version: 66.03
glider: 120
mission: 9
dive: 529
start: 3 16 109 3 15 38
data:
$ID,120
$MISSION,9
$DIVE,529
$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,-29112.355
$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,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
$GPS1,030725,5019.209,-14428.878,61,1.2,61,18.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-69.6
$GPS2,031443,5019.185,-14428.916,11,1.8,16,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.026,0.155
$KALMAN_X,-44338.3,365.1,357.1,97778.9,-2096.1
$KALMAN_Y,113435.8,541.3,55.3,-84955.3,-2762.1
$MHEAD_RNG_PITCHd_Wd,350.8,3548,-14.2,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.73,-88.4,0.0,0.0,0,60,0.00,0.00,-30.52,0.000,2,0.000,0.000,134,2412,2333
$GC,64,-0.76,-117.3,3.6,-3.2,3,118,14.05,2.42,-29.33,0.000,4,0.285,0.082,3064,992,3357
$GC,212,-0.58,-117.3,26.2,-20.0,16,217,0.25,2.35,0.00,0.000,6,0.150,0.064,3130,2409,3358
$GC,543,-0.58,-117.3,51.5,-5.0,46,547,0.00,2.38,0.00,0.000,4,0.000,0.081,3126,3809,3358
$GC,572,-0.63,-117.3,53.4,-5.9,48,576,0.00,2.28,0.00,0.000,6,0.000,0.054,3125,2397,3358
$GC,901,-0.68,-117.3,76.4,-7.7,78,905,0.00,2.35,0.00,0.000,4,0.000,0.070,3126,995,3358
$GC,948,-0.72,-117.3,80.8,-9.2,82,953,0.12,2.30,0.00,0.000,6,0.084,0.062,3075,2402,3358
$GC,1276,-0.67,-117.3,112.9,-10.3,98,1280,0.00,2.35,0.00,0.000,4,0.000,0.080,3074,3809,3358
$GC,1316,-0.56,-117.3,116.7,-9.6,99,1323,0.22,2.25,0.00,0.000,6,0.145,0.054,3136,2398,3358
$GC,1634,-0.68,-117.3,139.2,-7.0,115,1638,0.12,2.38,0.00,0.000,4,0.083,0.069,3091,987,3358
$GC,1661,-0.75,-117.3,141.4,-8.1,116,1666,0.00,2.33,0.00,0.000,6,0.000,0.061,3091,2401,3358
$GC,1987,-0.75,-117.3,167.2,-7.5,128,1991,0.00,2.38,0.00,0.000,4,0.000,0.080,3086,3818,3358
$GC,2054,-0.75,-117.3,172.6,-8.3,130,2057,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2397,3358
$GC,2390,-0.79,-117.3,196.4,-7.1,141,2394,0.00,2.35,0.00,0.000,4,0.000,0.068,3086,986,3358
$GC,2625,-0.79,-117.3,216.6,-9.0,148,2629,0.00,2.35,0.00,0.000,6,0.000,0.063,3086,2406,3358
$GC,2955,-0.79,-117.3,245.0,-8.6,159,2959,0.00,2.38,0.00,0.000,4,0.000,0.081,3086,3813,3358
$GC,3173,-0.85,-117.3,263.6,-8.2,165,3178,0.12,2.28,0.00,0.000,6,0.084,0.054,3031,2398,3358
$GC,3487,-0.76,-117.3,292.6,-9.0,175,3489,0.12,0.00,0.00,0.000,6,0.105,0.000,3066,2397,3358
$GC,3822,-0.76,-117.3,318.0,-7.4,182,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2397,3359
$GC,4124,-0.76,-117.3,340.1,-7.3,187,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2397,3358
$GC,4427,-0.76,-117.3,364.5,-8.1,192,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2397,3358
$GC,4730,-0.76,-117.3,389.7,-8.3,197,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2397,3358
$GC,5034,-0.76,-117.3,413.9,-7.9,202,5038,0.00,2.45,0.00,0.000,4,0.000,0.083,3065,3809,3358
$GC,5090,-0.76,-117.3,418.3,-8.0,202,5096,0.00,2.28,0.00,0.000,6,0.000,0.056,3066,2398,3358
$GC,5401,-0.76,-117.3,440.9,-7.2,208,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3359
$GC,5703,-0.76,-117.3,462.1,-7.0,213,5708,0.00,2.40,0.00,0.000,4,0.000,0.071,3066,985,3358
$GC,5737,-0.76,-117.3,464.6,-6.9,213,5741,0.00,2.35,0.00,0.000,6,0.000,0.064,3066,2398,3358
$GC,6064,-0.76,-117.3,487.5,-7.0,219,6068,0.00,2.40,0.00,0.000,4,0.000,0.083,3065,3810,3358
$GC,6108,-0.76,-117.3,490.8,-7.6,219,6112,0.00,2.28,0.00,0.000,6,0.000,0.055,3065,2398,3358
$GC,6424,-0.76,-117.3,513.2,-7.1,225,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2399,3358
$GC,6727,-0.76,-117.3,535.4,-7.4,230,6731,0.00,2.45,0.00,0.000,4,0.000,0.082,3059,3809,3357
