version: 66.03
glider: 120
mission: 9
dive: 221
start: 11 19 108 7 14 53
data:
$ID,120
$MISSION,9
$DIVE,221
$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,-22240.902
$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,19
$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
$GPS1,070838,5013.346,-14513.229,36,1.8,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-77.4
$GPS2,071357,5013.301,-14513.287,14,1.8,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.006,-0.178
$KALMAN_X,40788.6,-383.1,109.0,-68500.0,380.0
$KALMAN_Y,167728.4,-414.3,37.9,-152990.5,3398.5
$MHEAD_RNG_PITCHd_Wd,163.3,35760,-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,-117.3,0.0,0.0,0,55,0.00,0.00,-32.10,0.000,2,0.000,0.000,148,2402,2430
$GC,58,-0.67,-117.3,3.5,-6.4,3,102,13.98,2.47,-24.50,0.000,4,0.288,0.094,3086,3811,3357
$GC,238,-0.39,-117.3,25.9,-13.7,19,244,0.38,2.35,0.00,0.000,6,0.162,0.057,3190,2387,3359
$GC,563,-0.45,-117.3,48.1,-6.6,49,567,0.00,2.38,0.00,0.000,4,0.000,0.070,3191,984,3359
$GC,591,-0.53,-117.3,50.0,-6.8,51,596,0.15,2.35,0.00,0.000,6,0.081,0.062,3136,2414,3359
$GC,916,-0.53,-117.3,75.0,-7.1,81,920,0.00,2.33,0.00,0.000,4,0.000,0.079,3135,3806,3360
$GC,959,-0.53,-117.3,78.6,-8.1,84,966,0.00,2.33,0.00,0.000,6,0.000,0.054,3136,2399,3360
$GC,1276,-0.53,-117.3,104.3,-8.5,101,1280,0.00,2.38,0.00,0.000,4,0.000,0.069,3136,988,3361
$GC,1341,-0.53,-117.3,110.0,-8.5,104,1346,0.00,2.33,0.00,0.000,6,0.000,0.061,3135,2394,3361
$GC,1669,-0.53,-117.3,136.4,-7.8,120,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2393,3362
$GC,1997,-0.53,-117.3,158.3,-5.7,134,2001,0.00,2.40,0.00,0.000,4,0.000,0.070,3136,984,3361
$GC,2036,-0.60,-117.3,160.6,-6.1,135,2040,0.00,2.35,0.00,0.000,6,0.000,0.062,3135,2400,3361
$GC,2366,-0.64,-117.3,180.4,-6.4,146,2370,0.00,2.38,0.00,0.000,4,0.000,0.081,3135,3806,3361
$GC,2398,-0.70,-117.3,182.5,-6.6,147,2403,0.15,2.30,0.00,0.000,6,0.081,0.055,3078,2389,3361
$GC,2728,-0.62,-117.3,210.0,-8.4,158,2733,0.12,2.38,0.00,0.000,4,0.109,0.070,3118,987,3361
$GC,2760,-0.62,-117.3,212.7,-7.8,159,2764,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2408,3361
$GC,3095,-0.62,-117.3,237.1,-7.5,170,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3361
$GC,3401,-0.62,-117.3,260.9,-7.6,180,3406,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,984,3361
$GC,3440,-0.62,-117.3,263.9,-7.9,181,3444,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2398,3361
$GC,3769,-0.62,-117.3,286.0,-6.5,192,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3361
$GC,4075,-0.62,-117.3,304.5,-6.1,201,4079,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,993,3360
$GC,4114,-0.62,-117.3,306.9,-6.6,201,4118,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2402,3360
$GC,4435,-0.62,-117.3,327.8,-6.6,207,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3360
$GC,4737,-0.62,-117.3,348.1,-6.6,212,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3360
$GC,5040,-0.62,-117.3,367.1,-6.2,217,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3360
$GC,5343,-0.62,-117.3,385.6,-6.1,222,5348,0.00,2.42,0.00,0.000,4,0.000,0.072,3113,986,3359
$GC,5388,-0.62,-117.3,388.4,-6.4,222,5392,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2400,3359
$GC,5704,-0.62,-117.3,407.3,-6.0,228,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3359
$GC,6005,-0.62,-117.3,425.7,-6.0,233,6009,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,988,3358
$GC,6055,-0.62,-117.3,429.0,-6.2,233,6059,0.00,2.35,0.00,0.000,6,0.000,0.066,3113,2423,3358
$GC,6370,-0.62,-117.3,449.5,-6.6,239,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2423,3358
