version: 66.03
glider: 120
mission: 9
dive: 229
start: 11 22 108 10 4 24
data:
$ID,120
$MISSION,9
$DIVE,229
$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,-22453.021
$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,16
$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
$GPS1,094702,4955.689,-14509.219,56,2.0,56,18.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.7
$GPS2,100327,4955.673,-14508.956,14,1.2,14,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.158,0.081
$KALMAN_X,44309.4,-148.1,105.7,-67103.6,-127.8
$KALMAN_Y,179328.5,-669.1,-552.5,-196378.5,3057.4
$MHEAD_RNG_PITCHd_Wd,44.5,30671,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.60,0.000,2,0.000,0.000,134,2402,2446
$GC,57,-0.67,-117.3,3.6,-6.7,3,101,14.15,2.42,-24.42,0.000,4,0.286,0.079,3096,985,3356
$GC,354,-0.45,-117.3,42.3,-13.6,29,361,0.25,2.35,0.00,0.000,6,0.154,0.064,3167,2406,3358
$GC,681,-0.45,-117.3,68.7,-6.5,60,685,0.00,2.42,0.00,0.000,4,0.000,0.067,3167,984,3359
$GC,781,-0.53,-117.3,75.3,-6.9,68,788,0.00,2.33,0.00,0.000,6,0.000,0.061,3167,2411,3359
$GC,1110,-0.59,-117.3,96.8,-6.6,88,1114,0.12,2.33,0.00,0.000,4,0.084,0.077,3114,3808,3360
$GC,1142,-0.51,-117.3,99.8,-9.6,89,1149,0.15,2.30,0.00,0.000,6,0.137,0.054,3155,2380,3360
$GC,1458,-0.51,-117.3,124.7,-7.3,105,1462,0.00,2.33,0.00,0.000,4,0.000,0.067,3155,992,3360
$GC,1506,-0.51,-117.3,128.5,-7.0,107,1511,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2400,3360
$GC,1828,-0.56,-117.3,149.4,-6.1,123,1833,0.00,2.35,0.00,0.000,4,0.000,0.081,3155,3817,3360
$GC,1857,-0.67,-117.3,151.3,-6.4,125,1862,0.15,2.30,0.00,0.000,6,0.082,0.054,3098,2398,3360
$GC,2191,-0.67,-117.3,176.6,-7.4,136,2196,0.00,2.38,0.00,0.000,4,0.000,0.068,3098,988,3360
$GC,2241,-0.63,-117.3,180.6,-7.8,137,2245,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2403,3360
$GC,2560,-0.57,-117.3,204.1,-7.3,148,2562,0.12,0.00,0.00,0.000,6,0.157,0.000,3130,2403,3360
$GC,2866,-0.57,-117.3,221.9,-5.8,158,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2403,3360
$GC,3171,-0.57,-117.3,240.2,-5.8,168,3176,0.00,2.38,0.00,0.000,4,0.000,0.081,3126,3815,3360
$GC,3204,-0.57,-117.3,242.4,-6.6,169,3208,0.00,2.33,0.00,0.000,6,0.000,0.056,3126,2391,3360
$GC,3539,-0.57,-117.3,264.0,-6.7,180,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2391,3359
$GC,3845,-0.57,-117.3,283.1,-5.9,190,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3359
$GC,4152,-0.57,-117.3,301.7,-6.0,200,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3359
$GC,4455,-0.61,-117.3,319.3,-5.7,205,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3358
$GC,4759,-0.65,-117.3,336.6,-5.7,210,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3358
$GC,5061,-0.70,-117.3,353.5,-5.6,215,5063,0.10,0.00,0.00,0.000,6,0.097,0.000,3085,2392,3357
$GC,5364,-0.70,-117.3,373.3,-6.6,220,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3358
$GC,5668,-0.70,-117.3,392.1,-6.1,225,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3357
$GC,5970,-0.70,-117.3,409.9,-5.9,230,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3357
$GC,6273,-0.70,-117.3,428.2,-6.0,235,6277,0.00,2.47,0.00,0.000,4,0.000,0.082,3085,3808,3357
$GC,6316,-0.70,-117.3,431.1,-6.6,235,6320,0.00,2.33,0.00,0.000,6,0.000,0.058,3085,2407,3356
$GC,6637,-0.70,-117.3,451.0,-6.3,241,6641,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,984,3356
$GC,6664,-0.70,-117.3,452.9,-7.1,241,6667,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2412,3356
$GC,7001,-0.70,-117.3,476.4,-7.0,247,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3356
