version: 66.03
glider: 120
mission: 9
dive: 41
start: 9 11 108 22 51 56
data:
$ID,120
$MISSION,9
$DIVE,41
$D_SURF,2
$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,-18461.617
$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,21
$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
$GPS1,224556,4958.951,-14431.658,78,1.7,78,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-77.3
$GPS2,225102,4958.904,-14431.717,16,1.6,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.178
$KALMAN_X,20948.2,-138.8,-301.8,894.4,685.6
$KALMAN_Y,33641.3,-114.6,-319.3,-45507.5,3468.5
$MHEAD_RNG_PITCHd_Wd,159.9,9336,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,43,0.00,0.00,-22.83,0.000,2,0.000,0.000,149,2402,2242
$GC,45,-0.67,-117.3,3.3,-5.8,2,99,13.25,2.35,-33.85,0.000,4,0.289,0.098,3097,3810,3355
$GC,268,-0.34,-117.3,31.5,-15.1,22,273,0.38,2.28,0.00,0.000,6,0.170,0.058,3204,2387,3357
$GC,592,-0.46,-117.3,54.9,-5.5,52,597,0.12,2.28,0.00,0.000,4,0.082,0.068,3160,985,3359
$GC,680,-0.50,-117.3,60.3,-6.0,59,687,0.00,2.30,0.00,0.000,6,0.000,0.060,3160,2398,3360
$GC,1004,-0.50,-117.3,83.6,-7.3,88,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2397,3361
$GC,1313,-0.50,-117.3,102.2,-5.3,103,1317,0.00,2.30,0.00,0.000,4,0.000,0.077,3159,3816,3362
$GC,1361,-0.50,-117.3,104.9,-6.0,105,1365,0.00,2.25,0.00,0.000,6,0.000,0.054,3160,2405,3361
$GC,1683,-0.54,-117.3,124.5,-7.3,121,1687,0.00,2.28,0.00,0.000,4,0.000,0.070,3160,990,3362
$GC,1744,-0.64,-117.3,129.1,-6.9,124,1749,0.15,2.28,0.00,0.000,6,0.084,0.061,3102,2410,3362
$GC,2069,-0.53,-117.3,155.6,-7.7,139,2074,0.15,2.28,0.00,0.000,4,0.160,0.079,3142,3810,3361
$GC,2124,-0.57,-117.3,159.4,-6.3,140,2131,0.00,2.25,0.00,0.000,6,0.000,0.058,3142,2402,3361
$GC,2436,-0.57,-117.3,178.9,-6.8,151,2440,0.00,2.28,0.00,0.000,4,0.000,0.072,3142,990,3361
$GC,2463,-0.57,-117.3,181.0,-7.8,152,2467,0.00,2.28,0.00,0.000,6,0.000,0.063,3142,2410,3361
$GC,2797,-0.57,-117.3,205.3,-7.0,163,2801,0.00,2.28,0.00,0.000,4,0.000,0.081,3142,3809,3360
$GC,2825,-0.62,-117.3,207.3,-7.0,164,2829,0.00,2.22,0.00,0.000,6,0.000,0.060,3142,2399,3360
$GC,3159,-0.62,-117.3,228.5,-6.2,175,3163,0.00,2.28,0.00,0.000,4,0.000,0.074,3142,987,3360
$GC,3196,-0.68,-117.3,230.9,-6.4,176,3201,0.10,2.30,0.00,0.000,6,0.081,0.064,3094,2405,3360
$GC,3525,-0.57,-117.3,257.8,-8.2,187,3527,0.15,0.00,0.00,0.000,6,0.166,0.000,3133,2406,3359
$GC,3831,-0.57,-117.3,277.6,-6.3,197,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2406,3359
$GC,4138,-0.57,-117.3,296.1,-6.0,207,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3359
$GC,4471,-0.57,-117.3,314.2,-5.3,214,4475,0.00,2.30,0.00,0.000,4,0.000,0.076,3133,984,3357
$GC,4503,-0.57,-117.3,315.8,-5.1,214,4508,0.00,2.30,0.00,0.000,6,0.000,0.066,3133,2398,3357
$GC,4841,-0.57,-117.3,333.3,-5.3,220,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2397,3357
$GC,5144,-0.57,-117.3,351.1,-6.0,225,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2397,3357
$GC,5447,-0.57,-117.3,368.9,-5.8,230,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2397,3357
$GC,5750,-0.57,-117.3,386.1,-5.7,235,5754,0.00,2.30,0.00,0.000,4,0.000,0.077,3133,985,3356
$GC,5781,-0.62,-117.3,388.0,-5.8,235,5786,0.00,2.30,0.00,0.000,6,0.000,0.066,3133,2402,3356
$GC,6114,-0.66,-117.3,406.7,-5.7,241,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2402,3356
$GC,6417,-0.70,-117.3,422.9,-5.3,246,6419,0.12,0.00,0.00,0.000,6,0.091,0.000,3085,2403,3355
$GC,6720,-0.65,-117.3,442.9,-6.7,251,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,7023,-0.60,-117.3,464.6,-7.2,256,7025,0.12,0.00,0.00,0.000,6,0.122,0.000,3120,2403,3354
