version: 66.03
glider: 120
mission: 9
dive: 498
start: 3 4 109 6 57 28
data:
$ID,120
$MISSION,9
$DIVE,498
$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,-28471.004
$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,22
$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
$GPS1,065031,4958.458,-14438.417,41,1.3,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-77.7
$GPS2,065631,4958.436,-14438.466,14,1.2,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.135
$KALMAN_X,-26079.0,-179.3,104.0,68982.8,-539.9
$KALMAN_Y,88580.1,26.5,-510.8,-97437.0,437.2
$MHEAD_RNG_PITCHd_Wd,301.1,22360,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.23,0.000,2,0.000,0.000,136,2415,1903
$GC,41,-0.67,-117.3,3.4,-0.0,1,127,14.07,2.45,-62.65,0.000,4,0.283,0.083,3094,993,3356
$GC,140,-0.54,-117.3,6.8,-9.7,10,145,0.17,2.33,0.00,0.000,6,0.163,0.062,3141,2409,3356
$GC,466,-0.54,-117.3,33.0,-8.2,40,469,0.00,2.35,0.00,0.000,4,0.000,0.083,3134,3806,3357
$GC,494,-0.54,-117.3,35.5,-9.1,42,500,0.00,2.25,0.00,0.000,6,0.000,0.054,3134,2389,3357
$GC,819,-0.54,-117.3,60.7,-7.5,73,823,0.00,2.30,0.00,0.000,4,0.000,0.071,3134,993,3357
$GC,860,-0.54,-117.3,64.0,-8.6,76,864,0.00,2.30,0.00,0.000,6,0.000,0.061,3134,2403,3357
$GC,1183,-0.54,-117.3,88.1,-7.5,101,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2402,3357
$GC,1491,-0.54,-117.3,112.9,-8.4,116,1495,0.00,2.35,0.00,0.000,4,0.000,0.070,3134,988,3357
$GC,1536,-0.54,-117.3,117.0,-9.0,118,1540,0.00,2.33,0.00,0.000,6,0.000,0.062,3134,2408,3357
$GC,1859,-0.54,-117.3,141.6,-7.6,134,1863,0.00,2.35,0.00,0.000,4,0.000,0.069,3134,992,3357
$GC,1905,-0.58,-117.3,145.2,-7.8,136,1910,0.00,2.33,0.00,0.000,6,0.000,0.061,3134,2411,3357
$GC,2230,-0.58,-117.3,167.0,-6.7,148,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2411,3357
$GC,2538,-0.63,-117.3,186.0,-5.7,158,2542,0.00,2.35,0.00,0.000,4,0.000,0.081,3133,3818,3357
$GC,2588,-0.72,-117.3,189.1,-6.0,159,2593,0.15,2.25,0.00,0.000,6,0.079,0.054,3076,2395,3357
$GC,2908,-0.68,-117.3,211.4,-7.4,170,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2396,3357
$GC,3214,-0.68,-117.3,234.0,-7.2,180,3218,0.00,2.33,0.00,0.000,4,0.000,0.069,3076,985,3357
$GC,3287,-0.62,-117.3,239.9,-7.9,182,3291,0.15,2.33,0.00,0.000,6,0.138,0.061,3116,2409,3358
$GC,3610,-0.62,-117.3,259.9,-5.9,193,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2408,3358
$GC,3917,-0.62,-117.3,278.4,-6.0,203,3921,0.00,2.35,0.00,0.000,4,0.000,0.069,3116,995,3358
$GC,3967,-0.66,-117.3,281.8,-6.8,204,3971,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2403,3358
$GC,4287,-0.66,-117.3,300.9,-5.8,215,4291,0.00,2.38,0.00,0.000,4,0.000,0.081,3114,3818,3358
$GC,4315,-0.71,-117.3,302.7,-5.9,215,4319,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2388,3357
$GC,4648,-0.71,-117.3,323.4,-6.3,221,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2389,3358
$GC,4951,-0.71,-117.3,343.9,-6.9,226,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2389,3358
$GC,5255,-0.75,-117.3,364.8,-6.9,231,5259,0.12,2.33,0.00,0.000,4,0.087,0.070,3066,991,3357
$GC,5295,-0.69,-117.3,368.3,-9.0,231,5299,0.00,2.33,0.00,0.000,6,0.000,0.062,3066,2410,3357
$GC,5617,-0.61,-117.3,394.9,-8.1,237,5621,0.15,2.38,0.00,0.000,4,0.147,0.070,3118,995,3357
$GC,5689,-0.67,-117.3,400.0,-6.4,238,5693,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2402,3357
$GC,6051,-0.71,-117.3,421.8,-6.1,244,6055,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,990,3357
$GC,6090,-0.77,-117.3,424.4,-5.8,244,6095,0.15,2.33,0.00,0.000,6,0.082,0.063,3058,2409,3357
$GC,6411,-0.72,-117.3,446.4,-6.9,250,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2409,3357
