version: 66.03
glider: 120
mission: 9
dive: 611
start: 4 16 109 2 49 27
data:
$ID,120
$MISSION,9
$DIVE,611
$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,-30750.533
$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
$GPS1,024138,5013.854,-14438.512,41,1.3,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-77.1
$GPS2,024831,5013.851,-14438.484,14,1.5,31,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,0.124
$KALMAN_X,-98021.7,163.4,-126.4,140779.1,-1683.4
$KALMAN_Y,141646.6,-18.0,60.2,-122488.9,-596.0
$MHEAD_RNG_PITCHd_Wd,27.1,16741,-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,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.27,0.000,2,0.000,0.000,134,2412,2430
$GC,64,-0.67,-117.3,3.1,-4.1,3,111,13.75,2.42,-26.42,0.000,4,0.276,0.093,3085,3807,3358
$GC,332,-0.49,-117.3,32.0,-11.3,27,337,0.25,2.30,0.00,0.000,6,0.150,0.054,3155,2388,3358
$GC,663,-0.49,-117.3,55.1,-6.2,57,667,0.00,2.40,0.00,0.000,4,0.000,0.069,3155,987,3359
$GC,696,-0.49,-117.3,57.5,-6.1,59,702,0.00,2.38,0.00,0.000,6,0.000,0.060,3155,2412,3359
$GC,1024,-0.49,-117.3,78.5,-6.6,90,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3359
$GC,1332,-0.49,-117.3,101.0,-7.3,106,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3359
$GC,1641,-0.53,-117.3,122.5,-6.8,121,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3359
$GC,1952,-0.60,-117.3,138.1,-4.2,136,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3359
$GC,2280,-0.70,-117.3,153.4,-4.7,151,2285,0.15,2.47,0.00,0.000,4,0.078,0.067,3090,986,3359
$GC,2343,-0.70,-117.3,157.3,-7.2,153,2348,0.00,2.40,0.00,0.000,6,0.000,0.061,3090,2407,3359
$GC,2681,-0.65,-117.3,179.3,-6.3,164,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2406,3359
$GC,2986,-0.65,-117.3,199.3,-6.7,174,2990,0.00,2.45,0.00,0.000,4,0.000,0.067,3090,988,3359
$GC,3015,-0.65,-117.3,201.4,-7.3,175,3019,0.00,2.38,0.00,0.000,6,0.000,0.060,3090,2401,3359
$GC,3351,-0.65,-117.3,224.2,-6.8,186,3356,0.00,2.45,0.00,0.000,4,0.000,0.068,3090,986,3359
$GC,3397,-0.65,-117.3,227.5,-7.6,187,3401,0.00,2.40,0.00,0.000,6,0.000,0.060,3090,2412,3359
$GC,3716,-0.65,-117.3,248.7,-6.7,198,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2411,3359
$GC,4023,-0.65,-117.3,269.7,-7.0,208,4027,0.00,2.40,0.00,0.000,4,0.000,0.079,3086,3814,3359
$GC,4054,-0.61,-117.3,272.0,-8.1,209,4058,0.12,2.30,0.00,0.000,6,0.107,0.054,3119,2397,3359
$GC,4389,-0.61,-117.3,293.4,-6.1,220,4393,0.00,2.42,0.00,0.000,4,0.000,0.069,3119,993,3359
$GC,4447,-0.61,-117.3,297.0,-6.5,221,4453,0.00,2.38,0.00,0.000,6,0.000,0.061,3112,2404,3359
$GC,4759,-0.82,-117.3,317.5,-6.7,228,4764,0.15,2.40,0.00,0.000,4,0.086,0.077,3051,3807,3359
$GC,4920,-0.69,-117.3,330.5,-8.5,230,4924,0.15,2.28,0.00,0.000,6,0.105,0.054,3092,2399,3359
$GC,5258,-0.69,-117.3,353.4,-6.6,236,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3359
$GC,5562,-0.69,-117.3,373.9,-6.8,241,5566,0.00,2.42,0.00,0.000,4,0.000,0.070,3093,992,3359
$GC,5602,-0.69,-117.3,377.0,-7.7,241,5606,0.00,2.40,0.00,0.000,6,0.000,0.062,3093,2408,3359
$GC,5924,-0.69,-117.3,399.9,-7.2,247,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3359
$GC,6226,-0.69,-117.3,421.8,-7.2,252,6230,0.00,2.47,0.00,0.000,4,0.000,0.070,3093,983,3359
$GC,6261,-0.69,-117.3,424.4,-7.3,252,6265,0.00,2.40,0.00,0.000,6,0.000,0.062,3092,2401,3359
$GC,6588,-0.69,-117.3,444.8,-6.0,258,6592,0.00,2.45,0.00,0.000,4,0.000,0.070,3092,989,3359
$GC,6633,-0.78,-117.3,447.8,-6.7,258,6637,0.00,2.40,0.00,0.000,6,0.000,0.061,3093,2404,3359
$GC,6949,-0.95,-117.3,465.3,-5.5,264,6954,0.20,2.47,0.00,0.000,4,0.079,0.068,3011,991,3358
