version: 66.03
glider: 120
mission: 9
dive: 570
start: 3 31 109 13 20 58
data:
$ID,120
$MISSION,9
$DIVE,570
$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,-29909.926
$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,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
$GPS1,131324,5013.896,-14434.633,73,1.4,90,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.2
$GPS2,132002,5013.902,-14434.591,20,1.5,20,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.086,0.155
$KALMAN_X,-72089.5,-89.2,72.5,119530.8,-1622.3
$KALMAN_Y,130755.6,181.5,-235.6,-111403.7,-1985.5
$MHEAD_RNG_PITCHd_Wd,10.4,14312,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,53,0.00,0.00,-25.12,0.000,2,0.000,0.000,137,2411,2367
$GC,57,-0.67,-117.3,3.5,-2.7,3,112,13.90,2.40,-30.55,0.000,4,0.282,0.093,3085,3808,3357
$GC,365,-0.48,-117.3,35.0,-11.1,30,372,0.28,2.25,0.00,0.000,6,0.147,0.055,3163,2393,3358
$GC,697,-0.52,-117.3,58.0,-6.8,61,701,0.00,2.35,0.00,0.000,4,0.000,0.071,3163,990,3359
$GC,727,-0.58,-117.3,60.4,-6.9,63,731,0.00,2.38,0.00,0.000,6,0.000,0.061,3163,2412,3359
$GC,1055,-0.63,-117.3,82.8,-6.9,91,1057,0.15,0.00,0.00,0.000,6,0.077,0.000,3104,2411,3359
$GC,1361,-0.57,-117.3,109.6,-8.6,106,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2411,3359
$GC,1670,-0.53,-117.3,137.6,-9.4,121,1672,0.15,0.00,0.00,0.000,6,0.107,0.000,3148,2411,3359
$GC,1980,-0.60,-117.3,158.0,-6.0,134,1984,0.00,2.40,0.00,0.000,4,0.000,0.070,3148,995,3359
$GC,2026,-0.68,-117.3,161.0,-5.8,135,2031,0.15,2.35,0.00,0.000,6,0.074,0.061,3094,2407,3359
$GC,2344,-0.68,-117.3,180.6,-6.3,146,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3359
$GC,2651,-0.68,-117.3,199.6,-6.3,156,2655,0.00,2.38,0.00,0.000,4,0.000,0.081,3090,3815,3359
$GC,2715,-0.68,-117.3,204.4,-8.0,158,2719,0.00,2.25,0.00,0.000,6,0.000,0.054,3090,2398,3359
$GC,3056,-0.68,-117.3,228.8,-6.6,169,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2399,3359
$GC,3363,-0.68,-117.3,248.3,-6.2,179,3367,0.00,2.40,0.00,0.000,4,0.000,0.080,3088,3808,3359
$GC,3408,-0.68,-117.3,251.5,-6.8,180,3412,0.00,2.25,0.00,0.000,6,0.000,0.054,3088,2399,3359
$GC,3732,-0.68,-117.3,272.3,-6.5,191,3736,0.00,2.35,0.00,0.000,4,0.000,0.070,3091,986,3359
$GC,3767,-0.68,-117.3,274.5,-6.3,192,3771,0.00,2.35,0.00,0.000,6,0.000,0.061,3091,2402,3359
$GC,4109,-0.68,-117.3,296.0,-6.1,203,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2402,3359
$GC,4442,-0.68,-117.3,315.3,-5.6,210,4447,0.00,2.38,0.00,0.000,4,0.000,0.081,3086,3808,3359
$GC,4493,-0.68,-117.3,318.2,-6.1,210,4497,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2402,3359
$GC,4804,-0.68,-117.3,334.6,-5.3,215,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3359
$GC,5107,-0.68,-117.3,351.4,-5.5,220,5111,0.00,2.40,0.00,0.000,4,0.000,0.081,3086,3809,3359
$GC,5163,-0.68,-117.3,354.9,-6.3,220,5169,0.00,2.25,0.00,0.000,6,0.000,0.055,3086,2398,3359
$GC,5473,-0.68,-117.3,371.3,-5.2,226,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,5776,-0.68,-117.3,385.0,-4.6,231,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,6080,-0.68,-117.3,400.5,-5.2,236,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,6383,-0.68,-117.3,418.5,-6.1,241,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,6685,-0.68,-117.3,438.9,-6.7,246,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,6988,-0.68,-117.3,458.9,-6.5,251,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,7292,-0.68,-117.3,477.4,-6.1,256,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,7595,-0.68,-117.3,493.9,-5.4,261,7600,0.00,2.45,0.00,0.000,4,0.000,0.082,3086,3816,3358
