version: 66.03
glider: 120
mission: 9
dive: 738
start: 6 3 109 0 24 0
data:
$ID,120
$MISSION,9
$DIVE,738
$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,-33485.781
$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
$GPS1,000955,5008.476,-14451.003,56,1.9,56,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-76.5
$GPS2,002302,5008.541,-14450.996,14,1.8,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132,0.119
$KALMAN_X,-159682.6,-33.5,129.8,187515.5,-1671.0
$KALMAN_Y,141793.0,89.4,250.6,-132775.9,-1421.7
$MHEAD_RNG_PITCHd_Wd,29.6,34038,-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,29,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-39.58,0.000,2,0.000,0.000,137,2400,2813
$GC,75,-0.67,-117.3,3.8,-6.6,4,108,14.93,2.65,-10.00,0.000,4,0.272,0.087,3086,3806,3358
$GC,325,-0.49,-117.3,39.8,-11.3,26,331,0.28,2.45,0.00,0.000,6,0.141,0.051,3158,2398,3360
$GC,658,-0.49,-117.3,63.8,-6.7,56,662,0.00,2.58,0.00,0.000,4,0.000,0.065,3158,983,3361
$GC,692,-0.54,-117.3,66.8,-7.7,58,698,0.00,2.53,0.00,0.000,6,0.000,0.056,3155,2402,3361
$GC,1015,-0.54,-117.3,89.3,-7.2,83,1019,0.00,2.58,0.00,0.000,4,0.000,0.076,3155,3809,3361
$GC,1044,-0.60,-117.3,91.4,-7.4,84,1049,0.00,2.42,0.00,0.000,6,0.000,0.048,3155,2392,3361
$GC,1362,-0.66,-117.3,113.6,-7.2,99,1364,0.15,0.00,0.00,0.000,6,0.074,0.000,3097,2393,3362
$GC,1671,-0.66,-117.3,140.1,-8.1,114,1675,0.00,2.55,0.00,0.000,4,0.000,0.065,3097,993,3362
$GC,1694,-0.66,-117.3,142.1,-8.2,115,1699,0.00,2.50,0.00,0.000,6,0.000,0.056,3096,2403,3362
$GC,2025,-0.66,-117.3,167.1,-7.5,128,2030,0.00,2.55,0.00,0.000,4,0.000,0.076,3096,3809,3362
$GC,2061,-0.66,-117.3,169.8,-7.5,129,2065,0.00,2.40,0.00,0.000,6,0.000,0.050,3096,2401,3362
$GC,2393,-0.66,-117.3,193.9,-7.1,140,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2402,3362
$GC,2698,-0.66,-117.3,216.7,-7.5,150,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2402,3362
$GC,3004,-0.66,-117.3,239.0,-7.0,160,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2402,3362
$GC,3311,-0.66,-117.3,260.1,-7.0,170,3315,0.00,2.53,0.00,0.000,4,0.000,0.066,3096,994,3361
$GC,3345,-0.66,-117.3,262.6,-7.4,171,3350,0.00,2.47,0.00,0.000,6,0.000,0.058,3096,2400,3361
$GC,3676,-0.66,-117.3,284.5,-6.6,182,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3361
$GC,4013,-0.66,-117.3,305.0,-5.8,192,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3361
$GC,4316,-0.66,-117.3,321.4,-5.3,197,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3360
$GC,4620,-0.66,-117.3,338.3,-5.6,202,4624,0.00,2.55,0.00,0.000,4,0.000,0.067,3096,995,3360
$GC,4653,-0.66,-117.3,340.5,-6.5,202,4658,0.00,2.50,0.00,0.000,6,0.000,0.058,3096,2406,3360
$GC,4981,-0.66,-117.3,361.5,-6.5,208,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3360
$GC,5286,-0.66,-117.3,382.2,-6.9,213,5290,0.00,2.58,0.00,0.000,4,0.000,0.079,3096,3809,3359
$GC,5327,-0.66,-117.3,385.4,-8.0,213,5331,0.00,2.40,0.00,0.000,6,0.000,0.051,3096,2403,3359
$GC,5649,-0.66,-117.3,407.0,-6.7,219,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3359
$GC,5952,-0.66,-117.3,425.7,-6.1,224,5956,0.00,2.55,0.00,0.000,4,0.000,0.068,3096,991,3359
$GC,5992,-0.71,-117.3,428.1,-6.3,224,5996,0.00,2.50,0.00,0.000,6,0.000,0.058,3096,2407,3359
$GC,6314,-0.71,-117.3,444.5,-5.0,230,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3359
$GC,6617,-0.71,-117.3,458.7,-4.6,235,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3359
$GC,6920,-0.71,-117.3,472.9,-4.7,240,6924,0.00,2.58,0.00,0.000,4,0.000,0.068,3096,993,3358
