version: 66.03
glider: 120
mission: 9
dive: 675
start: 5 10 109 7 2 9
data:
$ID,120
$MISSION,9
$DIVE,675
$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,-32050.936
$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,23
$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
$GPS1,065336,5018.709,-14505.182,50,1.7,55,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-74.5
$GPS2,070114,5018.707,-14505.199,13,1.8,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.135,0.115
$KALMAN_X,-127158.1,-119.3,235.8,138074.5,128.9
$KALMAN_Y,139064.1,261.0,117.5,-111254.7,-1767.0
$MHEAD_RNG_PITCHd_Wd,291.9,9039,-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,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.78,0.000,2,0.000,0.000,137,2407,2785
$GC,74,-0.67,-117.3,3.6,-5.5,4,107,14.50,2.47,-11.45,0.000,4,0.272,0.102,3085,3810,3358
$GC,155,-0.46,-117.3,17.9,-11.2,11,160,0.30,2.30,0.00,0.000,6,0.147,0.053,3166,2390,3359
$GC,482,-0.52,-117.3,39.7,-6.3,41,483,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2390,3360
$GC,800,-0.58,-117.3,59.6,-6.5,71,802,0.12,0.00,0.00,0.000,6,0.080,0.000,3117,2390,3360
$GC,1118,-0.58,-117.3,84.0,-7.8,99,1122,0.00,2.67,0.00,0.000,4,0.000,0.075,3116,3808,3360
$GC,1151,-0.58,-117.3,87.0,-9.1,100,1158,0.00,2.42,0.00,0.000,6,0.000,0.050,3116,2396,3360
$GC,1468,-0.58,-117.3,112.9,-8.2,116,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2397,3360
$GC,1778,-0.58,-117.3,136.5,-7.2,131,1783,0.00,2.70,0.00,0.000,4,0.000,0.074,3116,3808,3360
$GC,1813,-0.58,-117.3,139.0,-7.5,132,1820,0.00,2.42,0.00,0.000,6,0.000,0.050,3116,2398,3360
$GC,2129,-0.58,-117.3,157.3,-5.4,146,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2399,3360
$GC,2436,-0.63,-117.3,174.8,-6.2,156,2440,0.00,2.62,0.00,0.000,4,0.000,0.066,3120,985,3360
$GC,2466,-0.71,-117.3,176.7,-7.1,157,2471,0.00,2.42,0.00,0.000,6,0.000,0.058,3120,2400,3360
$GC,2803,-0.77,-117.3,197.0,-5.7,168,2808,0.15,2.53,0.00,0.000,4,0.082,0.076,3056,3811,3360
$GC,2878,-0.63,-117.3,203.1,-8.6,170,2883,0.20,2.40,0.00,0.000,6,0.124,0.051,3108,2394,3360
$GC,3202,-0.63,-117.3,226.0,-7.3,181,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2395,3360
$GC,3509,-0.63,-117.3,249.7,-7.8,191,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2395,3360
$GC,3815,-0.63,-117.3,272.1,-7.2,201,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2395,3360
$GC,4122,-0.63,-117.3,292.7,-6.6,211,4126,0.00,2.58,0.00,0.000,4,0.000,0.067,3108,994,3360
$GC,4155,-0.63,-117.3,295.2,-7.0,212,4160,0.00,2.42,0.00,0.000,6,0.000,0.059,3108,2404,3360
$GC,4483,-0.63,-117.3,317.3,-6.8,219,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3360
$GC,4787,-0.63,-117.3,337.3,-6.6,224,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3360
$GC,5091,-0.63,-117.3,355.0,-5.8,229,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3360
$GC,5393,-0.63,-117.3,373.8,-6.2,234,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3360
$GC,5696,-0.63,-117.3,394.0,-6.8,239,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3360
$GC,5999,-0.63,-117.3,414.3,-6.7,244,6004,0.00,2.62,0.00,0.000,4,0.000,0.080,3108,3811,3359
$GC,6034,-0.70,-117.3,416.7,-7.3,244,6039,0.00,2.47,0.00,0.000,6,0.000,0.051,3109,2397,3359
$GC,6363,-0.90,-117.3,439.9,-7.3,250,6369,0.22,2.70,0.00,0.000,4,0.082,0.075,3023,3814,3359
$GC,6538,-0.69,-117.3,456.6,-10.1,252,6543,0.28,2.45,0.00,0.000,6,0.150,0.052,3093,2394,3359
$GC,6860,-0.69,-117.3,477.5,-6.3,258,6865,0.00,2.53,0.00,0.000,4,0.000,0.069,3093,985,3359
$GC,6906,-0.69,-117.3,480.6,-6.5,258,6910,0.00,2.42,0.00,0.000,6,0.000,0.061,3093,2402,3359
