version: 66.03
glider: 120
mission: 9
dive: 649
start: 4 30 109 12 30 9
data:
$ID,120
$MISSION,9
$DIVE,649
$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,-31493.471
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,121836,5004.416,-14451.218,38,2.0,38,18.5
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.1
$GPS2,122914,5004.453,-14451.242,15,1.8,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.067,0.158
$KALMAN_X,-116174.2,-90.5,461.4,143422.4,-2227.4
$KALMAN_Y,150979.2,161.8,19.4,-149370.7,-594.8
$MHEAD_RNG_PITCHd_Wd,4.5,5677,-12.6,-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,-0.68,-108.5,0.0,0.0,0,62,0.00,0.00,-30.40,0.000,2,0.000,0.000,135,2409,2502
$GC,66,-0.68,-108.5,3.0,-6.3,3,110,13.43,2.58,-19.90,0.000,4,0.268,0.090,3085,3813,3321
$GC,337,-0.51,-108.5,35.7,-12.4,27,342,0.22,2.40,0.00,0.000,6,0.145,0.053,3147,2395,3322
$GC,668,-0.51,-108.5,60.2,-6.8,57,672,0.00,2.55,0.00,0.000,4,0.000,0.067,3147,983,3322
$GC,713,-0.51,-108.5,64.1,-8.7,60,719,0.00,2.38,0.00,0.000,6,0.000,0.061,3142,2396,3322
$GC,1036,-0.51,-108.5,88.6,-7.7,86,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2396,3322
$GC,1346,-0.51,-108.5,112.1,-7.1,101,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2396,3322
$GC,1655,-0.55,-108.5,135.8,-7.7,116,1659,0.00,2.58,0.00,0.000,4,0.000,0.066,3141,982,3322
$GC,1700,-0.63,-108.5,139.2,-7.0,118,1704,0.00,2.42,0.00,0.000,6,0.000,0.061,3141,2411,3323
$GC,2033,-0.71,-109.3,158.4,-5.0,132,2037,0.15,2.55,0.00,0.000,4,0.080,0.067,3073,992,3323
$GC,2117,-0.62,-109.3,164.3,-8.0,134,2122,0.17,2.40,0.00,0.000,6,0.138,0.060,3118,2404,3323
$GC,2431,-0.62,-109.3,182.5,-6.1,144,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2403,3323
$GC,2738,-0.66,-109.3,203.0,-6.9,154,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2403,3323
$GC,3044,-0.71,-109.3,224.2,-6.8,164,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2403,3323
$GC,3350,-0.76,-109.3,245.2,-6.8,174,3355,0.15,2.50,0.00,0.000,4,0.078,0.067,3050,989,3323
$GC,3391,-0.62,-109.3,248.7,-8.9,175,3396,0.25,2.42,0.00,0.000,6,0.138,0.061,3118,2411,3323
$GC,3716,-0.67,-109.3,270.6,-6.8,186,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2411,3323
$GC,4022,-0.73,-109.3,291.4,-6.7,196,4027,0.12,2.47,0.00,0.000,4,0.083,0.068,3067,991,3323
$GC,4068,-0.68,-109.3,295.1,-8.3,197,4072,0.00,2.40,0.00,0.000,6,0.000,0.060,3067,2402,3323
$GC,4385,-0.61,-109.3,319.8,-7.7,204,4387,0.17,0.00,0.00,0.000,6,0.137,0.000,3118,2401,3322
$GC,4688,-0.68,-109.3,336.0,-5.2,209,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2401,3323
$GC,4991,-0.75,-109.3,351.8,-5.3,214,4993,0.15,0.00,0.00,0.000,6,0.077,0.000,3058,2401,3323
$GC,5295,-0.70,-109.3,374.0,-7.5,219,5300,0.12,2.58,0.00,0.000,4,0.100,0.066,3094,986,3323
$GC,5340,-0.70,-109.3,377.5,-7.1,219,5344,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2398,3322
$GC,5656,-0.70,-109.3,398.1,-6.6,225,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3322
$GC,5959,-0.70,-109.3,417.1,-6.2,230,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2397,3322
$GC,6263,-0.70,-109.3,434.8,-5.9,235,6267,0.00,2.58,0.00,0.000,4,0.000,0.067,3094,990,3322
$GC,6330,-0.70,-109.3,439.0,-6.2,236,6334,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2411,3322
$GC,6691,-0.70,-109.3,458.7,-5.4,242,6695,0.00,2.47,0.00,0.000,4,0.000,0.070,3094,992,3322
$GC,6720,-0.70,-109.3,460.4,-5.9,242,6724,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2410,3322
$GC,7052,-0.70,-109.3,478.6,-5.5,248,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2409,3322
