version: 66.03
glider: 120
mission: 9
dive: 230
start: 11 22 108 19 1 41
data:
$ID,120
$MISSION,9
$DIVE,230
$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,-22489.131
$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,20
$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
$GPS1,185429,4958.029,-14504.447,29,5.1,48,18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-75.2
$GPS2,190047,4958.117,-14504.452,15,4.3,34,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,0.096
$KALMAN_X,43342.9,54.6,-94.3,-60798.8,-1160.7
$KALMAN_Y,179503.1,180.1,-352.2,-193083.3,1311.2
$MHEAD_RNG_PITCHd_Wd,38.8,23705,-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,-31.70,0.000,2,0.000,0.000,135,2408,2421
$GC,57,-0.67,-117.3,3.5,-5.2,3,104,14.18,2.53,-26.12,0.000,4,0.288,0.099,3095,3811,3356
$GC,358,-0.44,-117.3,37.7,-11.7,30,363,0.28,2.33,0.00,0.000,6,0.162,0.054,3172,2392,3358
$GC,684,-0.44,-117.3,63.2,-7.0,60,688,0.00,2.45,0.00,0.000,4,0.000,0.078,3168,3806,3359
$GC,750,-0.51,-117.3,68.0,-7.1,65,757,0.00,2.33,0.00,0.000,6,0.000,0.054,3168,2399,3359
$GC,1071,-0.75,-117.3,91.2,-7.3,89,1076,0.25,2.42,0.00,0.000,4,0.082,0.076,3073,3809,3359
$GC,1212,-0.56,-117.3,105.5,-10.8,95,1217,0.22,2.30,0.00,0.000,6,0.157,0.053,3134,2387,3360
$GC,1529,-0.56,-117.3,130.6,-8.3,110,1533,0.00,2.33,0.00,0.000,4,0.000,0.068,3134,992,3360
$GC,1606,-0.56,-117.3,137.4,-8.5,113,1613,0.00,2.33,0.00,0.000,6,0.000,0.062,3130,2405,3360
$GC,1930,-0.56,-117.3,160.8,-7.0,127,1935,0.00,2.38,0.00,0.000,4,0.000,0.068,3130,991,3360
$GC,1952,-0.56,-117.3,162.5,-7.5,127,1958,0.00,2.35,0.00,0.000,6,0.000,0.062,3130,2403,3360
$GC,2264,-0.56,-117.3,183.4,-6.5,138,2268,0.00,2.35,0.00,0.000,4,0.000,0.081,3128,3810,3360
$GC,2325,-0.61,-117.3,187.7,-7.0,139,2332,0.00,2.30,0.00,0.000,6,0.000,0.055,3128,2387,3360
$GC,2638,-0.61,-117.3,207.3,-6.1,150,2641,0.00,2.30,0.00,0.000,4,0.000,0.071,3128,991,3360
$GC,2672,-0.61,-117.3,209.4,-6.4,151,2676,0.00,2.28,0.00,0.000,6,0.000,0.062,3128,2402,3360
$GC,3012,-0.61,-117.3,232.9,-7.3,162,3016,0.00,2.35,0.00,0.000,4,0.000,0.070,3128,993,3360
$GC,3046,-0.61,-117.3,235.4,-7.5,163,3049,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2400,3360
$GC,3386,-0.61,-117.3,259.3,-6.8,174,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2400,3360
$GC,3692,-0.65,-117.3,278.3,-6.1,184,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3360
$GC,3998,-0.65,-117.3,296.9,-6.0,194,4002,0.00,2.33,0.00,0.000,4,0.000,0.083,3128,3806,3359
$GC,4032,-0.72,-117.3,299.0,-6.3,195,4036,0.12,2.28,0.00,0.000,6,0.093,0.057,3082,2396,3359
$GC,4369,-0.72,-117.3,321.9,-6.8,201,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2396,3358
$GC,4671,-0.72,-117.3,342.2,-6.7,206,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2396,3358
$GC,4974,-0.72,-117.3,364.0,-7.2,211,4978,0.00,2.35,0.00,0.000,4,0.000,0.073,3082,989,3358
$GC,5030,-0.67,-117.3,368.4,-7.7,211,5037,0.00,2.35,0.00,0.000,6,0.000,0.064,3082,2400,3358
$GC,5340,-0.60,-117.3,391.6,-7.5,217,5345,0.15,2.40,0.00,0.000,4,0.161,0.082,3125,3817,3358
$GC,5383,-0.68,-117.3,394.6,-6.0,217,5387,0.00,2.30,0.00,0.000,6,0.000,0.058,3125,2394,3358
$GC,5704,-0.74,-117.3,412.9,-5.7,223,5706,0.15,0.00,0.00,0.000,6,0.091,0.000,3068,2394,3358
$GC,6008,-0.68,-117.3,434.4,-7.2,228,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2394,3357
$GC,6311,-0.62,-117.3,458.0,-7.8,233,6313,0.17,0.00,0.00,0.000,6,0.123,0.000,3118,2394,3357
$GC,6614,-0.66,-117.3,478.9,-6.9,238,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2394,3357
