version: 66.03
glider: 120
mission: 9
dive: 488
start: 2 28 109 12 9 45
data:
$ID,120
$MISSION,9
$DIVE,488
$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,-28199.336
$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,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
$GPS1,115738,5020.370,-14429.354,36,2.0,36,18.7
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,4.11
$_SM_ANGLEo,-73.3
$GPS2,120850,5020.326,-14429.361,12,1.8,12,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.028,-0.178
$KALMAN_X,-23700.9,143.3,171.9,77033.8,-1165.8
$KALMAN_Y,85187.4,-60.2,-145.7,-53775.5,746.3
$MHEAD_RNG_PITCHd_Wd,152.5,48738,-11.8,-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,-0.66,-117.3,0.0,0.0,0,37,0.00,0.00,-10.30,0.000,2,0.000,0.000,135,2406,2011
$GC,41,-0.66,-117.3,3.8,-0.0,1,109,13.90,2.42,-47.05,0.000,4,0.280,0.094,3097,3807,3357
$GC,312,-0.50,-117.3,29.1,-11.4,25,319,0.20,2.28,0.00,0.000,6,0.161,0.057,3151,2401,3358
$GC,640,-0.50,-117.3,48.2,-5.7,56,644,0.00,2.33,0.00,0.000,4,0.000,0.070,3151,985,3358
$GC,674,-0.50,-117.3,51.0,-7.4,58,680,0.00,2.30,0.00,0.000,6,0.000,0.062,3151,2400,3358
$GC,1000,-0.50,-117.3,74.4,-8.1,89,1004,0.00,2.35,0.00,0.000,4,0.000,0.081,3151,3810,3358
$GC,1022,-0.50,-117.3,76.9,-10.1,90,1028,0.00,2.22,0.00,0.000,6,0.000,0.054,3151,2395,3358
$GC,1350,-0.55,-117.3,99.1,-7.1,108,1353,0.00,2.30,0.00,0.000,4,0.000,0.070,3151,991,3358
$GC,1385,-0.55,-117.3,101.4,-6.9,109,1389,0.00,2.30,0.00,0.000,6,0.000,0.061,3151,2403,3358
$GC,1702,-0.59,-117.3,123.2,-6.1,124,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2402,3358
$GC,2011,-0.66,-117.3,142.2,-5.9,139,2016,0.15,2.35,0.00,0.000,4,0.078,0.068,3085,986,3359
$GC,2097,-0.57,-117.3,148.8,-8.0,143,2102,0.17,2.33,0.00,0.000,6,0.142,0.061,3132,2407,3359
$GC,2422,-0.62,-117.3,171.4,-7.2,154,2426,0.00,2.35,0.00,0.000,4,0.000,0.069,3132,987,3359
$GC,2451,-0.67,-117.3,173.6,-7.9,155,2455,0.00,2.33,0.00,0.000,6,0.000,0.061,3132,2411,3358
$GC,2788,-0.90,-117.3,198.0,-6.8,166,2793,0.28,2.33,0.00,0.000,4,0.084,0.077,3027,3808,3358
$GC,3012,-0.66,-117.3,220.0,-10.3,172,3020,0.20,2.28,0.00,0.000,6,0.154,0.054,3098,2392,3359
$GC,3327,-0.62,-117.3,243.1,-7.4,183,3331,0.00,2.33,0.00,0.000,4,0.000,0.069,3098,997,3359
$GC,3405,-0.62,-117.3,249.9,-8.6,185,3409,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2400,3359
$GC,3724,-0.62,-117.3,275.0,-7.7,196,3728,0.00,2.35,0.00,0.000,4,0.000,0.069,3098,990,3359
$GC,3791,-0.62,-117.3,280.3,-7.8,198,3795,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2399,3358
$GC,4157,-0.62,-117.3,304.6,-6.4,209,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3359
$GC,4459,-0.62,-117.3,322.4,-5.8,214,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3358
$GC,4763,-0.62,-117.3,340.5,-6.0,219,4767,0.00,2.38,0.00,0.000,4,0.000,0.082,3098,3809,3359
$GC,4791,-0.62,-117.3,342.3,-6.1,219,4795,0.00,2.25,0.00,0.000,6,0.000,0.054,3098,2403,3358
$GC,5123,-0.62,-117.3,361.0,-5.7,225,5127,0.00,2.38,0.00,0.000,4,0.000,0.070,3098,986,3359
$GC,5173,-0.62,-117.3,364.1,-6.3,225,5177,0.00,2.33,0.00,0.000,6,0.000,0.062,3098,2403,3358
$GC,5484,-0.62,-117.3,381.2,-5.5,230,5488,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,991,3358
$GC,5506,-0.62,-117.3,382.7,-5.7,230,5510,0.00,2.33,0.00,0.000,6,0.000,0.062,3098,2409,3358
$GC,5844,-0.62,-117.3,401.7,-5.7,236,5848,0.00,2.38,0.00,0.000,4,0.000,0.071,3098,986,3358
$GC,5877,-0.62,-117.3,404.1,-7.0,236,5881,0.00,2.33,0.00,0.000,6,0.000,0.063,3098,2401,3358
$GC,6204,-0.62,-117.3,425.6,-6.6,242,6208,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,989,3358
