version: 66.03
glider: 120
mission: 9
dive: 653
start: 5 2 109 0 54 11
data:
$ID,120
$MISSION,9
$DIVE,653
$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,-31588.555
$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,18
$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
$GPS1,004626,5012.665,-14439.034,39,2.1,58,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.9
$GPS2,005314,5012.689,-14439.019,12,2.0,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,0.118
$KALMAN_X,-121122.2,340.7,197.8,162742.8,-2487.5
$KALMAN_Y,147964.2,-49.9,-259.9,-130597.0,-786.7
$MHEAD_RNG_PITCHd_Wd,29.7,18848,-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,-117.3,0.0,0.0,0,68,0.00,0.00,-39.55,0.000,2,0.000,0.000,134,2408,2634
$GC,72,-0.67,-117.3,4.0,-8.6,4,107,13.55,2.60,-14.70,0.000,4,0.272,0.091,3097,3820,3357
$GC,338,-0.48,-117.3,37.5,-9.3,27,345,0.22,2.40,0.00,0.000,6,0.146,0.054,3160,2393,3359
$GC,668,-0.53,-117.3,63.8,-6.7,58,672,0.00,2.60,0.00,0.000,4,0.000,0.077,3155,3815,3359
$GC,691,-0.58,-117.3,65.8,-7.3,59,697,0.00,2.40,0.00,0.000,6,0.000,0.051,3155,2393,3359
$GC,1025,-0.63,-117.3,89.2,-6.8,85,1030,0.12,2.55,0.00,0.000,4,0.082,0.066,3104,985,3359
$GC,1076,-0.59,-117.3,93.8,-9.8,87,1080,0.00,2.40,0.00,0.000,6,0.000,0.059,3105,2403,3359
$GC,1393,-0.53,-117.3,125.4,-9.3,102,1398,0.15,2.55,0.00,0.000,4,0.136,0.066,3158,986,3359
$GC,1440,-0.62,-117.3,128.9,-7.6,104,1445,0.12,2.40,0.00,0.000,6,0.081,0.058,3109,2406,3359
$GC,1762,-0.62,-117.3,150.8,-6.4,120,1766,0.00,2.42,0.00,0.000,4,0.000,0.077,3109,3813,3360
$GC,1825,-0.62,-117.3,154.4,-5.9,122,1829,0.00,2.33,0.00,0.000,6,0.000,0.052,3109,2386,3359
$GC,2168,-0.62,-117.3,174.5,-6.3,133,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2386,3359
$GC,2474,-0.66,-117.3,195.4,-6.8,143,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2387,3359
$GC,2780,-0.71,-117.3,216.6,-7.0,153,2784,0.00,2.55,0.00,0.000,4,0.000,0.077,3109,3817,3360
$GC,2816,-0.75,-117.3,219.1,-7.3,154,2821,0.00,2.35,0.00,0.000,6,0.000,0.052,3109,2401,3359
$GC,3148,-0.81,-117.3,241.3,-6.9,165,3153,0.15,2.53,0.00,0.000,4,0.087,0.067,3040,981,3360
$GC,3178,-0.68,-117.3,244.2,-10.4,166,3183,0.20,2.42,0.00,0.000,6,0.150,0.060,3094,2404,3360
$GC,3515,-0.68,-117.3,272.3,-7.8,177,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3360
$GC,3820,-0.68,-117.3,294.7,-7.1,187,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3359
$GC,4154,-0.68,-117.3,316.4,-6.5,194,4159,0.00,2.55,0.00,0.000,4,0.000,0.067,3094,988,3360
$GC,4194,-0.68,-117.3,319.2,-7.4,194,4198,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2399,3359
$GC,4516,-0.68,-117.3,340.5,-6.7,200,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3359
$GC,4818,-0.68,-117.3,361.9,-7.1,205,4823,0.00,2.47,0.00,0.000,4,0.000,0.080,3094,3810,3359
$GC,4847,-0.68,-117.3,364.0,-7.8,205,4851,0.00,2.33,0.00,0.000,6,0.000,0.053,3094,2396,3359
$GC,5179,-0.68,-117.3,387.9,-7.2,211,5184,0.00,2.47,0.00,0.000,4,0.000,0.069,3094,980,3359
$GC,5225,-0.68,-117.3,391.3,-7.4,211,5230,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2401,3359
$GC,5542,-0.68,-117.3,414.9,-7.5,217,5546,0.00,2.47,0.00,0.000,4,0.000,0.069,3094,982,3359
$GC,5575,-0.68,-117.3,417.7,-7.8,217,5580,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2402,3359
$GC,5903,-0.68,-117.3,442.5,-7.6,223,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3359
$GC,6207,-0.68,-117.3,463.9,-7.0,228,6211,0.00,2.47,0.00,0.000,4,0.000,0.069,3094,982,3359
$GC,6241,-0.68,-117.3,466.5,-7.6,228,6245,0.00,2.45,0.00,0.000,6,0.000,0.061,3094,2411,3359
