version: 66.03
glider: 120
mission: 9
dive: 159
start: 10 26 108 19 14 52
data:
$ID,120
$MISSION,9
$DIVE,159
$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,300
$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,-21039.08
$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,18
$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
$GPS1,190808,5014.747,-14426.183,51,1.2,51,18.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-69.8
$GPS2,191357,5014.704,-14426.122,15,1.7,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.024,-0.176
$KALMAN_X,39848.2,-7.0,223.3,-12031.0,326.0
$KALMAN_Y,121981.3,-209.1,367.1,-105188.5,1714.9
$MHEAD_RNG_PITCHd_Wd,169.0,38578,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-12.25,0.000,2,0.000,0.000,146,2406,1770
$GC,38,-0.67,-117.3,3.6,-0.0,1,123,13.70,2.47,-61.35,0.000,4,0.284,0.092,3093,3810,3356
$GC,157,-0.42,-117.3,12.9,-15.8,12,162,0.30,2.30,0.00,0.000,6,0.160,0.063,3178,2395,3357
$GC,481,-0.42,-117.3,39.9,-10.0,42,483,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2395,3358
$GC,800,-0.47,-117.3,65.0,-7.8,72,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2395,3359
$GC,1118,-0.52,-117.3,84.8,-6.9,99,1122,0.00,2.28,0.00,0.000,4,0.000,0.067,3178,993,3361
$GC,1180,-0.60,-117.3,89.2,-7.5,102,1185,0.17,2.30,0.00,0.000,6,0.076,0.059,3108,2412,3361
$GC,1507,-0.46,-117.3,119.8,-9.3,118,1511,0.17,2.33,0.00,0.000,4,0.153,0.076,3155,3809,3361
$GC,1572,-0.46,-117.3,124.9,-7.3,121,1576,0.00,2.25,0.00,0.000,6,0.000,0.051,3155,2403,3361
$GC,1899,-0.46,-117.3,146.6,-6.4,137,1903,0.00,2.30,0.00,0.000,4,0.000,0.067,3155,988,3361
$GC,1931,-0.46,-117.3,149.0,-7.7,138,1938,0.00,2.33,0.00,0.000,6,0.000,0.060,3155,2406,3361
$GC,2264,-0.53,-117.3,171.0,-6.3,150,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2405,3361
$GC,2571,-0.60,-117.3,188.8,-5.7,160,2575,0.00,2.33,0.00,0.000,4,0.000,0.070,3155,992,3361
$GC,2599,-0.67,-117.3,190.6,-6.5,161,2604,0.17,2.30,0.00,0.000,6,0.081,0.061,3090,2400,3361
$GC,2933,-0.56,-117.3,217.3,-8.1,172,2935,0.15,0.00,0.00,0.000,6,0.155,0.000,3130,2400,3360
$GC,3239,-0.56,-117.3,236.4,-6.0,182,3243,0.00,2.33,0.00,0.000,4,0.000,0.080,3126,3809,3359
$GC,3271,-0.56,-117.3,238.4,-5.7,183,3275,0.00,2.28,0.00,0.000,6,0.000,0.054,3126,2395,3360
$GC,3606,-0.56,-117.3,258.3,-5.8,194,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3359
$GC,3912,-0.56,-117.3,275.0,-5.5,204,3916,0.00,2.30,0.00,0.000,4,0.000,0.071,3126,989,3358
$GC,3956,-0.56,-117.3,277.8,-6.7,205,3960,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2404,3358
$GC,4280,-0.56,-117.3,298.1,-6.5,216,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3358
$GC,4614,-0.56,-117.3,320.4,-6.7,222,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3358
$GC,4916,-0.56,-117.3,339.4,-6.2,227,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2404,3357
$GC,5219,-0.56,-117.3,356.2,-5.6,232,5224,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,994,3357
$GC,5240,-0.56,-117.3,357.6,-5.8,232,5245,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2396,3357
$GC,5584,-0.56,-117.3,377.5,-5.9,238,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2396,3356
$GC,5887,-0.56,-117.3,396.0,-6.1,243,5891,0.00,2.33,0.00,0.000,4,0.000,0.072,3126,987,3356
$GC,5913,-0.56,-117.3,397.8,-7.2,243,5918,0.00,2.35,0.00,0.000,6,0.000,0.064,3125,2405,3356
$GC,6251,-0.56,-117.3,418.7,-6.2,249,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3356
$GC,6554,-0.56,-117.3,438.4,-6.5,254,6559,0.00,2.33,0.00,0.000,4,0.000,0.073,3126,994,3356
$GC,6598,-0.56,-117.3,441.4,-6.6,254,6602,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2395,3355
