version: 66.03
glider: 120
mission: 9
dive: 277
start: 12 10 108 16 43 27
data:
$ID,120
$MISSION,9
$DIVE,277
$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,300
$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,-23492.387
$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,17
$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
$GPS1,163655,5011.558,-14440.764,61,1.5,61,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.53
$_SM_ANGLEo,-73.2
$GPS2,164232,5011.598,-14440.732,10,1.5,10,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.114
$KALMAN_X,30166.3,58.0,306.5,-19853.8,-1339.8
$KALMAN_Y,215553.2,-165.2,-58.2,-204123.6,913.7
$MHEAD_RNG_PITCHd_Wd,31.3,21672,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.62,0.000,2,0.000,0.000,143,2399,1941
$GC,38,-0.67,-117.3,3.5,-0.0,1,116,13.88,2.47,-57.85,0.000,4,0.285,0.094,3096,3812,3355
$GC,348,-0.49,-117.3,34.0,-11.7,29,353,0.22,2.35,0.00,0.000,6,0.158,0.054,3159,2389,3357
$GC,675,-0.49,-117.3,59.1,-7.4,59,681,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2389,3358
$GC,1009,-0.49,-117.3,85.4,-7.6,88,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2389,3359
$GC,1319,-0.49,-117.3,107.7,-7.5,103,1323,0.00,2.50,0.00,0.000,4,0.000,0.078,3155,3819,3359
$GC,1364,-0.55,-117.3,111.0,-7.8,105,1369,0.00,2.33,0.00,0.000,6,0.000,0.052,3155,2397,3359
$GC,1685,-0.61,-117.3,133.3,-6.6,121,1689,0.00,2.38,0.00,0.000,4,0.000,0.068,3155,989,3360
$GC,1730,-0.67,-117.3,136.4,-7.3,123,1735,0.17,2.33,0.00,0.000,6,0.081,0.060,3090,2405,3360
$GC,2060,-0.57,-117.3,162.2,-7.8,137,2062,0.15,0.00,0.00,0.000,6,0.152,0.000,3131,2405,3360
$GC,2366,-0.57,-117.3,183.0,-6.7,147,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3359
$GC,2672,-0.57,-117.3,202.1,-6.2,157,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3359
$GC,2978,-0.57,-117.3,223.3,-6.9,167,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3360
$GC,3284,-0.57,-117.3,242.0,-5.8,177,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3360
$GC,3591,-0.61,-117.3,260.0,-6.3,187,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3360
$GC,3897,-0.66,-117.3,279.4,-6.3,197,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2405,3359
$GC,4203,-0.72,-117.3,297.8,-6.0,207,4205,0.15,0.00,0.00,0.000,6,0.081,0.000,3073,2405,3359
$GC,4507,-0.66,-117.3,319.8,-7.3,213,4512,0.12,2.42,0.00,0.000,4,0.107,0.081,3099,3806,3359
$GC,4570,-0.66,-117.3,324.2,-7.3,214,4574,0.00,2.30,0.00,0.000,6,0.000,0.057,3100,2398,3359
$GC,4935,-0.66,-117.3,348.9,-6.7,220,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3359
$GC,5238,-0.66,-117.3,371.4,-7.6,225,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3359
$GC,5541,-0.66,-117.3,394.4,-7.5,230,5545,0.00,2.45,0.00,0.000,4,0.000,0.082,3100,3809,3358
$GC,5579,-0.66,-117.3,397.2,-6.7,230,5583,0.00,2.30,0.00,0.000,6,0.000,0.057,3099,2400,3358
$GC,5900,-0.66,-117.3,416.7,-6.0,236,5904,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,989,3358
$GC,5939,-0.66,-117.3,419.1,-6.4,236,5943,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2406,3358
$GC,6259,-0.66,-117.3,439.0,-6.3,242,6263,0.00,2.38,0.00,0.000,4,0.000,0.083,3099,3812,3358
$GC,6286,-0.66,-117.3,440.8,-6.4,242,6290,0.00,2.28,0.00,0.000,6,0.000,0.057,3099,2399,3357
$GC,6624,-0.66,-117.3,461.5,-6.2,248,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6926,-0.66,-117.3,479.8,-6.0,253,6930,0.00,2.47,0.00,0.000,4,0.000,0.082,3100,3815,3357
$GC,6976,-0.66,-117.3,483.0,-6.5,253,6980,0.00,2.30,0.00,0.000,6,0.000,0.056,3100,2400,3357