$GC,7629,-0.68,-117.3,496.1,-6.3,261,7633,0.00,2.28,0.00,0.000,6,0.000,0.056,3086,2399,3358
$GC,7956,-0.68,-117.3,515.4,-6.0,267,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3358
$GC,8259,-0.68,-117.3,534.5,-6.2,272,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3358
$GC,8562,-0.68,-117.3,553.5,-6.2,277,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3358
$GC,8866,-0.68,-117.3,571.3,-5.8,282,8870,0.00,2.45,0.00,0.000,4,0.000,0.081,3086,3818,3358
$GC,8922,-0.68,-117.3,574.7,-6.2,282,8928,0.00,2.28,0.00,0.000,6,0.000,0.056,3086,2398,3357
$GC,9232,-0.68,-117.3,591.0,-5.2,288,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3358
$GC,9535,-0.68,-117.3,606.5,-5.1,293,9539,0.00,2.45,0.00,0.000,4,0.000,0.081,3086,3814,3357
$GC,9581,-0.68,-117.3,609.1,-6.0,293,9585,0.00,2.28,0.00,0.000,6,0.000,0.055,3086,2399,3357
$GC,9896,-0.68,-117.3,627.1,-5.7,299,9900,0.00,2.38,0.00,0.000,4,0.000,0.072,3086,993,3357
$GC,9935,-0.72,-117.3,629.5,-6.2,299,9939,0.00,2.38,0.00,0.000,6,0.000,0.063,3086,2411,3357
$GC,10257,-0.72,-117.3,649.4,-6.3,305,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3357
$GC,10561,-0.72,-117.3,668.0,-6.2,310,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3357
$GC,10863,-0.72,-117.3,686.3,-6.0,315,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3357
$GC,11167,-0.72,-117.3,704.9,-6.2,320,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3357
$GC,11469,-0.72,-117.3,724.3,-6.5,325,11473,0.00,2.42,0.00,0.000,4,0.000,0.073,3086,994,3357
$GC,11498,-0.72,-117.3,726.2,-7.0,325,11502,0.00,2.38,0.00,0.000,6,0.000,0.063,3086,2409,3357
$GC,11830,-0.72,-117.3,746.9,-6.1,331,11834,0.00,2.40,0.00,0.000,4,0.000,0.083,3086,3812,3357
$GC,11864,-0.72,-117.3,749.1,-6.1,331,11868,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2388,3357
$GC,12191,-0.90,-117.3,770.3,-6.6,337,12196,0.15,2.45,0.00,0.000,4,0.093,0.081,3023,3808,3357
$GC,12305,-0.76,-117.3,778.7,-6.9,338,12310,0.17,2.28,0.00,0.000,6,0.123,0.057,3072,2397,3356
$GC,12621,-0.76,-117.3,797.0,-5.7,344,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2397,3356
$GC,12924,-0.76,-117.3,814.4,-5.7,349,12928,0.00,2.45,0.00,0.000,4,0.000,0.084,3072,3818,3356
$GC,12952,-0.76,-117.3,816.2,-6.1,349,12956,0.00,2.28,0.00,0.000,6,0.000,0.057,3071,2401,3356
$GC,13290,-0.76,-117.3,835.8,-5.8,355,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3356
$GC,13593,-0.76,-117.3,853.3,-5.8,360,13597,0.00,2.45,0.00,0.000,4,0.000,0.084,3071,3815,3356
$GC,13643,-0.76,-117.3,856.3,-5.0,360,13647,0.00,2.30,0.00,0.000,6,0.000,0.057,3071,2394,3356
$GC,13954,-0.76,-117.3,873.8,-5.6,365,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2395,3356
$GC,14256,-0.76,-117.3,890.7,-5.5,370,14261,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3815,3356
$GC,14290,-0.76,-117.3,892.7,-6.5,370,14294,0.00,2.30,0.00,0.000,6,0.000,0.057,3072,2395,3356
$GC,14617,-0.76,-117.3,909.6,-5.1,376,14618,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2395,3356
$GC,14921,-0.76,-117.3,924.6,-4.9,381,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2395,3356
$GC,15224,-0.76,-117.3,939.2,-4.8,386,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2395,3355
$GC,15526,-0.76,-117.3,954.3,-5.0,391,15531,0.00,2.47,0.00,0.000,4,0.000,0.085,3072,3808,3355
$GC,15571,-0.76,-117.3,956.8,-5.5,391,15575,0.00,2.30,0.00,0.000,6,0.000,0.058,3071,2392,3355
