version: 66.03
glider: 120
mission: 9
dive: 239
start: 11 26 108 4 50 52
data:
$ID,120
$MISSION,9
$DIVE,239
$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,-22700.744
$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,19
$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
$GPS1,044325,5019.578,-14429.958,102,1.0,102,18.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-69.0
$GPS2,044957,5019.664,-14429.968,12,1.7,12,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.077,0.041
$KALMAN_X,33126.2,217.0,186.8,-10064.4,-1948.3
$KALMAN_Y,182493.9,-243.0,-286.8,-155817.7,1363.0
$MHEAD_RNG_PITCHd_Wd,43.4,2495,-27.6,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.23,-25.0,0.0,0.0,0,56,0.00,0.00,-31.98,0.000,2,0.000,0.000,144,2414,2435
$GC,59,-1.23,-25.0,3.7,-5.9,3,92,12.98,2.47,-14.45,0.000,4,0.281,0.090,2903,3820,2978
$GC,344,-0.92,-25.0,67.6,-24.1,28,351,0.45,2.35,0.00,0.000,6,0.212,0.058,3014,2400,2980
$GC,662,-1.03,-25.0,109.4,-13.0,48,666,0.00,2.47,0.00,0.000,4,0.000,0.077,3004,3819,2981
$GC,881,-1.15,-25.0,138.6,-13.3,58,886,0.17,2.35,0.00,0.000,6,0.077,0.056,2937,2392,2982
$GC,1195,-1.10,-25.0,180.1,-13.3,70,1199,0.00,2.47,0.00,0.000,4,0.000,0.079,2934,3816,2981
$GC,1223,-0.98,-25.0,184.0,-14.0,71,1228,0.25,2.33,0.00,0.000,6,0.198,0.056,2994,2397,2982
$GC,1558,-1.11,-25.0,220.8,-10.7,82,1563,0.12,2.38,0.00,0.000,4,0.089,0.069,2945,984,2982
$GC,1655,-1.11,-25.0,232.9,-12.7,85,1659,0.00,2.33,0.00,0.000,6,0.000,0.064,2937,2402,2982
$GC,1989,-1.11,-25.0,275.7,-12.8,96,1993,0.00,2.38,0.00,0.000,4,0.000,0.068,2937,992,2982
$GC,2023,-1.11,-25.0,280.3,-13.3,97,2027,0.00,2.33,0.00,0.000,6,0.000,0.064,2934,2408,2982
$GC,2361,-1.11,-25.0,325.0,-13.4,105,2365,0.00,2.38,0.00,0.000,4,0.000,0.081,2934,3819,2982
$GC,2410,-1.05,-25.0,332.1,-13.9,105,2415,0.17,2.33,0.00,0.000,6,0.206,0.058,2974,2399,2982
$GC,2720,-1.14,-25.0,368.1,-11.5,110,2724,0.00,2.38,0.00,0.000,4,0.000,0.071,2974,985,2981
$GC,2805,-1.23,-25.0,377.6,-11.0,111,2810,0.17,2.33,0.00,0.000,6,0.080,0.066,2909,2407,2981
$GC,3148,-1.16,-25.0,419.9,-12.3,117,3150,0.15,0.00,0.00,0.000,6,0.207,0.000,2942,2407,2981
$GC,3451,-1.16,-25.0,453.1,-11.0,122,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2407,2981
$GC,3754,-1.16,-25.0,487.8,-11.5,127,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2407,2981
$GC,4057,-1.16,-25.0,522.1,-11.4,132,4061,0.00,2.35,0.00,0.000,4,0.000,0.081,2933,3809,2981
$GC,4089,-1.10,-25.0,526.2,-13.1,132,4094,0.12,2.33,0.00,0.000,6,0.213,0.059,2959,2389,2980
$GC,4416,-1.18,-25.0,559.6,-10.2,138,4420,0.00,2.35,0.00,0.000,4,0.000,0.073,2959,991,2980
$GC,4478,-1.25,-25.0,566.2,-10.4,139,4482,0.15,2.33,0.00,0.000,6,0.085,0.067,2905,2410,2980
