version: 66.03
glider: 120
mission: 9
dive: 568
start: 3 30 109 19 24 38
data:
$ID,120
$MISSION,9
$DIVE,568
$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,-29873.172
$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,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
$GPS1,191636,5010.145,-14440.720,27,1.7,27,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-74.6
$GPS2,192343,5010.172,-14440.687,12,1.7,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.130,0.121
$KALMAN_X,-69968.0,103.9,140.9,109904.7,-2781.6
$KALMAN_Y,133569.9,-2.1,345.1,-121520.3,-1094.4
$MHEAD_RNG_PITCHd_Wd,28.5,23818,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-17.75,0.000,2,0.000,0.000,134,2413,2186
$GC,52,-0.67,-117.3,3.1,-1.0,2,112,13.70,2.42,-39.72,0.000,4,0.278,0.082,3095,983,3355
$GC,354,-0.51,-117.3,31.6,-10.4,28,361,0.20,2.38,0.00,0.000,6,0.147,0.064,3152,2409,3357
$GC,683,-0.51,-117.3,53.9,-7.6,59,688,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2409,3357
$GC,1009,-0.51,-117.3,76.7,-7.0,90,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2409,3357
$GC,1330,-0.51,-117.3,97.6,-6.7,108,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2409,3357
$GC,1639,-0.51,-117.3,120.3,-7.1,123,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2409,3357
$GC,1949,-0.59,-117.3,140.1,-6.2,138,1952,0.00,2.38,0.00,0.000,4,0.000,0.083,3151,3814,3358
$GC,1996,-0.72,-117.3,142.9,-6.0,140,2001,0.20,2.28,0.00,0.000,6,0.071,0.054,3077,2392,3358
$GC,2311,-0.66,-117.3,165.3,-6.5,152,2316,0.00,2.35,0.00,0.000,4,0.000,0.069,3076,989,3358
$GC,2397,-0.58,-117.3,171.5,-7.4,154,2402,0.20,2.35,0.00,0.000,6,0.137,0.061,3131,2401,3358
$GC,2711,-0.63,-117.3,189.6,-6.1,164,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3358
$GC,3017,-0.69,-117.3,208.0,-6.2,174,3019,0.12,0.00,0.00,0.000,6,0.081,0.000,3082,2400,3358
$GC,3323,-0.69,-117.3,230.9,-7.5,184,3327,0.00,2.38,0.00,0.000,4,0.000,0.080,3082,3807,3358
$GC,3430,-0.69,-117.3,239.9,-8.0,187,3434,0.00,2.25,0.00,0.000,6,0.000,0.055,3082,2402,3357
$GC,3760,-0.69,-117.3,263.8,-7.1,198,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3358
$GC,4067,-0.69,-117.3,286.3,-7.3,208,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3358
$GC,4402,-0.69,-117.3,309.5,-6.8,217,4406,0.00,2.42,0.00,0.000,4,0.000,0.081,3082,3813,3358
$GC,4430,-0.69,-117.3,311.6,-7.4,217,4434,0.00,2.28,0.00,0.000,6,0.000,0.055,3081,2392,3358
$GC,4762,-0.69,-117.3,333.6,-6.6,223,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3358
$GC,5065,-0.69,-117.3,354.0,-6.7,228,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3358
$GC,5369,-0.69,-117.3,376.0,-7.3,233,5374,0.00,2.42,0.00,0.000,4,0.000,0.080,3082,3807,3358
$GC,5420,-0.69,-117.3,380.0,-7.5,233,5424,0.00,2.25,0.00,0.000,6,0.000,0.055,3082,2402,3358
$GC,5730,-0.69,-117.3,400.7,-6.6,238,5734,0.00,2.42,0.00,0.000,4,0.000,0.081,3082,3813,3357
$GC,5770,-0.69,-117.3,403.4,-6.4,238,5774,0.00,2.28,0.00,0.000,6,0.000,0.055,3081,2395,3357
$GC,6092,-0.69,-117.3,423.9,-6.4,244,6096,0.00,2.42,0.00,0.000,4,0.000,0.080,3082,3807,3357
$GC,6131,-0.69,-117.3,426.6,-7.1,244,6135,0.00,2.28,0.00,0.000,6,0.000,0.054,3082,2389,3357
$GC,6452,-0.69,-117.3,447.1,-6.4,250,6456,0.00,2.45,0.00,0.000,4,0.000,0.080,3082,3813,3357
$GC,6492,-0.69,-117.3,449.9,-6.9,250,6496,0.00,2.28,0.00,0.000,6,0.000,0.054,3082,2395,3357
$GC,6814,-0.69,-117.3,470.9,-6.5,256,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2395,3357
$GC,7117,-0.69,-117.3,491.4,-6.8,261,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2395,3357
$GC,7420,-0.69,-117.3,510.8,-6.4,266,7424,0.00,2.42,0.00,0.000,4,0.000,0.081,3082,3807,3357
$GC,7460,-0.69,-117.3,513.7,-7.4,266,7464,0.00,2.28,0.00,0.000,6,0.000,0.055,3082,2393,3357