$GC,6568,-0.68,-117.3,488.2,-6.8,234,6572,0.00,2.53,0.00,0.000,4,0.000,0.069,3094,980,3359
$GC,6602,-0.68,-117.3,490.7,-7.7,234,6606,0.00,2.45,0.00,0.000,6,0.000,0.061,3094,2409,3359
$GC,6930,-0.68,-117.3,514.2,-7.2,240,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3359
$GC,7232,-0.68,-117.3,536.2,-7.2,245,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3359
$GC,7535,-0.68,-117.3,556.5,-6.7,250,7540,0.00,2.50,0.00,0.000,4,0.000,0.070,3094,989,3359
$GC,7571,-0.68,-117.3,559.0,-7.1,250,7575,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2400,3358
$GC,7899,-0.68,-117.3,579.6,-6.2,256,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3358
$GC,8201,-0.68,-117.3,598.4,-6.2,261,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3358
$GC,8504,-0.68,-117.3,616.7,-6.0,266,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3358
$GC,8808,-0.68,-117.3,634.0,-5.7,271,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3358
$GC,9110,-0.68,-117.3,650.5,-5.4,276,9115,0.00,2.50,0.00,0.000,4,0.000,0.070,3094,991,3358
$GC,9140,-0.68,-117.3,652.2,-6.1,276,9144,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2400,3358
$GC,9473,-0.68,-117.3,670.2,-5.4,282,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3358
$GC,9776,-0.68,-117.3,686.4,-5.3,287,9780,0.00,2.50,0.00,0.000,4,0.000,0.070,3094,990,3358
$GC,9815,-0.68,-117.3,688.6,-5.6,287,9819,0.00,2.45,0.00,0.000,6,0.000,0.061,3094,2402,3357
$GC,10137,-0.68,-117.3,706.2,-5.5,293,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3357
$GC,10439,-0.68,-117.3,722.4,-5.4,298,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,10743,-0.68,-117.3,739.1,-5.6,303,10747,0.00,2.50,0.00,0.000,4,0.000,0.070,3094,991,3357
$GC,10779,-0.72,-117.3,741.1,-6.4,303,10783,0.00,2.45,0.00,0.000,6,0.000,0.062,3094,2401,3357
$GC,11108,-0.76,-117.3,760.6,-6.0,309,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3357
$GC,11410,-0.80,-117.3,778.5,-5.9,314,11415,0.12,2.55,0.00,0.000,4,0.083,0.080,3044,3820,3356
$GC,11439,-0.74,-117.3,780.7,-8.1,314,11444,0.12,2.35,0.00,0.000,6,0.104,0.055,3077,2398,3356
$GC,11773,-0.74,-117.3,801.2,-6.1,320,11777,0.00,2.50,0.00,0.000,4,0.000,0.071,3077,989,3356
$GC,11806,-0.74,-117.3,803.5,-6.1,320,11810,0.00,2.45,0.00,0.000,6,0.000,0.062,3074,2407,3356
$GC,12133,-0.74,-117.3,823.5,-6.1,326,12137,0.00,2.50,0.00,0.000,4,0.000,0.081,3073,3816,3356
$GC,12172,-0.74,-117.3,826.0,-5.9,326,12176,0.00,2.35,0.00,0.000,6,0.000,0.056,3073,2398,3357
$GC,12494,-0.74,-117.3,847.4,-6.7,332,12498,0.00,2.47,0.00,0.000,4,0.000,0.071,3073,987,3357
$GC,12523,-0.74,-117.3,849.7,-7.5,332,12527,0.00,2.45,0.00,0.000,6,0.000,0.062,3073,2408,3356
$GC,12855,-0.74,-117.3,872.4,-6.9,338,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3356
$GC,13159,-0.74,-117.3,892.7,-6.6,343,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3356
$GC,13462,-0.74,-117.3,912.4,-6.5,348,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3356
$GC,13764,-0.74,-117.3,931.9,-6.5,353,13766,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3356
$GC,14068,-0.74,-117.3,950.6,-6.1,358,14072,0.00,2.53,0.00,0.000,4,0.000,0.071,3073,987,3356
$GC,14102,-0.74,-117.3,952.6,-6.2,358,14106,0.00,2.45,0.00,0.000,6,0.000,0.063,3073,2398,3356
$GC,14429,-0.74,-117.3,971.1,-5.7,364,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3356
$GC,14732,-0.74,-117.3,987.2,-5.3,369,14733,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2397,3356
$STATE,14789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14789,begin apogee
$GC,14797,-0.22,0.0,990.4,5.3,370,14911,0.57,0.00,108.40,1.490,6,0.133,0.000,3244,2197,2875