$GC,7208,-0.72,-117.3,486.0,-8.4,267,7215,0.25,2.40,0.00,0.000,6,0.160,0.062,3078,2407,3358
$GC,7520,-0.68,-117.3,504.3,-5.9,273,7524,0.00,2.45,0.00,0.000,4,0.000,0.070,3078,995,3358
$GC,7547,-0.68,-117.3,506.4,-6.5,273,7551,0.00,2.40,0.00,0.000,6,0.000,0.062,3078,2408,3358
$GC,7886,-0.68,-117.3,529.6,-7.0,279,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2408,3358
$GC,8189,-0.68,-117.3,551.7,-7.3,284,8193,0.00,2.47,0.00,0.000,4,0.000,0.071,3078,984,3358
$GC,8223,-0.68,-117.3,554.2,-7.8,284,8227,0.00,2.40,0.00,0.000,6,0.000,0.062,3078,2401,3358
$GC,8550,-0.68,-117.3,575.1,-6.2,290,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2400,3358
$GC,8853,-0.68,-117.3,593.4,-6.0,295,8857,0.00,2.45,0.00,0.000,4,0.000,0.070,3078,996,3358
$GC,8898,-0.68,-117.3,596.6,-7.2,295,8902,0.00,2.40,0.00,0.000,6,0.000,0.063,3078,2404,3358
$GC,9214,-0.68,-117.3,619.3,-7.3,301,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3358
$GC,9517,-0.68,-117.3,641.6,-7.3,306,9521,0.00,2.47,0.00,0.000,4,0.000,0.071,3078,986,3358
$GC,9567,-0.68,-117.3,645.3,-7.2,306,9571,0.00,2.42,0.00,0.000,6,0.000,0.063,3078,2410,3358
$GC,9878,-0.68,-117.3,663.6,-5.9,311,9882,0.00,2.47,0.00,0.000,4,0.000,0.071,3078,991,3358
$GC,9906,-0.68,-117.3,665.4,-6.5,311,9910,0.00,2.40,0.00,0.000,6,0.000,0.063,3078,2403,3358
$GC,10240,-0.68,-117.3,685.0,-5.9,317,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3358
$GC,10541,-0.68,-117.3,703.4,-6.2,322,10545,0.00,2.47,0.00,0.000,4,0.000,0.071,3078,990,3357
$GC,10575,-0.68,-117.3,705.8,-6.6,322,10579,0.00,2.42,0.00,0.000,6,0.000,0.064,3078,2408,3357
$GC,10903,-0.68,-117.3,727.0,-6.6,328,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2408,3357
$GC,11205,-0.68,-117.3,747.4,-6.7,333,11209,0.00,2.47,0.00,0.000,4,0.000,0.071,3078,996,3357
$GC,11238,-0.68,-117.3,749.8,-6.7,333,11242,0.00,2.40,0.00,0.000,6,0.000,0.063,3078,2400,3357
$GC,11565,-0.68,-117.3,770.4,-6.3,339,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2400,3357
$GC,11869,-0.68,-117.3,787.6,-5.7,344,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2400,3357
$GC,12172,-0.68,-117.3,804.0,-5.4,349,12176,0.00,2.47,0.00,0.000,4,0.000,0.071,3078,995,3356
$GC,12223,-0.68,-117.3,807.0,-5.7,349,12227,0.00,2.42,0.00,0.000,6,0.000,0.064,3078,2410,3356
$GC,12534,-0.68,-117.3,823.4,-5.4,354,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3356
$GC,12837,-0.68,-117.3,842.0,-6.2,359,12841,0.00,2.50,0.00,0.000,4,0.000,0.072,3078,990,3356
$GC,12877,-0.68,-117.3,844.8,-6.6,359,12881,0.00,2.42,0.00,0.000,6,0.000,0.064,3078,2405,3356
$GC,13198,-0.68,-117.3,865.7,-6.5,365,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3356
$GC,13501,-0.68,-117.3,884.6,-6.2,370,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3356
$GC,13804,-0.68,-117.3,902.6,-6.0,375,13808,0.00,2.50,0.00,0.000,4,0.000,0.072,3078,987,3356
$GC,13844,-0.68,-117.3,905.1,-6.2,375,13848,0.00,2.42,0.00,0.000,6,0.000,0.064,3078,2400,3355
$GC,14165,-0.68,-117.3,923.3,-5.7,381,14166,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2399,3356
$GC,14468,-0.68,-117.3,940.8,-5.8,386,14472,0.00,2.47,0.00,0.000,4,0.000,0.073,3078,996,3356
$GC,14501,-0.68,-117.3,942.9,-6.1,386,14506,0.00,2.42,0.00,0.000,6,0.000,0.064,3078,2406,3356
$GC,14830,-0.68,-117.3,962.2,-5.9,392,14834,0.00,2.45,0.00,0.000,4,0.000,0.083,3078,3809,3355
$GC,14858,-0.68,-117.3,964.0,-6.7,392,14862,0.00,2.30,0.00,0.000,6,0.000,0.055,3078,2398,3355
$GC,15190,-0.68,-117.3,984.2,-6.1,398,15194,0.00,2.45,0.00,0.000,4,0.000,0.073,3078,993,3355
$GC,15218,-0.68,-117.3,986.2,-6.7,398,15223,0.00,2.42,0.00,0.000,6,0.000,0.064,3078,2406,3355