$GC,7304,-0.70,-117.3,497.3,-6.8,252,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3356
$GC,7607,-0.70,-117.3,517.3,-6.6,257,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3356
$GC,7911,-0.70,-117.3,536.8,-6.5,262,7915,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,991,3355
$GC,7954,-0.70,-117.3,540.1,-7.4,262,7958,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2401,3355
$GC,8275,-0.70,-117.3,562.6,-7.1,268,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,8579,-0.70,-117.3,583.3,-6.8,273,8583,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,3818,3355
$GC,8634,-0.70,-117.3,587.2,-7.0,273,8640,0.00,2.33,0.00,0.000,6,0.000,0.059,3085,2400,3355
$GC,8943,-0.70,-117.3,607.3,-6.5,279,8947,0.00,2.38,0.00,0.000,4,0.000,0.073,3085,988,3355
$GC,8970,-0.70,-117.3,609.1,-6.7,279,8974,0.00,2.35,0.00,0.000,6,0.000,0.065,3085,2425,3355
$GC,9308,-0.70,-117.3,630.3,-6.2,285,9312,0.00,2.35,0.00,0.000,4,0.000,0.084,3085,3811,3355
$GC,9340,-0.70,-117.3,632.3,-6.3,285,9344,0.00,2.33,0.00,0.000,6,0.000,0.058,3085,2390,3354
$GC,9672,-0.70,-117.3,651.7,-5.8,291,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2390,3354
$GC,9975,-0.70,-117.3,669.8,-6.0,296,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3354
$GC,10278,-0.70,-117.3,689.2,-6.4,301,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3354
$GC,10582,-0.70,-117.3,709.7,-6.8,306,10586,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,988,3354
$GC,10608,-0.70,-117.3,711.8,-7.5,306,10613,0.00,2.35,0.00,0.000,6,0.000,0.066,3085,2421,3353
$GC,10946,-0.70,-117.3,734.3,-6.6,312,10950,0.00,2.42,0.00,0.000,4,0.000,0.074,3085,985,3354
$GC,10973,-0.70,-117.3,736.1,-6.7,312,10977,0.00,2.35,0.00,0.000,6,0.000,0.066,3085,2411,3354
$GC,11311,-0.70,-117.3,756.3,-5.9,318,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2411,3353
$GC,11614,-0.70,-117.3,774.1,-5.9,323,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$GC,11917,-0.70,-117.3,792.5,-6.1,328,11921,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,992,3353
$GC,11949,-0.70,-117.3,794.6,-6.4,328,11953,0.00,2.33,0.00,0.000,6,0.000,0.066,3085,2413,3353
$GC,12281,-0.70,-117.3,814.9,-6.2,334,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2414,3353
$GC,12584,-0.70,-117.3,833.8,-6.3,339,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2413,3353
$GC,12887,-0.70,-117.3,853.3,-6.5,344,12891,0.00,2.42,0.00,0.000,4,0.000,0.075,3085,994,3353
$GC,12937,-0.70,-117.3,856.7,-7.4,344,12941,0.00,2.33,0.00,0.000,6,0.000,0.067,3085,2406,3352
$GC,13252,-0.70,-117.3,876.9,-6.4,350,13253,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,13555,-0.70,-117.3,896.0,-6.3,355,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,13858,-0.70,-117.3,914.6,-6.2,360,13859,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3353
$GC,14161,-0.70,-117.3,934.0,-6.4,365,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,14464,-0.70,-117.3,953.0,-6.2,370,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,14767,-0.70,-117.3,971.4,-6.0,375,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3352
$GC,15071,-0.70,-117.3,989.0,-5.8,380,15075,0.00,2.42,0.00,0.000,4,0.000,0.075,3085,991,3351
$STATE,15090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15090,begin apogee
$GC,15097,-0.22,0.0,990.3,5.5,380,15204,0.50,0.00,104.45,1.497,6,0.149,0.000,3238,2208,2875
$STATE,15205,end apogee,CONTROL_FINISHED_OK
$STATE,15205,begin climb
$GC,15207,0.67,117.3,993.8,0.0,382,15324,0.93,2.72,109.93,1.443,4,0.095,0.079,3535,793,2395
$GC,15370,0.30,117.3,991.0,8.0,384,15378,0.47,2.50,0.00,0.000,6,0.184,0.064,3416,2207,2394
