version: 66.03
glider: 120
mission: 9
dive: 596
start: 4 10 109 9 33 57
data:
$ID,120
$MISSION,9
$DIVE,596
$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,-30446.836
$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,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
$GPS1,092601,5009.562,-14511.046,38,1.3,38,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-75.7
$GPS2,093302,5009.541,-14511.067,15,1.2,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.177
$KALMAN_X,-80877.0,-338.5,-175.8,85459.4,556.0
$KALMAN_Y,141626.2,-16.0,-196.0,-130191.2,2384.5
$MHEAD_RNG_PITCHd_Wd,167.4,28779,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-30.02,0.000,2,0.000,0.000,135,2408,2263
$GC,63,-0.67,-117.3,3.1,-4.3,3,118,13.52,2.45,-35.97,0.000,4,0.273,0.093,3085,3819,3356
$GC,213,-0.47,-117.3,16.4,-10.8,16,218,0.28,2.30,0.00,0.000,6,0.151,0.056,3161,2386,3357
$GC,539,-0.52,-117.3,36.7,-5.2,46,543,0.00,2.33,0.00,0.000,4,0.000,0.071,3162,990,3358
$GC,596,-0.59,-117.3,40.7,-6.6,50,603,0.12,2.35,0.00,0.000,6,0.078,0.061,3114,2412,3358
$GC,927,-0.59,-117.3,65.5,-7.5,81,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3358
$GC,1248,-0.59,-117.3,92.9,-8.3,105,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3358
$GC,1558,-0.59,-117.3,116.6,-7.5,120,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3358
$GC,1868,-0.59,-117.3,137.5,-7.0,135,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2411,3358
$GC,2175,-0.63,-117.3,158.4,-6.5,148,2180,0.00,2.38,0.00,0.000,4,0.000,0.080,3113,3810,3358
$GC,2205,-0.63,-117.3,160.3,-6.4,149,2209,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2400,3358
$GC,2542,-0.63,-117.3,178.3,-4.7,160,2546,0.00,2.42,0.00,0.000,4,0.000,0.079,3113,3814,3358
$GC,2598,-0.63,-117.3,181.4,-5.7,161,2605,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2397,3358
$GC,2911,-0.63,-117.3,197.9,-5.7,172,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,3218,-0.63,-117.3,216.4,-6.1,182,3222,0.00,2.45,0.00,0.000,4,0.000,0.080,3113,3815,3358
$GC,3248,-0.63,-117.3,218.3,-7.0,183,3252,0.00,2.30,0.00,0.000,6,0.000,0.053,3113,2396,3358
$GC,3584,-0.68,-117.3,239.9,-6.3,194,3588,0.00,2.38,0.00,0.000,4,0.000,0.070,3113,993,3358
$GC,3623,-0.75,-117.3,242.5,-6.8,195,3628,0.12,2.35,0.00,0.000,6,0.087,0.059,3067,2407,3358
$GC,3949,-0.69,-117.3,266.5,-7.3,206,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2407,3358
$GC,4254,-0.63,-117.3,288.7,-7.1,216,4259,0.15,2.40,0.00,0.000,4,0.108,0.079,3113,3809,3358
$GC,4294,-0.68,-117.3,291.3,-6.0,217,4298,0.00,2.28,0.00,0.000,6,0.000,0.053,3113,2396,3358
$GC,4648,-0.68,-117.3,312.3,-5.9,226,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,4951,-0.68,-117.3,330.1,-5.9,231,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,5253,-0.68,-117.3,348.2,-6.0,236,5257,0.00,2.40,0.00,0.000,4,0.000,0.070,3113,987,3358
$GC,5288,-0.73,-117.3,350.4,-6.2,236,5292,0.00,2.38,0.00,0.000,6,0.000,0.061,3113,2405,3358
$GC,5615,-0.73,-117.3,369.1,-5.7,242,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3358
$GC,5918,-0.73,-117.3,385.3,-5.3,247,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3358
$GC,6222,-0.77,-117.3,401.5,-5.3,252,6227,0.12,2.45,0.00,0.000,4,0.087,0.069,3065,988,3358
$GC,6250,-0.77,-117.3,403.3,-6.6,252,6253,0.00,2.38,0.00,0.000,6,0.000,0.061,3065,2406,3358
$GC,6590,-0.70,-117.3,426.5,-6.9,258,6594,0.00,2.42,0.00,0.000,4,0.000,0.081,3065,3818,3357
$GC,6624,-0.61,-117.3,429.2,-7.8,258,6629,0.17,2.33,0.00,0.000,6,0.128,0.055,3114,2387,3358
$GC,6952,-0.67,-117.3,447.7,-5.6,264,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2387,3358
