version: 66.03
glider: 120
mission: 9
dive: 719
start: 5 26 109 20 28 1
data:
$ID,120
$MISSION,9
$DIVE,719
$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,-33013.68
$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,20
$R_STBD_OVSHOOT,17
$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
$GPS1,202000,5014.793,-14501.931,51,2.0,70,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.3
$GPS2,202707,5014.771,-14501.847,12,2.0,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.095,0.150
$KALMAN_X,-150174.6,210.8,151.3,164840.2,-614.2
$KALMAN_Y,143924.8,-67.5,154.2,-123106.5,-1747.0
$MHEAD_RNG_PITCHd_Wd,309.2,16609,-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,-39.50,0.000,2,0.000,0.000,138,2398,2757
$GC,74,-0.67,-117.3,3.4,-6.5,4,108,13.57,2.50,-11.88,0.000,4,0.276,0.081,3096,989,3358
$GC,241,-0.51,-117.3,27.3,-10.6,18,248,0.20,2.40,0.00,0.000,6,0.146,0.061,3152,2406,3360
$GC,572,-0.51,-117.3,51.3,-7.4,49,577,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2404,3360
$GC,898,-0.51,-117.3,74.5,-7.3,80,902,0.00,2.50,0.00,0.000,4,0.000,0.066,3152,983,3360
$GC,951,-0.56,-117.3,78.3,-7.2,84,955,0.00,2.42,0.00,0.000,6,0.000,0.058,3152,2400,3360
$GC,1269,-0.56,-117.3,100.7,-6.8,100,1273,0.00,2.50,0.00,0.000,4,0.000,0.080,3152,3816,3361
$GC,1315,-0.64,-117.3,104.1,-7.3,102,1320,0.12,2.35,0.00,0.000,6,0.077,0.051,3106,2384,3360
$GC,1639,-0.64,-117.3,129.6,-8.0,118,1643,0.00,2.42,0.00,0.000,4,0.000,0.066,3106,989,3361
$GC,1695,-0.64,-117.3,134.4,-8.1,120,1701,0.00,2.42,0.00,0.000,6,0.000,0.058,3106,2405,3361
$GC,2022,-0.64,-117.3,157.8,-7.1,135,2026,0.00,2.47,0.00,0.000,4,0.000,0.077,3101,3817,3361
$GC,2056,-0.64,-117.3,160.5,-7.7,136,2060,0.00,2.35,0.00,0.000,6,0.000,0.051,3101,2402,3361
$GC,2387,-0.64,-117.3,184.2,-7.1,147,2391,0.00,2.50,0.00,0.000,4,0.000,0.067,3101,992,3361
$GC,2421,-0.64,-117.3,186.9,-7.2,148,2425,0.00,2.42,0.00,0.000,6,0.000,0.058,3101,2401,3361
$GC,2752,-0.64,-117.3,209.8,-6.8,159,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3361
$GC,3058,-0.64,-117.3,228.8,-6.0,169,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3360
$GC,3363,-0.64,-117.3,244.9,-5.1,179,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3361
$GC,3670,-0.64,-117.3,261.6,-5.7,189,3674,0.00,2.53,0.00,0.000,4,0.000,0.067,3101,992,3361
$GC,3704,-0.68,-117.3,263.7,-5.9,190,3709,0.00,2.42,0.00,0.000,6,0.000,0.058,3101,2401,3361
$GC,4036,-0.68,-117.3,283.8,-6.2,201,4040,0.00,2.55,0.00,0.000,4,0.000,0.078,3100,3812,3361
$GC,4066,-0.68,-117.3,285.9,-6.8,202,4070,0.00,2.47,0.00,0.000,6,0.000,0.051,3099,2394,3360
$GC,4402,-0.68,-117.3,308.3,-6.8,211,4406,0.00,2.65,0.00,0.000,4,0.000,0.067,3099,991,3360
$GC,4454,-0.74,-117.3,312.0,-7.1,211,4458,0.00,2.45,0.00,0.000,6,0.000,0.058,3099,2404,3360
$GC,4764,-0.74,-117.3,333.4,-6.9,216,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3360
$GC,5068,-0.74,-117.3,353.6,-6.6,221,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3360
$GC,5371,-0.74,-117.3,374.0,-6.7,226,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3360
$GC,5674,-0.74,-117.3,395.7,-7.3,231,5678,0.00,2.62,0.00,0.000,4,0.000,0.067,3099,985,3359
$GC,5714,-0.80,-117.3,398.7,-7.2,231,5719,0.12,2.47,0.00,0.000,6,0.087,0.059,3056,2411,3360
$GC,6037,-0.74,-117.3,424.8,-8.0,237,6041,0.00,2.50,0.00,0.000,4,0.000,0.078,3055,3813,3359
$GC,6071,-0.65,-117.3,427.8,-9.0,237,6076,0.17,2.38,0.00,0.000,6,0.104,0.053,3102,2390,3359
$GC,6400,-0.65,-117.3,447.9,-6.1,243,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2391,3359