$GC,4843,-1.18,-25.0,610.0,-12.1,145,4845,0.12,0.00,0.00,0.000,6,0.212,0.000,2931,2410,2980
$GC,5145,-1.18,-25.0,642.3,-10.5,150,5149,0.00,2.35,0.00,0.000,4,0.000,0.081,2922,3811,2979
$GC,5172,-1.13,-25.0,645.4,-11.8,150,5176,0.00,2.33,0.00,0.000,6,0.000,0.059,2929,2390,2979
$GC,5510,-1.13,-25.0,679.7,-10.1,156,5514,0.00,2.35,0.00,0.000,4,0.000,0.074,2929,992,2979
$GC,5587,-1.13,-25.0,687.8,-10.4,157,5592,0.12,2.30,0.00,0.000,6,0.214,0.065,2947,2404,2979
$GC,5936,-1.20,-25.0,719.5,-9.0,163,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2404,2979
$GC,6239,-1.26,-25.0,747.2,-9.2,168,6244,0.12,2.40,0.00,0.000,4,0.097,0.071,2901,986,2978
$GC,6289,-1.19,-25.0,752.4,-10.8,168,6294,0.15,2.35,0.00,0.000,6,0.219,0.067,2927,2410,2978
$GC,6598,-1.19,-25.0,783.0,-9.9,173,6602,0.00,2.35,0.00,0.000,4,0.000,0.082,2919,3815,2978
$GC,6625,-1.14,-25.0,785.8,-10.4,173,6629,0.12,2.30,0.00,0.000,6,0.209,0.060,2945,2401,2977
$GC,6957,-1.21,-25.0,815.4,-8.9,179,6961,0.00,2.38,0.00,0.000,4,0.000,0.074,2945,987,2977
$GC,6995,-1.27,-25.0,819.2,-9.5,179,6999,0.00,2.33,0.00,0.000,6,0.000,0.065,2936,2412,2977
$GC,7322,-1.32,-25.0,848.1,-8.9,185,7326,0.12,2.35,0.00,0.000,4,0.091,0.081,2882,3816,2977
$GC,7371,-1.16,-25.0,853.4,-11.7,185,7376,0.25,2.33,0.00,0.000,6,0.219,0.061,2940,2389,2977
$GC,7681,-1.21,-25.0,881.2,-8.9,190,7685,0.00,2.45,0.00,0.000,4,0.000,0.081,2931,3810,2977
$GC,7735,-1.21,-25.0,886.7,-9.9,190,7742,0.00,2.35,0.00,0.000,6,0.000,0.061,2931,2396,2977
$GC,8046,-1.26,-25.0,915.3,-9.2,196,8050,0.00,2.35,0.00,0.000,4,0.000,0.074,2931,992,2977
$GC,8090,-1.26,-25.0,919.8,-9.7,196,8094,0.00,2.30,0.00,0.000,6,0.000,0.066,2922,2401,2977
$GC,8406,-1.26,-25.0,949.4,-9.4,202,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2401,2977
$GC,8707,-1.26,-25.0,976.4,-8.8,207,8711,0.00,2.40,0.00,0.000,4,0.000,0.074,2922,993,2976
$GC,8756,-1.26,-25.0,980.8,-9.0,207,8761,0.00,2.35,0.00,0.000,6,0.000,0.068,2922,2406,2976
$STATE,8889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8890,begin apogee
$GC,8895,-0.22,0.0,992.2,8.6,210,8922,1.17,0.00,23.45,1.470,6,0.193,0.000,3241,2199,2876
$STATE,8923,end apogee,CONTROL_FINISHED_OK
$STATE,8923,begin climb
$GC,8925,1.23,25.0,992.2,0.0,210,8953,1.40,0.00,23.70,1.435,6,0.104,0.000,3708,2199,2774
$GC,9254,1.10,102.9,1005.3,-5.4,216,9330,0.15,2.55,69.22,1.490,4,0.232,0.077,3682,789,2456
$GC,9352,0.93,102.9,1004.8,6.7,217,9357,0.28,2.42,0.00,0.000,6,0.229,0.063,3622,2202,2455
$GC,9678,0.93,102.9,971.2,10.5,223,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2202,2454
$GC,9981,0.93,102.9,940.5,10.1,228,9985,0.00,2.42,0.00,0.000,4,0.000,0.078,3629,785,2454
$GC,10104,0.93,102.9,928.4,9.5,229,10110,0.00,2.33,0.00,0.000,6,0.000,0.066,3629,2202,2454
$GC,10413,0.93,102.9,898.9,9.5,235,10417,0.00,2.40,0.00,0.000,4,0.000,0.081,3629,791,2454
