version: 66.03
glider: 120
mission: 9
dive: 496
start: 3 3 109 12 26 56
data:
$ID,120
$MISSION,9
$DIVE,496
$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,-28439.34
$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
$GPS1,121606,4953.215,-14430.210,35,1.2,35,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-73.4
$GPS2,122602,4953.146,-14430.172,21,1.2,21,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.136
$KALMAN_X,-25257.6,-58.7,-51.7,78058.5,-765.4
$KALMAN_Y,89249.0,-243.5,204.5,-108340.4,359.8
$MHEAD_RNG_PITCHd_Wd,301.3,36232,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,40,0.00,0.00,-11.20,0.000,2,0.000,0.000,134,2400,2025
$GC,44,-0.67,-117.3,3.6,-0.0,1,119,14.10,2.50,-52.33,0.000,4,0.283,0.097,3096,3805,3356
$GC,145,-0.50,-117.3,8.9,-10.8,10,150,0.20,2.28,0.00,0.000,6,0.163,0.056,3150,2398,3357
$GC,470,-0.50,-117.3,36.7,-8.9,40,474,0.00,2.33,0.00,0.000,4,0.000,0.070,3151,995,3357
$GC,503,-0.50,-117.3,39.7,-8.8,42,510,0.00,2.33,0.00,0.000,6,0.000,0.062,3151,2420,3358
$GC,829,-0.50,-117.3,66.0,-7.4,73,830,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2420,3358
$GC,1144,-0.50,-117.3,89.6,-9.0,98,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2420,3358
$GC,1454,-0.50,-117.3,114.4,-7.3,113,1458,0.00,2.38,0.00,0.000,4,0.000,0.070,3151,993,3358
$GC,1504,-0.55,-117.3,118.3,-7.8,115,1508,0.00,2.30,0.00,0.000,6,0.000,0.062,3151,2400,3358
$GC,1826,-0.61,-117.3,140.6,-6.3,131,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2401,3358
$GC,2145,-0.88,-117.3,160.4,-6.4,144,2150,0.32,2.35,0.00,0.000,4,0.087,0.067,3030,988,3358
$GC,2387,-0.64,-117.3,185.1,-10.7,151,2392,0.28,2.33,0.00,0.000,6,0.157,0.063,3106,2406,3358
$GC,2712,-0.64,-117.3,208.4,-6.8,162,2716,0.00,2.35,0.00,0.000,4,0.000,0.079,3100,3808,3358
$GC,2745,-0.64,-117.3,210.8,-6.8,163,2749,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2393,3358
$GC,3074,-0.64,-117.3,231.5,-6.2,174,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2393,3358
$GC,3381,-0.64,-117.3,250.7,-6.2,184,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3358
$GC,3687,-0.64,-117.3,268.3,-5.6,194,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2393,3358
$GC,3993,-0.64,-117.3,285.6,-5.7,204,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3358
$GC,4298,-0.64,-117.3,303.9,-6.1,213,4302,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,986,3358
$GC,4327,-0.64,-117.3,305.8,-6.5,213,4331,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2408,3358
$GC,4659,-0.64,-117.3,327.5,-6.6,219,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,4962,-0.64,-117.3,347.5,-6.5,224,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,5265,-0.64,-117.3,367.9,-6.8,229,5269,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,987,3358
$GC,5298,-0.64,-117.3,370.1,-6.9,229,5302,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2410,3358
$GC,5625,-0.64,-117.3,392.7,-6.9,235,5629,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,996,3358
$GC,5658,-0.64,-117.3,395.2,-7.0,235,5662,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2399,3358
$GC,5985,-0.64,-117.3,416.8,-6.6,241,5989,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,988,3358
$GC,6018,-0.64,-117.3,419.3,-7.0,241,6022,0.00,2.33,0.00,0.000,6,0.000,0.063,3099,2407,3358
$GC,6344,-0.64,-117.3,439.4,-6.2,247,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3358
$GC,6648,-0.64,-117.3,458.4,-6.2,252,6652,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,995,3358
$GC,6693,-0.64,-117.3,461.5,-6.8,252,6697,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2402,3358
