version: 66.03
glider: 120
mission: 9
dive: 698
start: 5 18 109 22 17 57
data:
$ID,120
$MISSION,9
$DIVE,698
$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,-32509.811
$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,20
$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
$GPS1,221001,5016.315,-14438.162,159,1.2,159,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.1
$GPS2,221702,5016.301,-14438.188,14,1.3,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.124,0.127
$KALMAN_X,-144303.6,-72.7,115.7,187421.7,-1300.3
$KALMAN_Y,145264.6,57.7,209.4,-121799.1,-1868.3
$MHEAD_RNG_PITCHd_Wd,25.6,13172,-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,-117.3,0.0,0.0,0,69,0.00,0.00,-39.50,0.000,2,0.000,0.000,140,2402,2785
$GC,74,-0.67,-117.3,3.8,-7.1,4,107,14.15,2.50,-10.90,0.000,4,0.278,0.080,3093,992,3358
$GC,272,-0.52,-117.3,32.0,-10.7,21,279,0.20,2.40,0.00,0.000,6,0.143,0.061,3149,2402,3359
$GC,604,-0.52,-117.3,56.1,-7.1,52,608,0.00,2.47,0.00,0.000,4,0.000,0.078,3140,3812,3359
$GC,645,-0.52,-117.3,59.6,-7.6,55,649,0.00,2.30,0.00,0.000,6,0.000,0.051,3140,2390,3359
$GC,985,-0.52,-117.3,84.8,-6.9,84,990,0.00,2.50,0.00,0.000,4,0.000,0.077,3140,3810,3360
$GC,1015,-0.52,-117.3,87.0,-7.4,85,1019,0.00,2.30,0.00,0.000,6,0.000,0.051,3140,2399,3360
$GC,1332,-0.52,-117.3,109.3,-6.9,100,1336,0.00,2.42,0.00,0.000,4,0.000,0.066,3139,992,3360
$GC,1373,-0.52,-117.3,112.3,-7.2,101,1380,0.00,2.40,0.00,0.000,6,0.000,0.058,3140,2410,3360
$GC,1692,-0.56,-117.3,134.1,-7.0,117,1696,0.00,2.47,0.00,0.000,4,0.000,0.066,3140,993,3360
$GC,1726,-0.60,-117.3,136.6,-7.3,118,1732,0.00,2.40,0.00,0.000,6,0.000,0.058,3139,2402,3360
$GC,2065,-0.67,-117.3,158.3,-6.4,133,2066,0.12,0.00,0.00,0.000,6,0.081,0.000,3090,2402,3360
$GC,2370,-0.67,-117.3,180.2,-7.0,143,2374,0.00,2.50,0.00,0.000,4,0.000,0.077,3088,3810,3360
$GC,2400,-0.67,-117.3,182.5,-7.9,144,2404,0.00,2.33,0.00,0.000,6,0.000,0.051,3088,2399,3360
$GC,2736,-0.67,-117.3,207.1,-7.4,155,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3360
$GC,3042,-0.67,-117.3,230.6,-7.5,165,3047,0.00,2.55,0.00,0.000,4,0.000,0.077,3088,3810,3360
$GC,3083,-0.67,-117.3,234.0,-8.1,166,3087,0.00,2.33,0.00,0.000,6,0.000,0.052,3088,2399,3360
$GC,3408,-0.67,-117.3,257.7,-7.1,177,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3360
$GC,3714,-0.67,-117.3,277.9,-6.5,187,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3360
$GC,4021,-0.67,-117.3,297.0,-6.3,197,4025,0.00,2.55,0.00,0.000,4,0.000,0.077,3088,3805,3359
$GC,4050,-0.67,-117.3,299.0,-6.8,198,4055,0.00,2.35,0.00,0.000,6,0.000,0.053,3088,2391,3360
$GC,4384,-0.67,-117.3,320.6,-6.5,204,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2392,3360
$GC,4687,-0.67,-117.3,339.7,-6.3,209,4691,0.00,2.58,0.00,0.000,4,0.000,0.077,3089,3806,3359
$GC,4733,-0.67,-117.3,342.7,-7.3,209,4737,0.00,2.33,0.00,0.000,6,0.000,0.052,3088,2400,3359
$GC,5050,-0.67,-117.3,362.6,-6.3,215,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2401,3359
$GC,5352,-0.67,-117.3,382.3,-6.5,220,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2401,3359
$GC,5655,-0.67,-117.3,401.6,-6.3,225,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2401,3359
$GC,5959,-0.67,-117.3,420.6,-6.3,230,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2401,3359
$GC,6262,-0.67,-117.3,440.3,-6.5,235,6267,0.00,2.58,0.00,0.000,4,0.000,0.078,3088,3811,3358
$GC,6291,-0.67,-117.3,442.4,-7.4,235,6295,0.00,2.35,0.00,0.000,6,0.000,0.052,3088,2392,3358
$GC,6624,-0.67,-117.3,464.8,-6.7,241,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2393,3358