$GC,10551,0.93,102.9,885.6,10.0,237,10555,0.00,2.33,0.00,0.000,6,0.000,0.064,3629,2210,2454
$GC,10912,0.93,102.9,852.1,9.3,243,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2210,2453
$GC,11215,0.93,102.9,825.4,8.8,248,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2210,2453
$GC,11518,0.93,102.9,799.3,8.6,253,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2210,2453
$GC,11821,0.93,102.9,772.7,8.8,258,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2210,2453
$GC,12124,0.93,102.9,746.1,8.9,263,12128,0.00,2.42,0.00,0.000,4,0.000,0.078,3639,791,2453
$GC,12213,0.93,102.9,737.7,9.6,264,12217,0.00,2.33,0.00,0.000,6,0.000,0.066,3639,2212,2453
$GC,12556,0.93,102.9,705.0,9.6,270,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,2211,2453
$GC,12860,0.93,102.9,676.4,9.4,275,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,2211,2452
$GC,13162,0.93,102.9,648.8,9.1,280,13167,0.00,2.45,0.00,0.000,4,0.000,0.081,3641,785,2452
$GC,13419,0.93,102.9,626.0,8.4,283,13426,0.00,2.35,0.00,0.000,6,0.000,0.065,3641,2199,2452
$GC,13730,0.93,102.9,600.8,8.2,289,13731,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2199,2452
$GC,14032,0.93,102.9,577.5,7.6,294,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2199,2452
$GC,14335,0.93,102.9,554.1,7.8,299,14340,0.00,2.45,0.00,0.000,4,0.000,0.080,3641,787,2452
$GC,14407,0.93,102.9,548.3,7.5,300,14411,0.00,2.33,0.00,0.000,6,0.000,0.065,3641,2207,2452
$GC,14768,0.93,102.9,518.9,8.3,306,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2207,2452
$GC,15071,0.93,102.9,494.5,8.1,311,15075,0.00,2.42,0.00,0.000,4,0.000,0.081,3641,781,2452
$GC,15328,0.93,102.9,475.0,6.8,314,15334,0.00,2.33,0.00,0.000,6,0.000,0.065,3641,2209,2452
$GC,15637,0.93,102.9,454.5,6.5,320,15641,0.00,2.42,0.00,0.000,4,0.000,0.081,3641,782,2452
$GC,15894,0.93,102.9,438.6,5.8,323,15901,0.00,2.35,0.00,0.000,6,0.000,0.065,3641,2201,2452
$GC,16203,0.93,102.9,419.7,6.1,329,16207,0.00,2.42,0.00,0.000,4,0.000,0.080,3641,787,2452
$GC,16292,0.93,102.9,414.4,5.9,330,16296,0.00,2.33,0.00,0.000,6,0.000,0.064,3641,2212,2453
$GC,16635,0.93,102.9,393.7,6.2,336,16639,0.00,2.35,0.00,0.000,4,0.000,0.080,3642,3615,2453
$GC,16893,0.82,102.9,375.6,8.0,339,16900,0.25,2.35,0.00,0.000,6,0.223,0.065,3576,2205,2453
$GC,17203,1.00,102.9,358.5,5.4,345,17204,0.17,0.00,0.00,0.000,6,0.091,0.000,3638,2205,2453
$GC,17506,1.00,102.9,340.0,6.1,350,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,3638,2204,2453
$GC,17808,1.00,102.9,323.4,5.4,355,17812,0.00,2.45,0.00,0.000,4,0.000,0.079,3638,3617,2453
$GC,18066,0.90,102.9,308.4,6.2,358,18073,0.15,2.35,0.00,0.000,6,0.233,0.066,3610,2200,2453
$GC,18377,0.99,103.5,293.2,4.9,366,18378,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,2200,2453
