version: 66.03
glider: 120
mission: 9
dive: 539
start: 3 19 109 22 4 25
data:
$ID,120
$MISSION,9
$DIVE,539
$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,-29291.912
$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,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
$GPS1,214706,4955.875,-14435.005,36,1.3,41,18.5
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-66.8
$GPS2,220328,4955.791,-14435.007,12,1.9,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,0.140
$KALMAN_X,-49258.2,90.2,-146.6,96255.2,-1106.4
$KALMAN_Y,116581.5,-279.3,-201.4,-130327.4,664.6
$MHEAD_RNG_PITCHd_Wd,303.7,28751,-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,-20.38,0.000,2,0.000,0.000,129,2405,2070
$GC,52,-0.67,-117.3,3.1,-1.9,2,124,14.02,0.00,-50.85,0.000,6,0.281,0.000,3097,2406,3356
$GC,445,-0.51,-117.3,42.9,-10.6,39,452,0.17,0.00,0.00,0.000,6,0.167,0.000,3146,2406,3358
$GC,772,-0.51,-117.3,66.8,-6.2,70,773,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,1096,-0.51,-117.3,90.7,-7.3,94,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,1406,-0.51,-117.3,113.1,-7.5,109,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,1716,-0.56,-117.3,135.4,-6.3,124,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2406,3358
$GC,2044,-0.64,-117.3,153.9,-5.7,139,2049,0.12,2.45,0.00,0.000,4,0.081,0.079,3097,3815,3358
$GC,2089,-0.64,-117.3,157.2,-7.7,140,2093,0.00,2.30,0.00,0.000,6,0.000,0.053,3097,2398,3358
$GC,2408,-0.64,-117.3,181.7,-8.0,151,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3358
$GC,2715,-0.64,-117.3,204.7,-7.3,161,2719,0.00,2.45,0.00,0.000,4,0.000,0.079,3097,3805,3358
$GC,2754,-0.64,-117.3,207.9,-7.4,162,2758,0.00,2.30,0.00,0.000,6,0.000,0.053,3097,2398,3358
$GC,3078,-0.64,-117.3,229.3,-6.6,173,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3358
$GC,3385,-0.64,-117.3,248.1,-6.0,183,3389,0.00,2.42,0.00,0.000,4,0.000,0.080,3097,3813,3358
$GC,3435,-0.64,-117.3,251.4,-6.5,184,3439,0.00,2.30,0.00,0.000,6,0.000,0.053,3097,2395,3358
$GC,3753,-0.64,-117.3,269.7,-5.9,195,3758,0.00,2.42,0.00,0.000,4,0.000,0.069,3097,986,3358
$GC,3783,-0.64,-117.3,271.3,-6.2,196,3787,0.00,2.35,0.00,0.000,6,0.000,0.061,3097,2410,3358
$GC,4119,-0.64,-117.3,291.4,-5.9,207,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3358
$GC,4455,-0.64,-117.3,311.4,-6.0,215,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2410,3358
$GC,4756,-0.64,-117.3,331.5,-6.6,220,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3358
$GC,5059,-0.64,-117.3,351.5,-6.6,225,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3357
$GC,5363,-0.64,-117.3,372.0,-6.7,230,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3358
$GC,5665,-0.64,-117.3,390.7,-6.2,235,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3357
$GC,5968,-0.64,-117.3,409.2,-6.1,240,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3358
$GC,6272,-0.64,-117.3,428.0,-6.3,245,6276,0.00,2.42,0.00,0.000,4,0.000,0.082,3097,3805,3358
$GC,6300,-0.64,-117.3,429.9,-6.8,245,6304,0.00,2.30,0.00,0.000,6,0.000,0.054,3097,2402,3357
$GC,6638,-0.64,-117.3,451.9,-6.5,251,6643,0.00,2.45,0.00,0.000,4,0.000,0.071,3097,988,3357
$GC,6674,-0.69,-117.3,454.2,-6.7,251,6678,0.00,2.35,0.00,0.000,6,0.000,0.061,3097,2409,3357
$GC,7001,-0.69,-117.3,474.6,-6.1,257,7005,0.00,2.38,0.00,0.000,4,0.000,0.081,3097,3808,3357
$GC,7036,-0.69,-117.3,476.8,-6.6,257,7041,0.00,2.30,0.00,0.000,6,0.000,0.054,3097,2394,3357
$GC,7364,-0.69,-117.3,497.2,-6.2,263,7368,0.00,2.40,0.00,0.000,4,0.000,0.071,3097,992,3357
$GC,7399,-0.76,-117.3,499.5,-6.6,263,7403,0.00,2.33,0.00,0.000,6,0.000,0.061,3097,2399,3357
$GC,7726,-0.76,-117.3,520.3,-6.3,269,7730,0.00,2.40,0.00,0.000,4,0.000,0.082,3098,3806,3357
