version: 66.03
glider: 120
mission: 9
dive: 478
start: 2 24 109 18 7 57
data:
$ID,120
$MISSION,9
$DIVE,478
$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,-27957.311
$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,20
$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
$GPS1,180037,4956.149,-14506.162,84,1.1,84,18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-74.8
$GPS2,180702,4956.146,-14506.160,15,1.4,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,0.083
$KALMAN_X,-15277.2,-71.1,77.8,25169.4,-729.7
$KALMAN_Y,81943.3,-139.5,-457.4,-94910.2,3069.0
$MHEAD_RNG_PITCHd_Wd,43.7,27780,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.68,0.000,2,0.000,0.000,142,2414,2016
$GC,41,-0.67,-117.3,3.8,-0.0,1,116,14.25,2.45,-52.22,0.000,4,0.288,0.082,3093,986,3356
$GC,167,-0.51,-117.3,12.1,-11.5,12,174,0.20,2.33,0.00,0.000,6,0.158,0.064,3148,2403,3357
$GC,495,-0.51,-117.3,35.1,-6.7,43,496,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2402,3357
$GC,814,-0.51,-117.3,55.8,-5.8,73,820,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2402,3357
$GC,1145,-0.51,-117.3,79.1,-8.1,104,1149,0.00,2.35,0.00,0.000,4,0.000,0.071,3149,991,3358
$GC,1172,-0.51,-117.3,81.9,-9.1,105,1176,0.00,2.30,0.00,0.000,6,0.000,0.061,3149,2401,3358
$GC,1488,-0.51,-117.3,107.3,-7.2,120,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2401,3358
$GC,1799,-0.56,-117.3,127.0,-5.6,135,1803,0.00,2.35,0.00,0.000,4,0.000,0.081,3140,3809,3358
$GC,1855,-0.64,-117.3,130.6,-6.3,137,1861,0.00,2.22,0.00,0.000,6,0.000,0.054,3140,2396,3358
$GC,2172,-0.70,-117.3,149.5,-6.0,153,2176,0.15,2.30,0.00,0.000,4,0.081,0.069,3075,995,3358
$GC,2250,-0.62,-117.3,156.1,-8.3,156,2255,0.15,2.30,0.00,0.000,6,0.142,0.061,3116,2409,3358
$GC,2569,-0.62,-117.3,177.5,-6.6,167,2573,0.00,2.35,0.00,0.000,4,0.000,0.070,3116,989,3358
$GC,2613,-0.62,-117.3,180.7,-6.7,168,2617,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2399,3358
$GC,2933,-0.62,-117.3,200.5,-6.0,179,2937,0.00,2.33,0.00,0.000,4,0.000,0.069,3113,991,3358
$GC,2999,-0.62,-117.3,204.9,-6.4,181,3003,0.00,2.28,0.00,0.000,6,0.000,0.062,3113,2400,3358
$GC,3335,-0.62,-117.3,225.0,-6.1,192,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,3642,-0.62,-117.3,244.6,-6.7,202,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3359
$GC,3947,-0.62,-117.3,265.0,-6.5,212,3951,0.00,2.33,0.00,0.000,4,0.000,0.070,3113,993,3358
$GC,3975,-0.62,-117.3,267.0,-6.6,212,3981,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2408,3358
$GC,4288,-0.62,-117.3,287.6,-6.7,223,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3358
$GC,4624,-0.62,-117.3,308.5,-6.1,232,4628,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,984,3358
$GC,4651,-0.62,-117.3,310.4,-6.8,232,4655,0.00,2.33,0.00,0.000,6,0.000,0.062,3113,2406,3358
$GC,4984,-0.62,-117.3,329.2,-5.6,238,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3358
$GC,5287,-0.62,-117.3,345.4,-5.3,243,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3358
$GC,5591,-0.62,-117.3,360.7,-5.0,248,5595,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,986,3357
$GC,5630,-0.67,-117.3,363.1,-6.0,248,5634,0.00,2.33,0.00,0.000,6,0.000,0.062,3113,2409,3357
$GC,5952,-0.72,-117.3,380.6,-5.4,254,5956,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,994,3357
$GC,5974,-0.77,-117.3,381.8,-5.3,254,5979,0.12,2.30,0.00,0.000,6,0.086,0.063,3066,2399,3357
$GC,6312,-0.77,-117.3,404.2,-6.8,260,6316,0.00,2.35,0.00,0.000,4,0.000,0.081,3066,3808,3357
$GC,6357,-0.70,-117.3,407.6,-7.7,260,6361,0.00,2.25,0.00,0.000,6,0.000,0.055,3066,2392,3357
