version: 66.03
glider: 120
mission: 9
dive: 251
start: 11 30 108 18 30 10
data:
$ID,120
$MISSION,9
$DIVE,251
$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,-22935.811
$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
$GPS1,182038,4957.927,-14440.856,35,0.9,35,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-72.8
$GPS2,182915,4957.950,-14440.908,14,1.2,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,0.138
$KALMAN_X,36341.4,-204.0,-21.2,-25642.7,557.6
$KALMAN_Y,194362.3,75.6,-402.4,-208092.7,281.7
$MHEAD_RNG_PITCHd_Wd,302.6,21305,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-21.90,0.000,2,0.000,0.000,135,2413,2185
$GC,48,-0.67,-117.3,3.3,-4.7,2,104,14.00,0.00,-39.03,0.000,6,0.285,0.000,3093,2412,3356
$GC,430,-0.44,-117.3,47.1,-13.5,38,435,0.25,2.45,0.00,0.000,4,0.166,0.069,3172,991,3358
$GC,473,-0.44,-117.3,51.2,-8.5,41,480,0.00,2.40,0.00,0.000,6,0.000,0.061,3169,2413,3358
$GC,800,-0.48,-117.3,76.4,-7.1,72,804,0.00,2.40,0.00,0.000,4,0.000,0.081,3169,3806,3359
$GC,857,-0.59,-117.3,80.5,-6.9,77,862,0.12,2.30,0.00,0.000,6,0.084,0.053,3121,2387,3359
$GC,1172,-0.59,-117.3,106.4,-8.0,92,1176,0.00,2.33,0.00,0.000,4,0.000,0.067,3121,991,3359
$GC,1257,-0.59,-117.3,113.5,-7.8,96,1261,0.00,2.33,0.00,0.000,6,0.000,0.060,3121,2403,3359
$GC,1584,-0.53,-117.3,137.8,-7.4,112,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3360
$GC,1891,-0.53,-117.3,158.5,-6.6,125,1895,0.00,2.38,0.00,0.000,4,0.000,0.079,3114,3812,3360
$GC,1953,-0.53,-117.3,163.2,-8.1,127,1958,0.12,2.30,0.00,0.000,6,0.120,0.054,3147,2391,3360
$GC,2294,-0.60,-117.3,185.2,-5.9,138,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2391,3360
$GC,2600,-0.67,-117.3,203.3,-6.3,148,2605,0.15,2.38,0.00,0.000,4,0.081,0.069,3084,984,3360
$GC,2662,-0.58,-117.3,208.4,-8.9,150,2667,0.17,2.33,0.00,0.000,6,0.156,0.062,3131,2407,3360
$GC,2997,-0.58,-117.3,229.9,-6.1,161,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2407,3360
$GC,3302,-0.58,-117.3,247.1,-5.6,171,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2407,3360
$GC,3609,-0.62,-117.3,263.9,-5.4,181,3613,0.00,2.40,0.00,0.000,4,0.000,0.071,3131,989,3359
$GC,3642,-0.66,-117.3,265.9,-6.1,182,3646,0.00,2.35,0.00,0.000,6,0.000,0.062,3128,2407,3359
$GC,3971,-0.66,-117.3,285.0,-6.0,193,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2407,3359
$GC,4307,-0.71,-117.3,304.0,-5.5,203,4309,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2407,3358
$GC,4610,-0.66,-117.3,325.6,-7.3,208,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2407,3358
$GC,4914,-0.61,-117.3,348.0,-7.4,213,4916,0.12,0.00,0.00,0.000,6,0.110,0.000,3113,2407,3358
$GC,5216,-0.61,-117.3,367.9,-6.6,218,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,5519,-0.61,-117.3,386.8,-6.2,223,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3357
$GC,5823,-0.61,-117.3,406.7,-6.6,228,5827,0.00,2.38,0.00,0.000,4,0.000,0.073,3113,984,3357
$GC,5855,-0.61,-117.3,409.0,-7.1,228,5859,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2399,3358
$GC,6188,-0.61,-117.3,431.4,-6.8,234,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3357
$GC,6490,-0.61,-117.3,451.4,-6.5,239,6494,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,991,3357
$GC,6517,-0.61,-117.3,453.2,-7.0,239,6521,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2411,3357
$GC,6855,-0.61,-117.3,473.5,-6.1,245,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3357
$GC,7158,-0.61,-117.3,491.4,-5.9,250,7162,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,983,3356
$GC,7195,-0.61,-117.3,494.0,-6.4,250,7200,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2401,3356
