version: 66.03
glider: 120
mission: 9
dive: 383
start: 1 19 109 20 40 29
data:
$ID,120
$MISSION,9
$DIVE,383
$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,-25782.773
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,203330,5017.856,-14507.082,40,1.9,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.08
$_SM_ANGLEo,-75.1
$GPS2,203934,5017.837,-14507.084,17,4.3,36,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.133,0.118
$KALMAN_X,17151.9,-68.7,-158.3,-37544.3,235.6
$KALMAN_Y,278728.3,-252.9,337.6,-256054.8,471.3
$MHEAD_RNG_PITCHd_Wd,292.9,8215,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-10.70,0.000,2,0.000,0.000,134,2409,1907
$GC,40,-0.67,-117.3,4.0,-0.0,1,120,13.98,2.38,-58.85,0.000,4,0.282,0.083,3095,992,3355
$GC,155,-0.44,-117.3,10.0,-10.5,12,160,0.28,2.30,0.00,0.000,6,0.150,0.063,3174,2398,3356
$GC,481,-0.52,-117.3,33.1,-5.7,42,485,0.00,2.38,0.00,0.000,4,0.000,0.081,3168,3820,3357
$GC,506,-0.59,-117.3,34.7,-6.5,44,511,0.12,2.33,0.00,0.000,6,0.085,0.053,3120,2389,3357
$GC,833,-0.59,-117.3,62.7,-7.9,74,834,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3357
$GC,1157,-0.59,-117.3,87.2,-6.7,100,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3357
$GC,1468,-0.59,-117.3,112.1,-8.1,115,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3357
$GC,1775,-0.59,-117.3,134.9,-7.0,130,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3358
$GC,2095,-0.64,-117.3,156.2,-6.1,144,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3357
$GC,2401,-0.71,-117.3,175.6,-6.5,154,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2389,3358
$GC,2707,-0.79,-117.3,195.1,-6.2,164,2709,0.17,0.00,0.00,0.000,6,0.085,0.000,3052,2389,3357
$GC,3014,-0.67,-117.3,218.8,-7.7,174,3016,0.17,0.00,0.00,0.000,6,0.114,0.000,3103,2388,3358
$GC,3319,-0.67,-117.3,237.0,-5.8,184,3323,0.00,2.38,0.00,0.000,4,0.000,0.071,3104,986,3358
$GC,3346,-0.67,-117.3,238.9,-6.6,184,3353,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2400,3358
$GC,3659,-0.67,-117.3,258.6,-6.5,195,3663,0.00,2.38,0.00,0.000,4,0.000,0.069,3100,989,3358
$GC,3720,-0.67,-117.3,262.8,-7.3,196,3726,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2410,3358
$GC,4033,-0.67,-117.3,283.7,-6.9,207,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3358
$GC,4338,-0.67,-117.3,305.6,-7.1,216,4342,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,983,3357
$GC,4383,-0.67,-117.3,308.7,-6.9,216,4387,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2411,3357
$GC,4698,-0.67,-117.3,329.6,-6.6,222,4703,0.00,2.35,0.00,0.000,4,0.000,0.071,3101,992,3357
$GC,4731,-0.67,-117.3,332.0,-7.2,222,4735,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2406,3357
$GC,5058,-0.67,-117.3,354.3,-6.9,228,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3357
$GC,5361,-0.67,-117.3,375.0,-6.7,233,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3357
$GC,5665,-0.67,-117.3,394.6,-6.4,238,5669,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,991,3357
$GC,5692,-0.67,-117.3,396.3,-6.1,238,5696,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2402,3357
$GC,6030,-0.67,-117.3,415.1,-5.5,244,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,6333,-0.67,-117.3,432.2,-5.7,249,6337,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,989,3356
$GC,6389,-0.67,-117.3,436.0,-6.9,249,6395,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2408,3356
$GC,6698,-0.67,-117.3,454.7,-6.1,255,6702,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,988,3356
$GC,6737,-0.67,-117.3,457.2,-6.7,255,6741,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2402,3356
