version: 66.03
glider: 120
mission: 9
dive: 338
start: 1 2 109 17 27 46
data:
$ID,120
$MISSION,9
$DIVE,338
$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,-24826.529
$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,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
$GPS1,171724,5011.343,-14455.457,25,1.4,42,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-66.7
$GPS2,172652,5011.316,-14455.437,12,3.2,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.116,0.135
$KALMAN_X,20762.0,-200.9,-188.9,-27155.6,-67.9
$KALMAN_Y,245934.4,139.6,70.0,-235472.7,-1070.7
$MHEAD_RNG_PITCHd_Wd,300.8,26511,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.62,0.000,2,0.000,0.000,136,2402,1806
$GC,40,-0.67,-117.3,4.2,-0.0,1,125,14.10,2.47,-59.83,0.000,4,0.285,0.080,3095,990,3357
$GC,189,-0.54,-117.3,15.3,-10.6,14,196,0.17,2.33,0.00,0.000,6,0.164,0.065,3142,2404,3358
$GC,517,-0.54,-117.3,39.0,-4.0,45,521,0.00,2.40,0.00,0.000,4,0.000,0.069,3148,991,3358
$GC,550,-0.54,-117.3,40.8,-5.8,47,556,0.00,2.33,0.00,0.000,6,0.000,0.061,3142,2408,3358
$GC,876,-0.54,-117.3,63.6,-7.6,78,880,0.00,2.40,0.00,0.000,4,0.000,0.068,3142,982,3358
$GC,915,-0.54,-117.3,66.5,-7.2,81,919,0.00,2.33,0.00,0.000,6,0.000,0.061,3142,2407,3358
$GC,1237,-0.54,-117.3,92.7,-9.4,105,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2407,3358
$GC,1546,-0.54,-117.3,115.3,-6.5,120,1550,0.00,2.40,0.00,0.000,4,0.000,0.067,3142,991,3358
$GC,1572,-0.54,-117.3,117.2,-7.2,121,1576,0.00,2.33,0.00,0.000,6,0.000,0.061,3142,2402,3358
$GC,1895,-0.54,-117.3,138.3,-6.6,137,1899,0.00,2.40,0.00,0.000,4,0.000,0.067,3142,981,3359
$GC,1935,-0.59,-117.3,141.1,-7.0,139,1939,0.00,2.35,0.00,0.000,6,0.000,0.061,3142,2406,3359
$GC,2260,-0.65,-117.3,161.1,-6.0,152,2264,0.00,2.38,0.00,0.000,4,0.000,0.082,3141,3813,3359
$GC,2289,-0.73,-117.3,162.8,-6.1,153,2294,0.17,2.30,0.00,0.000,6,0.079,0.053,3076,2392,3359
$GC,2624,-0.67,-117.3,188.8,-7.8,164,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2392,3359
$GC,2930,-0.62,-117.3,211.5,-7.2,174,2935,0.15,2.47,0.00,0.000,4,0.108,0.079,3122,3815,3359
$GC,2980,-0.68,-117.3,214.9,-6.1,175,2984,0.00,2.30,0.00,0.000,6,0.000,0.054,3122,2393,3359
$GC,3298,-0.68,-117.3,234.5,-6.2,186,3302,0.00,2.33,0.00,0.000,4,0.000,0.070,3122,994,3359
$GC,3336,-0.68,-117.3,237.2,-6.7,187,3340,0.00,2.28,0.00,0.000,6,0.000,0.061,3122,2400,3359
$GC,3666,-0.68,-117.3,257.6,-6.1,198,3670,0.00,2.30,0.00,0.000,4,0.000,0.069,3122,994,3359
$GC,3694,-0.68,-117.3,259.5,-6.9,199,3698,0.00,2.28,0.00,0.000,6,0.000,0.062,3122,2399,3359
$GC,4029,-0.68,-117.3,280.3,-6.4,210,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3359
$GC,4335,-0.68,-117.3,299.3,-6.2,220,4339,0.00,2.38,0.00,0.000,4,0.000,0.069,3122,985,3359
$GC,4399,-0.74,-117.3,303.5,-6.9,222,4403,0.12,2.30,0.00,0.000,6,0.084,0.062,3074,2401,3358
$GC,4764,-0.74,-117.3,330.3,-7.3,228,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3358
$GC,5067,-0.74,-117.3,351.7,-7.0,233,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3358
$GC,5370,-0.74,-117.3,373.1,-7.1,238,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3358
$GC,5673,-0.74,-117.3,393.6,-6.8,243,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3358
$GC,5976,-0.74,-117.3,414.7,-7.0,248,5980,0.00,2.35,0.00,0.000,4,0.000,0.071,3074,989,3357
$GC,6025,-0.74,-117.3,418.6,-7.4,248,6029,0.00,2.33,0.00,0.000,6,0.000,0.064,3074,2408,3357
$GC,6341,-0.68,-117.3,441.0,-7.0,254,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2409,3357
