version: 66.03
glider: 120
mission: 9
dive: 494
start: 3 2 109 19 35 55
data:
$ID,120
$MISSION,9
$DIVE,494
$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,608.58929
$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,-28385.734
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,191907,4959.479,-14429.067,43,1.4,43,18.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-61.6
$GPS2,193501,4959.345,-14429.015,17,1.6,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.177
$KALMAN_X,-23860.5,-46.7,1.4,77965.9,107.1
$KALMAN_Y,88503.6,34.2,-342.4,-95853.6,834.1
$MHEAD_RNG_PITCHd_Wd,167.3,9926,-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,-117.3,0.0,0.0,0,67,0.00,0.00,-40.80,0.000,2,0.000,0.000,134,2401,1298
$GC,71,-0.67,-117.3,3.0,-0.7,4,181,12.45,2.50,-90.40,0.000,4,0.243,0.093,3099,3811,3356
$GC,435,-0.54,-117.3,35.6,-10.8,37,440,0.15,2.28,0.00,0.000,6,0.156,0.054,3138,2398,3357
$GC,761,-0.54,-117.3,55.1,-6.7,67,762,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2398,3357
$GC,1079,-0.54,-117.3,80.6,-9.8,97,1083,0.00,2.33,0.00,0.000,4,0.000,0.069,3138,993,3357
$GC,1107,-0.54,-117.3,83.0,-7.9,98,1111,0.00,2.33,0.00,0.000,6,0.000,0.061,3138,2414,3357
$GC,1426,-0.54,-117.3,106.7,-6.9,113,1430,0.00,2.38,0.00,0.000,4,0.000,0.071,3138,984,3357
$GC,1466,-0.54,-117.3,109.7,-8.4,115,1470,0.00,2.33,0.00,0.000,6,0.000,0.061,3138,2404,3357
$GC,1793,-0.54,-117.3,132.8,-7.2,131,1797,0.00,2.35,0.00,0.000,4,0.000,0.070,3138,985,3357
$GC,1834,-0.59,-117.3,135.8,-8.0,133,1838,0.00,2.33,0.00,0.000,6,0.000,0.061,3138,2413,3357
$GC,2156,-0.64,-117.3,156.4,-6.4,147,2160,0.00,2.35,0.00,0.000,4,0.000,0.082,3138,3818,3357
$GC,2219,-0.74,-117.3,160.9,-7.3,149,2224,0.17,2.25,0.00,0.000,6,0.077,0.054,3073,2399,3357
$GC,2556,-0.67,-117.3,189.6,-9.1,160,2560,0.00,2.38,0.00,0.000,4,0.000,0.078,3072,3816,3357
$GC,2690,-0.57,-117.3,202.9,-10.3,164,2695,0.20,2.25,0.00,0.000,6,0.124,0.054,3130,2394,3357
$GC,3021,-0.63,-117.3,226.2,-7.2,175,3025,0.00,2.30,0.00,0.000,4,0.000,0.070,3130,990,3357
$GC,3078,-0.70,-117.3,230.4,-7.3,176,3084,0.12,2.30,0.00,0.000,6,0.086,0.061,3081,2408,3357
$GC,3391,-0.70,-117.3,253.8,-7.4,187,3395,0.00,2.35,0.00,0.000,4,0.000,0.069,3081,990,3357
$GC,3425,-0.70,-117.3,256.3,-7.7,188,3429,0.00,2.30,0.00,0.000,6,0.000,0.061,3080,2405,3357
$GC,3755,-0.64,-117.3,278.8,-6.7,199,3760,0.10,2.38,0.00,0.000,4,0.145,0.079,3100,3814,3357
$GC,3784,-0.64,-117.3,280.7,-7.2,200,3788,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2399,3357
$GC,4149,-0.64,-117.3,304.8,-6.8,211,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3357
$GC,4452,-0.64,-117.3,324.9,-6.6,216,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3357
$GC,4755,-0.64,-117.3,344.8,-6.5,221,4759,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,990,3357
$GC,4789,-0.64,-117.3,347.3,-6.8,221,4793,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2401,3357
$GC,5122,-0.64,-117.3,370.7,-7.1,227,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,5424,-0.64,-117.3,392.3,-7.0,232,5428,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,989,3357
$GC,5458,-0.64,-117.3,394.6,-6.9,232,5462,0.00,2.33,0.00,0.000,6,0.000,0.062,3100,2406,3357
$GC,5784,-0.64,-117.3,415.7,-6.5,238,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3356
$GC,6088,-0.64,-117.3,434.4,-6.1,243,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,6392,-0.64,-117.3,452.2,-5.9,248,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,6694,-0.64,-117.3,472.0,-6.6,253,6698,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,996,3356
