version: 66.03
glider: 120
mission: 9
dive: 665
start: 5 6 109 12 13 39
data:
$ID,120
$MISSION,9
$DIVE,665
$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,-31819.398
$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,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
$GPS1,120536,4954.659,-14429.551,89,1.0,89,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.7
$GPS2,121244,4954.645,-14429.537,12,1.2,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.148,0.099
$KALMAN_X,-127475.8,-144.6,18.4,181045.2,167.3
$KALMAN_Y,149982.1,100.1,-219.3,-166231.8,1424.2
$MHEAD_RNG_PITCHd_Wd,285.3,34791,-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,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.65,0.000,2,0.000,0.000,141,2405,2752
$GC,73,-0.67,-117.3,3.8,-6.9,4,105,14.43,0.00,-12.18,0.000,6,0.275,0.000,3092,2405,3356
$GC,425,-0.50,-117.3,46.4,-10.5,37,427,0.22,0.00,0.00,0.000,6,0.153,0.000,3156,2405,3358
$GC,744,-0.50,-117.3,68.3,-6.5,67,748,0.00,2.53,0.00,0.000,4,0.000,0.067,3156,990,3358
$GC,789,-0.56,-117.3,71.6,-7.4,70,795,0.00,2.40,0.00,0.000,6,0.000,0.060,3155,2410,3358
$GC,1110,-0.56,-117.3,92.0,-6.3,92,1114,0.00,2.47,0.00,0.000,4,0.000,0.079,3154,3811,3358
$GC,1145,-0.63,-117.3,94.3,-6.1,93,1152,0.12,2.30,0.00,0.000,6,0.077,0.051,3107,2392,3358
$GC,1461,-0.63,-117.3,118.4,-8.0,109,1466,0.00,2.45,0.00,0.000,4,0.000,0.067,3107,988,3358
$GC,1529,-0.63,-117.3,124.4,-8.2,112,1534,0.00,2.40,0.00,0.000,6,0.000,0.059,3107,2398,3358
$GC,1853,-0.63,-117.3,149.6,-7.9,128,1857,0.00,2.45,0.00,0.000,4,0.000,0.077,3104,3816,3358
$GC,1920,-0.63,-117.3,155.4,-8.6,131,1924,0.00,2.30,0.00,0.000,6,0.000,0.051,3104,2394,3358
$GC,2251,-0.63,-117.3,179.3,-7.0,142,2255,0.00,2.47,0.00,0.000,4,0.000,0.077,3101,3817,3358
$GC,2302,-0.63,-117.3,183.4,-8.0,143,2306,0.00,2.30,0.00,0.000,6,0.000,0.053,3102,2401,3358
$GC,2616,-0.63,-117.3,204.0,-6.1,153,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2401,3358
$GC,2922,-0.63,-117.3,220.8,-5.4,163,2926,0.00,2.45,0.00,0.000,4,0.000,0.068,3101,985,3359
$GC,2959,-0.63,-117.3,222.8,-5.9,164,2963,0.00,2.42,0.00,0.000,6,0.000,0.059,3101,2405,3358
$GC,3301,-0.63,-117.3,242.1,-5.8,175,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2404,3358
$GC,3607,-0.63,-117.3,261.8,-6.5,185,3611,0.00,2.45,0.00,0.000,4,0.000,0.078,3100,3808,3358
$GC,3635,-0.63,-117.3,263.8,-6.9,185,3642,0.00,2.30,0.00,0.000,6,0.000,0.052,3100,2390,3358
$GC,3950,-0.63,-117.3,285.1,-6.6,196,3954,0.00,2.45,0.00,0.000,4,0.000,0.068,3100,984,3358
$GC,3979,-0.63,-117.3,287.0,-6.4,197,3984,0.00,2.45,0.00,0.000,6,0.000,0.059,3100,2409,3358
$GC,4314,-0.63,-117.3,307.9,-6.1,206,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,4619,-0.63,-117.3,325.8,-5.9,211,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,4922,-0.63,-117.3,344.9,-6.4,216,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,5224,-0.63,-117.3,365.2,-6.7,221,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,5527,-0.63,-117.3,384.8,-6.5,226,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,5830,-0.63,-117.3,403.7,-6.2,231,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,6133,-0.63,-117.3,421.8,-5.9,236,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,6437,-0.63,-117.3,440.5,-6.3,241,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3357
$GC,6739,-0.63,-117.3,459.4,-6.2,246,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3357
$GC,7043,-0.67,-117.3,478.7,-6.4,251,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3357
$GC,7345,-0.67,-117.3,497.8,-6.2,256,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3357