$GC,7058,-0.67,-117.3,476.2,-5.9,261,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,7362,-0.67,-117.3,494.5,-6.1,266,7366,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,986,3356
$GC,7411,-0.67,-117.3,497.7,-6.2,266,7415,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2411,3356
$GC,7721,-0.67,-117.3,516.7,-6.2,271,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3356
$GC,8024,-0.67,-117.3,537.0,-6.8,276,8028,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,993,3355
$GC,8087,-0.72,-117.3,541.5,-7.0,277,8091,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2407,3355
$GC,8458,-0.72,-117.3,566.7,-6.7,283,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,8761,-0.72,-117.3,585.7,-6.2,288,8765,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,992,3355
$GC,8805,-0.72,-117.3,588.6,-6.9,288,8809,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2400,3355
$GC,9121,-0.72,-117.3,607.5,-6.0,294,9125,0.00,2.35,0.00,0.000,4,0.000,0.083,3100,3807,3355
$GC,9154,-0.77,-117.3,609.6,-6.4,294,9158,0.00,2.25,0.00,0.000,6,0.000,0.056,3100,2388,3355
$GC,9486,-0.81,-117.3,628.0,-5.5,300,9491,0.12,2.33,0.00,0.000,4,0.090,0.071,3052,995,3354
$GC,9531,-0.75,-117.3,630.9,-7.0,300,9535,0.00,2.30,0.00,0.000,6,0.000,0.063,3052,2410,3354
$GC,9846,-0.67,-117.3,650.7,-6.2,306,9851,0.15,2.40,0.00,0.000,4,0.150,0.071,3103,985,3355
$GC,9873,-0.67,-117.3,652.2,-5.6,306,9877,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2400,3354
$GC,10213,-0.71,-117.3,666.9,-4.2,312,10217,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,992,3354
$GC,10252,-0.75,-117.3,668.5,-4.3,312,10257,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2405,3354
$GC,10574,-0.80,-117.3,680.4,-3.7,318,10576,0.12,0.00,0.00,0.000,6,0.091,0.000,3050,2405,3354
$GC,10877,-0.75,-117.3,695.9,-5.3,323,10881,0.00,2.35,0.00,0.000,4,0.000,0.073,3050,994,3354
$GC,10905,-0.69,-117.3,697.7,-6.4,323,10910,0.15,2.30,0.00,0.000,6,0.142,0.063,3090,2408,3354
$GC,11237,-0.69,-117.3,716.1,-5.6,329,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2408,3354
$GC,11540,-0.69,-117.3,734.5,-6.1,334,11544,0.00,2.35,0.00,0.000,4,0.000,0.073,3090,989,3354
$GC,11573,-0.69,-117.3,736.6,-6.3,334,11577,0.00,2.30,0.00,0.000,6,0.000,0.065,3086,2402,3354
$GC,11899,-0.69,-117.3,755.8,-5.8,340,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3354
$GC,12202,-0.69,-117.3,771.9,-5.4,345,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3354
$GC,12506,-0.69,-117.3,788.6,-5.6,350,12510,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,991,3353
$GC,12533,-0.69,-117.3,790.2,-6.2,350,12537,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2410,3353
$GC,12871,-0.69,-117.3,808.9,-5.6,356,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3353
$GC,13174,-0.69,-117.3,827.2,-6.1,361,13178,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,995,3353
$GC,13223,-0.69,-117.3,830.6,-6.7,361,13227,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2400,3353
$GC,13535,-0.69,-117.3,850.0,-6.3,366,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,13836,-0.69,-117.3,868.8,-6.2,371,13840,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,988,3353
$GC,13869,-0.69,-117.3,871.3,-6.9,371,13873,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2406,3353
$GC,14196,-0.69,-117.3,891.9,-6.3,377,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3353
$GC,14499,-0.69,-117.3,910.7,-6.2,382,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3353
$GC,14802,-0.69,-117.3,929.5,-6.2,387,14806,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,994,3353
$GC,14841,-0.73,-117.3,932.0,-6.4,387,14845,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2405,3353
