version: 66.03
glider: 120
mission: 9
dive: 491
start: 3 1 109 15 42 25
data:
$ID,120
$MISSION,9
$DIVE,491
$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,-28279.744
$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,23
$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
$GPS1,153430,5010.796,-14428.087,84,1.0,89,18.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-67.0
$GPS2,154131,5010.717,-14428.087,14,1.0,19,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.177
$KALMAN_X,-23248.3,-174.7,68.6,78521.0,201.9
$KALMAN_Y,88035.1,147.3,160.9,-74949.1,985.8
$MHEAD_RNG_PITCHd_Wd,166.3,31010,-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,24,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-8.52,0.000,2,0.000,0.000,134,2406,1865
$GC,41,-0.67,-117.3,3.5,-0.0,1,130,13.70,2.50,-68.38,0.000,4,0.274,0.094,3097,3798,3355
$GC,334,-0.52,-117.3,31.8,-16.5,27,341,0.17,2.30,0.00,0.000,6,0.156,0.056,3144,2405,3357
$GC,662,-0.52,-117.3,63.6,-6.5,58,666,0.00,2.38,0.00,0.000,4,0.000,0.069,3145,992,3358
$GC,748,-0.52,-117.3,68.9,-4.1,65,752,0.00,2.33,0.00,0.000,6,0.000,0.062,3141,2402,3357
$GC,1074,-0.52,-117.3,93.8,-7.7,88,1079,0.00,2.38,0.00,0.000,4,0.000,0.081,3141,3806,3358
$GC,1108,-0.57,-117.3,96.5,-7.4,89,1115,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2392,3357
$GC,1425,-0.57,-117.3,119.4,-7.7,105,1429,0.00,2.33,0.00,0.000,4,0.000,0.069,3142,995,3358
$GC,1475,-0.57,-117.3,123.3,-7.8,107,1479,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2410,3357
$GC,1792,-0.62,-117.3,145.6,-7.4,122,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2409,3357
$GC,2099,-0.69,-117.3,166.9,-6.4,133,2103,0.15,2.35,0.00,0.000,4,0.081,0.079,3073,3818,3358
$GC,2242,-0.59,-117.3,179.5,-9.3,137,2247,0.17,2.28,0.00,0.000,6,0.115,0.054,3123,2388,3358
$GC,2566,-0.59,-117.3,200.9,-6.2,148,2570,0.00,2.33,0.00,0.000,4,0.000,0.069,3123,990,3358
$GC,2673,-0.65,-117.3,207.6,-6.2,151,2677,0.00,2.33,0.00,0.000,6,0.000,0.061,3123,2400,3358
$GC,3003,-0.69,-117.3,226.5,-5.7,162,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2399,3357
$GC,3309,-0.73,-117.3,243.4,-5.5,172,3314,0.12,2.35,0.00,0.000,4,0.084,0.067,3074,994,3358
$GC,3373,-0.68,-117.3,247.9,-7.8,174,3377,0.00,2.30,0.00,0.000,6,0.000,0.061,3074,2401,3358
$GC,3709,-0.60,-117.3,274.0,-7.9,185,3713,0.15,2.38,0.00,0.000,4,0.144,0.079,3113,3807,3358
$GC,3742,-0.60,-117.3,276.5,-6.5,186,3746,0.00,2.25,0.00,0.000,6,0.000,0.054,3113,2397,3358
$GC,4072,-0.60,-117.3,297.8,-6.5,197,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,4376,-0.60,-117.3,316.6,-6.1,203,4380,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,3817,3358
$GC,4404,-0.65,-117.3,318.4,-6.0,203,4408,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2388,3358
$GC,4743,-0.65,-117.3,337.0,-5.4,209,4747,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,994,3358
$GC,4782,-0.72,-117.3,339.2,-5.7,209,4786,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2405,3358
$GC,5104,-0.72,-117.3,356.5,-5.5,215,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3358
$GC,5407,-0.77,-117.3,375.4,-6.3,220,5412,0.12,2.40,0.00,0.000,4,0.089,0.069,3065,986,3357
$GC,5447,-0.71,-117.3,378.6,-8.8,220,5451,0.00,2.33,0.00,0.000,6,0.000,0.063,3065,2402,3358
$GC,5768,-0.63,-117.3,404.7,-8.1,226,5773,0.15,2.38,0.00,0.000,4,0.143,0.081,3112,3810,3357
$GC,5818,-0.70,-117.3,408.5,-7.1,226,5822,0.00,2.25,0.00,0.000,6,0.000,0.054,3113,2400,3357
$GC,6131,-0.76,-117.3,428.1,-6.3,231,6136,0.12,2.35,0.00,0.000,4,0.087,0.071,3065,984,3357
$GC,6153,-0.76,-117.3,429.9,-7.1,231,6157,0.00,2.33,0.00,0.000,6,0.000,0.061,3065,2406,3357
