version: 66.03
glider: 120
mission: 9
dive: 711
start: 5 23 109 18 15 16
data:
$ID,120
$MISSION,9
$DIVE,711
$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,-32805.645
$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
$GPS1,180724,4955.280,-14434.366,42,1.2,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.0
$GPS2,181419,4955.299,-14434.311,16,1.6,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.143,0.106
$KALMAN_X,-150733.1,259.8,48.2,198187.0,-330.6
$KALMAN_Y,153822.4,-791.0,-247.0,-167907.8,2682.0
$MHEAD_RNG_PITCHd_Wd,288.0,29982,-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,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.55,0.000,2,0.000,0.000,136,2408,2722
$GC,74,-0.67,-117.3,3.8,-7.3,4,106,13.62,0.00,-12.80,0.000,6,0.278,0.000,3092,2409,3356
$GC,426,-0.49,-117.3,48.1,-10.6,37,432,0.20,2.65,0.00,0.000,4,0.159,0.064,3160,993,3358
$GC,474,-0.54,-117.3,52.0,-7.2,40,480,0.00,2.55,0.00,0.000,6,0.000,0.058,3154,2397,3358
$GC,801,-0.54,-117.3,75.3,-7.3,71,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2396,3358
$GC,1121,-0.54,-117.3,97.5,-6.6,90,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2396,3358
$GC,1432,-0.60,-117.3,118.8,-6.8,105,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2396,3359
$GC,1740,-0.87,-117.3,138.0,-7.1,120,1742,0.32,0.00,0.00,0.000,6,0.075,0.000,3036,2396,3359
$GC,2068,-0.92,-117.3,166.6,-8.6,133,2073,0.00,2.67,0.00,0.000,4,0.000,0.074,3036,3812,3359
$GC,2109,-0.72,-117.3,170.5,-9.6,134,2115,0.17,2.47,0.00,0.000,6,0.146,0.051,3080,2388,3359
$GC,2435,-0.62,-117.3,198.6,-8.6,145,2440,0.12,2.65,0.00,0.000,4,0.165,0.064,3118,988,3359
$GC,2480,-0.62,-117.3,202.3,-7.5,146,2484,0.00,2.45,0.00,0.000,6,0.000,0.058,3113,2401,3359
$GC,2800,-0.62,-117.3,222.9,-6.3,157,2804,0.00,2.53,0.00,0.000,4,0.000,0.077,3113,3819,3359
$GC,2845,-0.67,-117.3,225.9,-7.1,158,2850,0.00,2.35,0.00,0.000,6,0.000,0.051,3113,2400,3359
$GC,3165,-0.67,-117.3,246.2,-6.2,169,3169,0.00,2.47,0.00,0.000,4,0.000,0.067,3113,989,3359
$GC,3200,-0.67,-117.3,248.5,-6.7,170,3204,0.00,2.45,0.00,0.000,6,0.000,0.059,3113,2402,3359
$GC,3530,-0.67,-117.3,268.3,-5.9,181,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3359
$GC,3837,-0.67,-117.3,286.4,-6.0,191,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3359
$GC,4142,-0.67,-117.3,305.3,-6.2,200,4146,0.00,2.62,0.00,0.000,4,0.000,0.065,3113,991,3359
$GC,4171,-0.67,-117.3,307.3,-6.9,200,4175,0.00,2.50,0.00,0.000,6,0.000,0.059,3112,2410,3359
$GC,4504,-0.67,-117.3,329.3,-6.7,206,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3358
$GC,4808,-0.67,-117.3,347.8,-6.0,211,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3358
$GC,5110,-0.67,-117.3,364.0,-5.3,216,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3358
$GC,5414,-0.71,-117.3,379.6,-5.1,221,5419,0.00,2.67,0.00,0.000,4,0.000,0.067,3113,995,3358
$GC,5449,-0.76,-117.3,381.6,-5.6,221,5454,0.12,2.47,0.00,0.000,6,0.082,0.059,3068,2410,3358
$GC,5777,-0.76,-117.3,402.3,-6.4,227,5781,0.00,2.53,0.00,0.000,4,0.000,0.077,3068,3812,3358
$GC,5828,-0.70,-117.3,406.0,-7.2,227,5832,0.00,2.40,0.00,0.000,6,0.000,0.052,3068,2393,3358
$GC,6140,-0.70,-117.3,428.0,-7.1,232,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2394,3358
$GC,6442,-0.70,-117.3,449.4,-7.0,237,6446,0.00,2.60,0.00,0.000,4,0.000,0.077,3068,3810,3358
$GC,6471,-0.66,-117.3,451.6,-7.7,237,6476,0.12,2.42,0.00,0.000,6,0.094,0.051,3101,2390,3357
$GC,6805,-0.66,-117.3,472.6,-6.3,243,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2391,3357
