version: 66.03
glider: 120
mission: 9
dive: 340
start: 1 3 109 11 40 29
data:
$ID,120
$MISSION,9
$DIVE,340
$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,-24855.18
$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,19
$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
$GPS1,113355,5016.291,-14502.505,47,1.4,47,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-75.6
$GPS2,113932,5016.312,-14502.508,12,1.3,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.122,0.129
$KALMAN_X,21527.4,24.0,335.4,-37084.6,55.9
$KALMAN_Y,244959.7,529.0,-150.3,-225409.1,-1378.8
$MHEAD_RNG_PITCHd_Wd,297.9,14143,-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,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.00,0.000,2,0.000,0.000,135,2410,1913
$GC,38,-0.67,-117.3,3.9,-0.0,1,125,14.10,2.45,-64.93,0.000,4,0.287,0.092,3085,3816,3354
$GC,321,-0.47,-117.3,27.4,-11.2,26,328,0.28,2.35,0.00,0.000,6,0.156,0.055,3162,2389,3356
$GC,649,-0.47,-117.3,51.4,-6.8,57,653,0.00,2.38,0.00,0.000,4,0.000,0.069,3161,985,3357
$GC,681,-0.47,-117.3,53.9,-7.0,59,688,0.00,2.33,0.00,0.000,6,0.000,0.062,3162,2395,3357
$GC,1008,-0.47,-117.3,74.8,-6.7,90,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2395,3357
$GC,1319,-0.51,-117.3,95.0,-6.4,109,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2395,3357
$GC,1628,-0.59,-117.3,115.4,-7.1,124,1633,0.12,2.40,0.00,0.000,4,0.081,0.078,3112,3820,3357
$GC,1661,-0.53,-117.3,118.4,-8.9,125,1668,0.12,2.30,0.00,0.000,6,0.122,0.054,3147,2394,3357
$GC,1978,-0.58,-117.3,140.1,-6.4,141,1982,0.00,2.33,0.00,0.000,4,0.000,0.069,3146,992,3357
$GC,2005,-0.64,-117.3,141.9,-6.3,142,2010,0.12,2.30,0.00,0.000,6,0.081,0.061,3099,2415,3357
$GC,2320,-0.64,-117.3,162.2,-6.2,154,2324,0.00,2.30,0.00,0.000,4,0.000,0.079,3099,3805,3358
$GC,2369,-0.64,-117.3,165.8,-7.1,155,2373,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2392,3357
$GC,2688,-0.64,-117.3,186.9,-6.8,166,2692,0.00,2.33,0.00,0.000,4,0.000,0.070,3099,995,3357
$GC,2720,-0.64,-117.3,189.2,-7.1,167,2724,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2411,3357
$GC,3057,-0.64,-117.3,212.1,-6.8,178,3061,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,994,3358
$GC,3095,-0.64,-117.3,215.0,-7.4,179,3099,0.00,2.28,0.00,0.000,6,0.000,0.062,3099,2399,3357
$GC,3425,-0.64,-117.3,238.3,-7.0,190,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,3732,-0.64,-117.3,259.6,-6.8,200,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,4037,-0.64,-117.3,279.6,-6.7,210,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,4343,-0.64,-117.3,300.5,-7.0,220,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,4646,-0.64,-117.3,323.8,-7.8,225,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,4950,-0.64,-117.3,348.8,-8.3,230,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,5253,-0.64,-117.3,372.0,-7.7,235,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,5555,-0.64,-117.3,394.0,-7.2,240,5560,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,995,3357
$GC,5588,-0.64,-117.3,396.4,-7.4,240,5592,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2410,3357
$GC,5920,-0.64,-117.3,418.1,-6.5,246,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3357
$GC,6224,-0.64,-117.3,435.2,-5.5,251,6228,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,988,3356
$GC,6251,-0.64,-117.3,436.7,-5.4,251,6254,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2406,3356
$GC,6588,-0.64,-117.3,455.4,-5.6,257,6593,0.00,2.33,0.00,0.000,4,0.000,0.072,3099,994,3356
$GC,6621,-0.64,-117.3,457.5,-6.0,257,6625,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2409,3356
