version: 66.03
glider: 120
mission: 9
dive: 726
start: 5 29 109 11 27 10
data:
$ID,120
$MISSION,9
$DIVE,726
$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,-33225.441
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,111606,5008.737,-14510.133,83,1.0,88,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.2
$GPS2,112613,5008.673,-14510.122,18,1.3,23,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.177
$KALMAN_X,-152213.4,-54.2,-51.6,157501.4,142.1
$KALMAN_Y,144292.2,150.5,-131.2,-134705.1,1140.7
$MHEAD_RNG_PITCHd_Wd,166.5,27240,-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,-117.3,0.0,0.0,0,70,0.00,0.00,-40.05,0.000,2,0.000,0.000,136,2398,2803
$GC,75,-0.67,-117.3,3.9,-7.0,4,108,13.50,2.67,-10.50,0.000,4,0.275,0.090,3095,3809,3358
$GC,283,-0.53,-117.3,33.1,-11.1,22,291,0.17,2.47,0.00,0.000,6,0.152,0.052,3143,2395,3359
$GC,613,-0.53,-117.3,58.6,-7.5,53,619,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2396,3360
$GC,939,-0.53,-117.3,83.7,-7.4,82,940,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2396,3361
$GC,1247,-0.53,-117.3,106.9,-7.3,97,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2396,3361
$GC,1557,-0.53,-117.3,129.4,-6.8,112,1561,0.00,2.65,0.00,0.000,4,0.000,0.065,3143,989,3361
$GC,1592,-0.58,-117.3,132.0,-7.3,113,1599,0.00,2.42,0.00,0.000,6,0.000,0.058,3141,2410,3361
$GC,1920,-0.65,-117.3,152.2,-6.2,129,1924,0.00,2.60,0.00,0.000,4,0.000,0.077,3141,3815,3361
$GC,1965,-0.77,-117.3,155.3,-6.5,130,1971,0.22,2.45,0.00,0.000,6,0.072,0.050,3062,2391,3361
$GC,2286,-0.67,-117.3,182.0,-8.6,141,2291,0.12,2.58,0.00,0.000,4,0.092,0.065,3105,989,3361
$GC,2344,-0.67,-117.3,187.0,-8.0,142,2351,0.00,2.40,0.00,0.000,6,0.000,0.058,3100,2399,3361
$GC,2658,-0.67,-117.3,211.4,-7.5,153,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3361
$GC,2965,-0.67,-117.3,232.8,-6.7,163,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3361
$GC,3271,-0.67,-117.3,253.5,-6.8,173,3275,0.00,2.53,0.00,0.000,4,0.000,0.067,3100,988,3361
$GC,3305,-0.67,-117.3,256.2,-7.1,174,3309,0.00,2.42,0.00,0.000,6,0.000,0.060,3100,2400,3361
$GC,3636,-0.67,-117.3,277.9,-6.4,185,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3361
$GC,3943,-0.67,-117.3,296.0,-5.8,195,3947,0.00,2.65,0.00,0.000,4,0.000,0.080,3100,3818,3361
$GC,3982,-0.67,-117.3,298.4,-5.6,196,3987,0.00,2.47,0.00,0.000,6,0.000,0.051,3100,2402,3361
$GC,4335,-0.67,-117.3,319.3,-6.0,203,4339,0.00,2.65,0.00,0.000,4,0.000,0.066,3100,992,3360
$GC,4363,-0.67,-117.3,321.4,-6.8,203,4368,0.00,2.42,0.00,0.000,6,0.000,0.059,3100,2402,3360
$GC,4698,-0.67,-117.3,343.0,-6.5,209,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3360
$GC,5000,-0.67,-117.3,363.0,-6.6,214,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3360
$GC,5303,-0.67,-117.3,382.1,-6.3,219,5307,0.00,2.60,0.00,0.000,4,0.000,0.080,3100,3812,3360
$GC,5337,-0.67,-117.3,384.3,-6.6,219,5341,0.00,2.47,0.00,0.000,6,0.000,0.051,3100,2396,3359
$GC,5665,-0.67,-117.3,405.0,-6.4,225,5670,0.00,2.60,0.00,0.000,4,0.000,0.067,3100,991,3359
$GC,5700,-0.67,-117.3,407.6,-7.1,225,5704,0.00,2.45,0.00,0.000,6,0.000,0.060,3099,2409,3359
$GC,6027,-0.67,-117.3,430.1,-6.9,231,6032,0.00,2.58,0.00,0.000,4,0.000,0.080,3100,3808,3359
$GC,6056,-0.67,-117.3,432.3,-7.0,231,6060,0.00,2.42,0.00,0.000,6,0.000,0.051,3100,2397,3359
$GC,6390,-0.67,-117.3,453.9,-6.4,237,6394,0.00,2.58,0.00,0.000,4,0.000,0.067,3099,993,3359
$GC,6418,-0.67,-117.3,455.9,-6.3,237,6422,0.00,2.42,0.00,0.000,6,0.000,0.059,3099,2400,3359
$GC,6751,-0.67,-117.3,473.5,-5.1,243,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3359
$GC,7055,-0.67,-117.3,488.5,-5.0,248,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3359
