version: 66.03
glider: 120
mission: 9
dive: 243
start: 11 27 108 15 38 18
data:
$ID,120
$MISSION,9
$DIVE,243
$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,-22817.207
$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,18
$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
$GPS1,152949,5011.763,-14425.841,51,2.2,70,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-69.0
$GPS2,153723,5011.832,-14425.757,17,2.5,36,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.177
$KALMAN_X,33522.0,138.8,-77.5,-5114.0,-300.4
$KALMAN_Y,186878.3,-12.1,-169.7,-175060.9,1734.4
$MHEAD_RNG_PITCHd_Wd,165.3,33360,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-22.02,0.000,2,0.000,0.000,147,2401,2201
$GC,48,-0.67,-117.3,3.2,-4.0,2,113,14.23,2.45,-42.50,0.000,4,0.291,0.086,3094,983,3356
$GC,198,-0.46,-117.3,15.5,-9.1,15,205,0.25,2.35,0.00,0.000,6,0.166,0.063,3163,2411,3358
$GC,524,-0.46,-117.3,41.7,-7.8,46,525,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2411,3358
$GC,843,-0.46,-117.3,66.6,-7.8,76,844,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2411,3359
$GC,1157,-0.70,-117.3,90.6,-8.2,100,1162,0.17,2.42,0.00,0.000,4,0.085,0.066,3096,982,3360
$GC,1212,-0.64,-117.3,95.9,-9.4,102,1218,0.00,2.33,0.00,0.000,6,0.000,0.061,3096,2403,3360
$GC,1528,-0.49,-117.3,126.7,-10.1,118,1533,0.20,2.40,0.00,0.000,4,0.160,0.077,3155,3816,3360
$GC,1577,-0.58,-117.3,130.2,-6.6,120,1581,0.00,2.30,0.00,0.000,6,0.000,0.052,3155,2397,3360
$GC,1899,-0.67,-117.3,147.2,-5.4,136,1904,0.15,2.38,0.00,0.000,4,0.084,0.067,3091,987,3360
$GC,1943,-0.59,-117.3,150.5,-8.2,138,1948,0.12,2.30,0.00,0.000,6,0.153,0.061,3123,2404,3360
$GC,2260,-0.59,-117.3,174.1,-7.2,149,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3360
$GC,2567,-0.59,-117.3,193.7,-6.1,159,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3360
$GC,2873,-0.59,-117.3,210.6,-5.4,169,2877,0.00,2.40,0.00,0.000,4,0.000,0.069,3124,985,3360
$GC,2922,-0.59,-117.3,213.5,-6.1,170,2927,0.00,2.30,0.00,0.000,6,0.000,0.063,3124,2400,3360
$GC,3247,-0.59,-117.3,231.6,-5.9,181,3250,0.00,2.38,0.00,0.000,4,0.000,0.069,3123,987,3360
$GC,3273,-0.59,-117.3,233.4,-6.7,181,3280,0.00,2.33,0.00,0.000,6,0.000,0.063,3124,2397,3360
$GC,3586,-0.59,-117.3,253.2,-6.3,192,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3360
$GC,3892,-0.59,-117.3,273.4,-6.6,202,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3360
$GC,4198,-0.59,-117.3,293.1,-6.3,212,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3359
$GC,4503,-0.59,-117.3,312.0,-6.2,219,4507,0.00,2.40,0.00,0.000,4,0.000,0.071,3124,989,3359
$GC,4535,-0.59,-117.3,314.3,-7.0,219,4539,0.00,2.35,0.00,0.000,6,0.000,0.064,3124,2402,3359
$GC,4867,-0.59,-117.3,335.0,-6.3,225,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3359
$GC,5171,-0.63,-117.3,353.7,-6.1,230,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3359
$GC,5473,-0.67,-117.3,372.6,-6.3,235,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3359
$GC,5777,-0.72,-117.3,392.1,-6.5,240,5782,0.12,2.40,0.00,0.000,4,0.091,0.071,3077,992,3358
$GC,5815,-0.64,-117.3,395.3,-8.6,240,5820,0.12,2.35,0.00,0.000,6,0.158,0.064,3110,2407,3358
$GC,6135,-0.64,-117.3,416.3,-6.6,246,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,3358
$GC,6438,-0.64,-117.3,435.8,-6.4,251,6442,0.00,2.40,0.00,0.000,4,0.000,0.072,3110,995,3358
$GC,6471,-0.64,-117.3,438.1,-7.0,251,6475,0.00,2.35,0.00,0.000,6,0.000,0.065,3110,2408,3357
$GC,6803,-0.64,-117.3,459.7,-6.6,257,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3357