$GC,7649,-0.71,-117.3,517.5,-6.5,261,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3357
$GC,7953,-0.76,-117.3,536.7,-6.3,266,7957,0.00,2.55,0.00,0.000,4,0.000,0.069,3100,997,3357
$GC,7981,-0.83,-117.3,538.6,-6.7,266,7986,0.15,2.47,0.00,0.000,6,0.084,0.060,3048,2410,3357
$GC,8314,-0.76,-117.3,561.7,-6.9,272,8319,0.00,2.55,0.00,0.000,4,0.000,0.079,3048,3814,3356
$GC,8367,-0.66,-117.3,565.5,-7.7,272,8371,0.20,2.35,0.00,0.000,6,0.109,0.054,3102,2394,3356
$GC,8678,-0.66,-117.3,581.6,-5.1,277,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3356
$GC,8980,-0.66,-117.3,597.8,-5.3,282,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3357
$GC,9283,-0.66,-117.3,613.9,-5.4,287,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3356
$GC,9588,-0.66,-117.3,631.2,-5.8,292,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3356
$GC,9890,-0.70,-117.3,648.9,-5.9,297,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2395,3356
$GC,10193,-0.74,-117.3,668.2,-6.4,302,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3356
$GC,10497,-0.80,-117.3,687.1,-6.2,307,10498,0.12,0.00,0.00,0.000,6,0.084,0.000,3054,2394,3355
$GC,10799,-0.80,-117.3,707.8,-6.8,312,10803,0.00,2.70,0.00,0.000,4,0.000,0.080,3054,3813,3355
$GC,10856,-0.72,-117.3,712.0,-7.0,312,10863,0.00,2.42,0.00,0.000,6,0.000,0.054,3054,2393,3355
$GC,11167,-0.68,-117.3,733.8,-7.0,318,11169,0.15,0.00,0.00,0.000,6,0.115,0.000,3096,2392,3355
$GC,11470,-0.68,-117.3,751.6,-5.8,323,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2392,3355
$GC,11775,-0.72,-117.3,769.7,-6.0,328,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2392,3355
$GC,12077,-0.77,-117.3,788.1,-6.1,333,12081,0.00,2.65,0.00,0.000,4,0.000,0.084,3096,3805,3355
$GC,12116,-0.84,-117.3,790.7,-5.9,333,12121,0.17,2.38,0.00,0.000,6,0.074,0.055,3036,2400,3354
$GC,12438,-0.77,-117.3,813.4,-7.1,339,12443,0.10,2.53,0.00,0.000,4,0.091,0.071,3066,990,3354
$GC,12480,-0.73,-117.3,816.5,-7.1,339,12484,0.00,2.45,0.00,0.000,6,0.000,0.064,3066,2402,3354
$GC,12801,-0.73,-117.3,836.4,-6.0,345,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2401,3354
$GC,13105,-0.73,-117.3,853.8,-5.8,350,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2402,3354
$GC,13408,-0.73,-117.3,871.7,-5.9,355,13412,0.00,2.55,0.00,0.000,4,0.000,0.084,3066,3809,3354
$GC,13453,-0.73,-117.3,874.6,-6.3,355,13457,0.00,2.35,0.00,0.000,6,0.000,0.055,3066,2392,3354
$GC,13769,-0.73,-117.3,895.0,-6.5,361,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2393,3354
$GC,14072,-0.73,-117.3,914.8,-6.6,366,14076,0.00,2.55,0.00,0.000,4,0.000,0.083,3066,3813,3354
$GC,14129,-0.73,-117.3,918.8,-7.0,366,14135,0.00,2.35,0.00,0.000,6,0.000,0.056,3066,2390,3354
$GC,14439,-0.73,-117.3,937.7,-6.1,372,14444,0.00,2.60,0.00,0.000,4,0.000,0.082,3066,3816,3354
$GC,14468,-0.73,-117.3,939.5,-6.1,372,14472,0.00,2.38,0.00,0.000,6,0.000,0.055,3066,2388,3353
$GC,14800,-0.73,-117.3,958.4,-5.7,378,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3354
$GC,15105,-0.73,-117.3,975.2,-5.5,383,15106,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2389,3354
$STATE,15403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15403,begin apogee
$GC,15412,-0.22,0.0,992.9,5.9,388,15526,0.60,0.00,108.22,1.491,6,0.133,0.000,3242,2194,2876
$STATE,15526,end apogee,CONTROL_FINISHED_OK
$STATE,15526,begin climb
$GC,15530,0.67,117.3,997.4,0.0,390,15655,0.90,2.88,116.00,1.442,4,0.084,0.074,3533,794,2396
$GC,15719,0.33,117.3,995.2,6.5,392,15726,0.45,2.65,0.00,0.000,6,0.166,0.058,3431,2209,2394
$GC,16030,0.29,124.0,979.9,4.8,398,16039,0.00,0.00,6.75,1.173,6,0.000,0.000,3430,2208,2370
