version: 66.03
glider: 120
mission: 9
dive: 187
start: 11 6 108 11 16 52
data:
$ID,120
$MISSION,9
$DIVE,187
$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,-21569.771
$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
$GPS1,111008,4955.689,-14507.640,66,0.9,66,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-76.9
$GPS2,111557,4955.726,-14507.621,13,1.8,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,0.074
$KALMAN_X,43378.4,-123.5,-115.3,-64390.5,-1004.9
$KALMAN_Y,148922.0,-523.4,-157.2,-166416.9,2987.6
$MHEAD_RNG_PITCHd_Wd,47.0,29513,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.92,0.000,2,0.000,0.000,138,2404,2415
$GC,57,-0.67,-117.3,3.4,-6.1,3,101,14.07,2.45,-25.25,0.000,4,0.290,0.082,3095,990,3356
$GC,342,-0.42,-117.3,38.9,-12.7,28,350,0.30,2.35,0.00,0.000,6,0.163,0.064,3179,2409,3359
$GC,668,-0.49,-117.3,63.1,-6.3,59,672,0.00,2.38,0.00,0.000,4,0.000,0.081,3179,3815,3359
$GC,719,-0.61,-117.3,65.9,-5.2,63,724,0.17,2.28,0.00,0.000,6,0.081,0.053,3116,2392,3359
$GC,1052,-0.54,-117.3,91.4,-7.7,87,1056,0.00,2.30,0.00,0.000,4,0.000,0.068,3116,990,3361
$GC,1091,-0.44,-117.3,94.8,-9.1,89,1096,0.20,2.33,0.00,0.000,6,0.154,0.061,3168,2410,3361
$GC,1418,-0.49,-117.3,115.1,-6.1,105,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2410,3362
$GC,1727,-0.57,-117.3,133.5,-6.1,120,1729,0.12,0.00,0.00,0.000,6,0.087,0.000,3121,2410,3362
$GC,2035,-0.57,-117.3,156.4,-7.9,134,2039,0.00,2.35,0.00,0.000,4,0.000,0.070,3121,985,3362
$GC,2068,-0.57,-117.3,159.1,-8.5,135,2072,0.00,2.30,0.00,0.000,6,0.000,0.062,3120,2400,3362
$GC,2408,-0.57,-117.3,184.2,-7.0,146,2412,0.00,2.33,0.00,0.000,4,0.000,0.080,3115,3806,3361
$GC,2441,-0.57,-117.3,186.8,-7.4,147,2445,0.00,2.25,0.00,0.000,6,0.000,0.057,3115,2402,3361
$GC,2782,-0.57,-117.3,209.9,-6.8,158,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3361
$GC,3088,-0.57,-117.3,231.1,-6.8,168,3092,0.00,2.40,0.00,0.000,4,0.000,0.081,3114,3811,3361
$GC,3114,-0.57,-117.3,233.1,-7.3,168,3121,0.00,2.30,0.00,0.000,6,0.000,0.056,3115,2396,3361
$GC,3427,-0.57,-117.3,254.4,-6.9,179,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2396,3360
$GC,3733,-0.57,-117.3,274.2,-6.3,189,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3360
$GC,4040,-0.57,-117.3,293.3,-6.2,199,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3360
$GC,4344,-0.57,-117.3,311.3,-5.9,206,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3359
$GC,4647,-0.57,-117.3,327.9,-5.4,211,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3359
$GC,4950,-0.57,-117.3,344.1,-5.4,216,4954,0.00,2.42,0.00,0.000,4,0.000,0.082,3114,3806,3359
$GC,4976,-0.57,-117.3,345.7,-6.0,216,4980,0.00,2.28,0.00,0.000,6,0.000,0.058,3114,2392,3358
$GC,5314,-0.57,-117.3,364.6,-5.7,222,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3358
$GC,5617,-0.57,-117.3,383.4,-6.2,227,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3358
$GC,5920,-0.57,-117.3,404.0,-6.8,232,5924,0.00,2.42,0.00,0.000,4,0.000,0.082,3114,3816,3358
$GC,5941,-0.57,-117.3,405.5,-7.2,232,5946,0.00,2.30,0.00,0.000,6,0.000,0.058,3114,2402,3357
$GC,6285,-0.62,-117.3,428.4,-6.7,238,6289,0.00,2.33,0.00,0.000,4,0.000,0.073,3114,987,3357
$GC,6318,-0.67,-117.3,430.6,-6.6,238,6322,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2404,3357
$GC,6650,-0.67,-117.3,451.8,-6.3,244,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3357
$GC,6953,-0.67,-117.3,470.3,-6.1,249,6957,0.00,2.38,0.00,0.000,4,0.000,0.084,3114,3812,3356
$GC,6979,-0.67,-117.3,472.0,-6.7,249,6984,0.00,2.28,0.00,0.000,6,0.000,0.058,3114,2396,3356
