version: 66.03
glider: 120
mission: 9
dive: 291
start: 12 16 108 1 16 29
data:
$ID,120
$MISSION,9
$DIVE,291
$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,-23750.434
$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,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
$GPS1,010956,4956.737,-14434.660,38,1.3,38,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-75.0
$GPS2,011534,4956.754,-14434.715,13,1.4,20,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.164,0.070
$KALMAN_X,25317.9,-189.4,76.7,-7369.6,42.9
$KALMAN_Y,229738.8,-599.9,-189.6,-245229.0,3899.7
$MHEAD_RNG_PITCHd_Wd,274.6,27669,-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,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.27,0.000,2,0.000,0.000,145,2405,1932
$GC,38,-0.67,-117.3,3.6,-0.0,1,118,14.00,2.47,-59.50,0.000,4,0.287,0.093,3094,3812,3354
$GC,370,-0.48,-117.3,34.0,-11.1,30,377,0.22,2.35,0.00,0.000,6,0.160,0.054,3157,2387,3357
$GC,698,-0.48,-117.3,58.1,-7.9,61,703,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2387,3358
$GC,1032,-0.48,-117.3,83.6,-7.7,91,1036,0.00,2.38,0.00,0.000,4,0.000,0.067,3157,987,3358
$GC,1071,-0.48,-117.3,86.5,-7.3,93,1075,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2411,3357
$GC,1404,-0.48,-117.3,110.2,-7.2,109,1408,0.00,2.42,0.00,0.000,4,0.000,0.067,3155,993,3358
$GC,1445,-0.53,-117.3,113.3,-7.8,111,1449,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2401,3358
$GC,1772,-0.59,-117.3,136.7,-7.0,127,1776,0.00,2.40,0.00,0.000,4,0.000,0.078,3155,3807,3358
$GC,1834,-0.72,-117.3,141.1,-6.9,130,1839,0.20,2.33,0.00,0.000,6,0.077,0.052,3079,2389,3358
$GC,2169,-0.64,-117.3,168.8,-7.7,143,2171,0.10,0.00,0.00,0.000,6,0.095,0.000,3107,2389,3358
$GC,2475,-0.64,-117.3,190.9,-7.1,153,2479,0.00,2.45,0.00,0.000,4,0.000,0.080,3107,3815,3358
$GC,2532,-0.64,-117.3,194.9,-7.0,154,2538,0.00,2.33,0.00,0.000,6,0.000,0.054,3107,2390,3359
$GC,2844,-0.64,-117.3,216.8,-7.2,165,2848,0.00,2.35,0.00,0.000,4,0.000,0.068,3107,993,3359
$GC,2876,-0.64,-117.3,219.5,-8.1,166,2880,0.00,2.28,0.00,0.000,6,0.000,0.061,3107,2402,3358
$GC,3206,-0.64,-117.3,243.9,-7.4,177,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2402,3358
$GC,3512,-0.64,-117.3,264.4,-6.4,187,3516,0.00,2.38,0.00,0.000,4,0.000,0.081,3107,3814,3358
$GC,3540,-0.64,-117.3,266.2,-6.4,188,3544,0.00,2.33,0.00,0.000,6,0.000,0.054,3107,2393,3358
$GC,3874,-0.64,-117.3,286.5,-6.0,199,3878,0.00,2.38,0.00,0.000,4,0.000,0.070,3107,992,3358
$GC,3907,-0.64,-117.3,288.6,-6.6,200,3911,0.00,2.30,0.00,0.000,6,0.000,0.063,3107,2404,3358
$GC,4241,-0.64,-117.3,308.7,-6.1,209,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2404,3358
$GC,4544,-0.64,-117.3,327.0,-6.0,214,4549,0.00,2.40,0.00,0.000,4,0.000,0.070,3107,994,3358
$GC,4577,-0.64,-117.3,329.1,-6.3,214,4581,0.00,2.30,0.00,0.000,6,0.000,0.063,3107,2411,3357
$GC,4909,-0.64,-117.3,349.5,-6.2,220,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2411,3357
$GC,5213,-0.64,-117.3,368.6,-6.3,225,5217,0.00,2.35,0.00,0.000,4,0.000,0.083,3107,3806,3357
$GC,5252,-0.64,-117.3,371.0,-6.2,225,5256,0.00,2.30,0.00,0.000,6,0.000,0.055,3107,2391,3357
$GC,5572,-0.64,-117.3,389.3,-5.7,231,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3357
$GC,5875,-0.64,-117.3,406.2,-5.6,236,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3356
$GC,6178,-0.64,-117.3,423.0,-5.5,241,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2391,3356
$GC,6482,-0.64,-117.3,441.6,-6.2,246,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2391,3356
$GC,6785,-0.64,-117.3,460.2,-6.2,251,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3356
