version: 66.03
glider: 120
mission: 9
dive: 385
start: 1 20 109 15 3 27
data:
$ID,120
$MISSION,9
$DIVE,385
$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,-25813.193
$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,21
$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
$GPS1,145606,5017.468,-14510.367,34,1.1,34,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.94
$_SM_ANGLEo,-76.3
$GPS2,150232,5017.433,-14510.383,13,1.2,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.039,-0.173
$KALMAN_X,18892.7,-65.3,83.9,-43465.2,1301.6
$KALMAN_Y,280343.0,331.5,-193.8,-258489.1,747.8
$MHEAD_RNG_PITCHd_Wd,174.3,43416,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.05,0.000,2,0.000,0.000,145,2401,1916
$GC,40,-0.67,-117.3,4.0,-0.0,1,119,13.75,2.42,-59.45,0.000,4,0.280,0.081,3095,987,3355
$GC,345,-0.53,-117.3,29.8,-9.3,28,350,0.17,2.33,0.00,0.000,6,0.156,0.065,3144,2398,3356
$GC,670,-0.53,-117.3,55.5,-8.5,58,671,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2399,3357
$GC,988,-0.53,-117.3,82.0,-8.3,87,992,0.00,2.40,0.00,0.000,4,0.000,0.068,3144,984,3357
$GC,1021,-0.53,-117.3,84.7,-7.8,88,1027,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2406,3357
$GC,1336,-0.53,-117.3,108.9,-7.7,104,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2406,3357
$GC,1646,-0.53,-117.3,128.8,-5.9,119,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2406,3357
$GC,1955,-0.53,-117.3,147.9,-6.3,134,1959,0.00,2.33,0.00,0.000,4,0.000,0.068,3141,985,3358
$GC,2079,-0.60,-117.3,156.6,-7.2,138,2083,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2403,3357
$GC,2392,-0.86,-117.3,178.5,-7.1,148,2397,0.25,2.33,0.00,0.000,4,0.084,0.077,3043,3818,3357
$GC,2605,-0.66,-117.3,199.7,-10.8,154,2610,0.20,2.30,0.00,0.000,6,0.152,0.054,3098,2388,3357
$GC,2923,-0.62,-117.3,225.0,-7.6,165,2927,0.00,2.33,0.00,0.000,4,0.000,0.070,3098,995,3357
$GC,2957,-0.62,-117.3,227.7,-8.0,166,2961,0.00,2.28,0.00,0.000,6,0.000,0.062,3097,2400,3357
$GC,3286,-0.62,-117.3,251.0,-7.0,177,3290,0.00,2.35,0.00,0.000,4,0.000,0.080,3098,3807,3357
$GC,3353,-0.62,-117.3,255.9,-7.8,179,3357,0.00,2.22,0.00,0.000,6,0.000,0.054,3098,2401,3357
$GC,3683,-0.62,-117.3,279.1,-7.0,190,3687,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,987,3357
$GC,3715,-0.62,-117.3,281.5,-7.3,191,3719,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2403,3357
$GC,4075,-0.62,-117.3,306.0,-6.8,202,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3357
$GC,4378,-0.62,-117.3,327.0,-6.9,207,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3357
$GC,4682,-0.62,-117.3,347.5,-6.7,212,4686,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,987,3357
$GC,4726,-0.62,-117.3,350.7,-6.5,212,4730,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2399,3357
$GC,5041,-0.62,-117.3,369.6,-5.9,218,5045,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,986,3357
$GC,5085,-0.62,-117.3,372.3,-5.9,218,5089,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2404,3356
$GC,5401,-0.62,-117.3,390.2,-5.7,224,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3356
$GC,5703,-0.62,-117.3,408.0,-5.9,229,5707,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,995,3356
$GC,5741,-0.62,-117.3,410.6,-6.4,229,5745,0.00,2.30,0.00,0.000,6,0.000,0.064,3097,2406,3356
$GC,6062,-0.62,-117.3,430.4,-6.2,235,6066,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,994,3356
$GC,6106,-0.62,-117.3,433.4,-6.6,235,6110,0.00,2.28,0.00,0.000,6,0.000,0.063,3098,2401,3356
$GC,6421,-0.62,-117.3,454.3,-6.7,241,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3356
$GC,6725,-0.62,-117.3,474.6,-6.7,246,6729,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,988,3355
$GC,6763,-0.62,-117.3,477.4,-7.1,246,6767,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2403,3355
