version: 66.03
glider: 120
mission: 9
dive: 341
start: 1 3 109 20 37 35
data:
$ID,120
$MISSION,9
$DIVE,341
$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,-24869.598
$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
$GPS1,203107,5019.139,-14506.834,32,1.2,32,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-74.8
$GPS2,203638,5019.170,-14506.813,13,1.3,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.156,0.082
$KALMAN_X,21490.7,-162.6,283.5,-41916.1,64.2
$KALMAN_Y,245539.8,-161.4,239.6,-220403.2,155.5
$MHEAD_RNG_PITCHd_Wd,279.4,6954,-12.2,-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,-114.6,0.0,0.0,0,35,0.00,0.00,-11.02,0.000,2,0.000,0.000,136,2408,1908
$GC,38,-0.67,-117.3,3.7,-0.0,1,118,14.07,2.47,-60.08,0.000,4,0.285,0.081,3092,990,3354
$GC,345,-0.51,-117.3,31.4,-11.3,28,350,0.20,2.33,0.00,0.000,6,0.162,0.064,3148,2398,3357
$GC,670,-0.51,-117.3,57.2,-7.8,58,671,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2398,3357
$GC,998,-0.51,-117.3,82.0,-7.7,88,999,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2398,3357
$GC,1308,-0.51,-117.3,105.4,-6.9,103,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2398,3357
$GC,1617,-0.51,-117.3,125.0,-6.4,118,1621,0.00,2.40,0.00,0.000,4,0.000,0.068,3148,986,3357
$GC,1650,-0.55,-117.3,127.3,-7.1,119,1656,0.00,2.33,0.00,0.000,6,0.000,0.061,3148,2405,3358
$GC,1966,-0.62,-117.3,147.1,-6.2,135,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2405,3358
$GC,2272,-0.91,-117.3,167.5,-6.8,146,2277,0.32,2.38,0.00,0.000,4,0.085,0.077,3026,3807,3358
$GC,2305,-0.78,-117.3,170.4,-9.1,147,2310,0.15,2.30,0.00,0.000,6,0.160,0.055,3065,2390,3358
$GC,2635,-0.63,-117.3,200.6,-9.0,158,2640,0.15,2.38,0.00,0.000,4,0.172,0.069,3113,989,3358
$GC,2667,-0.63,-117.3,203.3,-7.5,159,2671,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2407,3358
$GC,3003,-0.63,-117.3,224.8,-6.5,170,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,3309,-0.63,-117.3,245.3,-6.9,180,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3358
$GC,3615,-0.63,-117.3,266.6,-7.2,190,3619,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,987,3358
$GC,3670,-0.63,-117.3,270.9,-7.4,191,3676,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2403,3357
$GC,3983,-0.63,-117.3,292.4,-6.9,202,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3357
$GC,4287,-0.63,-117.3,311.8,-6.2,209,4291,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,993,3357
$GC,4331,-0.63,-117.3,314.6,-6.4,209,4335,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2408,3357
$GC,4653,-0.63,-117.3,333.1,-5.8,215,4657,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,984,3357
$GC,4685,-0.63,-117.3,335.2,-6.5,215,4689,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2402,3357
$GC,5018,-0.63,-117.3,354.7,-6.0,221,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3357
$GC,5320,-0.63,-117.3,372.4,-5.8,226,5324,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,986,3357
$GC,5354,-0.67,-117.3,374.4,-5.8,226,5358,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2403,3357
$GC,5680,-0.71,-117.3,391.2,-5.1,232,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3357
$GC,5984,-0.76,-117.3,407.2,-5.4,237,5988,0.12,2.33,0.00,0.000,4,0.089,0.071,3064,994,3356
$GC,6010,-0.76,-117.3,409.1,-6.6,237,6014,0.00,2.30,0.00,0.000,6,0.000,0.063,3064,2410,3356
$GC,6349,-0.68,-117.3,432.9,-7.1,243,6353,0.10,2.33,0.00,0.000,4,0.146,0.081,3085,3805,3356
$GC,6381,-0.68,-117.3,435.5,-7.4,243,6385,0.00,2.22,0.00,0.000,6,0.000,0.056,3085,2401,3356
$GC,6708,-0.68,-117.3,458.5,-7.1,249,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,7011,-0.68,-117.3,480.3,-7.2,254,7015,0.00,2.33,0.00,0.000,4,0.000,0.072,3085,991,3356
$GC,7043,-0.68,-117.3,482.8,-7.4,254,7047,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2403,3356
