version: 66.03
glider: 120
mission: 9
dive: 65
start: 9 21 108 0 29 22
data:
$ID,120
$MISSION,9
$DIVE,65
$D_SURF,6
$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,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,-18929.605
$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,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
$GPS1,002337,4956.743,-14509.303,27,1.4,27,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.24
$_SM_ANGLEo,-75.0
$GPS2,002826,4956.762,-14509.356,10,1.4,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.153,0.090
$KALMAN_X,36564.5,-580.1,-301.6,-58992.5,906.6
$KALMAN_Y,53831.7,-147.2,-153.0,-69793.3,2753.0
$MHEAD_RNG_PITCHd_Wd,41.1,29615,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,32,0.00,0.00,-12.20,0.000,2,0.000,0.000,149,2412,1870
$GC,34,-0.67,-117.3,4.4,-0.0,1,110,13.40,2.38,-55.75,0.000,4,0.289,0.083,3098,979,3356
$GC,324,-0.33,-117.3,37.9,-14.2,27,329,0.38,2.33,0.00,0.000,6,0.171,0.063,3204,2405,3358
$GC,649,-0.68,-117.3,59.4,-6.9,57,654,0.30,2.30,0.00,0.000,4,0.084,0.074,3095,3817,3360
$GC,703,-0.55,-117.3,64.0,-8.7,61,711,0.12,2.28,0.00,0.000,6,0.153,0.053,3133,2390,3360
$GC,1035,-0.44,-117.3,94.5,-9.4,86,1039,0.15,2.25,0.00,0.000,4,0.173,0.067,3180,995,3361
$GC,1105,-0.52,-117.3,100.1,-7.1,89,1110,0.00,2.30,0.00,0.000,6,0.000,0.059,3180,2409,3361
$GC,1427,-0.59,-117.3,119.4,-5.9,105,1432,0.17,2.30,0.00,0.000,4,0.077,0.067,3106,992,3362
$GC,1470,-0.44,-117.3,123.3,-9.9,107,1475,0.20,2.28,0.00,0.000,6,0.155,0.061,3174,2398,3362
$GC,1797,-0.72,-117.3,144.4,-6.4,123,1799,0.28,0.00,0.00,0.000,6,0.079,0.000,3076,2398,3362
$GC,2124,-0.72,-117.3,167.0,-7.1,135,2128,0.00,2.30,0.00,0.000,4,0.000,0.071,3076,987,3362
$GC,2133,-0.72,-117.3,167.9,-7.1,135,2138,0.00,2.30,0.00,0.000,6,0.000,0.061,3073,2400,3362
$GC,2458,-0.52,-117.3,198.0,-10.0,146,2462,0.22,2.30,0.00,0.000,4,0.170,0.080,3141,3810,3361
$GC,2664,-0.57,-117.3,212.6,-6.8,152,2668,0.00,2.25,0.00,0.000,6,0.000,0.057,3141,2405,3362
$GC,2993,-0.57,-117.3,232.0,-5.7,163,2997,0.00,2.28,0.00,0.000,4,0.000,0.073,3141,991,3361
$GC,3036,-0.62,-117.3,234.9,-6.3,164,3040,0.00,2.30,0.00,0.000,6,0.000,0.063,3141,2405,3360
$GC,3360,-0.62,-117.3,254.0,-6.0,175,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2406,3360
$GC,3666,-0.62,-117.3,271.0,-5.5,185,3670,0.00,2.33,0.00,0.000,4,0.000,0.074,3141,984,3359
$GC,3703,-0.66,-117.3,273.4,-6.4,186,3708,0.08,2.30,0.00,0.000,6,0.080,0.064,3101,2396,3359
$GC,4033,-0.66,-117.3,298.7,-8.3,197,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3359
$GC,4366,-0.66,-117.3,326.4,-8.2,203,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3358
$GC,4670,-0.66,-117.3,350.2,-7.8,208,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3358