$GC,7085,-0.62,-117.3,497.3,-6.1,252,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3355
$GC,7387,-0.62,-117.3,515.7,-6.1,257,7391,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,988,3355
$GC,7431,-0.62,-117.3,518.5,-6.8,257,7435,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2402,3355
$GC,7746,-0.62,-117.3,537.5,-6.0,263,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3355
$GC,8050,-0.62,-117.3,555.5,-6.0,268,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3354
$GC,8353,-0.62,-117.3,573.9,-6.1,273,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3355
$GC,8655,-0.62,-117.3,592.9,-6.3,278,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3355
$GC,8958,-0.62,-117.3,612.5,-6.5,283,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3354
$GC,9262,-0.62,-117.3,631.5,-6.2,288,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3354
$GC,9565,-0.62,-117.3,649.5,-5.9,293,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3354
$GC,9868,-0.62,-117.3,666.7,-5.7,298,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3354
$GC,10171,-0.62,-117.3,684.1,-5.8,303,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3354
$GC,10474,-0.62,-117.3,701.2,-5.7,308,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3354
$GC,10778,-0.66,-117.3,718.6,-5.7,313,10782,0.00,2.35,0.00,0.000,4,0.000,0.073,3098,988,3353
$GC,10805,-0.66,-117.3,720.2,-5.7,313,10809,0.00,2.30,0.00,0.000,6,0.000,0.065,3098,2399,3353
$GC,11137,-0.71,-117.3,739.3,-5.8,319,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3353
$GC,11441,-0.75,-117.3,756.7,-5.8,324,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3354
$GC,11744,-0.81,-117.3,774.8,-6.1,329,11746,0.12,0.00,0.00,0.000,6,0.091,0.000,3050,2399,3352
$GC,12046,-0.81,-117.3,794.9,-6.7,334,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,12349,-0.81,-117.3,814.4,-6.4,339,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,12653,-0.81,-117.3,833.1,-6.2,344,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2398,3352
$GC,12956,-0.81,-117.3,852.3,-6.4,349,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,13259,-0.81,-117.3,871.8,-6.5,354,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,13562,-0.81,-117.3,890.7,-6.2,359,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,13865,-0.81,-117.3,909.2,-6.1,364,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,14168,-0.81,-117.3,927.0,-5.8,369,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,14471,-0.81,-117.3,944.4,-5.8,374,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,14775,-0.81,-117.3,962.4,-5.9,379,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$GC,15077,-0.81,-117.3,980.4,-5.9,384,15078,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2399,3352
$STATE,15256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15256,begin apogee
$GC,15263,-0.22,0.0,991.1,5.9,387,15379,0.62,0.00,108.15,1.490,6,0.136,0.000,3241,2200,2876
$STATE,15379,end apogee,CONTROL_FINISHED_OK
$STATE,15379,begin climb
$GC,15382,0.67,117.3,995.3,0.0,389,15506,0.88,2.67,112.88,1.438,4,0.092,0.077,3534,796,2396
$GC,15529,0.32,117.3,994.7,5.1,391,15534,0.45,2.50,0.00,0.000,6,0.181,0.061,3423,2200,2395
$GC,15872,0.34,131.2,978.7,4.6,397,15887,0.00,0.00,13.48,1.340,6,0.000,0.000,3423,2200,2341
$GC,16176,0.35,141.7,964.4,4.7,402,16189,0.00,0.00,11.18,1.318,6,0.000,0.000,3423,2200,2297
$GC,16479,0.35,141.8,949.4,5.0,407,16480,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2297
$GC,16781,0.35,144.3,934.5,4.9,412,16790,0.00,2.42,4.07,0.929,4,0.000,0.079,3423,792,2287
$GC,16820,0.39,170.4,932.5,4.3,412,16850,0.00,2.30,24.42,1.409,6,0.000,0.063,3423,2206,2181
$GC,17217,0.43,170.4,910.2,5.7,419,17219,0.10,0.00,0.00,0.000,6,0.091,0.000,3463,2207,2179
