version: 66.03
glider: 120
mission: 9
dive: 628
start: 4 22 109 13 17 48
data:
$ID,120
$MISSION,9
$DIVE,628
$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,-31090.629
$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
$GPS1,131036,5008.346,-14452.360,35,1.1,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-76.6
$GPS2,131650,5008.343,-14452.365,15,1.2,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.098,0.149
$KALMAN_X,-101724.0,-402.7,63.4,128376.3,-1056.7
$KALMAN_Y,139233.7,42.6,-33.6,-130249.7,-918.2
$MHEAD_RNG_PITCHd_Wd,308.2,32948,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.48,0.000,2,0.000,0.000,131,2411,2523
$GC,63,-0.67,-117.3,3.5,-6.6,3,104,13.43,0.00,-20.70,0.000,6,0.272,0.000,3094,2411,3357
$GC,424,-0.50,-117.3,42.3,-10.2,37,429,0.17,2.47,0.00,0.000,4,0.160,0.067,3150,991,3359
$GC,465,-0.50,-117.3,45.7,-7.8,40,469,0.00,2.35,0.00,0.000,6,0.000,0.061,3150,2409,3359
$GC,797,-0.50,-117.3,67.9,-6.6,71,801,0.00,2.40,0.00,0.000,4,0.000,0.081,3151,3809,3359
$GC,832,-0.56,-117.3,70.6,-7.2,73,838,0.00,2.30,0.00,0.000,6,0.000,0.052,3150,2392,3359
$GC,1164,-0.56,-117.3,93.3,-6.9,96,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2392,3359
$GC,1473,-0.60,-117.3,112.9,-6.1,111,1478,0.00,2.42,0.00,0.000,4,0.000,0.067,3150,994,3359
$GC,1493,-0.66,-117.3,114.3,-6.4,112,1497,0.15,2.35,0.00,0.000,6,0.074,0.059,3094,2400,3359
$GC,1821,-0.66,-117.3,140.3,-8.4,128,1825,0.00,2.42,0.00,0.000,4,0.000,0.078,3094,3814,3359
$GC,1849,-0.66,-117.3,142.9,-8.7,129,1853,0.00,2.33,0.00,0.000,6,0.000,0.052,3094,2394,3359
$GC,2174,-0.66,-117.3,167.3,-7.4,141,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3359
$GC,2480,-0.66,-117.3,189.7,-7.0,151,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3359
$GC,2787,-0.66,-117.3,209.9,-6.6,161,2791,0.00,2.45,0.00,0.000,4,0.000,0.067,3094,995,3360
$GC,2825,-0.66,-117.3,212.7,-7.3,162,2830,0.00,2.35,0.00,0.000,6,0.000,0.058,3094,2401,3359
$GC,3150,-0.66,-117.3,236.1,-7.4,173,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3359
$GC,3456,-0.66,-117.3,257.3,-6.6,183,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3360
$GC,3763,-0.66,-117.3,278.9,-7.2,193,3768,0.00,2.45,0.00,0.000,4,0.000,0.068,3094,995,3359
$GC,3793,-0.66,-117.3,281.1,-7.3,194,3797,0.00,2.38,0.00,0.000,6,0.000,0.060,3094,2404,3359
$GC,4129,-0.66,-117.3,304.6,-6.9,204,4133,0.00,2.42,0.00,0.000,4,0.000,0.080,3094,3811,3360
$GC,4165,-0.66,-117.3,307.1,-7.4,204,4169,0.00,2.33,0.00,0.000,6,0.000,0.053,3094,2397,3360
$GC,4492,-0.66,-117.3,329.5,-6.8,210,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3359
$GC,4795,-0.66,-117.3,349.9,-6.7,215,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3360
$GC,5098,-0.66,-117.3,370.6,-6.8,220,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3359
$GC,5402,-0.66,-117.3,389.3,-6.1,225,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3359
$GC,5705,-0.66,-117.3,407.5,-6.0,230,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3359
$GC,6008,-0.66,-117.3,427.6,-6.8,235,6012,0.00,2.58,0.00,0.000,4,0.000,0.079,3094,3814,3359
$GC,6041,-0.66,-117.3,430.1,-7.2,235,6046,0.00,2.38,0.00,0.000,6,0.000,0.053,3094,2391,3359
$GC,6369,-0.66,-117.3,452.1,-6.6,241,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2392,3359
$GC,6673,-0.66,-117.3,471.1,-6.2,246,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2392,3359
$GC,6975,-0.66,-117.3,490.5,-6.4,251,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2392,3359
