version: 66.03
glider: 120
mission: 9
dive: 490
start: 3 1 109 6 36 27
data:
$ID,120
$MISSION,9
$DIVE,490
$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,-28259.713
$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,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
$GPS1,062901,5013.654,-14427.821,41,1.4,41,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-70.9
$GPS2,063531,5013.635,-14427.832,13,1.3,19,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.003,-0.178
$KALMAN_X,-23296.3,279.0,86.4,78391.3,-555.2
$KALMAN_Y,86453.9,47.7,149.7,-67851.2,621.8
$MHEAD_RNG_PITCHd_Wd,160.3,36422,-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,-10.50,0.000,2,0.000,0.000,134,2400,1750
$GC,41,-0.67,-117.3,3.5,-0.0,1,138,13.77,2.47,-76.50,0.000,4,0.276,0.081,3095,983,3355
$GC,354,-0.52,-117.3,26.9,-11.5,29,359,0.17,2.35,0.00,0.000,6,0.155,0.064,3144,2407,3357
$GC,679,-0.52,-117.3,55.4,-8.0,59,680,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2407,3357
$GC,999,-0.52,-117.3,80.5,-7.9,89,1003,0.00,2.40,0.00,0.000,4,0.000,0.069,3144,984,3358
$GC,1040,-0.52,-117.3,83.7,-7.5,91,1045,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2402,3357
$GC,1368,-0.52,-117.3,109.8,-8.2,107,1372,0.00,2.38,0.00,0.000,4,0.000,0.068,3141,988,3358
$GC,1395,-0.52,-117.3,112.2,-8.6,108,1399,0.00,2.33,0.00,0.000,6,0.000,0.061,3142,2408,3358
$GC,1712,-0.52,-117.3,133.3,-5.8,123,1716,0.00,2.38,0.00,0.000,4,0.000,0.068,3141,989,3357
$GC,1756,-0.52,-117.3,136.2,-6.2,125,1760,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2407,3357
$GC,2077,-0.58,-117.3,153.9,-6.2,140,2081,0.00,2.38,0.00,0.000,4,0.000,0.069,3141,987,3357
$GC,2141,-0.63,-117.3,158.3,-7.4,142,2145,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2406,3357
$GC,2477,-0.90,-117.3,184.9,-7.8,153,2482,0.30,2.38,0.00,0.000,4,0.085,0.067,3028,984,3357
$GC,2601,-0.67,-117.3,198.4,-12.3,156,2608,0.25,2.33,0.00,0.000,6,0.160,0.063,3096,2406,3357
$GC,2915,-0.62,-117.3,226.4,-9.0,167,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2406,3358
$GC,3220,-0.57,-117.3,250.9,-7.5,177,3225,0.12,2.33,0.00,0.000,4,0.163,0.079,3125,3808,3358
$GC,3250,-0.62,-117.3,252.9,-6.0,178,3254,0.00,2.22,0.00,0.000,6,0.000,0.054,3125,2395,3358
$GC,3592,-0.69,-117.3,271.0,-5.0,189,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3358
$GC,3898,-0.75,-117.3,287.7,-5.9,199,3902,0.15,2.33,0.00,0.000,4,0.082,0.069,3059,986,3358
$GC,3931,-0.64,-117.3,290.4,-8.8,200,3936,0.17,2.33,0.00,0.000,6,0.150,0.061,3105,2413,3358
$GC,4259,-0.64,-117.3,313.6,-7.1,208,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2413,3358
$GC,4562,-0.64,-117.3,335.1,-7.1,213,4566,0.00,2.38,0.00,0.000,4,0.000,0.070,3106,994,3358
$GC,4589,-0.64,-117.3,337.2,-7.8,213,4593,0.00,2.30,0.00,0.000,6,0.000,0.062,3105,2400,3358
$GC,4928,-0.64,-117.3,360.9,-7.0,219,4932,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,988,3358
$GC,4963,-0.64,-117.3,363.3,-6.5,219,4967,0.00,2.33,0.00,0.000,6,0.000,0.062,3106,2406,3357
$GC,5290,-0.64,-117.3,385.7,-6.8,225,5294,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,991,3358
$GC,5323,-0.64,-117.3,388.1,-7.2,225,5326,0.00,2.30,0.00,0.000,6,0.000,0.063,3105,2400,3357
$GC,5656,-0.64,-117.3,410.9,-6.9,231,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3357
$GC,5958,-0.64,-117.3,431.1,-6.7,236,5962,0.00,2.35,0.00,0.000,4,0.000,0.070,3105,986,3357
$GC,5991,-0.64,-117.3,433.4,-6.9,236,5995,0.00,2.33,0.00,0.000,6,0.000,0.062,3106,2404,3357
$GC,6317,-0.64,-117.3,453.7,-6.1,242,6321,0.00,2.35,0.00,0.000,4,0.000,0.071,3105,990,3357
