version: 66.03
glider: 120
mission: 9
dive: 607
start: 4 14 109 13 56 26
data:
$ID,120
$MISSION,9
$DIVE,607
$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,-30671.92
$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,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
$GPS1,134837,5004.242,-14451.521,25,2.0,25,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-63.5
$GPS2,135532,5004.298,-14451.549,18,2.0,18,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.099,0.148
$KALMAN_X,-94490.8,310.3,230.6,121197.1,-3319.6
$KALMAN_Y,143230.8,42.4,90.5,-141863.3,-1385.2
$MHEAD_RNG_PITCHd_Wd,15.4,6000,-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,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,78,0.00,0.00,-50.08,0.000,2,0.000,0.000,136,2407,2479
$GC,83,-0.67,-117.3,3.4,-3.3,5,127,13.75,2.38,-24.45,0.000,4,0.279,0.093,3089,3811,3355
$GC,365,-0.48,-117.3,33.2,-10.2,30,370,0.25,2.28,0.00,0.000,6,0.150,0.054,3161,2390,3357
$GC,695,-0.52,-117.3,62.5,-10.9,60,700,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2391,3357
$GC,1028,-0.58,-117.3,89.5,-6.2,85,1032,0.00,2.38,0.00,0.000,4,0.000,0.069,3162,986,3357
$GC,1079,-0.66,-117.3,92.9,-6.6,87,1084,0.17,2.35,0.00,0.000,6,0.073,0.061,3097,2403,3357
$GC,1397,-0.60,-117.3,119.0,-8.1,102,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,1705,-0.60,-117.3,143.4,-7.9,117,1709,0.00,2.38,0.00,0.000,4,0.000,0.080,3098,3812,3357
$GC,1762,-0.55,-117.3,148.1,-8.5,119,1767,0.15,2.28,0.00,0.000,6,0.123,0.053,3138,2393,3357
$GC,2097,-0.76,-117.3,169.3,-6.3,130,2101,0.17,2.38,0.00,0.000,4,0.081,0.068,3070,995,3357
$GC,2141,-0.76,-117.3,172.7,-7.3,131,2145,0.00,2.33,0.00,0.000,6,0.000,0.060,3070,2398,3357
$GC,2461,-0.86,-117.3,198.5,-8.5,142,2465,0.00,2.40,0.00,0.000,4,0.000,0.080,3070,3810,3357
$GC,2679,-0.76,-117.3,218.5,-9.1,148,2684,0.00,2.28,0.00,0.000,6,0.000,0.054,3070,2396,3357
$GC,2994,-0.66,-117.3,245.2,-8.5,158,2998,0.10,2.38,0.00,0.000,4,0.127,0.068,3098,991,3357
$GC,3023,-0.62,-117.3,247.7,-7.8,159,3027,0.00,2.35,0.00,0.000,6,0.000,0.061,3098,2400,3357
$GC,3365,-0.62,-117.3,271.9,-7.0,170,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,3672,-0.62,-117.3,293.5,-7.2,180,3675,0.00,2.40,0.00,0.000,4,0.000,0.069,3097,984,3357
$GC,3700,-0.62,-117.3,295.9,-7.9,180,3706,0.00,2.38,0.00,0.000,6,0.000,0.061,3098,2402,3357
$GC,4011,-0.62,-117.3,317.7,-7.0,187,4015,0.00,2.40,0.00,0.000,4,0.000,0.068,3098,994,3357
$GC,4056,-0.62,-117.3,321.0,-7.6,187,4060,0.00,2.38,0.00,0.000,6,0.000,0.062,3098,2409,3357
$GC,4372,-0.62,-117.3,341.5,-6.4,193,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2408,3357
$GC,4675,-0.62,-117.3,360.0,-6.1,198,4679,0.00,2.42,0.00,0.000,4,0.000,0.070,3098,995,3357
$GC,4703,-0.62,-117.3,362.0,-7.0,198,4707,0.00,2.38,0.00,0.000,6,0.000,0.062,3098,2405,3357
$GC,5035,-0.62,-117.3,383.7,-6.6,204,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3357
$GC,5339,-0.62,-117.3,404.0,-6.7,209,5343,0.00,2.42,0.00,0.000,4,0.000,0.070,3097,986,3357
$GC,5390,-0.62,-117.3,407.8,-7.0,209,5394,0.00,2.38,0.00,0.000,6,0.000,0.061,3098,2406,3357
$GC,5712,-0.62,-117.3,428.5,-6.4,215,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3357
$GC,6015,-0.62,-117.3,446.3,-5.8,220,6019,0.00,2.42,0.00,0.000,4,0.000,0.070,3098,992,3357
$GC,6051,-0.62,-117.3,448.5,-6.0,220,6055,0.00,2.38,0.00,0.000,6,0.000,0.063,3097,2400,3357
$GC,6377,-0.62,-117.3,468.9,-6.3,226,6381,0.00,2.42,0.00,0.000,4,0.000,0.083,3097,3810,3357
$GC,6406,-0.62,-117.3,470.8,-7.3,226,6410,0.00,2.28,0.00,0.000,6,0.000,0.054,3097,2399,3357
$GC,6739,-0.62,-117.3,492.7,-6.6,232,6743,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,993,3357
