version: 66.03
glider: 120
mission: 9
dive: 525
start: 3 14 109 14 4 57
data:
$ID,120
$MISSION,9
$DIVE,525
$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,-29005.619
$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,22
$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
$GPS1,135706,5009.968,-14441.998,41,1.2,41,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-71.8
$GPS2,140402,5009.931,-14441.986,14,1.3,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.138,0.112
$KALMAN_X,-41015.8,-35.0,-30.5,79718.3,-2085.7
$KALMAN_Y,118746.0,-418.4,-242.4,-106124.1,387.7
$MHEAD_RNG_PITCHd_Wd,32.5,25043,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,47,0.00,0.00,-20.10,0.000,2,0.000,0.000,140,2407,2145
$GC,51,-0.67,-117.3,3.4,-4.7,2,116,13.98,2.42,-41.78,0.000,4,0.282,0.083,3093,998,3356
$GC,231,-0.50,-117.3,16.8,-11.1,18,236,0.20,2.33,0.00,0.000,6,0.156,0.065,3149,2398,3357
$GC,559,-0.50,-117.3,40.7,-10.4,48,564,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3357
$GC,884,-0.50,-117.3,65.4,-7.4,79,885,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3357
$GC,1211,-0.50,-117.3,91.4,-8.6,104,1215,0.00,2.35,0.00,0.000,4,0.000,0.070,3150,992,3358
$GC,1267,-0.50,-117.3,96.6,-8.8,106,1273,0.00,2.33,0.00,0.000,6,0.000,0.062,3149,2410,3358
$GC,1583,-0.54,-117.3,121.7,-8.3,122,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2411,3357
$GC,1893,-0.61,-117.3,141.1,-6.4,137,1898,0.00,2.38,0.00,0.000,4,0.000,0.082,3142,3817,3358
$GC,1916,-0.70,-117.3,142.7,-6.3,138,1921,0.15,2.28,0.00,0.000,6,0.080,0.053,3086,2389,3357
$GC,2246,-0.70,-117.3,165.7,-6.4,151,2250,0.00,2.33,0.00,0.000,4,0.000,0.070,3086,988,3358
$GC,2344,-0.70,-117.3,173.5,-7.9,154,2348,0.00,2.33,0.00,0.000,6,0.000,0.061,3086,2402,3358
$GC,2680,-0.64,-117.3,200.8,-8.3,165,2684,0.00,2.38,0.00,0.000,4,0.000,0.079,3086,3816,3357
$GC,2743,-0.58,-117.3,206.4,-9.0,167,2748,0.15,2.28,0.00,0.000,6,0.129,0.054,3126,2389,3357
$GC,3080,-0.63,-117.3,230.6,-7.0,178,3084,0.00,2.33,0.00,0.000,4,0.000,0.068,3127,997,3358
$GC,3130,-0.69,-117.3,234.3,-6.9,179,3135,0.00,2.33,0.00,0.000,6,0.000,0.061,3126,2411,3357
$GC,3444,-0.94,-117.3,255.3,-6.5,189,3449,0.30,2.40,0.00,0.000,4,0.084,0.067,3015,993,3358
$GC,3456,-1.12,-117.3,256.2,-6.5,189,3461,0.17,2.33,0.00,0.000,6,0.071,0.062,2945,2405,3357
$GC,3775,-0.63,-117.3,301.6,-14.9,200,3780,0.60,2.40,0.00,0.000,4,0.189,0.078,3100,3809,3358
$GC,3960,-0.63,-117.3,315.0,-6.5,202,3964,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2394,3358
$GC,4270,-0.63,-117.3,334.2,-6.2,207,4274,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,993,3358
$GC,4321,-0.63,-117.3,337.4,-6.2,207,4325,0.00,2.33,0.00,0.000,6,0.000,0.061,3100,2404,3357
$GC,4632,-0.63,-117.3,356.6,-6.2,212,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3358
$GC,4934,-0.63,-117.3,375.9,-6.4,217,4938,0.00,2.40,0.00,0.000,4,0.000,0.070,3100,986,3357
$GC,4984,-0.63,-117.3,379.0,-6.4,217,4988,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2409,3357
$GC,5294,-0.63,-117.3,397.3,-5.9,222,5298,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3818,3357
$GC,5321,-0.63,-117.3,399.1,-6.3,222,5325,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2388,3357
$GC,5660,-0.63,-117.3,420.1,-6.2,228,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3358
$GC,5962,-0.63,-117.3,440.5,-6.8,233,5967,0.00,2.42,0.00,0.000,4,0.000,0.082,3100,3808,3357
$GC,6007,-0.63,-117.3,443.8,-7.4,233,6011,0.00,2.25,0.00,0.000,6,0.000,0.055,3100,2401,3357