$GC,15679,0.30,117.3,974.5,5.2,390,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2207,2392
$GC,15983,0.30,117.3,959.3,5.0,395,15984,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2207,2392
$GC,16286,0.30,117.3,942.9,5.5,400,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2207,2391
$GC,16588,0.30,117.3,926.8,5.3,405,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2207,2391
$GC,16892,0.30,117.3,911.2,5.1,410,16896,0.00,2.35,0.00,0.000,4,0.000,0.081,3414,3610,2391
$GC,16963,0.21,117.3,907.2,5.0,411,16968,0.15,2.35,0.00,0.000,6,0.179,0.064,3387,2193,2391
$GC,17318,0.34,162.8,893.8,3.7,417,17361,0.12,0.00,39.85,1.430,6,0.090,0.000,3435,2193,2212
$GC,17620,0.34,162.8,876.8,5.8,422,17625,0.00,2.50,0.00,0.000,4,0.000,0.082,3435,3606,2209
$GC,17648,0.28,162.8,874.9,6.6,422,17652,0.00,2.38,0.00,0.000,6,0.000,0.065,3435,2201,2209
$GC,17986,0.28,162.8,855.1,5.9,428,17990,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,782,2208
$GC,18035,0.28,162.8,852.0,5.8,428,18039,0.00,2.35,0.00,0.000,6,0.000,0.065,3435,2208,2208
$GC,18350,0.28,162.8,832.6,6.2,434,18352,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2208
$GC,18653,0.28,162.8,812.9,6.6,439,18654,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2208
$GC,18957,0.28,162.8,792.3,6.8,444,18958,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2208
$GC,19260,0.28,162.8,770.6,7.2,449,19261,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2207
$GC,19562,0.28,162.8,748.6,7.3,454,19564,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2207
$GC,19866,0.28,162.8,727.2,7.1,459,19867,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2207
$GC,20169,0.28,162.8,707.6,6.4,464,20173,0.00,2.35,0.00,0.000,4,0.000,0.084,3435,3609,2207
$GC,20207,0.21,162.8,705.0,7.0,464,20212,0.20,2.35,0.00,0.000,6,0.170,0.065,3384,2200,2207
$GC,20528,0.40,193.4,691.2,4.1,470,20557,0.17,0.00,26.83,1.297,6,0.088,0.000,3448,2200,2086
$GC,20831,0.45,193.4,673.4,6.0,475,20835,0.00,2.47,0.00,0.000,4,0.000,0.083,3448,3608,2083
$GC,20857,0.45,193.4,671.5,7.3,475,20862,0.00,2.38,0.00,0.000,6,0.000,0.064,3449,2192,2083
$GC,21195,0.45,193.4,647.8,7.1,481,21196,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2192,2083
$GC,21498,0.45,193.4,624.9,7.6,486,21499,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2192,2083
$GC,21801,0.45,193.4,601.1,7.9,491,21802,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2192,2083
$GC,22105,0.45,193.4,577.9,7.6,496,22109,0.00,2.47,0.00,0.000,4,0.000,0.082,3448,3615,2083
$GC,22137,0.40,193.4,575.0,7.4,496,22141,0.00,2.38,0.00,0.000,6,0.000,0.065,3448,2193,2083
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$STATE,31524,end climb,SURFACE_DEPTH_REACHED
$STATE,31524,begin surface coast
$FINISH,1.3,1.025277
$STATE,31676,end surface coast,CONTROL_FINISHED_OK
$STATE,31676,begin surface
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$IRIDIUM_FIX,4933.03,-14628.78,160298,101040
$TT8_MAMPS,0.026845
$HUMID,2110
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$TCM_TEMP,14.80
$XPDR_PINGS,952
$24V_AH,22.1,46.498
$10V_AH,10.6,30.554
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$DEVICE_SECS,28.475,190.100,350.200,23.300,0.000,121.092,147.810,399.109,238.000,0.000,0.000,14.617,1729.171,27230.750,543.004,2187.149,1011.427,33.401,1618.438,0.000,2169.963,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,644.603,624.162,1419.063,859.688,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47339,835
$CAP_FILE_SIZE,180486,0
$CFSIZE,260165632,240803840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221108,185429,4958.029,-14504.447,29,5.1,48,18.4