version: 66.03
glider: 120
mission: 9
dive: 441
start: 2 10 109 14 54 43
data:
$ID,120
$MISSION,9
$DIVE,441
$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,275
$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,-27192.881
$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
$GPS1,144637,5004.292,-14454.478,68,1.3,68,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.97
$_SM_ANGLEo,-73.9
$GPS2,145349,5004.266,-14454.448,13,1.7,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.137,0.113
$KALMAN_X,-11215.5,233.9,101.4,34700.2,-2982.4
$KALMAN_Y,40848.0,228.4,42.4,-39662.8,-989.9
$MHEAD_RNG_PITCHd_Wd,32.1,7346,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-10.55,0.000,2,0.000,0.000,134,2411,1959
$GC,40,-0.67,-117.3,4.0,-0.0,1,115,14.23,2.60,-52.30,0.000,4,0.286,0.081,3096,989,3356
$GC,187,-0.49,-117.3,16.8,-11.7,14,191,0.22,2.33,0.00,0.000,6,0.160,0.063,3158,2402,3357
$GC,516,-0.55,-117.3,39.7,-9.3,44,522,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2402,3357
$GC,842,-0.55,-117.3,62.1,-8.5,75,846,0.00,2.47,0.00,0.000,4,0.000,0.068,3160,990,3358
$GC,871,-0.61,-117.3,64.8,-8.9,77,876,0.12,2.30,0.00,0.000,6,0.084,0.061,3106,2408,3357
$GC,1205,-0.56,-117.3,92.4,-8.6,101,1210,0.10,2.33,0.00,0.000,4,0.095,0.078,3126,3806,3357
$GC,1255,-0.56,-117.3,97.2,-9.1,103,1259,0.00,2.30,0.00,0.000,6,0.000,0.053,3125,2395,3358
$GC,1572,-0.56,-117.3,123.1,-7.6,118,1576,0.00,2.42,0.00,0.000,4,0.000,0.067,3125,989,3358
$GC,1657,-0.56,-117.3,131.3,-9.7,122,1661,0.00,2.30,0.00,0.000,6,0.000,0.061,3125,2398,3358
$GC,1983,-0.56,-117.3,156.3,-8.3,137,1987,0.00,2.42,0.00,0.000,4,0.000,0.078,3125,3807,3358
$GC,2016,-0.56,-117.3,158.9,-7.8,138,2021,0.00,2.33,0.00,0.000,6,0.000,0.051,3125,2401,3358
$GC,2346,-0.56,-117.3,179.9,-5.8,149,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3358
$GC,2653,-0.60,-117.3,199.2,-6.4,159,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3358
$GC,2959,-0.64,-117.3,219.4,-7.0,169,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3358
$GC,3266,-0.69,-117.3,238.6,-6.1,179,3270,0.00,2.47,0.00,0.000,4,0.000,0.079,3125,3807,3358
$GC,3304,-0.77,-117.3,241.3,-6.7,180,3309,0.17,2.33,0.00,0.000,6,0.076,0.051,3058,2400,3358
$GC,3628,-0.69,-117.3,267.9,-8.2,191,3633,0.12,2.45,0.00,0.000,4,0.099,0.077,3086,3810,3358
$GC,3658,-0.63,-117.3,270.1,-8.2,192,3662,0.00,2.33,0.00,0.000,6,0.000,0.053,3085,2388,3358
$GC,3993,-0.58,-117.3,294.7,-7.3,203,3998,0.15,2.42,0.00,0.000,4,0.156,0.078,3125,3809,3358
$GC,4050,-0.69,-117.3,298.3,-6.1,204,4056,0.00,2.28,0.00,0.000,6,0.000,0.053,3125,2399,3358
$GC,4391,-0.76,-117.3,317.0,-5.5,211,4395,0.15,2.40,0.00,0.000,4,0.083,0.067,3059,994,3358
$GC,4454,-0.64,-117.3,322.0,-8.3,212,4459,0.17,2.30,0.00,0.000,6,0.153,0.062,3105,2400,3358
$GC,4820,-0.64,-117.3,346.9,-6.8,218,4824,0.00,2.42,0.00,0.000,4,0.000,0.067,3106,986,3357
$GC,4853,-0.64,-117.3,349.2,-6.6,218,4858,0.00,2.33,0.00,0.000,6,0.000,0.061,3106,2403,3357
$GC,5180,-0.64,-117.3,370.1,-6.3,224,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3357
$GC,5483,-0.64,-117.3,388.8,-6.2,229,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3357
$GC,5787,-0.64,-117.3,407.5,-6.2,234,5791,0.00,2.47,0.00,0.000,4,0.000,0.068,3106,993,3357
$GC,5826,-0.64,-117.3,410.2,-6.5,234,5830,0.00,2.30,0.00,0.000,6,0.000,0.062,3106,2405,3357
$GC,6148,-0.64,-117.3,431.1,-6.6,240,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3357
$GC,6450,-0.64,-117.3,451.7,-6.8,245,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3358