$GC,6644,-0.63,-117.3,461.6,-6.7,259,6646,0.15,0.00,0.00,0.000,6,0.145,0.000,3115,2409,3357
$GC,6947,-0.68,-117.3,477.9,-5.3,264,6951,0.00,2.35,0.00,0.000,4,0.000,0.072,3115,995,3357
$GC,6992,-0.76,-117.3,480.5,-6.1,264,6996,0.12,2.30,0.00,0.000,6,0.087,0.064,3067,2410,3357
$GC,7307,-0.76,-117.3,500.4,-6.4,270,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3357
$GC,7609,-0.76,-117.3,519.4,-6.3,275,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2411,3356
$GC,7912,-0.76,-117.3,539.2,-6.7,280,7916,0.00,2.38,0.00,0.000,4,0.000,0.072,3067,995,3357
$GC,7962,-0.76,-117.3,542.9,-7.3,280,7966,0.00,2.30,0.00,0.000,6,0.000,0.064,3067,2411,3356
$GC,8278,-0.70,-117.3,566.7,-7.7,286,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3357
$GC,8581,-0.64,-117.3,589.2,-7.4,291,8583,0.15,0.00,0.00,0.000,6,0.149,0.000,3108,2411,3356
$GC,8884,-0.69,-117.3,607.7,-6.1,296,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2412,3357
$GC,9187,-0.74,-117.3,626.2,-6.1,301,9191,0.00,2.38,0.00,0.000,4,0.000,0.072,3108,995,3356
$GC,9231,-0.81,-117.3,629.1,-6.8,301,9236,0.17,2.30,0.00,0.000,6,0.082,0.064,3046,2408,3355
$GC,9546,-0.74,-117.3,652.7,-7.5,307,9548,0.10,0.00,0.00,0.000,6,0.099,0.000,3074,2407,3356
$GC,9849,-0.70,-117.3,674.0,-7.0,312,9853,0.00,2.40,0.00,0.000,4,0.000,0.072,3074,992,3355
$GC,9877,-0.65,-117.3,675.9,-7.0,312,9882,0.12,2.30,0.00,0.000,6,0.162,0.065,3104,2398,3356
$GC,10210,-0.70,-117.3,691.9,-4.6,318,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2398,3355
$GC,10513,-0.75,-117.3,705.4,-4.4,323,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,3355
$GC,10816,-0.80,-117.3,720.1,-4.9,328,10818,0.15,0.00,0.00,0.000,6,0.083,0.000,3047,2398,3355
$GC,11119,-0.74,-117.3,740.3,-6.7,333,11123,0.10,2.38,0.00,0.000,4,0.097,0.073,3079,996,3355
$GC,11156,-0.74,-117.3,743.0,-6.7,333,11160,0.00,2.30,0.00,0.000,6,0.000,0.066,3079,2399,3355
$GC,11483,-0.74,-117.3,764.0,-6.4,339,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3354
$GC,11787,-0.74,-117.3,783.2,-6.3,344,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2399,3355
$GC,12089,-0.74,-117.3,802.8,-6.5,349,12093,0.00,2.38,0.00,0.000,4,0.000,0.073,3079,996,3354
$GC,12139,-0.74,-117.3,806.4,-7.1,349,12143,0.00,2.30,0.00,0.000,6,0.000,0.067,3079,2401,3354
$GC,12454,-0.74,-117.3,825.3,-5.9,355,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3354
$GC,12758,-0.74,-117.3,842.9,-5.8,360,12762,0.00,2.35,0.00,0.000,4,0.000,0.074,3079,989,3354
$GC,12796,-0.74,-117.3,845.4,-6.8,360,12799,0.00,2.33,0.00,0.000,6,0.000,0.066,3079,2407,3354
$GC,13122,-0.74,-117.3,863.0,-5.3,366,13126,0.00,2.38,0.00,0.000,4,0.000,0.074,3079,987,3354
$GC,13155,-0.74,-117.3,864.9,-5.8,366,13159,0.00,2.33,0.00,0.000,6,0.000,0.067,3079,2400,3353
$GC,13488,-0.74,-117.3,881.3,-4.9,372,13493,0.00,2.38,0.00,0.000,4,0.000,0.085,3074,3815,3354
$GC,13516,-0.74,-117.3,882.8,-6.0,372,13520,0.00,2.28,0.00,0.000,6,0.000,0.058,3074,2393,3354
$GC,13853,-0.74,-117.3,899.9,-5.1,378,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2393,3354
$GC,14157,-0.74,-117.3,916.1,-5.4,383,14161,0.00,2.30,0.00,0.000,4,0.000,0.075,3074,993,3354
$GC,14190,-0.74,-117.3,918.0,-5.8,383,14194,0.00,2.30,0.00,0.000,6,0.000,0.067,3073,2400,3353
$GC,14522,-0.74,-117.3,936.4,-5.5,389,14523,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3353
$GC,14825,-0.74,-117.3,954.4,-5.9,394,14829,0.00,2.35,0.00,0.000,4,0.000,0.075,3073,987,3353
$GC,14863,-0.74,-117.3,957.0,-6.0,394,14867,0.00,2.33,0.00,0.000,6,0.000,0.066,3073,2410,3353
$GC,15190,-0.74,-117.3,977.0,-6.1,400,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2409,3353