$GC,7107,-0.66,-117.3,491.4,-6.2,248,7111,0.00,2.58,0.00,0.000,4,0.000,0.067,3101,990,3357
$GC,7147,-0.66,-117.3,494.0,-6.4,248,7151,0.00,2.47,0.00,0.000,6,0.000,0.060,3100,2406,3357
$GC,7469,-0.66,-117.3,512.8,-5.8,254,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3357
$GC,7772,-0.66,-117.3,529.8,-5.6,259,7776,0.00,2.55,0.00,0.000,4,0.000,0.069,3100,984,3356
$GC,7806,-0.66,-117.3,532.0,-6.0,259,7811,0.00,2.47,0.00,0.000,6,0.000,0.061,3100,2403,3356
$GC,8134,-0.66,-117.3,551.0,-5.8,265,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,8437,-0.66,-117.3,569.2,-6.0,270,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,8740,-0.66,-117.3,587.0,-5.8,275,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9044,-0.66,-117.3,603.1,-5.2,280,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9347,-0.66,-117.3,618.1,-4.9,285,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9650,-0.66,-117.3,633.3,-5.1,290,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9953,-0.70,-117.3,649.3,-5.4,295,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,10257,-0.74,-117.3,667.4,-6.0,300,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,10559,-0.79,-117.3,686.8,-6.4,305,10565,0.12,2.72,0.00,0.000,4,0.085,0.067,3052,994,3355
$GC,10588,-0.79,-117.3,689.2,-8.0,305,10592,0.00,2.47,0.00,0.000,6,0.000,0.061,3051,2408,3355
$GC,10922,-0.72,-117.3,714.4,-7.7,311,10923,0.12,0.00,0.00,0.000,6,0.137,0.000,3086,2407,3355
$GC,11225,-0.72,-117.3,734.4,-6.6,316,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,11529,-0.72,-117.3,753.7,-6.4,321,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,11830,-0.72,-117.3,772.4,-6.1,326,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,12133,-0.72,-117.3,789.9,-5.8,331,12138,0.00,2.70,0.00,0.000,4,0.000,0.068,3086,990,3354
$GC,12161,-0.72,-117.3,791.7,-6.2,331,12165,0.00,2.50,0.00,0.000,6,0.000,0.062,3086,2407,3354
$GC,12495,-0.72,-117.3,810.6,-5.7,337,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3354
$GC,12798,-0.72,-117.3,828.0,-5.7,342,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3354
$GC,13100,-0.72,-117.3,845.5,-5.8,347,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3354
$GC,13404,-0.72,-117.3,863.1,-5.8,352,13408,0.00,2.62,0.00,0.000,4,0.000,0.070,3086,995,3354
$GC,13438,-0.72,-117.3,865.3,-6.8,352,13443,0.00,2.53,0.00,0.000,6,0.000,0.062,3086,2408,3354
$GC,13766,-0.72,-117.3,883.8,-5.6,358,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3354
$GC,14069,-0.72,-117.3,899.7,-5.2,363,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3354
$GC,14372,-0.72,-117.3,914.0,-4.7,368,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3354
$GC,14676,-0.72,-117.3,927.6,-4.5,373,14680,0.00,2.70,0.00,0.000,4,0.000,0.069,3086,991,3354
$GC,14710,-0.76,-117.3,929.3,-5.9,373,14714,0.00,2.50,0.00,0.000,6,0.000,0.062,3086,2408,3354
$GC,15037,-0.76,-117.3,944.3,-4.7,379,15042,0.00,2.53,0.00,0.000,4,0.000,0.082,3086,3809,3354
$GC,15073,-0.81,-117.3,946.1,-5.1,379,15077,0.00,2.38,0.00,0.000,6,0.000,0.055,3085,2396,3353
$GC,15401,-1.01,-117.3,966.2,-6.4,385,15406,0.25,2.58,0.00,0.000,4,0.085,0.080,2991,3821,3353
$GC,15592,-0.77,-117.3,983.7,-10.6,387,15599,0.30,2.40,0.00,0.000,6,0.156,0.056,3067,2388,3353
$STATE,15717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15717,begin apogee
$GC,15727,-0.22,0.0,992.8,7.2,390,15840,0.60,0.00,109.55,1.494,6,0.135,0.000,3245,2193,2876
$STATE,15841,end apogee,CONTROL_FINISHED_OK
$STATE,15841,begin climb
$GC,15845,0.67,117.3,997.9,0.0,392,15972,0.90,2.83,119.50,1.444,4,0.084,0.073,3535,789,2397
