version: 66.03
glider: 120
mission: 9
dive: 642
start: 4 27 109 20 23 33
data:
$ID,120
$MISSION,9
$DIVE,642
$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,-31383.719
$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,19
$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
$GPS1,201424,4955.242,-14511.725,46,1.7,64,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-76.1
$GPS2,202238,4955.228,-14511.737,14,1.8,14,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.013,-0.149
$KALMAN_X,-104990.9,-24.2,79.8,108203.0,-771.5
$KALMAN_Y,153073.0,-385.7,-344.2,-167606.3,3644.7
$MHEAD_RNG_PITCHd_Wd,156.5,2266,-15.1,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.75,-79.3,0.0,0.0,0,62,0.00,0.00,-30.50,0.000,2,0.000,0.000,144,2405,2521
$GC,66,-0.75,-79.3,3.3,-5.6,3,103,13.43,2.55,-17.38,0.000,4,0.273,0.082,3068,977,3202
$GC,296,-0.62,-79.3,30.8,-12.0,23,303,0.17,2.42,0.00,0.000,6,0.162,0.063,3115,2404,3203
$GC,628,-0.62,-79.3,60.2,-8.8,54,633,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2403,3203
$GC,951,-0.62,-79.3,90.0,-9.6,80,955,0.00,2.53,0.00,0.000,4,0.000,0.067,3116,986,3203
$GC,1002,-0.62,-79.3,94.9,-9.4,82,1006,0.00,2.42,0.00,0.000,6,0.000,0.061,3112,2403,3203
$GC,1319,-0.62,-79.3,122.1,-8.5,97,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3203
$GC,1628,-0.62,-79.3,146.2,-6.4,112,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3203
$GC,1936,-0.68,-79.3,166.7,-6.5,123,1940,0.00,2.55,0.00,0.000,4,0.000,0.067,3112,981,3204
$GC,1970,-0.74,-79.3,169.2,-7.1,124,1974,0.00,2.45,0.00,0.000,6,0.000,0.061,3112,2409,3204
$GC,2300,-0.83,-79.3,190.4,-6.4,135,2305,0.15,2.50,0.00,0.000,4,0.076,0.065,3036,987,3204
$GC,2331,-0.74,-79.3,193.0,-9.4,136,2336,0.17,2.45,0.00,0.000,6,0.153,0.061,3076,2409,3204
$GC,2667,-0.74,-79.3,219.2,-7.6,147,2671,0.00,2.53,0.00,0.000,4,0.000,0.067,3076,986,3204
$GC,2700,-0.74,-79.3,222.0,-8.1,148,2704,0.00,2.42,0.00,0.000,6,0.000,0.060,3072,2400,3204
$GC,3031,-0.74,-79.3,248.3,-7.9,159,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3204
$GC,3336,-0.74,-79.3,272.9,-8.2,169,3340,0.00,2.53,0.00,0.000,4,0.000,0.067,3072,978,3204
$GC,3421,-0.74,-79.3,280.0,-8.1,171,3425,0.00,2.45,0.00,0.000,6,0.000,0.061,3073,2406,3204
$GC,3734,-0.74,-79.3,305.8,-8.4,180,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3204
$GC,4038,-0.74,-79.3,330.9,-8.3,185,4042,0.00,2.50,0.00,0.000,4,0.000,0.068,3072,986,3204
$GC,4094,-0.74,-79.3,335.8,-8.8,185,4100,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2408,3204
$GC,4406,-0.74,-79.3,362.2,-8.6,191,4410,0.00,2.50,0.00,0.000,4,0.000,0.068,3072,982,3204
$GC,4451,-0.74,-79.3,366.3,-8.9,191,4455,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2407,3204
$GC,4768,-0.74,-79.3,391.2,-7.8,197,4772,0.00,2.50,0.00,0.000,4,0.000,0.069,3072,977,3203
$GC,4813,-0.74,-79.3,394.7,-7.3,197,4817,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2403,3203
$GC,5129,-0.74,-79.3,416.6,-6.9,203,5133,0.00,2.50,0.00,0.000,4,0.000,0.069,3072,981,3203
$GC,5164,-0.74,-79.3,419.1,-6.9,203,5168,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2401,3203
$GC,5492,-0.74,-79.3,441.3,-6.9,209,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3203
$GC,5794,-0.74,-79.3,462.6,-7.1,214,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3203
$GC,6097,-0.74,-79.3,482.9,-6.6,219,6101,0.00,2.53,0.00,0.000,4,0.000,0.069,3073,985,3203
$GC,6183,-0.74,-79.3,488.6,-6.7,220,6187,0.00,2.45,0.00,0.000,6,0.000,0.062,3073,2401,3203
$GC,6527,-0.74,-79.3,509.5,-6.0,226,6531,0.00,2.50,0.00,0.000,4,0.000,0.069,3072,985,3203
