version: 66.03
glider: 120
mission: 9
dive: 593
start: 4 9 109 6 7 42
data:
$ID,120
$MISSION,9
$DIVE,593
$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,-30403.24
$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
$GPS1,060006,5018.429,-14510.873,45,1.2,45,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-75.9
$GPS2,060646,5018.423,-14510.887,15,2.5,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.006,-0.178
$KALMAN_X,-80750.5,-20.7,304.4,84743.4,-435.8
$KALMAN_Y,136128.0,409.8,152.0,-109031.1,394.7
$MHEAD_RNG_PITCHd_Wd,159.5,45228,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-19.83,0.000,2,0.000,0.000,137,2401,2242
$GC,52,-0.67,-117.3,3.1,-2.7,2,110,13.35,2.42,-38.55,0.000,4,0.269,0.094,3085,3816,3356
$GC,268,-0.48,-117.3,22.1,-10.8,21,275,0.28,2.30,0.00,0.000,6,0.149,0.054,3162,2387,3358
$GC,597,-0.53,-117.3,45.3,-7.1,52,601,0.00,2.35,0.00,0.000,4,0.000,0.070,3163,995,3358
$GC,633,-0.60,-117.3,48.2,-7.9,55,638,0.12,2.35,0.00,0.000,6,0.078,0.061,3116,2406,3358
$GC,962,-0.60,-117.3,74.2,-8.2,85,966,0.00,2.38,0.00,0.000,4,0.000,0.079,3113,3819,3358
$GC,1009,-0.55,-117.3,78.7,-8.7,89,1013,0.00,2.30,0.00,0.000,6,0.000,0.054,3112,2400,3358
$GC,1343,-0.50,-117.3,107.1,-8.3,106,1345,0.15,0.00,0.00,0.000,6,0.122,0.000,3155,2398,3359
$GC,1653,-0.56,-117.3,126.8,-6.2,121,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2398,3359
$GC,1961,-0.76,-117.3,145.1,-6.4,136,1966,0.22,2.38,0.00,0.000,4,0.083,0.067,3070,994,3358
$GC,2025,-0.71,-117.3,150.1,-8.2,139,2028,0.00,2.35,0.00,0.000,6,0.000,0.061,3069,2407,3358
$GC,2367,-0.83,-117.3,177.8,-8.2,150,2371,0.00,2.40,0.00,0.000,4,0.000,0.079,3069,3819,3358
$GC,2480,-0.69,-117.3,187.6,-8.9,153,2485,0.00,2.30,0.00,0.000,6,0.000,0.054,3069,2401,3358
$GC,2805,-0.59,-117.3,214.6,-8.5,164,2807,0.20,0.00,0.00,0.000,6,0.137,0.000,3127,2399,3358
$GC,3112,-0.65,-117.3,234.4,-6.4,174,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2400,3359
$GC,3418,-0.70,-117.3,253.9,-6.4,184,3423,0.12,2.45,0.00,0.000,4,0.083,0.078,3072,3818,3359
$GC,3447,-0.64,-117.3,256.1,-8.4,185,3452,0.12,2.33,0.00,0.000,6,0.107,0.054,3106,2387,3358
$GC,3784,-0.64,-117.3,279.9,-6.8,196,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2387,3359
$GC,4089,-0.64,-117.3,300.1,-6.7,206,4093,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,986,3358
$GC,4134,-0.64,-117.3,303.3,-6.6,206,4139,0.00,2.38,0.00,0.000,6,0.000,0.061,3106,2406,3358
$GC,4452,-0.64,-117.3,322.8,-6.2,212,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3358
$GC,4753,-0.64,-117.3,341.6,-6.2,217,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2405,3358
$GC,5057,-0.64,-117.3,361.1,-6.5,222,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3359
$GC,5360,-0.64,-117.3,380.1,-6.3,227,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3358
$GC,5663,-0.64,-117.3,399.5,-6.4,232,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3358
$GC,5967,-0.64,-117.3,418.8,-6.3,237,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3358
$GC,6269,-0.64,-117.3,438.7,-6.6,242,6273,0.00,2.42,0.00,0.000,4,0.000,0.071,3107,993,3358
$GC,6291,-0.64,-117.3,440.3,-6.9,242,6295,0.00,2.38,0.00,0.000,6,0.000,0.062,3107,2406,3358
$GC,6630,-0.64,-117.3,462.0,-6.3,248,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3358
$GC,6934,-0.68,-117.3,479.1,-5.5,253,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3357
$GC,7236,-0.68,-117.3,494.7,-5.1,258,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2405,3357
$GC,7539,-0.73,-117.3,511.0,-5.4,263,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2405,3357
