version: 66.03
glider: 120
mission: 9
dive: 31
start: 9 8 108 7 21 22
data:
$ID,120
$MISSION,9
$DIVE,31
$D_SURF,2
$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,600
$T_MISSION,615
$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,300
$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,-18256.611
$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,18
$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
$GPS1,071532,5015.653,-14437.824,40,1.7,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-75.4
$GPS2,072027,5015.716,-14437.823,16,1.1,16,18.6
$SPEED_LIMITS,0.095,0.184
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.114
$KALMAN_X,17303.6,-5.6,27.0,-3186.0,35.4
$KALMAN_Y,18408.7,-254.4,134.4,535.9,1285.6
$MHEAD_RNG_PITCHd_Wd,33.0,13610,-13.3,-5.500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-117.3,0.0,0.0,0,53,0.00,0.00,-32.65,0.000,2,0.000,0.000,150,2413,2407
$GC,55,-0.72,-117.3,3.4,-6.1,3,99,13.38,2.38,-24.38,0.000,4,0.295,0.086,3080,978,3357
$GC,351,-0.51,-117.3,46.0,-11.4,29,359,0.20,2.35,0.00,0.000,6,0.169,0.065,3143,2399,3360
$GC,678,-0.46,-117.3,75.8,-9.3,60,682,0.00,2.33,0.00,0.000,4,0.000,0.071,3145,984,3362
$GC,762,-0.46,-117.3,84.0,-8.9,66,766,0.00,2.30,0.00,0.000,6,0.000,0.064,3142,2408,3362
$GC,1087,-0.46,-117.3,112.2,-9.0,82,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2408,3362
$GC,1397,-0.46,-117.3,138.4,-7.9,97,1401,0.00,2.33,0.00,0.000,4,0.000,0.073,3142,984,3362
$GC,1439,-0.46,-117.3,142.2,-8.8,99,1444,0.00,2.33,0.00,0.000,6,0.000,0.064,3142,2403,3362
$GC,1775,-0.50,-117.3,163.7,-6.0,112,1779,0.00,2.33,0.00,0.000,4,0.000,0.084,3142,3822,3362
$GC,1812,-0.57,-117.3,166.2,-7.0,113,1817,0.00,2.30,0.00,0.000,6,0.000,0.059,3142,2389,3362
$GC,2142,-0.63,-117.3,190.4,-7.7,124,2146,0.00,2.35,0.00,0.000,4,0.000,0.084,3142,3813,3362
$GC,2174,-0.72,-117.3,193.0,-7.8,125,2179,0.12,2.28,0.00,0.000,6,0.071,0.060,3084,2394,3361
$GC,2509,-0.61,-117.3,221.5,-7.9,136,2514,0.12,2.28,0.00,0.000,4,0.166,0.075,3117,993,3362
$GC,2563,-0.61,-117.3,225.4,-6.7,137,2570,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2401,3361
$GC,2876,-0.61,-117.3,247.5,-7.3,148,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3361
$GC,3182,-0.61,-117.3,272.3,-8.2,158,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2401,3361
$GC,3488,-0.61,-117.3,297.2,-8.1,168,3492,0.00,2.30,0.00,0.000,4,0.000,0.076,3114,992,3360
$GC,3536,-0.61,-117.3,301.3,-8.4,169,3541,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2401,3361
$GC,3851,-0.61,-117.3,324.7,-7.5,175,3855,0.00,2.30,0.00,0.000,4,0.000,0.086,3113,3810,3360
$GC,3888,-0.61,-117.3,327.5,-7.6,175,3892,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2399,3360
$GC,4214,-0.61,-117.3,350.5,-7.1,181,4218,0.00,2.28,0.00,0.000,4,0.000,0.077,3113,993,3360
$GC,4256,-0.61,-117.3,353.7,-7.4,181,4261,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2400,3359
$GC,4577,-0.61,-117.3,376.1,-7.0,187,4581,0.00,2.30,0.00,0.000,4,0.000,0.086,3113,3810,3359
$GC,4609,-0.61,-117.3,378.4,-7.2,187,4614,0.00,2.25,0.00,0.000,6,0.000,0.064,3113,2408,3359
$GC,4947,-0.61,-117.3,399.4,-6.2,193,4951,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,987,3359
$GC,5008,-0.61,-117.3,403.4,-6.4,194,5012,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2413,3359
$GC,5378,-0.61,-117.3,425.3,-5.9,200,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2413,3359
$GC,5681,-0.61,-117.3,442.4,-5.7,205,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2413,3358
$GC,5984,-0.61,-117.3,460.2,-5.9,210,5988,0.00,2.33,0.00,0.000,4,0.000,0.078,3113,991,3358