$GC,7317,-0.67,-117.3,491.5,-5.7,255,7321,0.00,2.40,0.00,0.000,4,0.000,0.083,3114,3813,3356
$GC,7343,-0.67,-117.3,493.0,-5.6,255,7347,0.00,2.30,0.00,0.000,6,0.000,0.058,3114,2399,3356
$GC,7682,-0.71,-117.3,510.7,-5.2,261,7686,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,988,3356
$GC,7703,-0.77,-117.3,511.9,-5.2,261,7708,0.12,2.30,0.00,0.000,6,0.094,0.064,3069,2402,3356
$GC,8046,-0.70,-117.3,533.3,-6.4,267,8050,0.00,2.33,0.00,0.000,4,0.000,0.082,3068,3806,3356
$GC,8079,-0.61,-117.3,535.7,-7.2,267,8084,0.17,2.25,0.00,0.000,6,0.135,0.059,3117,2398,3356
$GC,8411,-0.61,-117.3,554.6,-5.7,273,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2398,3356
$GC,8714,-0.61,-117.3,573.3,-6.2,278,8718,0.00,2.33,0.00,0.000,4,0.000,0.074,3117,990,3356
$GC,8753,-0.61,-117.3,575.9,-6.8,278,8757,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2405,3356
$GC,9073,-0.61,-117.3,595.6,-6.0,284,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3356
$GC,9376,-0.61,-117.3,610.7,-4.8,289,9380,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,992,3355
$GC,9425,-0.65,-117.3,613.1,-4.9,289,9429,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2398,3355
$GC,9736,-0.84,-117.3,629.2,-5.4,294,9741,0.17,2.35,0.00,0.000,4,0.091,0.081,3044,3809,3355
$GC,9847,-0.67,-117.3,637.3,-7.5,295,9852,0.20,2.28,0.00,0.000,6,0.161,0.059,3098,2389,3355
$GC,10161,-0.67,-117.3,657.1,-6.4,301,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2390,3355
$GC,10464,-0.67,-117.3,677.9,-6.8,306,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2390,3355
$GC,10768,-0.67,-117.3,699.4,-7.1,311,10772,0.00,2.33,0.00,0.000,4,0.000,0.075,3098,993,3355
$GC,10794,-0.67,-117.3,701.3,-7.5,311,10798,0.00,2.33,0.00,0.000,6,0.000,0.066,3098,2395,3355
$GC,11133,-0.67,-117.3,724.3,-6.8,317,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3354
$GC,11435,-0.67,-117.3,743.6,-6.3,322,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3355
$GC,11738,-0.67,-117.3,761.6,-5.9,327,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3355
$GC,12041,-0.67,-117.3,777.6,-5.2,332,12046,0.00,2.38,0.00,0.000,4,0.000,0.086,3098,3806,3354
$GC,12085,-0.67,-117.3,780.1,-5.0,332,12089,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2404,3354
$GC,12406,-0.67,-117.3,796.3,-5.1,338,12410,0.00,2.35,0.00,0.000,4,0.000,0.076,3098,989,3354
$GC,12443,-0.67,-117.3,798.6,-6.6,338,12447,0.00,2.33,0.00,0.000,6,0.000,0.066,3098,2413,3354
$GC,12770,-0.67,-117.3,816.9,-5.7,344,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2414,3354
$GC,13073,-0.67,-117.3,834.9,-6.0,349,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2413,3354
$GC,13376,-0.67,-117.3,852.2,-5.7,354,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2413,3354
$GC,13679,-0.67,-117.3,867.9,-5.2,359,13683,0.00,2.40,0.00,0.000,4,0.000,0.077,3098,985,3353
$GC,13705,-0.67,-117.3,869.4,-5.1,359,13709,0.00,2.35,0.00,0.000,6,0.000,0.067,3098,2404,3353
$GC,14043,-0.67,-117.3,885.2,-4.6,365,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3353
$GC,14346,-0.67,-117.3,897.8,-4.1,370,14351,0.00,2.38,0.00,0.000,4,0.000,0.087,3098,3818,3353
$GC,14373,-0.67,-117.3,899.0,-4.2,370,14378,0.00,2.33,0.00,0.000,6,0.000,0.061,3098,2396,3353
$GC,14712,-0.67,-117.3,912.2,-4.0,376,14716,0.00,2.33,0.00,0.000,4,0.000,0.077,3098,993,3353
$GC,14738,-0.67,-117.3,913.5,-4.6,376,14742,0.00,2.35,0.00,0.000,6,0.000,0.067,3098,2407,3353
$GC,15076,-0.67,-117.3,928.0,-4.3,382,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3353