$GC,6954,-0.64,-117.3,477.1,-6.0,263,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3356
$GC,7257,-0.64,-117.3,494.3,-5.6,268,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3356
$GC,7560,-0.64,-117.3,510.3,-5.3,273,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3356
$GC,7863,-0.64,-117.3,527.2,-5.6,278,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3356
$GC,8167,-0.64,-117.3,545.2,-6.0,283,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3356
$GC,8469,-0.64,-117.3,563.9,-6.2,288,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3355
$GC,8772,-0.64,-117.3,582.8,-6.2,293,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3355
$GC,9075,-0.64,-117.3,600.5,-5.8,298,9079,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,995,3355
$GC,9103,-0.70,-117.3,602.1,-5.7,298,9107,0.00,2.28,0.00,0.000,6,0.000,0.064,3099,2400,3355
$GC,9442,-0.74,-117.3,620.6,-5.6,304,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3355
$GC,9744,-0.79,-117.3,638.1,-5.7,309,9746,0.10,0.00,0.00,0.000,6,0.100,0.000,3059,2401,3355
$GC,10047,-0.79,-117.3,658.6,-6.9,314,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2401,3355
$GC,10350,-0.79,-117.3,678.6,-6.5,319,10354,0.00,2.38,0.00,0.000,4,0.000,0.073,3059,987,3354
$GC,10383,-0.74,-117.3,681.0,-7.0,319,10387,0.00,2.30,0.00,0.000,6,0.000,0.065,3059,2409,3354
$GC,10715,-0.68,-117.3,702.3,-6.4,325,10717,0.15,0.00,0.00,0.000,6,0.149,0.000,3100,2409,3354
$GC,11018,-0.68,-117.3,716.9,-4.8,330,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3354
$GC,11322,-0.72,-117.3,731.2,-4.7,335,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3354
$GC,11625,-0.77,-117.3,745.8,-4.9,340,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3354
$GC,11927,-0.81,-117.3,762.6,-5.6,345,11932,0.15,2.40,0.00,0.000,4,0.084,0.073,3038,985,3354
$GC,11977,-0.68,-117.3,766.6,-8.6,345,11982,0.20,2.33,0.00,0.000,6,0.161,0.066,3092,2404,3354
$GC,12287,-0.68,-117.3,787.1,-6.6,350,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3354
$GC,12589,-0.68,-117.3,806.3,-6.3,355,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3354
$GC,12892,-0.68,-117.3,824.0,-5.8,360,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3354
$GC,13196,-0.68,-117.3,841.0,-5.6,365,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3353
$GC,13499,-0.68,-117.3,858.2,-5.6,370,13503,0.00,2.35,0.00,0.000,4,0.000,0.074,3092,992,3353
$GC,13537,-0.68,-117.3,860.6,-6.6,370,13541,0.00,2.33,0.00,0.000,6,0.000,0.065,3092,2400,3353
$GC,13864,-0.68,-117.3,879.4,-5.8,376,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3353
$GC,14167,-0.68,-117.3,897.2,-5.8,381,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3353
$GC,14470,-0.68,-117.3,914.4,-5.7,386,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3353
$GC,14773,-0.68,-117.3,931.1,-5.5,391,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2400,3353
$GC,15076,-0.68,-117.3,948.1,-5.5,396,15080,0.00,2.40,0.00,0.000,4,0.000,0.074,3092,996,3353
$GC,15103,-0.72,-117.3,949.7,-6.3,396,15107,0.00,2.30,0.00,0.000,6,0.000,0.067,3092,2398,3353
$GC,15435,-0.77,-117.3,968.0,-5.5,402,15439,0.00,2.38,0.00,0.000,4,0.000,0.086,3092,3810,3353
$GC,15462,-0.83,-117.3,969.6,-5.7,402,15467,0.12,2.25,0.00,0.000,6,0.086,0.058,3043,2402,3352
$STATE,15791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15791,begin apogee
$GC,15798,-0.22,0.0,990.1,6.2,408,15908,0.65,0.00,107.65,1.491,6,0.138,0.000,3242,2189,2876
$STATE,15909,end apogee,CONTROL_FINISHED_OK
$STATE,15909,begin climb
$GC,15912,0.67,117.3,991.8,0.0,409,16032,0.88,2.72,112.65,1.436,4,0.086,0.078,3532,3610,2396
