version: 66.03
glider: 120
mission: 9
dive: 473
start: 2 22 109 19 42 20
data:
$ID,120
$MISSION,9
$DIVE,473
$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,275
$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,-27858.865
$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,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
$GPS1,193031,5005.065,-14511.511,151,1.2,151,18.4
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-67.2
$GPS2,194125,5005.057,-14511.546,13,1.6,18,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.177
$KALMAN_X,-12459.8,231.0,-64.8,15780.5,-650.3
$KALMAN_Y,72559.7,104.7,-307.5,-69430.8,3157.6
$MHEAD_RNG_PITCHd_Wd,157.0,20462,-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,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.80,0.000,2,0.000,0.000,136,2412,2022
$GC,41,-0.67,-117.3,4.0,-0.0,1,117,14.10,2.47,-55.62,0.000,4,0.285,0.083,3094,988,3356
$GC,370,-0.54,-117.3,36.1,-7.5,30,377,0.17,2.33,0.00,0.000,6,0.155,0.064,3142,2405,3358
$GC,699,-0.54,-117.3,54.5,-5.8,61,703,0.00,2.38,0.00,0.000,4,0.000,0.071,3148,985,3358
$GC,724,-0.54,-117.3,56.6,-7.6,62,730,0.00,2.33,0.00,0.000,6,0.000,0.062,3142,2407,3358
$GC,1049,-0.54,-117.3,77.9,-7.4,93,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2407,3358
$GC,1370,-0.54,-117.3,102.2,-6.5,110,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2407,3358
$GC,1679,-0.54,-117.3,124.7,-7.4,125,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2407,3358
$GC,1988,-0.58,-117.3,143.4,-6.1,140,1992,0.00,2.38,0.00,0.000,4,0.000,0.084,3141,3805,3359
$GC,2039,-0.69,-117.3,146.5,-6.2,142,2044,0.15,2.25,0.00,0.000,6,0.078,0.054,3084,2391,3359
$GC,2353,-0.69,-117.3,167.4,-6.9,153,2357,0.00,2.30,0.00,0.000,4,0.000,0.071,3084,994,3359
$GC,2448,-0.69,-117.3,175.8,-9.4,155,2455,0.00,2.30,0.00,0.000,6,0.000,0.063,3084,2403,3359
$GC,2762,-0.63,-117.3,200.3,-7.9,166,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2402,3359
$GC,3068,-0.58,-117.3,225.8,-8.5,176,3070,0.15,0.00,0.00,0.000,6,0.143,0.000,3125,2402,3359
$GC,3374,-0.64,-117.3,248.5,-7.3,186,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3359
$GC,3680,-0.69,-117.3,270.6,-7.3,196,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3359
$GC,3987,-0.75,-117.3,292.3,-6.9,206,3989,0.15,0.00,0.00,0.000,6,0.081,0.000,3067,2402,3359
$GC,4291,-0.70,-117.3,315.7,-7.7,213,4295,0.00,2.38,0.00,0.000,4,0.000,0.071,3067,996,3359
$GC,4319,-0.65,-117.3,318.0,-8.1,213,4324,0.15,2.30,0.00,0.000,6,0.136,0.063,3107,2400,3359
$GC,4657,-0.65,-117.3,338.8,-6.0,219,4661,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,990,3358
$GC,4684,-0.65,-117.3,340.5,-6.1,219,4688,0.00,2.33,0.00,0.000,6,0.000,0.064,3107,2401,3358
$GC,5017,-0.65,-117.3,358.3,-5.3,225,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3358
$GC,5320,-0.65,-117.3,375.1,-5.6,230,5324,0.00,2.38,0.00,0.000,4,0.000,0.072,3107,987,3358
$GC,5359,-0.65,-117.3,377.6,-5.9,230,5363,0.00,2.33,0.00,0.000,6,0.000,0.064,3107,2405,3358
$GC,5680,-0.65,-117.3,397.3,-6.2,236,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2404,3358
$GC,5983,-0.65,-117.3,417.6,-6.7,241,5988,0.00,2.38,0.00,0.000,4,0.000,0.072,3107,986,3358
$GC,6012,-0.69,-117.3,419.6,-7.5,241,6016,0.00,2.33,0.00,0.000,6,0.000,0.064,3107,2403,3358
$GC,6345,-0.69,-117.3,440.9,-6.3,247,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3358
$GC,6647,-0.69,-117.3,458.3,-5.7,252,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3358
$GC,6951,-0.74,-117.3,475.0,-5.5,257,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2402,3357
$GC,7254,-0.78,-117.3,491.9,-5.6,262,7258,0.12,2.38,0.00,0.000,4,0.087,0.072,3059,985,3357
