version: 66.03
glider: 120
mission: 9
dive: 716
start: 5 25 109 16 58 15
data:
$ID,120
$MISSION,9
$DIVE,716
$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,-32917.59
$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,22
$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
$GPS1,164954,5007.325,-14452.076,64,1.7,64,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.0
$GPS2,165720,5007.304,-14451.999,11,1.8,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.106,0.143
$KALMAN_X,-149890.6,7.3,-126.6,176756.0,-20.3
$KALMAN_Y,147772.1,-375.5,69.1,-140384.5,-1121.7
$MHEAD_RNG_PITCHd_Wd,304.8,34637,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-40.12,0.000,2,0.000,0.000,134,2406,2776
$GC,75,-0.67,-117.3,3.6,-5.8,4,108,13.68,2.50,-11.60,0.000,4,0.277,0.080,3095,985,3358
$GC,242,-0.51,-117.3,26.8,-10.5,18,249,0.20,2.40,0.00,0.000,6,0.153,0.061,3150,2396,3360
$GC,572,-0.51,-117.3,52.2,-7.9,49,578,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2395,3360
$GC,899,-0.51,-117.3,76.5,-7.0,80,903,0.00,2.47,0.00,0.000,4,0.000,0.066,3150,986,3361
$GC,932,-0.51,-117.3,79.1,-7.3,82,939,0.00,2.40,0.00,0.000,6,0.000,0.058,3150,2400,3361
$GC,1261,-0.51,-117.3,101.0,-6.9,99,1266,0.00,2.50,0.00,0.000,4,0.000,0.080,3150,3810,3361
$GC,1285,-0.56,-117.3,102.8,-7.1,100,1289,0.00,2.35,0.00,0.000,6,0.000,0.050,3150,2390,3362
$GC,1608,-0.64,-117.3,125.5,-7.1,116,1613,0.12,2.72,0.00,0.000,4,0.081,0.073,3101,3815,3361
$GC,1688,-0.64,-117.3,132.3,-8.7,119,1694,0.00,2.42,0.00,0.000,6,0.000,0.050,3100,2403,3361
$GC,2014,-0.64,-117.3,157.7,-7.7,134,2018,0.00,2.55,0.00,0.000,4,0.000,0.065,3103,987,3361
$GC,2053,-0.64,-117.3,160.8,-7.9,135,2058,0.00,2.42,0.00,0.000,6,0.000,0.058,3103,2400,3361
$GC,2380,-0.64,-117.3,185.2,-7.4,146,2384,0.00,2.50,0.00,0.000,4,0.000,0.077,3101,3812,3361
$GC,2425,-0.64,-117.3,188.9,-7.7,147,2429,0.00,2.35,0.00,0.000,6,0.000,0.051,3100,2396,3361
$GC,2745,-0.64,-117.3,211.0,-6.5,158,2750,0.00,2.55,0.00,0.000,4,0.000,0.067,3101,991,3361
$GC,2776,-0.64,-117.3,212.9,-6.3,159,2781,0.00,2.42,0.00,0.000,6,0.000,0.058,3100,2401,3361
$GC,3113,-0.64,-117.3,233.8,-6.0,170,3117,0.00,2.50,0.00,0.000,4,0.000,0.077,3100,3818,3361
$GC,3164,-0.64,-117.3,237.0,-6.0,171,3168,0.00,2.35,0.00,0.000,6,0.000,0.051,3100,2394,3361
$GC,3484,-0.64,-117.3,257.2,-6.7,182,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3361
$GC,3789,-0.64,-117.3,278.4,-6.9,192,3794,0.00,2.62,0.00,0.000,4,0.000,0.077,3100,3810,3361
$GC,3824,-0.64,-117.3,280.9,-7.1,193,3828,0.00,2.45,0.00,0.000,6,0.000,0.051,3101,2396,3361
$GC,4184,-0.64,-117.3,304.5,-6.4,204,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3361
$GC,4488,-0.64,-117.3,324.0,-6.4,209,4493,0.00,2.67,0.00,0.000,4,0.000,0.077,3101,3808,3361
$GC,4522,-0.64,-117.3,326.4,-7.1,209,4527,0.00,2.45,0.00,0.000,6,0.000,0.051,3100,2402,3361
$GC,4849,-0.64,-117.3,347.8,-6.5,215,4854,0.00,2.58,0.00,0.000,4,0.000,0.067,3100,988,3361
$GC,4879,-0.68,-117.3,349.8,-6.6,215,4883,0.00,2.42,0.00,0.000,6,0.000,0.058,3100,2399,3361
$GC,5213,-0.68,-117.3,370.9,-6.3,221,5217,0.00,2.53,0.00,0.000,4,0.000,0.078,3100,3812,3360
$GC,5258,-0.73,-117.3,373.9,-6.4,221,5263,0.00,2.38,0.00,0.000,6,0.000,0.051,3100,2396,3360
$GC,5575,-0.73,-117.3,393.8,-6.4,227,5579,0.00,2.47,0.00,0.000,4,0.000,0.068,3100,991,3360
$GC,5627,-0.81,-117.3,397.2,-6.7,227,5632,0.15,2.42,0.00,0.000,6,0.081,0.058,3048,2400,3359
$GC,5938,-0.72,-117.3,420.7,-7.6,232,5943,0.12,2.53,0.00,0.000,4,0.097,0.078,3083,3809,3360