$GC,6673,-0.70,-117.3,429.8,-7.0,266,6677,0.00,2.30,0.00,0.000,4,0.000,0.072,3066,995,3356
$GC,6718,-0.66,-117.3,433.1,-7.8,266,6723,0.12,2.30,0.00,0.000,6,0.136,0.062,3098,2400,3357
$GC,7033,-0.66,-117.3,452.3,-6.0,272,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3357
$GC,7336,-0.66,-117.3,471.0,-6.2,277,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3357
$GC,7640,-0.66,-117.3,489.8,-6.2,282,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3356
$GC,7943,-0.66,-117.3,509.0,-6.4,287,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3357
$GC,8245,-0.66,-117.3,527.7,-6.1,292,8250,0.00,2.38,0.00,0.000,4,0.000,0.072,3098,988,3356
$GC,8290,-0.66,-117.3,530.5,-6.4,292,8294,0.00,2.33,0.00,0.000,6,0.000,0.063,3098,2405,3356
$GC,8605,-0.66,-117.3,548.6,-5.7,298,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,8909,-0.66,-117.3,565.7,-5.7,303,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,9211,-0.66,-117.3,582.2,-5.5,308,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,9514,-0.66,-117.3,598.3,-5.3,313,9518,0.00,2.38,0.00,0.000,4,0.000,0.073,3098,989,3355
$GC,9559,-0.70,-117.3,601.0,-5.8,313,9563,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2400,3355
$GC,9875,-0.70,-117.3,618.1,-5.4,319,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3356
$GC,10179,-0.70,-117.3,634.4,-5.4,324,10183,0.00,2.35,0.00,0.000,4,0.000,0.072,3098,993,3355
$GC,10206,-0.70,-117.3,636.0,-5.8,324,10210,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2411,3355
$GC,10539,-0.70,-117.3,654.9,-5.7,330,10543,0.00,2.38,0.00,0.000,4,0.000,0.073,3098,991,3355
$GC,10573,-0.70,-117.3,657.0,-6.0,330,10577,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2405,3355
$GC,10900,-0.70,-117.3,675.8,-5.8,336,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3355
$GC,11203,-0.74,-117.3,693.6,-5.9,341,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3355
$GC,11506,-0.79,-117.3,711.5,-5.9,346,11508,0.12,0.00,0.00,0.000,6,0.090,0.000,3049,2404,3355
$GC,11809,-0.79,-117.3,732.6,-7.0,351,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2405,3355
$GC,12112,-0.79,-117.3,753.0,-6.7,356,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2405,3355
$GC,12415,-0.79,-117.3,772.7,-6.5,361,12419,0.00,2.38,0.00,0.000,4,0.000,0.084,3048,3810,3355
$GC,12443,-0.72,-117.3,774.9,-7.8,361,12448,0.12,2.25,0.00,0.000,6,0.104,0.058,3082,2397,3355
$GC,12782,-0.72,-117.3,796.5,-6.4,367,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2397,3355
$GC,13084,-0.72,-117.3,816.3,-6.5,372,13088,0.00,2.35,0.00,0.000,4,0.000,0.074,3082,989,3354
$GC,13117,-0.72,-117.3,818.7,-7.0,372,13121,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2399,3354
$GC,13443,-0.72,-117.3,839.8,-6.5,378,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3355
$GC,13747,-0.72,-117.3,859.1,-6.4,383,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,14051,-0.72,-117.3,878.1,-6.2,388,14055,0.00,2.40,0.00,0.000,4,0.000,0.074,3082,990,3354
$GC,14086,-0.72,-117.3,880.4,-6.9,388,14090,0.00,2.35,0.00,0.000,6,0.000,0.066,3082,2400,3354
$GC,14413,-0.72,-117.3,900.5,-6.2,394,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,14715,-0.72,-117.3,918.5,-5.9,399,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,15019,-0.72,-117.3,935.0,-5.4,404,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,15322,-0.72,-117.3,950.3,-4.9,409,15327,0.00,2.45,0.00,0.000,4,0.000,0.087,3082,3810,3353
$GC,15350,-0.72,-117.3,951.8,-5.5,409,15354,0.00,2.30,0.00,0.000,6,0.000,0.058,3082,2390,3354
