version: 66.03
glider: 120
mission: 9
dive: 668
start: 5 7 109 15 26 39
data:
$ID,120
$MISSION,9
$DIVE,668
$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,-31920.766
$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
$GPS1,151836,4959.897,-14441.935,69,1.1,69,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.9
$GPS2,152544,4959.921,-14441.877,17,1.2,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.098,0.148
$KALMAN_X,-127042.0,82.0,250.9,165470.4,222.6
$KALMAN_Y,145694.4,-118.9,-434.2,-151719.1,-1044.8
$MHEAD_RNG_PITCHd_Wd,307.9,17663,-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,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.88,0.000,2,0.000,0.000,138,2408,2771
$GC,74,-0.67,-117.3,3.7,-6.0,4,107,14.70,2.58,-11.57,0.000,4,0.278,0.079,3092,986,3356
$GC,244,-0.50,-117.3,27.8,-11.0,19,249,0.22,2.40,0.00,0.000,6,0.144,0.062,3155,2407,3358
$GC,570,-0.50,-117.3,50.8,-7.1,49,571,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3358
$GC,890,-0.50,-117.3,72.7,-7.0,79,896,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3358
$GC,1221,-0.50,-117.3,96.2,-7.2,100,1225,0.00,2.58,0.00,0.000,4,0.000,0.066,3155,991,3359
$GC,1250,-0.54,-117.3,98.6,-7.7,101,1254,0.00,2.40,0.00,0.000,6,0.000,0.058,3155,2405,3359
$GC,1567,-0.60,-117.3,121.7,-7.3,116,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2404,3359
$GC,1878,-0.70,-117.3,142.1,-5.6,131,1882,0.15,2.58,0.00,0.000,4,0.080,0.065,3089,989,3359
$GC,1900,-0.70,-117.3,143.8,-6.7,132,1904,0.00,2.40,0.00,0.000,6,0.000,0.059,3088,2401,3359
$GC,2216,-0.62,-117.3,166.5,-7.2,144,2220,0.00,2.55,0.00,0.000,4,0.000,0.066,3089,984,3359
$GC,2280,-0.58,-117.3,171.0,-6.9,146,2285,0.15,2.45,0.00,0.000,6,0.134,0.059,3126,2407,3359
$GC,2616,-0.62,-117.3,189.9,-5.8,157,2621,0.00,2.50,0.00,0.000,4,0.000,0.078,3126,3812,3359
$GC,2656,-0.71,-117.3,192.8,-7.0,158,2661,0.12,2.35,0.00,0.000,6,0.077,0.051,3081,2389,3359
$GC,2982,-0.71,-117.3,218.2,-7.7,169,2986,0.00,2.53,0.00,0.000,4,0.000,0.067,3080,985,3359
$GC,3045,-0.71,-117.3,223.0,-7.0,171,3050,0.00,2.42,0.00,0.000,6,0.000,0.059,3080,2402,3359
$GC,3382,-0.65,-117.3,246.9,-7.4,182,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2401,3359
$GC,3689,-0.60,-117.3,272.1,-8.5,192,3691,0.15,0.00,0.00,0.000,6,0.136,0.000,3121,2401,3359
$GC,3994,-0.65,-117.3,293.9,-7.0,202,3999,0.00,2.55,0.00,0.000,4,0.000,0.066,3121,993,3359
$GC,4025,-0.71,-117.3,296.0,-7.2,203,4029,0.00,2.45,0.00,0.000,6,0.000,0.060,3120,2402,3359
$GC,4390,-0.77,-117.3,319.7,-6.4,210,4392,0.15,0.00,0.00,0.000,6,0.077,0.000,3062,2402,3359
$GC,4692,-0.71,-117.3,342.8,-7.7,215,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2402,3359
$GC,4995,-0.65,-117.3,367.2,-8.1,220,4997,0.15,0.00,0.00,0.000,6,0.100,0.000,3105,2401,3359
$GC,5298,-0.65,-117.3,387.3,-6.5,225,5302,0.00,2.50,0.00,0.000,4,0.000,0.068,3105,994,3359
$GC,5334,-0.65,-117.3,389.7,-6.6,225,5338,0.00,2.42,0.00,0.000,6,0.000,0.061,3106,2405,3359
$GC,5661,-0.65,-117.3,409.4,-6.0,231,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2405,3359
$GC,5964,-0.65,-117.3,427.3,-5.9,236,5968,0.00,2.53,0.00,0.000,4,0.000,0.068,3105,994,3358
$GC,6014,-0.65,-117.3,430.5,-6.6,236,6018,0.00,2.42,0.00,0.000,6,0.000,0.061,3106,2404,3358
$GC,6326,-0.65,-117.3,448.0,-5.6,241,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3358
$GC,6628,-0.65,-117.3,465.8,-5.9,246,6632,0.00,2.53,0.00,0.000,4,0.000,0.069,3105,993,3358
$GC,6661,-0.65,-117.3,468.0,-6.3,246,6666,0.00,2.45,0.00,0.000,6,0.000,0.060,3105,2410,3358
