version: 66.03
glider: 120
mission: 9
dive: 724
start: 5 28 109 17 9 22
data:
$ID,120
$MISSION,9
$DIVE,724
$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,-33160.559
$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
$GPS1,165800,5015.062,-14511.415,80,2.0,80,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.3
$GPS2,170828,5015.087,-14511.459,12,2.4,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.029,-0.175
$KALMAN_X,-152763.8,41.4,233.5,156089.6,-1261.1
$KALMAN_Y,141219.6,202.9,593.9,-120541.8,-1077.9
$MHEAD_RNG_PITCHd_Wd,152.2,39037,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-36.33,0.000,2,0.000,0.000,136,2406,2674
$GC,74,-0.67,-117.3,3.1,-5.1,4,108,13.75,2.50,-14.52,0.000,4,0.272,0.092,3096,3806,3356
$GC,340,-0.53,-117.3,35.9,-10.8,27,347,0.17,2.33,0.00,0.000,6,0.147,0.052,3143,2397,3358
$GC,671,-0.53,-117.3,61.8,-7.9,58,674,0.00,2.45,0.00,0.000,4,0.000,0.067,3144,985,3359
$GC,700,-0.53,-117.3,64.6,-8.3,60,706,0.00,2.40,0.00,0.000,6,0.000,0.058,3142,2403,3358
$GC,1023,-0.53,-117.3,87.6,-6.7,86,1027,0.00,2.47,0.00,0.000,4,0.000,0.078,3142,3807,3359
$GC,1058,-0.53,-117.3,90.2,-7.1,87,1064,0.00,2.30,0.00,0.000,6,0.000,0.050,3141,2401,3359
$GC,1376,-0.53,-117.3,113.2,-7.6,103,1380,0.00,2.45,0.00,0.000,4,0.000,0.067,3141,988,3359
$GC,1426,-0.53,-117.3,117.3,-7.9,105,1431,0.00,2.42,0.00,0.000,6,0.000,0.058,3141,2409,3359
$GC,1744,-0.58,-117.3,140.1,-7.1,120,1749,0.00,2.53,0.00,0.000,4,0.000,0.065,3141,990,3359
$GC,1791,-0.67,-117.3,143.6,-7.2,122,1796,0.12,2.42,0.00,0.000,6,0.079,0.058,3096,2403,3359
$GC,2132,-0.67,-117.3,169.5,-7.6,135,2136,0.00,2.50,0.00,0.000,4,0.000,0.076,3095,3807,3359
$GC,2210,-0.67,-117.3,176.0,-7.9,137,2214,0.00,2.35,0.00,0.000,6,0.000,0.051,3095,2399,3359
$GC,2537,-0.67,-117.3,200.5,-7.5,148,2541,0.00,2.55,0.00,0.000,4,0.000,0.066,3095,989,3359
$GC,2567,-0.67,-117.3,202.9,-8.1,149,2571,0.00,2.42,0.00,0.000,6,0.000,0.057,3095,2401,3359
$GC,2903,-0.67,-117.3,227.3,-7.2,160,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,3210,-0.67,-117.3,247.5,-6.6,170,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,3515,-0.67,-117.3,269.8,-7.6,180,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,3821,-0.67,-117.3,293.8,-7.8,190,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3359
$GC,4156,-0.67,-117.3,318.3,-7.2,197,4160,0.00,2.58,0.00,0.000,4,0.000,0.067,3095,986,3359
$GC,4185,-0.67,-117.3,320.4,-7.3,197,4189,0.00,2.45,0.00,0.000,6,0.000,0.058,3095,2400,3359
$GC,4518,-0.67,-117.3,341.9,-6.5,203,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3358
$GC,4822,-0.67,-117.3,359.0,-5.5,208,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3359
$GC,5124,-0.67,-117.3,374.2,-5.0,213,5128,0.00,2.55,0.00,0.000,4,0.000,0.079,3095,3807,3358
$GC,5164,-0.67,-117.3,376.4,-5.3,213,5169,0.00,2.40,0.00,0.000,6,0.000,0.052,3095,2397,3358
$GC,5487,-0.67,-117.3,393.2,-5.2,219,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3358
$GC,5790,-0.67,-117.3,410.3,-5.7,224,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3358
$GC,6093,-0.67,-117.3,429.5,-6.4,229,6097,0.00,2.55,0.00,0.000,4,0.000,0.068,3095,994,3357
$GC,6122,-0.71,-117.3,431.5,-6.4,229,6126,0.00,2.42,0.00,0.000,6,0.000,0.059,3095,2401,3357
$GC,6456,-0.71,-117.3,452.2,-6.2,235,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3357
$GC,6759,-0.71,-117.3,470.5,-6.0,240,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3358
$GC,7062,-0.75,-117.3,490.1,-6.5,245,7067,0.00,2.58,0.00,0.000,4,0.000,0.067,3095,987,3357