$GC,7087,-0.64,-117.3,478.3,-5.9,256,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3356
$GC,7391,-0.64,-117.3,496.3,-6.0,261,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3356
$GC,7694,-0.64,-117.3,514.8,-6.1,266,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3356
$GC,7997,-0.64,-117.3,534.2,-6.4,271,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,3355
$GC,8300,-0.64,-117.3,554.5,-6.8,276,8305,0.00,2.40,0.00,0.000,4,0.000,0.073,3107,990,3355
$GC,8327,-0.64,-117.3,556.6,-7.7,276,8332,0.00,2.33,0.00,0.000,6,0.000,0.065,3107,2394,3355
$GC,8666,-0.64,-117.3,579.4,-6.7,282,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2394,3355
$GC,8968,-0.64,-117.3,598.3,-6.2,287,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2394,3355
$GC,9272,-0.64,-117.3,615.8,-5.7,292,9276,0.00,2.38,0.00,0.000,4,0.000,0.084,3106,3806,3354
$GC,9304,-0.70,-117.3,617.8,-5.8,292,9308,0.00,2.30,0.00,0.000,6,0.000,0.057,3106,2398,3354
$GC,9631,-0.90,-117.3,638.2,-6.4,298,9636,0.20,2.42,0.00,0.000,4,0.091,0.081,3027,3806,3354
$GC,9821,-0.71,-117.3,653.8,-8.7,300,9828,0.22,2.33,0.00,0.000,6,0.167,0.058,3087,2395,3354
$GC,10130,-0.71,-117.3,673.8,-6.4,306,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2395,3354
$GC,10433,-0.71,-117.3,693.0,-6.4,311,10437,0.00,2.40,0.00,0.000,4,0.000,0.074,3091,993,3354
$GC,10460,-0.71,-117.3,694.9,-6.7,311,10464,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2402,3353
$GC,10798,-0.71,-117.3,714.8,-5.9,317,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,11101,-0.71,-117.3,732.1,-5.7,322,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,11405,-0.71,-117.3,749.7,-5.8,327,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,11707,-0.71,-117.3,767.0,-5.8,332,11711,0.00,2.42,0.00,0.000,4,0.000,0.073,3086,983,3352
$GC,11735,-0.71,-117.3,768.6,-6.1,332,11739,0.00,2.35,0.00,0.000,6,0.000,0.067,3085,2407,3353
$GC,12066,-0.71,-117.3,787.2,-5.6,338,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3353
$GC,12369,-0.71,-117.3,804.9,-5.9,343,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3353
$GC,12673,-0.71,-117.3,823.2,-6.1,348,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3352
$GC,12976,-0.71,-117.3,842.5,-6.4,353,12980,0.00,2.42,0.00,0.000,4,0.000,0.074,3085,993,3352
$GC,13025,-0.71,-117.3,846.0,-6.2,353,13029,0.00,2.33,0.00,0.000,6,0.000,0.067,3085,2405,3352
$GC,13340,-0.71,-117.3,866.4,-6.5,359,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3352
$GC,13643,-0.71,-117.3,885.4,-6.2,364,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,13947,-0.71,-117.3,903.7,-6.0,369,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,14249,-0.71,-117.3,921.1,-5.7,374,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,14552,-0.71,-117.3,938.0,-5.5,379,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3352
$GC,14856,-0.71,-117.3,954.2,-5.4,384,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3351
$GC,15159,-0.71,-117.3,970.7,-5.4,389,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,15462,-0.71,-117.3,987.7,-5.7,394,15463,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3352
$STATE,15520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15520,begin apogee
$GC,15526,-0.22,0.0,991.1,5.7,395,15634,0.52,0.00,105.57,1.496,6,0.147,0.000,3242,2201,2876
$STATE,15635,end apogee,CONTROL_FINISHED_OK
$STATE,15635,begin climb
$GC,15637,0.67,117.3,993.1,0.0,396,15755,0.88,2.72,110.43,1.437,4,0.094,0.077,3533,792,2396
$GC,15794,0.31,117.3,993.2,6.9,399,15799,0.45,2.47,0.00,0.000,6,0.183,0.061,3421,2198,2394
$GC,16126,0.31,120.1,976.8,4.9,405,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2393
