version: 66.03
glider: 120
mission: 9
dive: 293
start: 12 16 108 19 42 51
data:
$ID,120
$MISSION,9
$DIVE,293
$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,-23782.113
$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,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
$GPS1,193602,5001.212,-14443.912,37,1.3,37,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-74.4
$GPS2,194156,5001.247,-14443.881,11,1.4,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.122,0.130
$KALMAN_X,25725.7,-107.1,73.8,-18759.3,237.9
$KALMAN_Y,229683.3,-31.2,-520.3,-237085.7,1254.6
$MHEAD_RNG_PITCHd_Wd,298.3,14275,-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,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.27,0.000,2,0.000,0.000,143,2404,1929
$GC,38,-0.67,-117.3,3.8,-0.0,1,114,14.15,2.45,-53.30,0.000,4,0.288,0.081,3094,987,3356
$GC,287,-0.46,-117.3,26.0,-11.2,23,294,0.25,2.33,0.00,0.000,6,0.158,0.064,3164,2402,3358
$GC,615,-0.46,-117.3,49.5,-6.4,54,621,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2401,3358
$GC,940,-0.46,-117.3,70.9,-6.5,85,941,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2402,3358
$GC,1265,-0.71,-117.3,94.0,-7.2,107,1269,0.20,2.40,0.00,0.000,4,0.086,0.066,3090,990,3359
$GC,1353,-0.56,-117.3,101.7,-8.6,111,1358,0.17,2.30,0.00,0.000,6,0.153,0.061,3134,2401,3359
$GC,1674,-0.56,-117.3,127.5,-8.4,127,1678,0.00,2.38,0.00,0.000,4,0.000,0.078,3134,3808,3359
$GC,1730,-0.56,-117.3,132.3,-8.7,129,1736,0.00,2.30,0.00,0.000,6,0.000,0.052,3134,2388,3359
$GC,2055,-0.56,-117.3,152.0,-5.3,145,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2388,3359
$GC,2362,-0.61,-117.3,171.8,-6.4,155,2366,0.00,2.45,0.00,0.000,4,0.000,0.078,3134,3810,3359
$GC,2434,-0.71,-117.3,176.4,-6.3,157,2439,0.15,2.33,0.00,0.000,6,0.080,0.052,3076,2391,3359
$GC,2758,-0.65,-117.3,200.2,-7.6,168,2763,0.10,2.40,0.00,0.000,4,0.097,0.067,3107,985,3359
$GC,2858,-0.65,-117.3,207.8,-7.7,171,2862,0.00,2.30,0.00,0.000,6,0.000,0.063,3107,2403,3359
$GC,3187,-0.65,-117.3,230.3,-7.0,182,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2404,3359
$GC,3493,-0.65,-117.3,253.8,-7.8,192,3497,0.00,2.40,0.00,0.000,4,0.000,0.068,3107,993,3359
$GC,3537,-0.65,-117.3,257.5,-8.0,193,3541,0.00,2.30,0.00,0.000,6,0.000,0.063,3108,2408,3359
$GC,3862,-0.65,-117.3,281.6,-7.1,204,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2408,3359
$GC,4167,-0.65,-117.3,301.5,-6.2,214,4171,0.00,2.40,0.00,0.000,4,0.000,0.070,3107,990,3359
$GC,4200,-0.65,-117.3,303.5,-6.5,214,4204,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2403,3358
$GC,4533,-0.65,-117.3,323.2,-5.9,220,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3358
$GC,4835,-0.65,-117.3,341.4,-6.1,225,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3358
$GC,5139,-0.65,-117.3,360.2,-6.2,230,5143,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,990,3357
$GC,5178,-0.65,-117.3,362.7,-6.3,230,5183,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2409,3357
$GC,5499,-0.65,-117.3,382.0,-6.0,236,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2408,3357
$GC,5802,-0.65,-117.3,399.8,-5.9,241,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2409,3357
$GC,6105,-0.65,-117.3,418.4,-6.1,246,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2408,3357
$GC,6408,-0.65,-117.3,438.4,-6.7,251,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2408,3357
$GC,6711,-0.65,-117.3,458.7,-6.6,256,6715,0.00,2.40,0.00,0.000,4,0.000,0.071,3107,987,3356
$GC,6750,-0.65,-117.3,461.4,-7.3,256,6754,0.00,2.33,0.00,0.000,6,0.000,0.064,3107,2410,3356
$GC,7070,-0.65,-117.3,481.0,-6.1,262,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2410,3356