$GC,6919,-0.56,-117.3,460.5,-5.9,260,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3356
$GC,7222,-0.56,-117.3,477.7,-5.6,265,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3355
$GC,7525,-0.56,-117.3,494.8,-5.7,270,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3355
$GC,7829,-0.60,-117.3,511.8,-5.6,275,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3355
$GC,8131,-0.60,-117.3,528.2,-5.4,280,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3355
$GC,8434,-0.60,-117.3,545.2,-5.6,285,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2395,3354
$GC,8738,-0.65,-117.3,562.6,-5.8,290,8742,0.00,2.33,0.00,0.000,4,0.000,0.074,3125,992,3354
$GC,8765,-0.70,-117.3,564.3,-6.4,290,8769,0.10,2.30,0.00,0.000,6,0.092,0.065,3088,2404,3353
$GC,9101,-0.70,-117.3,587.0,-6.8,296,9105,0.00,2.33,0.00,0.000,4,0.000,0.082,3087,3806,3353
$GC,9127,-0.70,-117.3,589.1,-7.0,296,9132,0.00,2.28,0.00,0.000,6,0.000,0.058,3087,2402,3353
$GC,9465,-0.70,-117.3,611.5,-6.5,302,9469,0.00,2.33,0.00,0.000,4,0.000,0.074,3087,985,3353
$GC,9491,-0.70,-117.3,613.2,-6.2,302,9495,0.00,2.33,0.00,0.000,6,0.000,0.065,3087,2397,3353
$GC,9829,-0.65,-117.3,635.8,-6.7,308,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2397,3353
$GC,10133,-0.59,-117.3,655.4,-6.4,313,10134,0.15,0.00,0.00,0.000,6,0.164,0.000,3126,2397,3353
$GC,10436,-0.66,-117.3,669.9,-4.7,318,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2397,3353
$GC,10739,-0.73,-117.3,683.6,-4.6,323,10741,0.15,0.00,0.00,0.000,6,0.089,0.000,3071,2397,3352
$GC,11042,-0.68,-117.3,700.7,-5.6,328,11046,0.00,2.33,0.00,0.000,4,0.000,0.074,3071,993,3352
$GC,11104,-0.59,-117.3,704.5,-6.1,329,11108,0.20,2.33,0.00,0.000,6,0.162,0.067,3125,2412,3352
$GC,11469,-0.67,-117.3,720.5,-4.3,335,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2412,3352
$GC,11772,-0.74,-117.3,734.6,-4.7,340,11774,0.15,0.00,0.00,0.000,6,0.087,0.000,3069,2412,3352
$GC,12075,-0.70,-117.3,752.9,-6.1,345,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2412,3351
$GC,12377,-0.70,-117.3,771.6,-6.2,350,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2412,3351
$GC,12680,-0.70,-117.3,790.9,-6.4,355,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2412,3351
$GC,12984,-0.70,-117.3,810.7,-6.5,360,12988,0.00,2.38,0.00,0.000,4,0.000,0.075,3069,984,3351
$GC,13033,-0.62,-117.3,814.1,-6.9,360,13038,0.17,2.33,0.00,0.000,6,0.159,0.067,3116,2402,3351
$GC,13343,-0.68,-117.3,830.4,-5.2,365,13344,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2402,3351
$GC,13646,-0.74,-117.3,845.7,-5.1,370,13651,0.12,2.35,0.00,0.000,4,0.093,0.084,3069,3809,3350
$GC,13689,-0.68,-117.3,848.6,-6.9,370,13693,0.00,2.25,0.00,0.000,6,0.000,0.061,3069,2398,3350
$GC,14011,-0.63,-117.3,867.7,-6.0,376,14016,0.15,2.33,0.00,0.000,4,0.133,0.075,3119,991,3350
$GC,14043,-0.70,-117.3,869.5,-5.8,376,14047,0.00,2.33,0.00,0.000,6,0.000,0.067,3119,2397,3350
$GC,14375,-0.78,-117.3,885.8,-5.0,382,14377,0.15,0.00,0.00,0.000,6,0.089,0.000,3064,2397,3350
$GC,14678,-0.78,-117.3,904.7,-6.3,387,14682,0.00,2.33,0.00,0.000,4,0.000,0.075,3064,993,3350
$GC,14710,-0.70,-117.3,907.0,-7.0,387,14714,0.00,2.30,0.00,0.000,6,0.000,0.067,3064,2401,3350
$GC,15042,-0.61,-117.3,930.0,-7.0,393,15044,0.20,0.00,0.00,0.000,6,0.162,0.000,3118,2401,3350
$GC,15346,-0.69,-117.3,944.7,-4.7,398,15347,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2401,3350
$GC,15649,-0.76,-117.3,959.4,-4.9,403,15651,0.15,0.00,0.00,0.000,6,0.090,0.000,3063,2401,3350
$GC,15951,-0.71,-117.3,978.6,-6.4,408,15953,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3350