$GC,6237,-0.62,-117.3,428.1,-7.0,242,6241,0.00,2.33,0.00,0.000,6,0.000,0.062,3098,2408,3358
$GC,6563,-0.62,-117.3,449.9,-6.7,248,6567,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,994,3358
$GC,6591,-0.62,-117.3,452.0,-7.4,248,6595,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2400,3358
$GC,6923,-0.62,-117.3,472.1,-6.0,254,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2400,3357
$GC,7226,-0.62,-117.3,490.6,-6.0,259,7230,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,989,3357
$GC,7270,-0.62,-117.3,493.5,-6.7,259,7274,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2402,3357
$GC,7585,-0.62,-117.3,513.6,-6.4,265,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,7889,-0.62,-117.3,531.4,-5.8,270,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,8191,-0.62,-117.3,547.3,-5.2,275,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3357
$GC,8494,-0.62,-117.3,563.5,-5.3,280,8498,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,987,3357
$GC,8522,-0.62,-117.3,565.3,-6.3,280,8526,0.00,2.33,0.00,0.000,6,0.000,0.063,3098,2399,3357
$GC,8854,-0.62,-117.3,584.2,-5.8,286,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,9157,-0.62,-117.3,601.8,-5.8,291,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,9460,-0.62,-117.3,617.3,-5.1,296,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,9763,-0.62,-117.3,631.6,-4.7,301,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3356
$GC,10066,-0.62,-117.3,646.7,-5.1,306,10070,0.00,2.38,0.00,0.000,4,0.000,0.071,3098,995,3356
$GC,10089,-0.62,-117.3,648.1,-5.9,306,10093,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2404,3356
$GC,10427,-0.62,-117.3,666.8,-5.6,312,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,10730,-0.62,-117.3,684.7,-5.9,317,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,11033,-0.62,-117.3,703.0,-6.1,322,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3356
$GC,11336,-0.62,-117.3,720.3,-5.7,327,11341,0.00,2.40,0.00,0.000,4,0.000,0.073,3098,993,3355
$GC,11375,-0.62,-117.3,722.5,-5.4,327,11379,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2400,3355
$GC,11695,-0.62,-117.3,738.6,-5.0,333,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3355
$GC,11999,-0.67,-117.3,752.6,-4.6,338,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3355
$GC,12303,-0.67,-117.3,766.4,-4.6,343,12307,0.00,2.38,0.00,0.000,4,0.000,0.073,3098,993,3355
$GC,12342,-0.67,-117.3,768.6,-5.0,343,12346,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2398,3355
$GC,12664,-0.85,-117.3,786.8,-6.0,349,12669,0.15,2.38,0.00,0.000,4,0.091,0.072,3039,993,3354
$GC,12783,-0.77,-117.3,794.9,-6.4,350,12787,0.10,2.33,0.00,0.000,6,0.139,0.064,3064,2403,3354
$GC,13093,-0.72,-117.3,814.2,-6.2,355,13097,0.00,2.38,0.00,0.000,4,0.000,0.084,3059,3810,3354
$GC,13133,-0.65,-117.3,816.9,-6.7,355,13138,0.17,2.25,0.00,0.000,6,0.146,0.057,3106,2399,3354
$GC,13455,-0.83,-117.3,833.7,-5.5,361,13460,0.15,2.35,0.00,0.000,4,0.085,0.073,3054,994,3354
$GC,13572,-0.83,-117.3,841.3,-6.5,362,13576,0.00,2.33,0.00,0.000,6,0.000,0.064,3054,2404,3354
$GC,13884,-0.95,-117.3,861.0,-6.4,367,13888,0.12,2.40,0.00,0.000,4,0.091,0.072,3011,989,3354
$GC,14102,-0.76,-117.3,878.8,-8.4,370,14107,0.22,2.35,0.00,0.000,6,0.164,0.067,3071,2402,3354
$GC,14446,-0.76,-117.3,900.4,-6.4,376,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2402,3354
$GC,14749,-0.76,-117.3,920.0,-6.4,381,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2402,3354
$GC,15052,-0.76,-117.3,938.5,-6.1,386,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2402,3354
$GC,15355,-0.76,-117.3,956.5,-5.9,391,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2402,3354
