version: 66.03
glider: 120
mission: 9
dive: 353
start: 1 8 109 10 33 4
data:
$ID,120
$MISSION,9
$DIVE,353
$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,300
$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,-25180.811
$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,21
$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
$GPS1,101707,4954.503,-14508.693,32,1.6,32,18.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-74.3
$GPS2,103210,4954.584,-14508.706,12,2.9,31,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,0.093
$KALMAN_X,23632.8,5.5,-155.1,-46033.9,-1091.4
$KALMAN_Y,262675.0,-68.4,-238.9,-282655.3,1894.3
$MHEAD_RNG_PITCHd_Wd,40.2,31946,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-10.98,0.000,2,0.000,0.000,136,2413,1920
$GC,38,-0.67,-117.3,4.1,-0.0,1,124,14.45,2.53,-61.75,0.000,4,0.293,0.082,3092,991,3357
$GC,377,-0.50,-117.3,33.9,-9.4,31,383,0.25,2.30,0.00,0.000,6,0.159,0.063,3154,2398,3358
$GC,705,-0.50,-117.3,58.9,-8.2,62,711,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2398,3358
$GC,1039,-0.50,-117.3,82.8,-6.7,92,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2398,3358
$GC,1349,-0.50,-117.3,104.3,-6.9,107,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2398,3359
$GC,1658,-0.55,-117.3,124.5,-6.4,122,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2398,3359
$GC,1968,-0.63,-117.3,144.8,-6.7,137,1972,0.12,2.40,0.00,0.000,4,0.084,0.068,3106,984,3359
$GC,2040,-0.63,-117.3,150.3,-7.9,140,2044,0.00,2.33,0.00,0.000,6,0.000,0.062,3106,2410,3359
$GC,2353,-0.63,-117.3,171.5,-6.6,150,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,2659,-0.63,-117.3,190.5,-6.1,160,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,2965,-0.63,-117.3,211.7,-7.0,170,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,3271,-0.63,-117.3,232.3,-6.6,180,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2410,3359
$GC,3577,-0.63,-117.3,252.0,-6.4,190,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,3883,-0.63,-117.3,272.1,-6.6,200,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,4190,-0.63,-117.3,291.8,-6.4,210,4194,0.00,2.42,0.00,0.000,4,0.000,0.071,3106,982,3358
$GC,4240,-0.70,-117.3,295.3,-6.9,211,4244,0.00,2.33,0.00,0.000,6,0.000,0.063,3106,2410,3359
$GC,4580,-0.70,-117.3,317.3,-6.5,218,4584,0.00,2.33,0.00,0.000,4,0.000,0.082,3105,3805,3358
$GC,4619,-0.70,-117.3,319.9,-6.8,218,4623,0.00,2.30,0.00,0.000,6,0.000,0.056,3106,2391,3358
$GC,4946,-0.70,-117.3,339.7,-6.0,224,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2392,3358
$GC,5249,-0.75,-117.3,359.0,-6.4,229,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2391,3358
$GC,5552,-0.75,-117.3,377.4,-6.1,234,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2391,3358
$GC,5855,-0.79,-117.3,395.8,-6.0,239,5860,0.12,2.47,0.00,0.000,4,0.094,0.081,3056,3807,3357
$GC,5888,-0.68,-117.3,398.4,-8.8,239,5893,0.15,2.33,0.00,0.000,6,0.124,0.057,3098,2394,3357
$GC,6214,-0.68,-117.3,420.9,-6.9,245,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,6517,-0.68,-117.3,441.0,-6.6,250,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,6821,-0.68,-117.3,461.9,-6.9,255,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,7124,-0.68,-117.3,481.6,-6.4,260,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,7427,-0.68,-117.3,500.1,-6.1,265,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,7730,-0.68,-117.3,518.1,-5.9,270,7734,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,991,3357
$GC,7762,-0.68,-117.3,520.2,-6.5,270,7766,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2398,3357