$GC,6927,-0.67,-117.3,484.2,-6.4,246,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2394,3358
$GC,7231,-0.67,-117.3,502.8,-6.2,251,7235,0.00,2.55,0.00,0.000,4,0.000,0.078,3088,3806,3358
$GC,7270,-0.67,-117.3,505.6,-7.1,251,7274,0.00,2.35,0.00,0.000,6,0.000,0.054,3088,2392,3358
$GC,7593,-0.71,-117.3,524.0,-5.7,257,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2393,3358
$GC,7895,-0.71,-117.3,540.6,-5.5,262,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2393,3358
$GC,8199,-0.71,-117.3,556.5,-5.3,267,8203,0.00,2.47,0.00,0.000,4,0.000,0.071,3091,993,3358
$GC,8234,-0.77,-117.3,558.5,-5.7,267,8238,0.00,2.42,0.00,0.000,6,0.000,0.059,3091,2400,3358
$GC,8562,-0.81,-117.3,576.1,-5.4,273,8567,0.12,2.50,0.00,0.000,4,0.087,0.078,3043,3807,3357
$GC,8630,-0.71,-117.3,581.3,-7.7,274,8635,0.15,2.35,0.00,0.000,6,0.110,0.054,3082,2391,3357
$GC,8992,-0.71,-117.3,604.1,-6.2,280,8995,0.00,2.47,0.00,0.000,4,0.000,0.070,3082,994,3357
$GC,9026,-0.71,-117.3,606.5,-6.4,280,9030,0.00,2.45,0.00,0.000,6,0.000,0.061,3082,2405,3357
$GC,9359,-0.71,-117.3,627.7,-6.4,286,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,9663,-0.71,-117.3,647.2,-6.4,291,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,9965,-0.71,-117.3,665.6,-6.0,296,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,10268,-0.71,-117.3,682.8,-5.7,301,10272,0.00,2.53,0.00,0.000,4,0.000,0.081,3082,3807,3356
$GC,10301,-0.71,-117.3,684.7,-5.9,301,10306,0.00,2.35,0.00,0.000,6,0.000,0.054,3082,2395,3356
$GC,10630,-0.71,-117.3,702.9,-5.6,307,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2397,3356
$GC,10934,-0.71,-117.3,720.3,-5.8,312,10938,0.00,2.58,0.00,0.000,4,0.000,0.081,3082,3809,3356
$GC,10969,-0.71,-117.3,722.7,-6.6,312,10973,0.00,2.35,0.00,0.000,6,0.000,0.054,3082,2398,3356
$GC,11296,-0.71,-117.3,743.5,-6.4,318,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,11600,-0.71,-117.3,762.1,-6.1,323,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,11902,-0.71,-117.3,780.5,-6.1,328,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,12206,-0.71,-117.3,796.9,-5.3,333,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,12508,-0.71,-117.3,812.3,-5.1,338,12513,0.00,2.62,0.00,0.000,4,0.000,0.082,3082,3817,3355
$GC,12537,-0.71,-117.3,813.9,-5.7,338,12541,0.00,2.38,0.00,0.000,6,0.000,0.055,3082,2400,3355
$GC,12871,-0.71,-117.3,831.7,-5.4,344,12875,0.00,2.50,0.00,0.000,4,0.000,0.071,3082,989,3355
$GC,12899,-0.71,-117.3,833.5,-6.1,344,12903,0.00,2.45,0.00,0.000,6,0.000,0.062,3082,2399,3355
$GC,13231,-0.71,-117.3,854.1,-6.3,350,13236,0.00,2.53,0.00,0.000,4,0.000,0.083,3082,3816,3355
$GC,13266,-0.71,-117.3,856.6,-6.4,350,13270,0.00,2.38,0.00,0.000,6,0.000,0.055,3082,2395,3355
$GC,13594,-0.71,-117.3,878.2,-6.6,356,13599,0.00,2.47,0.00,0.000,4,0.000,0.072,3082,991,3355
$GC,13634,-0.71,-117.3,881.3,-7.6,356,13638,0.00,2.45,0.00,0.000,6,0.000,0.062,3082,2403,3355
$GC,13956,-0.71,-117.3,902.4,-6.6,362,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3355
$GC,14261,-0.71,-117.3,920.6,-5.9,367,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3355
$GC,14564,-0.71,-117.3,937.9,-5.8,372,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3355
$GC,14867,-0.71,-117.3,956.0,-6.0,377,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3355
$GC,15169,-0.71,-117.3,974.8,-6.2,382,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3355
$STATE,15468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15468,begin apogee