$GC,7355,-0.70,-109.3,496.9,-6.1,253,7360,0.00,2.50,0.00,0.000,4,0.000,0.070,3094,984,3322
$GC,7401,-0.70,-109.3,500.0,-6.6,253,7405,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2402,3321
$GC,7717,-0.70,-109.3,519.9,-6.4,259,7721,0.00,2.47,0.00,0.000,4,0.000,0.070,3094,983,3321
$GC,7746,-0.70,-109.3,522.0,-7.1,259,7750,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2400,3321
$GC,8079,-0.70,-109.3,543.7,-6.6,265,8083,0.00,2.45,0.00,0.000,4,0.000,0.069,3094,993,3321
$GC,8112,-0.70,-109.3,546.1,-6.3,265,8116,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2406,3321
$GC,8441,-0.70,-109.3,567.4,-6.5,271,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2405,3321
$GC,8743,-0.70,-109.3,586.4,-6.2,276,8747,0.00,2.47,0.00,0.000,4,0.000,0.070,3094,993,3321
$GC,8787,-0.70,-109.3,589.5,-6.9,276,8792,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2408,3321
$GC,9104,-0.70,-109.3,608.7,-6.2,282,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3321
$GC,9408,-0.70,-109.3,626.7,-5.9,287,9412,0.00,2.47,0.00,0.000,4,0.000,0.071,3094,986,3321
$GC,9465,-0.75,-109.3,630.3,-6.4,287,9471,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2403,3321
$GC,9777,-0.79,-109.3,647.6,-5.5,293,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3321
$GC,10079,-0.84,-109.3,664.5,-5.6,298,10081,0.15,0.00,0.00,0.000,6,0.079,0.000,3033,2403,3320
$GC,10383,-0.76,-109.3,687.2,-7.6,303,10385,0.12,0.00,0.00,0.000,6,0.099,0.000,3068,2402,3320
$GC,10685,-0.76,-109.3,708.7,-7.1,308,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2402,3320
$GC,10988,-0.76,-109.3,729.7,-6.9,313,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2402,3320
$GC,11291,-0.76,-109.3,749.6,-6.5,318,11295,0.00,2.50,0.00,0.000,4,0.000,0.071,3069,992,3320
$GC,11331,-0.76,-109.3,752.4,-7.7,318,11335,0.00,2.45,0.00,0.000,6,0.000,0.063,3069,2408,3320
$GC,11652,-0.76,-109.3,773.8,-6.7,324,11656,0.00,2.53,0.00,0.000,4,0.000,0.071,3069,993,3320
$GC,11697,-0.76,-109.3,777.0,-7.3,324,11701,0.00,2.45,0.00,0.000,6,0.000,0.064,3069,2407,3320
$GC,12013,-0.76,-109.3,798.5,-6.8,330,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2406,3320
$GC,12317,-0.76,-109.3,820.2,-7.1,335,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2406,3319
$GC,12619,-0.76,-109.3,841.2,-6.9,340,12623,0.00,2.50,0.00,0.000,4,0.000,0.071,3069,993,3319
$GC,12654,-0.76,-109.3,843.7,-7.6,340,12658,0.00,2.45,0.00,0.000,6,0.000,0.064,3069,2410,3319
$GC,12982,-0.76,-109.3,864.6,-6.3,346,12986,0.00,2.50,0.00,0.000,4,0.000,0.071,3069,993,3319
$GC,13018,-0.76,-109.3,866.9,-6.9,346,13022,0.00,2.45,0.00,0.000,6,0.000,0.064,3069,2409,3319
$GC,13345,-0.76,-109.3,886.2,-5.8,352,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2408,3319
$GC,13648,-0.76,-109.3,902.9,-5.5,357,13652,0.00,2.53,0.00,0.000,4,0.000,0.072,3068,984,3319
$GC,13681,-0.76,-109.3,904.8,-5.4,357,13686,0.00,2.45,0.00,0.000,6,0.000,0.064,3068,2400,3319
$GC,14010,-0.76,-109.3,921.4,-5.0,363,14014,0.00,2.47,0.00,0.000,4,0.000,0.083,3069,3808,3319
$GC,14043,-0.76,-109.3,923.2,-5.5,363,14047,0.00,2.33,0.00,0.000,6,0.000,0.055,3068,2390,3319
$GC,14371,-0.76,-110.2,939.6,-5.0,369,14375,0.00,2.45,0.00,0.000,4,0.000,0.071,3069,993,3319
$GC,14399,-0.76,-110.2,941.3,-5.8,369,14403,0.00,2.45,0.00,0.000,6,0.000,0.063,3069,2410,3319
$GC,14732,-0.76,-110.2,959.8,-5.8,375,14733,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2409,3319
$GC,15034,-0.76,-110.2,979.7,-6.7,380,15039,0.00,2.50,0.00,0.000,4,0.000,0.072,3069,994,3319
$GC,15069,-0.76,-110.2,982.3,-7.6,380,15073,0.00,2.45,0.00,0.000,6,0.000,0.064,3069,2408,3319