$GC,6673,-0.62,-117.3,471.0,-7.1,244,6677,0.00,2.42,0.00,0.000,4,0.000,0.072,3113,993,3359
$GC,6710,-0.62,-117.3,474.0,-8.4,244,6715,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2417,3358
$GC,7037,-0.62,-117.3,497.6,-7.3,250,7041,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,992,3358
$GC,7069,-0.62,-117.3,500.2,-7.6,250,7073,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2395,3358
$GC,7401,-0.62,-117.3,522.6,-6.7,256,7405,0.00,2.35,0.00,0.000,4,0.000,0.073,3113,989,3358
$GC,7428,-0.62,-117.3,524.4,-6.6,256,7432,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2400,3358
$GC,7766,-0.62,-117.3,543.3,-5.5,262,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,8069,-0.62,-117.3,559.1,-5.2,267,8073,0.00,2.38,0.00,0.000,4,0.000,0.073,3113,993,3358
$GC,8113,-0.62,-117.3,561.5,-5.6,267,8117,0.00,2.35,0.00,0.000,6,0.000,0.065,3113,2412,3358
$GC,8434,-0.62,-117.3,578.2,-5.3,273,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2413,3358
$GC,8737,-0.62,-117.3,595.5,-5.8,278,8741,0.00,2.42,0.00,0.000,4,0.000,0.073,3113,988,3358
$GC,8763,-0.62,-117.3,597.3,-6.4,278,8767,0.00,2.35,0.00,0.000,6,0.000,0.066,3113,2408,3358
$GC,9101,-0.62,-117.3,617.8,-6.1,284,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3357
$GC,9404,-0.66,-117.3,635.8,-5.9,289,9409,0.00,2.42,0.00,0.000,4,0.000,0.074,3113,987,3357
$GC,9437,-0.71,-117.3,637.9,-6.0,289,9441,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2404,3357
$GC,9770,-0.75,-117.3,656.0,-5.4,295,9772,0.12,0.00,0.00,0.000,6,0.091,0.000,3062,2405,3356
$GC,10073,-0.70,-117.3,674.4,-6.1,300,10077,0.00,2.38,0.00,0.000,4,0.000,0.073,3062,988,3356
$GC,10112,-0.61,-117.3,677.0,-7.0,300,10117,0.20,2.33,0.00,0.000,6,0.155,0.067,3116,2411,3357
$GC,10433,-0.67,-117.3,692.1,-4.6,306,10437,0.00,2.35,0.00,0.000,4,0.000,0.074,3117,991,3357
$GC,10466,-0.73,-117.3,693.9,-5.2,306,10470,0.00,2.30,0.00,0.000,6,0.000,0.065,3114,2405,3357
$GC,10799,-0.78,-117.3,709.6,-4.8,312,10801,0.15,0.00,0.00,0.000,6,0.087,0.000,3056,2405,3356
$GC,11102,-0.72,-117.3,728.8,-6.4,317,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2405,3356
$GC,11405,-0.66,-117.3,749.2,-6.8,322,11407,0.17,0.00,0.00,0.000,6,0.123,0.000,3106,2405,3356
$GC,11707,-0.66,-117.3,766.7,-5.9,327,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3356
$GC,12010,-0.66,-117.3,784.6,-6.0,332,12014,0.00,2.40,0.00,0.000,4,0.000,0.074,3106,988,3356
$GC,12060,-0.71,-117.3,787.8,-6.7,332,12064,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2399,3356
$GC,12375,-0.76,-117.3,806.2,-5.9,338,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3356
$GC,12678,-0.80,-117.3,823.4,-5.6,343,12683,0.15,2.38,0.00,0.000,4,0.086,0.074,3042,993,3355
$GC,12716,-0.66,-117.3,826.2,-7.1,343,12721,0.22,2.33,0.00,0.000,6,0.166,0.067,3102,2402,3355
$GC,13036,-0.66,-117.3,843.4,-5.3,349,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3356
$GC,13339,-0.66,-117.3,859.4,-5.3,354,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3356
$GC,13643,-0.66,-117.3,876.5,-5.7,359,13647,0.00,2.40,0.00,0.000,4,0.000,0.075,3103,987,3355
$GC,13670,-0.70,-117.3,878.1,-6.4,359,13674,0.00,2.33,0.00,0.000,6,0.000,0.068,3100,2405,3355
$GC,14007,-0.70,-117.3,896.7,-5.5,365,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,14310,-0.70,-117.3,913.5,-5.6,370,14315,0.00,2.40,0.00,0.000,4,0.000,0.075,3100,994,3355
$GC,14337,-0.70,-117.3,915.2,-6.3,370,14342,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2397,3354
$GC,14675,-0.70,-117.3,934.8,-5.8,376,14679,0.00,2.38,0.00,0.000,4,0.000,0.075,3100,992,3354
$GC,14701,-0.70,-117.3,936.5,-6.0,376,14706,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2408,3355