$GC,6744,-0.64,-117.3,475.6,-7.0,253,6748,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2400,3356
$GC,7054,-0.64,-117.3,496.5,-6.8,258,7058,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,992,3356
$GC,7087,-0.64,-117.3,498.9,-6.8,258,7091,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2405,3356
$GC,7420,-0.64,-117.3,520.9,-6.6,264,7424,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3815,3355
$GC,7456,-0.68,-117.3,523.3,-6.5,264,7460,0.00,2.25,0.00,0.000,6,0.000,0.055,3100,2402,3355
$GC,7784,-0.68,-117.3,543.6,-6.1,270,7788,0.00,2.33,0.00,0.000,4,0.000,0.072,3100,993,3355
$GC,7823,-0.73,-117.3,546.2,-6.9,270,7828,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2399,3355
$GC,8145,-0.73,-117.3,565.4,-6.0,276,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3355
$GC,8448,-0.73,-117.3,583.2,-5.9,281,8452,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,987,3355
$GC,8476,-0.73,-117.3,584.9,-6.4,281,8480,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2402,3354
$GC,8808,-0.73,-117.3,603.6,-5.6,287,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3354
$GC,9111,-0.73,-117.3,622.4,-6.3,292,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3355
$GC,9415,-0.73,-117.3,640.8,-6.1,297,9419,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,989,3354
$GC,9454,-0.78,-117.3,643.4,-6.2,297,9459,0.00,2.33,0.00,0.000,6,0.000,0.062,3100,2408,3354
$GC,9777,-0.82,-117.3,662.8,-6.0,303,9779,0.15,0.00,0.00,0.000,6,0.087,0.000,3041,2408,3354
$GC,10079,-0.74,-117.3,685.6,-7.6,308,10081,0.12,0.00,0.00,0.000,6,0.106,0.000,3076,2408,3354
$GC,10382,-0.74,-117.3,707.8,-7.3,313,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2408,3354
$GC,10686,-0.74,-117.3,729.5,-7.1,318,10690,0.00,2.38,0.00,0.000,4,0.000,0.072,3076,989,3354
$GC,10719,-0.74,-117.3,732.1,-7.2,318,10723,0.00,2.33,0.00,0.000,6,0.000,0.064,3076,2401,3353
$GC,11045,-0.74,-117.3,752.6,-6.2,324,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2400,3353
$GC,11348,-0.74,-117.3,768.7,-5.3,329,11352,0.00,2.35,0.00,0.000,4,0.000,0.073,3076,995,3353
$GC,11399,-0.74,-117.3,771.5,-6.0,329,11403,0.00,2.33,0.00,0.000,6,0.000,0.064,3075,2408,3353
$GC,11709,-0.74,-117.3,787.9,-5.3,334,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2408,3353
$GC,12012,-0.74,-117.3,805.5,-5.9,339,12016,0.00,2.40,0.00,0.000,4,0.000,0.072,3075,992,3353
$GC,12056,-0.74,-117.3,808.3,-6.2,339,12060,0.00,2.33,0.00,0.000,6,0.000,0.065,3074,2399,3353
$GC,12372,-0.74,-117.3,827.5,-6.1,345,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2399,3353
$GC,12674,-0.74,-117.3,846.8,-6.4,350,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2399,3353
$GC,12977,-0.74,-117.3,867.8,-7.1,355,12982,0.00,2.38,0.00,0.000,4,0.000,0.072,3075,996,3352
$GC,13005,-0.74,-117.3,870.0,-7.0,355,13009,0.00,2.33,0.00,0.000,6,0.000,0.064,3075,2411,3352
$GC,13344,-0.74,-117.3,893.6,-7.0,361,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2410,3352
$GC,13646,-0.74,-117.3,914.7,-7.0,366,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2410,3352
$GC,13949,-0.74,-117.3,936.0,-7.0,371,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2410,3352
$GC,14253,-0.74,-117.3,955.8,-6.4,376,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2411,3352
$GC,14556,-0.74,-117.3,974.7,-6.2,381,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2411,3352
$STATE,14856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14856,begin apogee
$GC,14864,-0.22,0.0,992.0,5.6,386,14979,0.55,0.00,108.20,1.489,6,0.140,0.000,3240,2199,2875
$STATE,14979,end apogee,CONTROL_FINISHED_OK
$STATE,14979,begin climb