$GC,7766,-0.80,-117.3,523.0,-6.6,269,7771,0.12,2.28,0.00,0.000,6,0.091,0.054,3050,2400,3357
$GC,8088,-0.74,-117.3,546.5,-7.4,275,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2401,3357
$GC,8391,-0.68,-117.3,568.4,-7.2,280,8395,0.15,2.42,0.00,0.000,4,0.111,0.071,3105,985,3356
$GC,8431,-0.73,-117.3,571.2,-6.7,280,8435,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2402,3357
$GC,8752,-0.73,-117.3,592.7,-6.8,286,8756,0.00,2.40,0.00,0.000,4,0.000,0.084,3100,3812,3356
$GC,8780,-0.73,-117.3,594.8,-7.6,286,8784,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2394,3356
$GC,9113,-0.77,-117.3,618.3,-7.1,292,9117,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,993,3356
$GC,9152,-0.77,-117.3,621.5,-7.5,292,9157,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2407,3356
$GC,9474,-0.77,-117.3,645.1,-7.4,298,9478,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,990,3356
$GC,9508,-0.81,-117.3,647.7,-7.7,298,9512,0.12,2.35,0.00,0.000,6,0.086,0.063,3053,2404,3356
$GC,9835,-0.81,-117.3,672.3,-7.5,304,9839,0.00,2.40,0.00,0.000,4,0.000,0.081,3053,3822,3356
$GC,9874,-0.73,-117.3,675.5,-8.4,304,9878,0.00,2.28,0.00,0.000,6,0.000,0.055,3053,2400,3356
$GC,10196,-0.67,-117.3,697.7,-6.8,310,10200,0.15,2.40,0.00,0.000,4,0.120,0.071,3105,994,3356
$GC,10241,-0.75,-117.3,700.4,-5.6,310,10245,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2408,3356
$GC,10557,-0.79,-117.3,716.4,-5.1,316,10561,0.12,2.40,0.00,0.000,4,0.088,0.081,3047,3818,3355
$GC,10596,-0.68,-117.3,719.0,-6.8,316,10601,0.17,2.28,0.00,0.000,6,0.122,0.055,3095,2398,3355
$GC,10917,-0.68,-117.3,736.2,-5.3,322,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3355
$GC,11220,-0.68,-117.3,753.4,-5.7,327,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3355
$GC,11523,-0.68,-117.3,770.7,-5.7,332,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3355
$GC,11826,-0.68,-117.3,787.9,-5.6,337,11830,0.00,2.38,0.00,0.000,4,0.000,0.074,3095,997,3355
$GC,11860,-0.72,-117.3,789.8,-5.7,337,11864,0.00,2.35,0.00,0.000,6,0.000,0.064,3095,2405,3355
$GC,12188,-0.76,-117.3,808.5,-5.7,343,12192,0.00,2.40,0.00,0.000,4,0.000,0.084,3095,3808,3355
$GC,12216,-0.82,-117.3,810.3,-6.5,343,12221,0.15,2.28,0.00,0.000,6,0.083,0.057,3042,2397,3355
$GC,12550,-0.77,-117.3,833.2,-6.9,349,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2397,3355
$GC,12852,-0.73,-117.3,853.5,-6.7,354,12854,0.12,0.00,0.00,0.000,6,0.101,0.000,3077,2397,3355
$GC,13155,-0.73,-117.3,871.5,-5.9,359,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2397,3355
$GC,13458,-0.73,-117.3,889.7,-6.1,364,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2397,3355
$GC,13761,-0.73,-117.3,907.6,-5.9,369,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2397,3354
$GC,14065,-0.73,-117.3,925.2,-5.8,374,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2397,3355
$GC,14367,-0.73,-117.3,941.8,-5.5,379,14371,0.00,2.47,0.00,0.000,4,0.000,0.085,3072,3813,3354
$GC,14394,-0.73,-117.3,943.5,-5.7,379,14399,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2400,3354
$GC,14727,-0.73,-117.3,961.7,-5.5,385,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3354
$GC,15031,-0.73,-117.3,978.0,-5.4,390,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3354
$STATE,15269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15270,begin apogee
$GC,15277,-0.22,0.0,991.0,5.4,394,15392,0.57,0.00,108.78,1.486,6,0.144,0.000,3243,2186,2874
$STATE,15393,end apogee,CONTROL_FINISHED_OK
$STATE,15393,begin climb
$GC,15396,0.67,117.3,994.8,0.0,396,15520,0.90,2.75,115.22,1.431,4,0.092,0.078,3533,796,2396
$GC,15544,0.34,132.6,994.0,4.6,398,15568,0.43,2.55,16.17,1.313,6,0.176,0.061,3429,2208,2335
$GC,15879,0.34,132.6,975.4,5.6,404,15880,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2207,2333
