version: 66.03
glider: 120
mission: 9
dive: 148
start: 10 22 108 13 54 0
data:
$ID,120
$MISSION,9
$DIVE,148
$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,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,-20802.447
$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,19
$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
$GPS1,134140,4956.885,-14503.415,123,1.9,124,18.4
$_CALLS,2
$_XMS_NAKs,33
$_XMS_TOUTs,2
$_SM_DEPTHo,3.78
$_SM_ANGLEo,-72.6
$GPS2,135305,4956.940,-14503.247,15,2.1,34,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.088
$KALMAN_X,43717.2,150.4,-123.1,-59817.7,-1195.6
$KALMAN_Y,116470.3,-273.2,-594.7,-131530.5,3053.1
$MHEAD_RNG_PITCHd_Wd,41.8,24464,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.88,0.000,2,0.000,0.000,134,2406,1958
$GC,36,-0.67,-117.3,3.7,-0.0,1,103,13.93,2.42,-47.80,0.000,4,0.287,0.086,3092,990,3356
$GC,316,-0.31,-117.3,38.6,-15.2,26,323,0.45,2.38,0.00,0.000,6,0.169,0.062,3211,2429,3358
$GC,642,-0.48,-117.3,58.8,-6.4,57,647,0.15,2.40,0.00,0.000,4,0.083,0.066,3152,979,3360
$GC,674,-0.48,-117.3,61.1,-7.7,59,681,0.00,2.35,0.00,0.000,6,0.000,0.058,3152,2406,3359
$GC,998,-0.48,-117.3,83.9,-8.2,88,1002,0.00,2.33,0.00,0.000,4,0.000,0.076,3151,3817,3360
$GC,1037,-0.48,-117.3,87.3,-8.6,90,1041,0.00,2.28,0.00,0.000,6,0.000,0.053,3152,2389,3361
$GC,1362,-0.48,-117.3,113.2,-7.5,106,1366,0.00,2.28,0.00,0.000,4,0.000,0.067,3152,989,3361
$GC,1389,-0.48,-117.3,115.3,-7.5,107,1393,0.00,2.30,0.00,0.000,6,0.000,0.059,3151,2398,3361
$GC,1710,-0.48,-117.3,140.4,-6.5,123,1714,0.00,2.30,0.00,0.000,4,0.000,0.067,3152,992,3361
$GC,1750,-0.53,-117.3,142.8,-6.1,125,1754,0.00,2.30,0.00,0.000,6,0.000,0.060,3151,2411,3361
$GC,2075,-0.58,-117.3,160.8,-5.9,138,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2410,3361
$GC,2381,-0.63,-117.3,182.8,-7.3,148,2383,0.12,0.00,0.00,0.000,6,0.089,0.000,3101,2410,3360
$GC,2687,-0.54,-117.3,206.5,-7.3,158,2689,0.15,0.00,0.00,0.000,6,0.155,0.000,3141,2410,3360
$GC,2993,-0.54,-117.3,226.2,-6.3,168,2997,0.00,2.33,0.00,0.000,4,0.000,0.070,3141,989,3360
$GC,3042,-0.59,-117.3,229.4,-6.9,169,3046,0.00,2.30,0.00,0.000,6,0.000,0.063,3141,2405,3360
$GC,3366,-0.59,-117.3,249.2,-6.1,180,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2405,3359
$GC,3673,-0.63,-117.3,269.2,-6.6,190,3676,0.00,2.30,0.00,0.000,4,0.000,0.071,3141,994,3359
$GC,3711,-0.68,-117.3,271.8,-6.4,191,3715,0.12,2.28,0.00,0.000,6,0.088,0.063,3094,2400,3358
$GC,4046,-0.59,-117.3,297.8,-7.9,202,4048,0.12,0.00,0.00,0.000,6,0.158,0.000,3126,2400,3358
$GC,4380,-0.59,-117.3,320.7,-6.8,208,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3358
$GC,4682,-0.59,-117.3,340.4,-6.4,213,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3357
$GC,4986,-0.59,-117.3,360.0,-6.5,218,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3357
$GC,5288,-0.59,-117.3,379.4,-6.3,223,5292,0.00,2.30,0.00,0.000,4,0.000,0.073,3126,992,3357
$GC,5315,-0.59,-117.3,381.3,-6.8,223,5319,0.00,2.30,0.00,0.000,6,0.000,0.064,3126,2407,3356
$GC,5652,-0.59,-117.3,401.5,-6.0,229,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3356
$GC,5956,-0.59,-117.3,419.8,-6.0,234,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3356
$GC,6259,-0.59,-117.3,438.3,-6.1,239,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2408,3356
$GC,6562,-0.59,-117.3,455.8,-5.8,244,6566,0.00,2.33,0.00,0.000,4,0.000,0.074,3127,991,3355
$GC,6611,-0.59,-117.3,458.8,-6.4,244,6615,0.00,2.33,0.00,0.000,6,0.000,0.065,3126,2397,3355
$GC,6926,-0.59,-117.3,474.9,-5.1,250,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3355
$GC,7229,-0.59,-117.3,489.8,-4.9,255,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3355