$STATE,14912,end apogee,CONTROL_FINISHED_OK
$STATE,14912,begin climb
$GC,14916,0.67,117.3,994.4,0.0,372,15038,0.88,0.00,115.82,1.438,6,0.081,0.000,3533,2197,2396
$GC,15344,0.34,117.3,972.4,7.8,379,15349,0.35,2.53,0.00,0.000,4,0.171,0.074,3440,786,2393
$GC,15401,0.29,117.4,968.8,5.0,379,15408,0.12,2.35,0.00,0.000,6,0.157,0.060,3409,2205,2392
$GC,15713,0.31,136.0,954.6,4.5,385,15732,0.00,0.00,17.38,1.375,6,0.000,0.000,3409,2204,2321
$GC,16016,0.37,149.9,940.8,4.6,390,16031,0.00,0.00,13.70,1.345,6,0.000,0.000,3409,2204,2265
$GC,16382,0.43,156.8,923.3,4.8,396,16393,0.15,0.00,7.95,1.235,6,0.077,0.000,3474,2204,2236
$GC,16686,0.32,156.8,903.1,6.8,401,16691,0.15,2.47,0.00,0.000,4,0.142,0.075,3436,794,2235
$GC,16725,0.32,156.8,900.5,5.8,401,16730,0.00,2.35,0.00,0.000,6,0.000,0.059,3435,2213,2235
$GC,17048,0.32,156.8,882.3,5.7,407,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2212,2235
$GC,17350,0.32,156.8,864.6,5.9,412,17355,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,788,2235
$GC,17385,0.32,156.8,862.5,6.3,412,17389,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2211,2234
$GC,17712,0.32,156.8,843.2,5.9,418,17713,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2234
$GC,18015,0.32,156.8,826.2,5.5,423,18016,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2234
$GC,18318,0.32,156.8,810.9,5.0,428,18319,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2234
$GC,18622,0.34,170.7,796.9,4.6,433,18638,0.00,0.00,13.43,1.296,6,0.000,0.000,3436,2209,2180
$GC,18925,0.34,170.7,781.3,5.3,438,18929,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,784,2179
$GC,18964,0.34,170.7,779.0,5.7,438,18968,0.00,2.35,0.00,0.000,6,0.000,0.059,3436,2202,2178
$GC,19286,0.34,170.7,759.8,6.0,444,19287,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2178
$GC,19589,0.34,170.7,740.5,6.5,449,19590,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2178
$GC,19892,0.34,170.7,721.3,6.4,454,19896,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,789,2178
$GC,19932,0.38,170.7,718.6,6.6,454,19936,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2206,2178
$GC,20254,0.38,170.7,699.0,6.0,460,20255,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2178
$GC,20557,0.38,170.7,681.6,5.8,465,20559,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2178
$GC,20860,0.38,170.7,664.0,5.9,470,20864,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,787,2178
$GC,20900,0.43,170.7,661.5,6.1,470,20904,0.00,2.40,0.00,0.000,6,0.000,0.060,3436,2210,2177
$GC,21221,0.43,170.7,643.1,5.7,476,21226,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,790,2178
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$STATE,32113,end climb,SURFACE_DEPTH_REACHED
$STATE,32113,begin surface coast
$FINISH,0.4,1.003742
$STATE,32178,end surface coast,CONTROL_FINISHED_OK
$STATE,32178,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2132
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$TCM_TEMP,15.40
$XPDR_PINGS,940
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$10V_AH,10.3,88.419
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$DEVICE_SECS,29.050,220.575,428.650,0.000,0.000,28.327,26.155,180.653,235.000,0.000,0.000,15.731,1742.649,27186.824,615.413,2218.020,892.915,33.385,1727.020,0.000,2192.346,0.000,0.465
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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,47448,815
$CAP_FILE_SIZE,182559,0
$CFSIZE,260165632,207929344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020509,095306,5014.608,-14435.654,33,1.1,33,18.6