$GC,7278,-0.66,-117.3,509.7,-6.3,256,7282,0.00,2.47,0.00,0.000,4,0.000,0.070,3094,996,3359
$GC,7312,-0.71,-117.3,511.8,-6.7,256,7316,0.00,2.38,0.00,0.000,6,0.000,0.061,3094,2402,3358
$GC,7639,-0.71,-117.3,532.0,-6.1,262,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,7942,-0.71,-117.3,549.1,-5.6,267,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3359
$GC,8245,-0.71,-117.3,564.5,-5.0,272,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,8548,-0.71,-117.3,577.8,-4.3,277,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,8851,-0.71,-117.3,591.9,-4.7,282,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,9155,-0.71,-117.3,608.7,-5.7,287,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,9457,-0.71,-117.3,628.4,-6.6,292,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3358
$GC,9761,-0.75,-117.3,648.8,-6.7,297,9765,0.00,2.50,0.00,0.000,4,0.000,0.070,3094,996,3357
$GC,9795,-0.82,-117.3,651.2,-6.6,297,9800,0.12,2.40,0.00,0.000,6,0.084,0.062,3048,2408,3357
$GC,10123,-0.77,-117.3,675.6,-7.5,303,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2407,3357
$GC,10425,-0.72,-117.3,697.6,-7.2,308,10430,0.12,2.47,0.00,0.000,4,0.102,0.081,3083,3815,3357
$GC,10459,-0.72,-117.3,699.8,-6.1,308,10464,0.00,2.35,0.00,0.000,6,0.000,0.054,3084,2397,3357
$GC,10788,-0.72,-117.3,718.1,-5.6,314,10792,0.00,2.47,0.00,0.000,4,0.000,0.071,3084,989,3357
$GC,10822,-0.72,-117.3,720.4,-6.2,314,10826,0.00,2.40,0.00,0.000,6,0.000,0.063,3083,2399,3357
$GC,11149,-0.72,-117.3,739.0,-5.7,320,11154,0.00,2.50,0.00,0.000,4,0.000,0.071,3084,993,3357
$GC,11178,-0.72,-117.3,741.0,-7.4,320,11182,0.00,2.40,0.00,0.000,6,0.000,0.063,3084,2403,3356
$GC,11517,-0.72,-117.3,760.5,-5.9,326,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2402,3357
$GC,11819,-0.72,-117.3,780.2,-6.5,331,11824,0.00,2.50,0.00,0.000,4,0.000,0.071,3084,987,3356
$GC,11870,-0.72,-117.3,783.7,-6.6,331,11874,0.00,2.42,0.00,0.000,6,0.000,0.063,3083,2409,3356
$GC,12181,-0.72,-117.3,803.8,-6.4,336,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3357
$GC,12485,-0.72,-117.3,821.7,-5.8,341,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3356
$GC,12787,-0.72,-117.3,839.6,-5.9,346,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2408,3356
$GC,13090,-0.72,-117.3,858.8,-6.4,351,13095,0.00,2.50,0.00,0.000,4,0.000,0.071,3083,994,3356
$GC,13135,-0.72,-117.3,862.2,-7.3,351,13140,0.00,2.42,0.00,0.000,6,0.000,0.064,3083,2411,3356
$GC,13453,-0.72,-117.3,883.7,-6.9,357,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2410,3356
$GC,13755,-0.72,-117.3,904.6,-6.9,362,13756,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2410,3356
$GC,14058,-0.72,-117.3,924.8,-6.5,367,14062,0.00,2.55,0.00,0.000,4,0.000,0.071,3083,992,3356
$GC,14097,-0.72,-117.3,927.5,-7.3,367,14101,0.00,2.42,0.00,0.000,6,0.000,0.064,3084,2404,3356
$GC,14418,-0.72,-117.3,945.3,-5.5,373,14419,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2404,3356
$GC,14723,-0.72,-117.3,959.7,-4.7,378,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2404,3356
$GC,15025,-0.72,-117.3,972.1,-4.0,383,15029,0.00,2.55,0.00,0.000,4,0.000,0.071,3083,993,3355
$GC,15053,-0.72,-117.3,973.3,-4.2,383,15057,0.00,2.40,0.00,0.000,6,0.000,0.063,3084,2400,3355
$GC,15393,-0.72,-117.3,984.7,-3.2,389,15394,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3355
$STATE,15569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15569,begin apogee
$GC,15578,-0.22,0.0,990.4,3.2,392,15692,0.52,0.00,108.20,1.490,6,0.130,0.000,3244,2199,2875
