version: 66.03
glider: 120
mission: 9
dive: 733
start: 6 1 109 2 57 36
data:
$ID,120
$MISSION,9
$DIVE,733
$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,-33417.449
$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,18
$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
$GPS1,024531,4956.738,-14504.154,59,1.7,59,18.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.1
$GPS2,025638,4956.750,-14504.132,15,1.7,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.129,0.122
$KALMAN_X,-154530.8,98.9,-193.2,166935.0,-577.9
$KALMAN_Y,147477.1,-319.8,-478.2,-159129.1,916.2
$MHEAD_RNG_PITCHd_Wd,28.3,25384,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-39.72,0.000,2,0.000,0.000,140,2404,2782
$GC,75,-0.67,-117.3,3.9,-7.5,4,108,13.62,2.65,-10.68,0.000,4,0.275,0.090,3086,3803,3359
$GC,257,-0.48,-117.3,32.5,-11.5,20,262,0.28,2.42,0.00,0.000,6,0.146,0.051,3162,2394,3360
$GC,590,-0.54,-117.3,56.8,-6.5,50,594,0.00,2.58,0.00,0.000,4,0.000,0.065,3162,988,3362
$GC,631,-0.62,-117.3,60.3,-6.9,53,637,0.15,2.42,0.00,0.000,6,0.071,0.058,3107,2404,3361
$GC,970,-0.57,-117.3,87.1,-7.8,80,974,0.00,2.55,0.00,0.000,4,0.000,0.074,3104,3811,3361
$GC,1044,-0.49,-117.3,94.1,-8.7,83,1049,0.17,2.40,0.00,0.000,6,0.115,0.049,3152,2394,3362
$GC,1362,-0.55,-117.3,114.5,-6.2,98,1366,0.00,2.53,0.00,0.000,4,0.000,0.065,3152,989,3362
$GC,1405,-0.62,-117.3,117.0,-6.3,100,1410,0.12,2.42,0.00,0.000,6,0.077,0.057,3106,2401,3362
$GC,1734,-0.62,-117.3,138.5,-6.3,116,1738,0.00,2.50,0.00,0.000,4,0.000,0.076,3104,3806,3362
$GC,1762,-0.62,-117.3,140.6,-7.3,117,1766,0.00,2.35,0.00,0.000,6,0.000,0.050,3104,2401,3362
$GC,2098,-0.62,-117.3,163.6,-6.7,130,2102,0.00,2.55,0.00,0.000,4,0.000,0.065,3105,989,3362
$GC,2132,-0.62,-117.3,166.0,-6.8,131,2137,0.00,2.42,0.00,0.000,6,0.000,0.058,3105,2402,3362
$GC,2463,-0.62,-117.3,186.9,-6.2,142,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2401,3362
$GC,2770,-0.62,-117.3,206.2,-6.4,152,2774,0.00,2.58,0.00,0.000,4,0.000,0.077,3104,3805,3362
$GC,2822,-0.62,-117.3,209.7,-7.2,153,2826,0.00,2.42,0.00,0.000,6,0.000,0.050,3103,2393,3362
$GC,3136,-0.62,-117.3,230.7,-6.7,163,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2394,3362
$GC,3442,-0.62,-117.3,250.6,-6.6,173,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2394,3362
$GC,3748,-0.62,-117.3,270.7,-6.5,183,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2394,3362
$GC,4055,-0.62,-117.3,289.5,-5.8,193,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2394,3361
$GC,4390,-0.62,-117.3,308.2,-5.6,202,4394,0.00,2.67,0.00,0.000,4,0.000,0.077,3103,3812,3361
$GC,4418,-0.62,-117.3,310.0,-6.3,202,4422,0.00,2.45,0.00,0.000,6,0.000,0.051,3103,2396,3361
$GC,4752,-0.66,-117.3,328.7,-5.7,208,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2397,3361
$GC,5057,-0.71,-117.3,346.9,-6.1,213,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2397,3360
$GC,5357,-0.77,-117.3,365.4,-6.1,218,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2397,3360
$GC,5660,-0.82,-117.3,384.1,-6.1,223,5662,0.15,0.00,0.00,0.000,6,0.084,0.000,3043,2397,3360
$GC,5964,-0.72,-117.3,409.3,-8.4,228,5966,0.12,0.00,0.00,0.000,6,0.094,0.000,3079,2394,3359
$GC,6268,-0.67,-117.3,432.6,-7.6,233,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2395,3360
$GC,6571,-0.62,-117.3,455.2,-7.4,238,6573,0.12,0.00,0.00,0.000,6,0.168,0.000,3112,2395,3359
$GC,6873,-0.69,-117.3,474.1,-6.2,243,6877,0.00,2.67,0.00,0.000,4,0.000,0.067,3113,991,3359
$GC,6908,-0.75,-117.3,476.6,-7.2,243,6913,0.12,2.45,0.00,0.000,6,0.081,0.060,3070,2403,3358