$GC,6491,-0.69,-117.3,454.0,-7.1,237,6495,0.00,2.35,0.00,0.000,4,0.000,0.071,3065,994,3357
$GC,6548,-0.64,-117.3,458.4,-7.6,237,6555,0.15,2.30,0.00,0.000,6,0.146,0.063,3106,2403,3357
$GC,6858,-0.64,-117.3,479.0,-6.7,243,6862,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,992,3357
$GC,6887,-0.68,-117.3,481.0,-7.6,243,6891,0.00,2.33,0.00,0.000,6,0.000,0.063,3106,2409,3356
$GC,7220,-0.72,-117.3,503.9,-7.0,249,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3357
$GC,7523,-0.77,-117.3,523.8,-6.5,254,7527,0.12,2.38,0.00,0.000,4,0.083,0.071,3057,989,3356
$GC,7607,-0.70,-117.3,530.3,-7.4,255,7611,0.12,2.33,0.00,0.000,6,0.137,0.063,3089,2406,3356
$GC,7950,-0.70,-117.3,551.0,-5.8,261,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2406,3356
$GC,8253,-0.70,-117.3,567.3,-5.4,266,8257,0.00,2.38,0.00,0.000,4,0.000,0.072,3089,983,3356
$GC,8286,-0.70,-117.3,569.4,-6.1,266,8290,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2400,3356
$GC,8619,-0.70,-117.3,588.7,-5.9,272,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3356
$GC,8921,-0.70,-117.3,607.2,-6.1,277,8925,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,992,3356
$GC,8995,-0.70,-117.3,612.2,-6.6,278,8999,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2402,3355
$GC,9350,-0.70,-117.3,634.8,-6.4,284,9354,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,984,3355
$GC,9389,-0.70,-117.3,637.7,-6.4,284,9393,0.00,2.35,0.00,0.000,6,0.000,0.063,3086,2412,3355
$GC,9711,-0.70,-117.3,657.4,-6.2,290,9715,0.00,2.38,0.00,0.000,4,0.000,0.071,3086,992,3355
$GC,9750,-0.70,-117.3,660.0,-6.6,290,9754,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2404,3355
$GC,10071,-0.70,-117.3,679.1,-6.0,296,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,10374,-0.70,-117.3,698.6,-6.4,301,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,10678,-0.70,-117.3,718.1,-6.5,306,10682,0.00,2.38,0.00,0.000,4,0.000,0.072,3085,986,3355
$GC,10740,-0.70,-117.3,722.5,-7.3,307,10745,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2405,3354
$GC,11106,-0.70,-117.3,745.8,-6.3,313,11110,0.00,2.38,0.00,0.000,4,0.000,0.072,3086,987,3355
$GC,11145,-0.70,-117.3,748.5,-6.9,313,11149,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2400,3355
$GC,11466,-0.70,-117.3,768.9,-6.4,319,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,11769,-0.70,-117.3,787.7,-6.2,324,11773,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,986,3354
$GC,11807,-0.70,-117.3,790.2,-6.3,324,11811,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2400,3354
$GC,12129,-0.70,-117.3,808.4,-5.7,330,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,12432,-0.70,-117.3,824.9,-5.4,335,12436,0.00,2.38,0.00,0.000,4,0.000,0.072,3085,989,3354
$GC,12471,-0.70,-117.3,827.2,-5.6,335,12475,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2399,3354
$GC,12792,-0.70,-117.3,843.9,-5.2,341,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,13096,-0.70,-117.3,859.8,-5.2,346,13100,0.00,2.38,0.00,0.000,4,0.000,0.072,3085,984,3354
$GC,13146,-0.70,-117.3,862.9,-6.1,346,13150,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2408,3354
$GC,13467,-0.70,-117.3,880.7,-5.6,352,13471,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,995,3354
$GC,13501,-0.70,-117.3,882.8,-5.9,352,13505,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2405,3354
$GC,13828,-0.70,-117.3,901.8,-5.8,358,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,14130,-0.70,-117.3,920.0,-6.0,363,14135,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,990,3353
$GC,14187,-0.76,-117.3,923.6,-6.3,363,14193,0.00,2.35,0.00,0.000,6,0.000,0.065,3086,2417,3353
