version: 66.03
glider: 120
mission: 9
dive: 381
start: 1 19 109 2 15 57
data:
$ID,120
$MISSION,9
$DIVE,381
$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,-25731.875
$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,21
$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
$GPS1,020836,5012.419,-14457.649,57,1.4,57,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-76.0
$GPS2,021501,5012.474,-14457.584,13,1.4,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.129,0.123
$KALMAN_X,16832.0,243.5,276.8,-26709.1,-75.7
$KALMAN_Y,277673.7,114.8,-108.5,-264858.4,-58.3
$MHEAD_RNG_PITCHd_Wd,295.1,23191,-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,-11.65,0.000,2,0.000,0.000,135,2411,1929
$GC,40,-0.67,-117.3,3.9,-0.0,1,118,13.77,2.42,-58.78,0.000,4,0.278,0.082,3097,992,3355
$GC,349,-0.50,-117.3,30.9,-10.5,29,354,0.20,2.30,0.00,0.000,6,0.153,0.063,3154,2400,3357
$GC,678,-0.50,-117.3,57.0,-8.0,59,683,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2400,3358
$GC,1012,-0.50,-117.3,83.4,-7.6,89,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2400,3358
$GC,1322,-0.50,-117.3,106.2,-7.7,104,1326,0.00,2.38,0.00,0.000,4,0.000,0.081,3152,3810,3358
$GC,1355,-0.56,-117.3,109.2,-8.7,105,1359,0.00,2.28,0.00,0.000,6,0.000,0.051,3152,2392,3358
$GC,1676,-0.82,-117.3,133.7,-7.8,121,1681,0.25,2.45,0.00,0.000,4,0.082,0.076,3055,3817,3358
$GC,1766,-0.61,-117.3,142.4,-10.3,125,1771,0.22,2.28,0.00,0.000,6,0.150,0.053,3118,2398,3359
$GC,2095,-0.61,-117.3,165.6,-6.6,138,2099,0.00,2.30,0.00,0.000,4,0.000,0.069,3118,985,3358
$GC,2122,-0.61,-117.3,167.7,-7.3,138,2128,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2412,3359
$GC,2435,-0.61,-117.3,190.5,-7.4,149,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,2741,-0.61,-117.3,212.5,-7.1,159,2745,0.00,2.33,0.00,0.000,4,0.000,0.069,3113,986,3358
$GC,2768,-0.61,-117.3,214.5,-6.9,159,2774,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2400,3359
$GC,3081,-0.61,-117.3,235.3,-6.8,170,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3388,-0.61,-117.3,257.3,-7.3,180,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,3693,-0.61,-117.3,278.1,-6.7,190,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,4000,-0.61,-117.3,298.4,-6.7,200,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,4333,-0.61,-117.3,320.1,-6.5,206,4337,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,992,3358
$GC,4384,-0.66,-117.3,323.4,-6.6,206,4388,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2403,3358
$GC,4694,-0.66,-117.3,342.3,-6.1,211,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3358
$GC,4997,-0.66,-117.3,362.4,-6.7,216,5001,0.00,2.38,0.00,0.000,4,0.000,0.070,3113,995,3358
$GC,5024,-0.66,-117.3,364.4,-8.3,216,5028,0.00,2.28,0.00,0.000,6,0.000,0.062,3113,2399,3358
$GC,5357,-0.66,-117.3,388.5,-7.3,222,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3357
$GC,5660,-0.70,-117.3,408.7,-6.6,227,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3357
$GC,5962,-0.70,-117.3,426.2,-5.7,232,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3357
$GC,6266,-0.75,-117.3,443.2,-5.6,237,6271,0.12,2.40,0.00,0.000,4,0.087,0.071,3066,991,3357
$GC,6311,-0.70,-117.3,446.3,-7.9,237,6315,0.00,2.30,0.00,0.000,6,0.000,0.062,3066,2402,3357
$GC,6626,-0.64,-117.3,467.8,-6.8,243,6628,0.15,0.00,0.00,0.000,6,0.145,0.000,3109,2402,3357
$GC,6929,-0.68,-117.3,485.2,-5.8,248,6933,0.00,2.38,0.00,0.000,4,0.000,0.081,3109,3812,3356
$GC,6962,-0.75,-117.3,487.3,-6.3,248,6967,0.12,2.30,0.00,0.000,6,0.085,0.054,3064,2393,3356
$GC,7288,-0.75,-117.3,509.4,-6.8,254,7292,0.00,2.38,0.00,0.000,4,0.000,0.070,3064,986,3356