$GC,6324,-0.63,-117.3,466.9,-7.4,239,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,6626,-0.63,-117.3,490.4,-7.7,244,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,6929,-0.63,-117.3,511.4,-6.8,249,6934,0.00,2.42,0.00,0.000,4,0.000,0.082,3100,3812,3356
$GC,6958,-0.67,-117.3,513.3,-6.8,249,6962,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2396,3356
$GC,7296,-0.67,-117.3,534.3,-6.2,255,7300,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,985,3356
$GC,7325,-0.67,-117.3,536.2,-7.1,255,7329,0.00,2.35,0.00,0.000,6,0.000,0.061,3100,2410,3357
$GC,7663,-0.67,-117.3,555.4,-5.6,261,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3356
$GC,7966,-0.67,-117.3,573.1,-5.9,266,7970,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,992,3356
$GC,7995,-0.72,-117.3,574.9,-6.9,266,7999,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2409,3356
$GC,8328,-0.72,-117.3,594.8,-5.9,272,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3356
$GC,8630,-0.72,-117.3,612.2,-5.7,277,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3356
$GC,8934,-0.72,-117.3,628.4,-5.3,282,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3356
$GC,9236,-0.72,-117.3,643.9,-5.0,287,9241,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,988,3355
$GC,9265,-0.77,-117.3,645.5,-6.2,287,9270,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2407,3356
$GC,9598,-0.77,-117.3,664.2,-5.8,293,9602,0.00,2.40,0.00,0.000,4,0.000,0.083,3100,3815,3355
$GC,9631,-0.84,-117.3,666.4,-6.8,293,9636,0.17,2.28,0.00,0.000,6,0.084,0.055,3036,2401,3355
$GC,9959,-0.75,-117.3,693.1,-8.4,299,9963,0.12,2.40,0.00,0.000,4,0.102,0.072,3078,987,3355
$GC,10003,-0.75,-117.3,697.1,-8.3,299,10007,0.00,2.35,0.00,0.000,6,0.000,0.063,3073,2403,3355
$GC,10318,-0.71,-117.3,722.0,-7.9,305,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3355
$GC,10621,-0.71,-117.3,744.4,-7.3,310,10625,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3815,3355
$GC,10655,-0.71,-117.3,746.9,-7.7,310,10659,0.00,2.28,0.00,0.000,6,0.000,0.057,3073,2400,3355
$GC,10982,-0.71,-117.3,769.3,-6.8,316,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3355
$GC,11286,-0.71,-117.3,788.5,-6.2,321,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3355
$GC,11589,-0.71,-117.3,805.9,-5.7,326,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2401,3354
$GC,11892,-0.71,-117.3,823.7,-5.9,331,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3355
$GC,12195,-0.71,-117.3,841.2,-5.8,336,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3354
$GC,12498,-0.71,-117.3,859.4,-6.0,341,12502,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,989,3354
$GC,12554,-0.71,-117.3,863.0,-7.2,341,12561,0.00,2.35,0.00,0.000,6,0.000,0.065,3073,2400,3354
$GC,12865,-0.71,-117.3,881.1,-5.8,347,12869,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3809,3354
$GC,12893,-0.71,-117.3,882.9,-6.5,347,12897,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2397,3353
$GC,13231,-0.71,-117.3,901.8,-5.6,353,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2397,3354
$GC,13534,-0.71,-117.3,919.2,-5.8,358,13538,0.00,2.38,0.00,0.000,4,0.000,0.074,3073,991,3353
$GC,13561,-0.71,-117.3,921.1,-6.9,358,13566,0.00,2.38,0.00,0.000,6,0.000,0.066,3073,2411,3353
$GC,13895,-0.71,-117.3,942.7,-6.6,364,13896,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3354
$GC,14197,-0.71,-117.3,963.5,-6.9,369,14198,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2411,3353
$GC,14500,-0.71,-117.3,984.5,-6.9,374,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3353
$STATE,14619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14619,begin apogee
$GC,14626,-0.22,0.0,992.6,6.9,376,14741,0.57,0.00,108.97,1.483,6,0.146,0.000,3243,2197,2875
