version: 66.03
glider: 120
mission: 9
dive: 379
start: 1 18 109 7 47 54
data:
$ID,120
$MISSION,9
$DIVE,379
$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,-25684.289
$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,22
$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
$GPS1,074050,5006.879,-14451.339,38,2.5,57,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-73.1
$GPS2,074658,5006.927,-14451.387,10,2.8,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.119,0.132
$KALMAN_X,15512.5,-56.3,37.0,-17466.4,-651.0
$KALMAN_Y,278419.8,-96.1,-98.5,-275667.2,468.0
$MHEAD_RNG_PITCHd_Wd,299.6,35642,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.55,0.000,2,0.000,0.000,135,2405,1924
$GC,39,-0.67,-117.3,3.9,-0.0,1,118,13.80,2.45,-58.95,0.000,4,0.280,0.082,3092,986,3355
$GC,371,-0.49,-117.3,34.8,-11.6,30,378,0.25,2.33,0.00,0.000,6,0.155,0.063,3156,2413,3357
$GC,700,-0.49,-117.3,59.0,-6.9,61,705,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2413,3357
$GC,1024,-0.49,-117.3,83.0,-7.0,90,1028,0.00,2.35,0.00,0.000,4,0.000,0.080,3154,3813,3357
$GC,1052,-0.54,-117.3,84.9,-7.2,91,1056,0.00,2.28,0.00,0.000,6,0.000,0.052,3154,2399,3357
$GC,1368,-0.59,-117.3,104.9,-5.9,106,1372,0.00,2.35,0.00,0.000,4,0.000,0.068,3154,989,3357
$GC,1423,-0.68,-117.3,108.1,-5.9,108,1428,0.17,2.33,0.00,0.000,6,0.078,0.061,3089,2404,3358
$GC,1740,-0.61,-117.3,132.9,-7.8,123,1744,0.10,2.38,0.00,0.000,4,0.095,0.077,3113,3815,3358
$GC,1784,-0.57,-117.3,136.6,-8.4,125,1788,0.00,2.25,0.00,0.000,6,0.000,0.053,3113,2397,3358
$GC,2114,-0.57,-117.3,163.0,-7.9,139,2118,0.00,2.30,0.00,0.000,4,0.000,0.069,3113,991,3358
$GC,2181,-0.57,-117.3,168.9,-8.4,141,2185,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2402,3358
$GC,2510,-0.57,-117.3,190.7,-5.8,152,2514,0.00,2.35,0.00,0.000,4,0.000,0.068,3113,993,3358
$GC,2539,-0.57,-117.3,192.5,-6.1,153,2543,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2400,3358
$GC,2874,-0.57,-117.3,213.5,-6.5,164,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3180,-0.57,-117.3,231.5,-5.5,174,3184,0.00,2.38,0.00,0.000,4,0.000,0.080,3113,3818,3358
$GC,3209,-0.57,-117.3,233.0,-5.3,175,3213,0.00,2.30,0.00,0.000,6,0.000,0.054,3112,2400,3358
$GC,3545,-0.57,-117.3,253.0,-6.5,186,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3850,-0.57,-117.3,274.9,-7.0,196,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,4156,-0.57,-117.3,295.4,-6.7,206,4160,0.00,2.40,0.00,0.000,4,0.000,0.070,3113,986,3358
$GC,4195,-0.57,-117.3,298.3,-7.2,207,4199,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2402,3358
$GC,4547,-0.57,-117.3,319.4,-5.9,214,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3357
$GC,4850,-0.57,-117.3,334.6,-4.9,219,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3357
$GC,5152,-0.57,-117.3,348.7,-4.6,224,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3357
$GC,5455,-0.57,-117.3,364.1,-5.1,229,5459,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,988,3357
$GC,5506,-0.62,-117.3,367.2,-6.2,229,5510,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2404,3357
$GC,5816,-0.62,-117.3,384.8,-5.7,234,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2403,3357
$GC,6119,-0.66,-117.3,403.4,-6.2,239,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3357
$GC,6422,-0.70,-117.3,422.8,-6.4,244,6426,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,992,3356
$GC,6461,-0.74,-117.3,425.5,-6.9,244,6466,0.12,2.30,0.00,0.000,6,0.087,0.063,3066,2411,3356
$GC,6781,-0.74,-117.3,448.5,-7.1,250,6785,0.00,2.33,0.00,0.000,4,0.000,0.081,3066,3811,3355
$GC,6820,-0.67,-117.3,451.5,-7.8,250,6825,0.12,2.25,0.00,0.000,6,0.114,0.056,3100,2390,3356
