version: 66.03
glider: 120
mission: 9
dive: 463
start: 2 19 109 1 25 11
data:
$ID,120
$MISSION,9
$DIVE,463
$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,-27590.107
$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,19
$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
$GPS1,011807,5009.864,-14455.535,36,1.1,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-73.3
$GPS2,012414,5009.863,-14455.504,10,1.5,10,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,0.115
$KALMAN_X,-9773.8,150.6,-110.6,32305.3,-67.7
$KALMAN_Y,56280.4,-196.7,229.1,-44492.6,1218.9
$MHEAD_RNG_PITCHd_Wd,291.6,28347,-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,-10.85,0.000,2,0.000,0.000,135,2399,1873
$GC,41,-0.67,-117.3,3.8,-0.0,1,119,13.93,2.50,-57.25,0.000,4,0.280,0.094,3097,3800,3356
$GC,142,-0.53,-117.3,9.0,-9.5,10,149,0.17,2.33,0.00,0.000,6,0.155,0.054,3144,2400,3357
$GC,470,-0.53,-117.3,33.8,-7.0,41,471,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2400,3358
$GC,788,-0.53,-117.3,56.7,-7.5,71,789,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2400,3358
$GC,1114,-0.53,-117.3,82.2,-7.9,101,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2400,3358
$GC,1425,-0.53,-117.3,105.9,-7.5,116,1429,0.00,2.45,0.00,0.000,4,0.000,0.068,3144,992,3358
$GC,1458,-0.53,-117.3,108.8,-7.5,117,1464,0.00,2.30,0.00,0.000,6,0.000,0.062,3141,2404,3358
$GC,1775,-0.72,-117.3,130.4,-6.9,133,1780,0.15,2.47,0.00,0.000,4,0.083,0.066,3079,981,3358
$GC,1848,-0.72,-117.3,136.0,-7.8,136,1852,0.00,2.33,0.00,0.000,6,0.000,0.061,3079,2409,3358
$GC,2163,-0.83,-117.3,160.0,-7.7,149,2167,0.00,2.47,0.00,0.000,4,0.000,0.067,3079,981,3358
$GC,2226,-0.83,-117.3,165.0,-8.0,151,2230,0.00,2.33,0.00,0.000,6,0.000,0.061,3079,2400,3358
$GC,2562,-0.93,-117.3,191.5,-8.1,162,2567,0.15,2.47,0.00,0.000,4,0.085,0.067,3015,990,3358
$GC,2776,-0.67,-117.3,215.7,-12.0,168,2781,0.30,2.33,0.00,0.000,6,0.161,0.063,3097,2407,3358
$GC,3095,-0.67,-117.3,240.2,-7.6,179,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3358
$GC,3400,-0.67,-117.3,262.4,-7.1,189,3404,0.00,2.35,0.00,0.000,4,0.000,0.081,3097,3816,3359
$GC,3434,-0.67,-117.3,264.8,-7.3,190,3438,0.00,2.33,0.00,0.000,6,0.000,0.054,3097,2386,3359
$GC,3776,-0.67,-117.3,290.2,-7.6,201,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2386,3359
$GC,4110,-0.67,-117.3,314.6,-7.1,209,4114,0.00,2.53,0.00,0.000,4,0.000,0.080,3097,3804,3359
$GC,4143,-0.67,-117.3,317.1,-7.0,209,4147,0.00,2.33,0.00,0.000,6,0.000,0.054,3097,2395,3359
$GC,4470,-0.67,-117.3,338.7,-6.6,215,4474,0.00,2.40,0.00,0.000,4,0.000,0.070,3097,991,3359
$GC,4505,-0.67,-117.3,341.2,-7.4,215,4509,0.00,2.33,0.00,0.000,6,0.000,0.062,3097,2411,3358
$GC,4832,-0.67,-117.3,362.9,-6.6,221,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3358
$GC,5134,-0.67,-117.3,383.4,-6.7,226,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3358
$GC,5437,-0.67,-117.3,403.8,-6.7,231,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3358
$GC,5741,-0.67,-117.3,423.2,-6.4,236,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3358
$GC,6044,-0.67,-117.3,441.2,-5.9,241,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3358
$GC,6347,-0.67,-117.3,459.8,-6.1,246,6351,0.00,2.38,0.00,0.000,4,0.000,0.083,3097,3812,3357
$GC,6380,-0.67,-117.3,462.0,-6.4,246,6384,0.00,2.35,0.00,0.000,6,0.000,0.054,3097,2395,3357
$GC,6706,-0.67,-117.3,481.2,-5.9,252,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3357
$GC,7010,-0.67,-117.3,499.6,-6.1,257,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3357
