version: 66.03
glider: 120
mission: 9
dive: 74
start: 9 24 108 9 39 56
data:
$ID,120
$MISSION,9
$DIVE,74
$D_SURF,6
$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,300
$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,-19093.633
$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,19
$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
$GPS1,093408,5017.429,-14432.511,36,1.2,36,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.71
$_SM_ANGLEo,-74.6
$GPS2,093902,5017.455,-14432.546,15,1.5,20,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.099,0.147
$KALMAN_X,29072.7,90.5,350.1,-9111.4,-932.2
$KALMAN_Y,54990.4,-55.1,131.1,-33021.8,295.9
$MHEAD_RNG_PITCHd_Wd,15.4,7322,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.30,0.000,2,0.000,0.000,136,2407,1761
$GC,35,-0.67,-117.3,4.7,-0.0,1,124,13.12,2.35,-70.10,0.000,4,0.279,0.083,3097,989,3356
$GC,219,-0.32,-117.3,19.4,-15.8,17,226,0.35,2.33,0.00,0.000,6,0.166,0.063,3203,2398,3358
$GC,546,-0.32,-117.3,43.4,-7.0,48,547,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2398,3359
$GC,863,-0.65,-117.3,63.7,-7.2,78,868,0.25,2.30,0.00,0.000,4,0.084,0.065,3110,982,3361
$GC,935,-0.56,-117.3,70.1,-9.1,84,939,0.00,2.28,0.00,0.000,6,0.000,0.058,3110,2413,3361
$GC,1269,-0.38,-117.3,103.5,-10.5,105,1271,0.28,0.00,0.00,0.000,6,0.158,0.000,3189,2413,3362
$GC,1578,-0.48,-117.3,122.4,-5.0,120,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2413,3362
$GC,1888,-0.84,-117.3,140.7,-6.9,135,1893,0.40,2.33,0.00,0.000,4,0.081,0.068,3041,983,3362
$GC,2021,-0.55,-117.3,155.2,-11.9,141,2026,0.32,2.28,0.00,0.000,6,0.169,0.063,3135,2404,3362
$GC,2355,-0.55,-117.3,179.6,-6.7,152,2359,0.00,2.30,0.00,0.000,4,0.000,0.070,3135,989,3362
$GC,2385,-0.55,-117.3,181.7,-6.9,153,2389,0.00,2.28,0.00,0.000,6,0.000,0.063,3135,2406,3362
$GC,2718,-0.55,-117.3,203.4,-6.5,164,2722,0.00,2.30,0.00,0.000,4,0.000,0.071,3135,990,3361
$GC,2756,-0.55,-117.3,206.0,-7.1,165,2761,0.00,2.30,0.00,0.000,6,0.000,0.063,3135,2402,3361
$GC,3086,-0.55,-117.3,227.7,-6.7,176,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3361
$GC,3392,-0.55,-117.3,248.0,-6.7,186,3396,0.00,2.30,0.00,0.000,4,0.000,0.073,3135,985,3360
$GC,3429,-0.55,-117.3,250.6,-7.1,187,3434,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2400,3360
$GC,3759,-0.55,-117.3,272.5,-6.4,198,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2400,3359
$GC,4065,-0.55,-117.3,290.7,-5.7,208,4069,0.00,2.30,0.00,0.000,4,0.000,0.074,3135,990,3359
$GC,4113,-0.55,-117.3,293.8,-6.5,209,4118,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2401,3359
$GC,4460,-0.55,-117.3,315.5,-6.3,217,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2402,3358
$GC,4763,-0.55,-117.3,333.6,-5.9,222,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2403,3358
$GC,5066,-0.55,-117.3,352.4,-6.2,227,5070,0.00,2.30,0.00,0.000,4,0.000,0.074,3135,987,3357
$GC,5093,-0.55,-117.3,354.4,-7.0,227,5097,0.00,2.30,0.00,0.000,6,0.000,0.065,3135,2405,3357
$GC,5430,-0.55,-117.3,376.9,-6.8,233,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2405,3357
$GC,5734,-0.59,-117.3,397.1,-6.6,238,5738,0.00,2.30,0.00,0.000,4,0.000,0.074,3135,990,3356
$GC,5777,-0.64,-117.3,400.1,-7.0,238,5781,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2402,3356
$GC,6098,-0.69,-117.3,419.4,-6.0,244,6102,0.12,2.30,0.00,0.000,4,0.087,0.074,3087,990,3356
$GC,6146,-0.61,-117.3,423.1,-8.0,244,6151,0.08,2.28,0.00,0.000,6,0.160,0.065,3112,2394,3355
$GC,6461,-0.61,-117.3,444.4,-6.8,250,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2394,3356