$GC,6704,-0.65,-117.3,465.6,-5.8,248,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2391,3359
$GC,7005,-0.65,-117.3,483.7,-6.0,253,7009,0.00,2.53,0.00,0.000,4,0.000,0.069,3103,984,3359
$GC,7061,-0.65,-117.3,487.5,-6.7,253,7068,0.00,2.47,0.00,0.000,6,0.000,0.061,3100,2407,3358
$GC,7373,-0.65,-117.3,507.5,-6.5,259,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3359
$GC,7675,-0.65,-117.3,527.8,-6.7,264,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,7979,-0.65,-117.3,548.2,-6.7,269,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,8281,-0.65,-117.3,567.0,-6.1,274,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3358
$GC,8585,-0.65,-117.3,582.5,-5.1,279,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3358
$GC,8889,-0.65,-117.3,597.9,-5.1,284,8893,0.00,2.60,0.00,0.000,4,0.000,0.068,3100,997,3358
$GC,8919,-0.65,-117.3,599.6,-6.2,284,8923,0.00,2.50,0.00,0.000,6,0.000,0.061,3100,2406,3358
$GC,9252,-0.65,-117.3,617.6,-5.4,290,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3358
$GC,9555,-0.65,-117.3,634.8,-5.7,295,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3358
$GC,9859,-0.65,-117.3,652.2,-5.7,300,9864,0.00,2.65,0.00,0.000,4,0.000,0.068,3099,986,3357
$GC,9890,-0.65,-117.3,654.2,-6.5,300,9894,0.00,2.47,0.00,0.000,6,0.000,0.061,3099,2404,3357
$GC,10223,-0.69,-117.3,672.2,-5.3,306,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,10527,-0.74,-117.3,687.6,-5.1,311,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3357
$GC,10831,-0.78,-117.3,703.7,-5.3,316,10835,0.00,2.60,0.00,0.000,4,0.000,0.070,3100,984,3357
$GC,10871,-0.83,-117.3,706.1,-5.7,316,10876,0.15,2.47,0.00,0.000,6,0.078,0.061,3047,2401,3356
$GC,11192,-0.83,-117.3,726.4,-6.2,322,11197,0.00,2.55,0.00,0.000,4,0.000,0.080,3046,3811,3357
$GC,11258,-0.75,-117.3,730.9,-7.2,323,11263,0.10,2.40,0.00,0.000,6,0.094,0.054,3072,2395,3356
$GC,11624,-0.75,-117.3,754.7,-6.5,329,11629,0.00,2.58,0.00,0.000,4,0.000,0.070,3073,996,3357
$GC,11692,-0.75,-117.3,759.6,-6.4,330,11697,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2400,3357
$GC,12055,-0.75,-117.3,784.9,-7.1,336,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,12357,-0.75,-117.3,806.3,-7.1,341,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,12660,-0.75,-117.3,827.8,-7.1,346,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3356
$GC,12963,-0.75,-117.3,849.4,-7.3,351,12967,0.00,2.55,0.00,0.000,4,0.000,0.071,3073,987,3356
$GC,12992,-0.75,-117.3,851.5,-8.1,351,12996,0.00,2.50,0.00,0.000,6,0.000,0.063,3072,2407,3356
$GC,13325,-0.75,-117.3,874.1,-6.7,357,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3356
$GC,13628,-0.75,-117.3,894.6,-6.8,362,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2406,3356
$GC,13931,-0.75,-117.3,915.6,-6.9,367,13935,0.00,2.55,0.00,0.000,4,0.000,0.071,3073,995,3355
$GC,13966,-0.75,-117.3,918.3,-8.3,367,13970,0.00,2.47,0.00,0.000,6,0.000,0.063,3072,2402,3355
$GC,14293,-0.75,-117.3,940.9,-6.9,373,14297,0.00,2.55,0.00,0.000,4,0.000,0.083,3072,3811,3355
$GC,14327,-0.75,-117.3,943.4,-7.2,373,14331,0.00,2.38,0.00,0.000,6,0.000,0.054,3072,2402,3355
$GC,14654,-0.75,-117.3,964.6,-6.5,379,14658,0.00,2.53,0.00,0.000,4,0.000,0.071,3073,982,3355
$GC,14700,-0.75,-117.3,967.9,-6.7,379,14704,0.00,2.50,0.00,0.000,6,0.000,0.062,3072,2407,3356
$GC,15016,-0.75,-117.3,988.0,-6.4,385,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2406,3355
$STATE,15073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15073,begin apogee
