version: 66.03
glider: 120
mission: 9
dive: 329
start: 12 30 108 9 21 46
data:
$ID,120
$MISSION,9
$DIVE,329
$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,300
$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,-24619.525
$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,20
$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
$GPS1,091507,4957.993,-14430.876,37,1.3,42,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-75.1
$GPS2,092051,4957.994,-14430.839,13,1.6,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.035,-0.174
$KALMAN_X,22629.9,161.4,-150.8,-195.7,-595.7
$KALMAN_Y,247414.4,-349.2,80.3,-261129.0,1870.9
$MHEAD_RNG_PITCHd_Wd,150.0,7473,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.55,0.000,2,0.000,0.000,136,2412,1925
$GC,39,-0.67,-117.3,3.6,-0.0,1,125,14.32,2.50,-62.78,0.000,4,0.291,0.094,3094,3810,3356
$GC,265,-0.50,-117.3,21.5,-13.0,21,272,0.20,2.33,0.00,0.000,6,0.160,0.054,3150,2396,3357
$GC,593,-0.50,-117.3,48.4,-7.7,52,599,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2396,3358
$GC,918,-0.50,-117.3,72.5,-7.5,83,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2396,3358
$GC,1231,-0.50,-117.3,97.7,-7.6,103,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2396,3358
$GC,1541,-0.50,-117.3,119.5,-6.3,118,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2396,3359
$GC,1850,-0.55,-117.3,136.7,-5.4,133,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2396,3359
$GC,2179,-0.61,-117.3,154.2,-5.3,148,2183,0.00,2.45,0.00,0.000,4,0.000,0.080,3150,3817,3359
$GC,2248,-0.74,-117.3,157.8,-5.6,150,2253,0.22,2.33,0.00,0.000,6,0.074,0.053,3066,2398,3359
$GC,2583,-0.60,-117.3,185.8,-8.7,161,2588,0.17,2.38,0.00,0.000,4,0.154,0.068,3122,993,3359
$GC,2649,-0.60,-117.3,190.9,-7.1,163,2653,0.00,2.30,0.00,0.000,6,0.000,0.062,3122,2413,3359
$GC,2984,-0.60,-117.3,212.8,-6.6,174,2988,0.00,2.40,0.00,0.000,4,0.000,0.069,3122,990,3359
$GC,3033,-0.60,-117.3,216.4,-7.3,175,3037,0.00,2.33,0.00,0.000,6,0.000,0.061,3122,2401,3359
$GC,3352,-0.60,-117.3,237.5,-6.4,186,3356,0.00,2.40,0.00,0.000,4,0.000,0.081,3116,3812,3359
$GC,3380,-0.60,-117.3,239.4,-6.9,187,3384,0.00,2.30,0.00,0.000,6,0.000,0.054,3120,2391,3359
$GC,3714,-0.60,-117.3,261.3,-6.8,198,3718,0.00,2.33,0.00,0.000,4,0.000,0.071,3120,987,3359
$GC,3753,-0.60,-117.3,264.1,-7.4,199,3757,0.00,2.30,0.00,0.000,6,0.000,0.062,3120,2403,3359
$GC,4083,-0.60,-117.3,286.9,-6.8,210,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2403,3359
$GC,4418,-0.60,-117.3,308.0,-6.1,219,4422,0.00,2.35,0.00,0.000,4,0.000,0.071,3120,993,3358
$GC,4450,-0.60,-117.3,310.0,-6.3,219,4454,0.00,2.33,0.00,0.000,6,0.000,0.063,3120,2407,3359
$GC,4777,-0.60,-117.3,329.6,-6.0,225,4781,0.00,2.33,0.00,0.000,4,0.000,0.081,3115,3807,3358
$GC,4810,-0.65,-117.3,331.7,-6.7,225,4814,0.00,2.28,0.00,0.000,6,0.000,0.054,3115,2395,3358
$GC,5143,-0.65,-117.3,353.1,-6.5,231,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2395,3358
$GC,5444,-0.65,-117.3,372.7,-6.4,236,5448,0.00,2.42,0.00,0.000,4,0.000,0.081,3113,3808,3358
$GC,5478,-0.70,-117.3,375.0,-6.8,236,5482,0.00,2.28,0.00,0.000,6,0.000,0.055,3113,2392,3358
$GC,5804,-0.70,-117.3,395.6,-6.3,242,5808,0.00,2.33,0.00,0.000,4,0.000,0.072,3113,984,3358
$GC,5837,-0.70,-117.3,398.0,-6.9,242,5841,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2406,3357
$GC,6163,-0.70,-117.3,418.3,-6.2,248,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3357
$GC,6466,-0.70,-117.3,437.1,-6.2,253,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3357
$GC,6769,-0.70,-117.3,456.1,-6.3,258,6773,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,991,3357