$GC,7236,-0.75,-117.3,500.4,-7.4,249,7240,0.00,2.65,0.00,0.000,4,0.000,0.078,3070,3806,3358
$GC,7303,-0.75,-117.3,506.1,-8.6,250,7308,0.00,2.45,0.00,0.000,6,0.000,0.052,3069,2397,3358
$GC,7666,-0.75,-117.3,533.3,-7.5,256,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2397,3358
$GC,7968,-0.75,-117.3,554.2,-6.8,261,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2398,3358
$GC,8271,-0.75,-117.3,572.3,-6.0,266,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2397,3358
$GC,8574,-0.75,-117.3,588.9,-5.4,271,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2397,3358
$GC,8877,-0.75,-117.3,605.8,-5.6,276,8882,0.00,2.70,0.00,0.000,4,0.000,0.078,3069,3813,3358
$GC,8913,-0.75,-117.3,608.1,-6.7,276,8917,0.00,2.47,0.00,0.000,6,0.000,0.052,3069,2399,3358
$GC,9240,-0.75,-117.3,629.0,-6.4,282,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3358
$GC,9543,-0.75,-117.3,649.4,-6.8,287,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3358
$GC,9847,-0.75,-117.3,670.3,-6.9,292,9851,0.00,2.70,0.00,0.000,4,0.000,0.079,3070,3813,3357
$GC,9886,-0.75,-117.3,673.3,-8.2,292,9890,0.00,2.47,0.00,0.000,6,0.000,0.053,3069,2400,3357
$GC,10209,-0.75,-117.3,695.9,-7.0,298,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2401,3357
$GC,10511,-0.75,-117.3,716.9,-6.9,303,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3357
$GC,10814,-0.75,-117.3,737.7,-6.9,308,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3357
$GC,11117,-0.75,-117.3,757.7,-6.6,313,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3357
$GC,11421,-0.75,-117.3,775.9,-5.9,318,11425,0.00,2.70,0.00,0.000,4,0.000,0.079,3069,3809,3356
$GC,11449,-0.75,-117.3,777.6,-5.4,318,11453,0.00,2.47,0.00,0.000,6,0.000,0.053,3069,2399,3356
$GC,11782,-0.75,-117.3,796.4,-5.6,324,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2400,3356
$GC,12085,-0.75,-117.3,813.2,-5.5,329,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3356
$GC,12389,-0.75,-117.3,829.2,-5.3,334,12391,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3356
$GC,12691,-0.75,-117.3,846.6,-5.8,339,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2401,3356
$GC,12995,-0.75,-117.3,864.8,-6.0,344,12999,0.00,2.70,0.00,0.000,4,0.000,0.080,3069,3810,3356
$GC,13040,-0.75,-117.3,867.9,-6.7,344,13044,0.00,2.47,0.00,0.000,6,0.000,0.054,3069,2390,3356
$GC,13356,-0.75,-117.3,887.5,-6.3,350,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3356
$GC,13660,-0.75,-117.3,906.1,-6.1,355,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3356
$GC,13962,-0.75,-117.3,923.2,-5.6,360,13966,0.00,2.70,0.00,0.000,4,0.000,0.081,3069,3812,3355
$GC,13996,-0.75,-117.3,925.2,-6.2,360,14000,0.00,2.45,0.00,0.000,6,0.000,0.054,3069,2400,3355
$GC,14323,-0.75,-117.3,941.8,-5.0,366,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3355
$GC,14626,-0.75,-117.3,956.7,-4.9,371,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3355
$GC,14929,-0.75,-117.3,972.7,-5.3,376,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3355
$GC,15232,-0.75,-117.3,989.7,-5.6,381,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3355
$STATE,15290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15291,begin apogee
$GC,15300,-0.22,0.0,993.3,5.7,382,15416,0.57,0.00,113.05,1.486,6,0.128,0.000,3241,2199,2876
$STATE,15417,end apogee,CONTROL_FINISHED_OK
$STATE,15417,begin climb
$GC,15422,0.67,117.3,998.5,0.0,384,15550,0.93,2.92,120.78,1.442,4,0.077,0.074,3532,3605,2396
$GC,15651,0.23,117.3,994.3,7.8,387,15657,0.60,2.72,0.00,0.000,6,0.183,0.060,3397,2203,2394
$GC,15981,0.35,166.8,982.1,3.6,393,16037,0.12,2.92,50.22,1.417,4,0.077,0.073,3449,789,2194