$GC,7313,-0.67,-117.3,519.1,-6.5,262,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3357
$GC,7615,-0.67,-117.3,538.9,-6.5,267,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,7918,-0.67,-117.3,558.8,-6.5,272,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,8222,-0.67,-117.3,578.7,-6.5,277,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,8525,-0.67,-117.3,598.0,-6.3,282,8529,0.00,2.50,0.00,0.000,4,0.000,0.082,3097,3805,3357
$GC,8565,-0.71,-117.3,600.5,-6.3,282,8569,0.00,2.35,0.00,0.000,6,0.000,0.055,3097,2398,3356
$GC,8886,-0.71,-117.3,619.1,-5.7,288,8890,0.00,2.42,0.00,0.000,4,0.000,0.071,3097,994,3356
$GC,8930,-0.71,-117.3,621.8,-6.4,288,8934,0.00,2.33,0.00,0.000,6,0.000,0.063,3097,2406,3356
$GC,9245,-0.71,-117.3,639.6,-5.7,294,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3356
$GC,9548,-0.71,-117.3,655.9,-5.4,299,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3356
$GC,9851,-0.71,-117.3,673.6,-5.9,304,9856,0.00,2.50,0.00,0.000,4,0.000,0.071,3097,986,3356
$GC,9885,-0.71,-117.3,675.8,-6.8,304,9889,0.00,2.38,0.00,0.000,6,0.000,0.064,3097,2407,3355
$GC,10218,-0.71,-117.3,696.0,-6.1,310,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3355
$GC,10520,-0.71,-117.3,713.9,-5.9,315,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3356
$GC,10824,-0.75,-117.3,731.1,-5.7,320,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3356
$GC,11127,-0.75,-117.3,748.1,-5.5,325,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3356
$GC,11430,-0.80,-117.3,765.0,-5.6,330,11435,0.12,2.50,0.00,0.000,4,0.088,0.071,3050,982,3355
$GC,11458,-0.76,-117.3,767.0,-7.7,330,11462,0.00,2.38,0.00,0.000,6,0.000,0.064,3050,2403,3355
$GC,11791,-0.69,-117.3,789.3,-6.7,336,11796,0.15,2.40,0.00,0.000,4,0.146,0.083,3098,3810,3355
$GC,11830,-0.78,-117.3,791.6,-5.2,336,11835,0.00,2.28,0.00,0.000,6,0.000,0.058,3098,2389,3355
$GC,12152,-0.89,-117.3,808.7,-5.3,342,12157,0.17,2.35,0.00,0.000,4,0.090,0.073,3036,983,3355
$GC,12215,-0.89,-117.3,813.3,-7.2,343,12219,0.00,2.35,0.00,0.000,6,0.000,0.064,3036,2403,3355
$GC,12587,-0.96,-117.3,839.8,-7.2,349,12591,0.00,2.38,0.00,0.000,4,0.000,0.074,3036,992,3354
$GC,12666,-0.88,-117.3,845.7,-7.2,350,12670,0.00,2.33,0.00,0.000,6,0.000,0.064,3036,2402,3354
$GC,13015,-0.78,-117.3,871.1,-7.3,356,13020,0.10,2.40,0.00,0.000,4,0.147,0.084,3059,3820,3355
$GC,13094,-0.73,-117.3,876.6,-7.4,357,13098,0.00,2.28,0.00,0.000,6,0.000,0.058,3059,2402,3355
$GC,13443,-0.67,-117.3,899.0,-6.4,363,13445,0.15,0.00,0.00,0.000,6,0.156,0.000,3099,2399,3355
$GC,13748,-0.76,-117.3,913.7,-4.8,368,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3354
$GC,14049,-0.98,-117.3,932.2,-6.2,373,14054,0.25,2.42,0.00,0.000,4,0.083,0.083,3003,3817,3354
$GC,14262,-0.77,-117.3,950.1,-8.4,376,14267,0.22,2.30,0.00,0.000,6,0.161,0.059,3062,2388,3354
$GC,14612,-0.77,-117.3,972.3,-6.3,382,14613,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2388,3354
$STATE,14911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14912,begin apogee
$GC,14919,-0.22,0.0,991.8,6.5,387,15034,0.60,0.00,109.32,1.486,6,0.142,0.000,3245,2189,2875
$STATE,15035,end apogee,CONTROL_FINISHED_OK
$STATE,15035,begin climb
$GC,15038,0.67,117.3,996.6,0.0,389,15162,0.85,2.72,113.53,1.434,4,0.085,0.077,3534,800,2397
$GC,15201,0.31,117.3,995.6,5.1,391,15206,0.45,2.47,0.00,0.000,6,0.179,0.061,3421,2200,2395
$GC,15528,0.33,135.0,980.6,4.5,397,15547,0.00,0.00,17.00,1.364,6,0.000,0.000,3421,2199,2325
$GC,15832,0.34,139.7,966.0,4.9,402,15840,0.00,0.00,5.80,1.107,6,0.000,0.000,3421,2199,2305
$GC,16135,0.35,147.6,951.6,4.8,407,16146,0.00,0.00,9.10,1.275,6,0.000,0.000,3421,2199,2274