$GC,8095,-0.68,-117.3,539.7,-6.0,276,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,8398,-0.68,-117.3,558.3,-6.2,281,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3357
$GC,8701,-0.68,-117.3,577.0,-6.2,286,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,9004,-0.68,-117.3,595.5,-6.1,291,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,9307,-0.68,-117.3,614.4,-6.2,296,9311,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,993,3356
$GC,9345,-0.68,-117.3,617.0,-6.7,296,9349,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2404,3356
$GC,9666,-0.68,-117.3,636.6,-6.1,302,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3356
$GC,9969,-0.68,-117.3,655.0,-6.1,307,9973,0.00,2.40,0.00,0.000,4,0.000,0.072,3098,990,3355
$GC,10001,-0.68,-117.3,657.0,-5.9,307,10005,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2401,3355
$GC,10334,-0.68,-117.3,677.1,-6.1,313,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3355
$GC,10637,-0.68,-117.3,694.4,-5.7,318,10641,0.00,2.38,0.00,0.000,4,0.000,0.084,3098,3809,3355
$GC,10664,-0.74,-117.3,696.1,-5.9,318,10668,0.00,2.28,0.00,0.000,6,0.000,0.057,3098,2392,3355
$GC,11002,-0.92,-117.3,717.2,-6.5,324,11006,0.20,2.35,0.00,0.000,4,0.092,0.072,3025,995,3355
$GC,11225,-0.76,-117.3,735.0,-8.2,327,11230,0.17,2.30,0.00,0.000,6,0.169,0.066,3071,2398,3355
$GC,11564,-0.72,-117.3,755.2,-6.0,333,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2398,3355
$GC,11866,-0.67,-117.3,772.5,-5.6,338,11871,0.00,2.38,0.00,0.000,4,0.000,0.084,3072,3817,3355
$GC,11901,-0.67,-117.3,774.4,-5.3,338,11905,0.00,2.28,0.00,0.000,6,0.000,0.058,3071,2390,3355
$GC,12227,-0.67,-117.3,793.0,-5.8,344,12231,0.00,2.30,0.00,0.000,4,0.000,0.074,3071,989,3355
$GC,12254,-0.67,-117.3,794.6,-6.0,344,12258,0.00,2.33,0.00,0.000,6,0.000,0.065,3071,2414,3354
$GC,12591,-0.67,-117.3,815.7,-6.3,350,12595,0.00,2.35,0.00,0.000,4,0.000,0.084,3071,3812,3354
$GC,12630,-0.67,-117.3,818.3,-6.4,350,12634,0.00,2.28,0.00,0.000,6,0.000,0.058,3071,2394,3354
$GC,12951,-0.67,-117.3,838.1,-6.2,356,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3354
$GC,13254,-0.67,-117.3,857.6,-6.4,361,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3354
$GC,13556,-0.67,-117.3,877.3,-6.6,366,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2394,3354
$GC,13860,-0.67,-117.3,897.7,-6.7,371,13861,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3354
$GC,14163,-0.67,-117.3,917.7,-6.6,376,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3354
$GC,14466,-0.67,-117.3,936.5,-6.2,381,14470,0.00,2.42,0.00,0.000,4,0.000,0.085,3071,3808,3353
$GC,14493,-0.67,-117.3,938.3,-6.6,381,14497,0.00,2.28,0.00,0.000,6,0.000,0.059,3071,2400,3354
$GC,14825,-0.67,-117.3,958.6,-6.2,387,14826,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3353
$GC,15128,-0.67,-117.3,978.5,-6.6,392,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3354
$STATE,15308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15308,begin apogee
$GC,15315,-0.22,0.0,990.6,6.6,395,15430,0.57,0.00,108.30,1.490,6,0.150,0.000,3243,2196,2876
$STATE,15431,end apogee,CONTROL_FINISHED_OK
$STATE,15431,begin climb
$GC,15434,0.67,117.3,995.6,0.0,397,15551,0.90,0.00,112.88,1.436,6,0.100,0.000,3529,2196,2396
$GC,15857,0.35,117.3,976.3,7.3,403,15859,0.35,0.00,0.00,0.000,6,0.166,0.000,3432,2196,2394
$GC,16159,0.32,127.3,961.6,4.7,408,16171,0.00,0.00,10.27,1.298,6,0.000,0.000,3432,2196,2356
$GC,16461,0.32,129.1,946.5,4.9,413,16466,0.00,2.42,0.00,0.000,4,0.000,0.079,3439,789,2355
$GC,16511,0.32,129.1,943.8,5.0,413,16515,0.00,2.33,0.00,0.000,6,0.000,0.063,3439,2208,2355