$GC,7373,-0.65,-117.3,499.1,-6.0,267,7377,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,993,3356
$GC,7405,-0.65,-117.3,501.3,-6.7,267,7409,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2401,3356
$GC,7737,-0.65,-117.3,519.7,-5.5,273,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2401,3356
$GC,8041,-0.65,-117.3,534.8,-4.9,278,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2401,3356
$GC,8344,-0.65,-117.3,549.3,-4.7,283,8348,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,988,3355
$GC,8370,-0.65,-117.3,550.7,-5.2,283,8375,0.00,2.35,0.00,0.000,6,0.000,0.064,3107,2403,3355
$GC,8709,-0.65,-117.3,566.5,-4.7,289,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3355
$GC,9012,-0.69,-117.3,580.5,-4.6,294,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3355
$GC,9315,-0.73,-117.3,594.1,-4.5,299,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3355
$GC,9619,-0.78,-117.3,609.0,-4.9,304,9623,0.12,2.38,0.00,0.000,4,0.088,0.071,3059,995,3354
$GC,9646,-0.73,-117.3,610.8,-7.2,304,9650,0.00,2.28,0.00,0.000,6,0.000,0.065,3059,2403,3354
$GC,9984,-0.61,-117.3,636.7,-8.0,310,9986,0.20,0.00,0.00,0.000,6,0.162,0.000,3114,2403,3354
$GC,10287,-0.68,-117.3,657.1,-6.7,315,10291,0.00,2.38,0.00,0.000,4,0.000,0.072,3115,989,3354
$GC,10314,-0.75,-117.3,659.1,-7.3,315,10319,0.12,2.30,0.00,0.000,6,0.091,0.064,3067,2403,3354
$GC,10646,-0.75,-117.3,682.8,-7.1,321,10650,0.00,2.35,0.00,0.000,4,0.000,0.082,3067,3814,3354
$GC,10695,-0.70,-117.3,686.7,-8.2,321,10699,0.00,2.28,0.00,0.000,6,0.000,0.057,3067,2391,3354
$GC,11004,-0.70,-117.3,709.1,-7.2,326,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,11308,-0.70,-117.3,730.5,-7.0,331,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,11611,-0.70,-117.3,751.4,-6.8,336,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,11914,-0.70,-117.3,771.4,-6.6,341,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,12217,-0.70,-117.3,790.1,-6.1,346,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,12520,-0.70,-117.3,808.4,-6.0,351,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,12823,-0.70,-117.3,826.7,-6.0,356,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3354
$GC,13126,-0.70,-117.3,845.4,-6.2,361,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3353
$GC,13429,-0.70,-117.3,863.6,-6.0,366,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2391,3353
$GC,13732,-0.70,-117.3,881.1,-5.8,371,13736,0.00,2.45,0.00,0.000,4,0.000,0.084,3067,3812,3353
$GC,13770,-0.70,-117.3,883.5,-6.2,371,13774,0.00,2.30,0.00,0.000,6,0.000,0.057,3067,2402,3353
$GC,14091,-0.70,-117.3,900.8,-5.3,377,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2402,3353
$GC,14394,-0.70,-117.3,916.6,-5.3,382,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2402,3353
$GC,14697,-0.70,-117.3,932.5,-5.2,387,14701,0.00,2.40,0.00,0.000,4,0.000,0.084,3067,3806,3352
$GC,14730,-0.70,-117.3,934.4,-5.8,387,14734,0.00,2.33,0.00,0.000,6,0.000,0.059,3067,2397,3352
$GC,15063,-0.70,-117.3,952.1,-5.4,393,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2397,3352
$GC,15365,-0.70,-117.3,970.2,-6.0,398,15366,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2397,3352
$GC,15668,-0.70,-117.3,988.9,-6.2,403,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2397,3352
$STATE,15727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15727,begin apogee
$GC,15733,-0.22,0.0,992.6,6.2,404,15842,0.57,0.00,106.07,1.494,6,0.143,0.000,3240,2188,2876
$STATE,15842,end apogee,CONTROL_FINISHED_OK
$STATE,15842,begin climb
$GC,15845,0.67,117.3,994.8,0.0,405,15963,0.90,2.67,110.72,1.437,4,0.097,0.077,3532,791,2395
