version: 66.03
glider: 120
mission: 9
dive: 439
start: 2 9 109 20 45 22
data:
$ID,120
$MISSION,9
$DIVE,439
$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,-27126.654
$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,22
$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
$GPS1,203837,4959.684,-14501.077,33,1.0,33,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-68.3
$GPS2,204425,4959.672,-14500.995,11,1.2,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.126,0.125
$KALMAN_X,-7746.7,-169.2,59.4,23893.7,-771.8
$KALMAN_Y,41639.9,47.8,-58.1,-48678.7,165.0
$MHEAD_RNG_PITCHd_Wd,26.8,18833,-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,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.30,0.000,2,0.000,0.000,146,2413,1714
$GC,41,-0.67,-117.3,3.6,-0.0,1,158,13.40,2.55,-93.43,0.000,4,0.269,0.084,3098,993,3355
$GC,411,-0.54,-117.3,31.6,-9.2,34,418,0.15,2.33,0.00,0.000,6,0.166,0.063,3137,2411,3356
$GC,741,-0.54,-117.3,60.2,-9.3,65,745,0.00,2.50,0.00,0.000,4,0.000,0.067,3138,985,3357
$GC,774,-0.54,-117.3,63.5,-8.8,67,780,0.00,2.35,0.00,0.000,6,0.000,0.062,3138,2407,3357
$GC,1107,-0.54,-117.3,88.3,-7.8,94,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2407,3356
$GC,1417,-0.54,-117.3,111.7,-7.4,109,1421,0.00,2.50,0.00,0.000,4,0.000,0.067,3138,990,3357
$GC,1511,-0.54,-117.3,118.7,-7.1,113,1515,0.00,2.30,0.00,0.000,6,0.000,0.061,3138,2403,3357
$GC,1833,-0.54,-117.3,138.9,-6.5,129,1838,0.00,2.45,0.00,0.000,4,0.000,0.067,3138,995,3357
$GC,1861,-0.58,-117.3,141.1,-8.0,130,1865,0.00,2.30,0.00,0.000,6,0.000,0.061,3138,2407,3357
$GC,2182,-0.65,-117.3,162.0,-6.2,143,2186,0.00,2.42,0.00,0.000,4,0.000,0.081,3138,3805,3357
$GC,2232,-0.74,-117.3,165.0,-6.2,144,2237,0.17,2.35,0.00,0.000,6,0.077,0.051,3072,2400,3357
$GC,2545,-0.68,-117.3,186.3,-6.8,154,2550,0.00,2.47,0.00,0.000,4,0.000,0.067,3072,983,3357
$GC,2596,-0.61,-117.3,190.2,-7.9,155,2601,0.17,2.35,0.00,0.000,6,0.143,0.061,3120,2399,3358
$GC,2909,-0.61,-117.3,209.6,-6.2,165,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2399,3358
$GC,3215,-0.61,-117.3,227.5,-5.9,175,3219,0.00,2.45,0.00,0.000,4,0.000,0.067,3120,987,3357
$GC,3243,-0.66,-117.3,229.3,-6.5,175,3249,0.00,2.30,0.00,0.000,6,0.000,0.061,3120,2403,3357
$GC,3556,-0.66,-117.3,247.9,-5.8,186,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2402,3358
$GC,3863,-0.66,-117.3,266.0,-6.0,196,3867,0.00,2.40,0.00,0.000,4,0.000,0.068,3120,990,3357
$GC,3891,-0.71,-117.3,268.0,-6.9,196,3897,0.00,2.30,0.00,0.000,6,0.000,0.061,3120,2408,3357
$GC,4204,-0.77,-117.3,285.9,-5.4,207,4206,0.15,0.00,0.00,0.000,6,0.084,0.000,3065,2408,3357
$GC,4540,-0.85,-117.3,309.1,-7.0,216,4544,0.00,2.45,0.00,0.000,4,0.000,0.068,3065,992,3357
$GC,4641,-0.75,-117.3,316.8,-8.1,217,4645,0.00,2.30,0.00,0.000,6,0.000,0.063,3065,2399,3357
$GC,4968,-0.64,-117.3,342.4,-7.9,223,4972,0.15,2.38,0.00,0.000,4,0.156,0.079,3110,3806,3357
$GC,5024,-0.71,-117.3,346.1,-6.5,223,5030,0.00,2.30,0.00,0.000,6,0.000,0.054,3110,2375,3357
$GC,5334,-0.71,-117.3,364.9,-6.1,229,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2375,3357
$GC,5637,-0.71,-117.3,384.3,-6.4,234,5641,0.00,2.53,0.00,0.000,4,0.000,0.080,3110,3806,3357
$GC,5670,-0.77,-117.3,386.4,-6.8,234,5675,0.12,2.38,0.00,0.000,6,0.085,0.053,3062,2395,3357
$GC,5997,-0.72,-117.3,410.0,-7.2,240,6001,0.00,2.50,0.00,0.000,4,0.000,0.069,3062,997,3357
$GC,6060,-0.66,-117.3,415.0,-7.8,241,6065,0.15,2.30,0.00,0.000,6,0.141,0.062,3102,2401,3357
$GC,6425,-0.66,-117.3,439.7,-6.8,247,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2401,3357