$GC,16334,0.25,124.0,964.7,5.0,403,16336,0.12,0.00,0.00,0.000,6,0.183,0.000,3400,2208,2369
$GC,16636,0.32,143.7,951.1,4.4,408,16657,0.00,0.00,18.88,1.401,6,0.000,0.000,3400,2208,2291
$GC,16940,0.40,151.5,936.9,4.8,413,16951,0.15,0.00,8.73,1.269,6,0.077,0.000,3463,2208,2258
$GC,17242,0.31,151.5,917.9,6.3,418,17244,0.17,0.00,0.00,0.000,6,0.142,0.000,3417,2208,2257
$GC,17546,0.32,161.8,903.4,4.7,423,17558,0.00,0.00,10.68,1.311,6,0.000,0.000,3417,2208,2216
$GC,17849,0.38,178.0,889.7,4.5,428,17867,0.00,0.00,16.05,1.361,6,0.000,0.000,3417,2208,2150
$GC,18152,0.47,197.3,876.3,4.4,433,18177,0.15,2.53,18.70,1.368,4,0.077,0.079,3489,799,2070
$GC,18224,0.35,197.3,871.4,7.6,434,18229,0.20,2.35,0.00,0.000,6,0.140,0.061,3436,2214,2069
$GC,18585,0.35,197.3,851.2,5.6,440,18586,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2067
$GC,18888,0.35,197.3,833.3,5.9,445,18892,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,790,2066
$GC,18951,0.41,197.3,829.3,6.3,445,18958,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2203,2066
$GC,19263,0.45,197.3,809.2,6.6,451,19264,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2066
$GC,19566,0.49,197.3,788.1,7.0,456,19570,0.12,2.47,0.00,0.000,4,0.086,0.076,3490,791,2066
$GC,19623,0.39,197.3,783.1,9.4,456,19630,0.17,2.35,0.00,0.000,6,0.143,0.060,3445,2203,2066
$GC,19934,0.39,197.3,760.9,7.1,462,19938,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,788,2066
$GC,19997,0.39,197.3,756.6,7.1,463,20002,0.00,2.38,0.00,0.000,6,0.000,0.059,3449,2198,2066
$GC,20365,0.39,197.3,732.4,6.5,469,20366,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2065
$GC,20667,0.39,197.3,714.5,5.8,474,20669,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2065
$GC,20971,0.39,197.3,697.5,5.6,479,20972,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2066
$GC,21273,0.39,197.3,681.6,5.3,484,21278,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,789,2065
$GC,21339,0.45,217.0,678.4,4.4,485,21364,0.00,2.40,18.27,1.266,6,0.000,0.059,3449,2203,1990
$GC,21709,0.45,217.0,659.3,5.1,491,21710,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,1987
$GC,22012,0.49,217.0,643.2,5.3,496,22016,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,783,1987
$GC,22069,0.55,217.0,639.8,6.3,496,22077,0.12,2.35,0.00,0.000,6,0.087,0.059,3503,2206,1987
$GC,22380,0.44,217.0,616.1,7.7,502,22382,0.15,0.00,0.00,0.000,6,0.141,0.000,3463,2204,1987
$GC,22685,0.44,217.0,595.8,6.7,507,22686,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2204,1986
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$STATE,32034,end climb,SURFACE_DEPTH_REACHED
$STATE,32034,begin surface coast
$FINISH,0.9,1.025598
$STATE,32163,end surface coast,CONTROL_FINISHED_OK
$STATE,32163,begin surface
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$SM_GC,2.89,0.00,0.00,8.20,0.000,0.000,0.788,136,2404,1754,-9.94,0.11,275.23
$IRIDIUM_FIX,4939.69,-14422.69,310798,030309
$TT8_MAMPS,0.026845
$HUMID,2151
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$TCM_TEMP,15.70
$XPDR_PINGS,967
$24V_AH,20.7,129.603
$10V_AH,10.4,90.058
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$DEVICE_SECS,29.325,167.475,367.125,8.200,0.000,29.759,25.522,201.768,241.750,0.000,0.000,12.546,1730.372,27260.941,533.259,2184.106,905.258,33.379,1600.195,0.000,2166.408,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,641.721,620.762,1428.257,863.957,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47448,840
$CAP_FILE_SIZE,171136,0
$CFSIZE,260165632,207015936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060509,211157,4956.350,-14434.895,36,2.2,55,18.5