version: 66.03
glider: 120
mission: 9
dive: 532
start: 3 17 109 6 3 17
data:
$ID,120
$MISSION,9
$DIVE,532
$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,-29156.436
$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,18
$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
$GPS1,055601,5014.053,-14428.188,71,1.0,71,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.8
$GPS2,060220,5014.003,-14428.223,13,1.6,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.011,-0.177
$KALMAN_X,-45469.6,171.2,-96.4,100392.2,-902.9
$KALMAN_Y,111751.5,513.3,189.2,-92981.3,-2219.8
$MHEAD_RNG_PITCHd_Wd,157.9,37075,-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,26,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-20.48,0.000,2,0.000,0.000,135,2402,1715
$GC,52,-0.67,-117.3,3.1,-4.3,2,159,12.98,2.42,-85.40,0.000,4,0.258,0.094,3099,3820,3355
$GC,368,-0.52,-117.3,26.2,-8.5,30,375,0.17,2.28,0.00,0.000,6,0.152,0.056,3146,2399,3356
$GC,696,-0.52,-117.3,48.8,-6.5,61,702,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2399,3357
$GC,1023,-0.52,-117.3,74.7,-8.0,92,1028,0.00,2.38,0.00,0.000,4,0.000,0.071,3146,983,3357
$GC,1058,-0.52,-117.3,77.5,-7.6,94,1064,0.00,2.35,0.00,0.000,6,0.000,0.061,3142,2414,3357
$GC,1387,-0.52,-117.3,96.6,-7.0,112,1391,0.00,2.40,0.00,0.000,4,0.000,0.071,3142,985,3357
$GC,1427,-0.52,-117.3,99.7,-8.0,114,1431,0.00,2.35,0.00,0.000,6,0.000,0.062,3141,2405,3357
$GC,1755,-0.52,-117.3,122.0,-6.2,130,1759,0.00,2.38,0.00,0.000,4,0.000,0.081,3141,3813,3357
$GC,1777,-0.58,-117.3,123.5,-6.2,131,1782,0.00,2.28,0.00,0.000,6,0.000,0.053,3141,2387,3357
$GC,2100,-0.82,-117.3,148.5,-8.2,147,2105,0.22,2.35,0.00,0.000,4,0.083,0.069,3053,986,3357
$GC,2119,-0.93,-117.3,150.1,-8.4,148,2123,0.00,2.33,0.00,0.000,6,0.000,0.061,3052,2402,3357
$GC,2432,-0.93,-117.3,178.6,-8.6,158,2436,0.00,2.38,0.00,0.000,4,0.000,0.080,3053,3818,3357
$GC,2639,-0.76,-117.3,197.6,-9.5,164,2643,0.00,2.28,0.00,0.000,6,0.000,0.055,3053,2396,3357
$GC,2964,-0.58,-117.3,229.9,-10.4,175,2969,0.22,2.35,0.00,0.000,4,0.157,0.069,3123,990,3357
$GC,3003,-0.64,-117.3,233.4,-7.7,176,3007,0.00,2.33,0.00,0.000,6,0.000,0.061,3123,2402,3357
$GC,3329,-0.68,-117.3,256.2,-6.7,187,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2402,3357
$GC,3634,-0.73,-117.3,276.0,-6.3,197,3639,0.12,2.38,0.00,0.000,4,0.083,0.068,3073,994,3357
$GC,3663,-0.73,-117.3,278.0,-7.6,198,3668,0.00,2.33,0.00,0.000,6,0.000,0.061,3073,2399,3357
$GC,4000,-0.66,-117.3,305.2,-8.0,208,4002,0.10,0.00,0.00,0.000,6,0.136,0.000,3099,2399,3357
$GC,4302,-0.66,-117.3,327.1,-7.1,213,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,4605,-0.66,-117.3,348.4,-7.0,218,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,4908,-0.66,-117.3,369.8,-7.1,223,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,5211,-0.66,-117.3,390.4,-6.8,228,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,5515,-0.66,-117.3,411.1,-6.8,233,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,5817,-0.66,-117.3,430.6,-6.4,238,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,6120,-0.66,-117.3,447.1,-5.4,243,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,6423,-0.66,-117.3,463.8,-5.5,248,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,6727,-0.66,-117.3,481.3,-5.8,253,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,7030,-0.66,-117.3,499.8,-6.2,258,7034,0.00,2.42,0.00,0.000,4,0.000,0.083,3099,3812,3356
$GC,7057,-0.66,-117.3,501.8,-7.1,258,7061,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2400,3356