$STATE,14742,end apogee,CONTROL_FINISHED_OK
$STATE,14742,begin climb
$GC,14746,0.67,117.3,998.3,0.0,378,14864,0.90,0.00,115.05,1.430,6,0.089,0.000,3534,2197,2397
$GC,15165,0.34,117.3,980.3,7.1,385,15168,0.38,0.00,0.00,0.000,6,0.164,0.000,3429,2197,2394
$GC,15468,0.35,129.5,966.0,4.7,390,15482,0.00,0.00,11.80,1.323,6,0.000,0.000,3429,2197,2348
$GC,15772,0.35,129.6,950.8,5.0,395,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2197,2347
$GC,16074,0.37,143.6,936.7,4.6,400,16094,0.00,2.45,14.07,1.356,4,0.000,0.080,3436,789,2290
$GC,16134,0.39,157.2,933.8,4.6,400,16154,0.00,2.33,14.02,1.337,6,0.000,0.061,3436,2211,2234
$GC,16512,0.39,157.2,914.8,5.0,407,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2232
$GC,16814,0.39,157.2,898.4,5.5,412,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2232
$GC,17117,0.39,157.2,880.7,5.9,417,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2231
$GC,17420,0.39,157.2,862.8,5.9,422,17424,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,790,2232
$GC,17484,0.39,157.2,859.3,5.8,423,17488,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2207,2232
$GC,17850,0.39,157.2,837.0,6.3,429,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2232
$GC,18153,0.39,157.2,818.6,6.0,434,18154,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2231
$GC,18456,0.39,157.2,801.2,5.7,439,18457,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2207,2231
$GC,18759,0.39,157.2,785.1,5.3,444,18763,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,779,2231
$GC,18815,0.40,167.3,782.2,4.7,444,18830,0.00,2.35,9.90,1.241,6,0.000,0.062,3436,2223,2193
$GC,19193,0.40,167.3,762.0,5.4,451,19194,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2222,2192
$GC,19496,0.40,167.3,745.8,5.4,456,19497,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2222,2192
$GC,19800,0.40,167.3,728.8,5.6,461,19801,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2222,2192
$GC,20102,0.40,167.3,711.3,5.8,466,20106,0.00,2.47,0.00,0.000,4,0.000,0.078,3436,781,2192
$GC,20147,0.45,167.3,708.6,6.2,466,20151,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2202,2192
$GC,20462,0.45,167.3,689.8,6.0,472,20463,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2192
$GC,20766,0.45,167.3,670.9,6.2,477,20770,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,780,2192
$GC,20799,0.49,167.3,668.6,6.9,477,20804,0.12,2.33,0.00,0.000,6,0.093,0.061,3486,2203,2192
$GC,21126,0.38,167.3,643.4,7.8,483,21131,0.15,2.38,0.00,0.000,4,0.144,0.079,3440,3613,2192
$GC,21194,0.33,167.3,638.3,8.3,484,21198,0.00,2.33,0.00,0.000,6,0.000,0.063,3439,2188,2192
$GC,21555,0.33,167.3,616.2,6.1,490,21556,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2188,2192
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$STATE,32258,end climb,SURFACE_DEPTH_REACHED
$STATE,32258,begin surface coast
$FINISH,3.4,1.025703
$STATE,32312,end surface coast,CONTROL_FINISHED_OK
$STATE,32312,begin surface
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$TCM_TEMP,15.50
$XPDR_PINGS,1007
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$10V_AH,10.4,70.719
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$DEVICE_SECS,29.300,217.425,398.200,0.000,0.000,27.955,27.416,208.034,251.750,0.000,0.000,14.410,1780.131,27236.393,579.158,2364.882,839.180,33.376,1747.951,0.000,2349.549,0.000,0.465
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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,47529,833
$CAP_FILE_SIZE,183069,0
$CFSIZE,260165632,217894912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140309,230608,5011.998,-14438.139,37,1.5,37,18.6