$GC,16002,0.31,117.3,996.2,6.3,406,16007,0.45,2.50,0.00,0.000,6,0.179,0.063,3419,2201,2394
$GC,16329,0.33,131.1,981.2,4.6,412,16348,0.00,2.45,13.12,1.335,4,0.000,0.081,3419,3605,2341
$GC,16405,0.25,131.1,976.8,6.3,413,16409,0.00,2.38,0.00,0.000,6,0.000,0.064,3421,2195,2341
$GC,16758,0.25,131.1,958.6,5.2,419,16762,0.00,2.40,0.00,0.000,4,0.000,0.079,3421,781,2341
$GC,16791,0.25,131.1,956.8,5.2,419,16795,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2202,2340
$GC,17118,0.25,131.1,938.6,5.7,425,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2340
$GC,17421,0.25,131.1,922.5,5.3,430,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2340
$GC,17724,0.25,131.1,906.5,5.3,435,17728,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3620,2339
$GC,17779,0.16,131.1,903.1,7.2,435,17786,0.20,2.33,0.00,0.000,6,0.174,0.064,3370,2199,2339
$GC,18090,0.37,165.5,890.6,4.0,441,18123,0.20,0.00,31.30,1.415,6,0.088,0.000,3441,2199,2201
$GC,18392,0.42,165.5,871.9,6.3,446,18393,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2199,2199
$GC,18695,0.42,165.5,853.0,6.2,451,18696,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2199,2198
$GC,18998,0.42,165.5,833.3,6.5,456,18999,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2199,2197
$GC,19301,0.42,165.5,812.8,6.8,461,19305,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,790,2198
$GC,19339,0.42,165.5,810.0,6.8,461,19343,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2202,2197
$GC,19660,0.42,165.5,786.5,7.3,467,19662,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2197
$GC,19963,0.42,165.5,764.4,7.3,472,19967,0.00,2.35,0.00,0.000,4,0.000,0.083,3449,3612,2197
$GC,20012,0.31,165.5,760.4,7.6,472,20017,0.12,2.35,0.00,0.000,6,0.173,0.065,3418,2191,2196
$GC,20322,0.37,165.5,741.0,6.2,477,20323,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2196
$GC,20625,0.43,165.5,722.0,6.2,482,20630,0.12,2.38,0.00,0.000,4,0.091,0.079,3465,786,2197
$GC,20658,0.38,165.5,719.7,6.7,482,20662,0.00,2.30,0.00,0.000,6,0.000,0.065,3465,2202,2197
$GC,20984,0.30,165.5,696.1,7.2,488,20989,0.15,2.35,0.00,0.000,4,0.153,0.081,3415,3614,2197
$GC,21017,0.30,165.5,693.8,5.6,488,21021,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2193,2197
$GC,21343,0.36,165.5,675.3,5.6,494,21347,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,3607,2197
$GC,21376,0.36,165.5,673.2,6.2,494,21380,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2188,2197
$GC,21709,0.42,165.5,655.7,5.2,500,21710,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2188,2197
$GC,22012,0.48,165.5,640.0,5.1,505,22013,0.15,0.00,0.00,0.000,6,0.090,0.000,3480,2188,2196
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$STATE,32581,end climb,SURFACE_DEPTH_REACHED
$STATE,32581,begin surface coast
$FINISH,2.8,1.012438
$STATE,32699,end surface coast,CONTROL_FINISHED_OK
$STATE,32699,begin surface
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$IRIDIUM_FIX,4943.02,-14440.19,120398,101032
$TT8_MAMPS,0.026845
$HUMID,2085
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$TCM_TEMP,16.10
$XPDR_PINGS,990
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$10V_AH,10.6,39.169
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$DEVICE_SECS,30.100,189.075,351.225,31.275,0.000,25.954,28.110,173.297,247.500,0.000,0.000,16.660,1800.313,27841.697,546.144,2318.243,591.173,33.381,1678.770,0.000,2288.076,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,650.304,630.780,1444.642,872.559,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50624,850
$CAP_FILE_SIZE,182331,0
$CFSIZE,260165632,235823104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171208,045002,5003.992,-14447.411,42,1.9,42,18.5