$GC,7008,-0.64,-117.3,481.0,-6.2,258,7012,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,990,3358
$GC,7058,-0.64,-117.3,484.2,-6.7,258,7062,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2411,3358
$GC,7368,-0.64,-117.3,502.2,-5.8,263,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2411,3358
$GC,7671,-0.64,-117.3,519.7,-5.8,268,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3358
$GC,7974,-0.64,-117.3,538.0,-6.0,273,7978,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,988,3358
$GC,8024,-0.64,-117.3,541.0,-6.2,273,8028,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2404,3357
$GC,8334,-0.64,-117.3,559.2,-6.0,278,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,8637,-0.64,-117.3,577.5,-6.1,283,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3357
$GC,8940,-0.64,-117.3,595.8,-6.1,288,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3357
$GC,9243,-0.64,-117.3,615.2,-6.5,293,9247,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,987,3357
$GC,9271,-0.64,-117.3,617.1,-7.6,293,9275,0.00,2.33,0.00,0.000,6,0.000,0.063,3099,2406,3357
$GC,9609,-0.64,-117.3,639.0,-6.5,299,9614,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,985,3357
$GC,9638,-0.68,-117.3,641.1,-7.1,299,9642,0.00,2.33,0.00,0.000,6,0.000,0.063,3099,2402,3357
$GC,9977,-0.68,-117.3,663.9,-6.7,305,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,10280,-0.68,-117.3,682.7,-6.2,310,10284,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,996,3356
$GC,10325,-0.73,-117.3,685.8,-6.4,310,10329,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2399,3356
$GC,10641,-0.77,-117.3,704.8,-5.9,316,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,10943,-0.77,-117.3,722.6,-5.9,321,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,11247,-0.82,-117.3,739.5,-5.5,326,11252,0.15,2.38,0.00,0.000,4,0.088,0.071,3037,988,3356
$GC,11293,-0.69,-117.3,742.8,-8.1,326,11297,0.20,2.35,0.00,0.000,6,0.156,0.065,3091,2409,3356
$GC,11608,-0.69,-117.3,762.0,-6.1,332,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2408,3356
$GC,11911,-0.69,-117.3,780.2,-6.0,337,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2409,3356
$GC,12214,-0.69,-117.3,797.9,-5.9,342,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2408,3356
$GC,12517,-0.69,-117.3,814.9,-5.7,347,12521,0.00,2.38,0.00,0.000,4,0.000,0.073,3091,995,3355
$GC,12557,-0.69,-117.3,817.2,-6.1,347,12562,0.00,2.33,0.00,0.000,6,0.000,0.064,3091,2405,3355
$GC,12880,-0.74,-117.3,833.7,-5.1,353,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3355
$GC,13182,-0.74,-117.3,848.0,-4.7,358,13186,0.00,2.38,0.00,0.000,4,0.000,0.073,3092,991,3355
$GC,13211,-0.74,-117.3,849.5,-5.4,358,13215,0.00,2.33,0.00,0.000,6,0.000,0.065,3091,2398,3355
$GC,13543,-0.78,-117.3,864.6,-4.5,364,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2398,3355
$GC,13846,-0.83,-117.3,879.3,-4.9,369,13848,0.12,0.00,0.00,0.000,6,0.090,0.000,3044,2398,3354
$GC,14149,-0.83,-117.3,897.2,-6.0,374,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2398,3354
$GC,14453,-0.83,-117.3,916.9,-6.5,379,14457,0.00,2.38,0.00,0.000,4,0.000,0.073,3044,994,3354
$GC,14486,-0.76,-117.3,919.3,-6.9,379,14490,0.00,2.33,0.00,0.000,6,0.000,0.064,3044,2402,3354
$GC,14814,-0.68,-117.3,943.2,-7.4,385,14815,0.17,0.00,0.00,0.000,6,0.156,0.000,3092,2402,3355
$GC,15117,-0.73,-117.3,961.7,-6.0,390,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2402,3354
$GC,15420,-0.77,-117.3,979.8,-5.9,395,15424,0.00,2.38,0.00,0.000,4,0.000,0.074,3092,997,3354
$GC,15460,-0.83,-117.3,982.3,-5.8,395,15465,0.12,2.33,0.00,0.000,6,0.086,0.065,3048,2401,3353
$STATE,15596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15596,begin apogee