$GC,6764,-0.61,-117.3,464.2,-6.6,255,6768,0.00,2.30,0.00,0.000,4,0.000,0.076,3112,990,3355
$GC,6807,-0.61,-117.3,467.3,-7.1,255,6812,0.00,2.30,0.00,0.000,6,0.000,0.065,3112,2402,3355
$GC,7128,-0.61,-117.3,488.6,-6.7,261,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3354
$GC,7431,-0.61,-117.3,509.1,-6.8,266,7435,0.00,2.30,0.00,0.000,4,0.000,0.076,3112,984,3354
$GC,7474,-0.61,-117.3,512.2,-6.8,266,7479,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2396,3354
$GC,7800,-0.61,-117.3,533.3,-6.4,272,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3354
$GC,8103,-0.61,-117.3,551.0,-5.7,277,8107,0.00,2.30,0.00,0.000,4,0.000,0.076,3112,981,3354
$GC,8141,-0.61,-117.3,553.4,-6.7,277,8146,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2395,3354
$GC,8473,-0.61,-117.3,572.4,-5.7,283,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3353
$GC,8776,-0.61,-117.3,589.9,-5.8,288,8780,0.00,2.30,0.00,0.000,4,0.000,0.077,3111,988,3353
$GC,8807,-0.61,-117.3,591.8,-6.1,288,8812,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2399,3353
$GC,9140,-0.61,-117.3,613.9,-6.8,294,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3353
$GC,9442,-0.61,-117.3,636.1,-7.4,299,9446,0.00,2.30,0.00,0.000,4,0.000,0.076,3112,989,3353
$GC,9468,-0.61,-117.3,638.1,-7.4,299,9473,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2402,3353
$GC,9806,-0.61,-117.3,660.9,-6.7,305,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3353
$GC,10110,-0.61,-117.3,680.6,-6.4,310,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3352
$GC,10412,-0.61,-117.3,699.9,-6.4,315,10416,0.00,2.33,0.00,0.000,4,0.000,0.077,3112,984,3352
$GC,10450,-0.61,-117.3,702.5,-6.6,315,10455,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2406,3352
$GC,10776,-0.61,-117.3,722.9,-6.3,321,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3352
$GC,11079,-0.61,-117.3,740.8,-5.9,326,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3352
$GC,11383,-0.61,-117.3,757.3,-5.4,331,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3352
$GC,11686,-0.61,-117.3,774.0,-5.5,336,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3352
$GC,11989,-0.61,-117.3,791.7,-5.8,341,11993,0.00,2.33,0.00,0.000,4,0.000,0.077,3112,991,3351
$GC,12043,-0.61,-117.3,795.2,-6.7,341,12050,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2399,3351
$GC,12353,-0.61,-117.3,813.5,-5.9,347,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3351
$GC,12656,-0.61,-117.3,831.6,-5.9,352,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3351
$GC,12959,-0.61,-117.3,849.1,-5.7,357,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3351
$GC,13262,-0.61,-117.3,866.4,-5.7,362,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3351
$GC,13565,-0.61,-117.3,883.2,-5.6,367,13569,0.00,2.33,0.00,0.000,4,0.000,0.077,3112,982,3351
$GC,13597,-0.61,-117.3,885.0,-5.8,367,13601,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2402,3351
$GC,13934,-0.61,-117.3,904.2,-5.7,373,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3351
$GC,14238,-0.65,-117.3,922.6,-6.1,378,14242,0.00,2.33,0.00,0.000,4,0.000,0.077,3112,988,3350
$GC,14263,-0.65,-117.3,924.4,-6.8,378,14268,0.00,2.33,0.00,0.000,6,0.000,0.068,3112,2406,3350
$GC,14602,-0.70,-117.3,946.0,-6.5,384,14606,0.00,2.30,0.00,0.000,4,0.000,0.087,3112,3810,3350
$GC,14634,-0.76,-117.3,948.2,-6.1,384,14639,0.10,2.28,0.00,0.000,6,0.079,0.063,3067,2392,3350
$GC,14966,-0.68,-117.3,973.6,-7.7,390,14967,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2392,3350
$STATE,15206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15206,begin apogee
$GC,15211,-0.22,0.0,991.8,7.5,394,15313,0.57,0.00,99.68,1.515,6,0.157,0.000,3241,2196,2876