$GC,6362,-0.64,-117.3,456.5,-6.2,242,6366,0.00,2.33,0.00,0.000,6,0.000,0.063,3105,2407,3357
$GC,6677,-0.64,-117.3,474.9,-5.8,248,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3357
$GC,6980,-0.64,-117.3,494.0,-6.3,253,6985,0.00,2.35,0.00,0.000,4,0.000,0.071,3105,995,3357
$GC,7014,-0.64,-117.3,496.3,-7.0,253,7018,0.00,2.30,0.00,0.000,6,0.000,0.062,3105,2400,3357
$GC,7341,-0.64,-117.3,517.5,-6.6,259,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,3356
$GC,7644,-0.68,-117.3,537.8,-6.7,264,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,7948,-0.72,-117.3,559.9,-7.4,269,7952,0.00,2.35,0.00,0.000,4,0.000,0.071,3105,990,3356
$GC,7987,-0.77,-117.3,563.1,-7.9,269,7992,0.12,2.33,0.00,0.000,6,0.084,0.063,3061,2409,3356
$GC,8309,-0.77,-117.3,589.2,-8.1,275,8313,0.00,2.35,0.00,0.000,4,0.000,0.081,3061,3813,3356
$GC,8348,-0.69,-117.3,592.8,-9.2,275,8353,0.12,2.25,0.00,0.000,6,0.109,0.055,3094,2394,3356
$GC,8669,-0.69,-117.3,616.3,-7.2,281,8673,0.00,2.33,0.00,0.000,4,0.000,0.071,3094,990,3356
$GC,8726,-0.69,-117.3,620.6,-7.7,281,8732,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2407,3356
$GC,9036,-0.69,-117.3,640.3,-6.3,287,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3356
$GC,9339,-0.69,-117.3,658.2,-5.9,292,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,9642,-0.69,-117.3,676.3,-6.0,297,9646,0.00,2.38,0.00,0.000,4,0.000,0.072,3095,998,3355
$GC,9675,-0.69,-117.3,678.6,-7.2,297,9680,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2406,3355
$GC,10002,-0.69,-117.3,699.1,-6.4,303,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,10305,-0.69,-117.3,717.5,-6.0,308,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,10609,-0.69,-117.3,734.9,-5.7,313,10613,0.00,2.38,0.00,0.000,4,0.000,0.072,3094,996,3355
$GC,10648,-0.69,-117.3,737.2,-6.1,313,10652,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2406,3355
$GC,10970,-0.87,-117.3,757.1,-6.5,319,10975,0.15,2.40,0.00,0.000,4,0.085,0.071,3038,993,3355
$GC,11094,-0.75,-117.3,766.2,-7.3,320,11101,0.12,2.33,0.00,0.000,6,0.150,0.064,3070,2403,3355
$GC,11405,-0.71,-117.3,785.5,-6.2,326,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2403,3355
$GC,11707,-0.71,-117.3,802.7,-5.7,331,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2403,3355
$GC,12011,-0.71,-117.3,820.1,-5.8,336,12015,0.00,2.38,0.00,0.000,4,0.000,0.072,3070,991,3354
$GC,12050,-0.71,-117.3,822.7,-6.4,336,12054,0.00,2.35,0.00,0.000,6,0.000,0.066,3070,2409,3354
$GC,12372,-0.71,-117.3,841.5,-5.9,342,12376,0.00,2.38,0.00,0.000,4,0.000,0.073,3070,993,3354
$GC,12399,-0.71,-117.3,843.4,-6.7,342,12404,0.00,2.33,0.00,0.000,6,0.000,0.064,3070,2402,3354
$GC,12738,-0.71,-117.3,862.5,-5.7,348,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2401,3354
$GC,13041,-0.71,-117.3,880.2,-5.8,353,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2401,3354
$GC,13344,-0.71,-117.3,897.4,-5.7,358,13348,0.00,2.38,0.00,0.000,4,0.000,0.073,3070,999,3354
$GC,13383,-0.71,-117.3,899.9,-6.2,358,13388,0.00,2.33,0.00,0.000,6,0.000,0.065,3070,2399,3354
$GC,13705,-0.71,-117.3,917.5,-5.5,364,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,14008,-0.71,-117.3,934.3,-5.6,369,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,14311,-0.71,-117.3,951.9,-5.8,374,14315,0.00,2.40,0.00,0.000,4,0.000,0.073,3070,991,3353
$GC,14362,-0.71,-117.3,955.1,-5.8,374,14366,0.00,2.35,0.00,0.000,6,0.000,0.065,3070,2409,3353
$GC,14672,-0.71,-117.3,973.1,-5.8,379,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2409,3353