$GC,15082,-0.22,0.0,991.7,6.3,386,15196,0.57,0.00,110.50,1.492,6,0.135,0.000,3242,2189,2876
$STATE,15197,end apogee,CONTROL_FINISHED_OK
$STATE,15197,begin climb
$GC,15202,0.67,117.3,996.6,0.0,388,15329,0.95,2.85,119.82,1.440,4,0.081,0.076,3534,792,2397
$GC,15348,0.34,141.3,998.2,4.3,390,15381,0.45,2.75,26.15,1.364,6,0.173,0.057,3435,2207,2299
$GC,15685,0.34,141.3,980.5,5.4,396,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2206,2296
$GC,15988,0.34,141.3,963.8,5.5,401,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2295
$GC,16291,0.34,141.3,946.4,5.8,406,16292,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2295
$GC,16594,0.34,141.3,928.4,6.0,411,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2294
$GC,16897,0.34,141.3,909.9,6.1,416,16901,0.00,2.45,0.00,0.000,4,0.000,0.078,3434,3622,2294
$GC,16948,0.24,141.3,906.4,6.9,416,16953,0.17,2.38,0.00,0.000,6,0.177,0.061,3395,2202,2294
$GC,17261,0.34,150.4,891.4,4.7,421,17275,0.00,2.45,8.75,1.269,4,0.000,0.078,3395,790,2263
$GC,17311,0.48,167.4,888.8,4.5,421,17336,0.22,2.40,16.75,1.362,6,0.071,0.059,3480,2204,2193
$GC,17702,0.36,167.4,861.2,7.2,428,17707,0.15,2.45,0.00,0.000,4,0.150,0.077,3433,3619,2191
$GC,17737,0.30,167.4,858.4,6.2,428,17741,0.00,2.38,0.00,0.000,6,0.000,0.061,3436,2197,2191
$GC,18064,0.30,167.4,838.5,6.1,434,18066,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2191
$GC,18369,0.30,167.4,819.4,6.2,439,18373,0.00,2.50,0.00,0.000,4,0.000,0.078,3436,3607,2190
$GC,18414,0.23,167.4,816.1,7.3,439,18419,0.17,2.40,0.00,0.000,6,0.171,0.061,3394,2189,2190
$GC,18731,0.36,167.4,799.7,5.2,445,18735,0.12,2.55,0.00,0.000,4,0.083,0.077,3440,3617,2190
$GC,18760,0.32,167.4,797.7,6.5,445,18765,0.00,2.40,0.00,0.000,6,0.000,0.060,3449,2200,2190
$GC,19094,0.32,167.4,775.4,6.6,451,19095,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2190
$GC,19397,0.32,167.4,756.6,6.2,456,19398,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2201,2190
$GC,19700,0.32,167.4,737.1,6.5,461,19704,0.00,2.53,0.00,0.000,4,0.000,0.076,3449,783,2190
$GC,19752,0.32,167.4,733.7,5.9,461,19757,0.00,2.42,0.00,0.000,6,0.000,0.058,3449,2200,2190
$GC,20065,0.32,167.4,715.3,5.8,466,20066,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2190
$GC,20366,0.32,167.4,699.6,5.1,471,20371,0.00,2.53,0.00,0.000,4,0.000,0.080,3449,3614,2190
$GC,20401,0.23,167.4,697.5,5.9,471,20406,0.22,2.42,0.00,0.000,6,0.164,0.061,3393,2195,2189
$GC,20731,0.46,241.1,687.3,2.9,477,20803,0.20,2.53,66.40,1.310,4,0.078,0.076,3476,788,1892
$GC,20826,0.46,241.1,682.2,6.5,478,20831,0.00,2.50,0.00,0.000,6,0.000,0.058,3476,2201,1890
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$STATE,30612,end climb,SURFACE_DEPTH_REACHED
$STATE,30612,begin surface coast
$FINISH,0.4,1.025468
$STATE,30741,end surface coast,CONTROL_FINISHED_OK
$STATE,30741,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2152
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$TCM_TEMP,15.70
$XPDR_PINGS,972
$24V_AH,20.7,139.858
$10V_AH,10.2,97.531
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$DEVICE_SECS,29.425,210.025,381.850,0.000,0.000,24.409,25.946,172.897,243.000,0.000,0.000,29.897,1761.681,25686.514,571.610,2293.602,922.203,33.385,1676.624,0.000,2252.816,0.000,0.465
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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,47509,835
$CAP_FILE_SIZE,176785,0
$CFSIZE,260165632,202780672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270509,050307,5017.021,-14505.932,38,1.9,38,18.5