$GC,7532,-0.59,-117.3,505.6,-5.3,260,7536,0.00,2.30,0.00,0.000,4,0.000,0.074,3126,992,3355
$GC,7559,-0.59,-117.3,507.2,-6.0,260,7563,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2408,3355
$GC,7897,-0.64,-117.3,527.2,-6.1,266,7901,0.00,2.33,0.00,0.000,4,0.000,0.074,3126,987,3354
$GC,7929,-0.64,-117.3,529.5,-6.7,266,7933,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2405,3354
$GC,8261,-0.68,-117.3,549.7,-6.0,272,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3354
$GC,8565,-0.72,-117.3,565.8,-5.2,277,8566,0.12,0.00,0.00,0.000,6,0.092,0.000,3079,2405,3353
$GC,8867,-0.68,-117.3,584.1,-6.1,282,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2405,3353
$GC,9170,-0.64,-117.3,602.6,-6.1,287,9172,0.10,0.00,0.00,0.000,6,0.110,0.000,3106,2405,3353
$GC,9474,-0.64,-117.3,619.6,-5.6,292,9478,0.00,2.33,0.00,0.000,4,0.000,0.074,3106,994,3353
$GC,9517,-0.64,-117.3,622.4,-6.3,292,9521,0.00,2.30,0.00,0.000,6,0.000,0.067,3106,2399,3353
$GC,9838,-0.64,-117.3,640.6,-5.7,298,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3353
$GC,10141,-0.64,-117.3,658.8,-6.0,303,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3353
$GC,10444,-0.64,-117.3,677.5,-6.1,308,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3353
$GC,10748,-0.64,-117.3,696.2,-6.2,313,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3352
$GC,11050,-0.64,-117.3,714.8,-6.2,318,11054,0.00,2.33,0.00,0.000,4,0.000,0.075,3106,989,3352
$GC,11077,-0.64,-117.3,716.5,-6.7,318,11081,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2394,3352
$GC,11414,-0.64,-117.3,735.7,-5.7,324,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3352
$GC,11718,-0.64,-117.3,751.9,-5.3,329,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3352
$GC,12021,-0.64,-117.3,767.7,-5.2,334,12025,0.00,2.38,0.00,0.000,4,0.000,0.085,3102,3815,3352
$GC,12047,-0.64,-117.3,769.2,-5.5,334,12052,0.00,2.30,0.00,0.000,6,0.000,0.061,3102,2397,3351
$GC,12384,-0.64,-117.3,787.6,-5.5,340,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,12687,-0.64,-117.3,804.0,-5.3,345,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,12990,-0.64,-117.3,820.5,-5.4,350,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2397,3351
$GC,13294,-0.64,-117.3,837.1,-5.5,355,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,13596,-0.64,-117.3,854.2,-5.6,360,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,13899,-0.64,-117.3,870.2,-5.2,365,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,14203,-0.64,-117.3,885.5,-5.0,370,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,14506,-0.64,-117.3,900.2,-4.9,375,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,14809,-0.64,-117.3,915.9,-5.1,380,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,15112,-0.64,-117.3,932.2,-5.4,385,15113,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,15415,-0.64,-117.3,949.1,-5.5,390,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3351
$GC,15718,-0.64,-117.3,966.2,-5.6,395,15719,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2397,3350
$GC,16021,-0.64,-117.3,983.6,-5.8,400,16025,0.00,2.33,0.00,0.000,4,0.000,0.078,3102,995,3349
$GC,16061,-0.64,-117.3,986.1,-6.6,400,16065,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2401,3350
$STATE,16136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16136,begin apogee
$GC,16141,-0.22,0.0,990.7,5.8,402,16245,0.47,0.00,101.43,1.500,6,0.146,0.000,3244,2202,2876
$STATE,16246,end apogee,CONTROL_FINISHED_OK
$STATE,16246,begin climb
$GC,16248,0.67,117.3,992.7,0.0,403,16358,0.90,0.00,106.20,1.446,6,0.095,0.000,3535,2202,2397
$GC,16623,0.29,117.3,973.4,8.4,410,16628,0.43,2.47,0.00,0.000,4,0.182,0.079,3427,786,2393
$GC,16689,0.23,117.3,969.2,5.5,411,16694,0.12,2.40,0.00,0.000,6,0.173,0.064,3398,2206,2393