$GC,6778,-0.76,-117.3,539.4,-8.0,230,6782,0.00,2.28,0.00,0.000,6,0.000,0.055,3059,2401,3357
$GC,7088,-0.76,-117.3,564.3,-8.2,235,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3357
$GC,7391,-0.76,-117.3,591.2,-9.0,240,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3357
$GC,7694,-0.76,-117.3,617.2,-8.5,245,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2401,3357
$GC,7998,-0.76,-117.3,640.2,-7.5,250,8002,0.00,2.45,0.00,0.000,4,0.000,0.084,3059,3814,3357
$GC,8042,-0.76,-117.3,643.7,-8.0,250,8046,0.00,2.30,0.00,0.000,6,0.000,0.056,3059,2395,3357
$GC,8358,-0.76,-117.3,664.2,-6.5,256,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2395,3357
$GC,8661,-0.76,-117.3,683.1,-6.2,261,8665,0.00,2.45,0.00,0.000,4,0.000,0.084,3059,3817,3357
$GC,8700,-0.76,-117.3,685.8,-7.8,261,8704,0.00,2.30,0.00,0.000,6,0.000,0.056,3059,2392,3357
$GC,9022,-0.76,-117.3,706.0,-6.3,267,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2393,3357
$GC,9325,-0.76,-117.3,724.4,-6.0,272,9329,0.00,2.45,0.00,0.000,4,0.000,0.084,3059,3808,3357
$GC,9375,-0.76,-117.3,727.6,-6.7,272,9379,0.00,2.28,0.00,0.000,6,0.000,0.057,3059,2392,3356
$GC,9686,-0.76,-117.3,746.3,-6.1,277,9690,0.00,2.47,0.00,0.000,4,0.000,0.084,3059,3815,3356
$GC,9719,-0.76,-117.3,748.6,-6.6,277,9723,0.00,2.28,0.00,0.000,6,0.000,0.057,3059,2399,3356
$GC,10046,-0.76,-117.3,769.1,-6.3,283,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2400,3356
$GC,10349,-0.76,-117.3,788.8,-6.5,288,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2400,3356
$GC,10652,-0.76,-117.3,810.0,-7.1,293,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2400,3356
$GC,10955,-0.76,-117.3,832.2,-7.4,298,10959,0.00,2.45,0.00,0.000,4,0.000,0.084,3059,3810,3356
$GC,11011,-0.81,-117.3,836.6,-7.8,298,11017,0.00,2.28,0.00,0.000,6,0.000,0.058,3059,2395,3355
$GC,11321,-0.81,-117.3,858.8,-7.2,304,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2395,3355
$GC,11625,-0.81,-117.3,881.1,-7.3,309,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2395,3355
$GC,11927,-0.81,-117.3,902.8,-7.2,314,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2395,3355
$GC,12230,-0.81,-117.3,921.9,-6.2,319,12234,0.00,2.45,0.00,0.000,4,0.000,0.084,3059,3807,3355
$GC,12275,-0.86,-117.3,924.8,-6.6,319,12280,0.00,2.28,0.00,0.000,6,0.000,0.058,3059,2398,3355
$GC,12592,-0.86,-117.3,943.3,-5.9,325,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2397,3355
$GC,12894,-0.86,-117.3,960.6,-5.6,330,12898,0.00,2.47,0.00,0.000,4,0.000,0.085,3059,3814,3355
$GC,12940,-0.92,-117.3,963.2,-5.3,330,12944,0.12,2.30,0.00,0.000,6,0.084,0.058,3008,2392,3354
$GC,13255,-0.86,-117.3,985.2,-7.0,336,13260,0.12,2.38,0.00,0.000,4,0.108,0.074,3048,992,3354
$GC,13283,-0.86,-117.3,987.3,-7.1,336,13287,0.00,2.38,0.00,0.000,6,0.000,0.066,3045,2412,3354
$STATE,13370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13370,begin apogee
$GC,13378,-0.22,0.0,993.0,6.4,338,13493,0.68,0.00,109.03,1.486,6,0.148,0.000,3243,2199,2875
$STATE,13494,end apogee,CONTROL_FINISHED_OK
$STATE,13494,begin climb
$GC,13497,0.76,117.3,996.9,0.0,340,13621,0.95,2.72,114.25,1.429,4,0.090,0.077,3559,791,2397
$GC,13801,0.45,117.3,983.2,8.2,344,13806,0.35,2.35,0.00,0.000,6,0.179,0.061,3466,2205,2394
$GC,14123,0.38,117.3,964.5,5.7,350,14128,0.00,2.40,0.00,0.000,4,0.000,0.079,3466,792,2393
$GC,14180,0.33,117.3,961.2,5.2,350,14187,0.15,2.30,0.00,0.000,6,0.162,0.062,3426,2200,2392
$GC,14491,0.41,131.5,947.2,4.5,356,14510,0.00,2.40,13.48,1.351,4,0.000,0.080,3426,3610,2339
$GC,14540,0.41,131.5,944.6,5.4,356,14545,0.00,2.28,0.00,0.000,6,0.000,0.061,3435,2201,2339