$GC,7357,-0.67,-117.3,504.5,-5.3,253,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3358
$GC,7660,-0.67,-117.3,522.3,-6.0,258,7664,0.00,2.65,0.00,0.000,4,0.000,0.067,3100,986,3358
$GC,7699,-0.67,-117.3,524.9,-6.8,258,7704,0.00,2.50,0.00,0.000,6,0.000,0.060,3100,2403,3358
$GC,8022,-0.67,-117.3,545.1,-6.3,264,8026,0.00,2.58,0.00,0.000,4,0.000,0.081,3100,3811,3358
$GC,8057,-0.73,-117.3,547.2,-6.1,264,8061,0.00,2.40,0.00,0.000,6,0.000,0.052,3100,2392,3358
$GC,8385,-0.73,-117.3,566.4,-5.8,270,8389,0.00,2.47,0.00,0.000,4,0.000,0.070,3100,987,3358
$GC,8424,-0.73,-117.3,568.9,-6.3,270,8429,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2404,3358
$GC,8747,-0.73,-117.3,587.0,-5.6,276,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,9050,-0.73,-117.3,604.1,-5.7,281,9054,0.00,2.58,0.00,0.000,4,0.000,0.081,3100,3809,3358
$GC,9084,-0.78,-117.3,606.2,-6.6,281,9088,0.00,2.40,0.00,0.000,6,0.000,0.054,3099,2397,3357
$GC,9411,-0.99,-117.3,628.6,-7.1,287,9417,0.28,2.62,0.00,0.000,4,0.085,0.077,2996,3809,3357
$GC,9632,-0.72,-117.3,651.3,-10.7,290,9637,0.32,2.40,0.00,0.000,6,0.159,0.054,3078,2387,3357
$GC,9977,-0.72,-117.3,676.0,-7.0,296,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2388,3357
$GC,10281,-0.72,-117.3,696.5,-6.7,301,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2389,3357
$GC,10583,-0.72,-117.3,715.3,-6.2,306,10587,0.00,2.62,0.00,0.000,4,0.000,0.081,3073,3818,3357
$GC,10606,-0.72,-117.3,716.8,-6.1,306,10610,0.00,2.40,0.00,0.000,6,0.000,0.054,3073,2394,3357
$GC,10951,-0.72,-117.3,735.9,-5.4,312,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3357
$GC,11255,-0.72,-117.3,751.1,-5.0,317,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3357
$GC,11556,-0.72,-117.3,766.9,-5.2,322,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3356
$GC,11860,-0.72,-117.3,784.9,-6.0,327,11864,0.00,2.67,0.00,0.000,4,0.000,0.081,3073,3806,3356
$GC,11888,-0.72,-117.3,786.6,-6.6,327,11892,0.00,2.42,0.00,0.000,6,0.000,0.054,3073,2402,3356
$GC,12222,-0.72,-117.3,807.9,-6.4,333,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3356
$GC,12524,-0.72,-117.3,828.4,-6.8,338,12528,0.00,2.67,0.00,0.000,4,0.000,0.081,3073,3809,3356
$GC,12558,-0.72,-117.3,830.9,-8.0,338,12562,0.00,2.45,0.00,0.000,6,0.000,0.054,3072,2398,3356
$GC,12885,-0.72,-117.3,853.1,-6.8,344,12890,0.00,2.50,0.00,0.000,4,0.000,0.070,3073,990,3356
$GC,12915,-0.72,-117.3,855.2,-7.7,344,12919,0.00,2.45,0.00,0.000,6,0.000,0.061,3072,2405,3356
$GC,13248,-0.72,-117.3,877.8,-6.8,350,13252,0.00,2.55,0.00,0.000,4,0.000,0.082,3073,3812,3356
$GC,13282,-0.72,-117.3,880.3,-7.5,350,13286,0.00,2.40,0.00,0.000,6,0.000,0.054,3073,2393,3355
$GC,13609,-0.72,-117.3,901.5,-6.5,356,13614,0.00,2.47,0.00,0.000,4,0.000,0.071,3072,989,3356
$GC,13639,-0.72,-117.3,903.4,-6.9,356,13643,0.00,2.45,0.00,0.000,6,0.000,0.062,3072,2401,3356
$GC,13972,-0.72,-117.3,924.5,-6.3,362,13973,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3355
$GC,14275,-0.72,-117.3,943.1,-6.2,367,14280,0.00,2.58,0.00,0.000,4,0.000,0.082,3072,3812,3355
$GC,14304,-0.72,-117.3,945.1,-7.1,367,14308,0.00,2.40,0.00,0.000,6,0.000,0.055,3072,2397,3355
$GC,14644,-0.72,-117.3,965.2,-5.9,373,14645,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,14946,-0.72,-117.3,982.9,-5.9,378,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$STATE,15125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15125,begin apogee
$GC,15135,-0.22,0.0,993.1,5.6,381,15249,0.57,0.00,111.07,1.491,6,0.135,0.000,3241,2184,2876
$STATE,15249,end apogee,CONTROL_FINISHED_OK
$STATE,15249,begin climb
$GC,15254,0.67,117.3,996.9,0.0,383,15378,0.93,0.00,119.45,1.440,6,0.086,0.000,3526,2184,2397
$GC,15686,0.35,117.3,976.1,7.7,390,15688,0.38,0.00,0.00,0.000,6,0.156,0.000,3433,2184,2394