$GC,6796,-0.74,-117.3,457.8,-6.6,258,6801,0.12,2.33,0.00,0.000,6,0.089,0.064,3066,2400,3357
$GC,7127,-0.74,-117.3,479.7,-6.6,264,7131,0.00,2.35,0.00,0.000,4,0.000,0.081,3066,3809,3357
$GC,7161,-0.67,-117.3,482.1,-7.5,264,7166,0.12,2.25,0.00,0.000,6,0.114,0.056,3100,2388,3357
$GC,7487,-0.67,-117.3,501.9,-6.0,270,7491,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,995,3357
$GC,7514,-0.67,-117.3,503.8,-6.6,270,7518,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2411,3357
$GC,7852,-0.67,-117.3,523.9,-6.0,276,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3356
$GC,8155,-0.67,-117.3,542.3,-6.0,281,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3356
$GC,8458,-0.67,-117.3,560.6,-6.0,286,8462,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,988,3356
$GC,8496,-0.67,-117.3,563.2,-7.1,286,8500,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2406,3356
$GC,8822,-0.67,-117.3,583.8,-6.3,292,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3356
$GC,9126,-0.67,-117.3,602.2,-6.1,297,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,9429,-0.67,-117.3,619.9,-5.8,302,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3356
$GC,9731,-0.67,-117.3,636.4,-5.5,307,9736,0.00,2.42,0.00,0.000,4,0.000,0.072,3099,991,3356
$GC,9764,-0.67,-117.3,638.5,-6.3,307,9768,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2403,3356
$GC,10097,-0.67,-117.3,658.6,-6.2,313,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3355
$GC,10399,-0.67,-117.3,677.0,-6.1,318,10404,0.00,2.38,0.00,0.000,4,0.000,0.072,3099,996,3355
$GC,10432,-0.67,-117.3,679.1,-6.6,318,10436,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2403,3355
$GC,10764,-0.67,-117.3,697.7,-5.5,324,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3355
$GC,11068,-0.67,-117.3,713.4,-5.1,329,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3355
$GC,11371,-0.67,-117.3,728.8,-5.1,334,11375,0.00,2.38,0.00,0.000,4,0.000,0.084,3099,3814,3355
$GC,11404,-0.72,-117.3,730.7,-6.0,334,11408,0.00,2.30,0.00,0.000,6,0.000,0.056,3099,2403,3355
$GC,11730,-0.77,-117.3,747.9,-5.3,340,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3354
$GC,12033,-0.82,-117.3,764.0,-5.3,345,12035,0.15,0.00,0.00,0.000,6,0.090,0.000,3041,2403,3354
$GC,12336,-0.74,-117.3,784.1,-6.7,350,12341,0.12,2.45,0.00,0.000,4,0.110,0.084,3072,3814,3354
$GC,12370,-0.74,-117.3,786.5,-7.3,350,12375,0.00,2.33,0.00,0.000,6,0.000,0.057,3072,2395,3354
$GC,12697,-0.74,-117.3,807.3,-6.4,356,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2395,3354
$GC,13000,-0.74,-117.3,826.7,-6.4,361,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2395,3354
$GC,13303,-0.74,-117.3,846.9,-6.7,366,13304,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3354
$GC,13606,-0.74,-117.3,867.6,-6.8,371,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2395,3354
$GC,13909,-0.74,-117.3,887.5,-6.5,376,13910,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3353
$GC,14212,-0.74,-117.3,906.2,-6.1,381,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2395,3354
$GC,14516,-0.74,-117.3,923.5,-5.7,386,14520,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3806,3354
$GC,14559,-0.74,-117.3,926.1,-5.1,386,14563,0.00,2.35,0.00,0.000,6,0.000,0.058,3072,2393,3353
$GC,14881,-0.74,-117.3,942.4,-5.1,392,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2393,3353
$GC,15183,-0.74,-117.3,957.8,-5.1,397,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2393,3353
$GC,15487,-0.74,-117.3,973.8,-5.2,402,15488,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2393,3353
$GC,15790,-0.74,-117.3,989.8,-5.3,407,15794,0.00,2.15,0.00,0.000,3,0.000,0.085,3072,3654,3352
$STATE,15795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15795,begin apogee
