version: 66.03
glider: 120
mission: 9
dive: 681
start: 5 12 109 10 32 58
data:
$ID,120
$MISSION,9
$DIVE,681
$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,-32250.936
$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,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
$GPS1,102454,5010.625,-14513.398,29,1.2,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-78.3
$GPS2,103201,5010.622,-14513.374,15,1.2,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.176
$KALMAN_X,-125178.2,-313.5,-123.5,126939.7,1115.5
$KALMAN_Y,146699.6,-11.9,-476.8,-132982.5,3027.9
$MHEAD_RNG_PITCHd_Wd,168.8,30811,-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,-39.90,0.000,2,0.000,0.000,136,2413,2775
$GC,74,-0.67,-117.3,3.8,-6.5,4,107,14.65,2.60,-11.45,0.000,4,0.270,0.079,3095,984,3358
$GC,278,-0.51,-117.3,31.7,-11.1,22,283,0.20,2.40,0.00,0.000,6,0.149,0.062,3149,2396,3359
$GC,605,-0.51,-117.3,56.3,-7.3,52,606,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2395,3359
$GC,923,-0.51,-117.3,80.2,-7.5,82,924,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2395,3359
$GC,1232,-0.51,-117.3,101.6,-7.0,97,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2395,3360
$GC,1542,-0.58,-117.3,124.8,-7.7,112,1547,0.00,2.58,0.00,0.000,4,0.000,0.080,3149,3818,3360
$GC,1599,-0.71,-117.3,129.0,-7.4,114,1606,0.20,2.40,0.00,0.000,6,0.067,0.051,3075,2390,3360
$GC,1937,-0.87,-117.3,156.3,-7.8,130,1942,0.12,2.65,0.00,0.000,4,0.101,0.074,3028,3817,3360
$GC,2106,-0.62,-117.3,173.1,-10.6,135,2111,0.32,2.42,0.00,0.000,6,0.146,0.052,3113,2400,3360
$GC,2442,-0.62,-117.3,195.7,-6.6,146,2446,0.00,2.65,0.00,0.000,4,0.000,0.065,3113,984,3360
$GC,2521,-0.62,-117.3,201.3,-7.0,148,2525,0.00,2.42,0.00,0.000,6,0.000,0.058,3113,2404,3360
$GC,2840,-0.62,-117.3,221.2,-6.1,159,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3360
$GC,3146,-0.62,-117.3,241.0,-6.6,169,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3360
$GC,3453,-0.62,-117.3,262.8,-7.2,179,3458,0.00,2.60,0.00,0.000,4,0.000,0.066,3113,991,3360
$GC,3487,-0.62,-117.3,265.5,-7.4,180,3492,0.00,2.42,0.00,0.000,6,0.000,0.059,3113,2405,3360
$GC,3818,-0.62,-117.3,287.6,-6.4,191,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3360
$GC,4124,-0.62,-117.3,304.4,-5.3,200,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3360
$GC,4428,-0.62,-117.3,320.6,-5.3,205,4432,0.00,2.53,0.00,0.000,4,0.000,0.068,3113,992,3360
$GC,4468,-0.67,-117.3,323.0,-5.6,205,4472,0.00,2.42,0.00,0.000,6,0.000,0.061,3113,2402,3360
$GC,4790,-0.67,-117.3,340.8,-5.6,211,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3360
$GC,5093,-0.71,-117.3,359.5,-6.3,216,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3359
$GC,5397,-0.75,-117.3,379.7,-6.7,221,5399,0.12,0.00,0.00,0.000,6,0.083,0.000,3063,2402,3359
$GC,5699,-0.75,-117.3,402.7,-7.6,226,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2402,3360
$GC,6002,-0.75,-117.3,424.9,-7.3,231,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2402,3359
$GC,6305,-0.75,-117.3,444.9,-6.6,236,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2402,3359
$GC,6609,-0.75,-117.3,464.7,-6.5,241,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2402,3359
$GC,6911,-0.75,-117.3,483.8,-6.3,246,6916,0.00,2.50,0.00,0.000,4,0.000,0.080,3062,3810,3359
$GC,6957,-0.69,-117.3,487.0,-6.9,246,6962,0.12,2.42,0.00,0.000,6,0.094,0.053,3095,2388,3359
$GC,7273,-0.69,-117.3,504.6,-5.5,252,7277,0.00,2.58,0.00,0.000,4,0.000,0.068,3095,987,3358
$GC,7302,-0.69,-117.3,506.4,-6.2,252,7306,0.00,2.45,0.00,0.000,6,0.000,0.061,3095,2403,3359