$STATE,15314,end apogee,CONTROL_FINISHED_OK
$STATE,15314,begin climb
$GC,15316,0.67,117.3,993.7,0.0,395,15428,0.90,2.65,103.53,1.469,4,0.104,0.081,3527,3606,2397
$GC,15495,0.20,117.3,989.5,9.3,398,15500,0.57,2.45,0.00,0.000,6,0.199,0.067,3390,2195,2395
$GC,15815,0.20,117.3,973.0,5.0,404,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2195,2394
$GC,16118,0.25,117.3,957.1,5.3,409,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2195,2393
$GC,16421,0.25,117.3,940.1,5.6,414,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2195,2393
$GC,16724,0.25,117.3,924.0,5.3,419,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2195,2392
$GC,17027,0.25,117.3,908.6,5.1,424,17028,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2195,2392
$GC,17331,0.27,133.7,894.6,4.5,429,17350,0.00,2.40,14.18,1.376,4,0.000,0.084,3395,782,2331
$GC,17401,0.35,134.7,891.1,5.0,430,17406,0.08,2.38,0.00,0.000,6,0.079,0.066,3433,2201,2331
$GC,17766,0.28,134.7,870.0,5.8,436,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2201,2331
$GC,18069,0.22,134.7,852.8,5.7,441,18071,0.17,0.00,0.00,0.000,6,0.159,0.000,3388,2202,2330
$GC,18373,0.31,151.5,838.9,4.5,446,18391,0.00,0.00,16.38,1.367,6,0.000,0.000,3389,2202,2258
$GC,18676,0.40,151.5,823.7,5.1,451,18680,0.15,2.40,0.00,0.000,4,0.087,0.082,3450,785,2257
$GC,18707,0.34,151.5,821.5,6.6,451,18712,0.00,2.38,0.00,0.000,6,0.000,0.068,3450,2205,2257
$GC,19040,0.25,151.5,797.5,7.3,457,19044,0.15,2.38,0.00,0.000,4,0.166,0.082,3409,789,2257
$GC,19088,0.32,151.5,794.3,5.6,457,19093,0.00,2.33,0.00,0.000,6,0.000,0.065,3408,2218,2256
$GC,19403,0.32,151.5,775.8,5.8,463,19407,0.00,2.40,0.00,0.000,4,0.000,0.082,3409,780,2256
$GC,19430,0.39,156.8,774.4,4.8,463,19441,0.10,2.33,6.20,1.125,6,0.097,0.065,3447,2212,2236
$GC,19762,0.32,156.8,753.9,6.1,469,19763,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2212,2236
$GC,20065,0.25,156.8,736.4,5.8,474,20066,0.17,0.00,0.00,0.000,6,0.160,0.000,3400,2213,2235
$GC,20368,0.37,185.0,723.5,4.2,479,20398,0.12,2.38,24.58,1.329,4,0.094,0.085,3446,3608,2120
$GC,20420,0.27,185.0,720.2,6.7,479,20427,0.12,2.38,0.00,0.000,6,0.176,0.067,3412,2196,2118
$GC,20729,0.34,185.0,704.2,5.2,485,20733,0.00,2.33,0.00,0.000,4,0.000,0.083,3416,791,2118
$GC,20762,0.44,193.8,702.5,4.7,485,20777,0.15,2.30,8.65,1.183,6,0.094,0.064,3467,2202,2084
$GC,21098,0.37,193.8,678.3,7.4,491,21103,0.12,2.38,0.00,0.000,4,0.159,0.081,3436,790,2082
$GC,21135,0.41,193.8,675.8,6.2,491,21140,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2198,2083
$GC,21461,0.41,193.8,655.7,6.1,497,21462,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2083
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$STATE,31714,end climb,SURFACE_DEPTH_REACHED
$STATE,31714,begin surface coast
$FINISH,3.8,1.012363
$STATE,31788,end surface coast,CONTROL_FINISHED_OK
$STATE,31788,begin surface
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$HUMID,2150
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$XPDR_PINGS,947
$24V_AH,23.1,18.079
$10V_AH,10.6,9.955
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$DEVICE_SECS,28.900,177.550,364.725,0.000,0.000,27.365,32.992,133.656,236.750,0.000,0.000,20.457,1759.837,27166.779,545.070,2296.571,388.835,33.367,1659.665,0.000,2277.804,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,651.399,626.514,1442.562,309.452,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47586,848
$CAP_FILE_SIZE,172456,0
$CFSIZE,260165632,252977152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240908,183228,5020.913,-14429.432,33,2.8,52,18.7