$GC,6989,-0.69,-117.3,488.2,-6.2,252,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2409,3358
$GC,7293,-0.73,-117.3,506.7,-6.1,257,7298,0.00,2.58,0.00,0.000,4,0.000,0.067,3105,993,3357
$GC,7322,-0.77,-117.3,508.7,-6.9,257,7327,0.12,2.45,0.00,0.000,6,0.078,0.061,3062,2405,3357
$GC,7655,-0.77,-117.3,531.7,-7.0,263,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2404,3358
$GC,7958,-0.77,-117.3,552.1,-6.8,268,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2404,3358
$GC,8262,-0.77,-117.3,570.4,-5.9,273,8266,0.00,2.58,0.00,0.000,4,0.000,0.068,3062,994,3357
$GC,8301,-0.77,-117.3,572.8,-5.8,273,8305,0.00,2.42,0.00,0.000,6,0.000,0.061,3061,2400,3357
$GC,8623,-0.72,-117.3,591.5,-5.8,279,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2399,3357
$GC,8927,-0.67,-117.3,610.4,-6.3,284,8929,0.15,0.00,0.00,0.000,6,0.129,0.000,3102,2399,3357
$GC,9231,-0.71,-117.3,627.3,-5.6,289,9235,0.00,2.55,0.00,0.000,4,0.000,0.069,3103,988,3357
$GC,9259,-0.77,-117.3,629.2,-5.8,289,9264,0.12,2.45,0.00,0.000,6,0.077,0.061,3059,2404,3357
$GC,9592,-0.77,-117.3,650.7,-6.5,295,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2404,3357
$GC,9896,-0.77,-117.3,671.8,-7.0,300,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2404,3357
$GC,10198,-0.77,-117.3,694.2,-7.5,305,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2403,3356
$GC,10502,-0.77,-117.3,716.7,-7.5,310,10506,0.00,2.62,0.00,0.000,4,0.000,0.069,3059,995,3356
$GC,10546,-0.77,-117.3,720.3,-7.3,310,10551,0.00,2.45,0.00,0.000,6,0.000,0.061,3059,2412,3356
$GC,10864,-0.73,-117.3,742.1,-6.8,316,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2411,3356
$GC,11166,-0.68,-117.3,762.4,-6.7,321,11168,0.12,0.00,0.00,0.000,6,0.128,0.000,3092,2410,3356
$GC,11469,-0.68,-117.3,779.8,-5.6,326,11473,0.00,2.60,0.00,0.000,4,0.000,0.070,3093,987,3356
$GC,11503,-0.73,-117.3,781.8,-5.8,326,11507,0.00,2.45,0.00,0.000,6,0.000,0.062,3093,2398,3356
$GC,11831,-0.73,-117.3,800.4,-5.7,332,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3356
$GC,12134,-0.77,-117.3,819.1,-6.3,337,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3356
$GC,12436,-0.81,-117.3,840.0,-6.9,342,12438,0.12,0.00,0.00,0.000,6,0.082,0.000,3044,2397,3355
$GC,12739,-0.81,-117.3,863.8,-7.9,347,12740,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2397,3355
$GC,13043,-0.81,-117.3,887.0,-7.6,352,13048,0.00,2.58,0.00,0.000,4,0.000,0.071,3045,990,3355
$GC,13089,-0.76,-117.3,890.5,-7.6,352,13093,0.00,2.45,0.00,0.000,6,0.000,0.063,3044,2400,3355
$GC,13406,-0.69,-117.3,913.6,-7.3,358,13408,0.17,0.00,0.00,0.000,6,0.140,0.000,3092,2399,3355
$GC,13709,-0.74,-117.3,929.9,-5.2,363,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3355
$GC,14013,-0.79,-117.3,946.6,-5.6,368,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3355
$GC,14317,-0.84,-117.3,964.4,-6.0,373,14322,0.15,2.62,0.00,0.000,4,0.081,0.070,3029,987,3355
$GC,14357,-0.74,-117.3,967.7,-8.2,373,14362,0.17,2.47,0.00,0.000,6,0.136,0.062,3073,2406,3355
$GC,14679,-0.74,-117.3,989.7,-6.8,379,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3355
$STATE,14735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14735,begin apogee
$GC,14744,-0.22,0.0,993.9,6.8,380,14858,0.57,0.00,108.20,1.492,6,0.137,0.000,3240,2190,2876
$STATE,14859,end apogee,CONTROL_FINISHED_OK
$STATE,14859,begin climb
$GC,14863,0.67,117.3,999.7,0.0,382,14987,0.90,2.88,115.70,1.442,4,0.084,0.074,3534,789,2397
$GC,15028,0.31,126.4,1001.0,4.7,384,15045,0.50,2.70,10.65,1.246,6,0.164,0.058,3422,2206,2360