$GC,7222,-0.69,-117.3,500.0,-6.2,264,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3359
$GC,7525,-0.69,-117.3,519.9,-6.6,269,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3359
$GC,7829,-0.69,-117.3,538.8,-6.2,274,7833,0.00,2.58,0.00,0.000,4,0.000,0.069,3093,986,3358
$GC,7857,-0.69,-117.3,540.7,-6.2,274,7861,0.00,2.45,0.00,0.000,6,0.000,0.061,3093,2401,3358
$GC,8190,-0.69,-117.3,561.1,-6.1,280,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3358
$GC,8493,-0.69,-117.3,579.4,-6.1,285,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,8797,-0.69,-117.3,598.9,-6.5,290,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,9099,-0.69,-117.3,619.5,-6.9,295,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3358
$GC,9402,-0.69,-117.3,640.5,-6.9,300,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,9705,-0.69,-117.3,660.8,-6.7,305,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3358
$GC,10008,-0.69,-117.3,680.8,-6.6,310,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,10312,-0.69,-117.3,700.1,-6.4,315,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,10615,-0.69,-117.3,718.6,-6.1,320,10619,0.00,2.55,0.00,0.000,4,0.000,0.082,3093,3805,3357
$GC,10643,-0.74,-117.3,720.5,-7.0,320,10648,0.00,2.45,0.00,0.000,6,0.000,0.053,3093,2401,3357
$GC,10977,-0.94,-117.3,742.6,-6.9,326,10982,0.20,2.65,0.00,0.000,4,0.081,0.077,3016,3810,3357
$GC,11186,-0.76,-117.3,761.0,-9.3,329,11191,0.20,2.47,0.00,0.000,6,0.147,0.054,3065,2394,3357
$GC,11543,-0.71,-117.3,787.0,-7.3,335,11544,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2395,3357
$GC,11845,-0.66,-117.3,808.3,-7.0,340,11847,0.15,0.00,0.00,0.000,6,0.163,0.000,3106,2396,3357
$GC,12150,-0.82,-117.3,825.9,-5.9,345,12155,0.15,2.62,0.00,0.000,4,0.082,0.069,3054,987,3356
$GC,12229,-0.82,-117.3,831.7,-7.5,346,12233,0.00,2.45,0.00,0.000,6,0.000,0.061,3054,2399,3356
$GC,12580,-0.96,-117.3,854.8,-6.6,352,12585,0.15,2.58,0.00,0.000,4,0.087,0.069,2999,989,3356
$GC,12725,-0.74,-117.3,866.7,-8.6,354,12730,0.30,2.47,0.00,0.000,6,0.158,0.064,3073,2406,3356
$GC,13082,-0.74,-117.3,887.9,-5.7,360,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3356
$GC,13383,-0.74,-117.3,905.3,-5.7,365,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3356
$GC,13687,-0.74,-117.3,922.5,-5.7,370,13691,0.00,2.58,0.00,0.000,4,0.000,0.081,3072,3818,3356
$GC,13715,-0.74,-117.3,924.1,-6.1,370,13719,0.00,2.40,0.00,0.000,6,0.000,0.055,3072,2397,3356
$GC,14049,-0.74,-117.3,943.8,-5.9,376,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3356
$GC,14352,-0.74,-117.3,963.3,-6.5,381,14357,0.00,2.60,0.00,0.000,4,0.000,0.081,3072,3809,3355
$GC,14388,-0.74,-117.3,965.9,-7.6,381,14392,0.00,2.40,0.00,0.000,6,0.000,0.054,3072,2400,3355
$GC,14717,-0.74,-117.3,988.3,-6.9,387,14721,0.00,2.50,0.00,0.000,4,0.000,0.071,3072,988,3355
$STATE,14736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14736,begin apogee
$GC,14746,-0.22,0.0,990.1,7.1,387,14858,0.55,0.00,108.57,1.490,6,0.137,0.000,3236,2210,2876
$STATE,14859,end apogee,CONTROL_FINISHED_OK
$STATE,14859,begin climb
$GC,14863,0.67,117.3,995.1,0.0,389,14986,0.95,0.00,116.50,1.440,6,0.091,0.000,3529,2210,2396
$GC,15295,0.35,117.3,980.3,6.4,396,15300,0.32,2.47,0.00,0.000,4,0.170,0.077,3438,3618,2393
$GC,15329,0.22,117.3,978.0,5.6,396,15334,0.22,2.38,0.00,0.000,6,0.172,0.059,3393,2198,2392
$GC,15658,0.35,176.3,967.2,3.3,402,15721,0.12,2.55,52.38,1.447,4,0.082,0.077,3449,788,2156
$GC,15767,0.35,176.3,961.2,5.9,403,15771,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2205,2153
$GC,16088,0.35,176.3,940.8,6.4,409,16092,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,792,2151
