version: 66.03
glider: 120
mission: 9
dive: 535
start: 3 18 109 9 31 27
data:
$ID,120
$MISSION,9
$DIVE,535
$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,-29233.428
$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,19
$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
$GPS1,092337,5003.609,-14428.724,34,1.4,34,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-74.3
$GPS2,093032,5003.610,-14428.688,16,1.4,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.020,-0.177
$KALMAN_X,-47717.0,25.9,25.0,102115.1,-1285.1
$KALMAN_Y,114494.9,6.4,-27.0,-114235.2,324.7
$MHEAD_RNG_PITCHd_Wd,155.1,17830,-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,-117.3,0.0,0.0,0,38,0.00,0.00,-10.93,0.000,2,0.000,0.000,134,2410,1918
$GC,42,-0.67,-117.3,3.2,-0.0,1,120,13.35,2.45,-58.35,0.000,4,0.266,0.095,3087,3806,3356
$GC,346,-0.49,-117.3,30.9,-8.7,28,353,0.25,2.28,0.00,0.000,6,0.153,0.055,3156,2390,3357
$GC,677,-0.49,-117.3,54.3,-6.1,59,681,0.00,2.35,0.00,0.000,4,0.000,0.070,3157,990,3357
$GC,706,-0.54,-117.3,56.4,-6.2,61,710,0.00,2.33,0.00,0.000,6,0.000,0.061,3154,2403,3358
$GC,1033,-0.54,-117.3,76.3,-5.1,91,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2402,3357
$GC,1343,-0.54,-117.3,95.1,-6.3,109,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2402,3357
$GC,1653,-0.61,-117.3,114.9,-5.9,124,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2402,3357
$GC,1963,-0.70,-117.3,133.5,-5.8,139,1965,0.17,0.00,0.00,0.000,6,0.080,0.000,3089,2403,3357
$GC,2271,-0.87,-117.3,156.5,-8.0,153,2276,0.15,2.40,0.00,0.000,4,0.098,0.079,3022,3811,3358
$GC,2530,-0.60,-117.3,187.4,-12.3,160,2538,0.35,2.28,0.00,0.000,6,0.153,0.055,3120,2393,3357
$GC,2843,-0.60,-117.3,210.2,-7.0,171,2847,0.00,2.42,0.00,0.000,4,0.000,0.080,3113,3808,3358
$GC,2873,-0.60,-117.3,212.4,-7.5,172,2877,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2390,3358
$GC,3209,-0.60,-117.3,235.3,-6.6,183,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3358
$GC,3515,-0.60,-117.3,256.0,-6.6,193,3519,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,3812,3358
$GC,3548,-0.60,-117.3,258.3,-6.3,194,3552,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2390,3358
$GC,3879,-0.60,-117.3,278.3,-5.9,205,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2391,3358
$GC,4184,-0.60,-117.3,296.6,-6.0,215,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2391,3358
$GC,4488,-0.60,-117.3,314.9,-6.0,221,4492,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,995,3358
$GC,4561,-0.67,-117.3,319.5,-6.6,222,4565,0.00,2.33,0.00,0.000,6,0.000,0.061,3113,2406,3358
$GC,4917,-0.67,-117.3,342.4,-6.5,228,4921,0.00,2.40,0.00,0.000,4,0.000,0.081,3113,3816,3358
$GC,4945,-0.74,-117.3,344.4,-6.3,228,4950,0.10,2.28,0.00,0.000,6,0.091,0.054,3076,2392,3357
$GC,5277,-0.74,-117.3,368.6,-7.4,234,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2392,3358
$GC,5581,-0.74,-117.3,391.6,-7.5,239,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2392,3358
$GC,5883,-0.74,-117.3,414.1,-7.4,244,5887,0.00,2.33,0.00,0.000,4,0.000,0.072,3078,996,3357
$GC,5911,-0.74,-117.3,416.3,-8.1,244,5915,0.00,2.33,0.00,0.000,6,0.000,0.063,3078,2406,3357
$GC,6250,-0.74,-117.3,442.3,-7.7,250,6254,0.00,2.38,0.00,0.000,4,0.000,0.081,3077,3808,3357
$GC,6285,-0.74,-117.3,445.1,-8.1,250,6289,0.00,2.25,0.00,0.000,6,0.000,0.054,3078,2401,3357
$GC,6613,-0.74,-117.3,468.8,-7.1,256,6617,0.00,2.35,0.00,0.000,4,0.000,0.072,3078,989,3357
$GC,6648,-0.74,-117.3,471.3,-7.2,256,6652,0.00,2.35,0.00,0.000,6,0.000,0.062,3078,2410,3357
$GC,6975,-0.74,-117.3,494.7,-7.1,262,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2410,3357