$GC,15477,-0.22,0.0,993.1,6.0,387,15591,0.55,0.00,109.47,1.502,6,0.131,0.000,3245,2187,2876
$STATE,15592,end apogee,CONTROL_FINISHED_OK
$STATE,15592,begin climb
$GC,15597,0.67,117.3,998.2,0.0,389,15720,0.90,0.00,118.40,1.453,6,0.080,0.000,3530,2187,2397
$GC,16028,0.34,117.3,982.3,6.5,396,16033,0.38,2.58,0.00,0.000,4,0.171,0.074,3443,796,2394
$GC,16086,0.29,121.2,979.4,4.9,396,16097,0.12,2.45,4.78,1.003,6,0.153,0.059,3416,2200,2381
$GC,16465,0.34,166.2,965.2,3.7,403,16508,0.00,0.00,41.22,1.457,6,0.000,0.000,3415,2199,2198
$GC,16769,0.41,177.7,951.5,4.7,408,16782,0.00,0.00,11.57,1.336,6,0.000,0.000,3415,2199,2151
$GC,17073,0.48,185.9,937.2,4.8,413,17087,0.15,2.47,8.77,1.277,4,0.074,0.078,3490,790,2118
$GC,17143,0.34,185.9,932.1,8.6,414,17148,0.22,2.35,0.00,0.000,6,0.143,0.060,3430,2205,2117
$GC,17510,0.34,185.9,908.3,6.5,420,17514,0.00,2.42,0.00,0.000,4,0.000,0.076,3436,782,2116
$GC,17556,0.34,185.9,905.1,7.1,420,17560,0.00,2.35,0.00,0.000,6,0.000,0.059,3436,2209,2116
$GC,17883,0.34,185.9,883.1,6.8,426,17887,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,793,2116
$GC,17923,0.34,185.9,880.3,7.6,426,17927,0.00,2.35,0.00,0.000,6,0.000,0.058,3436,2199,2116
$GC,18252,0.34,185.9,858.5,6.7,432,18253,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2115
$GC,18554,0.34,185.9,838.8,6.5,437,18558,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,793,2115
$GC,18611,0.39,185.9,835.1,6.2,437,18618,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2204,2115
$GC,18923,0.39,185.9,815.8,6.2,443,18927,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,788,2115
$GC,18964,0.44,185.9,813.4,5.7,443,18968,0.00,2.40,0.00,0.000,6,0.000,0.058,3436,2208,2115
$GC,19285,0.44,185.9,794.7,5.8,449,19286,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2114
$GC,19588,0.44,185.9,777.4,5.6,454,19593,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,787,2114
$GC,19646,0.49,185.9,774.3,5.4,454,19653,0.12,2.40,0.00,0.000,6,0.087,0.059,3490,2204,2114
$GC,19958,0.36,185.9,753.6,6.7,460,19960,0.20,0.00,0.00,0.000,6,0.144,0.000,3436,2203,2114
$GC,20261,0.37,191.9,738.8,4.8,465,20274,0.00,2.50,6.72,1.138,4,0.000,0.077,3437,788,2093
$GC,20317,0.42,191.9,735.9,5.2,465,20321,0.00,2.40,0.00,0.000,6,0.000,0.058,3436,2202,2092
$GC,20629,0.47,191.9,718.8,5.7,470,20630,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2092
$GC,20931,0.52,191.9,700.3,6.2,475,20933,0.15,0.00,0.00,0.000,6,0.081,0.000,3502,2201,2092
$GC,21234,0.37,191.9,674.3,8.6,480,21236,0.22,0.00,0.00,0.000,6,0.146,0.000,3442,2201,2092
$GC,21538,0.37,191.9,653.9,6.7,485,21543,0.00,2.50,0.00,0.000,4,0.000,0.074,3449,793,2092
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$STATE,31598,end climb,SURFACE_DEPTH_REACHED
$STATE,31598,begin surface coast
$FINISH,0.6,1.025504
$STATE,31697,end surface coast,CONTROL_FINISHED_OK
$STATE,31697,begin surface
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$TCM_TEMP,15.70
$XPDR_PINGS,977
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$10V_AH,10.2,94.636
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$DEVICE_SECS,29.225,225.800,381.625,0.000,0.000,29.782,27.774,178.749,244.250,0.000,0.000,14.082,1761.312,26623.219,545.336,2324.641,932.362,33.379,1708.363,0.000,2294.126,0.000,0.466
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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,47511,816
$CAP_FILE_SIZE,180884,0
$CFSIZE,260165632,204406784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,070901,5018.661,-14434.633,40,1.4,40,18.6