$GC,7106,-0.64,-117.3,480.5,-6.9,262,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3358
$GC,7409,-0.64,-117.3,501.5,-6.9,267,7413,0.00,2.40,0.00,0.000,4,0.000,0.073,3110,988,3357
$GC,7447,-0.64,-117.3,504.4,-7.6,267,7451,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2400,3357
$GC,7773,-0.64,-117.3,526.4,-6.8,273,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3357
$GC,8076,-0.64,-117.3,546.6,-6.7,278,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2400,3356
$GC,8379,-0.64,-117.3,566.1,-6.3,283,8384,0.00,2.38,0.00,0.000,4,0.000,0.072,3110,993,3356
$GC,8419,-0.64,-117.3,568.9,-7.3,283,8424,0.00,2.30,0.00,0.000,6,0.000,0.065,3110,2406,3356
$GC,8740,-0.64,-117.3,589.5,-6.4,289,8744,0.00,2.35,0.00,0.000,4,0.000,0.073,3110,987,3356
$GC,8772,-0.64,-117.3,591.8,-7.1,289,8776,0.00,2.33,0.00,0.000,6,0.000,0.065,3110,2395,3356
$GC,9105,-0.68,-117.3,611.6,-6.0,295,9109,0.00,2.35,0.00,0.000,4,0.000,0.084,3110,3806,3356
$GC,9132,-0.74,-117.3,613.2,-5.9,295,9136,0.00,2.25,0.00,0.000,6,0.000,0.058,3110,2397,3356
$GC,9470,-0.79,-117.3,631.7,-5.4,301,9472,0.15,0.00,0.00,0.000,6,0.088,0.000,3054,2397,3355
$GC,9773,-0.72,-117.3,652.5,-7.0,306,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3356
$GC,10076,-0.65,-117.3,675.1,-7.4,311,10078,0.17,0.00,0.00,0.000,6,0.125,0.000,3104,2397,3355
$GC,10379,-0.65,-117.3,695.0,-6.5,316,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2397,3355
$GC,10681,-0.65,-117.3,714.7,-6.6,321,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2397,3355
$GC,10984,-0.65,-117.3,733.3,-6.0,326,10989,0.00,2.38,0.00,0.000,4,0.000,0.075,3104,990,3355
$GC,11011,-0.65,-117.3,735.0,-6.6,326,11015,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2412,3355
$GC,11349,-0.65,-117.3,753.0,-5.3,332,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,11653,-0.65,-117.3,767.9,-4.8,337,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,11956,-0.65,-117.3,782.6,-4.9,342,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,12258,-0.65,-117.3,798.6,-5.4,347,12262,0.00,2.42,0.00,0.000,4,0.000,0.074,3100,989,3354
$GC,12291,-0.65,-117.3,800.7,-5.8,347,12295,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2400,3355
$GC,12623,-0.65,-117.3,820.4,-6.1,353,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,12926,-0.65,-117.3,840.3,-6.6,358,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,13229,-0.65,-117.3,860.0,-6.5,363,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,13533,-0.65,-117.3,878.7,-6.1,368,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,13836,-0.65,-117.3,896.3,-5.8,373,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,14138,-0.65,-117.3,912.8,-5.3,378,14142,0.00,2.42,0.00,0.000,4,0.000,0.074,3100,989,3354
$GC,14176,-0.65,-117.3,914.8,-5.6,378,14181,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2400,3354
$GC,14504,-0.70,-117.3,930.5,-4.7,384,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3354
$GC,14806,-0.70,-117.3,944.6,-4.7,389,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3353
$GC,15110,-0.74,-117.3,958.7,-4.7,394,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3353
$GC,15413,-0.79,-117.3,973.5,-4.9,399,15415,0.12,0.00,0.00,0.000,6,0.097,0.000,3052,2400,3353
$STATE,15713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15713,begin apogee
$GC,15719,-0.22,0.0,991.3,5.9,404,15827,0.65,0.00,105.07,1.496,6,0.143,0.000,3247,2192,2877
$STATE,15828,end apogee,CONTROL_FINISHED_OK
$STATE,15828,begin climb
$GC,15830,0.67,117.3,993.0,0.0,405,15944,0.85,0.00,109.75,1.442,6,0.091,0.000,3528,2192,2397