$GC,7522,-0.61,-117.3,513.7,-6.0,256,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,7826,-0.61,-117.3,530.8,-5.7,261,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,8128,-0.61,-117.3,547.8,-5.6,266,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3356
$GC,8431,-0.61,-117.3,564.8,-5.6,271,8435,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,994,3355
$GC,8464,-0.61,-117.3,566.8,-5.7,271,8468,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2409,3355
$GC,8796,-0.66,-117.3,585.4,-5.6,277,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3355
$GC,9100,-0.66,-117.3,602.5,-5.7,282,9104,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,991,3355
$GC,9132,-0.70,-117.3,604.6,-6.2,282,9137,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2410,3355
$GC,9465,-0.75,-117.3,621.8,-5.2,288,9467,0.12,0.00,0.00,0.000,6,0.091,0.000,3064,2410,3354
$GC,9768,-0.70,-117.3,640.6,-6.2,293,9772,0.00,2.35,0.00,0.000,4,0.000,0.073,3064,993,3354
$GC,9812,-0.64,-117.3,643.9,-7.8,293,9816,0.17,2.33,0.00,0.000,6,0.153,0.066,3110,2410,3354
$GC,10126,-0.68,-117.3,660.7,-5.3,299,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2410,3355
$GC,10430,-0.73,-117.3,676.6,-5.2,304,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2409,3354
$GC,10733,-0.77,-117.3,692.5,-5.3,309,10735,0.12,0.00,0.00,0.000,6,0.090,0.000,3062,2410,3354
$GC,11035,-0.77,-117.3,711.3,-6.3,314,11039,0.00,2.35,0.00,0.000,4,0.000,0.084,3062,3806,3354
$GC,11068,-0.71,-117.3,713.4,-6.7,314,11072,0.00,2.28,0.00,0.000,6,0.000,0.058,3062,2401,3354
$GC,11401,-0.65,-117.3,733.2,-5.9,320,11402,0.15,0.00,0.00,0.000,6,0.126,0.000,3105,2398,3354
$GC,11703,-0.65,-117.3,748.4,-5.0,325,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,3354
$GC,12006,-0.65,-117.3,764.7,-5.4,330,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,3354
$GC,12309,-0.65,-117.3,782.0,-5.7,335,12313,0.00,2.40,0.00,0.000,4,0.000,0.074,3105,986,3354
$GC,12342,-0.70,-117.3,784.0,-6.7,335,12346,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2401,3354
$GC,12669,-0.70,-117.3,803.6,-6.0,341,12673,0.00,2.38,0.00,0.000,4,0.000,0.085,3100,3808,3354
$GC,12703,-0.75,-117.3,805.6,-6.2,341,12707,0.00,2.28,0.00,0.000,6,0.000,0.058,3100,2391,3354
$GC,13029,-0.75,-117.3,824.2,-5.7,347,13033,0.00,2.33,0.00,0.000,4,0.000,0.074,3100,992,3353
$GC,13062,-0.75,-117.3,826.3,-5.9,347,13066,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2405,3354
$GC,13394,-0.75,-117.3,844.5,-5.4,353,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3354
$GC,13696,-0.75,-117.3,859.9,-5.1,358,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3353
$GC,13999,-0.75,-117.3,875.3,-5.1,363,14004,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,992,3353
$GC,14033,-0.79,-117.3,877.1,-6.0,363,14037,0.12,2.30,0.00,0.000,6,0.094,0.066,3054,2400,3353
$GC,14358,-0.79,-117.3,896.8,-6.2,369,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2400,3353
$GC,14661,-0.79,-117.3,916.1,-6.4,374,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2400,3353
$GC,14965,-0.79,-117.3,936.0,-6.6,379,14969,0.00,2.38,0.00,0.000,4,0.000,0.084,3054,3811,3353
$GC,15004,-0.71,-117.3,939.0,-7.6,379,15009,0.12,2.30,0.00,0.000,6,0.118,0.059,3087,2396,3353
$GC,15324,-0.71,-117.3,959.7,-6.5,385,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2395,3353
$GC,15627,-0.71,-117.3,978.4,-6.1,390,15628,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2395,3353
$STATE,15867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15867,begin apogee
$GC,15873,-0.22,0.0,993.0,6.0,394,15981,0.52,0.00,105.03,1.499,6,0.145,0.000,3247,2193,2876
$STATE,15982,end apogee,CONTROL_FINISHED_OK
$STATE,15982,begin climb
$GC,15984,0.67,117.3,994.8,0.0,395,16101,0.85,2.67,109.38,1.442,4,0.087,0.080,3532,791,2396
