.15,2.38,0.00,0.000,6,0.078,0.062,3100,2406,3358
$GC,1925,-0.64,-117.3,143.3,-7.0,136,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3358
$GC,2242,-0.64,-117.3,165.6,-7.3,148,2245,0.00,2.35,0.00,0.000,4,0.000,0.080,3099,3809,3358
$GC,2277,-0.64,-117.3,168.3,-7.9,149,2281,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2390,3358
$GC,2619,-0.64,-117.3,191.3,-6.4,160,2623,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,990,3358
$GC,2675,-0.64,-117.3,195.0,-6.8,161,2679,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2401,3358
$GC,2988,-0.64,-117.3,216.1,-6.8,171,2992,0.00,2.38,0.00,0.000,4,0.000,0.080,3099,3809,3358
$GC,3040,-0.64,-117.3,219.6,-7.2,172,3044,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2402,3358
$GC,3359,-0.64,-117.3,240.6,-6.5,183,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,3665,-0.64,-117.3,260.4,-6.5,193,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,3971,-0.64,-117.3,281.1,-6.6,203,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,4278,-0.64,-117.3,302.1,-7.0,213,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,4580,-0.64,-117.3,322.8,-6.8,218,4585,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,993,3358
$GC,4625,-0.64,-117.3,325.9,-6.7,218,4630,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2400,3358
$GC,4942,-0.64,-117.3,346.5,-6.5,224,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,5245,-0.64,-117.3,366.5,-6.6,229,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,5548,-0.64,-117.3,387.2,-6.8,234,5552,0.00,2.40,0.00,0.000,4,0.000,0.070,3099,994,3358
$GC,5576,-0.64,-117.3,389.2,-7.0,234,5580,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2400,3358
$GC,5909,-0.64,-117.3,409.5,-6.0,240,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6212,-0.64,-117.3,427.7,-6.1,245,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6516,-0.64,-117.3,445.8,-6.0,250,6520,0.00,2.42,0.00,0.000,4,0.000,0.082,3099,3818,3357
$GC,6555,-0.64,-117.3,448.4,-6.5,250,6559,0.00,2.30,0.00,0.000,6,0.000,0.055,3099,2391,3358
$GC,6877,-0.68,-117.3,466.0,-5.4,256,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3357
$GC,7179,-0.68,-117.3,481.7,-5.1,261,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3357
$GC,7484,-0.68,-117.3,496.8,-5.0,266,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3357
$GC,7786,-0.68,-117.3,513.4,-5.6,271,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3357
$GC,8088,-0.68,-117.3,531.2,-5.8,276,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3357
$GC,8392,-0.72,-117.3,548.4,-5.7,281,8396,0.00,2.40,0.00,0.000,4,0.000,0.073,3099,983,3357
$GC,8426,-0.78,-117.3,550.4,-5.7,281,8431,0.10,2.38,0.00,0.000,6,0.095,0.063,3063,2400,3357
$GC,8753,-0.78,-117.3,570.6,-6.2,287,8757,0.00,2.40,0.00,0.000,4,0.000,0.081,3062,3808,3357
$GC,8804,-0.74,-117.3,574.0,-6.8,287,8808,0.00,2.28,0.00,0.000,6,0.000,0.056,3062,2395,3357
$GC,9114,-0.74,-117.3,594.4,-6.7,292,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2396,3357
$GC,9418,-0.74,-117.3,615.7,-7.1,297,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2396,3356
$GC,9720,-0.74,-117.3,637.4,-7.1,302,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2396,3356
$GC,10023,-0.74,-117.3,657.8,-6.7,307,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2396,3356