$GC,16429,0.31,121.8,962.1,5.0,410,16436,0.00,0.00,5.00,1.045,6,0.000,0.000,3421,2198,2379
$GC,16733,0.31,121.8,946.3,5.2,415,16737,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,3612,2378
$GC,16766,0.22,121.8,944.4,6.2,415,16770,0.12,2.30,0.00,0.000,6,0.186,0.065,3392,2200,2378
$GC,17098,0.33,153.5,930.5,4.1,421,17129,0.00,0.00,28.95,1.424,6,0.000,0.000,3392,2201,2250
$GC,17401,0.46,174.3,917.2,4.4,426,17424,0.22,0.00,19.92,1.385,6,0.082,0.000,3476,2201,2165
$GC,17704,0.34,174.3,895.9,7.2,431,17706,0.17,0.00,0.00,0.000,6,0.151,0.000,3428,2201,2162
$GC,18006,0.34,174.3,879.0,5.5,436,18007,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2201,2162
$GC,18309,0.34,174.3,861.8,5.7,441,18310,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2201,2162
$GC,18613,0.34,174.3,844.4,5.8,446,18617,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,786,2162
$GC,18667,0.34,174.3,840.9,5.6,446,18674,0.00,2.35,0.00,0.000,6,0.000,0.065,3435,2208,2162
$GC,18977,0.34,174.3,820.9,6.5,452,18979,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2161
$GC,19280,0.34,174.3,800.3,6.8,457,19281,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2161
$GC,19583,0.34,174.3,779.5,6.8,462,19587,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,793,2161
$GC,19628,0.34,174.3,776.4,6.7,462,19632,0.00,2.30,0.00,0.000,6,0.000,0.064,3435,2210,2161
$GC,19942,0.34,174.3,755.6,6.6,468,19944,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2210,2162
$GC,20245,0.34,174.3,736.3,6.3,473,20247,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2210,2161
$GC,20549,0.34,174.3,718.8,5.6,478,20550,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2210,2161
$GC,20852,0.34,174.3,703.3,5.1,483,20856,0.00,2.33,0.00,0.000,4,0.000,0.083,3435,3609,2161
$GC,20879,0.36,184.0,701.9,4.7,483,20893,0.00,2.35,9.50,1.197,6,0.000,0.064,3435,2200,2125
$GC,21215,0.37,194.1,686.0,4.7,489,21230,0.00,2.45,10.55,1.205,4,0.000,0.079,3436,790,2083
$GC,21259,0.45,208.6,683.9,4.6,489,21278,0.00,2.33,14.62,1.227,6,0.000,0.063,3436,2210,2024
$GC,21646,0.51,208.6,663.9,5.3,496,21648,0.15,0.00,0.00,0.000,6,0.091,0.000,3493,2211,2021
$GC,21949,0.42,208.6,640.6,7.8,501,21951,0.15,0.00,0.00,0.000,6,0.151,0.000,3453,2211,2020
$GC,22252,0.42,208.6,618.9,7.1,506,22253,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2210,2020
$GC,22555,0.42,208.6,597.2,7.2,511,22559,0.00,2.35,0.00,0.000,4,0.000,0.082,3453,3609,2020
$GC,22582,0.42,208.6,595.0,8.8,511,22586,0.00,2.38,0.00,0.000,6,0.000,0.064,3452,2193,2020
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$STATE,31906,end climb,SURFACE_DEPTH_REACHED
$STATE,31906,begin surface coast
$FINISH,2.8,1.011407
$STATE,32003,end surface coast,CONTROL_FINISHED_OK
$STATE,32003,begin surface
$SM_CCo,32022,31.15,0.834,0,0,1653,300.00
$SM_GC,3.62,0.00,0.00,31.15,0.000,0.000,0.834,140,2408,1653,-9.93,0.23,300.00
$IRIDIUM_FIX,4936.36,-14432.01,110398,151545
$TT8_MAMPS,0.026845
$HUMID,2086
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$TCM_TEMP,16.20
$XPDR_PINGS,950
$24V_AH,21.8,58.085
$10V_AH,10.6,38.899
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$DEVICE_SECS,29.575,181.075,355.225,31.150,0.000,28.646,26.153,156.407,237.500,0.000,0.000,20.110,1754.627,27282.654,546.475,2237.166,566.295,33.381,1642.062,0.000,2204.779,0.000,0.466
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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,47529,839
$CAP_FILE_SIZE,174231,0
$CFSIZE,260165632,235986944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161208,101202,4958.362,-14439.763,41,1.4,41,18.5