$GC,15888,-0.76,-117.3,972.9,-5.1,397,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2392,3355
$GC,16190,-0.76,-117.3,989.1,-5.4,402,16192,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2392,3355
$STATE,16248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16248,begin apogee
$GC,16256,-0.22,0.0,992.4,5.4,403,16370,0.57,0.00,108.72,1.493,6,0.137,0.000,3245,2193,2876
$STATE,16371,end apogee,CONTROL_FINISHED_OK
$STATE,16371,begin climb
$GC,16375,0.67,117.3,996.7,0.0,405,16499,0.88,2.72,114.28,1.436,4,0.091,0.077,3533,788,2396
$GC,16539,0.31,117.3,995.7,6.5,407,16544,0.45,2.55,0.00,0.000,6,0.170,0.060,3420,2205,2395
$GC,16866,0.33,134.3,980.7,4.5,413,16884,0.00,0.00,16.05,1.364,6,0.000,0.000,3420,2205,2328
$GC,17170,0.33,134.3,965.7,5.1,418,17171,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2327
$GC,17472,0.33,134.3,950.3,5.0,423,17473,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2326
$GC,17775,0.34,141.5,935.7,4.8,428,17785,0.00,0.00,7.68,1.240,6,0.000,0.000,3420,2205,2299
$GC,18078,0.35,145.6,921.0,4.9,433,18089,0.00,2.40,5.80,1.131,4,0.000,0.077,3424,792,2281
$GC,18130,0.36,153.2,918.5,4.8,433,18144,0.00,2.30,8.73,1.259,6,0.000,0.061,3424,2202,2250
$GC,18511,0.37,160.7,900.2,4.8,440,18522,0.00,0.00,8.35,1.253,6,0.000,0.000,3424,2202,2220
$GC,18815,0.37,166.0,885.6,4.8,445,18826,0.00,2.40,6.40,1.164,4,0.000,0.078,3424,793,2198
$GC,18867,0.43,169.2,883.1,4.9,445,18879,0.00,2.30,4.62,0.989,6,0.000,0.061,3424,2200,2185
$GC,19184,0.49,184.0,868.5,4.6,451,19201,0.15,0.00,15.10,1.349,6,0.081,0.000,3490,2199,2125
$GC,19487,0.36,184.0,848.7,6.6,456,19491,0.17,2.40,0.00,0.000,4,0.144,0.077,3445,790,2122
$GC,19537,0.36,184.0,845.7,5.6,456,19542,0.00,2.33,0.00,0.000,6,0.000,0.061,3444,2206,2122
$GC,19848,0.36,184.0,829.6,5.2,461,19852,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,780,2122
$GC,19911,0.36,184.0,826.4,5.5,462,19915,0.00,2.35,0.00,0.000,6,0.000,0.061,3448,2206,2122
$GC,20278,0.36,184.0,805.6,5.8,468,20281,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,785,2121
$GC,20356,0.36,184.0,800.5,6.5,469,20360,0.00,2.35,0.00,0.000,6,0.000,0.062,3449,2209,2121
$GC,20711,0.36,184.0,778.1,6.4,475,20715,0.00,2.42,0.00,0.000,4,0.000,0.079,3448,790,2121
$GC,20762,0.36,184.0,774.8,7.3,475,20766,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2201,2121
$GC,21072,0.36,184.0,755.2,6.3,480,21076,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,792,2121
$GC,21136,0.36,184.0,751.2,7.0,481,21140,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2211,2121
$GC,21503,0.36,184.0,730.7,5.4,487,21506,0.00,2.45,0.00,0.000,4,0.000,0.078,3448,780,2121
$GC,21559,0.36,184.0,727.5,5.6,487,21563,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2202,2121
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$STATE,32995,end climb,SURFACE_DEPTH_REACHED
$STATE,32995,begin surface coast
$FINISH,4.8,1.025724
$STATE,33051,end surface coast,CONTROL_FINISHED_OK
$STATE,33052,begin surface
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$10V_AH,10.4,76.940
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$DEVICE_SECS,29.575,252.700,413.550,0.000,0.000,25.417,32.365,171.109,268.000,0.000,0.000,20.230,1857.500,27539.609,577.567,2691.862,855.052,33.377,1922.732,0.000,2645.528,0.000,0.466
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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,47523,828
$CAP_FILE_SIZE,199265,0
$CFSIZE,260165632,214384640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,223450,5016.347,-14431.897,36,3.0,55,18.6