version: 66.03
glider: 120
mission: 9
dive: 650
start: 4 30 109 21 19 57
data:
$ID,120
$MISSION,9
$DIVE,650
$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,-31506.854
$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,24
$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
$GPS1,211137,5007.671,-14449.772,75,1.5,75,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-71.8
$GPS2,211902,5007.711,-14449.746,12,1.6,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,0.084
$KALMAN_X,-117371.7,342.6,414.2,146019.0,-3139.6
$KALMAN_Y,150808.9,-205.0,350.0,-143122.7,-124.6
$MHEAD_RNG_PITCHd_Wd,43.4,34063,-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,-39.97,0.000,2,0.000,0.000,135,2401,2765
$GC,73,-0.67,-117.3,3.8,-6.5,4,105,13.32,2.50,-12.07,0.000,4,0.269,0.091,3086,3815,3358
$GC,181,-0.48,-117.3,19.8,-10.8,14,186,0.25,2.33,0.00,0.000,6,0.145,0.053,3156,2396,3359
$GC,511,-0.48,-117.3,43.2,-6.6,44,516,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2397,3360
$GC,839,-0.48,-117.3,65.0,-6.5,75,843,0.00,2.47,0.00,0.000,4,0.000,0.068,3156,994,3360
$GC,895,-0.55,-117.3,68.9,-7.0,79,902,0.00,2.35,0.00,0.000,6,0.000,0.060,3155,2399,3360
$GC,1228,-0.55,-117.3,92.0,-7.4,103,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,3360
$GC,1537,-0.59,-117.3,113.4,-6.5,118,1541,0.00,2.45,0.00,0.000,4,0.000,0.067,3155,991,3360
$GC,1600,-0.65,-117.3,117.5,-6.7,121,1605,0.15,2.40,0.00,0.000,6,0.074,0.060,3099,2409,3360
$GC,1929,-0.65,-117.3,143.1,-7.5,137,1933,0.00,2.42,0.00,0.000,4,0.000,0.077,3098,3807,3360
$GC,2030,-0.65,-117.3,151.6,-8.3,142,2034,0.00,2.30,0.00,0.000,6,0.000,0.052,3098,2394,3360
$GC,2361,-0.65,-117.3,177.1,-7.6,153,2365,0.00,2.45,0.00,0.000,4,0.000,0.067,3098,987,3360
$GC,2401,-0.65,-117.3,180.4,-8.2,154,2405,0.00,2.40,0.00,0.000,6,0.000,0.059,3098,2408,3360
$GC,2725,-0.65,-117.3,203.7,-6.9,165,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3360
$GC,3031,-0.65,-117.3,223.9,-6.6,175,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3360
$GC,3338,-0.65,-117.3,244.6,-6.8,185,3343,0.00,2.47,0.00,0.000,4,0.000,0.068,3098,994,3360
$GC,3378,-0.65,-117.3,247.6,-7.6,186,3382,0.00,2.40,0.00,0.000,6,0.000,0.059,3098,2411,3360
$GC,3702,-0.65,-117.3,271.2,-7.5,197,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3360
$GC,4009,-0.65,-117.3,294.3,-7.5,207,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3360
$GC,4343,-0.65,-117.3,318.7,-7.3,214,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3360
$GC,4646,-0.65,-117.3,339.2,-6.6,219,4651,0.00,2.58,0.00,0.000,4,0.000,0.067,3098,995,3360
$GC,4692,-0.70,-117.3,342.2,-6.4,219,4696,0.00,2.42,0.00,0.000,6,0.000,0.059,3098,2404,3360
$GC,5009,-0.70,-117.3,360.2,-5.7,225,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3360
$GC,5311,-0.70,-117.3,377.5,-5.8,230,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3360
$GC,5614,-0.70,-117.3,397.9,-6.8,235,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3360
$GC,5917,-0.70,-117.3,418.5,-6.8,240,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3360
$GC,6220,-0.70,-117.3,437.6,-6.2,245,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3360
$GC,6524,-0.70,-117.3,456.2,-6.1,250,6528,0.00,2.55,0.00,0.000,4,0.000,0.067,3098,994,3359
$GC,6552,-0.75,-117.3,458.1,-6.4,250,6556,0.00,2.40,0.00,0.000,6,0.000,0.061,3098,2398,3359
$GC,6885,-0.75,-117.3,477.7,-5.9,256,6889,0.00,2.47,0.00,0.000,4,0.000,0.080,3098,3819,3359
$GC,6913,-0.75,-117.3,479.5,-6.5,256,6917,0.00,2.33,0.00,0.000,6,0.000,0.054,3098,2394,3359