$GC,4973,-0.66,-117.3,374.4,-8.0,213,4977,0.00,2.30,0.00,0.000,4,0.000,0.075,3101,987,3358
$GC,4999,-0.62,-117.3,376.7,-8.3,213,5004,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2399,3357
$GC,5337,-0.55,-117.3,401.6,-7.1,219,5339,0.15,0.00,0.00,0.000,6,0.170,0.000,3140,2399,3357
$GC,5640,-0.61,-117.3,417.1,-5.0,224,5644,0.00,2.30,0.00,0.000,4,0.000,0.075,3140,991,3357
$GC,5677,-0.67,-117.3,419.2,-5.5,224,5682,0.10,2.30,0.00,0.000,6,0.077,0.064,3093,2406,3356
$GC,6003,-0.67,-117.3,439.6,-6.4,230,6007,0.00,2.28,0.00,0.000,4,0.000,0.083,3090,3809,3356
$GC,6035,-0.59,-117.3,441.9,-7.1,230,6040,0.10,2.25,0.00,0.000,6,0.141,0.061,3123,2402,3356
$GC,6367,-0.59,-117.3,462.1,-6.0,236,6371,0.00,2.28,0.00,0.000,4,0.000,0.076,3123,993,3356
$GC,6393,-0.59,-117.3,463.9,-6.1,236,6397,0.00,2.30,0.00,0.000,6,0.000,0.065,3123,2405,3356
$GC,6730,-0.59,-117.3,485.3,-6.5,242,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3356
$GC,7033,-0.59,-117.3,506.2,-6.9,247,7037,0.00,2.30,0.00,0.000,4,0.000,0.076,3123,993,3355
$GC,7071,-0.59,-117.3,508.9,-7.3,247,7076,0.00,2.28,0.00,0.000,6,0.000,0.065,3123,2396,3355
$GC,7397,-0.59,-117.3,530.6,-6.6,253,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2396,3355
$GC,7700,-0.59,-117.3,548.5,-5.8,258,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2396,3355
$GC,8003,-0.59,-117.3,564.0,-5.0,263,8007,0.00,2.30,0.00,0.000,4,0.000,0.077,3123,988,3355
$GC,8035,-0.59,-117.3,565.7,-5.2,263,8040,0.00,2.30,0.00,0.000,6,0.000,0.067,3123,2398,3354
$GC,8368,-0.59,-117.3,579.6,-4.1,269,8372,0.00,2.30,0.00,0.000,4,0.000,0.076,3123,988,3354
$GC,8405,-0.59,-117.3,581.2,-4.0,269,8410,0.00,2.30,0.00,0.000,6,0.000,0.065,3123,2401,3354
$GC,8732,-0.59,-117.3,594.4,-4.1,275,8736,0.00,2.30,0.00,0.000,4,0.000,0.085,3123,3810,3354
$GC,8759,-0.65,-117.3,595.7,-4.4,275,8763,0.00,2.22,0.00,0.000,6,0.000,0.061,3123,2402,3354
$GC,9097,-0.70,-117.3,612.7,-5.2,281,9101,0.00,2.30,0.00,0.000,4,0.000,0.077,3123,985,3354
$GC,9128,-0.70,-117.3,614.6,-6.6,281,9133,0.00,2.30,0.00,0.000,6,0.000,0.065,3123,2400,3354
$GC,9461,-0.74,-117.3,633.7,-5.8,287,9462,0.15,0.00,0.00,0.000,6,0.087,0.000,3066,2401,3353
$GC,9764,-0.61,-117.3,657.1,-7.9,292,9766,0.20,0.00,0.00,0.000,6,0.169,0.000,3121,2401,3353
$GC,10066,-0.61,-117.3,674.0,-5.4,297,10070,0.00,2.33,0.00,0.000,4,0.000,0.077,3121,985,3353
$GC,10092,-0.61,-117.3,675.6,-6.3,297,10097,0.00,2.33,0.00,0.000,6,0.000,0.066,3121,2409,3353
$GC,10431,-0.65,-117.3,693.1,-5.2,303,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2409,3353
$GC,10734,-0.70,-117.3,708.1,-4.9,308,10738,0.00,2.33,0.00,0.000,4,0.000,0.077,3121,991,3353
$GC,10783,-0.70,-117.3,710.7,-5.6,308,10788,0.00,2.30,0.00,0.000,6,0.000,0.067,3121,2399,3353