$GC,15803,-0.22,0.0,990.1,5.3,407,15914,0.55,0.00,107.28,1.493,6,0.151,0.000,3239,2197,2876
$STATE,15914,end apogee,CONTROL_FINISHED_OK
$STATE,15914,begin climb
$GC,15917,0.67,117.3,992.0,0.0,408,16041,0.90,2.78,111.95,1.440,4,0.095,0.077,3532,784,2396
$GC,16092,0.33,117.3,990.9,7.5,410,16097,0.43,2.47,0.00,0.000,6,0.176,0.062,3425,2195,2395
$GC,16408,0.34,125.2,975.4,4.8,416,16418,0.00,0.00,8.48,1.235,6,0.000,0.000,3425,2195,2364
$GC,16710,0.36,142.0,961.6,4.5,421,16729,0.00,0.00,16.25,1.375,6,0.000,0.000,3425,2195,2297
$GC,17014,0.36,147.2,947.0,4.9,426,17022,0.00,0.00,6.43,1.164,6,0.000,0.000,3425,2195,2276
$GC,17317,0.37,155.0,932.5,4.8,431,17327,0.00,0.00,8.50,1.260,6,0.000,0.000,3425,2195,2244
$GC,17682,0.37,155.0,914.0,5.1,437,17686,0.00,2.40,0.00,0.000,4,0.000,0.080,3426,790,2244
$GC,17727,0.38,162.2,911.8,4.8,437,17744,0.00,2.30,8.40,1.257,6,0.000,0.064,3426,2203,2213
$GC,18047,0.38,162.2,896.0,5.0,443,18048,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2212
$GC,18350,0.38,162.2,879.8,5.3,448,18351,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2212
$GC,18652,0.38,162.2,863.2,5.6,453,18656,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,789,2212
$GC,18696,0.38,162.2,860.5,6.6,453,18700,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2212
$GC,19017,0.38,162.2,841.3,6.1,459,19018,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2212
$GC,19321,0.38,162.2,822.1,6.4,464,19325,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,792,2211
$GC,19360,0.38,162.2,819.5,6.1,464,19364,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2210,2211
$GC,19681,0.38,162.2,798.6,6.5,470,19682,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2211
$GC,19983,0.38,162.2,778.8,6.5,475,19988,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,790,2211
$GC,20016,0.38,162.2,776.5,6.1,475,20020,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2211,2211
$GC,20349,0.38,162.2,754.3,6.7,481,20350,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2211
$GC,20652,0.38,162.2,734.1,6.6,486,20653,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2211
$GC,20955,0.38,162.2,715.4,6.1,491,20956,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2211
$GC,21258,0.38,162.2,697.3,6.0,496,21259,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2211
$GC,21561,0.38,162.2,679.5,5.8,501,21565,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,790,2211
$GC,21594,0.42,162.2,677.5,5.1,501,21598,0.00,2.30,0.00,0.000,6,0.000,0.063,3435,2209,2211
$GC,21921,0.42,162.2,660.3,5.2,507,21925,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,783,2211
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$GC,31325,0.56,218.7,123.4,4.9,712,31329,0.00,2.33,0.00,0.000,4,0.000,0.079,3507,3614,1990
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$STATE,33361,end climb,SURFACE_DEPTH_REACHED
$STATE,33361,begin surface coast
$FINISH,2.8,1.014947
$STATE,33479,end surface coast,CONTROL_FINISHED_OK
$STATE,33479,begin surface
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$HUMID,2086
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$10V_AH,10.6,43.983
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$DEVICE_SECS,31.025,221.175,349.125,38.725,0.000,31.105,25.075,160.757,278.000,0.000,0.000,13.130,1924.959,28053.982,550.870,2701.897,643.792,33.381,1872.847,0.000,2672.026,0.000,0.465
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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,50716,876
$CAP_FILE_SIZE,197681,0
$CFSIZE,260165632,233041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301208,184208,4955.309,-14429.754,45,1.4,45,18.5