version: 66.03
glider: 120
mission: 9
dive: 679
start: 5 11 109 16 21 10
data:
$ID,120
$MISSION,9
$DIVE,679
$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,-32187.014
$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
$GPS1,161237,5016.805,-14512.637,35,1.8,35,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.6
$GPS2,162016,5016.796,-14512.623,10,2.5,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.177
$KALMAN_X,-125318.0,-95.4,-133.0,127768.8,838.6
$KALMAN_Y,142717.5,264.9,635.6,-118988.8,1377.1
$MHEAD_RNG_PITCHd_Wd,167.5,42205,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-40.22,0.000,2,0.000,0.000,136,2402,2622
$GC,74,-0.67,-117.3,3.5,-6.2,4,110,14.57,2.45,-16.02,0.000,4,0.278,0.081,3093,989,3356
$GC,355,-0.50,-117.3,37.7,-11.2,29,360,0.20,2.40,0.00,0.000,6,0.147,0.063,3149,2398,3358
$GC,681,-0.50,-117.3,63.5,-7.4,59,682,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3358
$GC,997,-0.50,-117.3,86.0,-7.0,85,998,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3358
$GC,1308,-0.50,-117.3,108.4,-7.1,100,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3358
$GC,1616,-0.54,-117.3,129.9,-7.1,115,1621,0.00,2.50,0.00,0.000,4,0.000,0.079,3141,3815,3358
$GC,1684,-0.64,-117.3,134.4,-6.0,118,1689,0.00,2.33,0.00,0.000,6,0.000,0.052,3141,2390,3358
$GC,2018,-0.91,-117.3,158.0,-7.8,133,2023,0.32,2.50,0.00,0.000,4,0.081,0.075,3020,3812,3358
$GC,2179,-0.63,-117.3,176.9,-13.2,137,2186,0.32,2.33,0.00,0.000,6,0.148,0.053,3105,2392,3359
$GC,2493,-0.63,-117.3,202.7,-7.7,148,2498,0.00,2.55,0.00,0.000,4,0.000,0.066,3106,988,3359
$GC,2591,-0.63,-117.3,209.9,-6.9,151,2595,0.00,2.42,0.00,0.000,6,0.000,0.059,3106,2400,3359
$GC,2927,-0.63,-117.3,231.2,-5.9,162,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3359
$GC,3234,-0.63,-117.3,249.6,-6.3,172,3238,0.00,2.60,0.00,0.000,4,0.000,0.066,3106,995,3359
$GC,3263,-0.63,-117.3,251.6,-7.0,173,3268,0.00,2.47,0.00,0.000,6,0.000,0.059,3106,2406,3359
$GC,3599,-0.63,-117.3,275.5,-7.2,184,3603,0.00,2.55,0.00,0.000,4,0.000,0.066,3106,992,3359
$GC,3639,-0.63,-117.3,278.5,-7.7,185,3643,0.00,2.42,0.00,0.000,6,0.000,0.059,3105,2400,3358
$GC,3964,-0.63,-117.3,298.3,-5.6,196,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3358
$GC,4268,-0.63,-117.3,313.6,-5.0,202,4272,0.00,2.50,0.00,0.000,4,0.000,0.068,3106,985,3358
$GC,4307,-0.63,-117.3,315.8,-5.9,202,4312,0.00,2.45,0.00,0.000,6,0.000,0.060,3106,2408,3359
$GC,4631,-0.63,-117.3,333.9,-5.8,208,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3358
$GC,4932,-0.63,-117.3,354.4,-6.8,213,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2406,3358
$GC,5236,-0.63,-117.3,375.0,-6.8,218,5240,0.00,2.55,0.00,0.000,4,0.000,0.068,3106,991,3358
$GC,5270,-0.63,-117.3,377.7,-7.7,218,5274,0.00,2.45,0.00,0.000,6,0.000,0.061,3106,2409,3359
$GC,5598,-0.63,-117.3,399.2,-6.6,224,5602,0.00,2.50,0.00,0.000,4,0.000,0.068,3106,994,3358
$GC,5626,-0.63,-117.3,401.4,-8.1,224,5630,0.00,2.42,0.00,0.000,6,0.000,0.060,3106,2400,3358
$GC,5959,-0.63,-117.3,424.6,-7.0,230,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2398,3358
$GC,6262,-0.63,-117.3,444.5,-6.5,235,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3358
$GC,6566,-0.63,-117.3,463.0,-6.1,240,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2398,3358
$GC,6868,-0.63,-117.3,479.9,-5.5,245,6872,0.00,2.53,0.00,0.000,4,0.000,0.069,3106,986,3357
$GC,6896,-0.63,-117.3,481.6,-6.1,245,6900,0.00,2.45,0.00,0.000,6,0.000,0.061,3106,2399,3357
$GC,7229,-0.68,-117.3,500.0,-5.6,251,7233,0.00,2.47,0.00,0.000,4,0.000,0.080,3105,3809,3357