$GC,15162,-0.73,-117.3,950.6,-5.8,393,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3353
$GC,15464,-0.73,-117.3,968.0,-5.9,398,15468,0.00,2.42,0.00,0.000,4,0.000,0.074,3086,993,3353
$GC,15509,-0.78,-117.3,970.8,-6.0,398,15513,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2402,3352
$GC,15823,-0.78,-117.3,989.3,-5.9,404,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$STATE,15881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15882,begin apogee
$GC,15889,-0.22,0.0,992.9,5.9,405,16004,0.52,0.00,108.15,1.491,6,0.142,0.000,3245,2194,2876
$STATE,16005,end apogee,CONTROL_FINISHED_OK
$STATE,16005,begin climb
$GC,16008,0.67,117.3,997.9,0.0,407,16132,0.88,2.72,113.10,1.440,4,0.095,0.077,3533,799,2396
$GC,16201,0.34,117.3,995.5,6.6,410,16206,0.40,2.45,0.00,0.000,6,0.176,0.061,3431,2200,2395
$GC,16567,0.34,146.9,979.7,4.2,416,16596,0.00,0.00,27.27,1.417,6,0.000,0.000,3431,2200,2277
$GC,16870,0.34,153.4,965.5,4.8,421,16879,0.00,0.00,7.43,1.210,6,0.000,0.000,3431,2200,2250
$GC,17174,0.36,162.9,951.1,4.7,426,17186,0.00,0.00,10.20,1.304,6,0.000,0.000,3431,2200,2211
$GC,17475,0.36,162.9,935.0,5.4,431,17477,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2200,2210
$GC,17779,0.36,162.9,918.7,5.4,436,17780,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2199,2209
$GC,18082,0.36,162.9,902.9,5.2,441,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2200,2210
$GC,18385,0.36,162.9,886.9,5.3,446,18389,0.00,2.40,0.00,0.000,4,0.000,0.080,3431,3610,2210
$GC,18435,0.30,162.9,883.8,6.8,446,18439,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2196,2210
$GC,18745,0.30,162.9,865.6,5.9,451,18746,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2209
$GC,19048,0.30,162.9,847.3,6.1,456,19049,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2209
$GC,19351,0.30,162.9,829.0,6.1,461,19352,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2209
$GC,19654,0.30,162.9,810.6,6.1,466,19659,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,787,2209
$GC,19699,0.30,162.9,807.8,6.1,466,19703,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2200,2209
$GC,20014,0.30,162.9,788.1,6.3,472,20018,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3616,2209
$GC,20048,0.24,162.9,785.7,6.4,472,20053,0.15,2.35,0.00,0.000,6,0.177,0.064,3399,2188,2209
$GC,20376,0.36,162.9,767.9,5.5,478,20378,0.12,0.00,0.00,0.000,6,0.084,0.000,3445,2188,2209
$GC,20677,0.41,162.9,749.9,5.9,483,20679,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2188,2209
$GC,20980,0.46,162.9,733.4,5.4,488,20985,0.00,2.42,0.00,0.000,4,0.000,0.081,3445,3609,2209
$GC,21044,0.38,162.9,729.3,6.9,489,21048,0.00,2.35,0.00,0.000,6,0.000,0.064,3448,2195,2209
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$STATE,32831,end climb,SURFACE_DEPTH_REACHED
$STATE,32831,begin surface coast
$FINISH,5.3,1.025578
$STATE,32847,end surface coast,CONTROL_FINISHED_OK
$STATE,32847,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2108
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$TCM_TEMP,17.90
$XPDR_PINGS,988
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$10V_AH,10.5,51.270
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$DEVICE_SECS,30.025,207.725,364.825,25.875,0.000,29.134,24.807,152.153,247.000,0.000,0.000,36.950,1790.950,27937.090,562.847,2310.701,652.013,33.382,1703.851,0.000,2258.735,0.000,0.465
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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,47515,835
$CAP_FILE_SIZE,185511,0
$CFSIZE,260165632,228872192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200109,055006,5020.250,-14510.885,40,0.9,40,18.5