$GC,6729,-0.66,-117.3,459.8,-6.6,252,6733,0.00,2.45,0.00,0.000,4,0.000,0.070,3102,987,3357
$GC,6764,-0.66,-117.3,462.1,-6.6,252,6768,0.00,2.35,0.00,0.000,6,0.000,0.061,3100,2410,3356
$GC,7090,-0.66,-117.3,482.6,-6.2,258,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,7393,-0.66,-117.3,499.9,-5.6,263,7397,0.00,2.47,0.00,0.000,4,0.000,0.069,3100,989,3356
$GC,7432,-0.66,-117.3,502.1,-5.3,263,7436,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2410,3356
$GC,7752,-0.66,-117.3,519.9,-5.5,269,7756,0.00,2.42,0.00,0.000,4,0.000,0.070,3100,991,3356
$GC,7785,-0.66,-117.3,521.9,-6.3,269,7789,0.00,2.33,0.00,0.000,6,0.000,0.062,3100,2410,3356
$GC,8111,-0.66,-117.3,539.8,-5.4,275,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3356
$GC,8415,-0.66,-117.3,557.2,-5.7,280,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,8718,-0.66,-117.3,574.7,-5.8,285,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3356
$GC,9021,-0.66,-117.3,592.5,-5.9,290,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3356
$GC,9324,-0.66,-117.3,610.1,-5.8,295,9328,0.00,2.42,0.00,0.000,4,0.000,0.070,3100,995,3355
$GC,9352,-0.71,-117.3,611.8,-6.1,295,9356,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2404,3355
$GC,9685,-0.75,-117.3,629.7,-5.4,301,9689,0.00,2.40,0.00,0.000,4,0.000,0.082,3100,3815,3355
$GC,9718,-0.82,-117.3,631.7,-5.8,301,9723,0.15,2.35,0.00,0.000,6,0.084,0.054,3044,2396,3355
$GC,10045,-0.76,-117.3,653.8,-6.9,307,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2395,3355
$GC,10348,-0.70,-117.3,674.3,-6.8,312,10350,0.15,0.00,0.00,0.000,6,0.110,0.000,3087,2396,3355
$GC,10651,-0.70,-117.3,692.4,-5.9,317,10655,0.00,2.50,0.00,0.000,4,0.000,0.070,3093,992,3355
$GC,10690,-0.70,-117.3,694.9,-5.9,317,10694,0.00,2.33,0.00,0.000,6,0.000,0.064,3093,2406,3355
$GC,11012,-0.70,-117.3,712.5,-5.5,323,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3355
$GC,11314,-0.70,-117.3,730.5,-6.0,328,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3355
$GC,11617,-0.70,-117.3,748.9,-6.0,333,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3355
$GC,11921,-0.74,-117.3,766.1,-5.6,338,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3355
$GC,12223,-0.74,-117.3,782.4,-5.4,343,12227,0.00,2.47,0.00,0.000,4,0.000,0.071,3093,993,3354
$GC,12251,-0.74,-117.3,784.0,-6.1,343,12255,0.00,2.33,0.00,0.000,6,0.000,0.064,3093,2410,3354
$GC,12583,-0.78,-117.3,801.0,-5.2,349,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3354
$GC,12886,-0.82,-117.3,817.3,-5.4,354,12888,0.12,0.00,0.00,0.000,6,0.088,0.000,3045,2410,3354
$GC,13189,-0.82,-117.3,836.2,-6.3,359,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2410,3354
$GC,13493,-0.82,-117.3,856.1,-6.6,364,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2410,3354
$GC,13795,-0.82,-117.3,876.9,-6.9,369,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2409,3354
$GC,14099,-0.78,-117.3,898.6,-7.2,374,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2410,3353
$GC,14401,-0.78,-117.3,920.9,-7.4,379,14406,0.00,2.40,0.00,0.000,4,0.000,0.084,3045,3812,3353
$GC,14452,-0.70,-117.3,925.0,-8.0,379,14457,0.17,2.45,0.00,0.000,6,0.133,0.055,3093,2394,3353
$GC,14763,-0.75,-117.3,943.6,-5.9,384,14767,0.00,2.47,0.00,0.000,4,0.000,0.071,3093,996,3353
$GC,14790,-0.79,-117.3,945.5,-6.4,384,14794,0.00,2.30,0.00,0.000,6,0.000,0.064,3093,2400,3353
$GC,15130,-1.00,-117.3,967.6,-6.8,390,15135,0.28,2.42,0.00,0.000,4,0.086,0.072,2990,990,3353
$STATE,15362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15362,begin apogee