$GC,7141,-0.67,-117.3,472.2,-6.4,256,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3356
$GC,7444,-0.67,-117.3,491.3,-6.2,261,7448,0.00,2.30,0.00,0.000,4,0.000,0.072,3100,986,3356
$GC,7482,-0.67,-117.3,494.0,-6.5,261,7486,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2413,3355
$GC,7803,-0.67,-117.3,514.7,-6.5,267,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,8107,-0.67,-117.3,534.9,-6.7,272,8111,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,997,3355
$GC,8150,-0.67,-117.3,538.2,-7.4,272,8154,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2408,3355
$GC,8466,-0.67,-117.3,559.0,-6.6,278,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,8769,-0.67,-117.3,578.7,-6.5,283,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3355
$GC,9072,-0.67,-117.3,598.4,-6.5,288,9076,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,992,3355
$GC,9112,-0.67,-117.3,601.3,-7.4,288,9116,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2400,3355
$GC,9433,-0.67,-117.3,622.4,-6.6,294,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,9735,-0.67,-117.3,641.5,-6.3,299,9740,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,994,3354
$GC,9768,-0.67,-117.3,643.7,-6.6,299,9772,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2400,3354
$GC,10096,-0.67,-117.3,662.0,-5.5,305,10100,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3815,3354
$GC,10140,-0.73,-117.3,664.4,-5.3,305,10144,0.00,2.28,0.00,0.000,6,0.000,0.056,3100,2400,3354
$GC,10455,-0.78,-117.3,682.6,-5.8,311,10457,0.10,0.00,0.00,0.000,6,0.097,0.000,3061,2400,3354
$GC,10758,-0.78,-117.3,703.8,-7.1,316,10759,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2400,3354
$GC,11061,-0.78,-117.3,725.6,-7.2,321,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2400,3354
$GC,11364,-0.78,-117.3,746.5,-6.8,326,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2400,3354
$GC,11667,-0.78,-117.3,764.9,-6.1,331,11671,0.00,2.38,0.00,0.000,4,0.000,0.074,3061,986,3354
$GC,11699,-0.78,-117.3,767.0,-6.3,331,11703,0.00,2.33,0.00,0.000,6,0.000,0.064,3060,2408,3354
$GC,12027,-0.73,-117.3,787.1,-6.1,337,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2408,3354
$GC,12329,-0.69,-117.3,805.4,-6.0,342,12334,0.12,2.40,0.00,0.000,4,0.146,0.072,3094,992,3353
$GC,12379,-0.74,-117.3,808.3,-5.5,342,12383,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2406,3353
$GC,12690,-0.78,-117.3,824.2,-5.2,347,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3354
$GC,12992,-0.82,-117.3,840.9,-5.6,352,12997,0.12,2.40,0.00,0.000,4,0.088,0.072,3051,994,3354
$GC,13019,-0.82,-117.3,842.7,-7.3,352,13023,0.00,2.30,0.00,0.000,6,0.000,0.064,3051,2401,3353
$GC,13352,-0.76,-117.3,865.4,-6.9,358,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2400,3353
$GC,13655,-0.71,-117.3,885.8,-6.8,363,13657,0.12,0.00,0.00,0.000,6,0.150,0.000,3085,2401,3353
$GC,13958,-0.71,-117.3,903.9,-5.9,368,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3353
$GC,14261,-0.71,-117.3,922.0,-6.0,373,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3353
$GC,14564,-0.71,-117.3,940.6,-6.2,378,14568,0.00,2.40,0.00,0.000,4,0.000,0.085,3085,3808,3353
$GC,14591,-0.71,-117.3,942.3,-6.8,378,14596,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2397,3353
$GC,14924,-0.71,-117.3,962.5,-6.1,384,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,15227,-0.71,-117.3,980.7,-6.0,389,15231,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,991,3352
$GC,15260,-0.71,-117.3,983.0,-7.1,389,15264,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2406,3352
$STATE,15401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15402,begin apogee