$GC,7291,-0.66,-117.3,502.1,-6.1,259,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3357
$GC,7594,-0.66,-117.3,519.8,-5.8,264,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,7898,-0.66,-117.3,537.0,-5.6,269,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,8200,-0.66,-117.3,554.5,-5.8,274,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,8503,-0.66,-117.3,573.0,-6.1,279,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,8807,-0.66,-117.3,591.8,-6.2,284,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,9110,-0.66,-117.3,610.9,-6.3,289,9114,0.00,2.38,0.00,0.000,4,0.000,0.074,3099,989,3356
$GC,9142,-0.66,-117.3,613.1,-6.7,289,9146,0.00,2.35,0.00,0.000,6,0.000,0.065,3100,2405,3356
$GC,9474,-0.66,-117.3,634.7,-6.5,295,9478,0.00,2.42,0.00,0.000,4,0.000,0.084,3099,3814,3356
$GC,9502,-0.66,-117.3,636.5,-6.8,295,9506,0.00,2.30,0.00,0.000,6,0.000,0.057,3099,2395,3356
$GC,9834,-0.66,-117.3,657.8,-6.4,301,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3356
$GC,10136,-0.66,-117.3,675.9,-6.0,306,10141,0.00,2.50,0.00,0.000,4,0.000,0.083,3099,3817,3356
$GC,10180,-0.66,-117.3,678.7,-6.5,306,10184,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2395,3356
$GC,10501,-0.66,-117.3,697.6,-5.9,312,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3356
$GC,10804,-0.66,-117.3,715.4,-5.8,317,10805,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3356
$GC,11108,-0.66,-117.3,731.8,-5.4,322,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3355
$GC,11411,-0.66,-117.3,746.9,-5.0,327,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3355
$GC,11714,-0.66,-117.3,761.4,-4.7,332,11718,0.00,2.50,0.00,0.000,4,0.000,0.084,3099,3812,3355
$GC,11753,-0.71,-117.3,763.4,-5.1,332,11757,0.00,2.33,0.00,0.000,6,0.000,0.058,3099,2392,3355
$GC,12074,-0.76,-117.3,779.1,-4.9,338,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3355
$GC,12376,-0.76,-117.3,795.9,-5.6,343,12380,0.00,2.50,0.00,0.000,4,0.000,0.084,3099,3818,3354
$GC,12420,-0.81,-117.3,798.5,-5.7,343,12425,0.12,2.33,0.00,0.000,6,0.093,0.058,3054,2396,3354
$GC,12735,-0.77,-117.3,820.4,-7.0,349,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3354
$GC,13038,-0.72,-117.3,840.8,-6.7,354,13042,0.00,2.47,0.00,0.000,4,0.000,0.083,3054,3807,3354
$GC,13076,-0.64,-117.3,843.8,-8.1,354,13082,0.20,2.33,0.00,0.000,6,0.130,0.058,3110,2388,3354
$GC,13397,-0.72,-117.3,860.8,-5.2,360,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2389,3354
$GC,13700,-0.79,-117.3,875.7,-4.8,365,13702,0.15,0.00,0.00,0.000,6,0.088,0.000,3056,2389,3353
$GC,14003,-0.79,-117.3,893.7,-6.1,370,14007,0.00,2.50,0.00,0.000,4,0.000,0.083,3055,3809,3354
$GC,14036,-0.73,-117.3,895.8,-6.3,370,14040,0.00,2.33,0.00,0.000,6,0.000,0.058,3055,2393,3353
$GC,14367,-0.73,-117.3,917.2,-6.5,376,14371,0.00,2.47,0.00,0.000,4,0.000,0.083,3055,3809,3353
$GC,14406,-0.66,-117.3,920.0,-7.4,376,14411,0.15,2.33,0.00,0.000,6,0.122,0.058,3097,2388,3353
$GC,14727,-0.66,-117.3,938.5,-5.7,382,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2388,3353
$GC,15030,-0.70,-117.3,954.5,-5.2,387,15031,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2388,3353
$GC,15332,-0.70,-117.3,970.3,-5.2,392,15336,0.00,2.50,0.00,0.000,4,0.000,0.085,3097,3816,3353
$GC,15365,-0.77,-117.3,972.1,-5.7,392,15369,0.00,2.33,0.00,0.000,6,0.000,0.059,3097,2395,3353
$STATE,15689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15689,begin apogee
$GC,15696,-0.22,0.0,991.0,5.9,398,15804,0.47,0.00,105.45,1.499,6,0.137,0.000,3243,2201,2876
$STATE,15805,end apogee,CONTROL_FINISHED_OK
$STATE,15805,begin climb