$GC,7093,-0.80,-117.3,492.1,-6.9,245,7097,0.12,2.45,0.00,0.000,6,0.086,0.060,3052,2407,3357
$GC,7426,-0.74,-117.3,518.4,-7.9,251,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2406,3357
$GC,7729,-0.69,-117.3,539.0,-6.7,256,7734,0.15,2.58,0.00,0.000,4,0.104,0.068,3103,985,3356
$GC,7752,-0.69,-117.3,540.4,-5.5,256,7756,0.00,2.45,0.00,0.000,6,0.000,0.060,3100,2402,3357
$GC,8092,-0.69,-117.3,556.4,-4.7,262,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3356
$GC,8395,-0.69,-117.3,571.9,-5.2,267,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3357
$GC,8696,-0.69,-117.3,590.1,-6.1,272,8701,0.00,2.55,0.00,0.000,4,0.000,0.069,3101,985,3356
$GC,8731,-0.74,-117.3,592.6,-7.5,272,8735,0.00,2.47,0.00,0.000,6,0.000,0.060,3100,2408,3356
$GC,9060,-0.79,-117.3,614.2,-6.7,278,9062,0.12,0.00,0.00,0.000,6,0.088,0.000,3051,2407,3356
$GC,9362,-0.79,-117.3,636.7,-7.5,283,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2407,3355
$GC,9666,-0.75,-117.3,659.0,-7.3,288,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2407,3356
$GC,9968,-0.75,-117.3,679.8,-6.7,293,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2407,3355
$GC,10272,-0.75,-117.3,698.5,-6.1,298,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2407,3355
$GC,10575,-0.71,-117.3,716.8,-6.1,303,10580,0.12,2.60,0.00,0.000,4,0.098,0.068,3089,988,3355
$GC,10620,-0.71,-117.3,719.5,-6.1,303,10625,0.00,2.47,0.00,0.000,6,0.000,0.062,3086,2406,3355
$GC,10937,-0.71,-117.3,737.0,-5.5,309,10942,0.00,2.55,0.00,0.000,4,0.000,0.081,3086,3816,3355
$GC,10967,-0.71,-117.3,738.6,-5.7,309,10971,0.00,2.40,0.00,0.000,6,0.000,0.054,3086,2397,3355
$GC,11307,-0.71,-117.3,756.3,-5.3,315,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3355
$GC,11608,-0.71,-117.3,773.2,-5.6,320,11613,0.00,2.72,0.00,0.000,4,0.000,0.080,3086,3816,3354
$GC,11637,-0.71,-117.3,775.0,-6.2,320,11641,0.00,2.47,0.00,0.000,6,0.000,0.053,3086,2395,3354
$GC,11971,-0.71,-117.3,794.1,-5.8,326,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3354
$GC,12273,-0.71,-117.3,812.4,-6.1,331,12277,0.00,2.65,0.00,0.000,4,0.000,0.068,3086,995,3354
$GC,12296,-0.71,-117.3,814.0,-6.3,331,12300,0.00,2.45,0.00,0.000,6,0.000,0.061,3086,2402,3354
$GC,12635,-0.71,-117.3,835.7,-6.3,337,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,12937,-0.71,-117.3,854.1,-6.0,342,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13240,-0.71,-117.3,872.2,-6.0,347,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13544,-0.71,-117.3,890.4,-6.0,352,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13846,-0.71,-117.3,908.5,-6.0,357,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,14150,-0.71,-117.3,926.5,-5.8,362,14155,0.00,2.67,0.00,0.000,4,0.000,0.069,3086,985,3353
$GC,14185,-0.71,-117.3,928.7,-5.9,362,14189,0.00,2.50,0.00,0.000,6,0.000,0.061,3086,2398,3353
$GC,14512,-0.71,-117.3,946.3,-5.3,368,14516,0.00,2.58,0.00,0.000,4,0.000,0.082,3086,3817,3353
$GC,14541,-0.76,-117.3,947.8,-5.4,368,14545,0.00,2.40,0.00,0.000,6,0.000,0.055,3086,2399,3353
$GC,14875,-0.95,-117.3,965.9,-5.7,374,14880,0.17,2.60,0.00,0.000,4,0.087,0.079,3016,3809,3353
$GC,15055,-0.79,-117.3,978.2,-6.4,376,15060,0.17,2.42,0.00,0.000,6,0.123,0.054,3061,2399,3353
$STATE,15307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15307,begin apogee
$GC,15318,-0.22,0.0,992.6,5.5,381,15431,0.62,0.00,110.45,1.491,6,0.136,0.000,3245,2192,2876
$STATE,15432,end apogee,CONTROL_FINISHED_OK
$STATE,15432,begin climb