$GC,7326,-0.60,-117.3,484.9,-6.7,261,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2403,3354
$GC,7629,-0.60,-117.3,505.5,-6.7,266,7633,0.00,2.30,0.00,0.000,4,0.000,0.077,3120,987,3354
$GC,7661,-0.60,-117.3,507.9,-8.0,266,7665,0.00,2.30,0.00,0.000,6,0.000,0.067,3120,2399,3354
$GC,7998,-0.60,-117.3,530.4,-6.7,272,8002,0.00,2.30,0.00,0.000,4,0.000,0.077,3120,985,3354
$GC,8024,-0.60,-117.3,532.5,-7.2,272,8029,0.00,2.30,0.00,0.000,6,0.000,0.067,3120,2400,3353
$GC,8362,-0.60,-117.3,555.5,-6.8,278,8366,0.00,2.30,0.00,0.000,4,0.000,0.085,3118,3814,3353
$GC,8394,-0.60,-117.3,557.7,-6.7,278,8399,0.00,2.28,0.00,0.000,6,0.000,0.063,3118,2399,3353
$GC,8726,-0.60,-117.3,577.7,-5.9,284,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3353
$GC,9029,-0.60,-117.3,594.8,-5.6,289,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3353
$GC,9333,-0.60,-117.3,611.9,-5.6,294,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3353
$GC,9636,-0.60,-117.3,629.4,-5.8,299,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3353
$GC,9939,-0.60,-117.3,648.4,-6.3,304,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3353
$GC,10242,-0.60,-117.3,667.8,-6.4,309,10246,0.00,2.33,0.00,0.000,4,0.000,0.087,3114,3809,3352
$GC,10273,-0.60,-117.3,670.0,-6.6,309,10279,0.00,2.25,0.00,0.000,6,0.000,0.064,3113,2405,3352
$GC,10606,-0.60,-117.3,691.7,-6.5,315,10609,0.00,2.28,0.00,0.000,4,0.000,0.077,3113,988,3352
$GC,10626,-0.60,-117.3,693.1,-7.2,315,10631,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2399,3352
$GC,10975,-0.60,-117.3,715.1,-6.2,321,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3352
$GC,11278,-0.60,-117.3,733.0,-5.9,326,11282,0.00,2.30,0.00,0.000,4,0.000,0.084,3113,3820,3352
$GC,11309,-0.60,-117.3,735.0,-6.5,326,11314,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2402,3351
$GC,11647,-0.60,-117.3,753.8,-5.5,332,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3352
$GC,11950,-0.60,-117.3,770.3,-5.4,337,11954,0.00,2.30,0.00,0.000,4,0.000,0.080,3113,982,3352
$GC,11975,-0.60,-117.3,771.9,-6.8,337,11980,0.00,2.33,0.00,0.000,6,0.000,0.069,3113,2405,3352
$GC,12313,-0.60,-117.3,790.7,-5.6,343,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3351
$GC,12616,-0.60,-117.3,808.1,-5.7,348,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3351
$GC,12919,-0.60,-117.3,824.6,-5.5,353,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3352
$GC,13223,-0.60,-117.3,839.4,-4.8,358,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3351
$GC,13526,-0.60,-117.3,852.8,-4.3,363,13530,0.00,2.33,0.00,0.000,4,0.000,0.080,3114,985,3350
$GC,13557,-0.60,-117.3,854.4,-5.2,363,13562,0.00,2.30,0.00,0.000,6,0.000,0.069,3113,2396,3351
$GC,13890,-0.60,-117.3,868.9,-4.4,369,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3350
$GC,14193,-0.60,-117.3,883.0,-4.6,374,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3351
$GC,14496,-0.60,-117.3,897.9,-5.0,379,14500,0.00,2.30,0.00,0.000,4,0.000,0.080,3113,991,3350
$GC,14534,-0.64,-117.3,900.1,-5.4,379,14538,0.00,2.30,0.00,0.000,6,0.000,0.069,3113,2398,3350
$GC,14860,-0.68,-117.3,917.4,-5.4,385,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,15163,-0.68,-117.3,934.2,-5.5,390,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,15467,-0.72,-117.3,951.1,-5.6,395,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3350
$GC,15770,-0.77,-117.3,967.9,-5.5,400,15771,0.12,0.00,0.00,0.000,6,0.099,0.000,3067,2398,3350
$GC,16072,-0.77,-117.3,986.9,-6.3,405,16073,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2398,3350