$GC,7255,-0.73,-117.3,464.4,-5.5,269,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2387,3358
$GC,7558,-0.78,-117.3,480.2,-5.2,274,7559,0.15,0.00,0.00,0.000,6,0.079,0.000,3056,2387,3357
$GC,7861,-0.73,-117.3,499.7,-6.5,279,7865,0.00,2.47,0.00,0.000,4,0.000,0.081,3056,3814,3357
$GC,7928,-0.65,-117.3,504.9,-7.5,280,7933,0.17,2.33,0.00,0.000,6,0.110,0.055,3105,2390,3357
$GC,8290,-0.65,-117.3,526.7,-6.1,286,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2390,3357
$GC,8592,-0.65,-117.3,545.1,-6.1,291,8596,0.00,2.40,0.00,0.000,4,0.000,0.071,3106,991,3357
$GC,8626,-0.69,-117.3,547.3,-6.4,291,8630,0.00,2.38,0.00,0.000,6,0.000,0.062,3102,2406,3357
$GC,8954,-0.69,-117.3,567.7,-6.2,297,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2406,3357
$GC,9256,-0.69,-117.3,588.3,-6.9,302,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2406,3357
$GC,9559,-0.69,-117.3,609.1,-6.9,307,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2405,3357
$GC,9863,-0.73,-117.3,629.6,-6.7,312,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2405,3356
$GC,10166,-0.78,-117.3,649.1,-6.4,317,10167,0.10,0.00,0.00,0.000,6,0.089,0.000,3061,2405,3356
$GC,10469,-0.78,-117.3,670.1,-6.9,322,10474,0.00,2.42,0.00,0.000,4,0.000,0.081,3061,3811,3356
$GC,10520,-0.78,-117.3,673.8,-7.2,322,10524,0.00,2.30,0.00,0.000,6,0.000,0.055,3061,2401,3356
$GC,10831,-0.78,-117.3,692.9,-6.0,327,10835,0.00,2.45,0.00,0.000,4,0.000,0.081,3061,3809,3356
$GC,10859,-0.73,-117.3,694.7,-6.3,327,10863,0.00,2.30,0.00,0.000,6,0.000,0.056,3061,2402,3356
$GC,11193,-0.73,-117.3,713.7,-5.7,333,11197,0.00,2.45,0.00,0.000,4,0.000,0.081,3060,3808,3356
$GC,11238,-0.69,-117.3,716.6,-6.5,333,11243,0.12,2.30,0.00,0.000,6,0.097,0.055,3095,2397,3356
$GC,11554,-0.69,-117.3,732.2,-4.9,339,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3356
$GC,11857,-0.69,-117.3,748.0,-5.2,344,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3356
$GC,12160,-0.69,-117.3,765.2,-5.7,349,12164,0.00,2.42,0.00,0.000,4,0.000,0.073,3095,991,3355
$GC,12195,-0.73,-117.3,767.5,-6.0,349,12199,0.00,2.38,0.00,0.000,6,0.000,0.063,3095,2403,3355
$GC,12523,-0.77,-117.3,787.3,-6.0,355,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3355
$GC,12827,-0.82,-117.3,805.0,-5.8,360,12829,0.12,0.00,0.00,0.000,6,0.085,0.000,3046,2402,3355
$GC,13129,-0.78,-117.3,825.1,-6.7,365,13133,0.00,2.45,0.00,0.000,4,0.000,0.083,3045,3815,3355
$GC,13158,-0.69,-117.3,827.3,-7.6,365,13163,0.17,2.33,0.00,0.000,6,0.120,0.056,3093,2394,3355
$GC,13492,-0.73,-117.3,848.0,-6.2,371,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2395,3355
$GC,13794,-0.77,-117.3,867.3,-6.4,376,13798,0.00,2.40,0.00,0.000,4,0.000,0.072,3093,996,3355
$GC,13817,-0.82,-117.3,869.0,-6.7,376,13822,0.12,2.38,0.00,0.000,6,0.081,0.064,3049,2408,3354
$GC,14156,-0.82,-117.3,893.8,-7.4,382,14161,0.00,2.42,0.00,0.000,4,0.000,0.082,3047,3811,3354
$GC,14224,-0.75,-117.3,899.5,-8.1,383,14228,0.00,2.30,0.00,0.000,6,0.000,0.057,3047,2399,3354
$GC,14591,-0.71,-117.3,927.5,-7.7,389,14596,0.15,2.50,0.00,0.000,4,0.117,0.084,3096,3811,3354
$GC,14637,-0.81,-117.3,930.5,-5.7,389,14642,0.12,2.33,0.00,0.000,6,0.083,0.057,3051,2389,3354
$GC,14953,-0.81,-117.3,952.3,-6.8,395,14954,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2390,3354
$GC,15256,-0.81,-117.3,972.1,-6.5,400,15260,0.00,2.50,0.00,0.000,4,0.000,0.082,3051,3817,3354
$GC,15312,-0.75,-117.3,975.8,-6.7,400,15319,0.00,2.30,0.00,0.000,6,0.000,0.058,3051,2401,3354
$STATE,15560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15560,begin apogee