$GC,6021,-0.61,-117.3,462.7,-6.7,210,6026,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2402,3358
$GC,6347,-0.61,-117.3,483.3,-6.4,216,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6650,-0.61,-117.3,502.9,-6.5,221,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6953,-0.61,-117.3,524.5,-7.1,226,6957,0.00,2.30,0.00,0.000,4,0.000,0.078,3113,991,3357
$GC,6985,-0.61,-117.3,527.1,-7.5,226,6990,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2400,3357
$GC,7317,-0.61,-117.3,550.9,-7.1,232,7321,0.00,2.30,0.00,0.000,4,0.000,0.079,3113,991,3356
$GC,7354,-0.61,-117.3,553.9,-7.8,232,7359,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2400,3356
$GC,7681,-0.61,-117.3,575.7,-6.7,238,7685,0.00,2.30,0.00,0.000,4,0.000,0.086,3113,3816,3356
$GC,7713,-0.67,-117.3,577.9,-7.3,238,7717,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2400,3356
$GC,8051,-0.72,-117.3,598.0,-5.9,244,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,8354,-0.77,-117.3,616.9,-6.3,249,8356,0.12,0.00,0.00,0.000,6,0.093,0.000,3063,2401,3355
$GC,8657,-0.67,-117.3,642.3,-8.5,254,8661,0.12,2.30,0.00,0.000,4,0.163,0.079,3095,986,3355
$GC,8688,-0.67,-117.3,645.0,-7.8,254,8693,0.00,2.30,0.00,0.000,6,0.000,0.068,3095,2395,3355
$GC,9026,-0.67,-117.3,668.9,-7.1,260,9030,0.00,2.33,0.00,0.000,4,0.000,0.087,3095,3819,3355
$GC,9057,-0.67,-117.3,671.0,-6.9,260,9062,0.00,2.30,0.00,0.000,6,0.000,0.064,3095,2393,3355
$GC,9389,-0.67,-117.3,691.9,-6.2,266,9393,0.00,2.28,0.00,0.000,4,0.000,0.081,3095,991,3355
$GC,9420,-0.67,-117.3,693.9,-6.6,266,9425,0.00,2.30,0.00,0.000,6,0.000,0.069,3095,2401,3355
$GC,9752,-0.67,-117.3,713.8,-6.0,272,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3355
$GC,10055,-0.67,-117.3,731.6,-5.8,277,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3355
$GC,10358,-0.67,-117.3,749.8,-6.0,282,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,10661,-0.67,-117.3,768.7,-6.2,287,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3355
$GC,10965,-0.67,-117.3,788.1,-6.4,292,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3354
$GC,11268,-0.67,-117.3,807.6,-6.5,297,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,11571,-0.67,-117.3,828.2,-6.9,302,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,11874,-0.67,-117.3,849.1,-6.9,307,11878,0.00,2.30,0.00,0.000,4,0.000,0.081,3095,991,3354
$GC,11900,-0.67,-117.3,851.1,-7.5,307,11905,0.00,2.33,0.00,0.000,6,0.000,0.071,3095,2407,3353
$GC,12243,-0.67,-117.3,874.0,-6.8,313,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3353
$GC,12546,-0.67,-117.3,893.6,-6.4,318,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3353
$GC,12849,-0.67,-117.3,911.6,-5.9,323,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2407,3353
$GC,13153,-0.67,-117.3,929.0,-5.8,328,13156,0.00,2.30,0.00,0.000,4,0.000,0.089,3095,3816,3353
$GC,13190,-0.72,-117.3,931.2,-5.6,328,13195,0.00,2.30,0.00,0.000,6,0.000,0.067,3095,2396,3353
$GC,13522,-0.76,-117.3,950.1,-5.7,334,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3353
$GC,13825,-0.81,-117.3,967.7,-5.8,339,13827,0.12,0.00,0.00,0.000,6,0.092,0.000,3047,2396,3353
$GC,14128,-0.70,-117.3,989.1,-7.1,344,14133,0.15,2.35,0.00,0.000,4,0.172,0.089,3086,3813,3353
$STATE,14142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14142,begin apogee
$GC,14148,-0.22,0.0,990.3,6.8,344,14251,0.47,0.00,99.78,1.505,6,0.163,0.000,3236,2190,2876
$STATE,14252,end apogee,CONTROL_FINISHED_OK
$STATE,14252,begin climb
$GC,14253,0.72,117.3,993.0,0.0,346,14360,1.00,0.00,103.80,1.453,6,0.110,0.000,3549,2190,2397
$GC,14612,0.36,117.3,968.9,9.4,352,14614,0.43,0.00,0.00,0.000,6,0.195,0.000,3437,2190,2394
$GC,14915,0.30,117.3,950.5,5.9,357,14919,0.00,2.38,0.00,0.000,4,0.000,0.087,3438,786,2394