$GC,7258,-0.74,-117.3,501.8,-6.1,251,7262,0.00,2.30,0.00,0.000,6,0.000,0.053,3105,2402,3357
$GC,7591,-0.94,-117.3,524.8,-7.2,257,7596,0.22,2.50,0.00,0.000,4,0.077,0.077,3016,3811,3357
$GC,7746,-0.73,-117.3,539.5,-10.2,259,7752,0.25,2.33,0.00,0.000,6,0.146,0.054,3079,2396,3357
$GC,8092,-0.73,-117.3,565.1,-7.1,265,8095,0.00,2.47,0.00,0.000,4,0.000,0.070,3078,995,3357
$GC,8137,-0.73,-117.3,568.6,-7.4,265,8141,0.00,2.45,0.00,0.000,6,0.000,0.061,3079,2410,3357
$GC,8458,-0.73,-117.3,590.1,-6.7,271,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2409,3357
$GC,8762,-0.73,-117.3,610.0,-6.6,276,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2409,3356
$GC,9064,-0.73,-117.3,628.6,-6.1,281,9069,0.00,2.55,0.00,0.000,4,0.000,0.069,3079,989,3356
$GC,9093,-0.73,-117.3,630.5,-6.3,281,9097,0.00,2.45,0.00,0.000,6,0.000,0.061,3079,2399,3356
$GC,9425,-0.73,-117.3,651.1,-6.3,287,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2398,3356
$GC,9729,-0.73,-117.3,671.3,-6.8,292,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2398,3356
$GC,10033,-0.73,-117.3,692.0,-6.9,297,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2398,3356
$GC,10335,-0.73,-117.3,712.6,-6.9,302,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2398,3356
$GC,10638,-0.73,-117.3,732.8,-6.6,307,10642,0.00,2.65,0.00,0.000,4,0.000,0.069,3079,992,3355
$GC,10677,-0.73,-117.3,735.4,-7.3,307,10681,0.00,2.50,0.00,0.000,6,0.000,0.062,3079,2407,3355
$GC,10999,-0.73,-117.3,754.9,-6.0,313,11004,0.00,2.50,0.00,0.000,4,0.000,0.082,3079,3811,3355
$GC,11028,-0.73,-117.3,756.8,-6.4,313,11032,0.00,2.33,0.00,0.000,6,0.000,0.054,3079,2403,3355
$GC,11361,-0.73,-117.3,776.7,-6.0,319,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2404,3355
$GC,11664,-0.73,-117.3,795.7,-6.2,324,11668,0.00,2.67,0.00,0.000,4,0.000,0.070,3079,982,3355
$GC,11698,-0.73,-117.3,797.8,-6.2,324,11702,0.00,2.47,0.00,0.000,6,0.000,0.062,3079,2402,3355
$GC,12025,-0.73,-117.3,817.6,-6.0,330,12030,0.00,2.50,0.00,0.000,4,0.000,0.082,3079,3814,3355
$GC,12054,-0.73,-117.3,819.5,-5.9,330,12058,0.00,2.35,0.00,0.000,6,0.000,0.054,3079,2390,3354
$GC,12387,-0.73,-117.3,839.1,-5.9,336,12392,0.00,2.47,0.00,0.000,4,0.000,0.071,3079,993,3355
$GC,12416,-0.73,-117.3,841.1,-6.8,336,12420,0.00,2.45,0.00,0.000,6,0.000,0.062,3079,2400,3355
$GC,12749,-0.73,-117.3,862.0,-6.4,342,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3355
$GC,13052,-0.73,-117.3,881.1,-6.3,347,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3354
$GC,13355,-0.73,-117.3,900.8,-6.6,352,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3354
$GC,13659,-0.73,-117.3,920.6,-6.6,357,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3355
$GC,13961,-0.73,-117.3,939.5,-6.2,362,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3354
$GC,14264,-0.73,-117.3,958.6,-6.3,367,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3354
$GC,14567,-0.73,-117.3,977.8,-6.3,372,14572,0.00,2.70,0.00,0.000,4,0.000,0.070,3079,992,3354
$GC,14596,-0.73,-117.3,979.8,-6.8,372,14600,0.00,2.47,0.00,0.000,6,0.000,0.063,3079,2401,3354
$STATE,14803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14804,begin apogee
$GC,14813,-0.22,0.0,992.7,6.1,376,14926,0.55,0.00,108.40,1.490,6,0.130,0.000,3242,2192,2876
$STATE,14927,end apogee,CONTROL_FINISHED_OK
$STATE,14927,begin climb
$GC,14931,0.67,117.3,997.5,0.0,378,15056,0.93,2.88,117.88,1.439,4,0.083,0.075,3533,792,2397
$GC,15091,0.30,117.3,997.4,5.5,380,15097,0.50,2.72,0.00,0.000,6,0.165,0.058,3422,2201,2395