$GC,16182,0.34,132.6,959.1,5.4,409,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2208,2332
$GC,16486,0.34,132.6,943.7,5.0,414,16490,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,794,2332
$GC,16522,0.36,149.0,941.9,4.5,414,16542,0.00,2.30,15.70,1.369,6,0.000,0.062,3436,2206,2268
$GC,16847,0.36,149.0,925.4,5.0,419,16848,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2267
$GC,17150,0.36,152.3,910.6,4.9,424,17157,0.00,0.00,4.50,0.990,6,0.000,0.000,3436,2206,2254
$GC,17454,0.37,156.5,895.8,4.9,429,17465,0.00,2.42,5.68,1.109,4,0.000,0.079,3436,789,2238
$GC,17499,0.40,178.1,893.6,4.4,429,17525,0.00,2.30,20.95,1.375,6,0.000,0.061,3436,2197,2149
$GC,17881,0.40,178.1,873.1,5.5,436,17882,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2146
$GC,18184,0.40,178.1,854.2,6.3,441,18188,0.00,2.38,0.00,0.000,4,0.000,0.082,3436,3613,2146
$GC,18247,0.40,178.1,849.8,7.0,442,18252,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2146
$GC,18619,0.40,178.1,824.5,6.9,448,18621,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2146
$GC,18923,0.40,178.1,803.4,7.0,453,18927,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,3610,2145
$GC,18958,0.40,178.1,800.8,7.2,453,18962,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2197,2146
$GC,19286,0.40,178.1,779.6,6.4,459,19287,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2145
$GC,19588,0.40,178.1,760.6,6.2,464,19589,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2145
$GC,19891,0.40,178.1,743.1,5.7,469,19893,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2145
$GC,20195,0.40,178.1,726.1,5.6,474,20200,0.00,2.45,0.00,0.000,4,0.000,0.081,3435,3619,2145
$GC,20229,0.40,178.1,723.9,5.7,474,20234,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2189,2145
$GC,20557,0.44,178.1,705.8,5.4,480,20558,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2145
$GC,20860,0.48,178.1,689.2,5.5,485,20865,0.10,2.40,0.00,0.000,4,0.096,0.078,3477,790,2145
$GC,20900,0.41,178.1,686.6,7.0,485,20904,0.00,2.33,0.00,0.000,6,0.000,0.061,3476,2208,2145
$GC,21221,0.34,178.1,665.6,6.4,491,21226,0.15,2.38,0.00,0.000,4,0.144,0.080,3428,3612,2145
$GC,21284,0.34,178.1,661.9,6.1,492,21288,0.00,2.30,0.00,0.000,6,0.000,0.063,3435,2199,2145
$GC,21657,0.38,178.1,642.3,5.2,498,21661,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,791,2145
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$GC,25634,0.52,216.5,412.5,4.1,563,25668,0.00,2.33,27.15,1.111,6,0.000,0.061,3454,2200,1993
$GC,26020,0.60,224.8,393.3,4.8,570,26035,0.15,2.45,8.52,0.996,4,0.083,0.078,3521,786,1958
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$STATE,32268,end climb,SURFACE_DEPTH_REACHED
$STATE,32268,begin surface coast
$FINISH,2.0,1.025016
$STATE,32405,end surface coast,CONTROL_FINISHED_OK
$STATE,32405,begin surface
$SM_CCo,32427,21.65,0.840,0,0,1754,275.23
$SM_GC,3.55,0.00,0.00,21.65,0.000,0.000,0.840,143,2405,1754,-9.92,0.14,275.23
$IRIDIUM_FIX,4936.36,-14432.01,130698,222227
$TT8_MAMPS,0.026845
$HUMID,2118
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$TCM_TEMP,14.20
$XPDR_PINGS,1017
$24V_AH,21.0,105.507
$10V_AH,10.4,72.640
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$DEVICE_SECS,30.025,213.700,356.300,21.650,0.000,118.902,113.636,395.017,254.250,0.000,0.000,12.260,1833.760,27432.025,583.018,2348.701,1226.941,33.378,1737.785,0.000,2323.581,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,658.638,630.305,1451.818,877.629,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50628,854
$CAP_FILE_SIZE,195516,0
$CFSIZE,260165632,216809472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,070708,4958.449,-14439.080,70,1.5,71,18.5