$GC,6753,-0.64,-117.3,470.7,-6.3,250,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3358
$GC,7057,-0.64,-117.3,488.8,-5.9,255,7062,0.00,2.47,0.00,0.000,4,0.000,0.070,3106,986,3357
$GC,7085,-0.64,-117.3,490.6,-6.3,255,7089,0.00,2.33,0.00,0.000,6,0.000,0.062,3106,2410,3357
$GC,7423,-0.64,-117.3,509.3,-5.5,261,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3357
$GC,7726,-0.64,-117.3,525.3,-5.2,266,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3357
$GC,8030,-0.68,-117.3,540.4,-4.9,271,8035,0.00,2.45,0.00,0.000,4,0.000,0.070,3106,992,3356
$GC,8064,-0.68,-117.3,542.3,-5.4,271,8068,0.00,2.33,0.00,0.000,6,0.000,0.063,3106,2400,3356
$GC,8391,-0.72,-117.3,558.8,-5.0,277,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,8694,-0.77,-117.3,574.1,-5.0,282,8699,0.12,2.40,0.00,0.000,4,0.085,0.079,3057,3821,3356
$GC,8722,-0.71,-117.3,575.8,-6.6,282,8727,0.10,2.30,0.00,0.000,6,0.104,0.055,3083,2391,3356
$GC,9054,-0.71,-117.3,594.0,-5.5,288,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2391,3356
$GC,9357,-0.71,-117.3,611.2,-5.8,293,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2391,3356
$GC,9660,-0.71,-117.3,630.0,-6.3,298,9664,0.00,2.40,0.00,0.000,4,0.000,0.070,3083,996,3355
$GC,9705,-0.71,-117.3,633.2,-6.4,298,9709,0.00,2.30,0.00,0.000,6,0.000,0.063,3083,2404,3355
$GC,10021,-0.71,-117.3,654.8,-6.8,304,10025,0.00,2.40,0.00,0.000,4,0.000,0.082,3083,3812,3355
$GC,10055,-0.71,-117.3,657.2,-7.3,304,10060,0.00,2.33,0.00,0.000,6,0.000,0.054,3083,2392,3355
$GC,10383,-0.71,-117.3,678.9,-6.6,310,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2392,3355
$GC,10685,-0.71,-117.3,697.7,-6.2,315,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2392,3355
$GC,10988,-0.71,-117.3,715.6,-5.9,320,10992,0.00,2.42,0.00,0.000,4,0.000,0.072,3083,989,3356
$GC,11016,-0.71,-117.3,717.4,-6.3,320,11020,0.00,2.33,0.00,0.000,6,0.000,0.064,3083,2406,3355
$GC,11349,-0.71,-117.3,736.1,-5.6,326,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3355
$GC,11651,-0.71,-117.3,752.4,-5.3,331,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3355
$GC,11955,-0.71,-117.3,768.7,-5.3,336,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3355
$GC,12257,-0.71,-117.3,784.1,-5.0,341,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2405,3355
$GC,12560,-0.71,-117.3,799.8,-5.2,346,12565,0.00,2.47,0.00,0.000,4,0.000,0.071,3083,992,3354
$GC,12589,-0.71,-117.3,801.3,-5.8,346,12593,0.00,2.35,0.00,0.000,6,0.000,0.065,3083,2409,3354
$GC,12921,-0.71,-117.3,819.3,-5.5,352,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2409,3354
$GC,13224,-0.71,-117.3,837.1,-5.9,357,13228,0.00,2.40,0.00,0.000,4,0.000,0.084,3083,3812,3354
$GC,13256,-0.71,-117.3,839.2,-6.3,357,13261,0.00,2.33,0.00,0.000,6,0.000,0.056,3083,2397,3354
$GC,13584,-0.71,-117.3,858.0,-5.7,363,13585,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3354
$GC,13886,-0.71,-117.3,874.0,-5.2,368,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3354
$GC,14191,-0.71,-117.3,890.4,-5.4,373,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3354
$GC,14492,-0.71,-117.3,906.9,-5.4,378,14494,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3354
$GC,14795,-0.71,-117.3,925.0,-6.1,383,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3354
$GC,15100,-0.71,-117.3,944.5,-6.5,388,15104,0.00,2.47,0.00,0.000,4,0.000,0.073,3083,989,3353
$GC,15134,-0.71,-117.3,946.9,-7.1,388,15138,0.00,2.33,0.00,0.000,6,0.000,0.064,3083,2399,3353
$GC,15461,-0.71,-117.3,968.0,-6.4,394,15466,0.00,2.40,0.00,0.000,4,0.000,0.084,3083,3806,3354