$GC,15409,0.31,118.9,981.6,5.0,386,15413,0.00,2.40,0.00,0.000,4,0.000,0.077,3422,3616,2393
$GC,15438,0.23,118.9,979.9,6.0,386,15442,0.15,2.33,0.00,0.000,6,0.183,0.061,3391,2199,2393
$GC,15772,0.32,130.2,964.6,4.7,392,15786,0.00,0.00,12.18,1.339,6,0.000,0.000,3391,2200,2345
$GC,16074,0.41,138.6,950.2,4.8,397,16086,0.17,0.00,9.38,1.286,6,0.075,0.000,3464,2200,2310
$GC,16377,0.30,138.6,930.4,6.7,402,16379,0.17,0.00,0.00,0.000,6,0.143,0.000,3418,2200,2309
$GC,16680,0.30,138.6,914.0,5.3,407,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2200,2308
$GC,16983,0.30,138.6,898.6,5.0,412,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2200,2308
$GC,17286,0.30,139.3,883.4,5.0,417,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2200,2308
$GC,17589,0.31,150.2,869.1,4.7,422,17602,0.00,0.00,11.68,1.321,6,0.000,0.000,3418,2200,2263
$GC,17892,0.31,151.3,854.3,5.0,427,17893,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2200,2261
$GC,18196,0.31,151.3,838.6,5.2,432,18197,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2200,2261
$GC,18498,0.31,151.3,822.7,5.3,437,18503,0.00,2.67,0.00,0.000,4,0.000,0.074,3422,790,2261
$GC,18533,0.39,167.9,820.8,4.5,437,18560,0.00,2.40,16.83,1.340,6,0.000,0.060,3422,2206,2191
$GC,18865,0.44,167.9,802.9,5.5,443,18867,0.12,0.00,0.00,0.000,6,0.086,0.000,3476,2205,2190
$GC,19167,0.34,167.9,782.8,6.6,448,19172,0.15,2.55,0.00,0.000,4,0.136,0.075,3436,778,2189
$GC,19207,0.34,167.9,780.4,5.9,448,19211,0.00,2.40,0.00,0.000,6,0.000,0.060,3436,2205,2189
$GC,19528,0.34,167.9,763.0,5.5,454,19529,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2189
$GC,19832,0.34,167.9,746.2,5.5,459,19833,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2188
$GC,20135,0.34,167.9,727.6,6.2,464,20139,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,790,2188
$GC,20198,0.38,167.9,723.6,6.0,465,20202,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2201,2189
$GC,20566,0.38,167.9,700.0,6.4,471,20567,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2189
$GC,20868,0.38,167.9,679.9,6.6,476,20872,0.00,2.53,0.00,0.000,4,0.000,0.076,3436,788,2188
$GC,20908,0.43,167.9,677.4,6.4,476,20913,0.00,2.42,0.00,0.000,6,0.000,0.059,3436,2211,2188
$GC,21230,0.43,167.9,658.8,5.7,482,21232,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2189
$GC,21535,0.43,167.9,642.9,5.2,487,21536,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2188
$GC,21837,0.43,167.9,627.1,5.2,492,21841,0.00,2.67,0.00,0.000,4,0.000,0.074,3436,784,2189
$GC,21871,0.48,167.9,625.1,5.6,492,21876,0.12,2.42,0.00,0.000,6,0.085,0.060,3489,2199,2189
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$STATE,32369,end climb,SURFACE_DEPTH_REACHED
$STATE,32369,begin surface coast
$FINISH,0.6,1.014276
$STATE,32480,end surface coast,CONTROL_FINISHED_OK
$STATE,32481,begin surface
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$HUMID,2145
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$TCM_TEMP,15.80
$XPDR_PINGS,1001
$24V_AH,20.6,132.212
$10V_AH,10.3,91.982
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$DEVICE_SECS,30.325,217.825,370.525,0.000,0.000,30.999,26.337,202.287,250.250,0.000,0.000,30.730,1794.969,27284.502,564.469,2360.626,942.671,33.377,1706.106,0.000,2313.607,0.000,0.465
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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,47476,837
$CAP_FILE_SIZE,184220,0
$CFSIZE,260165632,205897728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120509,012527,5013.656,-14513.000,88,2.2,107,18.5