$STATE,15305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15305,begin apogee
$GC,15315,-0.22,0.0,991.8,6.2,400,15428,0.55,0.00,108.20,1.493,6,0.136,0.000,3244,2188,2875
$STATE,15429,end apogee,CONTROL_FINISHED_OK
$STATE,15429,begin climb
$GC,15433,0.67,117.3,996.6,0.0,402,15557,0.85,2.75,114.18,1.437,4,0.083,0.074,3533,795,2397
$GC,15616,0.33,117.3,994.5,7.0,404,15621,0.43,2.58,0.00,0.000,6,0.166,0.060,3428,2208,2395
$GC,15927,0.29,118.6,978.9,5.0,409,15931,0.00,2.33,0.00,0.000,4,0.000,0.080,3427,3609,2394
$GC,15978,0.18,118.6,976.0,5.8,409,15983,0.22,2.28,0.00,0.000,6,0.167,0.061,3377,2194,2393
$GC,16295,0.34,153.1,963.3,4.0,415,16330,0.15,0.00,32.67,1.430,6,0.080,0.000,3437,2194,2251
$GC,16597,0.34,153.1,944.1,6.5,420,16598,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,2248
$GC,16901,0.34,153.1,924.2,6.5,425,16902,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,2248
$GC,17203,0.34,153.1,905.4,6.2,430,17204,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,2247
$GC,17507,0.34,153.1,886.9,6.1,435,17511,0.00,2.42,0.00,0.000,4,0.000,0.078,3437,791,2247
$GC,17557,0.34,153.1,883.7,6.0,435,17561,0.00,2.35,0.00,0.000,6,0.000,0.061,3437,2204,2247
$GC,17868,0.34,153.1,864.9,6.0,440,17872,0.00,2.38,0.00,0.000,4,0.000,0.081,3437,3612,2247
$GC,17903,0.26,153.1,862.7,6.8,440,17908,0.15,2.30,0.00,0.000,6,0.174,0.061,3401,2201,2246
$GC,18236,0.38,171.3,847.4,4.5,446,18255,0.12,0.00,16.80,1.346,6,0.081,0.000,3449,2202,2177
$GC,18539,0.38,171.3,831.7,5.2,451,18543,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,782,2175
$GC,18567,0.38,171.3,830.1,5.5,451,18571,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2205,2175
$GC,18906,0.38,171.3,811.1,5.6,457,18907,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2175
$GC,19208,0.38,171.3,794.1,5.6,462,19212,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,787,2175
$GC,19247,0.38,171.3,791.9,5.2,462,19251,0.00,2.38,0.00,0.000,6,0.000,0.061,3449,2211,2175
$GC,19569,0.38,171.3,774.3,5.5,468,19570,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2210,2175
$GC,19871,0.38,171.3,756.6,5.9,473,19875,0.00,2.50,0.00,0.000,4,0.000,0.077,3450,784,2175
$GC,19916,0.38,171.3,753.7,6.0,473,19920,0.00,2.38,0.00,0.000,6,0.000,0.061,3449,2204,2175
$GC,20232,0.38,171.3,734.5,6.1,479,20233,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2203,2175
$GC,20535,0.38,171.3,715.7,6.2,484,20539,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,781,2175
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$STATE,32185,end climb,SURFACE_DEPTH_REACHED
$STATE,32186,begin surface coast
$FINISH,0.9,1.025743
$STATE,32282,end surface coast,CONTROL_FINISHED_OK
$STATE,32282,begin surface
$SM_CCo,32307,4.43,0.650,0,0,1754,275.23
$SM_GC,3.93,0.00,0.00,4.43,0.000,0.000,0.650,135,2414,1754,-9.94,0.40,275.23
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$HUMID,2142
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$TCM_TEMP,15.20
$XPDR_PINGS,1022
$24V_AH,21.0,119.464
$10V_AH,10.4,82.604
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$DEVICE_SECS,28.325,252.025,368.325,4.425,0.000,29.213,41.091,165.018,255.500,0.000,0.000,31.225,1828.361,26930.115,553.398,2497.649,907.531,33.379,1800.260,0.000,2453.867,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.783,622.266,1422.800,863.324,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47541,837
$CAP_FILE_SIZE,191100,0
$CFSIZE,260165632,211197952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160409,115006,5016.334,-14435.516,84,1.3,84,18.6