$GC,15371,-0.22,0.0,990.5,10.1,393,15483,0.85,0.00,108.53,1.483,6,0.166,0.000,3237,2203,2876
$STATE,15483,end apogee,CONTROL_FINISHED_OK
$STATE,15484,begin climb
$GC,15487,0.67,117.3,994.4,0.0,395,15611,0.90,2.72,113.72,1.432,4,0.091,0.077,3531,3604,2397
$GC,15656,0.22,117.3,994.1,7.0,397,15662,0.55,2.55,0.00,0.000,6,0.183,0.061,3397,2204,2394
$GC,15979,0.35,170.3,982.3,3.5,403,16029,0.00,0.00,48.50,1.427,6,0.000,0.000,3397,2205,2181
$GC,16282,0.48,183.9,968.7,4.6,408,16301,0.20,2.58,13.60,1.331,4,0.077,0.077,3479,790,2126
$GC,16411,0.39,183.9,959.4,7.6,409,16418,0.15,2.30,0.00,0.000,6,0.157,0.062,3440,2203,2123
$GC,16721,0.39,183.9,939.7,6.3,415,16725,0.00,2.40,0.00,0.000,4,0.000,0.080,3440,3614,2122
$GC,16748,0.34,183.9,937.6,6.8,415,16753,0.00,2.40,0.00,0.000,6,0.000,0.061,3449,2199,2122
$GC,17081,0.34,183.9,916.0,6.5,421,17082,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2122
$GC,17384,0.34,183.9,896.3,6.5,426,17388,0.00,2.50,0.00,0.000,4,0.000,0.080,3449,3612,2122
$GC,17418,0.28,183.9,893.8,6.9,426,17423,0.15,2.45,0.00,0.000,6,0.169,0.061,3411,2201,2122
$GC,17745,0.38,183.9,876.4,5.3,432,17746,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2201,2121
$GC,18048,0.49,183.9,860.4,5.3,437,18053,0.15,2.53,0.00,0.000,4,0.081,0.079,3477,3616,2121
$GC,18076,0.37,183.9,858.3,7.8,437,18081,0.15,2.53,0.00,0.000,6,0.173,0.062,3438,2195,2121
$GC,18408,0.37,183.9,837.8,6.2,443,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2195,2121
$GC,18711,0.37,183.9,820.0,5.9,448,18715,0.00,2.58,0.00,0.000,4,0.000,0.077,3438,790,2121
$GC,18745,0.41,183.9,818.1,6.4,448,18749,0.00,2.28,0.00,0.000,6,0.000,0.061,3439,2198,2121
$GC,19071,0.41,183.9,798.8,6.0,454,19072,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2197,2121
$GC,19374,0.41,183.9,779.2,6.4,459,19378,0.00,2.42,0.00,0.000,4,0.000,0.079,3438,3616,2121
$GC,19424,0.37,183.9,775.4,7.6,459,19428,0.00,2.47,0.00,0.000,6,0.000,0.062,3439,2199,2121
$GC,19734,0.37,183.9,755.0,6.6,464,19739,0.00,2.47,0.00,0.000,4,0.000,0.077,3439,789,2121
$GC,19779,0.42,183.9,752.0,6.5,464,19783,0.00,2.30,0.00,0.000,6,0.000,0.061,3438,2209,2121
$GC,20095,0.42,183.9,732.9,6.1,470,20096,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2209,2121
$GC,20399,0.46,183.9,715.5,5.7,475,20403,0.00,2.47,0.00,0.000,4,0.000,0.077,3439,789,2121
$GC,20443,0.52,183.9,713.0,5.1,475,20448,0.15,2.30,0.00,0.000,6,0.084,0.061,3501,2207,2121
$GC,20758,0.39,183.9,688.7,7.8,481,20763,0.17,2.47,0.00,0.000,4,0.154,0.077,3450,780,2121
$GC,20797,0.39,183.9,686.2,5.5,481,20802,0.00,2.33,0.00,0.000,6,0.000,0.061,3450,2216,2121
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$STATE,31301,end climb,SURFACE_DEPTH_REACHED
$STATE,31301,begin surface coast
$FINISH,2.5,1.008127
$STATE,31345,end surface coast,CONTROL_FINISHED_OK
$STATE,31345,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2092
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$TCM_TEMP,14.00
$XPDR_PINGS,944
$24V_AH,21.4,86.226
$10V_AH,10.5,58.868
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$DEVICE_SECS,29.550,232.050,527.625,0.000,0.000,31.690,24.087,151.755,236.000,0.000,0.000,16.494,1712.673,26272.068,667.718,2412.565,703.302,33.359,1926.364,0.000,2377.398,0.000,0.465
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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,47552,789
$CAP_FILE_SIZE,185674,0
$CFSIZE,260165632,224546816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100209,053024,5002.223,-14458.001,37,1.2,37,18.5