$GC,15604,-0.22,0.0,990.7,6.1,398,15719,0.65,0.00,109.45,1.488,6,0.139,0.000,3243,2200,2876
$STATE,15719,end apogee,CONTROL_FINISHED_OK
$STATE,15720,begin climb
$GC,15723,0.67,117.3,994.8,0.0,400,15847,0.88,2.65,115.35,1.431,4,0.095,0.076,3534,795,2396
$GC,15911,0.34,117.3,991.6,7.1,402,15918,0.40,2.45,0.00,0.000,6,0.176,0.061,3432,2203,2394
$GC,16222,0.29,117.3,974.6,5.3,408,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2203,2392
$GC,16524,0.25,117.3,958.3,5.4,413,16529,0.12,2.35,0.00,0.000,4,0.186,0.080,3400,3609,2392
$GC,16569,0.25,117.3,956.0,5.1,413,16573,0.00,2.28,0.00,0.000,6,0.000,0.063,3408,2200,2392
$GC,16885,0.26,130.6,941.2,4.6,419,16899,0.00,0.00,12.60,1.345,6,0.000,0.000,3408,2201,2343
$GC,17188,0.31,135.8,926.6,4.9,424,17197,0.00,0.00,6.45,1.164,6,0.000,0.000,3408,2201,2322
$GC,17491,0.36,137.4,911.7,5.0,429,17493,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2201,2321
$GC,17794,0.41,137.4,896.3,5.1,434,17796,0.12,0.00,0.00,0.000,6,0.090,0.000,3462,2201,2321
$GC,18098,0.31,137.4,877.1,6.4,439,18100,0.15,0.00,0.00,0.000,6,0.145,0.000,3421,2201,2321
$GC,18400,0.31,137.4,859.9,5.7,444,18401,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2321
$GC,18703,0.31,137.4,843.3,5.5,449,18707,0.00,2.38,0.00,0.000,4,0.000,0.080,3422,788,2320
$GC,18742,0.31,137.4,841.1,5.2,449,18746,0.00,2.30,0.00,0.000,6,0.000,0.062,3421,2201,2320
$GC,19063,0.31,137.4,824.3,5.2,455,19065,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2320
$GC,19366,0.32,144.7,809.7,4.8,460,19380,0.00,2.40,9.35,1.240,4,0.000,0.080,3421,792,2286
$GC,19410,0.40,172.1,807.6,4.2,460,19441,0.00,2.30,25.77,1.344,6,0.000,0.062,3421,2200,2174
$GC,19798,0.47,172.1,787.5,5.2,467,19800,0.15,0.00,0.00,0.000,6,0.085,0.000,3481,2199,2171
$GC,20100,0.38,172.1,766.8,6.9,472,20102,0.15,0.00,0.00,0.000,6,0.141,0.000,3440,2200,2170
$GC,20403,0.38,172.1,750.0,5.4,477,20404,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2200,2170
$GC,20707,0.38,172.1,732.4,5.9,482,20708,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2200,2170
$GC,21009,0.38,172.1,713.7,6.2,487,21010,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2200,2170
$GC,21312,0.38,172.1,694.7,6.3,492,21313,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2200,2170
$GC,21615,0.38,172.1,675.2,6.5,497,21619,0.00,2.38,0.00,0.000,4,0.000,0.081,3440,3612,2170
$GC,21672,0.33,172.1,671.2,6.3,497,21678,0.00,2.30,0.00,0.000,6,0.000,0.064,3440,2191,2170
$GC,21983,0.33,172.1,652.1,6.1,503,21984,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2192,2170
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$STATE,33251,end climb,SURFACE_DEPTH_REACHED
$STATE,33251,begin surface coast
$FINISH,2.3,1.005926
$STATE,33390,end surface coast,CONTROL_FINISHED_OK
$STATE,33390,begin surface
$SM_CCo,33412,32.20,0.839,0,0,1753,275.23
$SM_GC,4.25,0.00,0.00,32.20,0.000,0.000,0.839,140,2411,1753,-9.93,0.31,275.23
$IRIDIUM_FIX,4936.36,-14432.01,280598,121215
$TT8_MAMPS,0.026845
$HUMID,2118
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$TCM_TEMP,15.40
$XPDR_PINGS,1041
$24V_AH,21.0,97.277
$10V_AH,10.5,66.745
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$DEVICE_SECS,29.725,193.250,344.000,32.200,0.000,60.426,61.278,250.766,260.250,0.000,0.000,21.361,1858.741,28331.949,542.980,2360.099,940.792,33.376,1706.379,0.000,2347.489,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,690.854,660.096,1516.394,921.003,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50751,892
$CAP_FILE_SIZE,189887,0
$CFSIZE,260165632,220102656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,214606,4955.563,-14433.855,63,1.0,63,18.5