$GC,6590,-0.74,-79.3,513.6,-6.4,227,6594,0.00,2.45,0.00,0.000,6,0.000,0.062,3072,2400,3203
$GC,6957,-0.74,-79.3,536.3,-6.2,233,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3202
$GC,7261,-0.74,-79.3,557.1,-6.9,238,7265,0.00,2.50,0.00,0.000,4,0.000,0.070,3073,982,3202
$GC,7307,-0.78,-79.3,560.5,-7.2,238,7311,0.00,2.45,0.00,0.000,6,0.000,0.062,3072,2399,3202
$GC,7623,-0.78,-79.3,580.9,-6.4,244,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3202
$GC,7926,-0.78,-79.3,599.3,-6.0,249,7930,0.00,2.55,0.00,0.000,4,0.000,0.069,3072,988,3202
$GC,7966,-0.82,-79.3,601.6,-6.0,249,7970,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2406,3202
$GC,8287,-0.82,-79.3,620.0,-5.6,255,8291,0.00,2.53,0.00,0.000,4,0.000,0.070,3072,988,3202
$GC,8327,-0.87,-79.3,622.2,-6.1,255,8332,0.12,2.45,0.00,0.000,6,0.084,0.062,3018,2402,3202
$GC,8649,-0.78,-79.3,645.8,-7.4,261,8654,0.15,2.55,0.00,0.000,4,0.132,0.069,3067,982,3202
$GC,8677,-0.78,-79.3,648.0,-7.5,261,8681,0.00,2.47,0.00,0.000,6,0.000,0.062,3067,2410,3202
$GC,9010,-0.78,-79.3,669.1,-6.3,267,9014,0.00,2.45,0.00,0.000,4,0.000,0.082,3067,3811,3202
$GC,9051,-0.78,-79.3,671.7,-6.9,267,9055,0.00,2.30,0.00,0.000,6,0.000,0.054,3067,2394,3202
$GC,9373,-0.82,-79.3,691.4,-6.1,273,9377,0.00,2.53,0.00,0.000,4,0.000,0.069,3067,993,3202
$GC,9406,-0.82,-79.3,693.8,-6.8,273,9411,0.00,2.45,0.00,0.000,6,0.000,0.062,3067,2406,3202
$GC,9734,-0.82,-79.3,713.5,-6.0,279,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2405,3202
$GC,10038,-0.82,-79.3,731.9,-6.1,284,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2405,3202
$GC,10341,-0.87,-79.3,751.4,-6.4,289,10345,0.00,2.55,0.00,0.000,4,0.000,0.071,3067,990,3201
$GC,10396,-0.87,-79.3,755.5,-7.1,289,10403,0.00,2.45,0.00,0.000,6,0.000,0.064,3067,2401,3201
$GC,10708,-0.91,-79.3,775.8,-6.6,295,10710,0.12,0.00,0.00,0.000,6,0.084,0.000,3013,2400,3201
$GC,11011,-0.81,-79.3,800.9,-8.4,300,11013,0.15,0.00,0.00,0.000,6,0.150,0.000,3053,2400,3201
$GC,11313,-0.81,-79.3,822.3,-6.9,305,11317,0.00,2.55,0.00,0.000,4,0.000,0.071,3053,991,3201
$GC,11369,-0.81,-79.3,826.2,-6.9,305,11376,0.00,2.47,0.00,0.000,6,0.000,0.064,3053,2410,3201
$GC,11680,-0.81,-79.3,845.0,-6.0,311,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2409,3201
$GC,11984,-0.81,-79.3,861.4,-5.3,316,11985,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2409,3201
$GC,12286,-0.81,-79.3,877.5,-5.3,321,12290,0.00,2.60,0.00,0.000,4,0.000,0.071,3053,991,3200
$GC,12325,-0.81,-79.3,879.8,-6.2,321,12329,0.00,2.47,0.00,0.000,6,0.000,0.064,3053,2407,3200
$GC,12646,-0.81,-79.3,897.7,-5.6,327,12650,0.00,2.55,0.00,0.000,4,0.000,0.072,3053,986,3200
$GC,12676,-0.81,-79.3,899.3,-5.6,327,12680,0.00,2.47,0.00,0.000,6,0.000,0.064,3053,2407,3200
$GC,13009,-0.81,-79.3,920.0,-6.3,333,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2406,3200
$GC,13312,-0.81,-79.3,938.6,-6.2,338,13316,0.00,2.55,0.00,0.000,4,0.000,0.071,3053,987,3200
$GC,13351,-0.81,-79.3,941.3,-6.5,338,13355,0.00,2.47,0.00,0.000,6,0.000,0.065,3053,2404,3199
$GC,13673,-0.81,-79.3,960.8,-6.1,344,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2403,3200
$GC,13975,-0.81,-79.3,978.5,-5.8,349,13980,0.00,2.55,0.00,0.000,4,0.000,0.072,3053,987,3200
$GC,14015,-0.81,-79.3,981.0,-6.2,349,14020,0.00,2.47,0.00,0.000,6,0.000,0.065,3053,2405,3200
$STATE,14212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14212,begin apogee
$GC,14222,-0.22,0.0,992.8,5.9,353,14298,0.65,0.00,73.68,1.493,6,0.140,0.000,3245,2199,2876
$STATE,14299,end apogee,CONTROL_FINISHED_OK
$STATE,14299,begin climb
$GC,14303,0.75,79.3,994.3,0.0,354,14382,0.98,0.00,76.22,1.456,6,0.083,0.000,3565,2199,2552