$GC,6715,-0.66,-117.3,467.3,-6.9,255,6717,0.15,0.00,0.00,0.000,6,0.110,0.000,3102,2408,3357
$GC,7017,-0.66,-117.3,484.4,-5.6,260,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2409,3357
$GC,7320,-0.66,-117.3,501.5,-5.7,265,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2409,3357
$GC,7623,-0.66,-117.3,518.8,-5.7,270,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2409,3357
$GC,7927,-0.66,-117.3,536.1,-5.8,275,7931,0.00,2.38,0.00,0.000,4,0.000,0.072,3102,993,3356
$GC,7983,-0.66,-117.3,539.8,-6.6,275,7989,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2398,3356
$GC,8293,-0.66,-117.3,558.0,-5.9,281,8297,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,995,3356
$GC,8333,-0.66,-117.3,560.4,-6.5,281,8337,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2409,3356
$GC,8654,-0.66,-117.3,578.3,-5.5,287,8659,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,993,3356
$GC,8689,-0.66,-117.3,580.4,-6.0,287,8694,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2408,3356
$GC,9017,-0.66,-117.3,598.2,-5.4,293,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3356
$GC,9320,-0.66,-117.3,613.2,-4.9,298,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3356
$GC,9624,-0.66,-117.3,627.4,-4.7,303,9628,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,994,3355
$GC,9668,-0.66,-117.3,629.9,-5.5,303,9672,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2410,3355
$GC,9984,-0.66,-117.3,646.1,-5.2,309,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3355
$GC,10287,-0.66,-117.3,662.3,-5.4,314,10291,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,989,3355
$GC,10343,-0.71,-117.3,665.8,-6.3,314,10350,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2402,3355
$GC,10655,-0.76,-117.3,683.4,-5.7,320,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3355
$GC,10957,-0.76,-117.3,701.6,-6.1,325,10961,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,995,3355
$GC,10996,-0.80,-117.3,704.2,-7.0,325,11001,0.12,2.33,0.00,0.000,6,0.088,0.064,3053,2406,3355
$GC,11318,-0.80,-117.3,727.1,-7.2,331,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2406,3355
$GC,11620,-0.80,-117.3,749.5,-7.4,336,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2406,3354
$GC,11924,-0.80,-117.3,771.4,-7.2,341,11928,0.00,2.38,0.00,0.000,4,0.000,0.072,3054,995,3355
$GC,11952,-0.76,-117.3,773.7,-8.1,341,11956,0.00,2.33,0.00,0.000,6,0.000,0.063,3053,2409,3355
$GC,12285,-0.70,-117.3,798.9,-7.5,347,12287,0.15,0.00,0.00,0.000,6,0.151,0.000,3094,2409,3355
$GC,12589,-0.70,-117.3,818.0,-6.2,352,12593,0.00,2.40,0.00,0.000,4,0.000,0.074,3094,988,3355
$GC,12622,-0.70,-117.3,820.3,-6.4,352,12626,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2398,3355
$GC,12956,-0.74,-117.3,840.7,-6.2,358,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3355
$GC,13258,-0.78,-117.3,859.2,-6.1,363,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3354
$GC,13561,-0.83,-117.3,878.6,-6.5,368,13566,0.15,2.38,0.00,0.000,4,0.083,0.072,3030,995,3354
$GC,13617,-0.72,-117.3,883.3,-8.7,368,13624,0.20,2.35,0.00,0.000,6,0.151,0.066,3083,2419,3354
$GC,13927,-0.72,-117.3,903.7,-6.5,374,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2419,3354
$GC,14230,-0.72,-117.3,922.4,-6.1,379,14234,0.00,2.40,0.00,0.000,4,0.000,0.073,3083,996,3354
$GC,14274,-0.72,-117.3,925.3,-6.6,379,14278,0.00,2.33,0.00,0.000,6,0.000,0.064,3083,2404,3354
$GC,14590,-0.72,-117.3,944.0,-5.9,385,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3353
$GC,14894,-0.72,-117.3,961.3,-5.8,390,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3354
$GC,15196,-0.72,-117.3,978.9,-5.8,395,15198,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3354