$GC,7327,-0.71,-117.3,512.3,-7.2,254,7331,0.00,2.33,0.00,0.000,6,0.000,0.063,3063,2406,3356
$GC,7648,-0.64,-117.3,535.5,-7.3,260,7652,0.15,2.35,0.00,0.000,4,0.148,0.081,3110,3811,3356
$GC,7681,-0.72,-117.3,537.7,-6.2,260,7685,0.00,2.25,0.00,0.000,6,0.000,0.054,3110,2393,3356
$GC,8007,-0.94,-117.3,559.6,-6.9,266,8012,0.25,2.40,0.00,0.000,4,0.088,0.080,3014,3814,3355
$GC,8214,-0.72,-117.3,578.8,-10.8,269,8219,0.25,2.25,0.00,0.000,6,0.163,0.057,3081,2402,3355
$GC,8568,-0.72,-117.3,601.7,-6.3,275,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3355
$GC,8871,-0.72,-117.3,619.2,-5.7,280,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3355
$GC,9175,-0.72,-117.3,635.8,-5.5,285,9179,0.00,2.35,0.00,0.000,4,0.000,0.073,3081,983,3355
$GC,9224,-0.72,-117.3,638.6,-5.6,285,9228,0.00,2.33,0.00,0.000,6,0.000,0.064,3081,2406,3355
$GC,9534,-0.72,-117.3,655.3,-5.3,290,9538,0.00,2.35,0.00,0.000,4,0.000,0.072,3081,986,3355
$GC,9578,-0.72,-117.3,658.0,-6.1,290,9582,0.00,2.33,0.00,0.000,6,0.000,0.064,3081,2409,3355
$GC,9894,-0.72,-117.3,677.5,-6.3,296,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2409,3354
$GC,10196,-0.72,-117.3,697.6,-6.6,301,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2409,3355
$GC,10499,-0.72,-117.3,716.3,-6.1,306,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2409,3355
$GC,10803,-0.72,-117.3,733.4,-5.6,311,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2409,3355
$GC,11105,-0.72,-117.3,750.3,-5.6,316,11109,0.00,2.35,0.00,0.000,4,0.000,0.084,3081,3808,3354
$GC,11139,-0.72,-117.3,752.2,-5.8,316,11143,0.00,2.25,0.00,0.000,6,0.000,0.057,3081,2398,3354
$GC,11465,-0.72,-117.3,769.1,-5.2,322,11469,0.00,2.30,0.00,0.000,4,0.000,0.073,3081,995,3354
$GC,11492,-0.72,-117.3,770.7,-5.3,322,11496,0.00,2.30,0.00,0.000,6,0.000,0.064,3081,2406,3354
$GC,11825,-0.72,-117.3,788.0,-5.2,328,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2407,3354
$GC,12127,-0.72,-117.3,804.2,-5.4,333,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2406,3354
$GC,12431,-0.72,-117.3,820.4,-5.4,338,12435,0.00,2.38,0.00,0.000,4,0.000,0.074,3081,988,3354
$GC,12486,-0.72,-117.3,823.6,-6.1,338,12493,0.00,2.38,0.00,0.000,6,0.000,0.066,3081,2405,3354
$GC,12796,-0.72,-117.3,839.6,-5.1,344,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3353
$GC,13100,-0.72,-117.3,854.7,-4.9,349,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3353
$GC,13402,-0.72,-117.3,871.0,-5.5,354,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3353
$GC,13705,-0.72,-117.3,888.4,-5.7,359,13709,0.00,2.42,0.00,0.000,4,0.000,0.074,3081,989,3353
$GC,13732,-0.72,-117.3,890.2,-6.8,359,13736,0.00,2.33,0.00,0.000,6,0.000,0.066,3081,2402,3353
$GC,14064,-0.72,-117.3,909.2,-5.7,365,14068,0.00,2.40,0.00,0.000,4,0.000,0.084,3081,3815,3353
$GC,14096,-0.72,-117.3,911.2,-5.2,365,14100,0.00,2.30,0.00,0.000,6,0.000,0.058,3081,2392,3353
$GC,14423,-0.72,-117.3,930.5,-6.0,371,14424,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3353
$GC,14726,-0.72,-117.3,948.3,-5.9,376,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3353
$GC,15029,-0.72,-117.3,965.8,-5.7,381,15031,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3353
$GC,15332,-0.72,-117.3,982.2,-5.4,386,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3353
$STATE,15511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15511,begin apogee
$GC,15518,-0.22,0.0,991.7,5.2,389,15634,0.55,0.00,108.22,1.490,6,0.146,0.000,3248,2202,2876
$STATE,15634,end apogee,CONTROL_FINISHED_OK
$STATE,15634,begin climb
$GC,15637,0.67,117.3,995.7,0.0,391,15761,0.85,2.80,112.60,1.440,4,0.087,0.077,3532,794,2396
