version: 66.03
glider: 120
mission: 9
dive: 721
start: 5 27 109 14 27 28
data:
$ID,120
$MISSION,9
$DIVE,721
$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,-33083.535
$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
$GPS1,141844,5019.682,-14509.153,113,3.0,132,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.8
$GPS2,142634,5019.641,-14509.131,14,2.8,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.069,0.122
$KALMAN_X,-151559.8,24.4,-232.2,158137.8,-606.6
$KALMAN_Y,140683.7,48.1,56.8,-110871.1,-2300.3
$MHEAD_RNG_PITCHd_Wd,312.0,4180,-16.4,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.80,-68.4,0.0,0.0,0,69,0.00,0.00,-39.53,0.000,2,0.000,0.000,135,2402,2761
$GC,74,-0.80,-68.4,3.5,-6.6,4,101,13.45,2.53,-7.95,0.000,4,0.278,0.080,3051,978,3157
$GC,197,-0.61,-68.4,24.9,-13.0,14,202,0.28,2.42,0.00,0.000,6,0.156,0.061,3116,2403,3158
$GC,529,-0.66,-68.4,55.2,-8.9,44,533,0.00,2.50,0.00,0.000,4,0.000,0.067,3117,977,3159
$GC,586,-0.71,-68.4,61.1,-8.9,48,592,0.00,2.42,0.00,0.000,6,0.000,0.059,3112,2407,3159
$GC,909,-0.71,-68.4,89.3,-8.4,74,913,0.00,2.50,0.00,0.000,4,0.000,0.077,3112,3814,3160
$GC,938,-0.76,-68.4,92.1,-8.6,75,943,0.12,2.38,0.00,0.000,6,0.074,0.051,3056,2397,3159
$GC,1256,-0.65,-68.4,127.8,-10.9,90,1261,0.15,2.50,0.00,0.000,4,0.156,0.066,3106,988,3160
$GC,1280,-0.65,-68.4,130.3,-10.1,91,1284,0.00,2.42,0.00,0.000,6,0.000,0.059,3099,2401,3160
$GC,1602,-0.72,-68.4,155.4,-7.5,106,1606,0.00,2.50,0.00,0.000,4,0.000,0.077,3099,3809,3160
$GC,1653,-0.78,-68.4,159.3,-7.6,107,1658,0.12,2.35,0.00,0.000,6,0.078,0.051,3045,2399,3160
$GC,1968,-0.71,-68.4,187.3,-8.9,117,1970,0.15,0.00,0.00,0.000,6,0.153,0.000,3084,2400,3160
$GC,2274,-0.75,-68.4,210.5,-7.4,127,2277,0.00,2.50,0.00,0.000,4,0.000,0.067,3083,993,3160
$GC,2360,-0.75,-68.4,217.1,-7.2,129,2364,0.00,2.45,0.00,0.000,6,0.000,0.061,3084,2408,3159
$GC,2680,-0.81,-68.4,240.3,-7.3,140,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3160
$GC,2986,-0.87,-68.4,262.2,-7.1,150,2991,0.15,2.53,0.00,0.000,4,0.076,0.067,3010,985,3160
$GC,3037,-0.71,-68.4,267.2,-10.1,151,3042,0.30,2.45,0.00,0.000,6,0.162,0.061,3081,2399,3159
$GC,3352,-0.77,-68.4,290.3,-7.1,161,3356,0.00,2.53,0.00,0.000,4,0.000,0.079,3082,3812,3160
$GC,3398,-0.84,-68.4,293.7,-7.5,162,3403,0.12,2.38,0.00,0.000,6,0.078,0.053,3030,2393,3159
$GC,3721,-0.75,-68.4,324.0,-9.6,169,3726,0.15,2.50,0.00,0.000,4,0.152,0.067,3079,984,3159
$GC,3762,-0.80,-68.4,327.5,-8.3,169,3766,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2399,3159
$GC,4084,-0.80,-68.4,351.8,-7.6,175,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3159
$GC,4387,-0.80,-68.4,374.4,-7.4,180,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3159
$GC,4691,-0.84,-68.4,396.4,-7.3,185,4695,0.00,2.53,0.00,0.000,4,0.000,0.068,3072,995,3158
$GC,4771,-0.84,-68.4,402.7,-7.8,186,4775,0.00,2.45,0.00,0.000,6,0.000,0.062,3072,2399,3158
$GC,5121,-0.89,-68.4,428.5,-7.5,192,5123,0.12,0.00,0.00,0.000,6,0.085,0.000,3014,2398,3158
$GC,5424,-0.78,-68.4,458.4,-10.0,197,5426,0.17,0.00,0.00,0.000,6,0.162,0.000,3059,2398,3158
$GC,5728,-0.78,-68.4,483.1,-8.0,202,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3158
$GC,6030,-0.78,-68.4,506.8,-7.8,207,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3158
$GC,6333,-0.78,-68.4,528.8,-7.2,212,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3157
$GC,6637,-0.78,-68.4,550.9,-7.3,217,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3158
$GC,6939,-0.78,-68.4,574.0,-7.7,222,6944,0.00,2.58,0.00,0.000,4,0.000,0.069,3065,991,3157
