version: 66.03
glider: 120
mission: 9
dive: 403
start: 1 27 109 7 38 20
data:
$ID,120
$MISSION,9
$DIVE,403
$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,-26213.342
$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
$GPS1,071925,5012.125,-14439.988,60,1.3,60,18.6
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,4.00
$_SM_ANGLEo,-69.6
$GPS2,073726,5012.098,-14439.952,35,1.6,35,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,0.116
$KALMAN_X,-8465.2,305.2,229.8,48981.7,-1727.4
$KALMAN_Y,8089.1,78.5,50.7,7743.3,388.5
$MHEAD_RNG_PITCHd_Wd,30.9,20380,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.12,0.000,2,0.000,0.000,126,2404,1997
$GC,40,-0.67,-117.3,4.1,-0.0,1,105,14.23,2.50,-41.95,0.000,4,0.284,0.081,3097,993,3357
$GC,242,-0.50,-117.3,29.1,-12.3,19,247,0.20,2.38,0.00,0.000,6,0.151,0.062,3154,2397,3358
$GC,569,-0.50,-117.3,47.7,-6.9,49,574,0.00,2.42,0.00,0.000,4,0.000,0.068,3154,988,3358
$GC,598,-0.50,-117.3,50.2,-8.1,51,603,0.00,2.33,0.00,0.000,6,0.000,0.061,3154,2411,3358
$GC,926,-0.50,-117.3,73.2,-7.0,81,930,0.00,2.40,0.00,0.000,4,0.000,0.081,3154,3811,3358
$GC,966,-0.56,-117.3,76.1,-6.4,84,970,0.00,2.28,0.00,0.000,6,0.000,0.052,3154,2392,3358
$GC,1288,-0.56,-117.3,98.8,-7.1,102,1292,0.00,2.35,0.00,0.000,4,0.000,0.068,3154,991,3358
$GC,1339,-0.60,-117.3,102.8,-7.8,104,1343,0.00,2.30,0.00,0.000,6,0.000,0.059,3154,2401,3358
$GC,1656,-0.88,-117.3,126.3,-6.5,119,1661,0.32,2.38,0.00,0.000,4,0.085,0.076,3032,3819,3358
$GC,1892,-0.63,-117.3,152.3,-11.7,130,1897,0.28,2.30,0.00,0.000,6,0.157,0.053,3109,2401,3359
$GC,2221,-0.63,-117.3,175.5,-6.5,141,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3359
$GC,2527,-0.63,-117.3,194.3,-6.1,151,2531,0.00,2.40,0.00,0.000,4,0.000,0.068,3108,986,3359
$GC,2589,-0.63,-117.3,198.7,-6.9,152,2595,0.00,2.33,0.00,0.000,6,0.000,0.061,3109,2400,3359
$GC,2901,-0.63,-117.3,219.7,-7.0,163,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3359
$GC,3208,-0.63,-117.3,240.7,-6.6,173,3211,0.00,2.40,0.00,0.000,4,0.000,0.068,3109,996,3359
$GC,3247,-0.63,-117.3,243.5,-6.9,174,3251,0.00,2.33,0.00,0.000,6,0.000,0.061,3109,2409,3359
$GC,3577,-0.63,-117.3,262.7,-5.8,185,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,3359
$GC,3882,-0.63,-117.3,281.1,-6.3,195,3886,0.00,2.40,0.00,0.000,4,0.000,0.068,3109,996,3359
$GC,3932,-0.63,-117.3,284.6,-6.8,196,3936,0.00,2.33,0.00,0.000,6,0.000,0.061,3109,2409,3358
$GC,4250,-0.63,-117.3,305.1,-6.8,206,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,4554,-0.63,-117.3,327.3,-7.4,211,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,4857,-0.63,-117.3,348.3,-6.8,216,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,5159,-0.63,-117.3,368.6,-6.7,221,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,5462,-0.63,-117.3,389.4,-6.8,226,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,5766,-0.63,-117.3,409.3,-6.5,231,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3357
$GC,6069,-0.63,-117.3,428.5,-6.3,236,6073,0.00,2.45,0.00,0.000,4,0.000,0.070,3109,995,3357
$GC,6125,-0.68,-117.3,432.4,-7.0,236,6131,0.00,2.30,0.00,0.000,6,0.000,0.063,3109,2403,3357
$GC,6435,-0.87,-117.3,453.1,-6.8,242,6440,0.20,2.40,0.00,0.000,4,0.088,0.069,3038,989,3357
$GC,6642,-0.74,-117.3,469.5,-8.2,245,6647,0.15,2.33,0.00,0.000,6,0.156,0.063,3077,2411,3357
$GC,6997,-0.69,-117.3,493.3,-6.7,251,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2410,3357
$GC,7300,-0.63,-117.3,515.0,-7.1,256,7305,0.12,2.40,0.00,0.000,4,0.173,0.070,3113,989,3356