$GC,15569,-0.22,0.0,991.2,6.2,405,15682,0.65,0.00,108.00,1.490,6,0.134,0.000,3246,2185,2876
$STATE,15682,end apogee,CONTROL_FINISHED_OK
$STATE,15682,begin climb
$GC,15686,0.67,117.3,995.5,0.0,407,15810,0.90,2.78,115.30,1.434,4,0.088,0.074,3546,788,2396
$GC,15829,0.31,125.9,995.6,4.8,409,15845,0.52,2.60,10.12,1.227,6,0.173,0.058,3419,2202,2362
$GC,16167,0.31,125.9,978.3,5.1,415,16168,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2201,2359
$GC,16471,0.32,136.7,963.9,4.7,420,16486,0.00,2.42,10.90,1.318,4,0.000,0.077,3424,781,2317
$GC,16521,0.32,136.7,961.4,5.6,420,16525,0.00,2.35,0.00,0.000,6,0.000,0.061,3424,2221,2316
$GC,16833,0.35,158.2,947.7,4.4,425,16855,0.00,0.00,20.40,1.398,6,0.000,0.000,3424,2219,2231
$GC,17135,0.36,173.8,934.0,4.6,430,17152,0.00,0.00,15.52,1.366,6,0.000,0.000,3423,2220,2166
$GC,17438,0.43,191.7,920.2,4.5,435,17458,0.00,0.00,17.58,1.372,6,0.000,0.000,3424,2220,2094
$GC,17742,0.50,201.2,906.1,4.7,440,17758,0.15,2.45,10.23,1.289,4,0.081,0.079,3504,793,2054
$GC,17781,0.34,201.2,903.3,7.8,440,17786,0.28,2.33,0.00,0.000,6,0.149,0.062,3426,2204,2053
$GC,18103,0.40,201.2,886.6,5.1,446,18104,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2204,2052
$GC,18407,0.45,201.2,869.1,5.8,451,18409,0.12,0.00,0.00,0.000,6,0.082,0.000,3478,2204,2051
$GC,18710,0.37,201.2,846.1,7.7,456,18712,0.15,0.00,0.00,0.000,6,0.138,0.000,3435,2204,2051
$GC,19012,0.37,201.2,827.3,6.1,461,19016,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,792,2051
$GC,19051,0.43,201.2,824.7,6.8,461,19056,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2210,2051
$GC,19374,0.43,201.2,804.5,6.4,467,19375,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2051
$GC,19677,0.48,201.2,784.2,6.7,472,19678,0.10,0.00,0.00,0.000,6,0.089,0.000,3477,2209,2051
$GC,19980,0.42,201.2,760.0,8.1,477,19981,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2209,2051
$GC,20284,0.36,201.2,736.4,7.7,482,20286,0.15,0.00,0.00,0.000,6,0.133,0.000,3435,2209,2051
$GC,20586,0.40,201.2,717.9,6.0,487,20587,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2209,2051
$GC,20889,0.45,201.2,700.4,5.8,492,20893,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,794,2051
$GC,20918,0.53,201.2,698.7,5.8,492,20923,0.15,2.30,0.00,0.000,6,0.081,0.060,3495,2200,2051
$GC,21252,0.42,201.2,674.5,7.3,498,21257,0.15,2.42,0.00,0.000,4,0.143,0.079,3442,3610,2051
$GC,21285,0.42,201.2,672.0,6.3,498,21290,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2203,2051
$GC,21613,0.42,201.2,652.9,5.9,504,21614,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2051
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$STATE,32197,end climb,SURFACE_DEPTH_REACHED
$STATE,32198,begin surface coast
$FINISH,1.2,1.006347
$STATE,32392,end surface coast,CONTROL_FINISHED_OK
$STATE,32392,begin surface
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$IRIDIUM_FIX,4956.40,-14514.25,050798,000056
$TT8_MAMPS,0.026845
$HUMID,2132
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$TCM_TEMP,15.50
$XPDR_PINGS,986
$24V_AH,21.0,116.551
$10V_AH,10.4,80.524
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$DEVICE_SECS,30.325,182.225,366.625,5.125,0.000,28.982,26.489,199.093,246.500,0.000,0.000,15.501,1792.315,27405.490,561.526,2204.767,867.009,33.379,1631.384,0.000,2186.457,0.000,0.466
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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,50651,858
$CAP_FILE_SIZE,180382,0
$CFSIZE,260165632,212361216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,183625,5006.341,-14511.673,83,1.4,83,18.4