$GC,6986,-0.83,-68.4,577.9,-8.8,222,6991,0.00,2.47,0.00,0.000,6,0.000,0.061,3059,2408,3157
$GC,7303,-0.83,-68.4,602.7,-7.9,228,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2408,3157
$GC,7606,-0.83,-68.4,624.3,-7.1,233,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2407,3157
$GC,7909,-0.83,-68.4,643.8,-6.3,238,7914,0.00,2.60,0.00,0.000,4,0.000,0.069,3059,986,3156
$GC,7974,-0.83,-68.4,647.8,-6.1,239,7979,0.00,2.47,0.00,0.000,6,0.000,0.063,3059,2398,3156
$GC,8342,-0.87,-68.4,669.1,-5.8,245,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2397,3156
$GC,8645,-0.91,-68.4,687.6,-6.1,250,8650,0.12,2.58,0.00,0.000,4,0.087,0.068,3001,986,3156
$GC,8703,-0.80,-68.4,692.5,-9.3,250,8710,0.22,2.47,0.00,0.000,6,0.167,0.063,3056,2405,3156
$GC,9014,-0.84,-68.4,713.7,-6.8,256,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2405,3156
$GC,9318,-0.89,-68.4,735.0,-7.1,261,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2405,3156
$GC,9620,-0.93,-68.4,755.2,-6.7,266,9625,0.12,2.58,0.00,0.000,4,0.085,0.069,3001,990,3155
$GC,9661,-0.80,-68.4,758.5,-8.5,266,9666,0.22,2.47,0.00,0.000,6,0.167,0.063,3055,2404,3155
$GC,9983,-0.86,-68.4,778.7,-6.3,272,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2403,3156
$GC,10287,-0.90,-68.4,796.7,-5.9,277,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2403,3155
$GC,10590,-0.95,-68.4,814.5,-5.9,282,10592,0.15,0.00,0.00,0.000,6,0.077,0.000,2989,2403,3155
$GC,10893,-0.82,-68.4,839.7,-8.5,287,10895,0.22,0.00,0.00,0.000,6,0.171,0.000,3048,2402,3156
$GC,11196,-0.82,-68.4,861.0,-6.9,292,11200,0.00,2.58,0.00,0.000,4,0.000,0.071,3051,994,3155
$GC,11252,-0.82,-68.4,865.2,-7.4,292,11258,0.00,2.47,0.00,0.000,6,0.000,0.064,3051,2407,3155
$GC,11564,-0.87,-68.4,886.3,-6.8,298,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2406,3155
$GC,11866,-0.93,-68.4,905.8,-6.4,303,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2406,3155
$GC,12171,-0.99,-68.4,925.8,-6.6,308,12176,0.15,2.58,0.00,0.000,4,0.077,0.069,2979,996,3154
$GC,12212,-0.80,-68.4,929.5,-9.7,308,12217,0.32,2.47,0.00,0.000,6,0.171,0.064,3056,2405,3154
$GC,12535,-0.87,-68.4,950.7,-6.5,314,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2404,3154
$GC,12837,-0.93,-68.4,971.6,-6.9,319,12842,0.12,2.62,0.00,0.000,4,0.086,0.082,3002,3815,3154
$GC,12872,-0.83,-68.4,974.6,-8.9,319,12876,0.17,2.40,0.00,0.000,6,0.160,0.055,3043,2401,3154
$STATE,13074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13074,begin apogee
$GC,13084,-0.22,0.0,990.8,7.8,323,13151,0.70,0.00,63.83,1.493,6,0.146,0.000,3243,2192,2875
$STATE,13152,end apogee,CONTROL_FINISHED_OK
$STATE,13152,begin climb
$GC,13156,0.80,68.4,993.1,0.0,324,13226,1.02,0.00,67.35,1.453,6,0.084,0.000,3574,2192,2597
$GC,13502,0.55,146.3,994.8,1.2,330,13587,0.28,2.85,77.40,1.446,4,0.177,0.076,3504,3603,2278
$GC,13674,0.42,146.3,985.9,7.5,332,13679,0.25,2.65,0.00,0.000,6,0.170,0.058,3458,2196,2275
$GC,13996,0.49,146.3,968.2,5.4,338,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2197,2274
$GC,14301,0.57,146.3,950.3,6.0,343,14302,0.12,0.00,0.00,0.000,6,0.081,0.000,3513,2197,2274
$GC,14603,0.50,146.3,927.4,7.7,348,14604,0.12,0.00,0.00,0.000,6,0.155,0.000,3481,2197,2273
$GC,14907,0.50,146.3,906.5,6.8,353,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2197,2273
$GC,15208,0.50,146.3,886.3,6.6,358,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2197,2273
$GC,15512,0.50,146.3,866.3,6.6,363,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2197,2273
$GC,15816,0.50,146.3,847.4,6.2,368,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2197,2273