$GC,7842,-0.77,-117.3,528.2,-5.7,268,7844,0.12,0.00,0.00,0.000,6,0.084,0.000,3057,2406,3357
$GC,8145,-0.77,-117.3,546.7,-6.1,273,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2405,3357
$GC,8449,-0.77,-117.3,565.1,-6.0,278,8453,0.00,2.42,0.00,0.000,4,0.000,0.071,3057,996,3357
$GC,8499,-0.73,-117.3,568.5,-6.9,278,8504,0.00,2.38,0.00,0.000,6,0.000,0.062,3057,2408,3357
$GC,8811,-0.65,-117.3,589.2,-6.8,283,8813,0.17,0.00,0.00,0.000,6,0.143,0.000,3106,2408,3357
$GC,9114,-0.70,-117.3,606.2,-5.6,288,9118,0.00,2.45,0.00,0.000,4,0.000,0.071,3106,985,3357
$GC,9143,-0.76,-117.3,608.1,-7.1,288,9147,0.00,2.40,0.00,0.000,6,0.000,0.063,3106,2410,3357
$GC,9475,-0.82,-117.3,628.2,-6.1,294,9477,0.17,0.00,0.00,0.000,6,0.078,0.000,3039,2410,3356
$GC,9779,-0.74,-117.3,651.8,-7.8,299,9781,0.12,0.00,0.00,0.000,6,0.098,0.000,3074,2410,3356
$GC,10082,-0.74,-117.3,673.5,-7.1,304,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2410,3356
$GC,10384,-0.74,-117.3,693.4,-6.5,309,10389,0.00,2.42,0.00,0.000,4,0.000,0.083,3072,3810,3356
$GC,10418,-0.74,-117.3,695.8,-6.6,309,10422,0.00,2.30,0.00,0.000,6,0.000,0.056,3072,2398,3356
$GC,10745,-0.74,-117.3,717.1,-6.5,315,10746,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,11049,-0.74,-117.3,737.2,-6.6,320,11053,0.00,2.42,0.00,0.000,4,0.000,0.072,3072,984,3356
$GC,11077,-0.74,-117.3,739.3,-7.7,320,11081,0.00,2.40,0.00,0.000,6,0.000,0.064,3072,2403,3356
$GC,11409,-0.74,-117.3,760.7,-6.4,326,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3356
$GC,11712,-0.74,-117.3,780.7,-6.6,331,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3356
$GC,12016,-0.74,-117.3,800.6,-6.6,336,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3356
$GC,12318,-0.74,-117.3,820.0,-6.4,341,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3356
$GC,12621,-0.74,-117.3,837.9,-5.9,346,12626,0.00,2.47,0.00,0.000,4,0.000,0.072,3072,984,3355
$GC,12655,-0.74,-117.3,839.9,-5.6,346,12659,0.00,2.40,0.00,0.000,6,0.000,0.064,3072,2398,3355
$GC,12983,-0.74,-117.3,856.6,-5.0,352,12987,0.00,2.45,0.00,0.000,4,0.000,0.084,3072,3809,3355
$GC,13033,-0.74,-117.3,859.1,-4.4,352,13037,0.00,2.30,0.00,0.000,6,0.000,0.057,3072,2397,3355
$GC,13344,-0.74,-117.3,873.7,-4.7,357,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2397,3355
$GC,13647,-0.74,-117.3,889.6,-5.2,362,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2397,3355
$GC,13951,-0.74,-117.3,906.5,-5.6,367,13955,0.00,2.50,0.00,0.000,4,0.000,0.084,3072,3812,3355
$GC,13978,-0.74,-117.3,908.3,-6.5,367,13982,0.00,2.33,0.00,0.000,6,0.000,0.057,3072,2396,3355
$GC,14311,-0.74,-117.3,928.3,-6.1,373,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2396,3355
$GC,14616,-0.74,-117.3,947.2,-6.3,378,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2397,3355
$GC,14918,-0.74,-117.3,965.7,-6.1,383,14919,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2397,3354
$GC,15220,-0.74,-117.3,984.0,-6.0,388,15221,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2396,3354
$STATE,15338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15338,begin apogee
$GC,15346,-0.22,0.0,991.0,5.9,390,15461,0.57,0.00,107.97,1.491,6,0.137,0.000,3245,2199,2875
$STATE,15462,end apogee,CONTROL_FINISHED_OK
$STATE,15462,begin climb
$GC,15465,0.67,117.3,995.4,0.0,392,15588,0.85,0.00,114.03,1.434,6,0.089,0.000,3526,2199,2396
$GC,15896,0.36,117.3,974.1,7.7,399,15898,0.32,0.00,0.00,0.000,6,0.157,0.000,3433,2199,2393
$GC,16195,0.31,117.3,956.3,5.8,404,16199,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,783,2393
$GC,16241,0.26,117.3,953.5,5.2,404,16246,0.12,2.33,0.00,0.000,6,0.160,0.061,3405,2205,2392