$GC,6917,-0.70,-117.3,500.0,-6.9,243,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2394,3357
$GC,7220,-0.74,-117.3,519.0,-6.2,248,7222,0.12,0.00,0.00,0.000,6,0.091,0.000,3072,2394,3357
$GC,7522,-0.74,-117.3,540.0,-6.9,253,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3357
$GC,7825,-0.74,-117.3,561.7,-7.1,258,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3357
$GC,8129,-0.74,-117.3,584.5,-7.5,263,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2394,3356
$GC,8432,-0.74,-117.3,607.0,-7.4,268,8436,0.00,2.38,0.00,0.000,4,0.000,0.074,3071,990,3356
$GC,8476,-0.69,-117.3,610.4,-7.9,268,8480,0.00,2.33,0.00,0.000,6,0.000,0.066,3071,2413,3356
$GC,8790,-0.62,-117.3,632.8,-7.0,274,8792,0.15,0.00,0.00,0.000,6,0.162,0.000,3110,2414,3356
$GC,9093,-0.62,-117.3,648.0,-5.0,279,9097,0.00,2.35,0.00,0.000,4,0.000,0.085,3110,3816,3356
$GC,9127,-0.69,-117.3,649.6,-5.1,279,9131,0.00,2.30,0.00,0.000,6,0.000,0.058,3110,2393,3355
$GC,9453,-0.74,-117.3,663.9,-4.4,285,9457,0.00,2.33,0.00,0.000,4,0.000,0.074,3110,992,3356
$GC,9486,-0.79,-117.3,665.4,-4.8,285,9491,0.15,2.30,0.00,0.000,6,0.087,0.065,3058,2405,3355
$GC,9813,-0.74,-117.3,683.1,-5.5,291,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2405,3355
$GC,10115,-0.69,-117.3,700.7,-5.9,296,10117,0.12,0.00,0.00,0.000,6,0.117,0.000,3092,2405,3355
$GC,10418,-0.69,-117.3,717.3,-5.5,301,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3355
$GC,10721,-0.69,-117.3,734.4,-5.6,306,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3355
$GC,11024,-0.69,-117.3,752.8,-6.1,311,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3355
$GC,11328,-0.69,-117.3,772.3,-6.5,316,11332,0.00,2.40,0.00,0.000,4,0.000,0.075,3093,987,3355
$GC,11366,-0.69,-117.3,775.1,-6.7,316,11370,0.00,2.35,0.00,0.000,6,0.000,0.067,3093,2403,3354
$GC,11692,-0.69,-117.3,796.9,-6.7,322,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2404,3354
$GC,11995,-0.69,-117.3,817.6,-6.8,327,11999,0.00,2.38,0.00,0.000,4,0.000,0.075,3092,992,3354
$GC,12033,-0.69,-117.3,820.3,-6.4,327,12037,0.00,2.33,0.00,0.000,6,0.000,0.068,3093,2405,3354
$GC,12359,-0.69,-117.3,842.5,-6.9,333,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3354
$GC,12662,-0.69,-117.3,863.2,-6.8,338,12666,0.00,2.40,0.00,0.000,4,0.000,0.075,3093,988,3354
$GC,12700,-0.69,-117.3,865.8,-7.0,338,12704,0.00,2.35,0.00,0.000,6,0.000,0.068,3093,2408,3354
$GC,13026,-0.69,-117.3,886.1,-6.2,344,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3354
$GC,13329,-0.69,-117.3,904.1,-5.9,349,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,13632,-0.69,-117.3,921.6,-5.8,354,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,13935,-0.69,-117.3,939.8,-5.9,359,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3353
$GC,14239,-0.69,-117.3,957.5,-5.8,364,14243,0.00,2.42,0.00,0.000,4,0.000,0.076,3093,990,3353
$GC,14282,-0.69,-117.3,960.1,-6.2,364,14286,0.00,2.33,0.00,0.000,6,0.000,0.069,3093,2402,3353
$GC,14603,-0.69,-117.3,977.6,-5.5,370,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3353
$STATE,14845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14845,begin apogee
$GC,14851,-0.22,0.0,991.0,5.5,374,14958,0.50,0.00,104.95,1.502,6,0.149,0.000,3243,2194,2876
$STATE,14959,end apogee,CONTROL_FINISHED_OK
$STATE,14959,begin climb
$GC,14962,0.67,117.3,992.9,0.0,375,15075,0.88,0.00,110.40,1.446,6,0.099,0.000,3525,2194,2397
$GC,15331,0.33,117.3,976.9,7.5,382,15337,0.35,2.55,0.00,0.000,4,0.172,0.080,3426,3612,2394
$GC,15370,0.22,117.3,974.4,6.0,382,15375,0.20,2.42,0.00,0.000,6,0.173,0.064,3387,2193,2393
$GC,15691,0.33,156.7,961.8,3.9,388,15730,0.12,0.00,35.30,1.430,6,0.093,0.000,3433,2193,2236
