version: 66.03
glider: 120
mission: 9
dive: 426
start: 2 4 109 22 59 15
data:
$ID,120
$MISSION,9
$DIVE,426
$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,275
$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,-26780.926
$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
$GPS1,225207,5020.505,-14511.945,57,1.6,58,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,4.08
$_SM_ANGLEo,-75.2
$GPS2,225820,5020.571,-14511.972,15,1.3,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.002,-0.179
$KALMAN_X,-7036.1,-36.3,224.1,9836.6,-62.3
$KALMAN_Y,25777.9,-34.6,132.3,5781.3,727.5
$MHEAD_RNG_PITCHd_Wd,161.0,49189,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.66,-117.3,0.0,0.0,0,37,0.00,0.00,-11.32,0.000,2,0.000,0.000,134,2406,2032
$GC,41,-0.66,-117.3,4.1,-0.0,1,116,14.15,2.53,-51.75,0.000,4,0.285,0.096,3094,3805,3356
$GC,163,-0.49,-117.3,13.4,-12.3,12,168,0.22,2.35,0.00,0.000,6,0.155,0.054,3157,2389,3357
$GC,488,-0.49,-117.3,37.0,-6.9,42,492,0.00,2.38,0.00,0.000,4,0.000,0.070,3157,991,3358
$GC,521,-0.49,-117.3,38.7,-5.4,44,528,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2408,3358
$GC,848,-0.49,-117.3,60.8,-6.9,75,849,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2408,3358
$GC,1165,-0.49,-117.3,81.6,-5.9,104,1169,0.00,2.38,0.00,0.000,4,0.000,0.068,3155,992,3358
$GC,1197,-0.49,-117.3,83.8,-6.7,105,1204,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2408,3358
$GC,1514,-0.53,-117.3,101.8,-5.5,121,1518,0.00,2.35,0.00,0.000,4,0.000,0.068,3155,992,3358
$GC,1536,-0.58,-117.3,103.1,-5.9,122,1540,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2401,3358
$GC,1858,-0.85,-117.3,125.0,-7.5,138,1863,0.30,2.38,0.00,0.000,4,0.084,0.077,3042,3808,3358
$GC,2059,-0.61,-117.3,145.5,-9.9,147,2064,0.28,2.25,0.00,0.000,6,0.152,0.054,3119,2399,3358
$GC,2378,-0.61,-117.3,165.7,-5.7,159,2382,0.00,2.33,0.00,0.000,4,0.000,0.068,3119,992,3359
$GC,2407,-0.61,-117.3,167.5,-6.2,160,2411,0.00,2.30,0.00,0.000,6,0.000,0.061,3115,2407,3359
$GC,2742,-0.61,-117.3,188.1,-6.6,171,2746,0.00,2.33,0.00,0.000,4,0.000,0.080,3113,3805,3359
$GC,2764,-0.61,-117.3,189.8,-7.2,171,2771,0.00,2.25,0.00,0.000,6,0.000,0.054,3113,2392,3359
$GC,3077,-0.61,-117.3,209.8,-6.2,182,3081,0.00,2.30,0.00,0.000,4,0.000,0.070,3113,987,3358
$GC,3127,-0.61,-117.3,213.2,-6.7,183,3131,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2406,3359
$GC,3445,-0.61,-117.3,232.1,-5.8,194,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3359
$GC,3751,-0.61,-117.3,249.4,-5.8,204,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3359
$GC,4057,-0.61,-117.3,267.6,-6.1,214,4061,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,992,3359
$GC,4097,-0.61,-117.3,270.3,-6.8,215,4101,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2399,3358
$GC,4426,-0.61,-117.3,291.2,-6.3,226,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,4761,-0.61,-117.3,312.8,-6.5,234,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3359
$GC,5064,-0.61,-117.3,332.8,-6.6,239,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,5368,-0.61,-117.3,353.5,-6.8,244,5372,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,994,3358
$GC,5395,-0.66,-117.3,355.3,-6.7,244,5399,0.00,2.28,0.00,0.000,6,0.000,0.062,3113,2403,3358
$GC,5734,-0.66,-117.3,376.4,-6.2,250,5738,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,994,3358
$GC,5767,-0.71,-117.3,378.8,-7.1,250,5771,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2409,3358
$GC,6101,-0.75,-117.3,401.1,-6.8,256,6106,0.12,2.35,0.00,0.000,4,0.087,0.071,3065,993,3358
$GC,6128,-0.75,-117.3,403.4,-8.3,256,6132,0.00,2.30,0.00,0.000,6,0.000,0.063,3065,2407,3358