$GC,16196,0.33,117.3,976.8,7.6,411,16201,0.35,2.53,0.00,0.000,4,0.171,0.078,3440,782,2393
$GC,16246,0.26,117.3,973.7,5.8,411,16251,0.15,2.40,0.00,0.000,6,0.166,0.064,3403,2199,2393
$GC,16555,0.29,145.1,960.6,4.2,416,16582,0.00,0.00,25.20,1.407,6,0.000,0.000,3403,2199,2283
$GC,16859,0.37,159.5,946.7,4.6,421,16875,0.00,0.00,14.25,1.350,6,0.000,0.000,3403,2199,2225
$GC,17162,0.43,159.5,931.5,5.1,426,17167,0.15,2.40,0.00,0.000,4,0.082,0.081,3465,3609,2224
$GC,17196,0.24,159.5,928.9,8.0,426,17201,0.25,2.38,0.00,0.000,6,0.175,0.065,3400,2201,2224
$GC,17523,0.32,159.5,911.3,5.3,432,17527,0.00,2.42,0.00,0.000,4,0.000,0.079,3408,783,2223
$GC,17567,0.40,159.5,908.8,5.3,432,17571,0.12,2.33,0.00,0.000,6,0.095,0.064,3455,2201,2223
$GC,17882,0.33,159.5,885.7,7.6,438,17883,0.12,0.00,0.00,0.000,6,0.148,0.000,3423,2201,2223
$GC,18184,0.33,159.5,865.6,6.6,443,18188,0.00,2.42,0.00,0.000,4,0.000,0.081,3423,791,2223
$GC,18217,0.37,159.5,863.3,7.0,443,18221,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2199,2223
$GC,18542,0.37,159.5,843.5,6.1,449,18543,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2223
$GC,18845,0.37,159.5,826.3,5.7,454,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2199,2223
$GC,19149,0.37,159.5,810.2,5.3,459,19150,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2199,2222
$GC,19452,0.37,159.5,794.9,5.0,464,19453,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,19755,0.37,159.5,779.4,5.1,469,19756,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,20058,0.37,161.3,764.4,4.9,474,20060,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,20361,0.37,161.3,749.0,5.0,479,20362,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,20664,0.37,161.3,732.9,5.3,484,20665,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,20968,0.37,161.3,715.9,5.6,489,20969,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,21270,0.37,161.3,697.9,5.9,494,21271,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2221
$GC,21573,0.37,161.3,680.5,5.7,499,21577,0.00,2.40,0.00,0.000,4,0.000,0.082,3422,3616,2222
$GC,21611,0.37,161.3,678.0,6.7,499,21615,0.00,2.38,0.00,0.000,6,0.000,0.065,3422,2197,2222
$GC,21939,0.42,161.3,660.7,5.3,505,21940,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2222
$GC,22241,0.42,161.3,645.2,5.1,510,22242,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2222
$GC,22545,0.46,165.6,630.5,4.9,515,22559,0.12,2.45,6.62,1.066,4,0.097,0.081,3476,790,2199
$GC,22598,0.36,165.6,627.0,7.4,515,22603,0.15,2.30,0.00,0.000,6,0.154,0.064,3436,2206,2199
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$STATE,32490,end climb,SURFACE_DEPTH_REACHED
$STATE,32491,begin surface coast
$FINISH,1.6,1.006819
$STATE,32576,end surface coast,CONTROL_FINISHED_OK
$STATE,32577,begin surface
$SM_CCo,32655,0.00,0.000,0,0,1431,354.21
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$IRIDIUM_FIX,4956.40,-14423.83,210298,060648
$TT8_MAMPS,0.026078
$HUMID,2091
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$TCM_TEMP,16.10
$XPDR_PINGS,935
$24V_AH,22.2,49.089
$10V_AH,10.6,32.398
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$DEVICE_SECS,30.050,175.925,420.675,0.000,0.000,31.049,31.351,248.038,233.750,0.000,0.000,37.565,1740.413,27966.562,574.059,2179.547,641.468,33.373,1645.512,0.000,2134.547,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,643.930,626.274,1429.464,865.033,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50622,841
$CAP_FILE_SIZE,175742,0
$CFSIZE,260165632,239742976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281108,004338,5008.937,-14425.851,29,1.2,29,18.6