$GC,15807,0.67,117.3,993.9,0.0,399,15924,0.88,2.70,110.07,1.437,4,0.097,0.076,3533,789,2396
$GC,16178,0.32,117.3,976.4,8.3,403,16184,0.43,2.40,0.00,0.000,6,0.182,0.064,3421,2204,2393
$GC,16493,0.32,117.3,960.2,5.0,409,16498,0.00,2.45,0.00,0.000,4,0.000,0.079,3421,783,2392
$GC,16582,0.32,117.3,955.7,5.1,410,16586,0.00,2.35,0.00,0.000,6,0.000,0.063,3421,2217,2392
$GC,16926,0.34,128.4,939.7,4.7,416,16938,0.00,0.00,10.73,1.319,6,0.000,0.000,3421,2217,2352
$GC,17229,0.34,135.9,925.2,4.8,421,17243,0.00,2.47,8.23,1.253,4,0.000,0.080,3421,797,2322
$GC,17289,0.34,135.9,922.4,5.4,421,17296,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2202,2322
$GC,17599,0.34,135.9,907.0,5.0,427,17600,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2321
$GC,17902,0.34,135.9,890.9,5.3,432,17903,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2321
$GC,18205,0.34,135.9,874.0,5.6,437,18209,0.00,2.40,0.00,0.000,4,0.000,0.080,3421,791,2321
$GC,18248,0.34,135.9,871.4,6.2,437,18253,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2202,2321
$GC,18564,0.34,135.9,853.3,5.8,443,18565,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2321
$GC,18866,0.34,135.9,837.0,5.4,448,18871,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,784,2320
$GC,18911,0.34,135.9,834.4,5.1,448,18915,0.00,2.30,0.00,0.000,6,0.000,0.064,3422,2200,2320
$GC,19226,0.34,135.9,818.0,5.2,454,19227,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2320
$GC,19529,0.35,140.8,803.3,4.9,459,19536,0.00,0.00,5.78,1.097,6,0.000,0.000,3421,2200,2302
$GC,19832,0.35,140.8,788.0,5.0,464,19833,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2302
$GC,20135,0.36,147.8,773.3,4.8,469,20145,0.00,0.00,8.20,1.203,6,0.000,0.000,3421,2200,2273
$GC,20439,0.37,157.5,759.0,4.7,474,20452,0.00,0.00,9.88,1.232,6,0.000,0.000,3422,2200,2234
$GC,20809,0.38,161.8,741.2,4.9,480,20820,0.00,2.40,5.65,1.054,4,0.000,0.080,3421,792,2215
$GC,20893,0.44,161.8,736.9,5.1,481,20897,0.12,2.33,0.00,0.000,6,0.095,0.064,3469,2206,2215
$GC,21235,0.36,161.8,715.1,6.5,487,21240,0.12,2.42,0.00,0.000,4,0.147,0.077,3446,780,2215
$GC,21279,0.36,161.8,712.3,5.4,487,21283,0.00,2.33,0.00,0.000,6,0.000,0.064,3446,2202,2215
$GC,21600,0.36,161.8,692.2,6.4,493,21601,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2202,2215
$GC,21903,0.36,161.8,671.4,6.9,498,21904,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2202,2214
$GC,22206,0.36,161.8,650.3,7.1,503,22210,0.00,2.35,0.00,0.000,4,0.000,0.081,3446,3609,2215
$GC,22233,0.30,161.8,648.1,7.2,503,22238,0.15,2.30,0.00,0.000,6,0.173,0.064,3411,2201,2215
$GC,22565,0.38,161.8,629.0,5.6,509,22569,0.00,2.40,0.00,0.000,4,0.000,0.080,3411,781,2215
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$STATE,33050,end climb,SURFACE_DEPTH_REACHED
$STATE,33050,begin surface coast
$FINISH,2.5,1.025383
$STATE,33264,end surface coast,CONTROL_FINISHED_OK
$STATE,33264,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2079
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$TCM_TEMP,16.30
$XPDR_PINGS,1029
$24V_AH,21.9,55.512
$10V_AH,10.6,37.024
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$DEVICE_SECS,28.075,200.250,348.950,32.750,0.000,23.860,32.005,158.618,257.250,0.000,0.000,11.919,1832.963,28247.158,545.531,2446.103,575.412,33.369,1746.975,0.000,2419.978,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,663.170,639.348,1465.107,885.055,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50617,862
$CAP_FILE_SIZE,184259,0
$CFSIZE,260165632,237068288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,020026,5013.580,-14437.350,46,2.0,65,18.6