$GC,16117,0.50,146.3,829.3,5.9,373,16119,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2197,2273
$GC,16421,0.50,146.3,812.0,5.8,378,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2197,2272
$GC,16724,0.50,146.3,794.8,5.6,383,16728,0.00,2.53,0.00,0.000,4,0.000,0.075,3490,780,2273
$GC,16764,0.50,146.3,792.3,6.1,383,16769,0.00,2.42,0.00,0.000,6,0.000,0.058,3490,2213,2272
$GC,17086,0.50,146.3,772.1,6.3,389,17087,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2212,2272
$GC,17389,0.50,146.3,752.2,6.6,394,17394,0.00,2.53,0.00,0.000,4,0.000,0.079,3490,3606,2272
$GC,17465,0.42,146.3,746.7,8.5,395,17470,0.15,2.40,0.00,0.000,6,0.185,0.061,3456,2194,2272
$GC,17821,0.53,146.3,725.7,5.9,401,17824,0.00,2.47,0.00,0.000,4,0.000,0.074,3464,785,2272
$GC,17878,0.62,146.3,722.1,6.2,401,17883,0.15,2.40,0.00,0.000,6,0.077,0.058,3530,2199,2272
$GC,18190,0.52,146.3,697.8,8.0,406,18192,0.17,0.00,0.00,0.000,6,0.157,0.000,3483,2198,2272
$GC,18492,0.52,146.3,677.8,6.5,411,18497,0.00,2.50,0.00,0.000,4,0.000,0.075,3490,791,2272
$GC,18549,0.52,146.3,673.8,7.4,411,18556,0.00,2.40,0.00,0.000,6,0.000,0.060,3490,2200,2272
$GC,18860,0.52,146.3,653.0,6.7,417,18865,0.00,2.53,0.00,0.000,4,0.000,0.076,3490,783,2273
$GC,18929,0.52,146.3,648.2,6.9,418,18934,0.00,2.42,0.00,0.000,6,0.000,0.060,3490,2202,2273
$GC,19297,0.52,146.3,624.0,6.6,424,19298,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2200,2272
$GC,19600,0.52,146.3,603.5,6.8,429,19601,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2201,2272
$GC,19904,0.52,146.3,581.8,7.2,434,19908,0.00,2.53,0.00,0.000,4,0.000,0.079,3490,3617,2273
$GC,19960,0.47,146.3,577.0,7.6,434,19967,0.00,2.42,0.00,0.000,6,0.000,0.062,3490,2201,2272
$GC,20271,0.47,146.3,553.7,7.5,440,20275,0.00,2.53,0.00,0.000,4,0.000,0.077,3490,779,2272
$GC,20345,0.51,146.3,548.1,8.2,441,20350,0.00,2.45,0.00,0.000,6,0.000,0.058,3491,2213,2272
$GC,20702,0.51,146.3,522.6,7.1,447,20703,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2212,2272
$GC,21005,0.51,146.3,502.9,6.5,452,21006,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2212,2273
$GC,21307,0.51,146.3,485.1,5.8,457,21308,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2212,2272
$GC,21610,0.51,146.3,467.3,5.9,462,21615,0.00,2.60,0.00,0.000,4,0.000,0.075,3490,781,2273
$GC,21657,0.57,146.3,464.7,6.0,462,21662,0.00,2.45,0.00,0.000,6,0.000,0.059,3490,2211,2272
$GC,21974,0.57,146.3,448.0,5.2,468,21975,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2210,2272
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$STATE,29914,end climb,SURFACE_DEPTH_REACHED
$STATE,29914,begin surface coast
$FINISH,0.3,1.011020
$STATE,30026,end surface coast,CONTROL_FINISHED_OK
$STATE,30026,begin surface
$SM_CCo,30050,37.83,0.843,0,0,1754,275.23
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$IRIDIUM_FIX,4959.75,-14507.65,210898,050554
$TT8_MAMPS,0.026845
$HUMID,2168
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$TCM_TEMP,14.40
$XPDR_PINGS,942
$24V_AH,20.9,140.204
$10V_AH,10.3,97.803
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$DEVICE_SECS,31.925,184.825,287.425,37.825,0.000,27.799,33.240,202.268,235.500,0.000,0.000,34.749,1695.249,25191.699,491.273,2229.887,938.076,33.378,1559.869,0.000,2183.189,0.000,0.465
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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,47662,785
$CAP_FILE_SIZE,174905,0
$CFSIZE,260165632,202625024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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