version: 66.03
glider: 120
mission: 9
dive: 581
start: 4 4 109 17 33 27
data:
$ID,120
$MISSION,9
$DIVE,581
$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,-30135.857
$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,20
$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
$GPS1,172254,4955.661,-14429.325,41,1.2,41,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-74.2
$GPS2,173232,4955.622,-14429.412,14,1.1,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.001,-0.121
$KALMAN_X,-76601.0,-101.1,-2.0,130297.3,-547.9
$KALMAN_Y,134604.2,-71.8,-7.9,-149080.9,1793.7
$MHEAD_RNG_PITCHd_Wd,161.0,3024,-19.6,-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,26,-0.91,-48.8,0.0,0.0,0,48,0.00,0.00,-20.23,0.000,2,0.000,0.000,137,2412,2221
$GC,52,-0.94,-74.3,3.0,-3.3,2,107,13.55,2.42,-35.33,0.000,4,0.283,0.093,2994,3809,3180
$GC,361,-0.72,-74.3,48.7,-17.0,29,367,0.30,2.25,0.00,0.000,6,0.183,0.056,3077,2397,3182
$GC,699,-0.77,-74.3,86.9,-10.9,58,700,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2397,3182
$GC,1005,-0.84,-74.3,119.1,-10.2,73,1009,0.00,2.38,0.00,0.000,4,0.000,0.070,3077,981,3182
$GC,1067,-0.93,-74.3,125.2,-8.8,75,1074,0.17,2.38,0.00,0.000,6,0.072,0.063,3001,2400,3182
$GC,1404,-0.84,-74.3,165.6,-11.9,90,1406,0.17,0.00,0.00,0.000,6,0.176,0.000,3045,2399,3182
$GC,1710,-0.89,-74.3,196.4,-10.0,100,1714,0.00,2.40,0.00,0.000,4,0.000,0.069,3051,989,3183
$GC,1749,-0.96,-74.3,200.3,-9.2,101,1754,0.00,2.38,0.00,0.000,6,0.000,0.061,3042,2405,3183
$GC,2075,-1.00,-74.3,231.2,-9.6,112,2080,0.15,2.38,0.00,0.000,4,0.074,0.079,2964,3811,3182
$GC,2120,-0.81,-74.3,237.4,-14.5,113,2125,0.35,2.28,0.00,0.000,6,0.181,0.055,3053,2386,3182
$GC,2440,-0.89,-74.3,270.0,-9.7,124,2444,0.00,2.35,0.00,0.000,4,0.000,0.070,3053,993,3183
$GC,2508,-0.98,-74.3,276.9,-10.2,126,2513,0.17,2.38,0.00,0.000,6,0.067,0.063,2984,2406,3182
$GC,2837,-0.88,-74.3,317.4,-12.4,135,2839,0.17,0.00,0.00,0.000,6,0.176,0.000,3027,2406,3182
$GC,3140,-0.88,-74.3,347.7,-9.9,140,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2406,3183
$GC,3444,-0.88,-74.3,377.4,-9.9,145,3448,0.00,2.38,0.00,0.000,4,0.000,0.083,3027,3805,3182
$GC,3471,-0.88,-74.3,380.5,-10.6,145,3475,0.00,2.22,0.00,0.000,6,0.000,0.055,3027,2403,3182
$GC,3810,-0.88,-74.3,415.2,-10.3,151,3814,0.00,2.40,0.00,0.000,4,0.000,0.071,3027,988,3182
$GC,3856,-0.93,-74.3,420.3,-11.2,151,3860,0.00,2.40,0.00,0.000,6,0.000,0.064,3027,2408,3182
$GC,4172,-0.93,-74.3,452.6,-10.3,157,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2407,3182
$GC,4475,-0.97,-74.3,482.7,-9.9,162,4479,0.00,2.38,0.00,0.000,4,0.000,0.083,3027,3808,3182
