version: 66.03
glider: 120
mission: 9
dive: 575
start: 4 2 109 11 1 34
data:
$ID,120
$MISSION,9
$DIVE,575
$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,-30044.242
$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,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
$GPS1,105354,5015.202,-14428.383,25,1.2,42,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-71.6
$GPS2,110038,5015.184,-14428.339,15,1.3,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.177
$KALMAN_X,-73661.4,65.1,-132.5,128593.9,-567.5
$KALMAN_Y,127963.5,175.1,539.0,-107024.4,-710.5
$MHEAD_RNG_PITCHd_Wd,159.6,39252,-12.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.67,-117.0,0.0,0.0,0,58,0.00,0.00,-30.08,0.000,2,0.000,0.000,134,2411,2203
$GC,63,-0.67,-117.3,3.2,-3.1,3,120,13.62,2.42,-38.10,0.000,4,0.275,0.098,3095,3807,3356
$GC,336,-0.52,-117.3,30.5,-12.2,27,343,0.20,2.25,0.00,0.000,6,0.149,0.055,3151,2397,3357
$GC,665,-0.52,-117.3,52.6,-6.6,58,669,0.00,2.35,0.00,0.000,4,0.000,0.071,3151,993,3357
$GC,693,-0.52,-117.3,55.0,-7.4,60,699,0.00,2.33,0.00,0.000,6,0.000,0.062,3151,2400,3357
$GC,1030,-0.52,-117.3,81.8,-7.7,91,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2399,3357
$GC,1339,-0.52,-117.3,106.2,-7.4,106,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2399,3357
$GC,1648,-0.58,-117.3,127.6,-6.4,121,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2399,3358
$GC,1958,-0.67,-117.3,144.2,-4.6,136,1963,0.15,2.40,0.00,0.000,4,0.079,0.080,3086,3813,3358
$GC,1980,-0.67,-117.3,145.9,-6.7,137,1984,0.00,2.28,0.00,0.000,6,0.000,0.054,3086,2390,3358
$GC,2316,-0.61,-117.3,173.1,-8.1,149,2320,0.12,2.35,0.00,0.000,4,0.110,0.069,3122,995,3358
$GC,2412,-0.61,-117.3,180.7,-7.7,151,2418,0.00,2.35,0.00,0.000,6,0.000,0.062,3122,2412,3358
$GC,2725,-0.61,-117.3,202.6,-6.5,162,2729,0.00,2.40,0.00,0.000,4,0.000,0.083,3122,3817,3358
$GC,2760,-0.69,-117.3,204.9,-6.4,163,2764,0.00,2.28,0.00,0.000,6,0.000,0.054,3122,2391,3358
$GC,3103,-0.73,-117.3,226.3,-6.5,174,3107,0.12,2.35,0.00,0.000,4,0.080,0.069,3072,992,3358
$GC,3165,-0.68,-117.3,231.7,-8.9,175,3171,0.00,2.35,0.00,0.000,6,0.000,0.061,3072,2413,3358
$GC,3479,-0.59,-117.3,259.3,-8.6,186,3483,0.15,2.38,0.00,0.000,4,0.139,0.080,3113,3810,3358
$GC,3535,-0.66,-117.3,263.3,-6.4,187,3542,0.00,2.25,0.00,0.000,6,0.000,0.054,3113,2397,3358
$GC,3849,-0.66,-117.3,281.6,-5.5,198,3853,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,992,3358
$GC,3900,-0.71,-117.3,284.7,-5.9,199,3904,0.00,2.35,0.00,0.000,6,0.000,0.061,3113,2410,3358
$GC,4248,-0.71,-117.3,304.6,-5.9,210,4252,0.00,2.40,0.00,0.000,4,0.000,0.070,3113,993,3358
$GC,4272,-0.71,-117.3,306.1,-6.3,210,4276,0.00,2.35,0.00,0.000,6,0.000,0.061,3113,2404,3358
$GC,4617,-0.71,-117.3,325.9,-5.8,216,4621,0.00,2.40,0.00,0.000,4,0.000,0.069,3113,992,3358
$GC,4646,-0.76,-117.3,328.0,-7.1,216,4651,0.12,2.35,0.00,0.000,6,0.084,0.061,3066,2404,3358
$GC,4980,-0.71,-117.3,351.9,-7.3,222,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2404,3358
$GC,5281,-0.71,-117.3,374.5,-7.5,227,5285,0.00,2.38,0.00,0.000,4,0.000,0.081,3066,3808,3358
$GC,5315,-0.65,-117.3,377.2,-7.9,227,5320,0.12,2.28,0.00,0.000,6,0.095,0.054,3101,2387,3358
$GC,5642,-0.65,-117.3,400.6,-7.1,233,5646,0.00,2.35,0.00,0.000,4,0.000,0.071,3102,997,3358
$GC,5671,-0.65,-117.3,402.6,-7.2,233,5675,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2403,3358
$GC,6003,-0.65,-117.3,424.1,-6.4,239,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,6306,-0.65,-117.3,443.8,-6.5,244,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,6610,-0.65,-117.3,464.9,-6.9,249,6614,0.00,2.40,0.00,0.000,4,0.000,0.070,3100,998,3357