$GC,6944,-0.76,-117.3,474.1,-4.8,240,6948,0.00,2.47,0.00,0.000,6,0.000,0.059,3096,2400,3358
$GC,7284,-0.76,-117.3,491.2,-5.2,246,7288,0.00,2.60,0.00,0.000,4,0.000,0.080,3096,3815,3358
$GC,7318,-0.76,-117.3,493.2,-5.9,246,7322,0.00,2.42,0.00,0.000,6,0.000,0.052,3096,2397,3358
$GC,7646,-0.80,-117.3,511.3,-5.6,252,7648,0.12,0.00,0.00,0.000,6,0.088,0.000,3049,2398,3358
$GC,7949,-0.74,-117.3,533.0,-7.3,257,7951,0.10,0.00,0.00,0.000,6,0.087,0.000,3078,2398,3358
$GC,8253,-0.74,-117.3,554.6,-7.1,262,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2398,3358
$GC,8555,-0.74,-117.3,574.8,-6.6,267,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2398,3358
$GC,8858,-0.74,-117.3,592.4,-5.8,272,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2398,3357
$GC,9161,-0.74,-117.3,609.0,-5.4,277,9165,0.00,2.55,0.00,0.000,4,0.000,0.068,3078,986,3357
$GC,9207,-0.74,-117.3,611.6,-5.5,277,9211,0.00,2.53,0.00,0.000,6,0.000,0.060,3078,2408,3357
$GC,9523,-0.74,-117.3,629.2,-5.6,283,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2407,3357
$GC,9826,-0.74,-117.3,647.4,-6.0,288,9830,0.00,2.58,0.00,0.000,4,0.000,0.069,3078,986,3356
$GC,9854,-0.74,-117.3,649.2,-6.7,288,9858,0.00,2.53,0.00,0.000,6,0.000,0.060,3078,2409,3356
$GC,10188,-0.74,-117.3,669.1,-6.0,294,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2408,3356
$GC,10490,-0.74,-117.3,689.5,-6.8,299,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2408,3356
$GC,10793,-0.74,-117.3,711.9,-7.4,304,10797,0.00,2.58,0.00,0.000,4,0.000,0.069,3078,993,3356
$GC,10827,-0.74,-117.3,714.6,-7.8,304,10831,0.00,2.50,0.00,0.000,6,0.000,0.061,3078,2399,3356
$GC,11155,-0.74,-117.3,737.5,-7.0,310,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3356
$GC,11457,-0.74,-117.3,757.0,-6.4,315,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2398,3356
$GC,11760,-0.74,-117.3,775.8,-6.2,320,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3356
$GC,12063,-0.74,-117.3,793.2,-5.6,325,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3355
$GC,12367,-0.74,-117.3,809.7,-5.4,330,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3356
$GC,12670,-0.74,-117.3,826.2,-5.4,335,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3355
$GC,12973,-0.74,-117.3,841.8,-5.1,340,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3355
$GC,13276,-0.74,-117.3,856.9,-5.0,345,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3355
$GC,13579,-0.74,-117.3,872.0,-5.0,350,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2397,3355
$GC,13882,-0.74,-117.3,888.1,-5.4,355,13886,0.00,2.58,0.00,0.000,4,0.000,0.071,3078,990,3355
$GC,13922,-0.74,-117.3,890.3,-5.2,355,13927,0.00,2.53,0.00,0.000,6,0.000,0.063,3078,2406,3354
$GC,14244,-0.74,-117.3,907.2,-5.2,361,14246,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3354
$GC,14548,-0.74,-117.3,923.1,-5.2,366,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3354
$GC,14852,-0.74,-117.3,939.5,-5.5,371,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2405,3354
$GC,15155,-0.74,-117.3,956.4,-5.6,376,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3354
$GC,15457,-0.74,-117.3,973.2,-5.5,381,15458,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3354
$STATE,15756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15756,begin apogee
$GC,15765,-0.22,0.0,990.2,5.6,386,15886,0.57,0.00,117.88,1.477,6,0.132,0.000,3246,2197,2876
$STATE,15887,end apogee,CONTROL_FINISHED_OK
$STATE,15887,begin climb
$GC,15891,0.67,117.3,994.8,0.0,388,16023,0.93,2.88,124.28,1.430,4,0.081,0.074,3534,793,2397