$GC,16111,0.35,166.8,974.9,5.9,394,16115,0.00,2.67,0.00,0.000,6,0.000,0.058,3449,2198,2191
$GC,16479,0.30,166.8,952.2,6.1,400,16481,0.12,0.00,0.00,0.000,6,0.150,0.000,3421,2197,2189
$GC,16781,0.35,166.8,936.1,5.3,405,16782,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2197,2189
$GC,17084,0.39,166.8,920.2,5.2,410,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2197,2189
$GC,17386,0.39,166.8,903.9,5.3,415,17391,0.00,2.78,0.00,0.000,4,0.000,0.073,3421,783,2189
$GC,17416,0.44,166.8,902.3,5.1,415,17421,0.12,2.55,0.00,0.000,6,0.079,0.057,3465,2204,2189
$GC,17750,0.36,166.8,879.9,6.8,421,17751,0.12,0.00,0.00,0.000,6,0.149,0.000,3434,2204,2188
$GC,18054,0.36,166.8,861.2,6.1,426,18055,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2204,2188
$GC,18356,0.36,166.8,843.2,5.9,431,18357,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2204,2188
$GC,18658,0.36,166.8,826.8,5.3,436,18663,0.00,2.70,0.00,0.000,4,0.000,0.074,3436,787,2188
$GC,18704,0.36,166.8,824.3,5.9,436,18708,0.00,2.47,0.00,0.000,6,0.000,0.059,3436,2204,2188
$GC,19020,0.37,171.2,809.0,4.9,442,19026,0.00,0.00,4.10,0.904,6,0.000,0.000,3436,2203,2178
$GC,19325,0.37,174.0,794.1,4.9,447,19334,0.00,2.60,4.82,0.995,4,0.000,0.076,3436,784,2166
$GC,19364,0.37,174.0,792.0,5.2,447,19368,0.00,2.45,0.00,0.000,6,0.000,0.058,3436,2205,2165
$GC,19686,0.37,174.0,775.6,5.2,453,19687,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2165
$GC,19989,0.37,174.0,758.8,5.5,458,19993,0.00,2.62,0.00,0.000,4,0.000,0.075,3436,778,2165
$GC,20063,0.37,174.0,754.6,6.2,459,20067,0.00,2.47,0.00,0.000,6,0.000,0.058,3436,2211,2165
$GC,20419,0.37,174.0,733.3,6.1,465,20420,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2165
$GC,20721,0.37,174.0,715.0,6.0,470,20722,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2165
$GC,21024,0.37,174.0,699.2,5.1,475,21029,0.00,2.62,0.00,0.000,4,0.000,0.075,3436,784,2165
$GC,21091,0.43,184.4,696.1,4.7,476,21107,0.00,2.47,11.23,1.214,6,0.000,0.059,3436,2208,2124
$GC,21458,0.47,184.4,677.4,5.0,482,21459,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2122
$GC,21761,0.51,184.4,662.2,5.1,487,21766,0.12,2.60,0.00,0.000,4,0.088,0.075,3490,786,2122
$GC,21819,0.40,184.4,658.6,7.2,487,21826,0.17,2.45,0.00,0.000,6,0.151,0.060,3446,2208,2122
$GC,22130,0.40,184.4,641.2,5.6,493,22131,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2207,2122
$GC,22433,0.40,184.4,624.2,5.6,498,22437,0.00,2.58,0.00,0.000,4,0.000,0.076,3449,782,2122
$GC,22491,0.40,184.4,620.8,6.2,498,22497,0.00,2.45,0.00,0.000,6,0.000,0.059,3449,2205,2122
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$STATE,32955,end climb,SURFACE_DEPTH_REACHED
$STATE,32955,begin surface coast
$FINISH,3.8,1.025378
$STATE,33012,end surface coast,CONTROL_FINISHED_OK
$STATE,33012,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2167
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$TCM_TEMP,18.00
$XPDR_PINGS,936
$24V_AH,20.6,142.489
$10V_AH,10.2,99.475
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$DEVICE_SECS,29.250,172.700,367.050,23.550,0.000,60.557,72.291,277.670,234.000,0.000,0.000,15.273,1750.168,28115.121,537.702,2179.387,1140.362,33.383,1600.612,0.000,2161.394,0.000,0.465
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$SENSOR_SECS,651.534,617.704,1433.707,866.646,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50600,843
$CAP_FILE_SIZE,174814,0
$CFSIZE,260165632,201682944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010609,121037,4959.017,-14500.762,71,0.9,71,18.4