$GC,6638,-0.65,-117.3,467.0,-7.1,249,6642,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2407,3357
$GC,6977,-0.65,-117.3,490.2,-6.8,255,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3357
$GC,7280,-0.65,-117.3,509.6,-6.4,260,7284,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,990,3356
$GC,7313,-0.65,-117.3,511.8,-6.6,260,7317,0.00,2.38,0.00,0.000,6,0.000,0.063,3100,2407,3357
$GC,7640,-0.65,-117.3,531.7,-6.1,266,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3357
$GC,7943,-0.65,-117.3,550.0,-6.0,271,7947,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,990,3357
$GC,7982,-0.65,-117.3,552.7,-6.6,271,7986,0.00,2.38,0.00,0.000,6,0.000,0.062,3100,2410,3356
$GC,8303,-0.65,-117.3,571.8,-6.0,277,8307,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,989,3357
$GC,8343,-0.65,-117.3,574.2,-6.3,277,8347,0.00,2.38,0.00,0.000,6,0.000,0.062,3100,2406,3357
$GC,8664,-0.65,-117.3,592.6,-5.7,283,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,8968,-0.65,-117.3,608.9,-5.3,288,8972,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,988,3356
$GC,9018,-0.65,-117.3,611.6,-5.4,288,9022,0.00,2.38,0.00,0.000,6,0.000,0.063,3100,2400,3356
$GC,9329,-0.65,-117.3,628.3,-5.4,293,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,9632,-0.65,-117.3,647.4,-6.4,298,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,9935,-0.65,-117.3,668.8,-7.2,303,9939,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,998,3356
$GC,9963,-0.70,-117.3,671.0,-8.3,303,9967,0.00,2.38,0.00,0.000,6,0.000,0.063,3100,2412,3356
$GC,10297,-0.74,-117.3,692.5,-6.4,309,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3356
$GC,10599,-0.79,-117.3,709.2,-5.4,314,10601,0.12,0.00,0.00,0.000,6,0.087,0.000,3049,2411,3355
$GC,10902,-0.74,-117.3,726.3,-5.6,319,10906,0.00,2.40,0.00,0.000,4,0.000,0.083,3047,3816,3355
$GC,10943,-0.66,-117.3,728.6,-5.7,319,10948,0.17,2.28,0.00,0.000,6,0.110,0.056,3097,2404,3355
$GC,11266,-0.66,-117.3,742.8,-4.4,325,11270,0.00,2.42,0.00,0.000,4,0.000,0.073,3097,984,3355
$GC,11294,-0.70,-117.3,744.2,-5.1,325,11298,0.00,2.38,0.00,0.000,6,0.000,0.064,3097,2399,3355
$GC,11634,-0.75,-117.3,758.9,-4.4,331,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3355
$GC,11936,-0.79,-117.3,773.5,-4.9,336,11938,0.12,0.00,0.00,0.000,6,0.086,0.000,3048,2398,3355
$GC,12238,-0.79,-117.3,792.3,-6.2,341,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2398,3354
$GC,12542,-0.79,-117.3,811.7,-6.4,346,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2399,3355
$GC,12844,-0.79,-117.3,831.7,-6.7,351,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2398,3355
$GC,13148,-0.79,-117.3,848.9,-5.6,356,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2398,3355
$GC,13451,-0.79,-117.3,863.2,-4.7,361,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2398,3355
$GC,13754,-0.79,-117.3,878.1,-4.9,366,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2398,3354
$GC,14057,-0.79,-117.3,894.9,-5.6,371,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2398,3354
$GC,14360,-0.79,-117.3,914.1,-6.4,376,14364,0.00,2.42,0.00,0.000,4,0.000,0.084,3047,3810,3354
$GC,14395,-0.73,-117.3,916.6,-7.5,376,14399,0.12,2.30,0.00,0.000,6,0.104,0.058,3080,2389,3354
$GC,14721,-0.73,-117.3,938.7,-6.8,382,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2390,3354
$GC,15024,-0.73,-117.3,958.6,-6.5,387,15029,0.00,2.40,0.00,0.000,4,0.000,0.074,3080,994,3353
$GC,15065,-0.73,-117.3,961.3,-6.5,387,15069,0.00,2.38,0.00,0.000,6,0.000,0.065,3080,2398,3353