$GC,6023,-0.72,-117.3,426.7,-7.0,233,6027,0.00,2.35,0.00,0.000,6,0.000,0.052,3083,2400,3360
$GC,6369,-0.72,-117.3,450.2,-6.9,239,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2401,3360
$GC,6671,-0.72,-117.3,471.0,-6.9,244,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2401,3359
$GC,6974,-0.72,-117.3,491.1,-6.6,249,6979,0.00,2.62,0.00,0.000,4,0.000,0.079,3083,3809,3359
$GC,7031,-0.72,-117.3,495.1,-7.2,249,7037,0.00,2.45,0.00,0.000,6,0.000,0.051,3083,2396,3359
$GC,7343,-0.72,-117.3,514.7,-6.3,255,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3358
$GC,7645,-0.72,-117.3,534.5,-6.5,260,7650,0.00,2.62,0.00,0.000,4,0.000,0.067,3083,993,3359
$GC,7679,-0.72,-117.3,537.0,-6.9,260,7684,0.00,2.45,0.00,0.000,6,0.000,0.061,3083,2403,3359
$GC,8007,-0.72,-117.3,559.3,-6.9,266,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3359
$GC,8312,-0.72,-117.3,580.1,-6.8,271,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3359
$GC,8613,-0.72,-117.3,599.8,-6.5,276,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3359
$GC,8916,-0.72,-117.3,618.7,-6.2,281,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3358
$GC,9220,-0.72,-117.3,636.5,-5.8,286,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3358
$GC,9523,-0.72,-117.3,653.7,-5.7,291,9527,0.00,2.65,0.00,0.000,4,0.000,0.081,3083,3808,3358
$GC,9557,-0.72,-117.3,655.8,-5.8,291,9562,0.00,2.45,0.00,0.000,6,0.000,0.053,3083,2400,3358
$GC,9885,-0.72,-117.3,675.6,-6.1,297,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3358
$GC,10188,-0.72,-117.3,695.3,-6.6,302,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3358
$GC,10492,-0.72,-117.3,716.2,-6.9,307,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3358
$GC,10794,-0.72,-117.3,737.6,-7.1,312,10799,0.00,2.65,0.00,0.000,4,0.000,0.069,3083,983,3357
$GC,10824,-0.72,-117.3,739.8,-7.8,312,10828,0.00,2.47,0.00,0.000,6,0.000,0.061,3082,2403,3358
$GC,11157,-0.72,-117.3,761.8,-6.5,318,11161,0.00,2.55,0.00,0.000,4,0.000,0.081,3083,3812,3357
$GC,11197,-0.72,-117.3,764.4,-6.2,318,11201,0.00,2.40,0.00,0.000,6,0.000,0.053,3083,2398,3357
$GC,11520,-0.72,-117.3,784.6,-6.3,324,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3357
$GC,11823,-0.72,-117.3,802.6,-6.0,329,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3357
$GC,12125,-0.72,-117.3,819.8,-5.6,334,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3357
$GC,12428,-0.72,-117.3,836.5,-5.5,339,12432,0.00,2.70,0.00,0.000,4,0.000,0.081,3083,3815,3357
$GC,12456,-0.72,-117.3,838.0,-5.5,339,12460,0.00,2.50,0.00,0.000,6,0.000,0.053,3083,2401,3357
$GC,12790,-0.72,-117.3,854.2,-4.8,345,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3357
$GC,13094,-0.72,-117.3,867.9,-4.5,350,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,13395,-0.72,-117.3,881.0,-4.3,355,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,13699,-0.72,-117.3,894.9,-4.6,360,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,14003,-0.72,-117.3,909.3,-4.8,365,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,14305,-0.72,-117.3,924.0,-4.9,370,14309,0.00,2.72,0.00,0.000,4,0.000,0.081,3083,3811,3356
$GC,14344,-0.78,-117.3,926.1,-5.2,370,14349,0.00,2.53,0.00,0.000,6,0.000,0.053,3083,2401,3356
$GC,14668,-0.82,-117.3,941.1,-4.6,376,14673,0.00,2.65,0.00,0.000,4,0.000,0.070,3083,987,3356
$GC,14708,-0.82,-117.3,943.2,-5.2,376,14712,0.00,2.45,0.00,0.000,6,0.000,0.062,3083,2399,3356
$GC,15037,-0.82,-117.3,957.8,-4.4,382,15041,0.00,2.58,0.00,0.000,4,0.000,0.083,3083,3815,3355