$GC,14498,-0.76,-117.3,942.6,-6.1,369,14499,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2416,3353
$GC,14801,-0.76,-117.3,960.7,-6.0,374,14805,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,994,3353
$GC,14857,-0.81,-117.3,964.2,-6.0,374,14861,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2401,3353
$GC,15167,-0.81,-117.3,982.3,-5.8,379,15168,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3353
$STATE,15346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15346,begin apogee
$GC,15354,-0.22,0.0,992.7,5.7,382,15469,0.52,0.00,108.60,1.492,6,0.139,0.000,3244,2201,2875
$STATE,15470,end apogee,CONTROL_FINISHED_OK
$STATE,15470,begin climb
$GC,15473,0.67,117.3,997.5,0.0,384,15597,0.85,2.72,113.85,1.435,4,0.087,0.078,3527,3603,2396
$GC,15642,0.25,117.3,996.1,7.0,386,15648,0.52,2.47,0.00,0.000,6,0.181,0.062,3402,2200,2394
$GC,15965,0.27,139.7,982.1,4.4,392,15987,0.00,0.00,20.80,1.388,6,0.000,0.000,3402,2200,2306
$GC,16268,0.34,143.2,967.4,4.9,397,16277,0.00,2.40,4.85,1.022,4,0.000,0.079,3408,789,2292
$GC,16306,0.41,143.2,965.1,5.9,397,16311,0.12,2.30,0.00,0.000,6,0.085,0.061,3459,2200,2292
$GC,16628,0.32,143.2,944.5,6.6,403,16633,0.12,2.35,0.00,0.000,4,0.141,0.079,3426,3612,2291
$GC,16661,0.27,143.2,942.2,6.2,403,16665,0.00,2.30,0.00,0.000,6,0.000,0.063,3430,2193,2292
$GC,16988,0.27,143.2,923.7,5.6,409,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2193,2291
$GC,17292,0.27,143.2,907.3,5.4,414,17293,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2193,2291
$GC,17595,0.27,143.2,892.0,5.0,419,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2193,2290
$GC,17898,0.29,159.0,878.1,4.5,424,17915,0.00,0.00,15.73,1.356,6,0.000,0.000,3431,2193,2227
$GC,18201,0.29,163.1,863.3,4.9,429,18211,0.00,2.38,4.97,1.032,4,0.000,0.079,3435,792,2211
$GC,18240,0.29,164.7,861.3,5.0,429,18244,0.00,2.30,0.00,0.000,6,0.000,0.062,3435,2201,2211
$GC,18561,0.29,164.7,844.7,5.2,435,18565,0.00,2.35,0.00,0.000,4,0.000,0.082,3435,3611,2211
$GC,18594,0.29,164.7,842.9,5.8,435,18598,0.00,2.30,0.00,0.000,6,0.000,0.063,3435,2191,2211
$GC,18921,0.29,164.7,826.0,5.1,441,18922,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2211
$GC,19223,0.29,164.7,810.0,5.2,446,19224,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2211
$GC,19527,0.29,164.7,794.4,5.2,451,19528,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2210
$GC,19830,0.31,176.0,780.0,4.7,456,19845,0.00,0.00,13.15,1.285,6,0.000,0.000,3435,2190,2158
$GC,20133,0.33,192.9,766.3,4.5,461,20152,0.00,0.00,16.83,1.299,6,0.000,0.000,3435,2191,2089
$GC,20437,0.38,202.2,752.1,4.7,466,20452,0.00,2.45,9.88,1.218,4,0.000,0.083,3435,3608,2051
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$STATE,32270,end climb,SURFACE_DEPTH_REACHED
$STATE,32272,begin surface coast
$FINISH,2.5,1.025651
$STATE,32335,end surface coast,CONTROL_FINISHED_OK
$STATE,32335,begin surface
$SM_CCo,32418,0.00,0.000,0,0,1198,411.61
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$TT8_MAMPS,0.026078
$HUMID,2086
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$TCM_TEMP,15.60
$XPDR_PINGS,966
$24V_AH,21.3,96.174
$10V_AH,10.4,66.052
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$DEVICE_SECS,29.950,217.650,481.925,0.000,0.000,24.763,27.684,214.856,241.500,0.000,0.000,19.403,1756.799,27254.686,628.323,2367.286,817.881,33.377,1835.435,0.000,2338.174,0.000,0.465
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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,47358,811
$CAP_FILE_SIZE,189097,0
$CFSIZE,260165632,220491776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020309,004401,5006.787,-14428.824,40,1.7,40,18.6