version: 66.03
glider: 120
mission: 9
dive: 412
start: 1 30 109 17 34 15
data:
$ID,120
$MISSION,9
$DIVE,412
$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,-26434.674
$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,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
$GPS1,172637,5003.119,-14428.000,35,1.6,35,18.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-61.4
$GPS2,173320,5003.104,-14427.977,15,2.0,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.033,-0.175
$KALMAN_X,-6875.2,73.2,-140.4,62237.8,824.2
$KALMAN_Y,20167.0,-443.5,-179.7,-20220.9,3287.4
$MHEAD_RNG_PITCHd_Wd,172.0,16984,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-10.68,0.000,2,0.000,0.000,136,2412,1386
$GC,40,-0.67,-117.3,3.7,-0.0,1,149,13.15,2.42,-90.12,0.000,4,0.262,0.094,3095,3807,3356
$GC,318,-0.50,-117.3,24.6,-7.9,26,325,0.20,2.30,0.00,0.000,6,0.156,0.054,3151,2386,3357
$GC,647,-0.50,-117.3,52.5,-10.7,57,651,0.00,2.35,0.00,0.000,4,0.000,0.069,3151,986,3357
$GC,698,-0.50,-117.3,59.1,-10.5,61,702,0.00,2.33,0.00,0.000,6,0.000,0.061,3151,2411,3357
$GC,1032,-0.50,-117.3,86.6,-7.3,88,1036,0.00,2.35,0.00,0.000,4,0.000,0.080,3146,3808,3357
$GC,1064,-0.50,-117.3,89.5,-9.0,89,1071,0.00,2.25,0.00,0.000,6,0.000,0.054,3146,2401,3357
$GC,1381,-0.55,-117.3,111.6,-6.1,105,1385,0.00,2.40,0.00,0.000,4,0.000,0.067,3146,988,3357
$GC,1489,-0.59,-117.3,119.6,-7.6,110,1493,0.00,2.33,0.00,0.000,6,0.000,0.060,3143,2401,3358
$GC,1816,-0.65,-117.3,139.1,-5.4,126,1821,0.12,2.40,0.00,0.000,4,0.081,0.076,3089,3817,3357
$GC,1895,-0.58,-117.3,144.8,-7.6,129,1902,0.15,2.25,0.00,0.000,6,0.110,0.054,3132,2398,3358
$GC,2229,-0.58,-117.3,164.4,-5.9,142,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2398,3358
$GC,2535,-0.63,-117.3,182.3,-5.9,152,2540,0.00,2.38,0.00,0.000,4,0.000,0.067,3132,985,3358
$GC,2575,-0.70,-117.3,185.0,-6.8,153,2580,0.12,2.33,0.00,0.000,6,0.086,0.059,3081,2406,3358
$GC,2899,-0.70,-117.3,208.7,-7.3,164,2903,0.00,2.38,0.00,0.000,4,0.000,0.077,3081,3815,3358
$GC,2943,-0.63,-117.3,212.3,-7.9,165,2948,0.10,2.28,0.00,0.000,6,0.100,0.054,3109,2391,3358
$GC,3262,-0.63,-117.3,234.0,-6.7,176,3266,0.00,2.38,0.00,0.000,4,0.000,0.068,3109,994,3358
$GC,3295,-0.63,-117.3,236.4,-7.2,177,3299,0.00,2.30,0.00,0.000,6,0.000,0.060,3109,2411,3358
$GC,3625,-0.63,-117.3,258.4,-6.5,188,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2411,3358
$GC,3931,-0.63,-117.3,277.7,-6.3,198,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2411,3358
$GC,4237,-0.63,-117.3,297.5,-6.4,208,4242,0.00,2.42,0.00,0.000,4,0.000,0.068,3109,995,3358
$GC,4287,-0.63,-117.3,301.0,-6.4,209,4291,0.00,2.33,0.00,0.000,6,0.000,0.062,3109,2411,3357
$GC,4603,-0.63,-117.3,320.8,-6.3,215,4607,0.00,2.40,0.00,0.000,4,0.000,0.068,3109,992,3358
$GC,4646,-0.63,-117.3,323.7,-6.6,215,4651,0.00,2.33,0.00,0.000,6,0.000,0.061,3109,2412,3358
$GC,4962,-0.63,-117.3,342.5,-5.9,221,4966,0.00,2.38,0.00,0.000,4,0.000,0.069,3109,988,3357
$GC,5007,-0.63,-117.3,345.2,-6.0,221,5011,0.00,2.33,0.00,0.000,6,0.000,0.061,3109,2412,3357
$GC,5322,-0.63,-117.3,363.3,-5.8,227,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2412,3357
$GC,5625,-0.63,-117.3,381.8,-6.1,232,5629,0.00,2.35,0.00,0.000,4,0.000,0.071,3109,989,3357
$GC,5664,-0.63,-117.3,384.5,-6.7,232,5668,0.00,2.30,0.00,0.000,6,0.000,0.061,3109,2406,3357
$GC,5985,-0.63,-117.3,405.4,-6.5,238,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3356
$GC,6288,-0.63,-117.3,424.3,-6.2,243,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3356
$GC,6592,-0.68,-117.3,443.3,-6.3,248,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3356