$GC,11099,-0.74,-117.3,724.7,-4.4,314,11101,0.15,0.00,0.00,0.000,6,0.087,0.000,3064,2399,3353
$GC,11402,-0.62,-117.3,743.7,-6.3,319,11407,0.15,2.33,0.00,0.000,4,0.167,0.077,3110,987,3353
$GC,11450,-0.62,-117.3,746.6,-5.6,319,11455,0.00,2.33,0.00,0.000,6,0.000,0.068,3110,2403,3352
$GC,11765,-0.62,-117.3,762.8,-5.2,325,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2403,3353
$GC,12068,-0.62,-117.3,778.9,-5.4,330,12072,0.00,2.33,0.00,0.000,4,0.000,0.077,3110,985,3353
$GC,12094,-0.62,-117.3,780.6,-6.2,330,12099,0.00,2.33,0.00,0.000,6,0.000,0.068,3110,2405,3353
$GC,12432,-0.62,-117.3,799.2,-5.6,336,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3352
$GC,12735,-0.62,-117.3,815.2,-5.2,341,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3353
$GC,13039,-0.62,-117.3,830.3,-5.0,346,13043,0.00,2.33,0.00,0.000,4,0.000,0.078,3110,988,3352
$GC,13065,-0.62,-117.3,831.7,-5.6,346,13069,0.00,2.33,0.00,0.000,6,0.000,0.068,3110,2407,3352
$GC,13402,-0.62,-117.3,848.8,-5.0,352,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3352
$GC,13706,-0.62,-117.3,864.1,-5.1,357,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3351
$GC,14009,-0.62,-117.3,880.6,-5.4,362,14013,0.00,2.33,0.00,0.000,4,0.000,0.079,3110,988,3351
$GC,14040,-0.62,-117.3,882.5,-6.7,362,14045,0.00,2.30,0.00,0.000,6,0.000,0.068,3110,2399,3351
$GC,14372,-0.62,-117.3,902.2,-6.0,368,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3352
$GC,14676,-0.62,-117.3,920.5,-6.0,373,14677,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3351
$GC,14979,-0.62,-117.3,939.2,-6.2,378,14983,0.00,2.30,0.00,0.000,4,0.000,0.079,3110,992,3351
$GC,15010,-0.62,-117.3,941.3,-7.3,378,15015,0.00,2.30,0.00,0.000,6,0.000,0.069,3110,2398,3351
$GC,15343,-0.62,-117.3,960.8,-5.8,384,15344,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3351
$GC,15646,-0.62,-117.3,976.5,-5.1,389,15650,0.00,2.33,0.00,0.000,4,0.000,0.079,3110,986,3350
$GC,15683,-0.62,-117.3,978.4,-5.6,389,15688,0.00,2.33,0.00,0.000,6,0.000,0.076,3110,2402,3350
$STATE,15947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15948,begin apogee
$GC,15952,-0.22,0.0,990.4,4.5,394,16054,0.43,0.00,99.55,1.508,6,0.153,0.000,3241,2201,2876
$STATE,16055,end apogee,CONTROL_FINISHED_OK
$STATE,16055,begin climb
$GC,16056,0.67,117.3,991.7,0.0,395,16163,0.90,0.00,103.32,1.455,6,0.103,0.000,3528,2201,2397
$GC,16432,0.31,117.3,965.4,10.0,402,16435,0.40,0.00,0.00,0.000,6,0.182,0.000,3422,2201,2393
$GC,16736,0.25,117.3,944.0,6.9,407,16737,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2201,2393
$GC,17039,0.19,117.3,924.9,6.2,412,17043,0.15,2.38,0.00,0.000,4,0.181,0.082,3381,792,2393
$GC,17082,0.31,132.0,922.7,4.6,412,17100,0.08,2.35,12.93,1.351,6,0.082,0.066,3418,2202,2338