$GC,16438,0.36,156.7,937.2,4.7,412,16449,0.00,0.00,9.68,1.287,6,0.000,0.000,3421,2200,2237
$GC,16740,0.36,156.7,921.4,5.2,417,16745,0.00,2.42,0.00,0.000,4,0.000,0.080,3422,784,2236
$GC,16777,0.41,156.7,919.7,5.6,417,16781,0.00,2.33,0.00,0.000,6,0.000,0.061,3422,2211,2236
$GC,17104,0.41,156.7,901.5,5.7,423,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2211,2236
$GC,17406,0.41,156.7,883.6,5.9,428,17408,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2211,2236
$GC,17709,0.41,156.7,865.5,5.9,433,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2210,2235
$GC,18014,0.41,156.7,847.2,6.0,438,18015,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2210,2235
$GC,18316,0.41,156.7,829.3,5.8,443,18317,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2210,2235
$GC,18619,0.46,156.7,811.9,5.7,448,18624,0.12,2.50,0.00,0.000,4,0.087,0.078,3476,785,2235
$GC,18658,0.35,156.7,809.2,7.9,448,18663,0.17,2.33,0.00,0.000,6,0.154,0.063,3430,2211,2235
$GC,18979,0.35,156.7,792.3,5.2,454,18981,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2211,2235
$GC,19282,0.37,177.0,778.5,4.4,459,19307,0.00,2.53,19.12,1.321,4,0.000,0.079,3436,800,2154
$GC,19341,0.42,177.0,775.8,5.3,459,19348,0.00,2.30,0.00,0.000,6,0.000,0.062,3435,2203,2153
$GC,19653,0.42,183.8,761.1,4.8,465,19662,0.00,0.00,7.90,1.170,6,0.000,0.000,3436,2202,2126
$GC,19955,0.47,183.8,744.4,5.6,470,19959,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3611,2125
$GC,19989,0.47,183.8,742.1,5.8,470,19994,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2196,2125
$GC,20318,0.51,183.8,722.5,6.0,476,20320,0.15,0.00,0.00,0.000,6,0.083,0.000,3502,2196,2124
$GC,20620,0.36,183.8,697.3,8.4,481,20622,0.22,0.00,0.00,0.000,6,0.148,0.000,3437,2196,2124
$GC,20922,0.36,183.8,679.2,5.8,486,20926,0.00,2.42,0.00,0.000,4,0.000,0.081,3437,3613,2124
$GC,20967,0.36,183.8,676.1,6.3,486,20971,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2201,2124
$GC,21283,0.41,183.8,658.1,5.7,492,21287,0.00,2.38,0.00,0.000,4,0.000,0.080,3437,785,2124
$GC,21322,0.48,183.8,656.0,5.8,492,21327,0.12,2.30,0.00,0.000,6,0.089,0.062,3489,2197,2125
$GC,21643,0.39,183.8,635.2,6.5,498,21645,0.17,0.00,0.00,0.000,6,0.143,0.000,3440,2197,2124
$GC,21947,0.43,183.8,619.4,5.2,503,21951,0.00,2.38,0.00,0.000,4,0.000,0.077,3449,789,2124
$GC,21986,0.44,191.8,617.3,4.8,503,22000,0.00,2.33,8.55,1.130,6,0.000,0.062,3448,2216,2093
$GC,22316,0.44,191.8,598.2,5.9,509,22318,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2215,2092
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$STATE,31939,end climb,SURFACE_DEPTH_REACHED
$STATE,31939,begin surface coast
$FINISH,2.8,1.013221
$STATE,32038,end surface coast,CONTROL_FINISHED_OK
$STATE,32039,begin surface
$SM_CCo,32119,0.00,0.000,0,0,1707,286.76
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$IRIDIUM_FIX,4949.70,-14453.88,150598,161609
$TT8_MAMPS,0.026845
$HUMID,2125
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$TCM_TEMP,15.70
$XPDR_PINGS,1007
$24V_AH,21.3,90.788
$10V_AH,10.5,62.178
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$DEVICE_SECS,28.950,214.175,387.825,0.000,0.000,24.717,34.253,168.613,251.750,0.000,0.000,10.833,1799.566,27028.709,546.814,2350.700,752.384,33.370,1726.746,0.000,2334.287,0.000,0.465
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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,47625,831
$CAP_FILE_SIZE,185912,0
$CFSIZE,260165632,222666752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190209,102136,5012.665,-14500.624,28,1.4,28,18.5