$STATE,15210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15210,begin apogee
$GC,15220,-0.22,0.0,992.4,7.0,383,15323,0.57,0.00,99.97,1.497,6,0.136,0.000,3240,2190,2876
$STATE,15323,end apogee,CONTROL_FINISHED_OK
$STATE,15324,begin climb
$GC,15327,0.68,110.2,995.0,0.0,384,15443,0.90,2.80,107.53,1.448,4,0.081,0.074,3546,797,2425
$GC,15468,0.42,195.2,1000.3,2.4,386,15563,0.38,2.67,88.38,1.414,6,0.170,0.058,3460,2205,2079
$GC,15880,0.42,195.2,976.6,6.1,393,15881,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2205,2073
$GC,16183,0.42,195.2,957.1,6.5,398,16188,0.00,2.45,0.00,0.000,4,0.000,0.077,3463,787,2072
$GC,16220,0.42,195.2,954.6,7.5,398,16224,0.00,2.35,0.00,0.000,6,0.000,0.060,3463,2212,2072
$GC,16547,0.42,195.2,930.3,7.5,404,16548,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2211,2071
$GC,16850,0.42,195.2,906.3,8.0,409,16854,0.00,2.38,0.00,0.000,4,0.000,0.080,3463,3618,2070
$GC,16878,0.34,195.2,903.9,8.6,409,16883,0.12,2.33,0.00,0.000,6,0.170,0.062,3432,2203,2071
$GC,17212,0.41,195.2,881.4,6.7,415,17216,0.00,2.42,0.00,0.000,4,0.000,0.077,3436,789,2070
$GC,17277,0.48,195.2,876.9,6.3,416,17282,0.10,2.35,0.00,0.000,6,0.090,0.059,3477,2199,2071
$GC,17644,0.43,195.2,847.5,8.0,422,17648,0.00,2.45,0.00,0.000,4,0.000,0.077,3477,780,2070
$GC,17696,0.38,195.2,843.3,8.2,422,17701,0.15,2.35,0.00,0.000,6,0.147,0.060,3437,2200,2070
$GC,18014,0.43,195.2,823.0,6.3,428,18015,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2070
$GC,18315,0.50,195.2,803.3,6.5,433,18317,0.12,0.00,0.00,0.000,6,0.081,0.000,3492,2199,2070
$GC,18619,0.40,195.2,777.6,8.6,438,18624,0.15,2.47,0.00,0.000,4,0.144,0.076,3449,788,2070
$GC,18653,0.44,195.2,774.7,7.6,438,18657,0.00,2.38,0.00,0.000,6,0.000,0.059,3449,2206,2070
$GC,18980,0.44,195.2,750.0,7.6,444,18984,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,778,2069
$GC,19020,0.49,195.2,746.8,7.7,444,19024,0.00,2.40,0.00,0.000,6,0.000,0.060,3449,2212,2070
$GC,19342,0.49,195.2,721.8,7.9,450,19343,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2069
$GC,19646,0.49,195.2,698.8,7.5,455,19647,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2069
$GC,19948,0.49,195.2,677.9,6.8,460,19953,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,789,2069
$GC,19995,0.55,195.2,674.7,6.4,460,20000,0.15,2.38,0.00,0.000,6,0.078,0.058,3513,2204,2069
$GC,20311,0.41,195.2,648.2,8.5,466,20316,0.20,2.50,0.00,0.000,4,0.150,0.075,3461,785,2069
$GC,20356,0.41,195.2,644.9,6.9,466,20360,0.00,2.38,0.00,0.000,6,0.000,0.059,3461,2202,2069
$GC,20673,0.41,195.2,624.0,6.6,472,20674,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2201,2069
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$STATE,31001,end climb,SURFACE_DEPTH_REACHED
$STATE,31001,begin surface coast
$FINISH,0.7,1.014223
$STATE,31141,end surface coast,CONTROL_FINISHED_OK
$STATE,31141,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2128
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$TCM_TEMP,14.10
$XPDR_PINGS,965
$24V_AH,20.5,126.572
$10V_AH,10.3,87.859
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$DEVICE_SECS,28.400,221.400,363.675,2.650,0.000,52.047,57.114,285.090,241.250,0.000,0.000,15.691,1766.108,26128.098,523.845,2307.134,1071.496,33.375,1673.775,0.000,2282.301,0.000,0.465
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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,47538,824
$CAP_FILE_SIZE,183273,0
$CFSIZE,260165632,208236544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300409,211137,5007.671,-14449.772,75,1.5,75,18.5