$GC,16074,0.30,117.3,994.2,5.7,390,16082,0.50,2.70,0.00,0.000,6,0.168,0.058,3418,2199,2395
$GC,16385,0.31,129.5,979.5,4.7,396,16401,0.00,0.00,13.50,1.307,6,0.000,0.000,3418,2198,2348
$GC,16689,0.31,129.5,963.9,5.2,401,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2198,2348
$GC,16991,0.31,129.5,948.2,5.2,406,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2198,2347
$GC,17294,0.31,129.5,932.7,5.1,411,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2198,2347
$GC,17598,0.32,135.2,917.9,4.8,416,17608,0.00,0.00,7.72,1.208,6,0.000,0.000,3418,2198,2324
$GC,17901,0.33,148.4,904.0,4.6,421,17919,0.00,0.00,14.70,1.328,6,0.000,0.000,3418,2198,2271
$GC,18274,0.36,166.5,887.3,4.5,427,18299,0.00,2.75,19.70,1.357,4,0.000,0.074,3422,790,2197
$GC,18329,0.43,176.8,884.8,4.7,427,18348,0.10,2.65,12.45,1.289,6,0.081,0.057,3457,2199,2155
$GC,18707,0.38,176.8,861.8,6.2,434,18708,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2198,2152
$GC,19008,0.33,176.8,843.1,6.2,439,19010,0.12,0.00,0.00,0.000,6,0.130,0.000,3429,2199,2151
$GC,19313,0.33,176.8,826.4,5.5,444,19317,0.00,2.72,0.00,0.000,4,0.000,0.073,3436,793,2152
$GC,19359,0.33,176.8,823.6,6.5,444,19363,0.00,2.62,0.00,0.000,6,0.000,0.058,3436,2208,2151
$GC,19675,0.33,176.8,804.2,6.2,450,19680,0.00,2.67,0.00,0.000,4,0.000,0.077,3436,3616,2151
$GC,19710,0.33,176.8,801.8,6.6,450,19714,0.00,2.58,0.00,0.000,6,0.000,0.058,3436,2203,2150
$GC,20038,0.33,176.8,780.8,6.4,456,20039,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2151
$GC,20341,0.33,176.8,761.8,6.3,461,20346,0.00,2.67,0.00,0.000,4,0.000,0.075,3436,790,2151
$GC,20393,0.37,176.8,758.1,6.2,461,20397,0.00,2.58,0.00,0.000,6,0.000,0.058,3436,2197,2151
$GC,20704,0.37,176.8,738.6,6.3,466,20705,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2151
$GC,21007,0.37,176.8,722.0,5.4,471,21008,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2150
$GC,21311,0.37,176.8,706.3,5.2,476,21312,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2151
$GC,21613,0.37,176.8,690.9,5.1,481,21615,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2151
$GC,21916,0.39,188.1,676.5,4.7,486,21930,0.00,0.00,11.95,1.205,6,0.000,0.000,3436,2196,2109
$GC,22220,0.43,188.1,660.7,5.2,491,22225,0.00,2.67,0.00,0.000,4,0.000,0.074,3436,787,2107
$GC,22261,0.50,188.7,658.6,5.0,491,22266,0.12,2.58,0.00,0.000,6,0.084,0.058,3483,2206,2108
$GC,22584,0.41,188.7,635.7,7.2,497,22585,0.12,0.00,0.00,0.000,6,0.137,0.000,3452,2206,2108
$GC,22886,0.41,188.7,615.3,6.7,502,22891,0.00,2.70,0.00,0.000,4,0.000,0.075,3452,782,2108
$GC,22915,0.41,188.7,613.3,6.9,502,22919,0.00,2.58,0.00,0.000,6,0.000,0.058,3452,2206,2107
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$STATE,32670,end climb,SURFACE_DEPTH_REACHED
$STATE,32671,begin surface coast
$FINISH,0.5,1.018014
$STATE,32804,end surface coast,CONTROL_FINISHED_OK
$STATE,32804,begin surface
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$HUMID,2165
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$10V_AH,10.2,100.158
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$DEVICE_SECS,29.675,185.925,395.375,12.525,0.000,83.231,100.644,296.838,230.750,0.000,0.000,14.361,1745.158,27942.602,553.917,2163.225,1217.934,33.377,1621.008,0.000,2153.586,0.000,0.465
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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,50499,847
$CAP_FILE_SIZE,174146,0
$CFSIZE,260165632,201302016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030609,093237,5010.777,-14447.667,28,1.9,28,18.6