$STATE,15437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15437,begin apogee
$GC,15445,-0.22,0.0,993.5,6.0,399,15559,0.52,0.00,109.03,1.487,6,0.142,0.000,3242,2202,2876
$STATE,15559,end apogee,CONTROL_FINISHED_OK
$STATE,15559,begin climb
$GC,15562,0.67,117.3,998.6,0.0,401,15685,0.88,0.00,115.05,1.430,6,0.097,0.000,3525,2202,2395
$GC,15990,0.37,117.3,981.8,6.5,408,15995,0.28,2.42,0.00,0.000,4,0.164,0.081,3441,3609,2393
$GC,16080,0.23,123.4,977.1,4.8,409,16093,0.22,2.33,6.38,1.139,6,0.174,0.063,3391,2192,2371
$GC,16422,0.39,184.4,965.8,3.3,415,16481,0.15,0.00,56.58,1.438,6,0.085,0.000,3450,2191,2124
$GC,16784,0.39,184.4,944.0,6.4,421,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2118
$GC,17087,0.39,184.4,923.1,6.9,426,17088,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2117
$GC,17391,0.39,184.4,900.0,7.6,431,17392,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2117
$GC,17693,0.39,184.4,877.5,7.4,436,17695,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2117
$GC,17996,0.39,184.4,856.3,6.9,441,17997,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2116
$GC,18299,0.39,184.4,835.6,6.7,446,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2191,2117
$GC,18603,0.39,184.4,815.6,6.6,451,18604,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2116
$GC,18906,0.39,184.4,795.2,6.8,456,18907,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2192,2116
$GC,19208,0.39,184.4,775.2,6.6,461,19213,0.00,2.45,0.00,0.000,4,0.000,0.082,3450,3608,2116
$GC,19254,0.32,184.4,771.9,7.5,461,19258,0.00,2.33,0.00,0.000,6,0.000,0.064,3451,2189,2116
$GC,19569,0.32,184.4,752.7,6.1,467,19570,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2189,2116
$GC,19873,0.32,184.4,735.4,5.6,472,19874,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2189,2116
$GC,20176,0.32,184.4,718.2,5.7,477,20180,0.00,2.40,0.00,0.000,4,0.000,0.079,3450,793,2116
$GC,20211,0.32,184.4,716.1,6.9,477,20215,0.00,2.30,0.00,0.000,6,0.000,0.062,3451,2201,2116
$GC,20537,0.32,184.4,698.1,5.5,483,20538,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2116
$GC,20841,0.32,184.4,681.2,5.6,488,20845,0.00,2.42,0.00,0.000,4,0.000,0.078,3450,790,2116
$GC,20874,0.34,194.6,679.3,4.7,488,20888,0.00,2.30,9.15,1.167,6,0.000,0.061,3450,2201,2082
$GC,21205,0.34,194.6,659.9,5.9,494,21206,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2201,2081
$GC,21509,0.34,194.6,641.8,6.0,499,21510,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2081
$GC,21812,0.34,194.6,622.3,6.4,504,21816,0.00,2.38,0.00,0.000,4,0.000,0.081,3450,3620,2081
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$GC,27195,0.47,220.2,303.5,6.7,591,27200,0.12,2.33,0.00,0.000,6,0.137,0.061,3470,2212,1976
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$STATE,31978,end climb,SURFACE_DEPTH_REACHED
$STATE,31978,begin surface coast
$FINISH,2.4,1.012949
$STATE,32138,end surface coast,CONTROL_FINISHED_OK
$STATE,32138,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2115
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$XPDR_PINGS,997
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$10V_AH,10.4,67.015
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$DEVICE_SECS,28.675,202.425,364.200,5.625,0.000,24.438,25.703,161.936,249.250,0.000,0.000,14.964,1784.501,27150.951,552.644,2293.984,738.293,33.376,1682.316,0.000,2268.570,0.000,0.465
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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,47437,848
$CAP_FILE_SIZE,179717,0
$CFSIZE,260165632,219963392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,155537,5001.201,-14443.312,80,0.9,80,18.5