$GC,15357,0.35,153.7,987.4,4.2,390,15387,0.00,2.47,25.62,1.406,4,0.000,0.079,3422,3616,2248
$GC,15423,0.30,153.7,984.0,5.9,391,15427,0.00,2.35,0.00,0.000,6,0.000,0.061,3424,2195,2247
$GC,15784,0.30,153.7,964.5,5.5,397,15788,0.00,2.40,0.00,0.000,4,0.000,0.078,3424,782,2245
$GC,15812,0.30,153.7,962.9,5.2,397,15816,0.00,2.35,0.00,0.000,6,0.000,0.060,3424,2209,2246
$GC,16152,0.30,153.7,943.7,5.7,403,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2208,2245
$GC,16454,0.30,153.7,925.6,5.9,408,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2208,2245
$GC,16757,0.30,153.7,908.4,5.6,413,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2208,2245
$GC,17060,0.30,153.7,892.0,5.4,418,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2208,2245
$GC,17363,0.30,153.7,876.3,5.2,423,17364,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2207,2245
$GC,17667,0.30,153.7,861.0,5.1,428,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2208,2245
$GC,17970,0.30,154.3,845.8,5.0,433,17974,0.00,2.55,0.00,0.000,4,0.000,0.077,3424,790,2244
$GC,18009,0.35,154.3,843.8,5.4,433,18013,0.00,2.38,0.00,0.000,6,0.000,0.059,3425,2200,2244
$GC,18332,0.35,156.4,827.8,4.9,439,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2199,2244
$GC,18635,0.35,156.4,812.5,5.1,444,18639,0.00,2.45,0.00,0.000,4,0.000,0.080,3424,3615,2245
$GC,18691,0.35,156.4,809.1,5.7,444,18698,0.00,2.33,0.00,0.000,6,0.000,0.061,3424,2201,2245
$GC,19002,0.35,156.4,793.0,5.1,450,19003,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2201,2244
$GC,19305,0.35,158.8,778.1,4.9,455,19313,0.00,0.00,5.60,1.065,6,0.000,0.000,3424,2201,2228
$GC,19609,0.35,158.8,762.3,5.3,460,19613,0.00,2.55,0.00,0.000,4,0.000,0.076,3424,790,2228
$GC,19654,0.41,158.8,759.8,5.3,460,19658,0.00,2.38,0.00,0.000,6,0.000,0.059,3424,2201,2227
$GC,19971,0.46,158.8,743.8,5.1,466,19973,0.12,0.00,0.00,0.000,6,0.089,0.000,3477,2201,2227
$GC,20274,0.35,158.8,724.5,6.4,471,20276,0.17,0.00,0.00,0.000,6,0.139,0.000,3430,2201,2228
$GC,20578,0.35,158.8,709.1,5.0,476,20579,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2201,2227
$GC,20880,0.35,158.8,692.6,5.5,481,20881,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2201,2227
$GC,21183,0.35,158.8,675.5,5.7,486,21187,0.00,2.53,0.00,0.000,4,0.000,0.075,3436,790,2227
$GC,21216,0.35,158.8,673.4,5.1,486,21221,0.00,2.40,0.00,0.000,6,0.000,0.058,3436,2206,2228
$GC,21545,0.35,158.8,654.6,5.7,492,21549,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,3618,2227
$GC,21579,0.31,158.8,652.3,6.5,492,21583,0.00,2.38,0.00,0.000,6,0.000,0.061,3436,2192,2227
$GC,21905,0.31,158.8,633.3,5.8,498,21907,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2227
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$STATE,32813,end climb,SURFACE_DEPTH_REACHED
$STATE,32813,begin surface coast
$FINISH,0.7,1.015416
$STATE,32955,end surface coast,CONTROL_FINISHED_OK
$STATE,32955,begin surface
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$HUMID,2144
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$10V_AH,10.3,90.471
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$DEVICE_SECS,30.150,198.675,366.425,13.700,0.000,23.248,25.163,199.172,245.000,0.000,0.000,17.853,1812.711,27847.197,528.717,2292.708,929.589,33.380,1659.738,0.000,2260.654,0.000,0.465
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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,50585,862
$CAP_FILE_SIZE,184876,0
$CFSIZE,260165632,206766080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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