$GC,15784,0.32,117.3,994.8,5.0,393,15789,0.43,2.50,0.00,0.000,6,0.174,0.061,3425,2198,2395
$GC,16127,0.32,117.3,976.7,5.3,399,16131,0.00,2.40,0.00,0.000,4,0.000,0.080,3425,3619,2393
$GC,16190,0.22,117.3,973.3,6.0,400,16195,0.15,2.35,0.00,0.000,6,0.182,0.064,3388,2198,2393
$GC,16556,0.36,155.5,958.4,3.9,406,16596,0.12,2.50,34.30,1.433,4,0.084,0.078,3436,782,2241
$GC,16621,0.36,155.5,955.3,5.0,407,16625,0.00,2.38,0.00,0.000,6,0.000,0.064,3436,2202,2240
$GC,16986,0.36,155.5,935.7,5.2,413,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2239
$GC,17289,0.36,155.5,920.4,5.0,418,17290,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2239
$GC,17592,0.36,155.5,905.0,5.0,423,17596,0.00,2.35,0.00,0.000,4,0.000,0.082,3437,3614,2239
$GC,17632,0.28,155.5,902.8,5.3,423,17636,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2199,2239
$GC,17953,0.28,155.5,884.2,5.9,429,17957,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,791,2238
$GC,17992,0.28,155.5,881.6,5.7,429,17996,0.00,2.28,0.00,0.000,6,0.000,0.061,3436,2199,2238
$GC,18313,0.28,155.5,861.8,6.2,435,18314,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2198,2238
$GC,18615,0.28,155.5,842.7,6.3,440,18619,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,789,2238
$GC,18665,0.28,155.5,839.6,6.0,440,18669,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2204,2238
$GC,18975,0.28,155.5,821.8,5.7,445,18976,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2204,2238
$GC,19278,0.28,156.8,806.5,5.0,450,19282,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,789,2238
$GC,19342,0.29,161.0,803.5,4.9,451,19352,0.00,2.30,5.93,1.104,6,0.000,0.063,3436,2203,2219
$GC,19708,0.30,168.9,785.7,4.8,457,19718,0.00,0.00,8.75,1.216,6,0.000,0.000,3436,2203,2187
$GC,20010,0.30,168.9,770.1,5.2,462,20015,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,792,2187
$GC,20044,0.34,168.9,768.1,5.5,462,20048,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2205,2187
$GC,20377,0.34,168.9,750.7,5.3,468,20381,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3614,2186
$GC,20410,0.30,168.9,748.6,6.3,468,20414,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2192,2186
$GC,20742,0.30,168.9,729.7,5.7,474,20744,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2192,2186
$GC,21045,0.30,168.9,712.3,5.8,479,21046,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2186
$GC,21348,0.30,168.9,694.7,5.7,484,21349,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2186
$GC,21651,0.30,168.9,676.2,6.1,489,21652,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2186
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$STATE,33119,end climb,SURFACE_DEPTH_REACHED
$STATE,33119,begin surface coast
$FINISH,2.8,1.025566
$STATE,33237,end surface coast,CONTROL_FINISHED_OK
$STATE,33238,begin surface
$SM_CCo,33258,35.08,0.841,0,0,1652,300.00
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$IRIDIUM_FIX,4949.70,-14501.30,140498,171719
$TT8_MAMPS,0.026845
$HUMID,2101
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$TCM_TEMP,14.30
$XPDR_PINGS,1024
$24V_AH,21.5,75.099
$10V_AH,10.5,51.003
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$DEVICE_SECS,28.725,207.450,353.425,35.075,0.000,28.906,44.486,160.806,256.000,0.000,0.000,31.972,1840.843,28108.992,552.570,2478.941,691.638,33.384,1769.541,0.000,2436.878,0.000,0.467
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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,50596,861
$CAP_FILE_SIZE,188455,0
$CFSIZE,260165632,229019648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190109,113206,5015.794,-14501.731,35,0.9,35,18.5