$GC,15986,0.30,117.3,959.0,5.5,395,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2184,2394
$GC,16290,0.24,117.3,943.8,5.0,400,16295,0.15,2.80,0.00,0.000,4,0.177,0.075,3388,3612,2393
$GC,16347,0.28,151.4,941.1,4.0,400,16387,0.00,2.60,32.47,1.417,6,0.000,0.058,3394,2199,2258
$GC,16722,0.43,191.3,926.4,3.9,407,16763,0.20,0.00,38.47,1.414,6,0.077,0.000,3472,2200,2095
$GC,17026,0.35,191.3,907.4,6.4,412,17031,0.15,2.70,0.00,0.000,4,0.143,0.074,3436,792,2091
$GC,17061,0.39,191.3,905.3,5.1,412,17065,0.00,2.45,0.00,0.000,6,0.000,0.058,3436,2201,2091
$GC,17388,0.39,191.3,888.3,5.2,418,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2090
$GC,17692,0.39,191.3,872.1,5.3,423,17697,0.00,2.50,0.00,0.000,4,0.000,0.079,3436,3612,2089
$GC,17727,0.39,191.3,869.7,6.3,423,17731,0.00,2.45,0.00,0.000,6,0.000,0.061,3436,2198,2090
$GC,18054,0.39,191.3,850.5,6.0,429,18058,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,791,2089
$GC,18094,0.44,191.3,847.9,5.8,429,18098,0.00,2.38,0.00,0.000,6,0.000,0.058,3436,2200,2089
$GC,18417,0.44,191.3,827.3,6.6,435,18421,0.00,2.50,0.00,0.000,4,0.000,0.078,3436,3620,2088
$GC,18451,0.44,191.3,824.7,7.5,435,18455,0.00,2.42,0.00,0.000,6,0.000,0.061,3436,2191,2089
$GC,18778,0.44,191.3,802.5,6.8,441,18780,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2089
$GC,19083,0.44,191.3,781.9,6.7,446,19087,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,792,2088
$GC,19122,0.50,191.3,779.3,6.9,446,19127,0.12,2.40,0.00,0.000,6,0.091,0.058,3487,2213,2088
$GC,19445,0.40,191.3,754.2,7.8,452,19450,0.15,2.55,0.00,0.000,4,0.144,0.074,3449,791,2089
$GC,19479,0.40,191.3,751.5,6.5,452,19483,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2209,2088
$GC,19807,0.40,191.3,728.3,7.3,458,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2088
$GC,20110,0.40,191.3,705.8,7.4,463,20111,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2088
$GC,20413,0.40,191.3,684.2,7.1,468,20417,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,782,2088
$GC,20447,0.40,191.3,681.7,6.8,468,20451,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2198,2089
$GC,20775,0.40,191.3,659.6,6.8,474,20777,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2088
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$GC,25682,0.54,220.7,366.2,4.2,554,25714,0.12,2.40,25.83,1.088,6,0.087,0.058,3501,2202,1976
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$GC,27026,0.58,220.7,274.2,5.9,583,27031,0.15,2.60,0.00,0.000,4,0.083,0.074,3521,793,1971
$GC,27077,0.47,220.7,270.5,8.3,584,27082,0.20,2.40,0.00,0.000,6,0.140,0.058,3469,2211,1971
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$STATE,31519,end climb,SURFACE_DEPTH_REACHED
$STATE,31520,begin surface coast
$FINISH,0.4,1.017178
$STATE,31672,end surface coast,CONTROL_FINISHED_OK
$STATE,31672,begin surface
$SM_CCo,31757,0.00,0.000,0,0,1749,276.45
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$IRIDIUM_FIX,4949.70,-14510.65,230898,111147
$TT8_MAMPS,0.026845
$HUMID,2163
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$TCM_TEMP,15.80
$XPDR_PINGS,960
$24V_AH,20.7,141.163
$10V_AH,10.2,98.494
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$DEVICE_SECS,29.050,212.300,377.275,0.000,0.000,54.157,55.972,246.383,240.000,0.000,0.000,26.955,1752.541,26718.289,540.421,2274.917,1063.545,33.383,1664.824,0.000,2233.974,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,637.886,604.722,1411.382,851.735,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47437,830
$CAP_FILE_SIZE,179450,0
$CFSIZE,260165632,202248192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290509,201736,5005.344,-14511.298,27,1.3,27,18.4