$GC,15409,-0.22,0.0,992.0,6.3,392,15524,0.52,0.00,108.12,1.490,6,0.140,0.000,3245,2195,2876
$STATE,15525,end apogee,CONTROL_FINISHED_OK
$STATE,15525,begin climb
$GC,15528,0.67,117.3,997.6,0.0,394,15652,0.88,2.72,112.90,1.439,4,0.093,0.077,3534,794,2396
$GC,15685,0.32,117.3,997.4,5.2,396,15690,0.43,2.47,0.00,0.000,6,0.177,0.061,3427,2197,2395
$GC,16017,0.36,154.1,984.0,3.9,402,16057,0.00,2.47,33.72,1.423,4,0.000,0.080,3427,3604,2246
$GC,16110,0.30,154.1,979.3,5.6,403,16114,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2192,2244
$GC,16447,0.30,154.1,961.8,5.2,409,16451,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,783,2244
$GC,16485,0.30,154.1,959.6,5.1,409,16489,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2209,2244
$GC,16805,0.30,154.1,942.3,5.5,415,16809,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3613,2243
$GC,16850,0.23,154.1,939.5,6.1,415,16855,0.15,2.30,0.00,0.000,6,0.176,0.064,3399,2190,2243
$GC,17165,0.35,165.4,924.7,4.7,421,17178,0.00,0.00,10.98,1.324,6,0.000,0.000,3399,2190,2201
$GC,17469,0.47,174.3,910.3,4.7,426,17481,0.20,0.00,9.85,1.293,6,0.079,0.000,3476,2190,2165
$GC,17771,0.37,174.3,890.3,6.7,431,17773,0.15,0.00,0.00,0.000,6,0.145,0.000,3435,2190,2163
$GC,18074,0.37,174.3,874.4,5.1,436,18075,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2190,2163
$GC,18377,0.38,178.9,859.7,4.9,441,18385,0.00,0.00,5.60,1.098,6,0.000,0.000,3435,2190,2146
$GC,18680,0.38,178.9,844.1,5.2,446,18684,0.00,2.45,0.00,0.000,4,0.000,0.081,3435,3616,2145
$GC,18707,0.38,178.9,842.4,6.1,446,18711,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2198,2145
$GC,19045,0.38,178.9,822.7,5.9,452,19049,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,790,2146
$GC,19090,0.43,178.9,819.9,6.2,452,19094,0.00,2.28,0.00,0.000,6,0.000,0.061,3436,2199,2145
$GC,19405,0.43,178.9,800.7,6.2,458,19406,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2145
$GC,19708,0.43,178.9,780.9,6.6,463,19709,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2145
$GC,20011,0.43,178.9,760.6,6.7,468,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2145
$GC,20314,0.43,178.9,740.4,6.6,473,20315,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2145
$GC,20617,0.43,178.9,720.9,6.4,478,20621,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3611,2145
$GC,20672,0.43,178.9,717.0,6.7,478,20678,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2196,2145
$GC,20982,0.43,178.9,698.6,5.9,484,20983,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2145
$GC,21285,0.43,178.9,681.6,5.6,489,21286,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2145
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$STATE,32633,end climb,SURFACE_DEPTH_REACHED
$STATE,32633,begin surface coast
$FINISH,2.8,1.007792
$STATE,32762,end surface coast,CONTROL_FINISHED_OK
$STATE,32762,begin surface
$SM_CCo,32782,32.55,0.836,0,0,1652,300.00
$SM_GC,3.58,0.00,0.00,32.55,0.000,0.000,0.836,136,2411,1652,-9.94,0.31,300.00
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$TT8_MAMPS,0.026845
$HUMID,2093
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$TCM_TEMP,15.90
$XPDR_PINGS,1022
$24V_AH,21.5,74.725
$10V_AH,10.5,50.726
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$DEVICE_SECS,28.675,221.250,358.775,32.550,0.000,24.923,28.104,164.780,255.500,0.000,0.000,32.285,1818.524,27740.928,564.294,2385.817,667.982,33.379,1752.855,0.000,2339.300,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,655.424,634.906,1450.888,877.892,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50681,854
$CAP_FILE_SIZE,188184,0
$CFSIZE,260165632,229175296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180109,165625,5009.317,-14455.055,56,1.3,56,18.5