$GC,14857,0.46,131.5,928.8,5.0,362,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2338
$GC,15160,0.51,131.9,913.5,5.0,367,15165,0.12,2.38,0.00,0.000,4,0.084,0.081,3492,3611,2337
$GC,15194,0.31,131.9,911.0,7.1,367,15199,0.28,2.30,0.00,0.000,6,0.173,0.064,3419,2192,2337
$GC,15522,0.43,147.1,896.3,4.4,373,15539,0.12,0.00,15.32,1.360,6,0.087,0.000,3472,2192,2276
$GC,15824,0.43,147.1,877.7,6.3,378,15828,0.00,2.38,0.00,0.000,4,0.000,0.080,3476,780,2275
$GC,15965,0.43,147.1,868.7,6.1,380,15969,0.00,2.33,0.00,0.000,6,0.000,0.061,3476,2200,2275
$GC,16320,0.39,147.1,845.4,6.7,386,16325,0.12,2.40,0.00,0.000,4,0.156,0.077,3449,789,2274
$GC,16398,0.44,147.1,840.6,5.2,387,16402,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2208,2274
$GC,16748,0.44,147.1,820.5,5.8,393,16750,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2274
$GC,17051,0.44,147.1,802.4,6.0,398,17055,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,783,2274
$GC,17130,0.50,147.1,797.7,5.5,399,17133,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2211,2274
$GC,17486,0.55,147.1,776.8,5.9,405,17487,0.12,0.00,0.00,0.000,6,0.090,0.000,3504,2210,2274
$GC,17788,0.42,147.1,754.2,7.5,410,17793,0.17,2.42,0.00,0.000,4,0.153,0.077,3462,788,2273
$GC,17911,0.42,147.1,746.1,5.8,411,17918,0.00,2.33,0.00,0.000,6,0.000,0.063,3462,2207,2273
$GC,18222,0.42,147.1,726.6,6.3,417,18226,0.00,2.40,0.00,0.000,4,0.000,0.079,3462,786,2273
$GC,18261,0.42,147.1,724.0,6.1,417,18266,0.00,2.33,0.00,0.000,6,0.000,0.061,3462,2202,2273
$GC,18588,0.42,147.1,704.5,5.9,423,18592,0.00,2.40,0.00,0.000,4,0.000,0.079,3463,791,2274
$GC,18656,0.42,147.1,700.8,5.0,424,18660,0.00,2.33,0.00,0.000,6,0.000,0.061,3462,2204,2273
$GC,19017,0.43,154.0,683.2,4.7,430,19031,0.00,2.42,7.35,1.118,4,0.000,0.081,3462,3620,2248
$GC,19090,0.38,156.1,679.2,4.9,431,19099,0.00,2.33,4.00,0.839,6,0.000,0.064,3462,2189,2239
$GC,19456,0.38,156.1,659.9,5.4,437,19460,0.00,2.38,0.00,0.000,4,0.000,0.079,3462,780,2238
$GC,19552,0.43,156.1,654.6,5.4,438,19556,0.00,2.35,0.00,0.000,6,0.000,0.061,3462,2210,2238
$GC,19884,0.43,156.1,635.0,5.9,444,19888,0.00,2.42,0.00,0.000,4,0.000,0.078,3462,786,2238
$GC,19935,0.47,156.1,632.0,5.7,444,19939,0.00,2.33,0.00,0.000,6,0.000,0.061,3462,2200,2238
$GC,20245,0.47,156.1,613.5,6.0,449,20246,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2200,2238
$GC,20548,0.47,156.1,595.7,5.9,454,20549,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2238
$GC,20851,0.47,156.1,579.3,5.4,459,20852,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2199,2238
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$STATE,30716,end climb,SURFACE_DEPTH_REACHED
$STATE,30716,begin surface coast
$FINISH,6.5,1.025702
$STATE,30728,end surface coast,CONTROL_FINISHED_OK
$STATE,30728,begin surface
$SM_CCo,30753,37.70,0.841,0,0,1753,275.23
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$IRIDIUM_FIX,4959.75,-14429.30,090698,171717
$TT8_MAMPS,0.026845
$HUMID,2101
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$TCM_TEMP,14.00
$XPDR_PINGS,1032
$24V_AH,21.1,103.538
$10V_AH,10.4,71.270
$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
$DEVICE_SECS,29.825,237.100,333.675,37.700,0.000,28.015,29.728,219.320,258.000,0.000,0.000,16.242,1774.579,25450.332,553.991,2597.206,844.085,33.368,1834.042,0.000,2552.750,0.000,0.465
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$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,44385,777
$CAP_FILE_SIZE,191661,0
$CFSIZE,260165632,217583616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160309,115030,5021.979,-14428.649,58,1.3,58,18.7