$STATE,16132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16132,begin apogee
$GC,16136,-0.22,0.0,990.7,6.3,406,16238,0.57,0.00,99.25,1.500,6,0.152,0.000,3244,2199,2876
$STATE,16238,end apogee,CONTROL_FINISHED_OK
$STATE,16239,begin climb
$GC,16240,0.67,117.3,992.5,0.0,407,16346,0.90,0.00,103.32,1.450,6,0.111,0.000,3526,2197,2397
$GC,16617,0.31,117.3,972.2,8.5,414,16619,0.40,0.00,0.00,0.000,6,0.188,0.000,3421,2197,2394
$GC,16920,0.26,117.3,954.7,5.7,419,16923,0.00,2.40,0.00,0.000,4,0.000,0.083,3421,3617,2393
$GC,16963,0.14,117.3,952.0,5.3,419,16968,0.17,2.38,0.00,0.000,6,0.179,0.068,3371,2199,2393
$GC,17289,0.26,131.4,936.8,4.6,425,17304,0.00,0.00,12.70,1.350,6,0.000,0.000,3371,2199,2340
$GC,17592,0.37,131.7,921.7,5.0,430,17597,0.17,2.38,0.00,0.000,4,0.095,0.084,3437,3609,2340
$GC,17647,0.21,131.7,917.8,7.5,430,17654,0.15,2.35,0.00,0.000,6,0.177,0.071,3393,2201,2340
$GC,17956,0.26,131.7,901.1,5.3,436,17957,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2201,2339
$GC,18259,0.31,131.7,885.6,5.1,441,18263,0.00,2.35,0.00,0.000,4,0.000,0.085,3395,786,2339
$GC,18297,0.39,141.8,883.5,4.7,441,18313,0.15,2.30,10.43,1.309,6,0.097,0.067,3449,2203,2297
$GC,18622,0.30,141.8,863.3,6.3,447,18626,0.15,2.33,0.00,0.000,4,0.169,0.082,3402,3607,2296
$GC,18658,0.30,141.8,861.0,5.2,447,18663,0.00,2.33,0.00,0.000,6,0.000,0.068,3408,2201,2296
$GC,18986,0.30,147.3,844.9,4.8,453,18994,0.00,0.00,6.30,1.154,6,0.000,0.000,3408,2201,2275
$GC,19288,0.31,151.2,830.1,4.9,458,19295,0.00,0.00,4.97,1.036,6,0.000,0.000,3408,2201,2259
$GC,19591,0.31,151.2,814.7,5.1,463,19592,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2201,2258
$GC,19894,0.31,151.2,798.1,5.5,468,19895,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2201,2258
$GC,20197,0.31,151.2,781.1,5.6,473,20201,0.00,2.35,0.00,0.000,4,0.000,0.085,3408,3617,2258
$GC,20257,0.31,151.2,777.0,6.2,473,20265,0.00,2.33,0.00,0.000,6,0.000,0.070,3408,2202,2258
$GC,20567,0.31,151.2,759.5,5.7,479,20571,0.00,2.35,0.00,0.000,4,0.000,0.085,3408,785,2258
$GC,20599,0.37,151.2,757.7,6.4,479,20603,0.00,2.33,0.00,0.000,6,0.000,0.066,3408,2202,2258
$GC,20931,0.42,151.2,739.5,5.5,485,20933,0.12,0.00,0.00,0.000,6,0.103,0.000,3454,2202,2258
$GC,21234,0.33,151.2,720.2,6.4,490,21238,0.00,2.30,0.00,0.000,4,0.000,0.085,3454,3607,2258
$GC,21277,0.16,151.2,717.1,7.5,490,21282,0.30,2.30,0.00,0.000,6,0.176,0.071,3365,2200,2258
$GC,21598,0.39,197.3,704.9,3.7,496,21640,0.25,0.00,39.20,1.318,6,0.097,0.000,3451,2200,2071
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$STATE,32742,end climb,SURFACE_DEPTH_REACHED
$STATE,32742,begin surface coast
$FINISH,1.6,1.002420
$STATE,32764,end surface coast,CONTROL_FINISHED_OK
$STATE,32764,begin surface
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$IRIDIUM_FIX,4943.02,-14428.91,061297,131347
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$HUMID,2206
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$TCM_TEMP,16.70
$XPDR_PINGS,985
$24V_AH,23.4,11.881
$10V_AH,10.6,5.763
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$DEVICE_SECS,29.475,185.575,357.100,3.750,0.000,23.823,26.307,146.181,246.250,0.000,0.000,33.548,1806.263,28066.170,564.932,2285.720,365.710,33.371,1648.141,0.000,2250.953,0.000,0.465
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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,50781,863
$CAP_FILE_SIZE,180895,0
$CFSIZE,260165632,255492096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120908,075958,4956.058,-14432.051,43,2.5,62,18.5