$GC,16058,0.33,156.7,942.2,5.5,394,16059,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2193,2233
$GC,16361,0.33,156.7,924.3,6.0,399,16365,0.00,2.40,0.00,0.000,4,0.000,0.082,3434,789,2233
$GC,16394,0.33,156.7,922.1,5.7,399,16398,0.00,2.33,0.00,0.000,6,0.000,0.067,3433,2200,2233
$GC,16726,0.33,156.7,900.8,6.5,405,16730,0.00,2.35,0.00,0.000,4,0.000,0.083,3433,3609,2233
$GC,16758,0.25,156.7,898.6,7.1,405,16763,0.15,2.30,0.00,0.000,6,0.172,0.066,3399,2197,2232
$GC,17091,0.33,156.7,880.9,5.2,411,17092,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2197,2232
$GC,17393,0.41,156.7,865.6,5.1,416,17395,0.15,0.00,0.00,0.000,6,0.091,0.000,3455,2197,2232
$GC,17696,0.34,156.7,846.1,6.6,421,17697,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2197,2232
$GC,17999,0.27,156.7,826.6,6.5,426,18004,0.15,2.40,0.00,0.000,4,0.150,0.081,3408,790,2232
$GC,18038,0.37,156.7,824.3,5.2,426,18042,0.00,2.30,0.00,0.000,6,0.000,0.065,3409,2199,2232
$GC,18358,0.43,156.7,808.1,5.0,432,18363,0.15,2.38,0.00,0.000,4,0.092,0.084,3475,3619,2232
$GC,18443,0.23,156.7,801.5,8.8,433,18448,0.30,2.33,0.00,0.000,6,0.176,0.067,3396,2193,2232
$GC,18786,0.33,166.2,784.6,4.7,439,18801,0.00,2.38,8.90,1.229,4,0.000,0.083,3396,794,2198
$GC,18846,0.51,200.4,781.7,4.0,439,18883,0.22,2.33,30.92,1.350,6,0.079,0.064,3505,2200,2059
$GC,19217,0.36,200.4,748.0,9.4,446,19219,0.25,0.00,0.00,0.000,6,0.163,0.000,3436,2200,2055
$GC,19518,0.36,200.4,726.6,6.9,451,19519,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2055
$GC,19821,0.36,200.4,705.7,6.9,456,19825,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3612,2054
$GC,19852,0.36,200.4,703.2,7.4,456,19857,0.00,2.35,0.00,0.000,6,0.000,0.065,3436,2196,2054
$GC,20185,0.40,200.4,681.1,6.6,462,20187,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2054
$GC,20488,0.40,200.4,661.7,6.4,467,20489,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2054
$GC,20791,0.40,200.4,641.9,6.5,472,20795,0.00,2.45,0.00,0.000,4,0.000,0.081,3436,3610,2054
$GC,20817,0.40,200.4,640.0,6.8,472,20822,0.00,2.38,0.00,0.000,6,0.000,0.065,3437,2200,2054
$GC,21156,0.45,200.4,616.9,6.9,478,21160,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,786,2054
$GC,21189,0.52,200.4,614.3,7.3,478,21194,0.15,2.33,0.00,0.000,6,0.091,0.064,3492,2208,2054
$GC,21522,0.41,200.4,585.0,9.0,484,21523,0.15,0.00,0.00,0.000,6,0.155,0.000,3453,2208,2054
$GC,21824,0.41,200.4,562.3,7.4,489,21825,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2208,2054
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$STATE,30840,end climb,SURFACE_DEPTH_REACHED
$STATE,30840,begin surface coast
$FINISH,1.5,1.025280
$STATE,31023,end surface coast,CONTROL_FINISHED_OK
$STATE,31023,begin surface
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$SM_GC,3.64,0.00,0.00,24.75,0.000,0.000,0.840,146,2410,1652,-9.91,0.28,300.00
$IRIDIUM_FIX,4939.69,-14458.84,160298,101051
$TT8_MAMPS,0.026845
$HUMID,2097
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,16.20
$XPDR_PINGS,952
$24V_AH,22.2,46.682
$10V_AH,10.6,30.683
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$DEVICE_SECS,30.700,180.325,349.525,24.750,0.000,28.894,27.056,183.987,238.000,0.000,0.000,35.478,1724.720,26373.162,546.109,2245.896,549.509,33.379,1624.626,0.000,2201.845,0.000,0.465
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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,47496,821
$CAP_FILE_SIZE,171862,0
$CFSIZE,260165632,240746496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231108,034108,5000.208,-14500.553,62,1.6,62,18.5