$GC,15379,-0.67,-117.3,942.6,-4.8,387,15380,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3353
$GC,15682,-0.67,-117.3,958.5,-5.3,392,15683,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3353
$GC,15985,-0.67,-117.3,976.1,-5.8,397,15986,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3353
$STATE,16227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16227,begin apogee
$GC,16232,-0.22,0.0,991.1,6.2,401,16338,0.47,0.00,103.32,1.504,6,0.146,0.000,3242,2198,2875
$STATE,16339,end apogee,CONTROL_FINISHED_OK
$STATE,16339,begin climb
$GC,16341,0.67,117.3,993.3,0.0,402,16453,0.88,0.00,107.70,1.453,6,0.096,0.000,3530,2197,2397
$GC,16769,0.31,117.3,975.2,7.5,410,16771,0.40,0.00,0.00,0.000,6,0.178,0.000,3424,2197,2393
$GC,17072,0.28,133.0,961.0,4.6,415,17088,0.00,0.00,14.57,1.365,6,0.000,0.000,3424,2197,2333
$GC,17375,0.23,133.0,944.8,5.4,420,17380,0.12,2.47,0.00,0.000,4,0.186,0.080,3387,3609,2332
$GC,17413,0.24,142.5,942.8,4.7,420,17428,0.00,2.35,9.98,1.302,6,0.000,0.064,3395,2197,2294
$GC,17733,0.31,144.5,927.0,4.9,425,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2197,2292
$GC,18036,0.38,144.5,910.9,5.3,430,18038,0.12,0.00,0.00,0.000,6,0.096,0.000,3441,2196,2293
$GC,18339,0.31,144.5,890.8,6.7,435,18340,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2196,2292
$GC,18642,0.24,144.5,869.7,7.0,440,18644,0.17,0.00,0.00,0.000,6,0.156,0.000,3396,2196,2292
$GC,18945,0.30,144.5,852.4,5.7,445,18946,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2196,2292
$GC,19248,0.37,144.5,835.3,5.7,450,19253,0.12,2.40,0.00,0.000,4,0.092,0.081,3445,786,2292
$GC,19281,0.30,144.5,833.2,6.0,450,19285,0.12,2.35,0.00,0.000,6,0.148,0.067,3413,2202,2292
$GC,19612,0.30,144.5,813.1,6.1,456,19613,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2202,2292
$GC,19915,0.30,144.5,796.0,5.6,461,19920,0.00,2.35,0.00,0.000,4,0.000,0.083,3413,3607,2291
$GC,19954,0.25,144.5,793.7,6.2,461,19958,0.00,2.33,0.00,0.000,6,0.000,0.066,3419,2191,2291
$GC,20275,0.26,152.7,778.0,4.8,467,20287,0.00,0.00,10.00,1.251,6,0.000,0.000,3420,2191,2253
$GC,20578,0.29,180.0,765.1,4.2,472,20604,0.00,0.00,24.52,1.338,6,0.000,0.000,3419,2191,2142
$GC,20882,0.35,198.2,751.7,4.5,477,20906,0.00,2.55,17.23,1.294,4,0.000,0.083,3419,3612,2066
$GC,20934,0.35,198.2,748.9,5.7,477,20938,0.00,2.40,0.00,0.000,6,0.000,0.066,3420,2202,2064
$GC,21250,0.41,198.2,733.0,5.1,483,21251,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2201,2063
$GC,21553,0.47,198.2,716.7,5.4,488,21558,0.15,2.45,0.00,0.000,4,0.094,0.083,3486,3616,2063
$GC,21580,0.31,198.2,714.5,7.9,488,21585,0.25,2.35,0.00,0.000,6,0.179,0.067,3424,2197,2063
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$STATE,33339,end climb,SURFACE_DEPTH_REACHED
$STATE,33339,begin surface coast
$FINISH,1.3,1.014615
$STATE,33485,end surface coast,CONTROL_FINISHED_OK
$STATE,33485,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2120
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$TCM_TEMP,16.50
$XPDR_PINGS,985
$24V_AH,22.3,38.764
$10V_AH,10.6,24.937
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$DEVICE_SECS,30.175,193.400,376.750,3.750,0.000,30.536,33.536,169.654,246.250,0.000,0.000,13.277,1819.875,28661.600,543.986,2294.580,531.664,33.372,1677.505,0.000,2274.361,0.000,0.465
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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,50570,862
$CAP_FILE_SIZE,185064,0
$CFSIZE,260165632,244097024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061108,203637,4957.358,-14503.824,41,1.5,41,18.4