$GC,10326,-0.74,-117.3,677.2,-6.3,312,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2396,3356
$GC,10629,-0.74,-117.3,694.8,-5.7,317,10634,0.00,2.45,0.00,0.000,4,0.000,0.082,3062,3807,3356
$GC,10658,-0.74,-117.3,696.4,-5.8,317,10662,0.00,2.28,0.00,0.000,6,0.000,0.057,3062,2401,3356
$GC,10991,-0.74,-117.3,714.7,-5.5,323,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2401,3356
$GC,11294,-0.74,-117.3,731.3,-5.5,328,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2401,3356
$GC,11597,-0.74,-117.3,747.5,-5.3,333,11602,0.00,2.40,0.00,0.000,4,0.000,0.073,3066,993,3356
$GC,11626,-0.74,-117.3,749.2,-6.3,333,11630,0.00,2.35,0.00,0.000,6,0.000,0.063,3066,2400,3356
$GC,11965,-0.74,-117.3,769.2,-6.0,339,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3356
$GC,12268,-0.74,-117.3,788.5,-6.4,344,12272,0.00,2.42,0.00,0.000,4,0.000,0.083,3066,3813,3355
$GC,12296,-0.74,-117.3,790.4,-6.4,344,12300,0.00,2.30,0.00,0.000,6,0.000,0.056,3066,2392,3355
$GC,12629,-0.74,-117.3,812.0,-6.5,350,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3355
$GC,12931,-0.74,-117.3,830.3,-6.0,355,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3356
$GC,13235,-0.74,-117.3,846.9,-5.5,360,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3355
$GC,13538,-0.74,-117.3,862.1,-5.0,365,13542,0.00,2.40,0.00,0.000,4,0.000,0.074,3066,989,3355
$GC,13572,-0.74,-117.3,863.9,-4.9,365,13577,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2399,3355
$GC,13899,-0.74,-117.3,880.8,-5.2,371,13904,0.00,2.42,0.00,0.000,4,0.000,0.073,3066,994,3355
$GC,13928,-0.74,-117.3,882.6,-5.9,371,13932,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2400,3355
$GC,14261,-0.74,-117.3,901.3,-5.7,377,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3355
$GC,14564,-0.74,-117.3,918.5,-5.7,382,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3355
$GC,14867,-0.74,-117.3,935.5,-5.5,387,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3355
$GC,15170,-0.74,-117.3,952.0,-5.5,392,15171,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3355
$GC,15473,-0.74,-117.3,969.9,-5.9,397,15474,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3354
$GC,15777,-0.74,-117.3,988.0,-6.0,402,15781,0.00,2.45,0.00,0.000,4,0.000,0.074,3066,989,3354
$GC,15805,-0.74,-117.3,989.8,-6.2,402,15808,0.00,2.38,0.00,0.000,6,0.000,0.065,3066,2400,3354
$STATE,15812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15813,begin apogee
$GC,15821,-0.22,0.0,990.5,5.9,402,15932,0.55,0.00,107.85,1.493,6,0.143,0.000,3237,2200,2876
$STATE,15932,end apogee,CONTROL_FINISHED_OK
$STATE,15933,begin climb
$GC,15936,0.67,117.3,993.8,0.0,404,16060,0.90,2.75,114.53,1.434,4,0.094,0.079,3529,3610,2396
$GC,16084,0.24,119.3,995.1,4.9,406,16089,0.57,2.55,0.00,0.000,6,0.184,0.062,3397,2204,2395
$GC,16429,0.32,140.5,979.8,4.4,412,16457,0.00,2.45,21.40,1.394,4,0.000,0.079,3397,785,2302
$GC,16521,0.43,140.5,975.5,6.1,413,16526,0.17,2.35,0.00,0.000,6,0.080,0.061,3463,2205,2301
$GC,16860,0.32,140.5,953.9,6.5,419,16864,0.15,2.35,0.00,0.000,4,0.147,0.078,3415,3614,2301
$GC,16899,0.32,140.5,951.4,5.6,419,16903,0.00,2.30,0.00,0.000,6,0.000,0.062,3421,2195,2301
$GC,17220,0.32,140.5,934.7,5.1,425,17221,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2195,2300