$GC,7278,-0.74,-117.3,516.8,-7.3,267,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2410,3357
$GC,7580,-0.74,-117.3,538.9,-7.3,272,7584,0.00,2.38,0.00,0.000,4,0.000,0.082,3075,3812,3357
$GC,7614,-0.74,-117.3,541.6,-8.2,272,7618,0.00,2.28,0.00,0.000,6,0.000,0.055,3075,2390,3357
$GC,7940,-0.74,-117.3,565.4,-7.3,278,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2391,3357
$GC,8244,-0.74,-117.3,585.6,-6.6,283,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2391,3356
$GC,8547,-0.74,-117.3,605.0,-6.4,288,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2391,3356
$GC,8850,-0.74,-117.3,623.9,-6.3,293,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2391,3356
$GC,9153,-0.74,-117.3,642.5,-6.2,298,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2391,3356
$GC,9456,-0.74,-117.3,661.5,-6.3,303,9460,0.00,2.35,0.00,0.000,4,0.000,0.072,3074,987,3356
$GC,9490,-0.74,-117.3,663.7,-6.6,303,9494,0.00,2.35,0.00,0.000,6,0.000,0.063,3074,2408,3356
$GC,9823,-0.74,-117.3,683.8,-6.0,309,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2407,3356
$GC,10126,-0.74,-117.3,701.6,-5.8,314,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2407,3356
$GC,10430,-0.74,-117.3,719.3,-5.9,319,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2408,3355
$GC,10732,-0.74,-117.3,738.0,-6.3,324,10736,0.00,2.40,0.00,0.000,4,0.000,0.072,3074,991,3355
$GC,10777,-0.74,-117.3,740.9,-6.4,324,10781,0.00,2.35,0.00,0.000,6,0.000,0.064,3075,2404,3356
$GC,11093,-0.74,-117.3,761.5,-6.5,330,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2404,3355
$GC,11395,-0.74,-117.3,782.1,-6.8,335,11399,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3811,3355
$GC,11446,-0.74,-117.3,785.7,-6.9,335,11451,0.00,2.28,0.00,0.000,6,0.000,0.057,3073,2399,3355
$GC,11757,-0.74,-117.3,806.9,-6.9,340,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3355
$GC,12060,-0.74,-117.3,827.1,-6.6,345,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3355
$GC,12363,-0.74,-117.3,845.4,-6.0,350,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3355
$GC,12666,-0.74,-117.3,863.2,-5.9,355,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3355
$GC,12970,-0.74,-117.3,879.5,-5.3,360,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3355
$GC,13272,-0.74,-117.3,894.9,-5.1,365,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3354
$GC,13575,-0.74,-117.3,910.2,-5.0,370,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3355
$GC,13879,-0.74,-117.3,925.0,-4.9,375,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3355
$GC,14182,-0.74,-117.3,939.6,-4.8,380,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3354
$GC,14486,-0.74,-117.3,954.7,-4.9,385,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3354
$GC,14787,-0.74,-117.3,970.2,-5.1,390,14792,0.00,2.47,0.00,0.000,4,0.000,0.085,3073,3809,3354
$GC,14816,-0.74,-117.3,971.7,-4.9,390,14820,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2401,3354
$GC,15149,-0.74,-117.3,988.1,-4.9,396,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3353
$STATE,15206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15206,begin apogee
$GC,15214,-0.22,0.0,991.0,4.9,397,15329,0.57,0.00,109.05,1.485,6,0.139,0.000,3244,2186,2876
$STATE,15329,end apogee,CONTROL_FINISHED_OK
$STATE,15329,begin climb
$GC,15333,0.67,117.3,994.7,0.0,399,15456,0.88,0.00,114.70,1.430,6,0.097,0.000,3526,2186,2397
$GC,15764,0.36,117.3,971.9,7.8,406,15769,0.30,2.45,0.00,0.000,4,0.163,0.080,3435,3615,2394
$GC,15809,0.24,117.3,968.5,6.2,406,15813,0.15,2.33,0.00,0.000,6,0.179,0.064,3400,2192,2393
$GC,16125,0.33,151.1,955.4,4.0,412,16160,0.00,2.42,30.83,1.416,4,0.000,0.079,3408,782,2258
$GC,16201,0.46,186.3,952.1,4.0,413,16241,0.17,2.35,33.28,1.398,6,0.081,0.061,3474,2201,2115