$GC,7782,-0.69,-117.3,533.4,-6.1,272,7786,0.00,2.45,0.00,0.000,4,0.000,0.080,3082,3816,3357
$GC,7821,-0.69,-117.3,536.0,-7.0,272,7825,0.00,2.28,0.00,0.000,6,0.000,0.055,3082,2399,3357
$GC,8143,-0.69,-117.3,553.8,-5.4,278,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3357
$GC,8445,-0.69,-117.3,570.1,-5.4,283,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3357
$GC,8749,-0.69,-117.3,589.3,-6.4,288,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3357
$GC,9052,-0.69,-117.3,609.7,-6.8,293,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3357
$GC,9355,-0.69,-117.3,630.5,-6.8,298,9359,0.00,2.42,0.00,0.000,4,0.000,0.081,3081,3808,3356
$GC,9388,-0.69,-117.3,633.1,-8.1,298,9392,0.00,2.28,0.00,0.000,6,0.000,0.055,3082,2397,3356
$GC,9716,-0.69,-117.3,654.8,-6.5,304,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2397,3356
$GC,10019,-0.69,-117.3,673.5,-6.1,309,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2398,3355
$GC,10322,-0.69,-117.3,691.5,-5.9,314,10326,0.00,2.45,0.00,0.000,4,0.000,0.081,3082,3810,3356
$GC,10361,-0.69,-117.3,694.1,-6.7,314,10365,0.00,2.28,0.00,0.000,6,0.000,0.055,3082,2399,3355
$GC,10684,-0.87,-117.3,716.4,-7.2,320,10688,0.15,2.45,0.00,0.000,4,0.100,0.080,3021,3809,3355
$GC,10863,-0.70,-117.3,732.4,-9.8,322,10868,0.25,2.28,0.00,0.000,6,0.139,0.057,3091,2393,3355
$GC,11179,-0.70,-117.3,753.9,-6.7,328,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2394,3355
$GC,11482,-0.70,-117.3,773.9,-6.6,333,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2395,3355
$GC,11785,-0.70,-117.3,793.0,-6.3,338,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3355
$GC,12088,-0.70,-117.3,811.5,-6.1,343,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2394,3355
$GC,12391,-0.70,-117.3,831.6,-6.6,348,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3355
$GC,12695,-0.70,-117.3,851.4,-6.5,353,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3355
$GC,12997,-0.70,-117.3,870.4,-6.3,358,13001,0.00,2.47,0.00,0.000,4,0.000,0.084,3086,3809,3354
$GC,13030,-0.70,-117.3,872.6,-6.4,358,13034,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2404,3354
$GC,13357,-0.70,-117.3,892.6,-6.0,364,13361,0.00,2.42,0.00,0.000,4,0.000,0.074,3086,986,3354
$GC,13397,-0.70,-117.3,895.1,-6.0,364,13401,0.00,2.38,0.00,0.000,6,0.000,0.064,3086,2400,3354
$GC,13718,-0.70,-117.3,914.3,-6.0,370,13722,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3813,3354
$GC,13768,-0.75,-117.3,917.4,-6.1,370,13772,0.00,2.30,0.00,0.000,6,0.000,0.058,3086,2390,3354
$GC,14079,-0.91,-117.3,936.9,-6.4,375,14084,0.15,2.47,0.00,0.000,4,0.088,0.081,3024,3818,3353
$GC,14281,-0.77,-117.3,951.8,-6.7,378,14286,0.15,2.30,0.00,0.000,6,0.113,0.058,3065,2397,3354
$GC,14643,-0.77,-117.3,973.0,-5.9,384,14644,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2398,3354
$STATE,14942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14942,begin apogee
$GC,14950,-0.22,0.0,990.5,5.8,389,15064,0.60,0.00,108.35,1.489,6,0.138,0.000,3247,2201,2875
$STATE,15065,end apogee,CONTROL_FINISHED_OK
$STATE,15065,begin climb
$GC,15069,0.67,117.3,994.2,0.0,391,15193,0.85,2.72,114.10,1.434,4,0.087,0.077,3534,790,2397
$GC,15221,0.31,117.3,992.9,6.2,393,15227,0.45,2.55,0.00,0.000,6,0.175,0.059,3424,2202,2395
$GC,15560,0.31,117.3,975.1,5.3,399,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2201,2393
$GC,15863,0.31,117.3,958.2,5.5,404,15867,0.00,2.40,0.00,0.000,4,0.000,0.077,3425,777,2393
$GC,15899,0.31,117.3,956.5,5.3,404,15903,0.00,2.33,0.00,0.000,6,0.000,0.061,3425,2202,2393
$GC,16226,0.31,117.3,938.6,5.4,410,16227,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2392
$GC,16528,0.31,117.3,923.2,5.1,415,16532,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,788,2392
$GC,16607,0.31,117.3,919.2,5.8,416,16611,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2202,2392