$GC,16122,0.30,117.3,996.1,5.5,398,16127,0.45,2.53,0.00,0.000,6,0.181,0.062,3421,2197,2395
$GC,16471,0.30,117.3,978.4,5.0,404,16475,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,3618,2393
$GC,16510,0.19,117.3,976.1,5.5,404,16515,0.17,2.38,0.00,0.000,6,0.179,0.064,3379,2190,2393
$GC,16831,0.33,155.0,963.7,3.9,410,16867,0.15,0.00,33.62,1.433,6,0.089,0.000,3436,2190,2244
$GC,17134,0.33,155.0,945.5,6.2,415,17135,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2190,2242
$GC,17436,0.33,155.0,926.4,6.3,420,17437,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2241
$GC,17740,0.33,155.0,907.0,6.4,425,17741,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2189,2241
$GC,18043,0.33,155.0,888.3,6.1,430,18044,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2190,2241
$GC,18346,0.33,155.0,870.4,5.8,435,18350,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,788,2241
$GC,18383,0.33,155.0,868.2,5.8,435,18387,0.00,2.33,0.00,0.000,6,0.000,0.063,3435,2208,2241
$GC,18710,0.33,155.0,850.2,5.5,441,18711,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2241
$GC,19013,0.33,155.0,834.3,5.2,446,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2241
$GC,19317,0.33,155.0,818.2,5.3,451,19318,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2240
$GC,19619,0.33,155.0,801.9,5.4,456,19620,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2240
$GC,19922,0.33,155.0,784.3,5.8,461,19923,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2241
$GC,20226,0.33,155.0,765.6,6.2,466,20230,0.00,2.47,0.00,0.000,4,0.000,0.081,3435,782,2241
$GC,20269,0.33,155.0,762.9,6.0,466,20273,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2198,2240
$GC,20591,0.33,155.0,743.3,6.1,472,20595,0.00,2.38,0.00,0.000,4,0.000,0.082,3435,3617,2241
$GC,20657,0.23,155.0,738.8,6.7,473,20662,0.15,2.33,0.00,0.000,6,0.173,0.066,3399,2200,2240
$GC,21018,0.34,162.1,721.2,4.8,479,21027,0.00,0.00,7.22,1.137,6,0.000,0.000,3398,2200,2214
$GC,21321,0.46,174.7,707.0,4.6,484,21337,0.20,0.00,12.75,1.245,6,0.082,0.000,3476,2200,2163
$GC,21624,0.36,174.7,686.0,7.1,489,21626,0.15,0.00,0.00,0.000,6,0.151,0.000,3436,2200,2162
$GC,21926,0.36,174.7,667.4,6.1,494,21927,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2162
$GC,22230,0.36,174.7,649.0,6.0,499,22234,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,789,2162
$GC,22285,0.40,174.7,645.6,6.2,499,22292,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2204,2162
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$GC,29106,0.56,218.8,238.8,4.7,630,29121,0.15,2.35,8.93,0.901,6,0.086,0.062,3506,2212,1984
$GC,29440,0.48,218.8,215.7,7.4,641,29441,0.12,0.00,0.00,0.000,6,0.150,0.000,3474,2212,1980
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$STATE,33101,end climb,SURFACE_DEPTH_REACHED
$STATE,33103,begin surface coast
$FINISH,1.9,1.013537
$STATE,33221,end surface coast,CONTROL_FINISHED_OK
$STATE,33221,begin surface
$SM_CCo,33240,16.20,0.820,0,0,1653,300.00
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$IRIDIUM_FIX,4939.69,-14442.12,240298,181821
$TT8_MAMPS,0.026845
$HUMID,2087
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$TCM_TEMP,16.20
$XPDR_PINGS,982
$24V_AH,22.0,50.602
$10V_AH,10.6,33.495
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$DEVICE_SECS,29.150,171.175,356.075,16.200,0.000,57.205,120.294,156.422,245.500,0.000,0.000,14.632,1792.542,28528.869,517.446,2243.572,683.920,33.384,1608.300,0.000,2233.515,0.000,0.465
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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,50695,872
$CAP_FILE_SIZE,175707,0
$CFSIZE,260165632,239116288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,034538,5000.482,-14444.696,33,1.3,33,18.5