$GC,15039,-0.70,-117.3,955.4,-5.6,382,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,15342,-0.70,-117.3,972.9,-5.8,387,15346,0.00,2.40,0.00,0.000,4,0.000,0.076,3100,990,3354
$GC,15382,-0.75,-117.3,975.3,-6.3,387,15386,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2408,3354
$STATE,15701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15701,begin apogee
$GC,15707,-0.22,0.0,992.7,5.4,393,15815,0.47,0.00,105.25,1.502,6,0.142,0.000,3244,2197,2876
$STATE,15815,end apogee,CONTROL_FINISHED_OK
$STATE,15815,begin climb
$GC,15817,0.67,117.3,994.3,0.0,394,15934,0.88,2.65,109.38,1.452,4,0.094,0.081,3533,788,2396
$GC,15973,0.29,117.3,993.6,7.2,395,15978,0.47,2.50,0.00,0.000,6,0.184,0.063,3415,2196,2394
$GC,16299,0.29,117.3,975.0,5.7,401,16303,0.00,2.42,0.00,0.000,4,0.000,0.081,3415,3613,2393
$GC,16342,0.19,117.3,972.2,6.8,401,16347,0.17,2.38,0.00,0.000,6,0.178,0.064,3380,2194,2392
$GC,16658,0.29,127.4,957.1,4.7,407,16669,0.00,0.00,10.02,1.305,6,0.000,0.000,3381,2195,2355
$GC,16961,0.40,148.5,943.5,4.4,412,16983,0.20,0.00,20.17,1.406,6,0.081,0.000,3456,2194,2270
$GC,17264,0.30,148.5,923.9,6.6,417,17265,0.15,0.00,0.00,0.000,6,0.150,0.000,3417,2195,2267
$GC,17566,0.30,148.5,908.4,5.1,422,17570,0.00,2.47,0.00,0.000,4,0.000,0.081,3415,3611,2267
$GC,17599,0.26,148.5,906.5,5.7,422,17603,0.00,2.38,0.00,0.000,6,0.000,0.064,3421,2197,2268
$GC,17931,0.26,148.5,889.6,5.1,428,17932,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2267
$GC,18234,0.26,148.5,873.8,5.2,433,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2266
$GC,18537,0.26,148.5,857.0,5.6,438,18538,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2266
$GC,18840,0.26,148.5,839.0,6.0,443,18844,0.00,2.45,0.00,0.000,4,0.000,0.083,3421,3616,2267
$GC,18883,0.20,148.5,835.9,7.3,443,18888,0.15,2.35,0.00,0.000,6,0.176,0.065,3384,2200,2266
$GC,19199,0.32,151.1,820.3,4.9,449,19200,0.10,0.00,0.00,0.000,6,0.098,0.000,3421,2200,2266
$GC,19502,0.38,152.9,805.2,4.9,454,19508,0.00,0.00,5.05,1.039,6,0.000,0.000,3421,2200,2252
$GC,19805,0.47,166.4,791.0,4.6,459,19821,0.15,0.00,13.50,1.306,6,0.098,0.000,3480,2200,2197
$GC,20108,0.33,166.4,769.4,7.3,464,20113,0.17,2.45,0.00,0.000,4,0.155,0.078,3436,791,2195
$GC,20146,0.33,166.4,766.9,6.3,464,20150,0.00,2.35,0.00,0.000,6,0.000,0.065,3436,2214,2195
$GC,20472,0.33,166.4,748.5,5.7,470,20474,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2195
$GC,20775,0.33,166.4,731.8,5.5,475,20779,0.00,2.45,0.00,0.000,4,0.000,0.081,3436,787,2195
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$GC,29808,0.57,218.5,223.6,4.9,647,29812,0.15,2.38,0.00,0.000,4,0.086,0.081,3516,3609,1991
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$GC,30475,0.59,218.5,187.0,5.4,669,30480,0.17,2.42,0.00,0.000,4,0.083,0.077,3511,789,1990
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$STATE,33442,end climb,SURFACE_DEPTH_REACHED
$STATE,33442,begin surface coast
$FINISH,1.1,1.013145
$STATE,33573,end surface coast,CONTROL_FINISHED_OK
$STATE,33573,begin surface
$SM_CCo,33591,35.55,0.849,0,0,1653,300.00
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$TCM_TEMP,16.20
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$10V_AH,10.6,29.469
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$DEVICE_SECS,30.800,223.675,343.000,35.550,0.000,29.882,26.146,149.738,255.500,0.000,0.000,14.022,1876.333,28573.598,559.306,2397.011,537.493,33.384,1741.230,0.000,2370.238,0.000,0.465
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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,50683,870
$CAP_FILE_SIZE,192838,0
$CFSIZE,260165632,241418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191108,163638,5010.296,-14511.956,40,1.7,40,18.5