$GC,16557,0.26,117.3,936.3,5.5,410,16558,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2204,2393
$GC,16859,0.26,117.3,920.0,5.3,415,16861,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2204,2392
$GC,17163,0.27,122.8,905.3,4.8,420,17171,0.00,0.00,5.65,1.119,6,0.000,0.000,3405,2204,2375
$GC,17467,0.30,145.6,892.0,4.3,425,17496,0.00,2.45,21.90,1.390,4,0.000,0.080,3405,3606,2281
$GC,17533,0.30,146.3,888.9,5.0,426,17537,0.00,2.33,0.00,0.000,6,0.000,0.062,3408,2197,2280
$GC,17900,0.39,171.3,873.0,4.3,432,17928,0.10,0.00,24.02,1.382,6,0.086,0.000,3450,2197,2176
$GC,18269,0.39,171.3,853.9,5.2,438,18273,0.00,2.40,0.00,0.000,4,0.000,0.078,3450,786,2173
$GC,18314,0.39,171.3,851.3,5.4,438,18318,0.00,2.33,0.00,0.000,6,0.000,0.062,3450,2203,2173
$GC,18641,0.39,171.3,833.6,5.4,444,18645,0.00,2.38,0.00,0.000,4,0.000,0.081,3450,3615,2173
$GC,18681,0.31,171.3,831.1,6.3,444,18686,0.12,2.33,0.00,0.000,6,0.175,0.063,3420,2194,2172
$GC,19003,0.37,177.5,815.7,4.8,450,19016,0.00,2.40,6.55,1.146,4,0.000,0.078,3421,783,2152
$GC,19052,0.47,188.6,813.2,4.7,450,19069,0.15,2.33,11.77,1.276,6,0.081,0.061,3482,2199,2107
$GC,19374,0.38,188.6,789.6,7.6,456,19376,0.15,0.00,0.00,0.000,6,0.142,0.000,3440,2199,2104
$GC,19675,0.38,188.6,771.1,6.0,461,19676,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2199,2103
$GC,19978,0.38,188.6,753.3,5.9,466,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2198,2103
$GC,20282,0.38,188.6,734.6,6.2,471,20286,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,780,2103
$GC,20317,0.38,188.6,732.2,6.8,471,20322,0.00,2.35,0.00,0.000,6,0.000,0.062,3449,2204,2103
$GC,20644,0.38,188.6,710.3,6.7,477,20649,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3609,2103
$GC,20684,0.33,188.6,707.3,7.1,477,20688,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2201,2104
$GC,21006,0.33,188.6,686.3,6.6,483,21010,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,784,2103
$GC,21051,0.33,188.6,683.2,6.2,483,21056,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2210,2103
$GC,21367,0.33,188.6,663.3,6.3,489,21368,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2103
$GC,21670,0.33,188.6,645.3,5.9,494,21675,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,788,2103
$GC,21706,0.37,188.6,643.2,6.6,494,21710,0.00,2.35,0.00,0.000,6,0.000,0.061,3450,2209,2103
$GC,22033,0.37,188.6,623.5,6.0,500,22037,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,3614,2103
$GC,22066,0.37,188.6,621.3,5.7,500,22070,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2197,2103
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$STATE,32696,end climb,SURFACE_DEPTH_REACHED
$STATE,32696,begin surface coast
$FINISH,1.4,1.025700
$STATE,32816,end surface coast,CONTROL_FINISHED_OK
$STATE,32817,begin surface
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$SM_GC,3.50,0.00,0.00,19.88,0.000,0.000,0.839,144,2412,1754,-9.92,0.34,275.23
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$TT8_MAMPS,0.026845
$HUMID,2112
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$TCM_TEMP,15.50
$XPDR_PINGS,1023
$24V_AH,21.0,115.980
$10V_AH,10.4,80.116
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$DEVICE_SECS,28.225,205.650,350.125,19.875,0.000,29.823,26.040,163.067,255.750,0.000,0.000,35.495,1828.019,27635.611,527.997,2407.485,851.444,33.379,1706.332,0.000,2369.705,0.000,0.466
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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,50564,863
$CAP_FILE_SIZE,185969,0
$CFSIZE,260165632,212594688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,151637,5015.311,-14511.035,31,1.4,31,18.5