$GC,7327,-0.63,-117.3,516.8,-6.0,256,7331,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2406,3356
$GC,7660,-0.69,-117.3,533.8,-5.0,262,7664,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,993,3356
$GC,7688,-0.75,-117.3,535.3,-5.1,262,7693,0.12,2.30,0.00,0.000,6,0.087,0.062,3066,2406,3355
$GC,8020,-0.75,-117.3,553.4,-5.5,268,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2406,3356
$GC,8323,-0.75,-117.3,571.2,-5.9,273,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2406,3355
$GC,8626,-0.75,-117.3,589.8,-6.2,278,8630,0.00,2.42,0.00,0.000,4,0.000,0.071,3066,989,3355
$GC,8664,-0.75,-117.3,592.4,-7.3,278,8668,0.00,2.33,0.00,0.000,6,0.000,0.062,3066,2407,3355
$GC,8987,-0.71,-117.3,612.1,-6.1,284,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2407,3355
$GC,9289,-0.67,-117.3,631.1,-6.3,289,9291,0.12,0.00,0.00,0.000,6,0.147,0.000,3100,2407,3355
$GC,9591,-0.67,-117.3,648.7,-5.8,294,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3355
$GC,9895,-0.67,-117.3,666.1,-5.8,299,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,10198,-0.67,-117.3,683.1,-5.6,304,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3355
$GC,10501,-0.67,-117.3,699.4,-5.4,309,10505,0.00,2.45,0.00,0.000,4,0.000,0.071,3100,987,3354
$GC,10540,-0.72,-117.3,701.8,-5.6,309,10544,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2399,3354
$GC,10861,-0.77,-117.3,720.2,-5.8,315,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3354
$GC,11165,-0.81,-117.3,738.2,-6.0,320,11166,0.12,0.00,0.00,0.000,6,0.091,0.000,3050,2399,3354
$GC,11467,-0.81,-117.3,758.1,-6.5,325,11471,0.00,2.42,0.00,0.000,4,0.000,0.072,3049,990,3354
$GC,11500,-0.76,-117.3,760.5,-6.9,325,11504,0.00,2.30,0.00,0.000,6,0.000,0.064,3050,2400,3354
$GC,11833,-0.68,-117.3,781.4,-6.2,331,11835,0.17,0.00,0.00,0.000,6,0.152,0.000,3098,2400,3354
$GC,12137,-0.73,-117.3,795.0,-4.4,336,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3354
$GC,12439,-0.78,-117.3,809.7,-4.9,341,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3354
$GC,12742,-0.83,-117.3,825.0,-5.1,346,12744,0.15,0.00,0.00,0.000,6,0.087,0.000,3041,2400,3354
$GC,13045,-0.77,-117.3,844.3,-6.4,351,13050,0.00,2.45,0.00,0.000,4,0.000,0.082,3041,3816,3353
$GC,13073,-0.70,-117.3,846.4,-7.3,351,13078,0.17,2.35,0.00,0.000,6,0.123,0.056,3090,2392,3353
$GC,13405,-0.70,-117.3,864.8,-5.5,357,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2393,3353
$GC,13708,-0.70,-117.3,881.5,-5.5,362,13712,0.00,2.42,0.00,0.000,4,0.000,0.073,3090,989,3353
$GC,13742,-0.74,-117.3,883.6,-6.2,362,13747,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2401,3353
$GC,14069,-0.74,-117.3,902.8,-5.9,368,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14372,-0.74,-117.3,921.0,-6.0,373,14376,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,994,3353
$GC,14404,-0.74,-117.3,923.1,-6.0,373,14409,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2411,3353
$GC,14732,-0.74,-117.3,940.9,-5.4,379,14733,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3353
$GC,15034,-0.74,-117.3,955.7,-4.8,384,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3352
$GC,15338,-0.74,-117.3,968.7,-4.3,389,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3353
$GC,15641,-0.74,-117.3,980.6,-3.9,394,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3353
$STATE,15880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15880,begin apogee
$GC,15887,-0.22,0.0,991.2,4.3,398,16003,0.52,0.00,108.40,1.488,6,0.144,0.000,3243,2199,2876
$STATE,16004,end apogee,CONTROL_FINISHED_OK
$STATE,16004,begin climb