$GC,14983,0.67,117.3,996.1,0.0,388,15100,0.88,0.00,113.62,1.434,6,0.094,0.000,3525,2199,2397
$GC,15408,0.37,117.3,975.3,7.4,394,15410,0.30,0.00,0.00,0.000,6,0.159,0.000,3441,2199,2394
$GC,15708,0.32,117.3,959.2,5.1,399,15712,0.00,2.45,0.00,0.000,4,0.000,0.081,3440,3617,2393
$GC,15764,0.18,117.3,955.8,5.8,399,15771,0.28,2.35,0.00,0.000,6,0.169,0.062,3376,2179,2393
$GC,16075,0.38,169.6,944.5,3.5,405,16125,0.20,0.00,47.35,1.437,6,0.078,0.000,3452,2179,2184
$GC,16377,0.38,169.6,926.5,6.2,410,16381,0.00,2.47,0.00,0.000,4,0.000,0.081,3452,3617,2180
$GC,16434,0.28,169.6,922.3,8.3,410,16441,0.17,2.35,0.00,0.000,6,0.173,0.064,3407,2194,2179
$GC,16745,0.37,172.6,906.8,4.9,416,16746,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2193,2178
$GC,17047,0.48,180.0,892.3,4.8,421,17060,0.20,0.00,9.95,1.288,6,0.081,0.000,3487,2194,2142
$GC,17350,0.37,180.0,871.5,7.0,426,17352,0.17,0.00,0.00,0.000,6,0.146,0.000,3438,2194,2141
$GC,17653,0.38,190.6,856.7,4.7,431,17669,0.00,2.42,11.18,1.299,4,0.000,0.079,3439,784,2098
$GC,17699,0.47,223.0,854.7,4.1,431,17735,0.00,2.33,30.75,1.372,6,0.000,0.061,3439,2206,1965
$GC,18079,0.54,223.0,834.5,5.5,438,18081,0.15,0.00,0.00,0.000,6,0.086,0.000,3500,2206,1961
$GC,18382,0.43,223.0,809.3,8.4,443,18387,0.15,2.38,0.00,0.000,4,0.143,0.081,3452,3621,1960
$GC,18410,0.43,223.0,807.0,9.1,443,18414,0.00,2.33,0.00,0.000,6,0.000,0.064,3452,2197,1960
$GC,18742,0.43,223.0,783.5,7.1,449,18746,0.00,2.38,0.00,0.000,4,0.000,0.080,3452,779,1960
$GC,18798,0.48,223.0,779.4,7.1,449,18804,0.00,2.30,0.00,0.000,6,0.000,0.061,3452,2201,1960
$GC,19109,0.48,223.0,757.3,7.1,455,19110,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,1959
$GC,19411,0.48,223.0,736.0,7.1,460,19412,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,1959
$GC,19714,0.48,223.0,715.7,6.6,465,19715,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,1959
$GC,20017,0.48,223.0,696.8,6.3,470,20021,0.00,2.35,0.00,0.000,4,0.000,0.080,3452,3610,1959
$GC,20053,0.48,223.0,694.2,7.6,470,20057,0.00,2.33,0.00,0.000,6,0.000,0.062,3452,2191,1958
$GC,20380,0.52,223.0,673.1,6.5,476,20382,0.10,0.00,0.00,0.000,6,0.097,0.000,3491,2191,1959
$GC,20682,0.52,223.0,649.9,7.7,481,20687,0.00,2.38,0.00,0.000,4,0.000,0.078,3491,791,1958
$GC,20728,0.47,223.0,646.2,7.9,481,20732,0.00,2.30,0.00,0.000,6,0.000,0.062,3491,2203,1959
$GC,21044,0.41,223.0,620.4,8.2,487,21049,0.15,2.38,0.00,0.000,4,0.146,0.079,3449,3609,1958
$GC,21077,0.41,223.0,617.6,7.1,487,21081,0.00,2.33,0.00,0.000,6,0.000,0.063,3448,2194,1958
$GC,21404,0.46,223.0,596.3,6.5,493,21405,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,1958
$GC,21708,0.51,223.0,577.3,6.2,498,21712,0.10,2.40,0.00,0.000,4,0.094,0.077,3490,788,1958
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$STATE,30324,end climb,SURFACE_DEPTH_REACHED
$STATE,30324,begin surface coast
$FINISH,2.4,1.024784
$STATE,30412,end surface coast,CONTROL_FINISHED_OK
$STATE,30412,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2027
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$TCM_TEMP,15.60
$XPDR_PINGS,938
$24V_AH,21.2,96.908
$10V_AH,10.4,66.478
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$DEVICE_SECS,28.075,206.925,361.350,296.075,0.000,151.482,213.507,156.439,234.500,0.000,0.000,34.113,1707.218,25781.217,871.594,2242.832,1076.815,33.378,1996.555,0.000,2210.328,0.000,0.465
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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,47368,797
$CAP_FILE_SIZE,181421,0
$CFSIZE,260165632,220233728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030309,040936,4956.396,-14429.951,37,1.6,42,18.5