$GC,6773,-0.62,-117.3,495.2,-7.3,232,6778,0.00,2.38,0.00,0.000,6,0.000,0.062,3097,2404,3356
$GC,7100,-0.62,-117.3,516.3,-6.4,238,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3357
$GC,7404,-0.62,-117.3,534.3,-5.9,243,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3356
$GC,7707,-0.62,-117.3,552.3,-5.9,248,7711,0.00,2.42,0.00,0.000,4,0.000,0.070,3097,995,3356
$GC,7771,-0.62,-117.3,556.1,-6.1,249,7775,0.00,2.38,0.00,0.000,6,0.000,0.062,3098,2399,3356
$GC,8137,-0.62,-117.3,576.3,-5.4,255,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3356
$GC,8440,-0.62,-117.3,593.1,-5.6,260,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3356
$GC,8744,-0.62,-117.3,611.2,-6.0,265,8748,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,995,3355
$GC,8784,-0.62,-117.3,613.8,-6.2,265,8788,0.00,2.38,0.00,0.000,6,0.000,0.063,3098,2399,3355
$GC,9106,-0.62,-117.3,633.0,-5.9,271,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3355
$GC,9408,-0.62,-117.3,650.1,-5.6,276,9413,0.00,2.45,0.00,0.000,4,0.000,0.071,3098,985,3355
$GC,9431,-0.62,-117.3,651.4,-5.3,276,9436,0.00,2.40,0.00,0.000,6,0.000,0.062,3098,2406,3355
$GC,9771,-0.62,-117.3,671.2,-5.8,282,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3355
$GC,10073,-0.62,-117.3,689.0,-5.8,287,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3355
$GC,10377,-0.67,-117.3,705.5,-5.4,292,10381,0.00,2.45,0.00,0.000,4,0.000,0.072,3098,990,3354
$GC,10404,-0.67,-117.3,707.2,-6.4,292,10408,0.00,2.38,0.00,0.000,6,0.000,0.062,3097,2401,3355
$GC,10745,-0.71,-117.3,724.6,-5.1,298,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3355
$GC,11047,-0.76,-117.3,739.7,-5.0,303,11051,0.00,2.45,0.00,0.000,4,0.000,0.071,3097,987,3355
$GC,11075,-0.80,-117.3,741.4,-5.8,303,11080,0.12,2.40,0.00,0.000,6,0.084,0.063,3053,2403,3355
$GC,11408,-0.80,-117.3,762.1,-6.4,309,11412,0.00,2.42,0.00,0.000,4,0.000,0.081,3053,3810,3354
$GC,11459,-0.74,-117.3,766.0,-7.8,309,11463,0.00,2.30,0.00,0.000,6,0.000,0.055,3053,2395,3354
$GC,11770,-0.74,-117.3,787.6,-7.0,314,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2395,3354
$GC,12073,-0.74,-117.3,809.8,-7.3,319,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2395,3354
$GC,12377,-0.74,-117.3,831.0,-6.9,324,12381,0.00,2.42,0.00,0.000,4,0.000,0.073,3053,994,3354
$GC,12410,-0.74,-117.3,833.4,-6.6,324,12415,0.00,2.40,0.00,0.000,6,0.000,0.063,3053,2408,3354
$GC,12738,-0.69,-117.3,855.8,-6.8,330,12740,0.15,0.00,0.00,0.000,6,0.143,0.000,3094,2408,3354
$GC,13041,-0.73,-117.3,871.3,-5.0,335,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3354
$GC,13346,-0.79,-117.3,885.4,-4.6,340,13350,0.00,2.47,0.00,0.000,4,0.000,0.072,3094,990,3353
$GC,13374,-0.84,-117.3,886.9,-5.6,340,13379,0.15,2.40,0.00,0.000,6,0.077,0.064,3042,2399,3353
$GC,13707,-0.84,-117.3,905.5,-5.6,346,13711,0.00,2.45,0.00,0.000,4,0.000,0.081,3042,3818,3353
$GC,13753,-0.75,-117.3,908.4,-6.8,346,13757,0.12,2.33,0.00,0.000,6,0.103,0.057,3074,2387,3353
$GC,14068,-0.75,-117.3,926.4,-5.7,352,14073,0.00,2.42,0.00,0.000,4,0.000,0.073,3075,990,3353
$GC,14104,-0.75,-117.3,928.7,-6.5,352,14108,0.00,2.40,0.00,0.000,6,0.000,0.064,3073,2399,3353
$GC,14431,-0.75,-117.3,948.9,-6.2,358,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$GC,14734,-0.75,-117.3,968.8,-6.6,363,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$GC,15037,-0.75,-117.3,987.3,-6.0,368,15038,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$STATE,15094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15094,begin apogee
$GC,15102,-0.22,0.0,991.0,6.0,369,15218,0.57,0.00,107.28,1.497,6,0.138,0.000,3245,2197,2875
$STATE,15219,end apogee,CONTROL_FINISHED_OK
$STATE,15219,begin climb
