version: 66.03
glider: 120
mission: 9
dive: 442
start: 2 11 109 0 13 47
data:
$ID,120
$MISSION,9
$DIVE,442
$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,-27209.885
$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,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
$GPS1,000631,5006.967,-14450.788,43,1.1,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.83
$_SM_ANGLEo,-70.1
$GPS2,001250,5006.970,-14450.814,16,1.7,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.101
$KALMAN_X,-11941.2,113.4,-81.6,40039.7,-1855.7
$KALMAN_Y,41682.7,99.0,-60.1,-35271.8,96.9
$MHEAD_RNG_PITCHd_Wd,36.8,35928,-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,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.88,0.000,2,0.000,0.000,134,2413,1860
$GC,41,-0.67,-117.3,3.9,-0.0,1,127,13.55,2.47,-63.15,0.000,4,0.272,0.082,3094,992,3355
$GC,256,-0.52,-117.3,19.7,-11.8,20,263,0.20,2.33,0.00,0.000,6,0.157,0.064,3150,2403,3357
$GC,584,-0.52,-117.3,47.1,-9.0,51,588,0.00,2.38,0.00,0.000,4,0.000,0.081,3141,3806,3357
$GC,624,-0.52,-117.3,51.2,-9.8,54,628,0.00,2.28,0.00,0.000,6,0.000,0.053,3141,2390,3357
$GC,949,-0.52,-117.3,77.2,-8.4,84,953,0.00,2.33,0.00,0.000,4,0.000,0.070,3141,994,3357
$GC,993,-0.52,-117.3,81.1,-8.1,87,997,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2405,3357
$GC,1315,-0.52,-117.3,105.6,-8.0,103,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2405,3357
$GC,1624,-0.52,-117.3,130.3,-8.0,118,1628,0.00,2.38,0.00,0.000,4,0.000,0.080,3141,3810,3357
$GC,1695,-0.63,-117.3,136.3,-9.0,121,1699,0.00,2.25,0.00,0.000,6,0.000,0.053,3142,2401,3357
$GC,2022,-0.68,-117.3,158.1,-6.4,135,2026,0.12,2.35,0.00,0.000,4,0.084,0.068,3091,990,3357
$GC,2072,-0.64,-117.3,162.2,-8.1,136,2076,0.00,2.28,0.00,0.000,6,0.000,0.060,3091,2401,3357
$GC,2391,-0.60,-117.3,186.5,-7.8,147,2393,0.12,0.00,0.00,0.000,6,0.142,0.000,3126,2400,3357
$GC,2696,-0.60,-117.3,203.8,-5.0,157,2700,0.00,2.35,0.00,0.000,4,0.000,0.079,3125,3810,3358
$GC,2719,-0.65,-117.3,204.8,-4.5,157,2725,0.00,2.25,0.00,0.000,6,0.000,0.052,3126,2394,3358
$GC,3033,-0.71,-117.3,221.7,-5.9,168,3035,0.12,0.00,0.00,0.000,6,0.084,0.000,3074,2394,3358
$GC,3339,-0.66,-117.3,244.0,-7.3,178,3343,0.00,2.33,0.00,0.000,4,0.000,0.069,3074,992,3358
$GC,3417,-0.60,-117.3,250.5,-8.5,180,3422,0.17,2.30,0.00,0.000,6,0.139,0.061,3122,2406,3358
$GC,3742,-0.65,-117.3,272.1,-6.8,191,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2406,3358
$GC,4048,-0.70,-117.3,291.8,-6.3,201,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2406,3358
$GC,4382,-0.76,-117.3,311.5,-5.8,209,4384,0.15,0.00,0.00,0.000,6,0.080,0.000,3064,2405,3358
$GC,4686,-0.69,-117.3,334.3,-7.5,214,4688,0.10,0.00,0.00,0.000,6,0.095,0.000,3092,2406,3358
$GC,4989,-0.69,-117.3,356.2,-7.2,219,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3357
$GC,5291,-0.69,-117.3,378.0,-7.2,224,5295,0.00,2.38,0.00,0.000,4,0.000,0.081,3086,3813,3357
$GC,5341,-0.69,-117.3,381.8,-7.4,224,5346,0.00,2.28,0.00,0.000,6,0.000,0.055,3085,2390,3357
$GC,5652,-0.69,-117.3,403.3,-6.9,229,5656,0.00,2.45,0.00,0.000,4,0.000,0.081,3086,3813,3357
$GC,5691,-0.69,-117.3,406.0,-7.0,229,5695,0.00,2.28,0.00,0.000,6,0.000,0.054,3086,2388,3357
$GC,6012,-0.69,-117.3,427.5,-6.6,235,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3357
$GC,6315,-0.69,-117.3,446.7,-6.3,240,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3357
$GC,6618,-0.69,-117.3,467.7,-7.0,245,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3357
$GC,6922,-0.69,-117.3,488.0,-6.7,250,6926,0.00,2.45,0.00,0.000,4,0.000,0.081,3086,3816,3356
$GC,6960,-0.69,-117.3,490.7,-6.8,250,6964,0.00,2.28,0.00,0.000,6,0.000,0.055,3085,2387,3356