$GC,16827,0.26,129.1,927.4,5.3,419,16832,0.15,2.38,0.00,0.000,4,0.171,0.081,3387,3622,2354
$GC,16867,0.32,133.9,925.4,4.9,419,16881,0.00,2.33,7.35,1.219,6,0.000,0.062,3394,2191,2329
$GC,17192,0.45,165.1,911.9,4.1,425,17224,0.20,0.00,29.17,1.414,6,0.085,0.000,3471,2191,2202
$GC,17496,0.35,165.1,892.1,6.7,430,17501,0.15,2.45,0.00,0.000,4,0.152,0.080,3426,3620,2199
$GC,17529,0.35,165.1,889.8,6.1,430,17533,0.00,2.38,0.00,0.000,6,0.000,0.064,3426,2193,2199
$GC,17856,0.39,165.1,872.5,5.4,436,17860,0.00,2.35,0.00,0.000,4,0.000,0.081,3426,788,2199
$GC,17906,0.45,165.1,869.7,5.1,436,17911,0.12,2.30,0.00,0.000,6,0.093,0.061,3473,2209,2199
$GC,18216,0.36,165.1,848.7,6.9,441,18218,0.15,0.00,0.00,0.000,6,0.147,0.000,3432,2209,2198
$GC,18519,0.36,165.1,831.5,5.6,446,18520,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2209,2198
$GC,18821,0.36,165.1,815.7,5.2,451,18822,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2209,2198
$GC,19124,0.36,165.1,800.3,5.1,456,19126,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2209,2198
$GC,19429,0.36,166.4,785.2,5.0,461,19433,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,779,2198
$GC,19463,0.36,166.4,783.5,5.4,461,19467,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2201,2198
$GC,19789,0.36,166.4,766.5,5.2,467,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2198
$GC,20092,0.36,166.4,749.4,5.6,472,20093,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2198
$GC,20395,0.36,166.4,731.0,6.1,477,20397,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2197
$GC,20698,0.36,166.4,712.7,6.0,482,20702,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,790,2197
$GC,20731,0.40,166.4,710.6,5.2,482,20735,0.00,2.28,0.00,0.000,6,0.000,0.063,3436,2199,2197
$GC,21064,0.40,166.4,691.8,5.6,488,21068,0.00,2.33,0.00,0.000,4,0.000,0.080,3435,3608,2197
$GC,21098,0.36,166.4,689.7,6.3,488,21101,0.00,2.28,0.00,0.000,6,0.000,0.064,3436,2197,2197
$GC,21430,0.36,166.4,671.9,5.4,494,21431,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2197
$GC,21732,0.36,166.4,655.4,5.5,499,21737,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,786,2197
$GC,21777,0.41,166.4,653.0,5.5,499,21782,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2210,2197
$GC,22092,0.41,166.4,636.0,5.4,505,22096,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,787,2197
$GC,22137,0.46,166.4,633.6,5.9,505,22141,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2207,2197
$GC,22451,0.46,170.7,617.9,4.9,511,22459,0.00,0.00,5.97,1.020,6,0.000,0.000,3436,2207,2179
$GC,22756,0.52,184.4,603.8,4.6,516,22772,0.15,0.00,13.73,1.186,6,0.091,0.000,3495,2207,2124
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$STATE,32660,end climb,SURFACE_DEPTH_REACHED
$STATE,32660,begin surface coast
$FINISH,2.8,1.025553
$STATE,32715,end surface coast,CONTROL_FINISHED_OK
$STATE,32716,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2108
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$TCM_TEMP,15.70
$XPDR_PINGS,981
$24V_AH,21.6,69.797
$10V_AH,10.6,47.198
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$DEVICE_SECS,30.025,178.925,369.250,21.475,0.000,112.276,221.000,228.855,245.250,0.000,0.000,32.272,1776.880,28033.070,554.397,2292.288,997.751,33.381,1675.500,0.000,2254.580,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,650.076,633.888,1439.036,872.313,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47459,847
$CAP_FILE_SIZE,181631,0
$CFSIZE,260165632,231211008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080109,194006,4956.771,-14504.478,24,1.4,24,18.4