$GC,7376,-0.68,-117.3,506.5,-7.2,260,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,7679,-0.68,-117.3,528.5,-7.3,265,7683,0.00,2.42,0.00,0.000,4,0.000,0.071,3085,986,3356
$GC,7706,-0.68,-117.3,530.6,-7.5,265,7710,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2398,3355
$GC,8043,-0.68,-117.3,554.0,-7.0,271,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,8346,-0.68,-117.3,574.2,-6.6,276,8351,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,988,3355
$GC,8385,-0.68,-117.3,577.0,-7.0,276,8389,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2407,3355
$GC,8711,-0.68,-117.3,598.4,-6.6,282,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3355
$GC,9014,-0.68,-117.3,618.9,-6.9,287,9019,0.00,2.45,0.00,0.000,4,0.000,0.071,3086,985,3355
$GC,9048,-0.68,-117.3,621.4,-6.8,287,9052,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2405,3355
$GC,9374,-0.68,-117.3,643.6,-6.8,293,9378,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,992,3355
$GC,9412,-0.68,-117.3,646.4,-7.5,293,9416,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2403,3355
$GC,9738,-0.68,-117.3,668.6,-6.9,299,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,10042,-0.68,-117.3,688.3,-6.4,304,10046,0.00,2.42,0.00,0.000,4,0.000,0.071,3085,993,3355
$GC,10081,-0.68,-117.3,691.1,-6.8,304,10085,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2401,3354
$GC,10401,-0.68,-117.3,711.0,-6.3,310,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3354
$GC,10704,-0.68,-117.3,729.6,-6.2,315,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3354
$GC,11008,-0.68,-117.3,748.5,-6.2,320,11012,0.00,2.40,0.00,0.000,4,0.000,0.072,3085,991,3354
$GC,11070,-0.68,-117.3,752.5,-6.6,321,11075,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2412,3353
$GC,11436,-0.68,-117.3,775.0,-6.2,327,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2413,3354
$GC,11739,-0.68,-117.3,793.7,-6.1,332,11744,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,990,3354
$GC,11767,-0.68,-117.3,795.5,-6.1,332,11771,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2401,3354
$GC,12104,-0.68,-117.3,814.9,-5.7,338,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3353
$GC,12407,-0.68,-117.3,831.8,-5.6,343,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3354
$GC,12710,-0.68,-117.3,848.6,-5.6,348,12714,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,988,3353
$GC,12748,-0.68,-117.3,851.0,-6.2,348,12753,0.00,2.35,0.00,0.000,6,0.000,0.065,3085,2406,3353
$GC,13069,-0.68,-117.3,869.5,-5.7,354,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3353
$GC,13372,-0.68,-117.3,887.5,-6.0,359,13376,0.00,2.35,0.00,0.000,4,0.000,0.074,3085,991,3353
$GC,13411,-0.68,-117.3,890.1,-6.3,359,13414,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2411,3353
$GC,13738,-0.68,-117.3,909.5,-5.9,365,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$GC,14041,-0.68,-117.3,926.5,-5.6,370,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$GC,14343,-0.68,-117.3,942.8,-5.4,375,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$GC,14646,-0.68,-117.3,958.5,-5.2,380,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$GC,14950,-0.68,-117.3,974.3,-5.3,385,14954,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,986,3353
$GC,14983,-0.68,-117.3,976.2,-5.6,385,14986,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2409,3352
$STATE,15251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15251,begin apogee
$GC,15258,-0.22,0.0,991.1,5.5,390,15368,0.52,0.00,107.60,1.493,6,0.141,0.000,3245,2201,2876
$STATE,15369,end apogee,CONTROL_FINISHED_OK
$STATE,15369,begin climb
$GC,15372,0.67,117.3,993.2,0.0,391,15488,0.88,0.00,113.00,1.437,6,0.091,0.000,3529,2201,2396
$GC,15739,0.37,117.3,978.5,7.4,397,15744,0.30,2.45,0.00,0.000,4,0.160,0.076,3451,789,2394