$GC,17048,0.23,117.3,951.2,5.0,417,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2206,2392
$GC,17351,0.24,126.1,936.6,4.7,422,17362,0.00,0.00,8.68,1.272,6,0.000,0.000,3398,2206,2361
$GC,17655,0.26,137.4,922.5,4.7,427,17668,0.00,0.00,11.25,1.327,6,0.000,0.000,3398,2206,2315
$GC,17958,0.27,147.2,908.2,4.7,432,17970,0.00,0.00,10.32,1.308,6,0.000,0.000,3399,2206,2274
$GC,18261,0.34,160.9,894.2,4.6,437,18276,0.00,0.00,12.98,1.342,6,0.000,0.000,3398,2206,2219
$GC,18626,0.43,182.4,878.1,4.4,443,18648,0.17,0.00,19.92,1.381,6,0.086,0.000,3463,2206,2132
$GC,18929,0.34,182.4,857.3,7.0,448,18931,0.12,0.00,0.00,0.000,6,0.162,0.000,3432,2206,2130
$GC,19231,0.34,182.4,839.4,5.9,453,19232,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2206,2129
$GC,19534,0.34,182.4,821.3,6.0,458,19538,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,790,2129
$GC,19565,0.34,182.4,819.3,6.3,458,19570,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2205,2129
$GC,19898,0.34,182.4,798.3,6.4,464,19902,0.00,2.35,0.00,0.000,4,0.000,0.083,3436,3615,2129
$GC,19935,0.26,182.4,795.6,7.1,464,19940,0.12,2.33,0.00,0.000,6,0.179,0.067,3406,2195,2129
$GC,20261,0.33,182.4,778.2,5.3,470,20262,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2196,2129
$GC,20565,0.41,182.4,762.1,5.3,475,20567,0.12,0.00,0.00,0.000,6,0.094,0.000,3452,2196,2129
$GC,20867,0.36,182.4,741.8,6.8,480,20872,0.00,2.38,0.00,0.000,4,0.000,0.084,3452,3610,2129
$GC,20906,0.23,182.4,738.6,8.0,480,20910,0.22,2.30,0.00,0.000,6,0.173,0.067,3392,2193,2128
$GC,21232,0.36,182.4,721.9,5.1,486,21237,0.12,2.35,0.00,0.000,4,0.097,0.081,3437,783,2129
$GC,21259,0.36,182.4,720.3,5.7,486,21263,0.00,2.33,0.00,0.000,6,0.000,0.066,3436,2210,2129
$GC,21596,0.36,182.4,699.8,6.1,492,21600,0.00,2.33,0.00,0.000,4,0.000,0.084,3436,3613,2129
$GC,21628,0.30,182.4,697.6,7.1,492,21632,0.00,2.30,0.00,0.000,6,0.000,0.067,3436,2196,2128
$GC,21960,0.30,182.4,676.7,6.3,498,21961,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2129
$GC,22263,0.30,182.4,655.8,6.9,503,22267,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,782,2128
$GC,22300,0.30,182.4,653.3,6.4,503,22305,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2196,2128
$GC,22627,0.30,182.4,632.2,6.4,509,22631,0.00,2.35,0.00,0.000,4,0.000,0.081,3437,3616,2128
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$GC,26256,0.45,221.6,413.1,4.5,569,26280,0.15,2.40,16.70,1.106,4,0.090,0.080,3465,790,1971
$GC,26320,0.45,221.6,409.3,7.0,570,26324,0.00,2.33,0.00,0.000,6,0.000,0.064,3465,2208,1970
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$GC,28326,0.39,221.6,259.1,7.0,611,28327,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2202,1969
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$STATE,32725,end climb,SURFACE_DEPTH_REACHED
$STATE,32725,begin surface coast
$FINISH,2.5,1.016316
$STATE,32767,end surface coast,CONTROL_FINISHED_OK
$STATE,32767,begin surface
$SM_CCo,32845,0.00,0.000,0,0,1437,352.74
$SM_GC,3.67,10.05,0.00,0.00,0.080,0.000,0.000,146,2411,1437,-9.86,0.31,352.74
$IRIDIUM_FIX,4939.69,-14503.49,160198,131358
$TT8_MAMPS,0.026078
$HUMID,2101
$INTERNAL_PRESSURE,9.07505
$TCM_TEMP,17.00
$XPDR_PINGS,958
$24V_AH,22.8,31.604
$10V_AH,10.6,19.720
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,30.200,182.575,408.425,0.000,0.000,49.111,59.307,383.897,239.500,0.000,0.000,35.910,1780.469,28161.820,560.868,2253.339,768.610,33.375,1660.677,0.000,2225.662,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,655.935,642.187,1458.876,885.638,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50672,858
$CAP_FILE_SIZE,183563,0
$CFSIZE,260165632,247185408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,230237,4959.287,-14459.386,38,1.2,38,18.5