$GC,7317,-0.72,-117.3,496.5,-7.8,263,7321,0.00,2.33,0.00,0.000,6,0.000,0.064,3059,2400,3357
$GC,7689,-0.64,-117.3,524.6,-7.7,269,7691,0.17,0.00,0.00,0.000,6,0.146,0.000,3107,2399,3357
$GC,7993,-0.69,-117.3,542.7,-5.9,274,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,3357
$GC,8297,-0.74,-117.3,558.0,-5.0,279,8301,0.00,2.35,0.00,0.000,4,0.000,0.073,3107,995,3356
$GC,8336,-0.81,-117.3,560.0,-5.3,279,8341,0.15,2.30,0.00,0.000,6,0.083,0.064,3055,2400,3357
$GC,8656,-0.81,-117.3,579.0,-6.0,285,8661,0.00,2.38,0.00,0.000,4,0.000,0.083,3055,3808,3356
$GC,8685,-0.73,-117.3,581.0,-7.8,285,8690,0.00,2.25,0.00,0.000,6,0.000,0.057,3056,2403,3357
$GC,9018,-0.68,-117.3,603.7,-6.9,291,9023,0.15,2.38,0.00,0.000,4,0.117,0.073,3108,985,3356
$GC,9051,-0.73,-117.3,606.0,-6.3,291,9056,0.00,2.33,0.00,0.000,6,0.000,0.064,3108,2400,3356
$GC,9379,-0.92,-117.3,627.4,-6.9,297,9384,0.22,2.38,0.00,0.000,4,0.084,0.072,3021,986,3356
$GC,9581,-0.73,-117.3,646.3,-9.6,300,9586,0.22,2.35,0.00,0.000,6,0.160,0.064,3077,2410,3356
$GC,9942,-0.73,-117.3,671.9,-7.0,306,9946,0.00,2.40,0.00,0.000,4,0.000,0.073,3078,984,3356
$GC,9976,-0.73,-117.3,674.4,-7.4,306,9980,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2399,3356
$GC,10303,-0.73,-117.3,698.2,-7.2,312,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3356
$GC,10607,-0.73,-117.3,719.3,-6.9,317,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3356
$GC,10910,-0.73,-117.3,739.9,-6.8,322,10914,0.00,2.38,0.00,0.000,4,0.000,0.072,3073,994,3356
$GC,10943,-0.73,-117.3,742.5,-6.8,322,10947,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2407,3356
$GC,11269,-0.73,-117.3,762.9,-6.1,328,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3356
$GC,11572,-0.73,-117.3,780.8,-5.9,333,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3356
$GC,11876,-0.73,-117.3,798.4,-5.7,338,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3355
$GC,12179,-0.73,-117.3,815.9,-5.7,343,12183,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,985,3355
$GC,12218,-0.73,-117.3,818.3,-5.6,343,12222,0.00,2.35,0.00,0.000,6,0.000,0.065,3073,2408,3355
$GC,12539,-0.73,-117.3,836.5,-5.7,349,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3355
$GC,12842,-0.73,-117.3,853.7,-5.7,354,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3355
$GC,13146,-0.73,-117.3,872.0,-6.1,359,13150,0.00,2.38,0.00,0.000,4,0.000,0.074,3073,994,3355
$GC,13196,-0.73,-117.3,875.5,-7.0,359,13200,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2406,3355
$GC,13506,-0.73,-117.3,894.9,-6.3,364,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3355
$GC,13809,-0.73,-117.3,914.9,-6.6,369,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3355
$GC,14112,-0.73,-117.3,935.9,-6.9,374,14116,0.00,2.38,0.00,0.000,4,0.000,0.074,3073,994,3355
$GC,14163,-0.73,-117.3,939.5,-7.0,374,14167,0.00,2.33,0.00,0.000,6,0.000,0.065,3073,2402,3355
$GC,14473,-0.73,-117.3,959.6,-6.5,379,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3355
$GC,14775,-0.73,-117.3,978.7,-6.3,384,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3354
$STATE,15015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15015,begin apogee
$GC,15023,-0.22,0.0,993.5,6.1,388,15138,0.57,0.00,109.20,1.490,6,0.141,0.000,3245,2200,2875
$STATE,15139,end apogee,CONTROL_FINISHED_OK
$STATE,15139,begin climb
$GC,15142,0.67,117.3,998.1,0.0,390,15266,0.85,2.72,113.53,1.436,4,0.089,0.079,3524,3608,2396
$GC,15311,0.25,117.3,996.3,7.7,392,15317,0.52,2.45,0.00,0.000,6,0.180,0.061,3402,2203,2395
$GC,15633,0.33,147.1,982.4,4.1,398,15663,0.00,0.00,27.62,1.405,6,0.000,0.000,3402,2203,2276