$GC,7390,-0.66,-117.3,524.3,-6.8,264,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3356
$GC,7693,-0.66,-117.3,547.6,-7.7,269,7697,0.00,2.38,0.00,0.000,4,0.000,0.072,3099,995,3356
$GC,7727,-0.66,-117.3,550.5,-8.3,269,7731,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2409,3355
$GC,8054,-0.66,-117.3,575.7,-7.7,275,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3355
$GC,8357,-0.66,-117.3,595.7,-6.5,280,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3355
$GC,8660,-0.66,-117.3,614.4,-6.2,285,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3355
$GC,8963,-0.66,-117.3,633.8,-6.4,290,8967,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,994,3355
$GC,9002,-0.66,-117.3,636.4,-6.7,290,9006,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2405,3355
$GC,9324,-0.66,-117.3,656.1,-6.1,296,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,9627,-0.66,-117.3,674.0,-5.9,301,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,9930,-0.66,-117.3,692.1,-6.0,306,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,10234,-0.66,-117.3,708.9,-5.5,311,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,10536,-0.66,-117.3,725.7,-5.5,316,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3354
$GC,10839,-0.70,-117.3,742.0,-5.4,321,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3354
$GC,11143,-0.74,-117.3,757.8,-5.2,326,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3354
$GC,11446,-0.79,-117.3,774.1,-5.4,331,11451,0.12,2.42,0.00,0.000,4,0.089,0.072,3051,990,3354
$GC,11474,-0.79,-117.3,776.1,-7.4,331,11478,0.00,2.35,0.00,0.000,6,0.000,0.064,3051,2405,3354
$GC,11813,-0.72,-117.3,800.3,-7.3,337,11815,0.12,0.00,0.00,0.000,6,0.145,0.000,3086,2405,3354
$GC,12116,-0.72,-117.3,818.3,-5.9,342,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3354
$GC,12419,-0.72,-117.3,835.9,-5.8,347,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3354
$GC,12722,-0.72,-117.3,852.7,-5.5,352,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3354
$GC,13025,-0.72,-117.3,869.4,-5.5,357,13029,0.00,2.45,0.00,0.000,4,0.000,0.086,3086,3818,3353
$GC,13052,-0.72,-117.3,870.9,-5.6,357,13056,0.00,2.33,0.00,0.000,6,0.000,0.058,3086,2397,3353
$GC,13385,-0.72,-117.3,889.5,-5.6,363,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,13689,-0.72,-117.3,907.3,-5.9,368,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,13992,-0.72,-117.3,926.0,-6.2,373,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14294,-0.72,-117.3,943.8,-5.9,378,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14597,-0.72,-117.3,961.4,-5.8,383,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,14901,-0.72,-117.3,978.5,-5.7,388,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$STATE,15141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15141,begin apogee
$GC,15150,-0.22,0.0,991.0,5.2,392,15263,0.52,0.00,108.45,1.486,6,0.142,0.000,3242,2200,2876
$STATE,15263,end apogee,CONTROL_FINISHED_OK
$STATE,15263,begin climb
$GC,15267,0.67,117.3,994.9,0.0,394,15391,0.90,2.80,115.70,1.426,4,0.091,0.077,3532,785,2397
$GC,15415,0.33,117.3,993.7,5.9,396,15420,0.43,2.55,0.00,0.000,6,0.173,0.061,3427,2203,2395
$GC,15748,0.33,117.3,973.7,6.0,402,15752,0.00,2.35,0.00,0.000,4,0.000,0.081,3427,3609,2393
$GC,15793,0.22,117.3,970.7,6.7,402,15798,0.17,2.33,0.00,0.000,6,0.171,0.062,3392,2190,2393
$GC,16109,0.30,117.3,953.4,5.4,408,16113,0.00,2.38,0.00,0.000,4,0.000,0.080,3394,790,2393
$GC,16166,0.40,117.3,950.1,6.0,408,16173,0.15,2.30,0.00,0.000,6,0.080,0.061,3452,2205,2393
$GC,16476,0.30,117.3,930.2,6.5,414,16481,0.12,2.35,0.00,0.000,4,0.149,0.079,3415,3609,2392