$GC,16049,0.24,117.3,993.0,5.5,412,16055,0.55,2.53,0.00,0.000,6,0.188,0.063,3401,2196,2395
$GC,16405,0.29,117.3,975.3,5.0,418,16406,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2196,2393
$GC,16708,0.34,128.6,961.0,4.7,423,16721,0.00,0.00,11.23,1.321,6,0.000,0.000,3401,2196,2351
$GC,17011,0.40,136.5,946.7,4.8,428,17022,0.15,0.00,8.70,1.266,6,0.083,0.000,3461,2196,2319
$GC,17314,0.30,136.5,928.7,6.0,433,17315,0.17,0.00,0.00,0.000,6,0.143,0.000,3413,2196,2318
$GC,17617,0.32,152.8,914.8,4.5,438,17635,0.00,0.00,15.75,1.371,6,0.000,0.000,3413,2196,2253
$GC,17920,0.38,153.0,899.8,5.0,443,17922,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2196,2252
$GC,18223,0.44,153.0,884.3,5.2,448,18225,0.15,0.00,0.00,0.000,6,0.084,0.000,3474,2196,2252
$GC,18526,0.32,153.0,862.8,7.2,453,18528,0.20,0.00,0.00,0.000,6,0.146,0.000,3418,2196,2251
$GC,18830,0.36,153.0,846.2,5.4,458,18834,0.00,2.47,0.00,0.000,4,0.000,0.081,3418,3619,2251
$GC,18857,0.36,153.0,844.5,5.3,458,18861,0.00,2.40,0.00,0.000,6,0.000,0.064,3421,2187,2251
$GC,19195,0.40,153.0,827.4,5.0,464,19199,0.00,2.38,0.00,0.000,4,0.000,0.080,3421,790,2251
$GC,19229,0.48,164.6,825.8,4.7,464,19248,0.15,2.28,11.90,1.300,6,0.084,0.062,3480,2201,2204
$GC,19559,0.37,164.6,804.0,6.6,470,19563,0.15,2.38,0.00,0.000,4,0.150,0.078,3436,787,2204
$GC,19602,0.37,164.6,801.4,5.2,470,19606,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2200,2203
$GC,19924,0.37,164.6,784.1,5.5,476,19925,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2203
$GC,20227,0.37,164.6,767.1,5.7,481,20231,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,782,2203
$GC,20282,0.37,164.6,764.0,5.6,481,20288,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2205,2203
$GC,20592,0.37,164.6,747.4,5.4,487,20593,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2203
$GC,20895,0.37,164.6,730.8,5.4,492,20896,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2203
$GC,21198,0.37,164.6,712.8,6.0,497,21199,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2203
$GC,21501,0.37,164.6,693.9,6.2,502,21502,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2203
$GC,21804,0.37,164.6,675.4,6.1,507,21805,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2203
$GC,22107,0.37,164.6,657.0,6.0,512,22108,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2202
$GC,22411,0.37,164.6,639.1,5.9,517,22415,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,791,2202
$GC,22473,0.42,164.6,635.6,5.9,518,22477,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2205,2203
$GC,22839,0.42,168.0,617.0,4.9,524,22845,0.00,0.00,4.45,0.889,6,0.000,0.000,3436,2205,2191
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$STATE,31590,end climb,SURFACE_DEPTH_REACHED
$STATE,31590,begin surface coast
$FINISH,2.7,1.025499
$STATE,31708,end surface coast,CONTROL_FINISHED_OK
$STATE,31708,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2086
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$TCM_TEMP,17.50
$XPDR_PINGS,938
$24V_AH,21.6,67.316
$10V_AH,10.6,45.434
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$DEVICE_SECS,29.275,160.925,347.800,38.500,0.000,23.755,25.767,158.608,234.500,0.000,0.000,12.194,1718.966,27102.891,554.499,2116.113,607.704,33.373,1589.499,0.000,2109.734,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.383,622.734,1418.928,860.709,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47434,835
$CAP_FILE_SIZE,166879,0
$CFSIZE,260165632,232214528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030109,203107,5019.139,-14506.834,32,1.2,32,18.5