$GC,15936,0.41,147.1,967.5,5.0,403,15938,0.15,0.00,0.00,0.000,6,0.081,0.000,3463,2204,2275
$GC,16240,0.32,147.1,948.2,6.4,408,16241,0.15,0.00,0.00,0.000,6,0.139,0.000,3422,2204,2273
$GC,16542,0.32,149.7,932.9,4.9,413,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2203,2273
$GC,16845,0.32,149.7,916.6,5.4,418,16846,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2204,2273
$GC,17148,0.32,149.7,899.9,5.5,423,17152,0.00,2.40,0.00,0.000,4,0.000,0.082,3422,3611,2273
$GC,17187,0.27,149.7,897.7,6.5,423,17191,0.00,2.33,0.00,0.000,6,0.000,0.065,3422,2186,2273
$GC,17508,0.27,149.7,880.8,5.2,429,17512,0.00,2.42,0.00,0.000,4,0.000,0.081,3422,3611,2272
$GC,17553,0.23,149.7,878.1,5.9,429,17558,0.12,2.33,0.00,0.000,6,0.179,0.064,3392,2188,2272
$GC,17869,0.38,183.2,865.2,4.0,435,17905,0.15,0.00,33.08,1.396,6,0.083,0.000,3450,2188,2129
$GC,18173,0.38,183.2,847.4,6.0,440,18174,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2187,2126
$GC,18475,0.38,183.2,828.4,6.4,445,18476,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2188,2125
$GC,18778,0.42,183.2,809.0,6.4,450,18779,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2188,2124
$GC,19081,0.42,183.2,789.2,6.5,455,19082,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2188,2124
$GC,19385,0.47,183.2,769.6,6.5,460,19389,0.00,2.45,0.00,0.000,4,0.000,0.082,3450,3614,2124
$GC,19418,0.42,183.2,767.1,8.0,460,19422,0.00,2.33,0.00,0.000,6,0.000,0.064,3451,2197,2123
$GC,19744,0.42,183.2,745.5,6.6,466,19745,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2198,2124
$GC,20047,0.42,183.2,725.6,6.5,471,20052,0.00,2.42,0.00,0.000,4,0.000,0.082,3450,3615,2124
$GC,20082,0.35,183.2,723.1,6.4,471,20086,0.00,2.33,0.00,0.000,6,0.000,0.064,3450,2199,2123
$GC,20408,0.35,183.2,702.8,6.2,477,20409,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2199,2124
$GC,20711,0.35,183.2,684.1,6.1,482,20715,0.00,2.40,0.00,0.000,4,0.000,0.081,3451,3612,2124
$GC,20756,0.27,183.2,681.0,7.2,482,20761,0.17,2.33,0.00,0.000,6,0.165,0.064,3405,2189,2123
$GC,21072,0.43,200.5,666.4,4.5,488,21091,0.15,0.00,16.38,1.243,6,0.084,0.000,3463,2189,2057
$GC,21375,0.47,200.5,648.7,6.0,493,21379,0.00,2.38,0.00,0.000,4,0.000,0.080,3463,781,2056
$GC,21409,0.47,200.5,646.5,6.0,493,21414,0.00,2.33,0.00,0.000,6,0.000,0.064,3463,2203,2056
$GC,21737,0.47,200.5,626.0,6.2,499,21738,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2203,2055
$GC,22039,0.47,200.5,608.3,5.8,504,22043,0.00,2.38,0.00,0.000,4,0.000,0.083,3463,3611,2055
$GC,22067,0.42,200.5,606.2,8.3,504,22071,0.00,2.30,0.00,0.000,6,0.000,0.064,3463,2201,2054
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$STATE,31737,end climb,SURFACE_DEPTH_REACHED
$STATE,31737,begin surface coast
$FINISH,2.6,1.025198
$STATE,31856,end surface coast,CONTROL_FINISHED_OK
$STATE,31856,begin surface
$SM_CCo,31937,0.00,0.000,0,0,1077,441.29
$SM_GC,3.61,9.50,0.00,0.00,0.063,0.000,0.000,140,2412,1077,-9.86,0.34,441.29
$IRIDIUM_FIX,4946.36,-14512.57,190598,101011
$TT8_MAMPS,0.026078
$HUMID,2082
$INTERNAL_PRESSURE,8.96762
$TCM_TEMP,15.50
$XPDR_PINGS,974
$24V_AH,21.3,92.698
$10V_AH,10.4,63.541
$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
$DEVICE_SECS,29.850,202.725,504.750,0.000,0.000,54.068,116.416,262.587,243.500,0.000,0.000,18.766,1773.258,26854.580,636.173,2361.055,955.215,33.374,1822.666,0.000,2328.638,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,640.244,624.237,1427.748,863.277,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47383,840
$CAP_FILE_SIZE,186260,0
$CFSIZE,260165632,221904896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230209,043555,5002.267,-14511.652,39,1.4,39,18.4