$GC,15501,-0.71,-117.3,970.6,-6.8,394,15505,0.00,2.30,0.00,0.000,6,0.000,0.058,3083,2391,3353
$STATE,15819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15819,begin apogee
$GC,15827,-0.22,0.0,990.2,6.1,400,15942,0.52,0.00,108.47,1.489,6,0.140,0.000,3243,2196,2875
$STATE,15942,end apogee,CONTROL_FINISHED_OK
$STATE,15943,begin climb
$GC,15945,0.67,117.3,995.3,0.0,402,16069,0.88,2.72,113.47,1.437,4,0.094,0.077,3533,795,2396
$GC,16098,0.31,117.3,995.4,5.5,404,16103,0.45,2.50,0.00,0.000,6,0.171,0.061,3419,2203,2395
$GC,16436,0.34,143.9,981.0,4.2,410,16465,0.00,2.42,24.48,1.401,4,0.000,0.080,3419,3616,2289
$GC,16512,0.29,143.9,977.0,6.4,411,16516,0.00,2.33,0.00,0.000,6,0.000,0.063,3421,2203,2288
$GC,16873,0.29,143.9,958.2,5.2,417,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2203,2287
$GC,17176,0.29,143.9,942.6,5.2,422,17180,0.00,2.40,0.00,0.000,4,0.000,0.079,3421,787,2286
$GC,17220,0.34,143.9,940.1,5.8,422,17224,0.00,2.30,0.00,0.000,6,0.000,0.062,3421,2209,2286
$GC,17535,0.34,143.9,922.6,5.7,428,17536,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2209,2286
$GC,17838,0.34,143.9,904.9,5.8,433,17842,0.00,2.45,0.00,0.000,4,0.000,0.078,3421,790,2286
$GC,17871,0.39,150.1,903.0,4.8,433,17885,0.00,2.30,6.82,1.190,6,0.000,0.061,3421,2212,2264
$GC,18202,0.39,150.1,884.0,5.8,439,18206,0.00,2.42,0.00,0.000,4,0.000,0.078,3421,790,2264
$GC,18236,0.44,150.1,882.0,5.3,439,18241,0.12,2.30,0.00,0.000,6,0.089,0.062,3473,2210,2264
$GC,18562,0.34,150.1,860.5,6.6,445,18567,0.15,2.33,0.00,0.000,4,0.145,0.079,3426,3605,2263
$GC,18607,0.30,150.1,857.8,6.1,445,18611,0.00,2.28,0.00,0.000,6,0.000,0.064,3426,2199,2263
$GC,18923,0.31,165.1,842.9,4.6,451,18940,0.00,0.00,15.02,1.334,6,0.000,0.000,3426,2199,2202
$GC,19227,0.31,165.2,827.9,5.0,456,19231,0.00,2.38,0.00,0.000,4,0.000,0.080,3426,3618,2201
$GC,19271,0.31,165.2,825.3,6.1,456,19275,0.00,2.30,0.00,0.000,6,0.000,0.064,3426,2198,2201
$GC,19587,0.36,165.2,809.0,5.2,462,19588,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2198,2201
$GC,19889,0.41,165.2,793.2,5.3,467,19890,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2198,2200
$GC,20192,0.46,165.2,776.6,5.6,472,20197,0.12,2.38,0.00,0.000,4,0.088,0.077,3477,781,2200
$GC,20231,0.36,165.2,773.9,6.6,472,20236,0.15,2.30,0.00,0.000,6,0.153,0.061,3437,2201,2200
$GC,20552,0.36,165.2,754.1,6.1,478,20554,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2200
$GC,20855,0.36,165.2,736.4,5.8,483,20859,0.00,2.35,0.00,0.000,4,0.000,0.080,3437,3609,2200
$GC,20899,0.32,165.2,733.4,7.1,483,20903,0.00,2.30,0.00,0.000,6,0.000,0.063,3437,2190,2200
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$STATE,32882,end climb,SURFACE_DEPTH_REACHED
$STATE,32882,begin surface coast
$FINISH,2.8,1.024488
$STATE,32946,end surface coast,CONTROL_FINISHED_OK
$STATE,32946,begin surface
$SM_CCo,33027,0.00,0.000,0,0,1591,314.97
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$IRIDIUM_FIX,4943.02,-14459.66,070598,050512
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$TCM_TEMP,14.10
$XPDR_PINGS,1001
$24V_AH,21.4,86.619
$10V_AH,10.5,59.146
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$DEVICE_SECS,29.375,237.425,398.200,0.000,0.000,30.160,31.377,199.328,250.250,0.000,0.000,30.827,1802.722,27910.754,557.826,2383.669,790.992,33.368,1765.140,0.000,2346.201,0.000,0.466
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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,47532,829
$CAP_FILE_SIZE,191622,0
$CFSIZE,260165632,224387072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110209,000631,5006.967,-14450.788,43,1.1,43,18.5