version: 66.03
glider: 120
mission: 9
dive: 725
start: 5 29 109 2 13 58
data:
$ID,120
$MISSION,9
$DIVE,725
$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,-33197.859
$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,18
$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
$GPS1,020536,5011.894,-14510.254,75,1.6,75,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.2
$GPS2,021301,5011.854,-14510.315,16,1.6,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.177
$KALMAN_X,-152398.0,240.1,-40.3,157145.4,-805.0
$KALMAN_Y,142677.0,248.7,174.5,-127608.6,-30.2
$MHEAD_RNG_PITCHd_Wd,158.3,33101,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.30,0.000,2,0.000,0.000,142,2411,2766
$GC,74,-0.67,-117.3,3.6,-6.6,4,107,13.48,2.62,-11.57,0.000,4,0.275,0.091,3085,3810,3358
$GC,361,-0.48,-117.3,42.1,-11.0,29,368,0.28,2.45,0.00,0.000,6,0.143,0.051,3161,2396,3359
$GC,692,-0.54,-117.3,64.8,-7.1,60,698,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2397,3360
$GC,1016,-0.60,-117.3,87.6,-6.8,86,1021,0.12,2.60,0.00,0.000,4,0.077,0.064,3110,992,3361
$GC,1058,-0.56,-117.3,91.0,-9.1,88,1062,0.00,2.40,0.00,0.000,6,0.000,0.058,3110,2399,3361
$GC,1387,-0.50,-117.3,119.7,-8.4,104,1392,0.15,2.55,0.00,0.000,4,0.133,0.076,3154,3819,3361
$GC,1422,-0.61,-117.3,122.1,-6.0,105,1431,0.12,2.45,0.00,0.000,6,0.078,0.050,3109,2401,3361
$GC,1740,-0.61,-117.3,141.7,-6.2,121,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3361
$GC,2068,-0.66,-117.3,163.0,-6.8,134,2072,0.00,2.62,0.00,0.000,4,0.000,0.065,3109,994,3361
$GC,2113,-0.70,-117.3,166.3,-7.5,135,2117,0.00,2.42,0.00,0.000,6,0.000,0.058,3109,2411,3361
$GC,2440,-0.70,-117.3,187.6,-6.5,146,2444,0.00,2.55,0.00,0.000,4,0.000,0.077,3109,3819,3361
$GC,2491,-0.70,-117.3,191.3,-7.0,147,2495,0.00,2.42,0.00,0.000,6,0.000,0.051,3108,2401,3361
$GC,2805,-0.70,-117.3,210.6,-5.8,157,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3361
$GC,3112,-0.70,-117.3,228.1,-5.7,167,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3361
$GC,3418,-0.74,-117.3,247.5,-6.5,177,3422,0.00,2.65,0.00,0.000,4,0.000,0.066,3109,993,3361
$GC,3452,-0.80,-117.3,249.9,-7.0,178,3457,0.15,2.42,0.00,0.000,6,0.080,0.058,3056,2407,3361
$GC,3784,-0.71,-117.3,277.4,-8.4,189,3789,0.10,2.55,0.00,0.000,4,0.093,0.077,3084,3808,3361
$GC,3829,-0.67,-117.3,281.4,-8.2,190,3833,0.00,2.40,0.00,0.000,6,0.000,0.051,3085,2399,3361
$GC,4155,-0.62,-117.3,305.3,-7.2,200,4157,0.12,0.00,0.00,0.000,6,0.156,0.000,3117,2398,3361
$GC,4459,-0.67,-117.3,322.5,-5.5,205,4463,0.00,2.65,0.00,0.000,4,0.000,0.066,3117,993,3360
$GC,4498,-0.72,-117.3,325.0,-6.4,205,4503,0.00,2.42,0.00,0.000,6,0.000,0.058,3113,2404,3360
$GC,4821,-0.72,-117.3,343.8,-5.9,211,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3360
$GC,5124,-0.76,-117.3,362.2,-6.1,216,5126,0.12,0.00,0.00,0.000,6,0.084,0.000,3062,2403,3359
$GC,5428,-0.72,-117.3,385.2,-7.7,221,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2404,3359
$GC,5730,-0.72,-117.3,408.8,-7.7,226,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2403,3359
$GC,6033,-0.72,-117.3,431.2,-7.3,231,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2403,3359
$GC,6336,-0.72,-117.3,451.8,-6.7,236,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2404,3358
$GC,6639,-0.72,-117.3,471.4,-6.5,241,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2403,3359
$GC,6943,-0.72,-117.3,491.4,-6.6,246,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2403,3358
$GC,7245,-0.72,-117.3,512.7,-7.1,251,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2403,3358