$GC,6466,-0.68,-117.3,429.4,-7.6,262,6468,0.12,0.00,0.00,0.000,6,0.143,0.000,3100,2406,3358
$GC,6769,-0.68,-117.3,447.7,-5.9,267,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3358
$GC,7072,-0.68,-117.3,464.6,-5.6,272,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,7375,-0.68,-117.3,482.2,-5.9,277,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3358
$GC,7678,-0.68,-117.3,501.8,-6.5,282,7682,0.00,2.35,0.00,0.000,4,0.000,0.072,3101,995,3357
$GC,7710,-0.68,-117.3,504.1,-7.0,282,7715,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2409,3357
$GC,8038,-0.68,-117.3,526.0,-6.7,288,8042,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,996,3357
$GC,8076,-0.68,-117.3,528.9,-7.0,288,8080,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2405,3357
$GC,8397,-0.68,-117.3,548.8,-6.2,294,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3357
$GC,8700,-0.68,-117.3,568.0,-6.5,299,8704,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,995,3356
$GC,8734,-0.68,-117.3,570.5,-7.8,299,8738,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2405,3356
$GC,9060,-0.68,-117.3,591.9,-6.5,305,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3356
$GC,9363,-0.68,-117.3,610.8,-6.2,310,9367,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,991,3356
$GC,9384,-0.68,-117.3,612.3,-6.5,310,9388,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2400,3356
$GC,9723,-0.68,-117.3,633.2,-6.2,316,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,10025,-0.68,-117.3,651.2,-5.9,321,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3356
$GC,10329,-0.68,-117.3,668.7,-5.7,326,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,10631,-0.68,-117.3,685.4,-5.6,331,10635,0.00,2.38,0.00,0.000,4,0.000,0.072,3099,995,3356
$GC,10660,-0.72,-117.3,687.1,-6.3,331,10664,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2403,3355
$GC,10991,-0.72,-117.3,705.5,-5.6,337,10993,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3355
$GC,11295,-0.72,-117.3,722.0,-5.5,342,11299,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,987,3355
$GC,11328,-0.77,-117.3,724.0,-5.9,342,11332,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2407,3355
$GC,11655,-0.81,-117.3,742.9,-5.8,348,11657,0.12,0.00,0.00,0.000,6,0.091,0.000,3049,2407,3355
$GC,11958,-0.77,-117.3,763.6,-6.8,353,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2407,3355
$GC,12261,-0.72,-117.3,781.9,-6.0,358,12266,0.12,2.40,0.00,0.000,4,0.104,0.071,3092,996,3355
$GC,12317,-0.72,-117.3,785.3,-5.8,358,12323,0.00,2.30,0.00,0.000,6,0.000,0.065,3092,2399,3355
$GC,12627,-0.72,-117.3,801.5,-5.2,364,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3354
$GC,12930,-0.72,-117.3,817.2,-5.2,369,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3355
$GC,13233,-0.72,-117.3,833.9,-5.5,374,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3355
$GC,13536,-0.72,-117.3,851.1,-5.7,379,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3355
$GC,13840,-0.72,-117.3,869.1,-5.9,384,13844,0.00,2.40,0.00,0.000,4,0.000,0.074,3092,992,3354
$GC,13872,-0.72,-117.3,871.2,-6.1,384,13876,0.00,2.35,0.00,0.000,6,0.000,0.064,3092,2410,3354
$GC,14199,-0.72,-117.3,891.4,-6.2,390,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2410,3354
$GC,14502,-0.72,-117.3,910.8,-6.4,395,14503,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2410,3354
$GC,14806,-0.77,-117.3,930.2,-6.4,400,14811,0.00,2.42,0.00,0.000,4,0.000,0.074,3092,990,3354
$GC,14841,-0.77,-117.3,932.5,-6.6,400,14845,0.00,2.33,0.00,0.000,6,0.000,0.065,3092,2400,3354
$GC,15169,-0.81,-117.3,952.4,-6.0,406,15173,0.12,2.42,0.00,0.000,4,0.086,0.083,3043,3811,3354
$GC,15208,-0.70,-117.3,955.3,-8.2,406,15213,0.17,2.28,0.00,0.000,6,0.133,0.058,3091,2405,3354