$GC,14640,0.42,97.3,987.0,4.2,360,14665,0.38,2.55,17.00,1.381,4,0.181,0.078,3465,781,2479
$GC,14695,0.40,113.2,984.6,4.3,360,14716,0.00,2.40,15.95,1.362,6,0.000,0.059,3465,2204,2414
$GC,15073,0.41,127.0,967.5,4.4,367,15088,0.00,0.00,13.68,1.360,6,0.000,0.000,3465,2203,2358
$GC,15377,0.44,148.5,955.0,4.1,372,15399,0.00,0.00,20.88,1.406,6,0.000,0.000,3465,2202,2270
$GC,15680,0.46,163.4,941.9,4.4,377,15696,0.00,0.00,14.70,1.364,6,0.000,0.000,3465,2203,2209
$GC,15982,0.46,163.4,926.4,5.2,382,15986,0.00,2.35,0.00,0.000,4,0.000,0.079,3465,3618,2207
$GC,16017,0.46,163.4,924.1,6.7,382,16021,0.00,2.30,0.00,0.000,6,0.000,0.063,3465,2197,2206
$GC,16345,0.46,163.4,904.2,6.2,388,16349,0.00,2.45,0.00,0.000,4,0.000,0.078,3464,780,2207
$GC,16396,0.50,163.4,900.8,6.5,388,16401,0.00,2.38,0.00,0.000,6,0.000,0.061,3465,2199,2207
$GC,16707,0.50,163.4,878.8,7.1,393,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2197,2207
$GC,17010,0.50,163.4,856.8,7.3,398,17012,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2197,2206
$GC,17313,0.50,163.4,834.5,7.4,403,17317,0.00,2.50,0.00,0.000,4,0.000,0.078,3465,788,2206
$GC,17360,0.55,163.4,831.1,7.6,403,17364,0.00,2.40,0.00,0.000,6,0.000,0.061,3465,2213,2206
$GC,17676,0.55,163.4,809.3,6.8,409,17677,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2212,2206
$GC,17979,0.59,163.4,789.9,6.3,414,17984,0.12,2.53,0.00,0.000,4,0.083,0.075,3532,789,2205
$GC,18048,0.45,163.4,784.5,8.2,415,18053,0.25,2.40,0.00,0.000,6,0.158,0.061,3466,2205,2206
$GC,18409,0.49,163.4,762.0,6.1,421,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2203,2205
$GC,18714,0.53,163.4,743.6,6.1,426,18718,0.00,2.50,0.00,0.000,4,0.000,0.078,3466,791,2206
$GC,18760,0.59,163.4,740.7,6.4,426,18765,0.12,2.40,0.00,0.000,6,0.082,0.060,3519,2209,2206
$GC,19076,0.49,163.4,716.2,7.9,432,19081,0.15,2.53,0.00,0.000,4,0.154,0.075,3489,790,2205
$GC,19127,0.49,163.4,712.3,7.1,432,19131,0.00,2.40,0.00,0.000,6,0.000,0.059,3489,2207,2206
$GC,19438,0.49,163.4,690.6,7.0,437,19440,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2206,2205
$GC,19740,0.49,163.4,670.2,6.7,442,19741,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2205,2205
$GC,20043,0.49,163.4,650.2,6.6,447,20045,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2205,2205
$GC,20347,0.49,163.4,630.9,6.3,452,20348,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2205,2205
$GC,20650,0.49,163.4,611.4,6.5,457,20651,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2205,2205
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$STATE,30359,end climb,SURFACE_DEPTH_REACHED
$STATE,30359,begin surface coast
$FINISH,1.0,1.017880
$STATE,30435,end surface coast,CONTROL_FINISHED_OK
$STATE,30435,begin surface
$SM_CCo,30459,5.25,0.696,0,0,1753,275.23
$SM_GC,3.48,0.00,0.00,5.25,0.000,0.000,0.696,141,2409,1753,-9.92,0.25,275.23
$IRIDIUM_FIX,4939.69,-14510.89,220798,111129
$TT8_MAMPS,0.026845
$HUMID,2126
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$TCM_TEMP,15.50
$XPDR_PINGS,953
$24V_AH,22.4,125.245
$10V_AH,10.4,86.889
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$DEVICE_SECS,28.975,246.200,324.475,5.250,0.000,28.690,26.065,272.595,238.250,0.000,0.000,14.339,1741.604,25360.316,524.553,2356.069,964.843,33.383,1692.790,0.000,2320.290,0.000,0.465
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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,44373,778
$CAP_FILE_SIZE,186996,0
$CFSIZE,260165632,208781312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280409,045325,4952.387,-14511.822,83,1.0,83,18.4