version: 66.03
glider: 120
mission: 9
dive: 408
start: 1 29 109 5 0 23
data:
$ID,120
$MISSION,9
$DIVE,408
$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,-26331.256
$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,23
$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
$GPS1,044457,5016.048,-14428.859,30,3.3,49,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.76
$_SM_ANGLEo,-65.7
$GPS2,045927,5016.130,-14428.809,14,2.8,33,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.177
$KALMAN_X,-9198.5,259.2,78.1,63162.6,-777.8
$KALMAN_Y,15107.2,308.0,765.9,7220.4,2436.8
$MHEAD_RNG_PITCHd_Wd,156.2,40983,-12.1,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-116.9,0.0,0.0,0,36,0.00,0.00,-10.62,0.000,2,0.000,0.000,134,2411,1880
$GC,40,-0.67,-117.3,4.0,-0.0,1,114,14.30,2.55,-49.70,0.000,4,0.288,0.079,3096,981,3356
$GC,138,-0.55,-117.3,12.1,-12.1,10,143,0.15,2.33,0.00,0.000,6,0.166,0.062,3135,2398,3357
$GC,463,-0.55,-117.3,35.2,-6.0,40,464,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2397,3358
$GC,782,-0.50,-117.3,64.3,-7.7,70,786,0.00,2.40,0.00,0.000,4,0.000,0.067,3136,991,3358
$GC,793,-0.50,-117.3,65.0,-7.1,70,800,0.00,2.30,0.00,0.000,6,0.000,0.061,3136,2400,3358
$GC,1115,-0.50,-117.3,90.7,-8.4,95,1119,0.00,2.38,0.00,0.000,4,0.000,0.081,3136,3813,3358
$GC,1142,-0.50,-117.3,93.3,-8.8,96,1146,0.00,2.28,0.00,0.000,6,0.000,0.052,3136,2391,3358
$GC,1472,-0.50,-117.3,117.8,-7.3,112,1476,0.00,2.35,0.00,0.000,4,0.000,0.067,3136,986,3358
$GC,1512,-0.50,-117.3,121.2,-7.6,114,1516,0.00,2.30,0.00,0.000,6,0.000,0.061,3136,2401,3358
$GC,1839,-0.55,-117.3,143.1,-5.7,130,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2401,3358
$GC,2147,-0.61,-117.3,160.1,-5.4,142,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2401,3358
$GC,2453,-0.68,-117.3,177.4,-5.9,152,2458,0.12,2.40,0.00,0.000,4,0.084,0.066,3091,991,3358
$GC,2497,-0.68,-117.3,180.7,-7.5,153,2501,0.00,2.30,0.00,0.000,6,0.000,0.061,3091,2407,3358
$GC,2816,-0.68,-117.3,205.7,-7.9,164,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2407,3358
$GC,3121,-0.68,-117.3,228.1,-6.9,174,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2407,3358
$GC,3428,-0.68,-117.3,249.8,-7.1,184,3432,0.00,2.35,0.00,0.000,4,0.000,0.080,3087,3809,3358
$GC,3467,-0.63,-117.3,252.8,-7.4,185,3471,0.00,2.28,0.00,0.000,6,0.000,0.054,3087,2398,3358
$GC,3792,-0.63,-117.3,275.9,-6.9,196,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2399,3358
$GC,4097,-0.63,-117.3,297.4,-7.3,206,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2399,3358
$GC,4402,-0.59,-117.3,319.7,-7.3,212,4404,0.15,0.00,0.00,0.000,6,0.155,0.000,3127,2396,3358
$GC,4704,-0.66,-117.3,338.5,-6.2,217,4708,0.00,2.40,0.00,0.000,4,0.000,0.069,3128,995,3358
$GC,4744,-0.74,-117.3,341.1,-6.7,217,4749,0.15,2.33,0.00,0.000,6,0.084,0.061,3074,2402,3358
$GC,5065,-0.74,-117.3,364.0,-7.2,223,5069,0.00,2.38,0.00,0.000,4,0.000,0.080,3074,3812,3358
$GC,5120,-0.68,-117.3,368.3,-8.2,223,5127,0.00,2.28,0.00,0.000,6,0.000,0.054,3074,2401,3358
$GC,5431,-0.68,-117.3,391.2,-7.4,229,5435,0.00,2.40,0.00,0.000,4,0.000,0.069,3074,993,3358
$GC,5486,-0.68,-117.3,395.7,-8.0,229,5492,0.00,2.30,0.00,0.000,6,0.000,0.061,3074,2407,3357
$GC,5797,-0.62,-117.3,419.3,-7.7,235,5798,0.15,0.00,0.00,0.000,6,0.147,0.000,3115,2407,3357
$GC,6100,-0.67,-117.3,438.7,-6.3,240,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2407,3357
$GC,6402,-0.72,-117.3,457.2,-6.1,245,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2407,3357
$GC,6706,-0.78,-117.3,475.7,-6.1,250,6708,0.15,0.00,0.00,0.000,6,0.081,0.000,3057,2407,3356