$GC,4514,-0.97,-74.3,486.8,-9.7,162,4518,0.00,2.28,0.00,0.000,6,0.000,0.055,3027,2389,3182
$GC,4836,-1.02,-74.3,516.6,-9.2,168,4838,0.12,0.00,0.00,0.000,6,0.082,0.000,2976,2389,3181
$GC,5138,-0.93,-74.3,550.1,-11.1,173,5143,0.15,2.40,0.00,0.000,4,0.178,0.071,3024,987,3181
$GC,5172,-0.93,-74.3,553.5,-9.8,173,5176,0.00,2.40,0.00,0.000,6,0.000,0.063,3015,2413,3181
$GC,5498,-0.93,-74.3,583.1,-9.1,179,5502,0.00,2.38,0.00,0.000,4,0.000,0.083,3015,3808,3181
$GC,5533,-0.93,-74.3,586.3,-8.7,179,5537,0.00,2.28,0.00,0.000,6,0.000,0.056,3015,2392,3181
$GC,5860,-0.93,-74.3,614.2,-8.4,185,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2392,3181
$GC,6163,-0.93,-74.3,639.3,-8.4,190,6167,0.00,2.40,0.00,0.000,4,0.000,0.072,3015,984,3181
$GC,6202,-0.93,-74.3,642.8,-8.8,190,6206,0.00,2.40,0.00,0.000,6,0.000,0.065,3015,2401,3181
$GC,6524,-0.93,-74.3,670.0,-8.5,196,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2400,3181
$GC,6826,-0.93,-74.3,696.1,-8.7,201,6830,0.00,2.42,0.00,0.000,4,0.000,0.071,3015,990,3181
$GC,6870,-0.93,-74.3,700.1,-9.2,201,6875,0.00,2.40,0.00,0.000,6,0.000,0.065,3015,2406,3180
$GC,7186,-0.93,-74.3,726.7,-8.4,207,7191,0.00,2.40,0.00,0.000,4,0.000,0.084,3014,3809,3180
$GC,7243,-0.93,-74.3,731.6,-8.9,207,7251,0.00,2.28,0.00,0.000,6,0.000,0.057,3015,2392,3181
$GC,7554,-0.98,-74.3,755.9,-7.7,213,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2392,3180
$GC,7858,-1.02,-74.3,779.4,-7.8,218,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2392,3180
$GC,8160,-1.07,-74.3,802.3,-7.6,223,8165,0.12,2.40,0.00,0.000,4,0.084,0.072,2963,991,3180
$GC,8206,-0.96,-74.3,806.6,-9.6,223,8211,0.17,2.40,0.00,0.000,6,0.189,0.066,3003,2401,3180
$GC,8522,-0.96,-74.3,831.5,-7.8,229,8526,0.00,2.42,0.00,0.000,4,0.000,0.084,3001,3819,3179
$GC,8561,-0.96,-74.3,834.7,-7.8,229,8565,0.00,2.30,0.00,0.000,6,0.000,0.058,3001,2395,3179
$GC,8883,-0.96,-74.3,858.3,-7.3,235,8887,0.00,2.40,0.00,0.000,4,0.000,0.073,3001,989,3179
$GC,8946,-0.96,-74.3,863.0,-7.6,236,8950,0.00,2.42,0.00,0.000,6,0.000,0.067,3001,2406,3179
$GC,9318,-0.96,-74.3,888.8,-6.9,242,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2406,3180
$GC,9621,-0.96,-74.3,910.2,-7.1,247,9625,0.00,2.42,0.00,0.000,4,0.000,0.085,3001,3815,3179
$GC,9649,-0.96,-74.3,912.5,-7.8,247,9653,0.00,2.30,0.00,0.000,6,0.000,0.058,3001,2393,3179
$GC,9988,-0.96,-74.3,939.8,-8.2,253,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2394,3179
$GC,10291,-0.96,-74.3,965.8,-8.6,258,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2394,3178
$STATE,10591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10591,begin apogee
$GC,10600,-0.22,0.0,992.2,8.6,263,10671,0.85,0.00,68.47,1.493,6,0.159,0.000,3242,2195,2875