$GC,15436,0.67,117.3,996.2,0.0,383,15563,0.90,2.85,119.47,1.439,4,0.084,0.076,3525,3612,2396
$GC,15587,0.27,117.3,995.7,5.4,385,15593,0.57,2.67,0.00,0.000,6,0.189,0.057,3411,2208,2395
$GC,15927,0.27,117.3,978.5,5.1,391,15931,0.00,2.67,0.00,0.000,4,0.000,0.071,3421,778,2393
$GC,15966,0.27,117.3,976.4,5.1,391,15971,0.00,2.60,0.00,0.000,6,0.000,0.057,3421,2206,2393
$GC,16290,0.27,121.3,960.7,4.9,397,16296,0.00,0.00,4.70,0.997,6,0.000,0.000,3421,2205,2381
$GC,16592,0.29,134.2,946.6,4.6,402,16608,0.00,0.00,13.75,1.354,6,0.000,0.000,3421,2205,2328
$GC,16895,0.32,158.1,933.7,4.3,407,16924,0.00,2.50,23.08,1.405,4,0.000,0.079,3421,3607,2230
$GC,16944,0.35,181.5,931.4,4.3,407,16974,0.00,2.45,23.25,1.382,6,0.000,0.059,3421,2186,2134
$GC,17336,0.42,195.7,913.3,4.6,414,17356,0.00,2.53,13.65,1.339,4,0.000,0.080,3421,3605,2077
$GC,17380,0.42,195.7,910.9,5.0,414,17384,0.00,2.40,0.00,0.000,6,0.000,0.059,3421,2195,2076
$GC,17703,0.49,195.7,894.8,5.1,420,17705,0.15,0.00,0.00,0.000,6,0.082,0.000,3485,2196,2075
$GC,18005,0.37,195.7,870.8,8.1,425,18007,0.17,0.00,0.00,0.000,6,0.140,0.000,3439,2196,2075
$GC,18308,0.37,195.7,850.0,6.8,430,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2196,2074
$GC,18611,0.37,195.7,830.5,6.5,435,18615,0.00,2.55,0.00,0.000,4,0.000,0.077,3438,3618,2074
$GC,18646,0.37,195.7,828.2,6.2,435,18650,0.00,2.45,0.00,0.000,6,0.000,0.060,3438,2191,2074
$GC,18973,0.37,195.7,809.3,5.7,441,18975,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2192,2074
$GC,19276,0.37,195.7,792.9,5.4,446,19281,0.00,2.55,0.00,0.000,4,0.000,0.077,3438,3620,2074
$GC,19316,0.37,195.7,790.3,6.9,446,19321,0.00,2.42,0.00,0.000,6,0.000,0.061,3439,2188,2073
$GC,19639,0.37,195.7,771.6,5.9,452,19641,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2189,2074
$GC,19942,0.37,195.7,753.6,6.0,457,19946,0.00,2.60,0.00,0.000,4,0.000,0.077,3438,3617,2074
$GC,20005,0.37,195.7,749.2,7.5,458,20010,0.00,2.50,0.00,0.000,6,0.000,0.060,3438,2195,2073
$GC,20373,0.37,195.7,724.8,6.7,464,20374,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2196,2073
$GC,20676,0.41,195.7,702.9,7.3,469,20677,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2196,2073
$GC,20979,0.45,195.7,682.2,6.7,474,20981,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2196,2073
$GC,21282,0.50,195.7,664.9,5.6,479,21287,0.12,2.60,0.00,0.000,4,0.088,0.077,3489,3612,2073
$GC,21312,0.36,195.7,662.8,7.0,479,21317,0.22,2.45,0.00,0.000,6,0.168,0.060,3434,2195,2073
$GC,21646,0.42,201.0,645.9,4.8,485,21657,0.00,2.42,6.12,1.046,4,0.000,0.075,3436,780,2055
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$STATE,31876,end climb,SURFACE_DEPTH_REACHED
$STATE,31876,begin surface coast
$FINISH,0.3,1.014346
$STATE,32026,end surface coast,CONTROL_FINISHED_OK
$STATE,32026,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2158
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$TCM_TEMP,15.60
$XPDR_PINGS,944
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$10V_AH,10.3,98.218
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$DEVICE_SECS,29.500,201.775,378.150,2.250,0.000,53.420,58.134,256.136,236.000,0.000,0.000,32.724,1737.158,27081.410,523.222,2250.793,1076.078,33.380,1632.522,0.000,2201.690,0.000,0.465
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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,47554,833
$CAP_FILE_SIZE,179187,0
$CFSIZE,260165632,202395648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290509,020536,5011.894,-14510.254,75,1.6,75,18.5