$GC,7009,-0.73,-117.3,498.4,-7.5,255,7013,0.00,2.38,0.00,0.000,4,0.000,0.071,3058,993,3356
$GC,7043,-0.66,-117.3,501.3,-8.9,255,7047,0.17,2.30,0.00,0.000,6,0.146,0.062,3105,2408,3356
$GC,7368,-0.66,-117.3,522.3,-6.3,261,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2408,3356
$GC,7672,-0.66,-117.3,541.5,-6.4,266,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2408,3356
$GC,7976,-0.71,-117.3,560.7,-6.3,271,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3356
$GC,8279,-0.75,-117.3,580.5,-6.5,276,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3356
$GC,8581,-0.80,-117.3,599.5,-6.2,281,8586,0.15,2.47,0.00,0.000,4,0.084,0.069,3041,988,3355
$GC,8603,-0.75,-117.3,601.1,-7.5,281,8608,0.12,2.33,0.00,0.000,6,0.167,0.063,3072,2409,3355
$GC,8941,-0.70,-117.3,625.9,-7.4,287,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2409,3355
$GC,9245,-0.65,-117.3,649.1,-7.7,292,9246,0.12,0.00,0.00,0.000,6,0.170,0.000,3106,2409,3355
$GC,9547,-0.71,-117.3,668.6,-6.4,297,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2409,3355
$GC,9850,-0.77,-117.3,686.0,-5.7,302,9852,0.12,0.00,0.00,0.000,6,0.087,0.000,3059,2409,3355
$GC,10153,-0.77,-117.3,703.9,-5.8,307,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2409,3354
$GC,10457,-0.77,-117.3,720.1,-5.3,312,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2409,3354
$GC,10759,-0.77,-117.3,736.9,-5.6,317,10763,0.00,2.42,0.00,0.000,4,0.000,0.072,3059,993,3354
$GC,10786,-0.77,-117.3,738.7,-6.7,317,10790,0.00,2.33,0.00,0.000,6,0.000,0.064,3058,2411,3355
$GC,11118,-0.72,-117.3,760.2,-6.6,323,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2411,3354
$GC,11422,-0.67,-117.3,781.5,-7.0,328,11427,0.15,2.42,0.00,0.000,4,0.148,0.071,3106,991,3354
$GC,11455,-0.75,-117.3,783.6,-5.9,328,11459,0.00,2.33,0.00,0.000,6,0.000,0.064,3106,2409,3354
$GC,11781,-0.96,-117.3,803.0,-6.2,334,11786,0.25,2.38,0.00,0.000,4,0.089,0.072,3012,993,3354
$GC,12005,-0.78,-117.3,822.2,-8.7,337,12010,0.20,2.30,0.00,0.000,6,0.170,0.064,3065,2398,3354
$GC,12344,-0.73,-117.3,845.9,-7.0,343,12345,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2398,3354
$GC,12647,-0.69,-117.3,867.5,-7.2,348,12649,0.10,0.00,0.00,0.000,6,0.185,0.000,3090,2398,3353
$GC,12950,-0.69,-117.3,885.9,-6.0,353,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3354
$GC,13253,-0.69,-117.3,903.6,-5.8,358,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3354
$GC,13556,-0.69,-117.3,920.2,-5.4,363,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2398,3354
$GC,13860,-0.69,-117.3,935.0,-4.9,368,13864,0.00,2.40,0.00,0.000,4,0.000,0.073,3090,994,3353
$GC,13887,-0.73,-117.3,936.6,-5.6,368,13891,0.00,2.33,0.00,0.000,6,0.000,0.064,3089,2408,3353
$GC,14226,-0.73,-117.3,953.2,-4.9,374,14227,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2408,3353
$GC,14528,-0.73,-117.3,968.9,-5.2,379,14529,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2408,3352
$GC,14832,-0.73,-117.3,985.2,-5.4,384,14833,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2408,3352
$STATE,14950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14950,begin apogee
$GC,14957,-0.22,0.0,991.9,5.4,386,15073,0.52,0.00,108.62,1.486,6,0.139,0.000,3247,2203,2876
$STATE,15073,end apogee,CONTROL_FINISHED_OK
$STATE,15074,begin climb
$GC,15076,0.67,117.3,996.3,0.0,388,15198,0.85,0.00,113.55,1.437,6,0.089,0.000,3527,2203,2396
$GC,15502,0.37,117.3,975.7,7.4,395,15507,0.30,2.47,0.00,0.000,4,0.162,0.080,3438,3618,2394
$GC,15536,0.25,117.3,973.3,5.8,395,15541,0.15,2.40,0.00,0.000,6,0.184,0.064,3401,2197,2394
$GC,15863,0.33,136.1,958.7,4.5,401,15888,0.00,2.47,17.48,1.378,4,0.000,0.077,3410,783,2321