$GC,7247,-0.79,-117.3,498.7,-5.8,262,7252,0.12,2.45,0.00,0.000,4,0.090,0.069,3051,985,3359
$GC,7287,-0.71,-117.3,501.8,-7.7,262,7292,0.12,2.42,0.00,0.000,6,0.133,0.061,3083,2407,3359
$GC,7608,-0.71,-117.3,524.3,-7.0,268,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3359
$GC,7912,-0.71,-117.3,546.0,-7.2,273,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3359
$GC,8214,-0.71,-117.3,565.9,-6.5,278,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3359
$GC,8517,-0.71,-117.3,583.9,-5.8,283,8522,0.00,2.55,0.00,0.000,4,0.000,0.068,3084,995,3358
$GC,8546,-0.71,-117.3,585.7,-6.0,283,8550,0.00,2.42,0.00,0.000,6,0.000,0.062,3084,2402,3359
$GC,8879,-0.71,-117.3,602.6,-5.0,289,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2402,3359
$GC,9182,-0.71,-117.3,618.1,-5.2,294,9187,0.00,2.55,0.00,0.000,4,0.000,0.069,3084,985,3358
$GC,9211,-0.71,-117.3,620.0,-6.7,294,9215,0.00,2.42,0.00,0.000,6,0.000,0.061,3084,2401,3359
$GC,9544,-0.71,-117.3,639.5,-6.0,300,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3359
$GC,9847,-0.71,-117.3,658.2,-6.2,305,9851,0.00,2.55,0.00,0.000,4,0.000,0.070,3084,986,3358
$GC,9883,-0.71,-117.3,660.4,-6.6,305,9887,0.00,2.45,0.00,0.000,6,0.000,0.061,3084,2413,3358
$GC,10210,-0.71,-117.3,681.5,-6.4,311,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2412,3358
$GC,10513,-0.71,-117.3,702.5,-6.9,316,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2412,3358
$GC,10816,-0.71,-117.3,723.5,-6.9,321,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2412,3358
$GC,11120,-0.71,-117.3,744.1,-6.9,326,11124,0.00,2.58,0.00,0.000,4,0.000,0.070,3084,988,3358
$GC,11154,-0.71,-117.3,746.9,-8.0,326,11158,0.00,2.42,0.00,0.000,6,0.000,0.062,3084,2401,3358
$GC,11481,-0.71,-117.3,769.9,-7.0,332,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3358
$GC,11784,-0.71,-117.3,791.1,-6.9,337,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3358
$GC,12088,-0.71,-117.3,810.5,-6.3,342,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3358
$GC,12391,-0.71,-117.3,829.1,-6.1,347,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3358
$GC,12693,-0.71,-117.3,846.9,-5.9,352,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3357
$GC,12997,-0.71,-117.3,864.5,-5.8,357,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3357
$GC,13300,-0.71,-117.3,883.1,-6.2,362,13304,0.00,2.50,0.00,0.000,4,0.000,0.071,3083,994,3356
$GC,13334,-0.71,-117.3,885.5,-6.7,362,13339,0.00,2.45,0.00,0.000,6,0.000,0.064,3084,2411,3357
$GC,13662,-0.71,-117.3,905.3,-5.9,368,13666,0.00,2.47,0.00,0.000,4,0.000,0.084,3084,3813,3357
$GC,13718,-0.76,-117.3,908.6,-5.5,368,13725,0.00,2.35,0.00,0.000,6,0.000,0.056,3084,2377,3357
$GC,14031,-0.94,-117.3,927.4,-6.2,374,14036,0.17,2.45,0.00,0.000,4,0.087,0.071,3023,985,3356
$GC,14060,-0.94,-117.3,929.5,-6.5,374,14064,0.00,2.45,0.00,0.000,6,0.000,0.062,3023,2413,3356
$GC,14393,-0.99,-117.3,952.3,-6.9,380,14397,0.00,2.50,0.00,0.000,4,0.000,0.071,3023,993,3356
$GC,14478,-0.87,-117.3,958.3,-6.8,381,14482,0.00,2.42,0.00,0.000,6,0.000,0.063,3023,2401,3356
$GC,14823,-0.74,-117.3,981.0,-6.6,387,14828,0.15,2.50,0.00,0.000,4,0.148,0.082,3071,3808,3356
$GC,14876,-0.74,-117.3,983.8,-5.4,387,14880,0.00,2.33,0.00,0.000,6,0.000,0.055,3071,2395,3356
$STATE,15001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15001,begin apogee
$GC,15010,-0.22,0.0,990.5,5.2,389,15124,0.57,0.00,108.30,1.489,6,0.133,0.000,3244,2196,2876
$STATE,15124,end apogee,CONTROL_FINISHED_OK
$STATE,15124,begin climb
$GC,15128,0.67,117.3,994.8,0.0,391,15252,0.88,0.00,115.15,1.441,6,0.079,0.000,3533,2196,2396