$GC,17401,0.31,132.0,905.6,5.4,418,17405,0.00,2.35,0.00,0.000,4,0.000,0.082,3419,3610,2337
$GC,17432,0.22,132.0,903.7,6.3,418,17437,0.10,2.35,0.00,0.000,6,0.176,0.068,3392,2199,2336
$GC,17771,0.30,158.0,888.9,4.3,424,17796,0.00,0.00,23.30,1.403,6,0.000,0.000,3392,2200,2231
$GC,18074,0.39,162.4,874.3,4.9,429,18085,0.15,2.42,5.55,1.091,4,0.091,0.083,3452,3614,2212
$GC,18123,0.22,162.4,870.6,7.5,429,18128,0.22,2.38,0.00,0.000,6,0.179,0.068,3394,2204,2212
$GC,18438,0.30,162.4,853.7,5.4,435,18439,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2204,2211
$GC,18741,0.38,162.4,834.7,6.4,440,18743,0.15,0.00,0.00,0.000,6,0.093,0.000,3449,2204,2211
$GC,19044,0.31,162.4,808.8,8.6,445,19049,0.12,2.38,0.00,0.000,4,0.166,0.083,3423,778,2211
$GC,19070,0.31,162.4,806.5,7.3,445,19074,0.00,2.35,0.00,0.000,6,0.000,0.064,3423,2204,2211
$GC,19407,0.31,162.4,780.2,7.7,451,19411,0.00,2.33,0.00,0.000,4,0.000,0.083,3423,3618,2211
$GC,19440,0.25,162.4,777.6,8.0,451,19444,0.00,2.33,0.00,0.000,6,0.000,0.068,3423,2199,2211
$GC,19772,0.25,162.4,753.8,7.0,457,19773,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2211
$GC,20075,0.25,162.4,733.5,6.7,462,20076,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2211
$GC,20378,0.25,162.4,714.2,6.3,467,20379,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2211
$GC,20681,0.25,162.4,698.2,5.2,472,20685,0.00,2.33,0.00,0.000,4,0.000,0.084,3423,789,2211
$GC,20742,0.25,162.4,695.0,5.6,473,20746,0.00,2.30,0.00,0.000,6,0.000,0.066,3423,2211,2211
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$GC,26815,0.47,218.8,346.6,5.6,573,26816,0.10,0.00,0.00,0.000,6,0.102,0.000,3472,2199,1981
$GC,27117,0.47,218.8,325.2,7.1,578,27118,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2200,1980
$GC,27420,0.47,218.8,305.8,6.4,583,27421,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2200,1980
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$STATE,32037,end climb,SURFACE_DEPTH_REACHED
$STATE,32037,begin surface coast
$FINISH,3.3,1.013807
$STATE,32091,end surface coast,CONTROL_FINISHED_OK
$STATE,32091,begin surface
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$IRIDIUM_FIX,4936.36,-14510.89,151297,151517
$TT8_MAMPS,0.026078
$HUMID,2196
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$TCM_TEMP,16.40
$XPDR_PINGS,951
$24V_AH,23.4,16.476
$10V_AH,10.6,8.823
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$DEVICE_SECS,29.675,204.750,396.750,0.000,0.000,30.792,25.321,132.722,237.750,0.000,0.000,15.214,1765.819,27375.422,584.789,2348.316,381.515,33.373,1732.063,0.000,2329.878,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47475,822
$CAP_FILE_SIZE,181122,0
$CFSIZE,260165632,253657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210908,092637,4958.398,-14505.507,34,1.1,34,18.4