$GC,15912,0.44,177.2,956.3,3.8,401,15958,0.15,2.33,38.35,1.416,6,0.085,0.061,3469,2200,2152
$GC,16298,0.37,177.2,927.5,7.7,408,16303,0.12,2.33,0.00,0.000,4,0.143,0.077,3435,3611,2148
$GC,16325,0.37,177.2,925.1,7.2,408,16329,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2198,2148
$GC,16664,0.37,177.2,903.4,6.3,414,16668,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,783,2147
$GC,16720,0.41,177.2,899.8,5.6,414,16726,0.00,2.30,0.00,0.000,6,0.000,0.061,3435,2214,2147
$GC,17029,0.41,177.2,880.0,6.4,420,17033,0.00,2.30,0.00,0.000,4,0.000,0.081,3436,3606,2146
$GC,17086,0.36,177.2,875.8,7.9,420,17093,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2198,2147
$GC,17396,0.36,177.2,854.7,6.8,426,17397,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2147
$GC,17699,0.36,177.2,833.8,6.9,431,17700,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2146
$GC,18002,0.36,177.2,813.2,6.8,436,18003,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2146
$GC,18305,0.36,177.2,793.5,6.5,441,18310,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,792,2146
$GC,18339,0.40,177.2,791.2,7.0,441,18343,0.00,2.28,0.00,0.000,6,0.000,0.061,3436,2200,2146
$GC,18665,0.40,177.2,770.4,6.5,447,18666,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2146
$GC,18968,0.40,177.2,750.8,6.4,452,18969,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2146
$GC,19272,0.40,177.2,731.5,6.4,457,19273,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2146
$GC,19574,0.40,177.2,713.5,5.9,462,19578,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,785,2146
$GC,19607,0.46,177.2,711.5,5.5,462,19611,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2204,2146
$GC,19933,0.46,177.2,693.7,5.4,468,19937,0.00,2.33,0.00,0.000,4,0.000,0.080,3435,3609,2146
$GC,19972,0.46,177.2,691.4,6.3,468,19976,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2197,2146
$GC,20293,0.50,177.2,673.8,5.6,474,20295,0.12,0.00,0.00,0.000,6,0.094,0.000,3489,2197,2146
$GC,20596,0.40,177.2,651.4,7.4,479,20598,0.15,0.00,0.00,0.000,6,0.142,0.000,3448,2197,2145
$GC,20899,0.40,177.2,632.4,6.2,484,20900,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,2146
$GC,21202,0.40,177.2,614.5,5.9,489,21203,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,2146
$GC,21505,0.40,177.2,597.1,5.7,494,21506,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,2145
$GC,21808,0.40,177.2,579.4,5.8,499,21812,0.00,2.45,0.00,0.000,4,0.000,0.079,3447,3608,2146
$GC,21836,0.40,177.2,577.4,6.8,499,21840,0.00,2.35,0.00,0.000,6,0.000,0.062,3449,2201,2145
$GC,22174,0.40,177.2,557.8,5.8,505,22176,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2145
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$STATE,31042,end climb,SURFACE_DEPTH_REACHED
$STATE,31042,begin surface coast
$FINISH,2.7,1.004598
$STATE,31107,end surface coast,CONTROL_FINISHED_OK
$STATE,31107,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2096
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$TCM_TEMP,15.90
$XPDR_PINGS,934
$24V_AH,21.7,80.240
$10V_AH,10.5,54.654
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$DEVICE_SECS,29.800,175.000,384.100,0.000,0.000,79.959,87.952,404.415,233.500,0.000,0.000,34.780,1699.253,26617.723,543.892,2152.087,1032.243,33.363,1600.220,0.000,2111.844,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,624.958,603.448,1385.201,837.383,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47434,815
$CAP_FILE_SIZE,178584,0
$CFSIZE,260165632,226951168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,134237,5012.996,-14427.856,108,1.2,108,18.6