$GC,7282,-0.69,-117.3,510.7,-6.2,256,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2387,3356
$GC,7584,-0.69,-117.3,529.0,-6.1,261,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2387,3356
$GC,7888,-0.69,-117.3,547.0,-5.9,266,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3356
$GC,8191,-0.69,-117.3,565.0,-6.0,271,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3356
$GC,8494,-0.69,-117.3,584.2,-6.4,276,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3356
$GC,8797,-0.69,-117.3,604.5,-6.8,281,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3356
$GC,9100,-0.69,-117.3,625.4,-6.8,286,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3355
$GC,9404,-0.69,-117.3,644.5,-6.2,291,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3355
$GC,9706,-0.69,-117.3,662.2,-5.8,296,9710,0.00,2.45,0.00,0.000,4,0.000,0.083,3086,3812,3355
$GC,9750,-0.69,-117.3,664.9,-6.5,296,9754,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2400,3355
$GC,10065,-0.69,-117.3,682.9,-5.8,302,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,10368,-0.69,-117.3,700.0,-5.6,307,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,10671,-0.69,-117.3,715.7,-5.1,312,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,10974,-0.69,-117.3,730.7,-4.9,317,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,11277,-0.69,-117.3,745.6,-4.9,322,11282,0.00,2.42,0.00,0.000,4,0.000,0.083,3086,3812,3354
$GC,11316,-0.69,-117.3,747.7,-5.4,322,11320,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2391,3354
$GC,11638,-0.69,-117.3,763.8,-5.1,328,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3354
$GC,11941,-0.69,-117.3,778.9,-5.0,333,11945,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3805,3354
$GC,11985,-0.69,-117.3,781.3,-5.4,333,11989,0.00,2.25,0.00,0.000,6,0.000,0.057,3085,2399,3354
$GC,12300,-0.69,-117.3,798.1,-5.5,339,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,12604,-0.69,-117.3,815.3,-5.7,344,12608,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3815,3354
$GC,12631,-0.69,-117.3,817.1,-5.3,344,12635,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2394,3353
$GC,12963,-0.69,-117.3,835.8,-5.6,350,12967,0.00,2.33,0.00,0.000,4,0.000,0.074,3085,990,3353
$GC,12984,-0.69,-117.3,837.2,-6.0,350,12988,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2410,3353
$GC,13323,-0.69,-117.3,857.0,-5.9,356,13327,0.00,2.35,0.00,0.000,4,0.000,0.084,3086,3806,3353
$GC,13355,-0.69,-117.3,859.1,-5.9,356,13360,0.00,2.25,0.00,0.000,6,0.000,0.058,3086,2401,3353
$GC,13682,-0.69,-117.3,878.5,-6.0,362,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3353
$GC,13986,-0.69,-117.3,896.4,-5.9,367,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14289,-0.69,-117.3,913.7,-5.7,372,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14591,-0.69,-117.3,930.9,-5.7,377,14596,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3809,3352
$GC,14631,-0.74,-117.3,933.3,-6.8,377,14635,0.00,2.28,0.00,0.000,6,0.000,0.057,3085,2395,3353
$GC,14953,-0.92,-117.3,955.1,-7.1,383,14957,0.17,2.45,0.00,0.000,4,0.093,0.081,3016,3815,3353
$GC,15095,-0.77,-117.3,966.9,-9.0,385,15099,0.17,2.28,0.00,0.000,6,0.153,0.058,3062,2401,3352
$STATE,15446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15446,begin apogee
$GC,15454,-0.22,0.0,992.0,7.0,391,15569,0.60,0.00,108.57,1.488,6,0.145,0.000,3243,2189,2875
$STATE,15570,end apogee,CONTROL_FINISHED_OK
$STATE,15570,begin climb
$GC,15573,0.67,117.3,997.0,0.0,393,15690,0.90,0.00,114.38,1.437,6,0.087,0.000,3535,2189,2397
$GC,15993,0.34,117.3,977.4,7.4,400,15998,0.35,2.38,0.00,0.000,4,0.172,0.077,3442,786,2394