$STATE,15429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15430,begin apogee
$GC,15436,-0.22,0.0,991.8,6.1,404,15547,0.57,0.00,107.93,1.496,6,0.143,0.000,3247,2200,2877
$STATE,15547,end apogee,CONTROL_FINISHED_OK
$STATE,15548,begin climb
$GC,15550,0.67,117.3,993.8,0.0,405,15671,0.85,2.72,112.53,1.441,4,0.087,0.077,3533,792,2397
$GC,15710,0.32,117.3,994.6,6.6,408,15716,0.43,2.47,0.00,0.000,6,0.175,0.061,3426,2203,2395
$GC,16043,0.33,123.2,978.5,4.8,414,16056,0.00,2.45,6.47,1.154,4,0.000,0.080,3426,3620,2373
$GC,16091,0.22,123.2,976.0,5.2,414,16096,0.15,2.35,0.00,0.000,6,0.181,0.064,3389,2192,2373
$GC,16406,0.36,164.8,963.9,3.8,420,16447,0.12,0.00,38.30,1.439,6,0.084,0.000,3437,2192,2203
$GC,16710,0.40,164.8,948.4,5.3,425,16714,0.00,2.35,0.00,0.000,4,0.000,0.080,3437,788,2201
$GC,16748,0.40,164.8,946.1,5.4,425,16753,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2205,2201
$GC,17069,0.40,164.8,928.0,5.7,431,17073,0.00,2.40,0.00,0.000,4,0.000,0.079,3437,786,2200
$GC,17113,0.40,164.8,925.3,6.9,431,17117,0.00,2.30,0.00,0.000,6,0.000,0.064,3437,2199,2200
$GC,17435,0.40,164.8,906.0,6.1,437,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2200
$GC,17738,0.40,164.8,886.4,6.5,442,17739,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2200
$GC,18040,0.40,164.8,866.1,6.7,447,18042,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2199
$GC,18344,0.40,164.8,846.7,6.4,452,18348,0.00,2.38,0.00,0.000,4,0.000,0.079,3437,781,2199
$GC,18387,0.40,164.8,844.0,6.3,452,18391,0.00,2.30,0.00,0.000,6,0.000,0.064,3437,2200,2199
$GC,18709,0.40,164.8,825.2,5.9,458,18710,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2199
$GC,19011,0.40,164.8,807.0,6.1,463,19015,0.00,2.35,0.00,0.000,4,0.000,0.081,3437,792,2199
$GC,19044,0.40,164.8,804.9,5.9,463,19048,0.00,2.30,0.00,0.000,6,0.000,0.064,3437,2206,2199
$GC,19376,0.40,164.8,783.7,6.4,469,19377,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2206,2198
$GC,19680,0.40,164.8,764.9,6.2,474,19684,0.00,2.38,0.00,0.000,4,0.000,0.079,3437,785,2199
$GC,19718,0.40,164.8,762.5,5.7,474,19722,0.00,2.30,0.00,0.000,6,0.000,0.064,3437,2205,2199
$GC,20044,0.40,164.8,743.7,5.8,480,20048,0.00,2.38,0.00,0.000,4,0.000,0.080,3437,782,2199
$GC,20083,0.40,164.8,741.4,5.7,480,20086,0.00,2.30,0.00,0.000,6,0.000,0.064,3437,2200,2198
$GC,20410,0.40,164.8,724.6,5.1,486,20411,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2199
$GC,20713,0.41,176.0,710.2,4.7,491,20725,0.00,0.00,10.68,1.217,6,0.000,0.000,3437,2200,2158
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$STATE,32661,end climb,SURFACE_DEPTH_REACHED
$STATE,32662,begin surface coast
$FINISH,3.0,1.025596
$STATE,32748,end surface coast,CONTROL_FINISHED_OK
$STATE,32748,begin surface
$SM_CCo,32767,44.15,0.844,0,0,1652,300.00
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$TT8_MAMPS,0.026845
$HUMID,2080
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$TCM_TEMP,15.70
$XPDR_PINGS,994
$24V_AH,21.6,66.941
$10V_AH,10.6,45.173
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$DEVICE_SECS,29.575,226.400,339.625,44.150,0.000,60.494,56.453,236.331,248.500,0.000,0.000,32.746,1824.470,27830.537,568.630,2363.038,786.995,33.376,1739.331,0.000,2316.599,0.000,0.465
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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,50646,849
$CAP_FILE_SIZE,192043,0
$CFSIZE,260165632,232337408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030109,023600,5013.493,-14458.723,37,1.1,43,18.5