$STATE,16131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16131,begin apogee
$GC,16136,-0.22,0.0,990.3,6.4,411,16240,0.60,0.00,101.57,1.503,6,0.141,0.000,3246,2199,2876
$STATE,16241,end apogee,CONTROL_FINISHED_OK
$STATE,16241,begin climb
$GC,16243,0.67,117.3,992.1,0.0,412,16357,0.85,2.65,106.10,1.449,4,0.092,0.079,3532,791,2396
$GC,16378,0.27,117.3,993.1,5.9,414,16384,0.50,2.53,0.00,0.000,6,0.190,0.062,3409,2203,2394
$GC,16727,0.29,132.2,977.0,4.6,420,16743,0.00,0.00,13.77,1.347,6,0.000,0.000,3410,2203,2337
$GC,17030,0.30,141.8,962.7,4.7,425,17042,0.00,0.00,10.20,1.305,6,0.000,0.000,3410,2203,2297
$GC,17333,0.31,147.8,948.3,4.8,430,17342,0.00,0.00,6.93,1.200,6,0.000,0.000,3410,2203,2273
$GC,17637,0.31,153.5,933.6,4.8,435,17645,0.00,0.00,6.60,1.185,6,0.000,0.000,3409,2203,2250
$GC,17939,0.32,159.0,918.9,4.8,440,17953,0.00,2.42,6.60,1.185,4,0.000,0.082,3409,3616,2227
$GC,17975,0.32,159.0,916.9,5.9,440,17980,0.00,2.35,0.00,0.000,6,0.000,0.065,3409,2206,2227
$GC,18308,0.35,182.1,902.5,4.3,446,18331,0.00,0.00,21.45,1.404,6,0.000,0.000,3409,2206,2132
$GC,18612,0.42,197.3,888.7,4.6,451,18629,0.12,0.00,14.50,1.355,6,0.093,0.000,3456,2206,2071
$GC,18914,0.37,197.3,868.7,6.7,456,18918,0.00,2.40,0.00,0.000,4,0.000,0.081,3463,790,2069
$GC,18999,0.30,197.3,862.8,7.1,457,19004,0.17,2.35,0.00,0.000,6,0.156,0.065,3417,2211,2068
$GC,19342,0.35,197.3,843.6,5.5,463,19346,0.00,2.35,0.00,0.000,4,0.000,0.083,3417,3621,2067
$GC,19374,0.35,197.3,841.3,7.4,463,19378,0.00,2.35,0.00,0.000,6,0.000,0.065,3421,2202,2067
$GC,19706,0.35,197.3,821.4,6.1,469,19710,0.00,2.38,0.00,0.000,4,0.000,0.084,3421,3613,2068
$GC,19733,0.35,197.3,819.4,6.4,469,19738,0.00,2.30,0.00,0.000,6,0.000,0.066,3421,2198,2067
$GC,20065,0.40,197.3,798.6,6.3,475,20066,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2067
$GC,20368,0.44,197.3,779.9,6.2,480,20370,0.12,0.00,0.00,0.000,6,0.098,0.000,3473,2199,2068
$GC,20671,0.35,197.3,756.2,7.9,485,20676,0.15,2.35,0.00,0.000,4,0.158,0.079,3436,790,2067
$GC,20720,0.35,197.3,752.5,6.7,485,20724,0.00,2.33,0.00,0.000,6,0.000,0.066,3436,2200,2067
$GC,21035,0.35,197.3,731.3,6.7,491,21039,0.00,2.33,0.00,0.000,4,0.000,0.083,3436,3607,2067
$GC,21072,0.35,197.3,728.6,7.5,491,21077,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2208,2067
$GC,21399,0.35,197.3,707.6,6.4,497,21400,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2067
$GC,21702,0.35,197.3,686.9,6.9,502,21706,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,786,2067
$GC,21745,0.35,197.3,683.8,6.6,502,21749,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2207,2067
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$STATE,32721,end climb,SURFACE_DEPTH_REACHED
$STATE,32721,begin surface coast
$FINISH,2.3,1.020493
$STATE,32818,end surface coast,CONTROL_FINISHED_OK
$STATE,32818,begin surface
$SM_CCo,32835,15.88,0.815,0,0,1653,300.00
$SM_GC,4.44,0.00,0.00,15.88,0.000,0.000,0.815,149,2403,1653,-9.90,0.08,300.00
$IRIDIUM_FIX,5003.11,-14422.65,200198,090934
$TT8_MAMPS,0.026078
$HUMID,2116
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$TCM_TEMP,15.70
$XPDR_PINGS,1011
$24V_AH,22.5,33.685
$10V_AH,10.7,21.200
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$DEVICE_SECS,29.775,192.350,356.300,15.875,0.000,30.364,27.144,181.413,252.750,0.000,0.000,15.808,1839.203,27971.748,556.718,2318.438,510.694,33.380,1692.059,0.000,2299.186,0.000,0.465
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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,50689,874
$CAP_FILE_SIZE,186295,0
$CFSIZE,260165632,246296576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,271008,042337,5011.253,-14426.777,37,1.2,37,18.6