$GC,6896,-0.72,-117.3,461.6,-6.0,253,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3356
$GC,7198,-0.77,-117.3,478.5,-5.5,258,7200,0.12,0.00,0.00,0.000,6,0.091,0.000,3060,2406,3356
$GC,7501,-0.77,-117.3,497.2,-6.3,263,7505,0.00,2.42,0.00,0.000,4,0.000,0.071,3060,988,3356
$GC,7534,-0.70,-117.3,499.6,-7.3,263,7538,0.00,2.30,0.00,0.000,6,0.000,0.062,3060,2408,3356
$GC,7867,-0.63,-117.3,523.0,-7.2,269,7869,0.17,0.00,0.00,0.000,6,0.149,0.000,3109,2408,3355
$GC,8170,-0.68,-117.3,539.8,-5.4,274,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3356
$GC,8473,-0.74,-117.3,556.1,-5.4,279,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3356
$GC,8776,-0.79,-117.3,572.1,-5.3,284,8781,0.15,2.45,0.00,0.000,4,0.086,0.069,3054,996,3355
$GC,8816,-0.73,-117.3,574.8,-7.3,284,8820,0.00,2.33,0.00,0.000,6,0.000,0.063,3053,2402,3354
$GC,9137,-0.64,-117.3,597.4,-7.0,290,9139,0.20,0.00,0.00,0.000,6,0.152,0.000,3111,2402,3354
$GC,9440,-0.71,-117.3,613.5,-5.3,295,9444,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,995,3354
$GC,9474,-0.80,-117.3,615.5,-6.3,295,9478,0.15,2.30,0.00,0.000,6,0.082,0.063,3058,2406,3354
$GC,9799,-0.80,-117.3,636.5,-6.5,301,9803,0.00,2.35,0.00,0.000,4,0.000,0.081,3058,3818,3354
$GC,9828,-0.73,-117.3,638.6,-8.0,301,9832,0.00,2.25,0.00,0.000,6,0.000,0.056,3058,2401,3354
$GC,10161,-0.73,-117.3,660.5,-6.6,307,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2402,3354
$GC,10463,-0.73,-117.3,680.8,-6.7,312,10467,0.00,2.35,0.00,0.000,4,0.000,0.071,3058,989,3354
$GC,10496,-0.69,-117.3,683.1,-7.2,312,10500,0.12,2.30,0.00,0.000,6,0.142,0.063,3090,2401,3354
$GC,10822,-0.69,-117.3,703.1,-6.1,318,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2401,3354
$GC,11125,-0.69,-117.3,721.4,-6.1,323,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2401,3354
$GC,11428,-0.69,-117.3,739.9,-6.1,328,11432,0.00,2.35,0.00,0.000,4,0.000,0.072,3090,994,3353
$GC,11455,-0.69,-117.3,742.0,-7.9,328,11459,0.00,2.30,0.00,0.000,6,0.000,0.064,3088,2402,3353
$GC,11793,-0.69,-117.3,763.2,-6.4,334,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2402,3353
$GC,12097,-0.69,-117.3,781.8,-6.0,339,12098,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2402,3353
$GC,12399,-0.69,-117.3,799.1,-5.7,344,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2402,3353
$GC,12703,-0.69,-117.3,815.6,-5.4,349,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2402,3353
$GC,13005,-0.69,-117.3,832.3,-5.5,354,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2402,3353
$GC,13308,-0.69,-117.3,849.7,-5.7,359,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2402,3352
$GC,13612,-0.69,-117.3,867.1,-5.8,364,13616,0.00,2.45,0.00,0.000,4,0.000,0.072,3088,996,3352
$GC,13657,-0.69,-117.3,870.1,-6.4,364,13661,0.00,2.33,0.00,0.000,6,0.000,0.064,3088,2405,3352
$GC,13973,-0.69,-117.3,888.5,-5.8,370,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2405,3352
$GC,14275,-0.69,-117.3,906.1,-5.8,375,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2405,3352
$GC,14579,-0.69,-117.3,924.4,-6.0,380,14583,0.00,2.42,0.00,0.000,4,0.000,0.072,3088,996,3352
$GC,14623,-0.74,-117.3,927.3,-6.0,380,14627,0.00,2.33,0.00,0.000,6,0.000,0.064,3088,2402,3352
$GC,14938,-0.74,-117.3,945.0,-5.5,386,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2401,3352
$GC,15241,-0.78,-117.3,960.8,-5.2,391,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2401,3352
$GC,15545,-0.82,-117.3,976.7,-5.3,396,15547,0.10,0.00,0.00,0.000,6,0.093,0.000,3048,2402,3351