$GC,7635,-0.69,-117.3,523.4,-5.1,258,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3359
$GC,7938,-0.69,-117.3,539.3,-5.3,263,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3358
$GC,8242,-0.69,-117.3,555.5,-5.4,268,8246,0.00,2.53,0.00,0.000,4,0.000,0.069,3095,994,3358
$GC,8271,-0.69,-117.3,557.3,-6.7,268,8275,0.00,2.45,0.00,0.000,6,0.000,0.062,3095,2404,3358
$GC,8604,-0.69,-117.3,577.3,-6.1,274,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3358
$GC,8906,-0.69,-117.3,596.3,-6.3,279,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3358
$GC,9209,-0.69,-117.3,615.8,-6.4,284,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3358
$GC,9513,-0.69,-117.3,635.8,-6.6,289,9517,0.00,2.58,0.00,0.000,4,0.000,0.068,3095,994,3358
$GC,9542,-0.69,-117.3,637.9,-7.4,289,9546,0.00,2.45,0.00,0.000,6,0.000,0.061,3095,2405,3358
$GC,9875,-0.69,-117.3,658.9,-6.3,295,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3358
$GC,10177,-0.69,-117.3,677.0,-5.9,300,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3358
$GC,10480,-0.69,-117.3,694.8,-5.9,305,10485,0.00,2.65,0.00,0.000,4,0.000,0.068,3095,995,3357
$GC,10504,-0.69,-117.3,696.3,-5.7,305,10509,0.00,2.45,0.00,0.000,6,0.000,0.061,3095,2403,3357
$GC,10843,-0.73,-117.3,716.4,-6.0,311,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3357
$GC,11146,-0.73,-117.3,734.5,-5.9,316,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3357
$GC,11449,-0.77,-117.3,752.8,-6.1,321,11453,0.00,2.60,0.00,0.000,4,0.000,0.069,3096,986,3357
$GC,11478,-0.77,-117.3,754.8,-7.0,321,11482,0.00,2.47,0.00,0.000,6,0.000,0.062,3095,2411,3357
$GC,11811,-0.82,-117.3,774.2,-5.8,327,11813,0.12,0.00,0.00,0.000,6,0.084,0.000,3047,2410,3356
$GC,12114,-0.82,-117.3,794.8,-6.9,332,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2410,3356
$GC,12417,-0.82,-117.3,816.7,-7.2,337,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2410,3356
$GC,12721,-0.82,-117.3,838.5,-7.1,342,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2410,3356
$GC,13023,-0.82,-117.3,860.0,-7.2,347,13027,0.00,2.55,0.00,0.000,4,0.000,0.082,3047,3817,3356
$GC,13062,-0.74,-117.3,863.1,-7.9,347,13067,0.12,2.40,0.00,0.000,6,0.105,0.054,3077,2392,3356
$GC,13385,-0.74,-117.3,883.4,-6.3,353,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2393,3356
$GC,13687,-0.74,-117.3,900.6,-5.5,358,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2393,3356
$GC,13991,-0.74,-117.3,915.8,-4.9,363,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2393,3356
$GC,14294,-0.74,-117.3,930.0,-4.7,368,14298,0.00,2.65,0.00,0.000,4,0.000,0.083,3078,3811,3355
$GC,14322,-0.74,-117.3,931.4,-5.9,368,14326,0.00,2.42,0.00,0.000,6,0.000,0.054,3078,2400,3355
$GC,14655,-0.74,-117.3,947.7,-5.0,374,14660,0.00,2.55,0.00,0.000,4,0.000,0.071,3078,993,3355
$GC,14684,-0.74,-117.3,949.4,-6.1,374,14688,0.00,2.45,0.00,0.000,6,0.000,0.062,3078,2402,3355
$GC,15017,-0.74,-117.3,966.8,-5.2,380,15021,0.00,2.50,0.00,0.000,4,0.000,0.082,3078,3817,3355
$GC,15051,-0.74,-117.3,968.8,-5.6,380,15055,0.00,2.38,0.00,0.000,6,0.000,0.056,3078,2391,3355
$GC,15379,-0.92,-117.3,988.8,-6.4,386,15384,0.15,2.55,0.00,0.000,4,0.084,0.080,3018,3817,3355
$STATE,15392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15392,begin apogee
$GC,15403,-0.22,0.0,990.1,6.4,386,15515,0.77,0.00,108.53,1.490,6,0.141,0.000,3237,2189,2876
$STATE,15516,end apogee,CONTROL_FINISHED_OK
$STATE,15516,begin climb
$GC,15521,0.67,117.3,995.2,0.0,388,15645,0.93,2.90,117.00,1.446,4,0.084,0.071,3534,787,2397