$GC,15082,-0.87,-117.3,960.0,-4.6,382,15087,0.15,2.42,0.00,0.000,6,0.079,0.054,3033,2392,3355
$GC,15400,-0.82,-117.3,977.7,-5.7,388,15401,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2393,3355
$STATE,15637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15637,begin apogee
$GC,15646,-0.22,0.0,992.0,5.9,392,15761,0.73,0.00,110.78,1.493,6,0.129,0.000,3247,2191,2876
$STATE,15761,end apogee,CONTROL_FINISHED_OK
$STATE,15761,begin climb
$GC,15765,0.67,117.3,995.8,0.0,394,15892,0.90,2.92,119.25,1.439,4,0.082,0.074,3533,790,2397
$GC,15988,0.33,117.3,990.8,7.4,397,15994,0.45,2.67,0.00,0.000,6,0.168,0.058,3430,2197,2395
$GC,16329,0.29,123.5,974.0,4.8,403,16338,0.00,0.00,7.05,1.168,6,0.000,0.000,3430,2196,2372
$GC,16631,0.26,141.0,960.2,4.5,408,16656,0.00,2.55,17.52,1.378,4,0.000,0.078,3430,3613,2301
$GC,16691,0.17,141.0,956.9,5.1,408,16698,0.25,2.45,0.00,0.000,6,0.171,0.058,3377,2199,2301
$GC,17004,0.37,195.2,945.8,3.4,414,17061,0.17,0.00,50.33,1.442,6,0.076,0.000,3448,2199,2079
$GC,17366,0.37,195.2,925.3,5.8,420,17370,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,782,2073
$GC,17411,0.37,195.2,922.6,5.8,420,17415,0.00,2.38,0.00,0.000,6,0.000,0.058,3449,2212,2074
$GC,17727,0.37,195.2,904.7,5.7,426,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2073
$GC,18031,0.37,195.2,886.8,6.0,431,18032,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2072
$GC,18333,0.37,195.2,868.4,6.1,436,18334,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2072
$GC,18636,0.37,195.2,850.3,6.0,441,18641,0.00,2.58,0.00,0.000,4,0.000,0.075,3449,784,2072
$GC,18693,0.37,195.2,846.6,6.4,441,18699,0.00,2.38,0.00,0.000,6,0.000,0.059,3449,2199,2072
$GC,19005,0.37,195.2,828.0,6.0,447,19006,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2198,2072
$GC,19307,0.37,195.2,808.9,6.3,452,19311,0.00,2.58,0.00,0.000,4,0.000,0.076,3448,791,2072
$GC,19341,0.37,195.2,806.8,6.2,452,19345,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2209,2072
$GC,19668,0.37,195.2,786.7,6.2,458,19669,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2071
$GC,19972,0.37,195.2,767.4,6.4,463,19976,0.00,2.58,0.00,0.000,4,0.000,0.076,3449,785,2071
$GC,20006,0.37,195.2,765.0,6.4,463,20010,0.00,2.42,0.00,0.000,6,0.000,0.059,3448,2208,2071
$GC,20333,0.37,195.2,745.4,6.0,469,20334,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2207,2071
$GC,20636,0.37,195.2,727.1,6.1,474,20641,0.00,2.58,0.00,0.000,4,0.000,0.076,3449,789,2071
$GC,20683,0.37,195.2,724.2,6.2,474,20687,0.00,2.42,0.00,0.000,6,0.000,0.059,3449,2209,2071
$GC,20999,0.37,195.2,703.5,6.6,480,21000,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2071
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$STATE,32477,end climb,SURFACE_DEPTH_REACHED
$STATE,32477,begin surface coast
$FINISH,4.8,1.025444
$STATE,32512,end surface coast,CONTROL_FINISHED_OK
$STATE,32512,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2151
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$TCM_TEMP,17.90
$XPDR_PINGS,1026
$24V_AH,20.7,139.290
$10V_AH,10.3,97.118
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$DEVICE_SECS,27.650,246.225,372.650,4.050,0.000,28.207,33.074,201.554,256.500,0.000,0.000,11.219,1796.203,27246.053,572.188,2346.523,1018.346,33.383,1751.166,0.000,2331.100,0.000,0.465
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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,50534,845
$CAP_FILE_SIZE,185697,0
$CFSIZE,260165632,203001856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260509,020255,5009.991,-14455.564,90,0.9,90,18.5