$GC,16006,0.67,117.3,994.9,0.0,400,16124,0.90,0.00,114.35,1.435,6,0.087,0.000,3535,2199,2397
$GC,16427,0.34,117.3,972.5,7.8,407,16429,0.38,0.00,0.00,0.000,6,0.176,0.000,3433,2199,2394
$GC,16730,0.34,117.3,956.5,5.2,412,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2198,2394
$GC,17032,0.34,117.3,940.3,5.4,417,17033,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2198,2393
$GC,17336,0.34,117.3,924.2,5.3,422,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2199,2393
$GC,17639,0.30,121.7,909.3,4.9,427,17646,0.00,0.00,5.05,1.059,6,0.000,0.000,3433,2199,2379
$GC,17943,0.33,138.6,895.5,4.5,432,17961,0.00,0.00,16.33,1.368,6,0.000,0.000,3433,2199,2311
$GC,18245,0.33,139.3,880.7,5.0,437,18249,0.00,2.38,0.00,0.000,4,0.000,0.078,3442,788,2310
$GC,18295,0.35,159.7,877.9,4.4,437,18320,0.00,2.33,20.27,1.374,6,0.000,0.063,3442,2214,2225
$GC,18670,0.35,159.7,855.5,6.1,444,18671,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2214,2223
$GC,18972,0.35,159.7,837.5,5.9,449,18976,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,787,2223
$GC,19000,0.35,159.7,835.9,6.0,449,19004,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2199,2223
$GC,19331,0.35,159.7,817.8,5.4,455,19332,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2222
$GC,19635,0.35,159.7,802.4,5.0,460,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2223
$GC,19938,0.35,159.7,786.8,5.2,465,19939,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2223
$GC,20241,0.35,159.7,770.3,5.5,470,20242,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2222
$GC,20544,0.35,159.7,754.4,5.3,475,20545,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2222
$GC,20847,0.35,159.7,738.0,5.4,480,20851,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,793,2222
$GC,20932,0.35,159.7,733.4,5.2,481,20937,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2211,2222
$GC,21276,0.35,159.7,715.6,5.2,487,21277,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,21579,0.35,159.7,699.8,5.2,492,21580,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,21882,0.35,159.7,682.9,5.6,497,21883,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,22185,0.35,159.7,664.5,6.1,502,22187,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,22488,0.35,159.7,647.0,5.7,507,22489,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,22791,0.35,159.7,630.1,5.6,512,22793,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,23094,0.35,159.7,612.5,5.9,517,23095,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
$GC,23397,0.35,159.7,596.7,5.2,522,23398,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2222
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$STATE,33425,end climb,SURFACE_DEPTH_REACHED
$STATE,33425,begin surface coast
$FINISH,2.8,1.013549
$STATE,33546,end surface coast,CONTROL_FINISHED_OK
$STATE,33546,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2104
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$TCM_TEMP,14.40
$XPDR_PINGS,975
$24V_AH,21.4,79.235
$10V_AH,10.5,53.966
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$DEVICE_SECS,29.300,170.675,382.250,0.000,0.000,108.238,191.771,434.040,243.750,0.000,0.000,35.438,1760.105,28951.922,547.134,2233.662,1204.624,33.369,1619.611,0.000,2201.719,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,653.367,632.077,1437.766,871.947,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50699,846
$CAP_FILE_SIZE,182268,0
$CFSIZE,260165632,227344384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270109,170006,5014.524,-14436.238,37,1.3,42,18.6