$STATE,15785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15785,begin apogee
$GC,15792,-0.22,0.0,991.1,6.0,400,15906,0.65,0.00,108.05,1.490,6,0.133,0.000,3247,2198,2876
$STATE,15907,end apogee,CONTROL_FINISHED_OK
$STATE,15907,begin climb
$GC,15910,0.67,117.3,995.5,0.0,402,16032,0.85,0.00,113.47,1.440,6,0.092,0.000,3525,2198,2397
$GC,16336,0.36,117.3,977.0,6.8,409,16338,0.32,0.00,0.00,0.000,6,0.166,0.000,3436,2198,2394
$GC,16638,0.41,154.5,964.7,3.9,414,16674,0.00,0.00,33.78,1.424,6,0.000,0.000,3435,2198,2246
$GC,16941,0.41,160.1,950.4,4.8,419,16950,0.00,0.00,6.55,1.164,6,0.000,0.000,3435,2198,2223
$GC,17245,0.41,160.1,935.1,5.1,424,17249,0.00,2.47,0.00,0.000,4,0.000,0.077,3444,785,2222
$GC,17300,0.41,160.1,931.9,5.3,424,17307,0.00,2.30,0.00,0.000,6,0.000,0.063,3444,2201,2222
$GC,17610,0.41,160.1,915.1,5.5,430,17612,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2201,2222
$GC,17913,0.41,160.1,898.6,5.5,435,17914,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2201,2221
$GC,18216,0.41,160.1,881.3,5.7,440,18220,0.00,2.42,0.00,0.000,4,0.000,0.077,3449,787,2221
$GC,18267,0.41,160.1,878.2,5.8,440,18271,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2206,2221
$GC,18577,0.37,160.1,858.9,6.2,445,18578,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2221
$GC,18880,0.37,160.1,839.8,6.3,450,18881,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2221
$GC,19183,0.33,160.1,820.0,6.5,455,19187,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,789,2221
$GC,19233,0.33,160.1,816.6,6.6,455,19237,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2205,2221
$GC,19543,0.33,160.1,797.0,6.4,460,19547,0.00,2.33,0.00,0.000,4,0.000,0.081,3449,3604,2221
$GC,19587,0.23,160.1,793.9,7.5,460,19592,0.20,2.28,0.00,0.000,6,0.166,0.064,3396,2198,2221
$GC,19904,0.39,184.8,780.0,4.3,466,19929,0.15,0.00,23.15,1.338,6,0.084,0.000,3454,2198,2122
$GC,20206,0.39,184.8,763.5,5.5,471,20207,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2198,2119
$GC,20508,0.39,184.8,746.3,5.7,476,20512,0.00,2.42,0.00,0.000,4,0.000,0.078,3454,784,2119
$GC,20547,0.39,184.8,743.8,6.1,476,20551,0.00,2.30,0.00,0.000,6,0.000,0.062,3454,2198,2119
$GC,20868,0.39,184.8,724.0,6.3,482,20869,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2198,2119
$GC,21171,0.39,184.8,704.4,6.5,487,21172,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2198,2119
$GC,21474,0.39,184.8,684.9,6.4,492,21478,0.00,2.40,0.00,0.000,4,0.000,0.078,3455,786,2118
$GC,21506,0.39,184.8,682.6,6.0,492,21510,0.00,2.30,0.00,0.000,6,0.000,0.064,3455,2204,2119
$GC,21840,0.39,184.8,662.4,6.1,498,21844,0.00,2.35,0.00,0.000,4,0.000,0.082,3454,3612,2118
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$STATE,32018,end climb,SURFACE_DEPTH_REACHED
$STATE,32018,begin surface coast
$FINISH,4.9,1.025562
$STATE,32029,end surface coast,CONTROL_FINISHED_OK
$STATE,32029,begin surface
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$HUMID,2094
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$TCM_TEMP,15.90
$XPDR_PINGS,971
$24V_AH,21.6,81.060
$10V_AH,10.5,55.203
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$DEVICE_SECS,29.600,225.800,402.000,0.000,0.000,30.702,39.360,186.248,242.750,0.000,0.000,15.211,1782.473,27047.514,608.516,2331.410,732.603,33.365,1781.244,0.000,2304.702,0.000,0.465
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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,47514,837
$CAP_FILE_SIZE,187419,0
$CFSIZE,260165632,226639872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310109,023037,5000.440,-14429.506,35,1.4,35,18.5