$STATE,10672,end apogee,CONTROL_FINISHED_OK
$STATE,10672,begin climb
$GC,10675,0.94,74.3,994.2,0.0,264,10750,1.15,0.00,71.03,1.448,6,0.087,0.000,3624,2195,2573
$GC,11018,0.62,80.4,986.1,4.6,270,11033,0.38,2.45,7.03,1.192,4,0.195,0.077,3532,786,2548
$GC,11150,0.58,96.7,980.0,3.9,271,11171,0.00,2.35,16.17,1.374,6,0.000,0.061,3532,2217,2481
$GC,11522,0.52,96.7,958.5,6.0,278,11524,0.17,0.00,0.00,0.000,6,0.186,0.000,3487,2218,2479
$GC,11825,0.60,98.4,943.3,4.9,283,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2218,2478
$GC,12129,0.67,102.8,929.1,4.7,288,12138,0.12,0.00,6.90,1.199,6,0.085,0.000,3539,2218,2456
$GC,12431,0.61,102.8,910.6,6.2,293,12436,0.00,2.33,0.00,0.000,4,0.000,0.080,3539,3614,2455
$GC,12495,0.45,102.8,906.1,7.0,294,12500,0.30,2.30,0.00,0.000,6,0.186,0.064,3468,2200,2455
$GC,12863,0.59,103.5,887.5,5.0,300,12865,0.12,0.00,0.00,0.000,6,0.084,0.000,3519,2200,2455
$GC,13165,0.59,103.5,868.7,6.3,305,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2200,2455
$GC,13468,0.59,103.5,848.2,6.8,310,13472,0.00,2.42,0.00,0.000,4,0.000,0.080,3519,784,2455
$GC,13592,0.59,103.5,839.5,6.9,311,13598,0.00,2.35,0.00,0.000,6,0.000,0.061,3519,2205,2455
$GC,13902,0.59,103.5,819.4,6.4,317,13906,0.00,2.45,0.00,0.000,4,0.000,0.078,3519,785,2455
$GC,13953,0.59,103.5,816.2,5.8,317,13957,0.00,2.35,0.00,0.000,6,0.000,0.061,3519,2202,2455
$GC,14264,0.59,103.5,799.2,5.4,322,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2201,2455
$GC,14567,0.60,106.4,784.6,4.8,327,14576,0.00,2.45,4.65,0.977,4,0.000,0.078,3519,788,2442
$GC,14633,0.60,106.4,781.1,5.2,328,14637,0.00,2.35,0.00,0.000,6,0.000,0.061,3519,2205,2441
$GC,14994,0.60,106.4,761.4,5.6,334,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2204,2442
$GC,15298,0.60,106.4,742.5,6.3,339,15302,0.00,2.38,0.00,0.000,4,0.000,0.081,3519,3612,2441
$GC,15362,0.52,106.4,738.2,6.5,340,15367,0.15,2.33,0.00,0.000,6,0.196,0.064,3484,2192,2442
$GC,15728,0.62,106.4,717.2,5.6,346,15733,0.00,2.40,0.00,0.000,4,0.000,0.077,3490,789,2442
$GC,15793,0.72,109.5,713.7,4.8,347,15803,0.17,2.35,4.62,0.953,6,0.076,0.061,3557,2201,2429
$GC,16160,0.63,109.5,690.7,6.2,353,16165,0.12,2.45,0.00,0.000,4,0.174,0.075,3534,784,2428
$GC,16245,0.63,109.5,686.0,5.7,354,16249,0.00,2.35,0.00,0.000,6,0.000,0.061,3534,2200,2429
$GC,16589,0.63,109.5,666.8,5.7,360,16593,0.00,2.45,0.00,0.000,4,0.000,0.078,3534,787,2428
$GC,16667,0.63,109.5,662.2,5.5,361,16671,0.00,2.35,0.00,0.000,6,0.000,0.061,3534,2200,2429
$GC,17016,0.63,109.5,641.1,6.1,367,17020,0.00,2.38,0.00,0.000,4,0.000,0.081,3534,3604,2429