$GC,15559,0.34,117.3,974.4,7.2,398,15564,0.35,2.45,0.00,0.000,4,0.171,0.076,3441,781,2393
$GC,15624,0.28,117.3,970.8,5.6,399,15629,0.12,2.38,0.00,0.000,6,0.156,0.061,3409,2214,2393
$GC,15991,0.34,163.4,957.1,3.7,405,16034,0.00,0.00,41.40,1.434,6,0.000,0.000,3409,2213,2210
$GC,16295,0.43,176.7,943.6,4.6,410,16314,0.15,2.40,13.23,1.340,4,0.077,0.080,3479,3609,2154
$GC,16345,0.22,176.7,940.1,7.8,410,16350,0.35,2.30,0.00,0.000,6,0.164,0.060,3392,2202,2153
$GC,16661,0.38,189.3,925.0,4.6,416,16677,0.15,0.00,12.68,1.336,6,0.081,0.000,3452,2202,2103
$GC,16965,0.38,189.3,905.2,6.6,421,16966,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2202,2100
$GC,17268,0.38,189.3,885.1,6.6,426,17272,0.00,2.50,0.00,0.000,4,0.000,0.077,3452,785,2100
$GC,17301,0.38,189.3,882.8,6.2,426,17306,0.00,2.35,0.00,0.000,6,0.000,0.060,3452,2201,2100
$GC,17629,0.38,189.3,861.5,6.5,432,17630,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2201,2100
$GC,17932,0.38,189.3,842.0,6.4,437,17933,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,2099
$GC,18236,0.38,189.3,822.5,6.4,442,18237,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,2100
$GC,18538,0.38,189.3,803.5,6.3,447,18542,0.00,2.55,0.00,0.000,4,0.000,0.076,3452,787,2100
$GC,18572,0.38,189.3,801.3,5.5,447,18577,0.00,2.38,0.00,0.000,6,0.000,0.060,3452,2205,2100
$GC,18900,0.38,189.3,782.4,5.7,453,18901,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2204,2099
$GC,19204,0.38,189.3,766.6,5.1,458,19205,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2204,2099
$GC,19506,0.38,189.3,751.4,5.0,463,19507,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2205,2099
$GC,19809,0.38,189.3,735.5,5.3,468,19813,0.00,2.42,0.00,0.000,4,0.000,0.080,3452,3609,2099
$GC,19843,0.31,189.3,733.2,6.8,468,19848,0.15,2.38,0.00,0.000,6,0.167,0.061,3416,2199,2099
$GC,20171,0.41,190.6,717.0,5.0,474,20176,0.10,2.55,0.00,0.000,4,0.091,0.075,3456,788,2099
$GC,20211,0.41,190.6,714.4,5.8,474,20215,0.00,2.38,0.00,0.000,6,0.000,0.059,3456,2202,2099
$GC,20532,0.41,190.6,693.4,6.7,480,20533,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2201,2099
$GC,20836,0.41,190.6,672.4,7.0,485,20837,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2201,2099
$GC,21138,0.41,190.6,650.4,7.3,490,21140,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2201,2099
$GC,21441,0.41,190.6,628.8,7.1,495,21442,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2201,2099
$GC,21744,0.41,190.6,609.2,6.4,500,21745,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2201,2099
$GC,22048,0.41,190.6,590.9,6.0,505,22052,0.00,2.58,0.00,0.000,4,0.000,0.075,3463,792,2099
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$STATE,31682,end climb,SURFACE_DEPTH_REACHED
$STATE,31683,begin surface coast
$FINISH,0.6,1.001995
$STATE,31928,end surface coast,CONTROL_FINISHED_OK
$STATE,31928,begin surface
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$XPDR_PINGS,989
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$10V_AH,10.4,87.997
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$DEVICE_SECS,27.875,195.425,357.700,7.600,0.000,24.832,44.692,205.483,247.250,0.000,0.000,12.754,1770.053,26895.336,529.000,2267.363,932.120,33.379,1643.157,0.000,2252.777,0.000,0.465
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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,50626,857
$CAP_FILE_SIZE,174487,0
$CFSIZE,260165632,208166912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010509,061505,5009.004,-14445.932,93,1.5,103,18.6