$GC,15658,-0.76,-117.3,973.6,-5.6,396,15660,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2401,3354
$STATE,15958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15958,begin apogee
$GC,15967,-0.22,0.0,990.9,5.7,401,16081,0.57,0.00,109.00,1.483,6,0.140,0.000,3247,2203,2875
$STATE,16082,end apogee,CONTROL_FINISHED_OK
$STATE,16082,begin climb
$GC,16085,0.66,117.3,994.8,0.0,403,16209,0.82,2.75,113.72,1.429,4,0.084,0.075,3534,789,2396
$GC,16254,0.30,117.3,992.3,6.2,405,16259,0.45,2.50,0.00,0.000,6,0.176,0.061,3420,2208,2394
$GC,16575,0.31,123.8,976.4,4.8,411,16584,0.00,0.00,6.78,1.162,6,0.000,0.000,3420,2208,2371
$GC,16879,0.34,146.5,963.0,4.4,416,16903,0.00,0.00,22.10,1.397,6,0.000,0.000,3420,2208,2278
$GC,17183,0.36,163.9,949.3,4.5,421,17201,0.00,0.00,17.00,1.371,6,0.000,0.000,3420,2207,2207
$GC,17485,0.38,179.1,935.4,4.6,426,17505,0.00,2.45,14.85,1.353,4,0.000,0.080,3421,791,2146
$GC,17546,0.45,179.1,932.6,5.3,427,17551,0.12,2.33,0.00,0.000,6,0.087,0.062,3474,2199,2145
$GC,17918,0.36,179.1,907.8,6.8,433,17923,0.15,2.35,0.00,0.000,4,0.142,0.080,3426,3609,2144
$GC,17946,0.36,179.1,905.7,6.0,433,17950,0.00,2.30,0.00,0.000,6,0.000,0.064,3426,2190,2144
$GC,18279,0.40,179.1,886.4,5.9,439,18283,0.00,2.38,0.00,0.000,4,0.000,0.080,3426,790,2144
$GC,18335,0.47,179.1,883.0,5.9,439,18343,0.12,2.33,0.00,0.000,6,0.086,0.063,3476,2215,2144
$GC,18646,0.37,179.1,859.8,7.6,445,18648,0.15,0.00,0.00,0.000,6,0.140,0.000,3434,2215,2143
$GC,18949,0.37,179.1,838.9,6.9,450,18953,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,781,2143
$GC,18999,0.37,179.1,835.2,6.8,450,19003,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2213,2143
$GC,19310,0.37,179.1,814.0,6.9,455,19311,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2143
$GC,19612,0.37,179.1,793.7,6.7,460,19616,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,783,2143
$GC,19656,0.37,179.1,790.6,7.2,460,19660,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2212,2143
$GC,19971,0.37,179.1,771.0,6.2,466,19972,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2212,2143
$GC,20275,0.37,179.1,752.3,6.2,471,20279,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,783,2143
$GC,20325,0.42,179.1,749.0,6.2,471,20329,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2209,2143
$GC,20636,0.42,179.1,730.2,6.1,476,20637,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2143
$GC,20938,0.42,179.1,712.0,6.0,481,20940,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2143
$GC,21242,0.42,179.1,694.3,5.8,486,21246,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,785,2143
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$STATE,32312,end climb,SURFACE_DEPTH_REACHED
$STATE,32313,begin surface coast
$FINISH,2.5,1.014483
$STATE,32409,end surface coast,CONTROL_FINISHED_OK
$STATE,32409,begin surface
$SM_CCo,32431,6.70,0.749,0,0,1754,275.23
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$TT8_MAMPS,0.026845
$HUMID,2118
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$TCM_TEMP,15.60
$XPDR_PINGS,1044
$24V_AH,21.3,95.576
$10V_AH,10.5,65.643
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$DEVICE_SECS,29.750,240.225,367.400,6.700,0.000,58.325,59.185,337.799,261.000,0.000,0.000,12.147,1848.484,27130.441,544.724,2569.112,1010.642,33.363,1819.157,0.000,2529.238,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,632.550,614.835,1410.879,852.197,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47485,830
$CAP_FILE_SIZE,200218,0
$CFSIZE,260165632,220721152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,211224,5016.861,-14428.804,79,1.8,79,18.6