$GC,15805,0.30,117.3,974.1,6.2,398,15810,0.15,2.35,0.00,0.000,6,0.162,0.063,3414,2201,2393
$GC,16166,0.30,117.3,955.5,5.2,404,16167,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2201,2393
$GC,16468,0.30,117.3,939.7,5.2,409,16469,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2201,2393
$GC,16771,0.30,118.9,924.6,5.0,414,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2201,2392
$GC,17075,0.31,126.3,910.1,4.8,419,17085,0.00,0.00,8.82,1.271,6,0.000,0.000,3414,2201,2361
$GC,17378,0.33,146.0,896.6,4.4,424,17399,0.00,0.00,19.12,1.386,6,0.000,0.000,3413,2201,2280
$GC,17681,0.40,155.7,882.4,4.7,429,17693,0.00,0.00,10.07,1.286,6,0.000,0.000,3413,2201,2241
$GC,17984,0.47,162.2,867.8,4.8,434,17999,0.15,2.40,7.60,1.210,4,0.080,0.081,3479,3608,2214
$GC,18033,0.26,162.2,864.4,6.8,434,18038,0.28,2.33,0.00,0.000,6,0.170,0.065,3405,2199,2213
$GC,18348,0.38,175.3,849.6,4.6,440,18368,0.12,2.42,13.27,1.321,4,0.087,0.080,3451,789,2160
$GC,18420,0.38,175.3,845.5,6.4,441,18424,0.00,2.33,0.00,0.000,6,0.000,0.063,3451,2208,2159
$GC,18780,0.38,175.3,823.8,6.0,447,18781,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2208,2158
$GC,19083,0.38,175.3,805.2,6.1,452,19084,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2208,2158
$GC,19386,0.38,175.3,785.9,6.4,457,19390,0.00,2.42,0.00,0.000,4,0.000,0.079,3451,790,2158
$GC,19424,0.38,175.3,783.3,6.2,457,19427,0.00,2.30,0.00,0.000,6,0.000,0.065,3451,2200,2158
$GC,19751,0.38,175.3,761.8,6.6,463,19752,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2200,2158
$GC,20053,0.38,175.3,741.2,6.8,468,20054,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2158
$GC,20357,0.38,175.3,721.7,6.4,473,20361,0.00,2.42,0.00,0.000,4,0.000,0.079,3451,783,2158
$GC,20412,0.38,175.3,718.0,6.0,473,20418,0.00,2.30,0.00,0.000,6,0.000,0.064,3451,2203,2158
$GC,20722,0.38,175.3,699.2,6.0,479,20724,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2203,2158
$GC,21025,0.38,175.3,682.2,5.5,484,21029,0.00,2.40,0.00,0.000,4,0.000,0.079,3451,788,2158
$GC,21063,0.38,175.3,679.9,6.4,484,21067,0.00,2.30,0.00,0.000,6,0.000,0.064,3451,2198,2158
$GC,21389,0.38,175.3,661.2,5.8,490,21393,0.00,2.35,0.00,0.000,4,0.000,0.082,3451,3614,2157
$GC,21423,0.33,175.3,659.0,6.8,490,21427,0.00,2.33,0.00,0.000,6,0.000,0.064,3451,2195,2157
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$GC,23205,0.47,218.7,559.8,4.7,520,23219,0.00,2.35,9.95,1.090,6,0.000,0.063,3469,2210,1984
$GC,23564,0.47,218.7,538.6,5.9,526,23565,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2211,1980
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$GC,29351,0.61,229.9,156.0,4.7,658,29367,0.12,2.33,10.57,0.905,6,0.090,0.061,3528,2211,1938
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$STATE,31965,end climb,SURFACE_DEPTH_REACHED
$STATE,31965,begin surface coast
$FINISH,2.7,1.016162
$STATE,32104,end surface coast,CONTROL_FINISHED_OK
$STATE,32104,begin surface
$SM_CCo,32124,42.70,0.841,0,0,1652,300.00
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$IRIDIUM_FIX,4956.40,-14458.27,300398,111140
$TT8_MAMPS,0.026845
$HUMID,2085
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.80
$XPDR_PINGS,1005
$24V_AH,21.8,67.503
$10V_AH,10.6,45.569
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$DEVICE_SECS,27.950,207.650,346.175,42.700,0.000,26.187,27.415,150.072,251.250,0.000,0.000,13.787,1803.213,27167.318,565.945,2342.224,616.175,33.372,1715.059,0.000,2313.731,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,653.883,634.724,1447.861,875.968,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47504,852
$CAP_FILE_SIZE,180071,0
$CFSIZE,260165632,232132608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040109,053501,5021.088,-14511.434,40,1.3,40,18.5