$GC,16958,0.27,129.2,902.7,4.7,422,16971,0.00,0.00,11.25,1.322,6,0.000,0.000,3436,2202,2349
$GC,17260,0.29,142.0,888.6,4.6,427,17275,0.00,0.00,12.95,1.335,6,0.000,0.000,3436,2201,2297
$GC,17562,0.30,146.8,874.0,4.9,432,17573,0.00,2.35,6.38,1.151,4,0.000,0.081,3436,3608,2276
$GC,17609,0.23,146.8,871.5,5.5,432,17614,0.17,2.28,0.00,0.000,6,0.174,0.063,3391,2201,2276
$GC,17925,0.39,179.7,858.6,4.1,438,17961,0.15,2.45,30.52,1.387,4,0.081,0.078,3458,782,2142
$GC,18002,0.39,179.7,854.0,7.0,439,18006,0.00,2.35,0.00,0.000,6,0.000,0.061,3458,2211,2140
$GC,18357,0.39,179.7,829.4,7.0,445,18361,0.00,2.42,0.00,0.000,4,0.000,0.079,3462,787,2139
$GC,18412,0.39,179.7,825.4,6.8,445,18419,0.00,2.33,0.00,0.000,6,0.000,0.062,3462,2202,2138
$GC,18724,0.33,179.7,802.9,7.2,451,18728,0.12,2.40,0.00,0.000,4,0.140,0.076,3436,793,2138
$GC,18788,0.39,179.7,798.7,5.7,452,18792,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2138
$GC,19154,0.39,179.7,773.2,7.1,458,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2137
$GC,19457,0.39,179.7,751.3,7.2,463,19461,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,782,2137
$GC,19543,0.44,179.7,745.1,7.1,464,19547,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2209,2138
$GC,19887,0.44,179.7,720.6,7.1,470,19891,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,792,2137
$GC,19960,0.50,179.7,715.3,6.5,471,19964,0.12,2.33,0.00,0.000,6,0.091,0.061,3489,2201,2137
$GC,20316,0.38,179.7,686.4,8.2,477,20320,0.15,2.42,0.00,0.000,4,0.147,0.077,3449,790,2137
$GC,20405,0.38,179.7,680.2,6.3,478,20409,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2202,2137
$GC,20750,0.38,179.7,660.7,5.6,484,20754,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,790,2137
$GC,20800,0.38,179.7,658.0,6.0,484,20804,0.00,2.33,0.00,0.000,6,0.000,0.060,3450,2202,2137
$GC,21110,0.39,183.2,642.7,4.9,489,21115,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,788,2137
$GC,21167,0.40,198.0,639.8,4.6,489,21188,0.00,2.35,16.52,1.236,6,0.000,0.061,3449,2222,2068
$GC,21539,0.40,198.0,620.3,5.4,496,21544,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,787,2065
$GC,21613,0.46,198.0,616.1,5.7,497,21617,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2202,2066
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$GC,25013,0.57,220.2,407.1,4.9,552,25024,0.12,2.35,5.30,0.886,6,0.088,0.060,3517,2213,1978
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$GC,25662,0.49,220.2,361.6,6.3,563,25666,0.00,2.45,0.00,0.000,4,0.000,0.076,3463,786,1977
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$GC,26565,0.58,220.2,298.4,5.8,577,26569,0.12,2.33,0.00,0.000,6,0.086,0.059,3515,2199,1977
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$STATE,31318,end climb,SURFACE_DEPTH_REACHED
$STATE,31318,begin surface coast
$FINISH,1.7,1.012000
$STATE,31479,end surface coast,CONTROL_FINISHED_OK
$STATE,31479,begin surface
$SM_CCo,31502,24.38,0.842,0,0,1753,275.23
$SM_GC,3.27,0.00,0.00,24.38,0.000,0.000,0.842,134,2402,1753,-9.95,0.06,275.23
$IRIDIUM_FIX,4949.70,-14444.52,240698,101028
$TT8_MAMPS,0.026845
$HUMID,2120
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,15.50
$XPDR_PINGS,1102
$24V_AH,21.0,111.192
$10V_AH,10.4,76.657
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$DEVICE_SECS,28.700,243.225,348.675,24.375,0.000,30.634,27.776,203.969,275.500,0.000,0.000,12.980,1891.518,25816.732,548.437,2801.938,883.106,33.380,1914.829,0.000,2768.062,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,644.417,620.995,1433.212,868.641,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47452,843
$CAP_FILE_SIZE,198556,0
$CFSIZE,260165632,214548480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,041130,5011.805,-14437.239,36,1.8,41,18.6