$GC,14952,0.30,117.3,948.2,5.8,357,14957,0.00,2.38,0.00,0.000,6,0.000,0.066,3438,2201,2394
$GC,15285,0.24,119.4,930.2,5.4,363,15290,0.15,2.35,0.00,0.000,4,0.183,0.083,3387,3610,2393
$GC,15333,0.25,126.9,927.6,5.3,363,15347,0.00,2.35,9.18,1.285,6,0.000,0.070,3395,2200,2358
$GC,15648,0.38,160.2,913.6,4.5,369,15680,0.12,0.00,29.20,1.416,6,0.096,0.000,3441,2200,2223
$GC,15951,0.38,160.2,893.3,6.8,374,15955,0.00,2.40,0.00,0.000,4,0.000,0.084,3441,3609,2221
$GC,15983,0.29,160.2,890.7,7.7,374,15988,0.12,2.38,0.00,0.000,6,0.179,0.072,3413,2201,2220
$GC,16320,0.35,160.2,868.3,6.6,380,16324,0.00,2.38,0.00,0.000,4,0.000,0.086,3413,786,2220
$GC,16347,0.44,160.2,866.5,6.2,380,16352,0.10,2.35,0.00,0.000,6,0.077,0.065,3460,2202,2220
$GC,16685,0.38,160.2,840.3,7.8,386,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2202,2220
$GC,16988,0.32,160.2,817.4,7.6,391,16992,0.15,2.38,0.00,0.000,4,0.163,0.084,3423,789,2220
$GC,17042,0.38,160.2,813.6,7.3,391,17049,0.00,2.33,0.00,0.000,6,0.000,0.067,3422,2199,2220
$GC,17351,0.43,160.2,793.7,6.5,397,17356,0.00,2.33,0.00,0.000,4,0.000,0.085,3423,3610,2220
$GC,17378,0.43,160.2,791.7,7.1,397,17382,0.00,2.33,0.00,0.000,6,0.000,0.072,3422,2199,2219
$GC,17716,0.47,160.2,770.6,6.3,403,17721,0.15,2.35,0.00,0.000,4,0.093,0.085,3490,784,2220
$GC,17759,0.33,160.2,767.1,8.5,403,17764,0.20,2.33,0.00,0.000,6,0.170,0.068,3429,2199,2219
$GC,18079,0.33,160.2,745.8,6.6,409,18080,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2199,2219
$GC,18382,0.33,160.2,726.7,6.3,414,18383,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2199,2219
$GC,18685,0.33,160.2,709.0,5.8,419,18686,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2199,2219
$GC,18989,0.34,162.7,692.4,5.4,424,18993,0.00,2.35,0.00,0.000,4,0.000,0.085,3436,784,2219
$GC,19026,0.36,181.4,690.3,4.9,424,19054,0.00,2.33,18.12,1.282,6,0.000,0.068,3435,2201,2136
$GC,19355,0.37,187.0,672.8,5.3,430,19368,0.00,2.45,6.45,1.081,4,0.000,0.085,3436,789,2112
$GC,19402,0.47,213.3,670.3,4.7,430,19432,0.00,2.35,23.42,1.268,6,0.000,0.067,3436,2199,2006
$GC,19788,0.54,213.3,648.3,5.8,437,19790,0.15,0.00,0.00,0.000,6,0.094,0.000,3494,2199,2002
$GC,20091,0.45,213.3,622.7,8.5,442,20092,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,2200,2002
$GC,20394,0.36,213.3,596.0,8.9,447,20396,0.22,0.00,0.00,0.000,6,0.170,0.000,3432,2199,2001
$GC,20697,0.45,213.3,574.9,6.9,452,20698,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2199,2001
$GC,21000,0.55,213.3,553.3,7.1,457,21005,0.15,2.33,0.00,0.000,4,0.092,0.084,3496,3614,2001
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$STATE,28704,end climb,SURFACE_DEPTH_REACHED
$STATE,28704,begin surface coast
$FINISH,1.0,1.010892
$STATE,28727,end surface coast,CONTROL_FINISHED_OK
$STATE,28727,begin surface
$SM_CCo,28803,0.00,0.000,0,0,1613,309.57
$SM_GC,2.28,9.77,0.00,0.00,0.084,0.000,0.000,146,2401,1613,-9.87,0.06,309.57
$IRIDIUM_FIX,4953.05,-14437.90,021297,222220
$TT8_MAMPS,0.026078
$HUMID,2181
$INTERNAL_PRESSURE,9.09458
$TCM_TEMP,16.40
$XPDR_PINGS,852
$24V_AH,23.4,10.083
$10V_AH,10.7,4.545
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$DEVICE_SECS,28.875,200.300,364.400,0.000,0.000,31.459,31.285,142.507,213.000,0.000,0.000,16.375,1605.110,24443.615,540.196,2154.106,354.652,33.358,1608.366,0.000,2129.296,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,562.882,540.769,1246.826,242.288,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41138,733
$CAP_FILE_SIZE,167066,0
$CFSIZE,260165632,256253952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080908,152238,5018.092,-14433.899,40,1.0,40,18.6