$GC,7548,-0.72,-117.3,534.3,-7.1,256,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2404,3357
$GC,7852,-0.72,-117.3,556.8,-7.5,261,7856,0.00,2.58,0.00,0.000,4,0.000,0.069,3062,992,3358
$GC,7887,-0.72,-117.3,559.6,-7.9,261,7891,0.00,2.45,0.00,0.000,6,0.000,0.059,3062,2398,3358
$GC,8216,-0.67,-117.3,583.1,-7.1,267,8221,0.12,2.58,0.00,0.000,4,0.127,0.080,3096,3813,3358
$GC,8250,-0.72,-117.3,585.4,-6.3,267,8255,0.00,2.38,0.00,0.000,6,0.000,0.053,3096,2401,3358
$GC,8578,-0.72,-117.3,602.8,-5.1,273,8582,0.00,2.53,0.00,0.000,4,0.000,0.068,3096,992,3358
$GC,8607,-0.72,-117.3,604.3,-5.4,273,8612,0.00,2.45,0.00,0.000,6,0.000,0.061,3096,2410,3357
$GC,8941,-0.72,-117.3,620.9,-4.9,279,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2409,3357
$GC,9244,-0.72,-117.3,635.6,-4.9,284,9249,0.00,2.53,0.00,0.000,4,0.000,0.081,3096,3811,3358
$GC,9274,-0.78,-117.3,637.0,-5.0,284,9278,0.00,2.38,0.00,0.000,6,0.000,0.053,3096,2393,3358
$GC,9608,-0.82,-117.3,653.8,-5.1,290,9610,0.12,0.00,0.00,0.000,6,0.085,0.000,3048,2394,3357
$GC,9912,-0.77,-117.3,672.7,-6.3,295,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2394,3357
$GC,10213,-0.73,-117.3,692.2,-6.4,300,10215,0.12,0.00,0.00,0.000,6,0.095,0.000,3083,2394,3357
$GC,10517,-0.73,-117.3,710.3,-6.0,305,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3357
$GC,10819,-0.73,-117.3,729.0,-6.2,310,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3357
$GC,11122,-0.73,-117.3,749.1,-6.7,315,11126,0.00,2.55,0.00,0.000,4,0.000,0.069,3083,992,3356
$GC,11161,-0.73,-117.3,752.0,-7.3,315,11166,0.00,2.47,0.00,0.000,6,0.000,0.063,3084,2406,3356
$GC,11484,-0.73,-117.3,772.2,-6.3,321,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2405,3356
$GC,11787,-0.73,-117.3,790.8,-6.1,326,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3356
$GC,12090,-0.73,-117.3,809.6,-6.2,331,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3356
$GC,12393,-0.73,-117.3,828.3,-6.2,336,12397,0.00,2.58,0.00,0.000,4,0.000,0.070,3083,984,3355
$GC,12427,-0.73,-117.3,830.6,-6.6,336,12431,0.00,2.47,0.00,0.000,6,0.000,0.062,3084,2399,3356
$GC,12756,-0.73,-117.3,850.6,-6.1,342,12760,0.00,2.58,0.00,0.000,4,0.000,0.083,3084,3808,3355
$GC,12784,-0.73,-117.3,852.2,-5.5,342,12788,0.00,2.40,0.00,0.000,6,0.000,0.054,3084,2390,3355
$GC,13117,-0.73,-117.3,870.5,-5.4,348,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2391,3355
$GC,13420,-0.73,-117.3,886.8,-5.4,353,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2391,3355
$GC,13724,-0.73,-117.3,904.6,-5.9,358,13726,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2391,3356
$GC,14026,-0.73,-117.3,923.6,-6.3,363,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2391,3355
$GC,14329,-0.73,-117.3,942.6,-6.2,368,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2391,3355
$GC,14632,-0.73,-117.3,961.0,-6.0,373,14637,0.00,2.67,0.00,0.000,4,0.000,0.082,3083,3806,3354
$GC,14668,-0.77,-117.3,963.1,-5.8,373,14672,0.00,2.47,0.00,0.000,6,0.000,0.054,3084,2394,3354
$GC,14996,-0.97,-117.3,984.4,-6.7,379,15001,0.20,2.62,0.00,0.000,4,0.084,0.080,3006,3808,3354
$STATE,15065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15065,begin apogee
$GC,15077,-0.22,0.0,990.3,8.2,380,15192,0.82,0.00,110.78,1.490,6,0.149,0.000,3241,2191,2876
$STATE,15192,end apogee,CONTROL_FINISHED_OK
$STATE,15192,begin climb
$GC,15197,0.67,117.3,995.4,0.0,382,15325,0.93,2.80,119.50,1.437,4,0.079,0.076,3533,793,2397
$GC,15420,0.33,117.3,991.9,6.9,385,15426,0.45,2.67,0.00,0.000,6,0.172,0.058,3431,2206,2395
$GC,15754,0.30,134.7,976.3,4.5,391,15774,0.00,0.00,18.08,1.360,6,0.000,0.000,3431,2205,2326