$GC,16032,0.34,117.3,974.8,5.5,400,16036,0.00,2.33,0.00,0.000,6,0.000,0.063,3442,2204,2394
$GC,16353,0.27,117.3,957.6,5.4,406,16355,0.12,0.00,0.00,0.000,6,0.162,0.000,3409,2203,2393
$GC,16656,0.29,135.1,943.7,4.5,411,16679,0.00,2.42,16.73,1.379,4,0.000,0.080,3409,785,2325
$GC,16715,0.36,135.1,940.7,5.3,411,16721,0.00,2.33,0.00,0.000,6,0.000,0.063,3409,2208,2324
$GC,17026,0.42,139.3,925.7,4.9,417,17037,0.12,2.35,5.35,1.084,4,0.087,0.079,3462,3612,2307
$GC,17076,0.23,139.3,922.2,6.5,417,17081,0.25,2.30,0.00,0.000,6,0.169,0.064,3396,2198,2307
$GC,17388,0.36,164.0,908.5,4.3,422,17418,0.12,2.42,23.38,1.397,4,0.087,0.079,3449,792,2207
$GC,17463,0.36,164.0,904.2,5.8,423,17467,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2203,2207
$GC,17824,0.36,164.0,882.9,5.9,429,17828,0.00,2.38,0.00,0.000,4,0.000,0.080,3448,791,2205
$GC,17858,0.36,164.0,881.0,5.8,429,17862,0.00,2.30,0.00,0.000,6,0.000,0.063,3448,2204,2205
$GC,18184,0.36,164.0,861.0,6.2,435,18185,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2203,2204
$GC,18487,0.36,164.0,842.4,6.1,440,18491,0.00,2.38,0.00,0.000,4,0.000,0.079,3448,786,2205
$GC,18532,0.37,172.7,839.8,4.8,440,18549,0.00,2.30,9.15,1.248,6,0.000,0.063,3448,2202,2170
$GC,18853,0.37,172.7,820.4,6.1,446,18857,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,784,2170
$GC,18897,0.37,172.7,817.6,6.0,446,18901,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2215,2170
$GC,19212,0.37,172.7,799.0,5.9,452,19213,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2214,2170
$GC,19515,0.37,172.7,780.3,6.1,457,19519,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,791,2170
$GC,19565,0.37,172.7,777.1,6.1,457,19570,0.00,2.30,0.00,0.000,6,0.000,0.062,3448,2204,2169
$GC,19875,0.37,172.7,757.6,6.3,462,19877,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2203,2169
$GC,20178,0.37,172.7,736.8,6.9,467,20179,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2169
$GC,20481,0.37,172.7,716.3,6.7,472,20485,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,791,2169
$GC,20532,0.37,172.7,712.9,6.2,472,20536,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2206,2169
$GC,20842,0.37,172.7,694.8,5.8,477,20843,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2170
$GC,21145,0.37,172.7,677.9,5.6,482,21149,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,791,2169
$GC,21200,0.37,172.7,674.6,5.5,482,21207,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2212,2170
$GC,21511,0.37,172.7,657.3,5.6,488,21515,0.00,2.40,0.00,0.000,4,0.000,0.079,3448,783,2169
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$STATE,32808,end climb,SURFACE_DEPTH_REACHED
$STATE,32808,begin surface coast
$FINISH,6.3,1.025632
$STATE,32820,end surface coast,CONTROL_FINISHED_OK
$STATE,32820,begin surface
$SM_CCo,32844,9.85,0.800,0,0,1753,275.23
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$IRIDIUM_FIX,4946.36,-14457.73,070598,141447
$TT8_MAMPS,0.026845
$HUMID,2095
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$TCM_TEMP,15.70
$XPDR_PINGS,1012
$24V_AH,21.4,86.802
$10V_AH,10.5,59.283
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$DEVICE_SECS,28.350,225.200,364.150,9.850,0.000,31.061,43.316,160.317,253.000,0.000,0.000,16.374,1807.700,27695.748,585.007,2384.377,753.068,33.372,1766.923,0.000,2365.576,0.000,0.466
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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,47590,845
$CAP_FILE_SIZE,186059,0
$CFSIZE,260165632,224313344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110209,092321,5008.943,-14446.134,59,2.3,78,18.6