$GC,15903,0.34,117.3,980.5,6.9,393,15908,0.43,2.47,0.00,0.000,6,0.165,0.060,3431,2205,2394
$GC,16220,0.32,144.2,966.3,4.2,399,16250,0.00,2.50,24.23,1.418,4,0.000,0.077,3437,780,2288
$GC,16343,0.34,152.7,960.6,4.8,400,16357,0.00,2.38,9.38,1.273,6,0.000,0.060,3436,2209,2252
$GC,16725,0.34,154.4,942.0,5.0,407,16729,0.00,2.35,0.00,0.000,4,0.000,0.079,3436,3611,2251
$GC,16765,0.25,154.4,939.8,5.4,407,16770,0.15,2.30,0.00,0.000,6,0.177,0.061,3402,2199,2250
$GC,17088,0.37,185.4,926.5,4.1,413,17120,0.10,0.00,30.30,1.432,6,0.088,0.000,3441,2199,2120
$GC,17390,0.42,185.4,910.6,5.3,418,17394,0.00,2.40,0.00,0.000,4,0.000,0.077,3441,787,2116
$GC,17425,0.42,185.4,908.7,5.8,418,17429,0.00,2.35,0.00,0.000,6,0.000,0.061,3441,2207,2115
$GC,17754,0.47,185.4,890.1,5.6,424,17756,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2206,2115
$GC,18056,0.52,185.4,872.6,5.8,429,18061,0.12,2.47,0.00,0.000,4,0.094,0.077,3503,788,2114
$GC,18113,0.34,185.4,868.1,7.4,429,18120,0.28,2.35,0.00,0.000,6,0.145,0.061,3432,2198,2114
$GC,18425,0.34,185.4,849.0,6.1,435,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2196,2113
$GC,18728,0.38,185.4,831.0,5.9,440,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2197,2113
$GC,19030,0.42,185.4,813.6,5.7,445,19035,0.00,2.47,0.00,0.000,4,0.000,0.077,3435,790,2113
$GC,19087,0.47,185.4,810.4,5.1,445,19094,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2201,2113
$GC,19399,0.47,185.4,793.5,5.4,451,19403,0.00,2.50,0.00,0.000,4,0.000,0.076,3436,788,2113
$GC,19444,0.51,185.4,790.8,6.0,451,19449,0.15,2.40,0.00,0.000,6,0.078,0.059,3497,2210,2114
$GC,19761,0.37,185.4,767.1,7.6,457,19763,0.22,0.00,0.00,0.000,6,0.146,0.000,3435,2209,2113
$GC,20065,0.37,185.4,749.4,5.7,462,20069,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,792,2113
$GC,20139,0.42,185.4,744.8,6.0,463,20143,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2208,2113
$GC,20500,0.46,185.4,721.7,6.5,469,20501,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2113
$GC,20803,0.50,185.4,701.6,6.6,474,20808,0.12,2.55,0.00,0.000,4,0.084,0.076,3491,783,2113
$GC,20872,0.40,185.4,696.1,7.6,475,20877,0.17,2.42,0.00,0.000,6,0.142,0.060,3448,2211,2113
$GC,21233,0.40,185.4,672.1,6.6,481,21237,0.00,2.53,0.00,0.000,4,0.000,0.077,3449,791,2113
$GC,21287,0.40,185.4,668.6,6.4,481,21291,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2204,2113
$GC,21597,0.40,185.4,649.5,6.1,486,21599,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2113
$GC,21901,0.40,185.4,631.3,6.0,491,21905,0.00,2.60,0.00,0.000,4,0.000,0.076,3449,790,2113
$GC,21964,0.40,185.4,627.5,5.8,492,21968,0.00,2.42,0.00,0.000,6,0.000,0.059,3449,2207,2113
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$STATE,32413,end climb,SURFACE_DEPTH_REACHED
$STATE,32413,begin surface coast
$FINISH,0.5,1.003966
$STATE,32563,end surface coast,CONTROL_FINISHED_OK
$STATE,32563,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2135
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$TCM_TEMP,15.70
$XPDR_PINGS,1054
$24V_AH,20.6,132.585
$10V_AH,10.3,92.260
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$DEVICE_SECS,30.350,228.125,355.025,21.000,0.000,30.809,25.229,179.539,263.500,0.000,0.000,32.069,1853.093,27149.352,536.200,2561.389,928.194,33.384,1785.932,0.000,2504.124,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,650.880,626.676,1445.806,872.594,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50756,850
$CAP_FILE_SIZE,190443,0
$CFSIZE,260165632,205737984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120509,193755,5007.694,-14514.896,43,1.5,43,18.4