$GC,17524,0.32,140.5,919.0,5.3,430,17529,0.00,2.40,0.00,0.000,4,0.000,0.080,3421,782,2300
$GC,17565,0.38,149.5,916.6,4.7,430,17579,0.00,2.35,9.45,1.287,6,0.000,0.061,3421,2212,2265
$GC,17891,0.38,149.5,898.4,5.6,436,17895,0.00,2.33,0.00,0.000,4,0.000,0.081,3421,3607,2265
$GC,17925,0.34,149.5,896.0,6.2,436,17930,0.00,2.30,0.00,0.000,6,0.000,0.063,3421,2188,2264
$GC,18253,0.34,149.5,877.3,5.7,442,18257,0.00,2.38,0.00,0.000,4,0.000,0.080,3421,790,2265
$GC,18310,0.38,149.5,873.9,5.9,442,18316,0.00,2.33,0.00,0.000,6,0.000,0.062,3421,2207,2264
$GC,18620,0.38,149.5,855.9,5.8,448,18622,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2264
$GC,18924,0.38,149.5,839.4,5.4,453,18925,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2264
$GC,19227,0.38,149.5,823.3,5.3,458,19231,0.00,2.45,0.00,0.000,4,0.000,0.079,3421,784,2264
$GC,19267,0.44,149.5,821.1,5.4,458,19272,0.12,2.35,0.00,0.000,6,0.091,0.061,3471,2210,2264
$GC,19588,0.34,149.5,800.2,6.5,464,19593,0.15,2.38,0.00,0.000,4,0.150,0.079,3424,3613,2263
$GC,19616,0.34,149.5,798.4,6.0,464,19620,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2189,2263
$GC,19949,0.34,149.5,780.6,5.4,470,19953,0.00,2.40,0.00,0.000,4,0.000,0.080,3425,780,2263
$GC,20012,0.39,149.5,777.2,5.1,471,20016,0.00,2.35,0.00,0.000,6,0.000,0.061,3425,2202,2263
$GC,20384,0.39,149.5,756.7,5.6,477,20389,0.00,2.38,0.00,0.000,4,0.000,0.080,3425,3612,2264
$GC,20425,0.34,149.5,754.2,5.8,477,20429,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2191,2264
$GC,20746,0.34,149.5,737.3,5.2,483,20750,0.00,2.40,0.00,0.000,4,0.000,0.079,3428,783,2263
$GC,20797,0.43,178.1,735.0,4.2,483,20828,0.00,2.35,26.02,1.315,6,0.000,0.061,3427,2202,2149
$GC,21174,0.50,181.1,716.6,4.9,490,21180,0.15,0.00,4.00,0.855,6,0.084,0.000,3489,2202,2137
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$GC,28203,0.44,219.1,301.9,7.1,605,28208,0.15,2.45,0.00,0.000,4,0.140,0.075,3450,779,1979
$GC,28243,0.57,219.1,299.4,5.6,605,28248,0.15,2.35,0.00,0.000,6,0.083,0.060,3506,2204,1979
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$GC,28990,0.56,224.9,248.0,4.8,629,29001,0.10,2.33,6.28,0.870,6,0.091,0.060,3502,2203,1959
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$STATE,32985,end climb,SURFACE_DEPTH_REACHED
$STATE,32985,begin surface coast
$FINISH,1.2,1.025714
$STATE,33082,end surface coast,CONTROL_FINISHED_OK
$STATE,33082,begin surface
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$SM_GC,4.15,0.00,0.00,6.93,0.000,0.000,0.752,148,2410,1754,-9.91,0.28,275.23
$IRIDIUM_FIX,4946.36,-14424.23,280698,131324
$TT8_MAMPS,0.026845
$HUMID,2119
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$TCM_TEMP,15.50
$XPDR_PINGS,1010
$24V_AH,21.0,113.312
$10V_AH,10.4,78.188
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$DEVICE_SECS,28.025,219.525,366.925,6.925,0.000,28.943,25.677,177.687,252.500,0.000,0.000,16.145,1824.292,27903.303,538.535,2385.244,842.915,33.378,1731.723,0.000,2350.559,0.000,0.465
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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,50734,864
$CAP_FILE_SIZE,187459,0
$CFSIZE,260165632,213680128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040409,081831,4958.731,-14427.892,82,1.5,82,18.5