$GC,16139,0.35,176.3,937.2,7.2,409,16144,0.00,2.35,0.00,0.000,6,0.000,0.059,3449,2209,2150
$GC,16450,0.35,176.3,915.4,7.1,414,16452,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2150
$GC,16753,0.35,176.3,892.9,7.5,419,16757,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,781,2150
$GC,16817,0.35,176.3,888.1,6.6,420,16821,0.00,2.38,0.00,0.000,6,0.000,0.059,3449,2205,2150
$GC,17190,0.35,176.3,860.4,7.4,426,17195,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,792,2149
$GC,17241,0.35,176.3,856.6,6.5,426,17245,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2208,2150
$GC,17552,0.35,176.3,834.0,7.3,431,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2149
$GC,17855,0.35,176.3,811.4,7.4,436,17859,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,792,2149
$GC,17929,0.35,176.3,805.9,6.8,437,17933,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2201,2149
$GC,18284,0.35,176.3,781.1,6.9,443,18285,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2149
$GC,18587,0.35,176.3,762.0,6.2,448,18592,0.00,2.50,0.00,0.000,4,0.000,0.076,3449,789,2149
$GC,18652,0.35,176.3,758.3,6.0,449,18656,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2202,2149
$GC,19018,0.35,176.3,737.0,5.8,455,19019,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2149
$GC,19321,0.35,176.3,719.6,5.8,460,19326,0.00,2.53,0.00,0.000,4,0.000,0.076,3448,783,2149
$GC,19368,0.35,176.3,716.8,6.5,460,19372,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2200,2149
$GC,19684,0.35,176.3,697.1,6.3,466,19685,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2149
$GC,19987,0.35,176.3,677.4,6.5,471,19988,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2148
$GC,20290,0.35,176.3,656.9,6.8,476,20295,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,783,2149
$GC,20354,0.35,176.3,652.5,6.3,477,20358,0.00,2.42,0.00,0.000,6,0.000,0.059,3449,2203,2148
$GC,20722,0.35,176.3,628.2,6.6,483,20726,0.00,2.53,0.00,0.000,4,0.000,0.076,3449,788,2149
$GC,20761,0.35,176.3,625.4,7.6,483,20765,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2199,2149
$GC,21082,0.35,176.3,603.0,7.0,489,21084,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2148
$GC,21386,0.35,176.3,582.1,6.9,494,21391,0.00,2.53,0.00,0.000,4,0.000,0.075,3449,786,2149
$GC,21432,0.35,176.3,578.8,6.1,494,21436,0.00,2.42,0.00,0.000,6,0.000,0.058,3449,2209,2148
$GC,21748,0.35,176.3,558.6,6.4,500,21752,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,783,2149
$GC,21798,0.35,176.3,555.5,6.0,500,21802,0.00,2.42,0.00,0.000,6,0.000,0.058,3449,2203,2148
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$STATE,30850,end climb,SURFACE_DEPTH_REACHED
$STATE,30850,begin surface coast
$FINISH,2.8,1.025610
$STATE,30926,end surface coast,CONTROL_FINISHED_OK
$STATE,30926,begin surface
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$IRIDIUM_FIX,4959.75,-14502.96,030898,212143
$TT8_MAMPS,0.026845
$HUMID,2142
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$TCM_TEMP,14.10
$XPDR_PINGS,1021
$24V_AH,20.6,131.487
$10V_AH,10.3,91.446
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$DEVICE_SECS,30.750,236.975,349.725,16.500,0.000,24.951,37.134,214.732,255.250,0.000,0.000,13.753,1799.547,25608.168,517.264,2527.278,959.902,33.379,1771.961,0.000,2488.463,0.000,0.465
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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,47576,815
$CAP_FILE_SIZE,188867,0
$CFSIZE,260165632,206209024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100509,153937,5020.479,-14509.579,34,1.1,34,18.5