$GC,15386,-0.73,-117.3,980.6,-6.0,393,15390,0.00,2.42,0.00,0.000,4,0.000,0.085,3081,3809,3354
$GC,15414,-0.73,-117.3,982.5,-6.3,393,15418,0.00,2.28,0.00,0.000,6,0.000,0.057,3080,2405,3353
$STATE,15562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15562,begin apogee
$GC,15571,-0.22,0.0,991.0,5.7,396,15685,0.52,0.00,108.53,1.491,6,0.137,0.000,3240,2190,2875
$STATE,15685,end apogee,CONTROL_FINISHED_OK
$STATE,15686,begin climb
$GC,15689,0.67,117.3,996.0,0.0,398,15808,0.90,0.00,115.25,1.438,6,0.087,0.000,3532,2191,2397
$GC,16109,0.35,117.3,977.4,7.2,405,16114,0.32,2.38,0.00,0.000,4,0.159,0.079,3433,3612,2394
$GC,16155,0.23,117.3,974.6,5.3,405,16160,0.17,2.30,0.00,0.000,6,0.178,0.062,3392,2194,2394
$GC,16471,0.35,160.1,962.5,3.8,411,16516,0.12,2.47,38.78,1.428,4,0.083,0.079,3445,798,2222
$GC,16556,0.35,160.1,957.8,6.0,412,16560,0.00,2.35,0.00,0.000,6,0.000,0.061,3445,2211,2221
$GC,16906,0.35,160.1,936.1,6.3,418,16907,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2210,2219
$GC,17208,0.35,160.1,917.9,6.0,423,17209,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2211,2219
$GC,17512,0.35,160.1,899.4,6.1,428,17513,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2210,2218
$GC,17814,0.35,160.1,881.4,6.0,433,17818,0.00,2.35,0.00,0.000,4,0.000,0.082,3445,3612,2218
$GC,17855,0.26,160.1,878.6,7.2,433,17860,0.17,2.30,0.00,0.000,6,0.165,0.063,3404,2197,2218
$GC,18177,0.35,161.0,862.5,5.0,439,18181,0.00,2.40,0.00,0.000,4,0.000,0.078,3408,785,2218
$GC,18222,0.47,177.2,860.4,4.5,439,18243,0.17,2.33,15.85,1.347,6,0.079,0.060,3476,2202,2153
$GC,18608,0.38,177.2,832.2,7.6,446,18610,0.12,0.00,0.00,0.000,6,0.143,0.000,3442,2202,2151
$GC,18908,0.38,177.2,811.6,6.8,451,18912,0.00,2.42,0.00,0.000,4,0.000,0.077,3449,785,2151
$GC,18941,0.38,177.2,809.2,6.9,451,18946,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2216,2151
$GC,19269,0.38,177.2,785.4,7.3,457,19270,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2215,2151
$GC,19572,0.38,177.2,763.8,7.1,462,19576,0.00,2.35,0.00,0.000,4,0.000,0.081,3449,3617,2151
$GC,19606,0.32,177.2,761.3,7.2,462,19610,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2191,2150
$GC,19933,0.32,177.2,741.1,6.1,468,19937,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,785,2150
$GC,19989,0.32,177.2,737.7,5.1,468,19995,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2202,2150
$GC,20300,0.32,177.2,719.4,5.9,474,20301,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2150
$GC,20603,0.32,177.2,701.2,5.9,479,20604,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2150
$GC,20906,0.32,177.2,682.8,6.1,484,20907,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2150
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$STATE,32000,end climb,SURFACE_DEPTH_REACHED
$STATE,32000,begin surface coast
$FINISH,1.7,1.015027
$STATE,32118,end surface coast,CONTROL_FINISHED_OK
$STATE,32118,begin surface
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$HUMID,2120
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$TCM_TEMP,15.30
$XPDR_PINGS,998
$24V_AH,21.0,112.553
$10V_AH,10.4,77.647
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$DEVICE_SECS,28.525,233.050,367.275,0.000,0.000,31.188,26.155,185.911,249.500,0.000,0.000,15.697,1815.007,26958.467,557.602,2386.957,872.436,33.379,1746.251,0.000,2367.929,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,649.711,629.320,1438.121,873.700,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50613,846
$CAP_FILE_SIZE,187968,0
$CFSIZE,260165632,213987328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,195937,5011.697,-14428.955,44,1.4,44,18.6