$GC,15529,-0.70,-117.3,973.8,-5.7,412,15531,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2405,3354
$GC,15833,-0.75,-117.3,989.6,-5.1,417,15837,0.00,2.38,0.00,0.000,4,0.000,0.074,3091,983,3354
$STATE,15841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15841,begin apogee
$GC,15850,-0.22,0.0,990.2,5.0,417,15962,0.47,0.00,108.30,1.486,6,0.144,0.000,3241,2204,2876
$STATE,15962,end apogee,CONTROL_FINISHED_OK
$STATE,15962,begin climb
$GC,15965,0.66,117.3,994.2,0.0,419,16089,0.88,2.65,113.50,1.432,4,0.092,0.078,3524,3599,2395
$GC,16141,0.25,117.3,991.0,8.5,421,16146,0.52,2.45,0.00,0.000,6,0.179,0.062,3402,2195,2395
$GC,16456,0.25,117.3,974.1,5.3,427,16460,0.00,2.38,0.00,0.000,4,0.000,0.079,3408,780,2393
$GC,16506,0.30,117.3,971.5,5.2,427,16510,0.00,2.33,0.00,0.000,6,0.000,0.062,3408,2199,2394
$GC,16815,0.30,117.3,955.3,5.2,432,16820,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,3612,2393
$GC,16879,0.30,117.3,951.7,6.3,433,16883,0.00,2.30,0.00,0.000,6,0.000,0.064,3409,2190,2393
$GC,17250,0.30,117.3,932.2,5.2,439,17251,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2190,2392
$GC,17554,0.30,121.0,917.3,4.9,444,17560,0.00,0.00,4.43,0.983,6,0.000,0.000,3409,2190,2382
$GC,17857,0.32,136.4,903.4,4.6,449,17874,0.00,0.00,15.20,1.361,6,0.000,0.000,3409,2190,2320
$GC,18160,0.38,146.7,889.1,4.7,454,18173,0.00,0.00,11.18,1.303,6,0.000,0.000,3409,2190,2277
$GC,18463,0.46,163.1,875.3,4.5,459,18485,0.15,2.45,16.10,1.348,4,0.085,0.082,3478,3611,2210
$GC,18538,0.25,163.1,869.9,7.4,460,18543,0.28,2.33,0.00,0.000,6,0.168,0.065,3405,2201,2209
$GC,18893,0.37,181.2,853.5,4.5,466,18917,0.00,2.47,17.30,1.344,4,0.000,0.080,3408,783,2137
$GC,18948,0.53,217.2,851.1,4.0,466,18989,0.25,2.33,34.40,1.365,6,0.076,0.061,3503,2201,1989
$GC,19329,0.40,217.2,820.6,8.3,473,19334,0.17,2.35,0.00,0.000,4,0.146,0.078,3448,3611,1983
$GC,19374,0.36,217.2,817.0,7.5,473,19378,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2197,1983
$GC,19695,0.36,217.2,796.5,6.4,479,19699,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,789,1982
$GC,19751,0.41,217.2,792.8,5.8,479,19758,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2205,1983
$GC,20061,0.41,217.2,772.4,6.6,485,20065,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,790,1982
$GC,20106,0.45,217.2,769.3,6.5,485,20110,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2209,1982
$GC,20421,0.45,217.2,748.1,6.7,491,20422,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,1982
$GC,20724,0.45,217.2,727.8,6.7,496,20725,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,1981
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$STATE,31681,end climb,SURFACE_DEPTH_REACHED
$STATE,31681,begin surface coast
$FINISH,2.7,1.003293
$STATE,31770,end surface coast,CONTROL_FINISHED_OK
$STATE,31770,begin surface
$SM_CCo,31790,17.90,0.831,0,0,1754,275.23
$SM_GC,5.34,0.00,0.00,17.90,0.000,0.000,0.831,148,2402,1754,-9.91,0.06,275.23
$IRIDIUM_FIX,5006.47,-14614.85,010598,151555
$TT8_MAMPS,0.026845
$HUMID,2112
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$TCM_TEMP,15.70
$XPDR_PINGS,1005
$24V_AH,21.4,83.639
$10V_AH,10.5,57.112
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$DEVICE_SECS,30.075,240.400,352.375,17.900,0.000,23.711,34.139,175.585,251.250,0.000,0.000,15.651,1822.241,26647.475,533.962,2432.764,740.352,33.361,1767.079,0.000,2407.834,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.957,624.759,1422.603,863.784,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47504,837
$CAP_FILE_SIZE,192363,0
$CFSIZE,260165632,225529856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,075137,5017.793,-14511.654,92,1.4,92,18.5