$GC,15688,-0.72,-117.3,967.5,-4.7,415,15689,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3354
$GC,15992,-0.72,-117.3,982.0,-4.7,420,15993,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$STATE,16169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16170,begin apogee
$GC,16177,-0.22,0.0,990.5,4.7,423,16292,0.52,0.00,108.78,1.485,6,0.141,0.000,3242,2196,2875
$STATE,16293,end apogee,CONTROL_FINISHED_OK
$STATE,16293,begin climb
$GC,16296,0.67,117.3,993.7,0.0,425,16420,0.88,2.72,113.43,1.431,4,0.088,0.078,3532,802,2397
$GC,16454,0.32,117.3,991.4,6.8,427,16460,0.43,2.47,0.00,0.000,6,0.173,0.061,3425,2198,2395
$GC,16787,0.32,117.3,973.5,5.3,433,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2197,2393
$GC,17090,0.32,121.3,958.6,4.9,438,17100,0.00,2.38,4.62,0.996,4,0.000,0.081,3425,3612,2381
$GC,17141,0.23,121.3,956.0,5.4,438,17145,0.15,2.30,0.00,0.000,6,0.176,0.064,3397,2196,2381
$GC,17452,0.34,161.2,943.9,3.9,443,17495,0.00,2.50,36.85,1.432,4,0.000,0.081,3397,786,2218
$GC,17516,0.53,218.7,941.4,3.4,444,17579,0.28,2.38,54.12,1.409,6,0.075,0.062,3499,2211,1983
$GC,17883,0.41,218.7,910.9,8.6,450,17885,0.17,0.00,0.00,0.000,6,0.144,0.000,3451,2211,1976
$GC,18185,0.41,218.7,891.5,6.3,455,18186,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1975
$GC,18488,0.41,218.7,871.8,6.5,460,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2211,1974
$GC,18792,0.41,218.7,851.1,6.9,465,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1974
$GC,19094,0.41,218.7,829.6,7.0,470,19095,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1973
$GC,19397,0.41,218.7,807.6,7.2,475,19398,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1973
$GC,19701,0.41,218.7,784.6,7.6,480,19702,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2211,1973
$GC,20003,0.41,218.7,761.4,7.6,485,20005,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1973
$GC,20307,0.41,218.7,738.3,7.7,490,20308,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1973
$GC,20610,0.41,218.7,715.8,7.4,495,20611,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2211,1972
$GC,20913,0.41,218.7,693.1,7.5,500,20914,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,1972
$GC,21216,0.41,218.7,670.8,7.3,505,21220,0.00,2.47,0.00,0.000,4,0.000,0.081,3451,785,1973
$GC,21267,0.47,218.7,667.1,7.8,505,21271,0.00,2.33,0.00,0.000,6,0.000,0.064,3451,2211,1973
$GC,21577,0.52,218.7,644.1,7.4,510,21579,0.10,0.00,0.00,0.000,6,0.091,0.000,3490,2210,1973
$GC,21880,0.52,218.7,620.8,7.7,515,21881,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2210,1972
$GC,22183,0.52,218.7,599.1,7.1,520,22184,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2210,1973
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$STATE,31123,end climb,SURFACE_DEPTH_REACHED
$STATE,31123,begin surface coast
$FINISH,2.8,1.011517
$STATE,31270,end surface coast,CONTROL_FINISHED_OK
$STATE,31270,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2122
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$TCM_TEMP,15.80
$XPDR_PINGS,949
$24V_AH,21.3,93.651
$10V_AH,10.4,64.254
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$DEVICE_SECS,28.650,174.925,367.275,0.000,0.000,30.535,26.247,177.618,237.250,0.000,0.000,15.266,1725.413,26366.861,496.826,2394.575,741.769,33.377,1584.598,0.000,2375.396,0.000,0.465
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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,47385,847
$CAP_FILE_SIZE,171305,0
$CFSIZE,260165632,221523968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,025137,4958.342,-14502.853,29,1.4,29,18.4