$GC,15222,0.67,117.3,995.2,0.0,371,15340,0.85,0.00,113.47,1.442,6,0.087,0.000,3527,2197,2397
$GC,15649,0.35,117.3,976.0,7.2,377,15654,0.30,2.40,0.00,0.000,4,0.159,0.079,3435,3613,2393
$GC,15705,0.23,117.3,972.1,5.7,377,15712,0.17,2.30,0.00,0.000,6,0.178,0.062,3392,2195,2393
$GC,16017,0.35,157.0,960.1,3.9,383,16056,0.12,0.00,36.08,1.434,6,0.082,0.000,3442,2195,2235
$GC,16319,0.35,157.0,943.5,5.7,388,16323,0.00,2.40,0.00,0.000,4,0.000,0.078,3445,781,2232
$GC,16363,0.35,157.0,940.7,6.1,388,16368,0.00,2.35,0.00,0.000,6,0.000,0.061,3445,2210,2232
$GC,16680,0.35,157.0,920.9,6.3,394,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2231
$GC,16983,0.35,157.0,902.3,6.1,399,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2210,2231
$GC,17286,0.35,157.0,884.3,5.9,404,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2231
$GC,17589,0.35,157.0,867.2,5.6,409,17590,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2231
$GC,17892,0.35,157.0,851.0,5.3,414,17896,0.00,2.47,0.00,0.000,4,0.000,0.078,3449,781,2231
$GC,17932,0.35,157.0,848.6,6.2,414,17936,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2200,2231
$GC,18253,0.35,157.0,830.6,5.7,420,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2199,2231
$GC,18556,0.35,157.0,812.2,6.1,425,18560,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,786,2231
$GC,18585,0.35,157.0,810.3,7.0,425,18589,0.00,2.35,0.00,0.000,6,0.000,0.061,3448,2202,2231
$GC,18918,0.35,157.0,789.6,6.3,431,18919,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2231
$GC,19221,0.35,157.0,770.8,6.1,436,19222,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2231
$GC,19524,0.35,157.0,752.5,6.0,441,19528,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,3612,2230
$GC,19559,0.25,157.0,750.2,5.6,441,19564,0.20,2.33,0.00,0.000,6,0.168,0.061,3398,2189,2230
$GC,19888,0.39,179.7,735.6,4.4,447,19914,0.15,2.42,20.42,1.305,4,0.078,0.077,3465,789,2142
$GC,19954,0.39,179.7,731.6,5.9,448,19957,0.00,2.35,0.00,0.000,6,0.000,0.061,3464,2212,2141
$GC,20321,0.35,179.7,707.4,6.6,454,20323,0.12,0.00,0.00,0.000,6,0.140,0.000,3431,2211,2140
$GC,20624,0.40,179.7,691.5,5.2,459,20626,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2211,2140
$GC,20927,0.45,180.2,676.5,5.0,464,20929,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2212,2139
$GC,21230,0.50,180.2,660.7,5.3,469,21232,0.15,0.00,0.00,0.000,6,0.078,0.000,3494,2211,2140
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$GC,29120,0.62,216.4,208.7,5.0,627,29122,0.15,0.00,0.00,0.000,6,0.082,0.000,3528,2199,1997
$GC,29425,0.51,216.4,186.8,7.2,637,29430,0.15,2.40,0.00,0.000,4,0.142,0.074,3490,791,1996
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$STATE,32482,end climb,SURFACE_DEPTH_REACHED
$STATE,32482,begin surface coast
$FINISH,1.2,1.025682
$STATE,32565,end surface coast,CONTROL_FINISHED_OK
$STATE,32565,begin surface
$SM_CCo,32647,0.00,0.000,0,0,1700,288.47
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$IRIDIUM_FIX,4943.02,-14450.33,090798,050529
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$HUMID,2139
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$10V_AH,10.3,82.049
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$DEVICE_SECS,28.675,215.200,374.600,0.000,0.000,31.532,24.957,186.813,245.250,0.000,0.000,18.343,1774.683,27509.871,548.583,2337.994,877.203,33.377,1717.337,0.000,2303.923,0.000,0.466
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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,47513,828
$CAP_FILE_SIZE,184068,0
$CFSIZE,260165632,211513344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140409,230155,5007.142,-14448.856,42,1.2,42,18.5