$GC,16552,0.38,186.3,927.7,7.1,419,16557,0.12,2.38,0.00,0.000,4,0.143,0.080,3440,3615,2111
$GC,16592,0.33,186.3,925.0,5.8,419,16596,0.00,2.30,0.00,0.000,6,0.000,0.063,3448,2196,2110
$GC,16914,0.33,186.3,906.0,5.8,425,16918,0.00,2.35,0.00,0.000,4,0.000,0.081,3449,792,2110
$GC,16953,0.33,186.3,903.8,5.7,425,16957,0.00,2.30,0.00,0.000,6,0.000,0.061,3448,2203,2110
$GC,17274,0.33,186.3,884.9,5.9,431,17278,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,782,2109
$GC,17307,0.33,186.3,882.5,7.3,431,17312,0.00,2.33,0.00,0.000,6,0.000,0.060,3448,2210,2109
$GC,17635,0.33,186.3,861.2,6.7,437,17636,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2209,2109
$GC,17938,0.33,186.3,839.6,7.1,442,17942,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,793,2109
$GC,17971,0.33,186.3,837.1,7.6,442,17975,0.00,2.30,0.00,0.000,6,0.000,0.061,3449,2199,2109
$GC,18298,0.33,186.3,814.4,7.0,448,18299,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2109
$GC,18601,0.33,186.3,793.8,6.8,453,18605,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,783,2108
$GC,18640,0.33,186.3,791.2,5.9,453,18644,0.00,2.33,0.00,0.000,6,0.000,0.060,3449,2208,2109
$GC,18961,0.33,186.3,770.6,6.4,459,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2108
$GC,19264,0.33,186.3,751.8,6.2,464,19266,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2108
$GC,19567,0.33,186.3,732.9,6.3,469,19571,0.00,2.42,0.00,0.000,4,0.000,0.079,3448,792,2108
$GC,19630,0.33,186.3,729.0,5.7,470,19634,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2203,2108
$GC,19996,0.33,186.3,706.5,6.3,476,20000,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,788,2108
$GC,20040,0.33,186.3,703.5,7.1,476,20044,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2205,2108
$GC,20356,0.33,186.3,683.2,6.4,482,20357,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2108
$GC,20659,0.33,186.3,664.0,6.3,487,20660,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2205,2108
$GC,20963,0.33,186.3,644.3,6.5,492,20965,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2205,2108
$GC,21265,0.33,186.3,624.7,6.5,497,21269,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3610,2108
$GC,21299,0.33,186.3,622.3,7.3,497,21303,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2201,2107
$GC,21625,0.33,186.3,601.2,6.5,503,21626,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2108
$GC,21928,0.33,186.3,580.9,6.7,508,21932,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,787,2108
$GC,22019,0.37,186.3,574.6,5.7,509,22023,0.00,2.33,0.00,0.000,6,0.000,0.061,3448,2202,2107
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$STATE,31362,end climb,SURFACE_DEPTH_REACHED
$STATE,31362,begin surface coast
$FINISH,1.8,1.012515
$STATE,31417,end surface coast,CONTROL_FINISHED_OK
$STATE,31417,begin surface
$SM_CCo,31500,0.00,0.000,0,0,1336,377.52
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$IRIDIUM_FIX,4949.70,-14427.74,120698,000025
$TT8_MAMPS,0.026078
$HUMID,2103
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$TCM_TEMP,13.90
$XPDR_PINGS,964
$24V_AH,21.1,104.738
$10V_AH,10.4,72.094
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$DEVICE_SECS,27.775,198.625,452.250,0.000,0.000,29.759,33.325,191.316,241.000,0.000,0.000,16.033,1729.189,26447.270,567.717,2338.763,818.845,33.371,1749.095,0.000,2318.281,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,625.439,605.100,1385.379,840.689,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47547,815
$CAP_FILE_SIZE,177323,0
$CFSIZE,260165632,217128960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,181737,5000.351,-14427.857,30,1.2,30,18.6