$GC,17055,0.52,109.5,638.4,7.7,367,17060,0.22,2.30,0.00,0.000,6,0.181,0.063,3487,2193,2429
$GC,17383,0.63,109.5,619.0,6.0,373,17385,0.10,0.00,0.00,0.000,6,0.097,0.000,3532,2193,2429
$GC,17686,0.63,109.5,599.3,6.5,378,17688,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2193,2429
$GC,17988,0.63,109.5,582.8,5.3,383,17993,0.00,2.42,0.00,0.000,4,0.000,0.079,3532,785,2429
$GC,18045,0.65,121.1,580.2,4.2,383,18062,0.00,2.35,11.57,1.163,6,0.000,0.061,3532,2200,2382
$GC,18418,0.65,121.1,561.0,5.2,390,18422,0.00,2.42,0.00,0.000,4,0.000,0.078,3534,790,2382
$GC,18482,0.65,121.1,557.8,5.4,391,18486,0.00,2.35,0.00,0.000,6,0.000,0.061,3534,2204,2382
$GC,18848,0.65,122.1,539.7,4.9,397,18849,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2203,2381
$GC,19152,0.65,124.3,525.0,4.9,402,19162,0.00,2.35,4.65,0.877,4,0.000,0.081,3534,3610,2369
$GC,19222,0.57,124.5,521.4,5.0,403,19227,0.15,2.30,0.00,0.000,6,0.182,0.062,3504,2188,2369
$GC,19589,0.69,130.9,504.7,4.6,409,19603,0.12,2.42,7.47,1.039,4,0.089,0.079,3559,792,2342
$GC,19678,0.64,130.9,499.9,6.2,410,19683,0.15,2.33,0.00,0.000,6,0.175,0.061,3522,2200,2341
$GC,20022,0.70,130.9,482.4,5.1,416,20026,0.00,2.38,0.00,0.000,4,0.000,0.079,3522,3619,2342
$GC,20067,0.70,130.9,479.7,6.7,416,20072,0.00,2.30,0.00,0.000,6,0.000,0.062,3532,2201,2342
$GC,20383,0.70,130.9,462.0,5.7,422,20384,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2202,2341
$GC,20687,0.70,130.9,444.5,5.8,427,20691,0.00,2.40,0.00,0.000,4,0.000,0.079,3531,3613,2341
$GC,20750,0.65,130.9,440.6,5.7,428,20755,0.00,2.33,0.00,0.000,6,0.000,0.064,3534,2199,2341
$GC,21118,0.70,131.6,421.9,5.0,434,21123,0.00,2.42,0.00,0.000,4,0.000,0.078,3534,785,2341
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$STATE,28377,end climb,SURFACE_DEPTH_REACHED
$STATE,28377,begin surface coast
$FINISH,1.5,1.025426
$STATE,28516,end surface coast,CONTROL_FINISHED_OK
$STATE,28517,begin surface
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$IRIDIUM_FIX,4939.69,-14425.41,290698,171718
$TT8_MAMPS,0.026845
$HUMID,2118
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,14.20
$XPDR_PINGS,980
$24V_AH,22.4,113.662
$10V_AH,10.4,78.455
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$DEVICE_SECS,32.525,232.675,276.400,53.950,0.000,55.505,53.278,245.883,245.000,0.000,0.000,14.501,1715.172,23483.586,513.051,2521.201,929.866,33.375,1748.320,0.000,2474.994,0.000,0.465
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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,41108,723
$CAP_FILE_SIZE,194103,0
$CFSIZE,260165632,213520384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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