$GC,16000,0.36,152.9,1000.0,4.0,394,16045,0.45,2.75,37.97,1.391,6,0.172,0.057,3436,2196,2251
$GC,16405,0.36,154.2,980.5,5.0,401,16407,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2248
$GC,16705,0.36,154.2,965.3,5.0,406,16706,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2247
$GC,17009,0.36,154.2,949.9,5.1,411,17010,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2247
$GC,17311,0.36,154.2,934.7,5.0,416,17312,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2246
$GC,17614,0.36,154.2,919.1,5.1,421,17618,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,3614,2247
$GC,17654,0.27,154.2,916.6,6.7,421,17659,0.12,2.35,0.00,0.000,6,0.189,0.061,3409,2193,2246
$GC,17984,0.33,154.2,900.2,5.1,427,17988,0.00,2.47,0.00,0.000,4,0.000,0.077,3409,788,2246
$GC,18019,0.41,154.2,898.2,5.5,427,18023,0.12,2.40,0.00,0.000,6,0.082,0.059,3459,2206,2246
$GC,18346,0.33,154.2,874.6,7.4,433,18348,0.12,0.00,0.00,0.000,6,0.145,0.000,3427,2206,2246
$GC,18650,0.33,154.2,854.8,6.5,438,18651,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2206,2246
$GC,18952,0.33,154.2,836.3,6.1,443,18954,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2206,2245
$GC,19255,0.33,154.2,819.3,5.5,448,19256,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2206,2245
$GC,19558,0.33,154.2,803.4,5.2,453,19559,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2206,2245
$GC,19862,0.35,164.1,788.9,4.7,458,19874,0.00,0.00,10.50,1.262,6,0.000,0.000,3427,2206,2206
$GC,20166,0.35,167.2,774.2,4.9,463,20172,0.00,0.00,4.35,0.935,6,0.000,0.000,3427,2206,2194
$GC,20468,0.36,179.2,760.1,4.7,468,20482,0.00,0.00,12.45,1.272,6,0.000,0.000,3427,2205,2145
$GC,20772,0.42,186.0,745.6,4.8,473,20786,0.00,2.60,7.82,1.169,4,0.000,0.074,3436,783,2117
$GC,20843,0.47,186.0,742.2,5.3,474,20848,0.10,2.40,0.00,0.000,6,0.088,0.061,3476,2205,2117
$GC,21210,0.39,186.0,719.5,6.2,480,21212,0.12,0.00,0.00,0.000,6,0.139,0.000,3443,2204,2116
$GC,21513,0.39,187.3,704.3,5.0,485,21514,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2115
$GC,21817,0.39,187.3,688.3,5.3,490,21818,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2115
$GC,22119,0.39,187.3,671.1,5.7,495,22120,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2115
$GC,22422,0.39,187.3,653.1,6.0,500,22423,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2204,2115
$GC,22725,0.39,187.3,635.3,5.9,505,22729,0.00,2.65,0.00,0.000,4,0.000,0.074,3450,781,2115
$GC,22764,0.39,187.3,632.7,6.8,505,22769,0.00,2.45,0.00,0.000,6,0.000,0.058,3449,2206,2115
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$STATE,33825,end climb,SURFACE_DEPTH_REACHED
$STATE,33825,begin surface coast
$FINISH,0.5,1.015120
$STATE,33975,end surface coast,CONTROL_FINISHED_OK
$STATE,33975,begin surface
$SM_CCo,33999,24.20,0.840,0,0,1754,275.23
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$TT8_MAMPS,0.026845
$HUMID,2141
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$TCM_TEMP,15.80
$XPDR_PINGS,1018
$24V_AH,20.7,138.341
$10V_AH,10.3,96.414
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$DEVICE_SECS,29.750,181.800,365.200,24.200,0.000,23.324,26.155,170.207,254.500,0.000,0.000,33.354,1848.437,28755.156,557.966,2339.737,926.748,33.381,1675.664,0.000,2298.308,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,680.945,647.334,1508.658,911.771,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50657,887
$CAP_FILE_SIZE,182668,0
$CFSIZE,260165632,203407360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240509,034406,4957.478,-14438.755,60,1.5,60,18.5