$GC,14975,-0.71,-117.3,989.9,-5.5,384,14979,0.00,2.17,0.00,0.000,3,0.000,0.073,3071,1115,3353
$STATE,14979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14979,begin apogee
$GC,14989,-0.22,0.0,990.2,5.4,384,15101,0.55,0.00,108.05,1.486,6,0.146,0.000,3239,2205,2876
$STATE,15101,end apogee,CONTROL_FINISHED_OK
$STATE,15101,begin climb
$GC,15104,0.67,117.3,992.1,0.0,385,15222,0.88,0.00,114.20,1.430,6,0.090,0.000,3528,2205,2397
$GC,15476,0.35,117.3,976.5,7.4,392,15481,0.32,2.38,0.00,0.000,4,0.164,0.080,3427,3609,2394
$GC,15510,0.26,117.3,974.2,5.8,392,15515,0.15,2.30,0.00,0.000,6,0.176,0.062,3400,2198,2393
$GC,15837,0.35,153.2,961.0,4.0,398,15877,0.00,2.50,32.33,1.420,4,0.000,0.078,3409,783,2251
$GC,15903,0.44,161.3,958.2,4.8,399,15918,0.15,2.38,9.25,1.242,6,0.083,0.061,3465,2210,2217
$GC,16275,0.36,161.3,936.3,5.9,405,16276,0.12,0.00,0.00,0.000,6,0.146,0.000,3432,2211,2214
$GC,16577,0.37,171.3,921.8,4.7,410,16592,0.00,2.45,9.80,1.289,4,0.000,0.080,3436,783,2177
$GC,16639,0.37,171.3,918.8,5.3,411,16643,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2177
$GC,17010,0.37,171.3,898.4,5.6,417,17014,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3618,2176
$GC,17050,0.32,171.3,895.8,6.6,417,17054,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2194,2176
$GC,17372,0.32,171.3,876.1,6.2,423,17376,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,786,2176
$GC,17416,0.32,171.3,873.1,7.4,423,17420,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2200,2176
$GC,17731,0.32,171.3,852.9,6.5,429,17732,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2176
$GC,18034,0.32,171.3,833.2,6.5,434,18038,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3619,2176
$GC,18079,0.27,171.3,830.0,7.2,434,18084,0.12,2.30,0.00,0.000,6,0.178,0.063,3406,2192,2175
$GC,18395,0.37,171.3,812.2,5.6,440,18396,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2192,2175
$GC,18698,0.48,171.3,795.1,5.7,445,18702,0.15,2.35,0.00,0.000,4,0.082,0.079,3474,790,2175
$GC,18754,0.41,171.3,791.1,7.8,445,18761,0.00,2.33,0.00,0.000,6,0.000,0.064,3474,2197,2176
$GC,19065,0.32,171.3,767.1,7.8,451,19069,0.15,2.35,0.00,0.000,4,0.144,0.079,3426,3609,2175
$GC,19092,0.32,171.3,764.9,6.1,451,19096,0.00,2.28,0.00,0.000,6,0.000,0.064,3426,2200,2175
$GC,19425,0.37,171.3,745.0,5.9,457,19427,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2200,2175
$GC,19728,0.42,171.3,728.4,5.5,462,19729,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2200,2175
$GC,20032,0.48,172.0,713.5,5.0,467,20033,0.15,0.00,0.00,0.000,6,0.087,0.000,3490,2200,2175
$GC,20334,0.36,172.0,693.4,6.7,472,20339,0.17,2.38,0.00,0.000,4,0.150,0.078,3438,786,2175
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$STATE,31935,end climb,SURFACE_DEPTH_REACHED
$STATE,31935,begin surface coast
$FINISH,2.4,1.001448
$STATE,32075,end surface coast,CONTROL_FINISHED_OK
$STATE,32075,begin surface
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$XPDR_PINGS,994
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$10V_AH,10.5,65.916
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$DEVICE_SECS,29.200,220.250,388.825,0.000,0.000,31.488,27.877,178.193,248.500,0.000,0.000,21.317,1790.736,27002.438,543.173,2432.190,766.014,33.374,1765.709,0.000,2393.056,0.000,0.465
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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,47467,825
$CAP_FILE_SIZE,188230,0
$CFSIZE,260165632,220573696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,153430,5010.796,-14428.087,84,1.0,89,18.6