$GC,16532,0.25,117.3,926.7,6.7,414,16539,0.00,2.30,0.00,0.000,6,0.000,0.063,3421,2189,2392
$GC,16843,0.25,118.3,911.0,5.0,420,16845,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2190,2392
$GC,17146,0.27,139.9,897.6,4.4,425,17171,0.00,2.45,20.55,1.383,4,0.000,0.082,3421,3618,2305
$GC,17194,0.32,180.0,895.2,3.9,425,17237,0.00,2.35,37.53,1.391,6,0.000,0.064,3421,2194,2142
$GC,17571,0.39,180.0,876.3,5.1,432,17575,0.00,2.38,0.00,0.000,4,0.000,0.080,3421,788,2136
$GC,17605,0.51,199.7,874.6,4.4,432,17629,0.17,2.33,18.88,1.347,6,0.080,0.061,3490,2210,2060
$GC,17941,0.39,199.7,851.1,7.2,438,17946,0.15,2.42,0.00,0.000,4,0.143,0.077,3449,787,2057
$GC,17980,0.39,199.7,848.5,5.4,438,17984,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2210,2057
$GC,18301,0.39,199.7,829.8,5.9,444,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2209,2056
$GC,18604,0.39,199.7,810.8,6.4,449,18608,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,788,2055
$GC,18655,0.39,199.7,807.2,7.3,449,18659,0.00,2.30,0.00,0.000,6,0.000,0.061,3449,2200,2056
$GC,18965,0.39,199.7,785.7,7.1,454,18969,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,791,2055
$GC,19000,0.39,199.7,783.3,6.6,454,19004,0.00,2.30,0.00,0.000,6,0.000,0.061,3449,2201,2056
$GC,19327,0.39,199.7,759.9,7.1,460,19328,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2055
$GC,19630,0.39,199.7,739.5,6.7,465,19632,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2055
$GC,19933,0.39,199.7,719.2,6.7,470,19937,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,787,2055
$GC,19989,0.44,199.7,715.2,6.5,470,19995,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2211,2055
$GC,20299,0.44,199.7,693.5,7.1,476,20300,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2055
$GC,20603,0.44,199.7,672.1,7.0,481,20607,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,782,2054
$GC,20642,0.49,199.7,669.3,7.7,481,20646,0.00,2.33,0.00,0.000,6,0.000,0.060,3449,2205,2055
$GC,20969,0.49,199.7,646.4,7.1,487,20970,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2054
$GC,21273,0.49,199.7,625.0,7.0,492,21277,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,791,2054
$GC,21313,0.54,199.7,622.0,7.4,492,21318,0.12,2.33,0.00,0.000,6,0.087,0.061,3502,2211,2055
$GC,21635,0.41,199.7,593.5,9.1,498,21640,0.15,2.42,0.00,0.000,4,0.145,0.077,3463,786,2054
$GC,21741,0.41,199.7,584.7,8.3,499,21745,0.00,2.33,0.00,0.000,6,0.000,0.061,3463,2205,2054
$GC,22063,0.41,199.7,560.3,7.5,505,22064,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2204,2055
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$STATE,30832,end climb,SURFACE_DEPTH_REACHED
$STATE,30832,begin surface coast
$FINISH,1.8,1.016580
$STATE,30900,end surface coast,CONTROL_FINISHED_OK
$STATE,30901,begin surface
$SM_CCo,30983,0.00,0.000,0,0,1589,315.70
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$TT8_MAMPS,0.026845
$HUMID,2110
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$TCM_TEMP,15.50
$XPDR_PINGS,931
$24V_AH,21.1,104.136
$10V_AH,10.4,71.681
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$DEVICE_SECS,28.275,199.325,400.400,0.000,0.000,25.900,29.100,168.634,232.750,0.000,0.000,13.216,1700.799,26067.117,593.229,2218.626,771.247,33.376,1710.169,0.000,2192.156,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,613.019,592.113,1363.379,823.936,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47450,802
$CAP_FILE_SIZE,173858,0
$CFSIZE,260165632,217362432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,144101,5010.809,-14428.615,42,1.1,42,18.6