$GC,18683,1.08,108.4,279.6,4.3,376,18695,0.15,2.40,5.97,0.870,4,0.099,0.079,3669,787,2433
$GC,18949,1.03,108.4,264.7,5.4,384,18952,0.00,2.30,0.00,0.000,6,0.000,0.064,3670,2200,2433
$GC,19289,0.98,108.4,246.9,5.2,395,19294,0.15,2.40,0.00,0.000,4,0.227,0.075,3640,787,2433
$GC,19454,0.98,108.5,238.5,5.0,400,19458,0.00,2.33,0.00,0.000,6,0.000,0.064,3640,2213,2433
$GC,19794,0.98,108.5,219.9,5.8,411,19798,0.00,2.33,0.00,0.000,4,0.000,0.080,3640,3608,2433
$GC,20052,0.91,112.0,206.3,4.5,418,20064,0.15,2.33,4.82,0.767,6,0.230,0.067,3611,2192,2418
$GC,20370,1.03,121.5,194.7,3.7,429,20384,0.12,2.42,9.48,0.919,4,0.101,0.078,3655,3607,2380
$GC,20638,0.94,121.5,176.4,7.2,437,20643,0.20,2.35,0.00,0.000,6,0.221,0.064,3620,2200,2379
$GC,20974,1.04,127.5,160.8,4.2,448,20982,0.00,0.00,6.60,0.837,6,0.000,0.000,3620,2200,2356
$GC,21290,1.16,133.1,147.7,4.2,459,21299,0.20,0.00,6.35,0.820,6,0.083,0.000,3693,2200,2333
$GC,21600,1.14,156.2,134.8,1.9,474,21625,0.00,2.47,20.02,0.930,4,0.000,0.078,3693,3612,2238
$GC,21878,1.02,156.2,119.2,6.7,486,21883,0.20,2.38,0.00,0.000,6,0.225,0.064,3650,2201,2237
$GC,22195,1.12,158.2,102.8,4.7,501,22199,0.00,2.45,0.00,0.000,4,0.000,0.076,3645,3609,2237
$GC,22451,1.12,158.2,89.2,5.8,512,22458,0.00,2.38,0.00,0.000,6,0.000,0.061,3654,2202,2237
$GC,22771,1.27,186.0,77.2,1.3,533,22804,0.17,2.45,24.95,0.897,4,0.090,0.078,3724,780,2116
$GC,23056,1.27,187.5,67.0,4.8,558,23063,0.00,2.35,0.00,0.000,6,0.000,0.062,3724,2193,2114
$GC,23383,1.27,187.5,42.9,8.9,589,23384,0.00,0.00,0.00,0.000,6,0.000,0.000,3724,2193,2113
$GC,23699,1.27,187.5,12.3,10.0,619,23700,0.00,0.00,0.00,0.000,6,0.000,0.000,3725,2193,2113
$STATE,23750,end climb,SURFACE_DEPTH_REACHED
$STATE,23750,begin surface coast
$FINISH,1.3,1.014178
$STATE,23815,end surface coast,CONTROL_FINISHED_OK
$STATE,23816,begin surface
$SM_CCo,23835,89.93,0.829,0,0,1653,300.00
$SM_GC,3.07,0.00,0.00,89.93,0.000,0.000,0.829,151,2410,1653,-9.89,0.28,300.00
$IRIDIUM_FIX,4956.40,-14434.00,190298,191939
$TT8_MAMPS,0.026078
$HUMID,2095
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,14.60
$XPDR_PINGS,935
$24V_AH,23.1,48.311
$10V_AH,10.6,31.858
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,30.925,171.525,194.575,89.925,0.000,28.137,30.563,214.999,233.750,0.000,0.000,12.101,1514.170,19334.205,435.449,2475.281,553.509,33.378,1595.636,0.000,2439.144,0.000,0.465
$DEVICE_MAMPS,280.722,89.739,1490.281,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,482.014,463.077,1070.790,647.427,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38104,630
$CAP_FILE_SIZE,161040,0
$CFSIZE,260165632,240082944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261108,113056,5020.703,-14427.343,41,1.4,42,18.7