$GC,16057,0.30,134.7,960.9,5.2,396,16061,0.00,2.65,0.00,0.000,4,0.000,0.077,3431,3616,2325
$GC,16098,0.20,134.7,958.5,6.8,396,16103,0.22,2.55,0.00,0.000,6,0.179,0.059,3387,2205,2325
$GC,16420,0.34,163.5,944.9,4.2,402,16451,0.12,0.00,28.17,1.413,6,0.077,0.000,3434,2206,2209
$GC,16724,0.38,163.5,928.9,5.4,407,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2206,2207
$GC,17026,0.43,163.5,912.6,5.4,412,17031,0.00,2.53,0.00,0.000,4,0.000,0.078,3434,3609,2206
$GC,17056,0.38,163.5,910.8,6.0,412,17061,0.00,2.42,0.00,0.000,6,0.000,0.060,3436,2190,2206
$GC,17390,0.38,163.5,892.3,5.5,418,17391,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2205
$GC,17693,0.38,163.5,875.3,5.6,423,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2205
$GC,17996,0.38,163.5,858.3,5.6,428,17997,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2205
$GC,18300,0.38,163.5,840.0,6.0,433,18301,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2204
$GC,18602,0.38,163.5,821.9,5.9,438,18603,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2205
$GC,18906,0.38,163.5,803.7,6.0,443,18907,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2205
$GC,19208,0.38,163.5,785.5,6.0,448,19210,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2205
$GC,19511,0.38,163.5,767.8,5.8,453,19513,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2204
$GC,19816,0.38,163.5,749.8,5.9,458,19817,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2205
$GC,20118,0.38,163.5,733.6,5.3,463,20122,0.00,2.60,0.00,0.000,4,0.000,0.076,3436,782,2205
$GC,20157,0.38,163.5,731.3,5.8,463,20161,0.00,2.42,0.00,0.000,6,0.000,0.060,3435,2203,2205
$GC,20479,0.38,163.5,713.7,5.5,469,20480,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2204
$GC,20783,0.38,163.5,697.9,5.2,474,20784,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2204
$GC,21085,0.38,164.6,682.7,5.0,479,21086,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2205
$GC,21388,0.38,164.6,666.7,5.3,484,21389,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2204
$GC,21691,0.38,164.6,649.3,5.7,489,21692,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2204
$GC,21994,0.38,164.6,631.5,5.9,494,21998,0.00,2.67,0.00,0.000,4,0.000,0.078,3436,3610,2205
$GC,22029,0.34,164.6,629.3,5.6,494,22034,0.00,2.58,0.00,0.000,6,0.000,0.059,3435,2194,2204
$GC,22356,0.34,164.6,611.5,5.3,500,22361,0.00,2.60,0.00,0.000,4,0.000,0.074,3435,789,2204
$GC,22397,0.38,164.6,609.5,5.1,500,22401,0.00,2.42,0.00,0.000,6,0.000,0.058,3436,2210,2205
$GC,22719,0.40,178.1,594.4,4.6,506,22735,0.00,0.00,13.73,1.187,6,0.000,0.000,3436,2209,2150
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$STATE,32238,end climb,SURFACE_DEPTH_REACHED
$STATE,32238,begin surface coast
$FINISH,0.4,1.012869
$STATE,32356,end surface coast,CONTROL_FINISHED_OK
$STATE,32357,begin surface
$SM_CCo,32383,10.05,0.805,0,0,1753,275.23
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$TT8_MAMPS,0.026845
$HUMID,2150
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$TCM_TEMP,14.20
$XPDR_PINGS,938
$24V_AH,20.7,140.968
$10V_AH,10.3,98.355
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$DEVICE_SECS,30.425,195.375,372.825,10.050,0.000,31.543,26.330,190.489,234.500,0.000,0.000,36.670,1755.084,27354.803,540.635,2228.851,949.425,33.383,1636.436,0.000,2182.851,0.000,0.465
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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,47501,834
$CAP_FILE_SIZE,179476,0
$CFSIZE,260165632,202321920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290509,111606,5008.737,-14510.133,83,1.0,88,18.5