$GC,17520,0.43,170.4,891.0,6.4,424,17521,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2206,2178
$GC,17824,0.43,170.4,872.5,6.1,429,17825,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2206,2178
$GC,18127,0.43,170.4,853.2,6.4,434,18128,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2207,2178
$GC,18429,0.43,170.4,833.0,6.6,439,18434,0.00,2.42,0.00,0.000,4,0.000,0.080,3463,788,2177
$GC,18502,0.38,170.4,828.0,6.8,440,18506,0.00,2.30,0.00,0.000,6,0.000,0.065,3463,2202,2177
$GC,18857,0.32,170.4,803.8,6.8,446,18859,0.15,0.00,0.00,0.000,6,0.148,0.000,3423,2202,2177
$GC,19160,0.38,170.4,787.6,5.3,451,19161,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2202,2177
$GC,19463,0.43,170.4,772.1,5.1,456,19465,0.10,0.00,0.00,0.000,6,0.091,0.000,3463,2202,2177
$GC,19765,0.43,170.4,755.1,5.6,461,19769,0.00,2.40,0.00,0.000,4,0.000,0.079,3463,793,2176
$GC,19844,0.43,170.4,750.7,5.5,462,19848,0.00,2.30,0.00,0.000,6,0.000,0.065,3463,2207,2177
$GC,20193,0.38,170.4,730.1,6.0,468,20194,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2206,2176
$GC,20496,0.34,170.4,711.4,6.1,473,20501,0.12,2.40,0.00,0.000,4,0.141,0.078,3436,792,2176
$GC,20541,0.39,170.4,708.8,5.8,473,20545,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2211,2176
$GC,20856,0.39,170.4,691.2,5.6,479,20860,0.00,2.33,0.00,0.000,4,0.000,0.082,3436,3610,2176
$GC,20888,0.39,170.4,689.3,5.7,479,20893,0.00,2.28,0.00,0.000,6,0.000,0.064,3436,2196,2176
$GC,21221,0.39,170.4,670.9,5.5,485,21223,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2176
$GC,21524,0.39,170.4,654.6,5.4,490,21525,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2176
$GC,21827,0.39,170.4,638.9,5.2,495,21831,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,782,2176
$GC,21860,0.44,170.4,637.1,5.0,495,21864,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2204,2176
$GC,22187,0.48,170.4,620.4,5.0,501,22189,0.10,0.00,0.00,0.000,6,0.098,0.000,3478,2204,2176
$GC,22490,0.41,170.4,602.0,6.1,506,22491,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2204,2176
$GC,22793,0.33,170.4,582.4,6.5,511,22798,0.15,2.40,0.00,0.000,4,0.143,0.077,3436,792,2176
$GC,22837,0.39,170.4,579.7,5.8,511,22841,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2212,2177
$GC,23154,0.43,170.4,562.8,5.4,517,23155,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2176
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$GC,27197,0.45,217.0,329.6,4.0,583,27233,0.00,2.30,30.80,1.064,6,0.000,0.061,3463,2208,1991
$GC,27583,0.50,217.0,308.9,5.4,590,27584,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2208,1987
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$GC,29629,0.46,217.0,174.2,6.0,654,29634,0.25,2.33,0.00,0.000,6,0.173,0.063,3465,2196,1985
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$STATE,32497,end climb,SURFACE_DEPTH_REACHED
$STATE,32497,begin surface coast
$FINISH,4.1,1.025557
$STATE,32554,end surface coast,CONTROL_FINISHED_OK
$STATE,32554,begin surface
$SM_CCo,32577,48.58,0.841,0,0,1653,300.00
$SM_GC,4.39,0.00,0.00,48.58,0.000,0.000,0.841,140,2412,1653,-9.93,0.34,300.00
$IRIDIUM_FIX,5003.11,-14508.49,160498,060655
$TT8_MAMPS,0.026845
$HUMID,2100
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,15.80
$XPDR_PINGS,1001
$24V_AH,21.5,75.849
$10V_AH,10.5,51.541
$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
$DEVICE_SECS,28.825,169.150,340.300,48.575,0.000,30.706,29.910,189.439,250.250,0.000,0.000,13.085,1783.141,27635.920,542.695,2353.803,689.872,33.382,1685.069,0.000,2337.841,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,650.648,632.742,1439.441,872.651,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47527,847
$CAP_FILE_SIZE,177260,0
$CFSIZE,260165632,228728832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210109,000831,5014.895,-14511.176,37,2.0,37,18.5