$STATE,15693,end apogee,CONTROL_FINISHED_OK
$STATE,15693,begin climb
$GC,15697,0.67,117.3,992.0,0.0,394,15821,0.88,2.83,114.32,1.437,4,0.083,0.076,3535,790,2397
$GC,15873,0.31,117.3,986.2,8.4,396,15878,0.45,2.60,0.00,0.000,6,0.173,0.059,3426,2207,2395
$GC,16189,0.31,117.3,964.9,6.6,402,16193,0.00,2.35,0.00,0.000,4,0.000,0.080,3426,3620,2394
$GC,16240,0.21,117.3,961.5,6.6,402,16244,0.15,2.30,0.00,0.000,6,0.185,0.062,3388,2196,2393
$GC,16563,0.31,123.0,945.5,4.8,408,16570,0.00,0.00,6.00,1.137,6,0.000,0.000,3389,2197,2374
$GC,16865,0.44,154.9,933.1,4.1,413,16898,0.20,0.00,30.02,1.416,6,0.070,0.000,3472,2196,2244
$GC,17168,0.32,154.9,914.0,6.5,418,17173,0.15,2.40,0.00,0.000,4,0.144,0.078,3425,3620,2241
$GC,17208,0.27,154.9,911.6,6.4,418,17213,0.00,2.30,0.00,0.000,6,0.000,0.061,3432,2198,2241
$GC,17531,0.28,163.5,896.2,4.8,424,17542,0.00,0.00,8.82,1.259,6,0.000,0.000,3431,2199,2209
$GC,17834,0.30,182.3,882.6,4.5,429,17858,0.00,2.45,18.50,1.367,4,0.000,0.081,3432,3605,2131
$GC,17894,0.34,214.1,879.7,4.1,429,17929,0.00,2.30,30.15,1.378,6,0.000,0.062,3435,2195,2003
$GC,18264,0.39,214.1,860.5,5.3,436,18265,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,1997
$GC,18567,0.44,214.1,843.1,5.8,441,18571,0.00,2.45,0.00,0.000,4,0.000,0.080,3436,3612,1996
$GC,18612,0.44,214.1,840.0,7.7,441,18617,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2193,1995
$GC,18929,0.49,214.1,820.7,6.1,447,18931,0.12,0.00,0.00,0.000,6,0.090,0.000,3492,2194,1996
$GC,19232,0.38,214.1,794.8,8.7,452,19237,0.17,2.45,0.00,0.000,4,0.141,0.079,3439,3612,1995
$GC,19271,0.38,214.1,791.5,7.3,452,19275,0.00,2.33,0.00,0.000,6,0.000,0.062,3439,2200,1995
$GC,19594,0.43,214.1,768.8,7.1,458,19596,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2200,1995
$GC,19897,0.49,214.1,748.0,6.8,463,19901,0.10,2.47,0.00,0.000,4,0.090,0.077,3478,3612,1995
$GC,19936,0.35,214.1,744.4,8.4,463,19941,0.17,2.38,0.00,0.000,6,0.165,0.061,3432,2190,1994
$GC,20259,0.42,214.1,722.9,6.7,469,20263,0.00,2.42,0.00,0.000,4,0.000,0.077,3436,791,1995
$GC,20304,0.51,214.1,719.4,7.3,469,20309,0.15,2.35,0.00,0.000,6,0.080,0.059,3499,2208,1995
$GC,20620,0.40,214.1,690.8,9.2,475,20622,0.20,0.00,0.00,0.000,6,0.145,0.000,3442,2208,1995
$GC,20926,0.45,214.1,669.4,6.9,480,20927,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2208,1994
$GC,21226,0.50,214.1,650.7,6.1,485,21228,0.12,0.00,0.00,0.000,6,0.079,0.000,3495,2208,1995
$GC,21529,0.41,214.1,627.9,7.6,490,21534,0.15,2.47,0.00,0.000,4,0.139,0.077,3442,3616,1994
$GC,21570,0.41,214.1,624.8,7.3,490,21574,0.00,2.40,0.00,0.000,6,0.000,0.061,3449,2191,1994
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$STATE,31534,end climb,SURFACE_DEPTH_REACHED
$STATE,31534,begin surface coast
$FINISH,1.3,1.025681
$STATE,31652,end surface coast,CONTROL_FINISHED_OK
$STATE,31652,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2126
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,14.00
$XPDR_PINGS,966
$24V_AH,20.9,122.655
$10V_AH,10.3,84.962
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$DEVICE_SECS,29.050,161.000,370.200,0.000,0.000,29.792,34.409,149.035,241.500,0.000,0.000,15.599,1710.178,26976.613,514.831,2076.256,824.933,33.383,1530.561,0.000,2068.727,0.000,0.465
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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,47616,832
$CAP_FILE_SIZE,167224,0
$CFSIZE,260165632,209866752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220409,220807,5011.055,-14455.631,43,1.7,43,18.5