version: 66.03
glider: 120
mission: 9
dive: 225
start: 11 20 108 21 13 1
data:
$ID,120
$MISSION,9
$DIVE,225
$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,-22361.922
$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,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
$GPS1,210558,5002.339,-14511.893,30,3.8,49,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-71.8
$GPS2,211207,5002.431,-14511.840,36,1.0,52,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.176
$KALMAN_X,45448.3,-115.0,75.6,-71681.0,1081.6
$KALMAN_Y,174573.9,384.1,-142.3,-180582.1,1864.7
$MHEAD_RNG_PITCHd_Wd,170.8,15593,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.65,0.000,2,0.000,0.000,138,2404,2402
$GC,57,-0.67,-117.3,3.3,-5.3,3,104,13.90,2.53,-26.10,0.000,4,0.284,0.096,3095,3808,3356
$GC,301,-0.45,-117.3,33.4,-11.3,25,306,0.25,2.33,0.00,0.000,6,0.164,0.055,3165,2393,3358
$GC,626,-0.45,-117.3,61.9,-8.1,55,630,0.00,2.38,0.00,0.000,4,0.000,0.069,3165,988,3359
$GC,648,-0.45,-117.3,63.9,-8.7,56,654,0.00,2.30,0.00,0.000,6,0.000,0.061,3165,2401,3359
$GC,970,-0.69,-117.3,87.9,-7.4,82,975,0.17,2.40,0.00,0.000,4,0.084,0.067,3098,983,3360
$GC,980,-0.91,-117.3,88.7,-7.3,82,987,0.22,2.33,0.00,0.000,6,0.074,0.061,3007,2412,3360
$GC,1296,-0.48,-117.3,133.2,-14.6,98,1301,0.50,2.38,0.00,0.000,4,0.176,0.077,3141,3816,3361
$GC,1459,-0.53,-117.3,144.7,-6.3,105,1464,0.00,2.30,0.00,0.000,6,0.000,0.054,3141,2397,3361
$GC,1793,-0.57,-117.3,166.2,-5.9,117,1797,0.00,2.38,0.00,0.000,4,0.000,0.070,3141,985,3361
$GC,1837,-0.65,-117.3,168.9,-6.0,118,1841,0.10,2.33,0.00,0.000,6,0.096,0.061,3102,2400,3361
$GC,2160,-0.65,-117.3,189.8,-6.8,129,2164,0.00,2.35,0.00,0.000,4,0.000,0.079,3102,3818,3361
$GC,2225,-0.65,-117.3,194.7,-7.6,131,2230,0.00,2.33,0.00,0.000,6,0.000,0.055,3102,2389,3361
$GC,2561,-0.65,-117.3,218.3,-6.9,142,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3360
$GC,2868,-0.65,-117.3,238.9,-6.9,152,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3360
$GC,3173,-0.65,-117.3,261.3,-7.2,162,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3360
$GC,3480,-0.65,-117.3,281.2,-6.2,172,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2389,3360
$GC,3786,-0.65,-117.3,298.9,-5.6,182,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2389,3360
$GC,4119,-0.65,-117.3,317.3,-5.5,188,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3359
$GC,4422,-0.65,-117.3,333.5,-5.3,193,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3359
$GC,4725,-0.65,-117.3,351.9,-6.1,198,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3359
$GC,5028,-0.65,-117.3,372.1,-6.7,203,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3359
$GC,5332,-0.65,-117.3,392.3,-6.7,208,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2389,3358
$GC,5635,-0.65,-117.3,412.1,-6.5,213,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2388,3358
$GC,5938,-0.65,-117.3,429.6,-5.7,218,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2388,3358
$GC,6241,-0.65,-117.3,446.4,-5.5,223,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2387,3358
$GC,6544,-0.65,-117.3,463.7,-5.7,228,6548,0.00,2.47,0.00,0.000,4,0.000,0.082,3102,3807,3357
$GC,6576,-0.65,-117.3,465.7,-5.8,228,6580,0.00,2.30,0.00,0.000,6,0.000,0.058,3102,2398,3357
$GC,6908,-0.70,-117.3,484.5,-5.7,234,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3357
$GC,7211,-0.74,-117.3,502.1,-5.8,239,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3357
$GC,7515,-0.78,-117.3,519.4,-5.6,244,7519,0.12,2.40,0.00,0.000,4,0.100,0.073,3053,991,3357
$GC,7547,-0.64,-117.3,521.8,-8.0,244,7552,0.20,2.33,0.00,0.000,6,0.167,0.066,3106,2405,3357
$GC,7874,-0.64,-117.3,541.1,-5.8,250,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3357
$GC,8176,-0.64,-117.3,558.6,-5.8,255,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3357
$GC,8479,-0.64,-117.3,577.1,-6.1,260,8483,0.00,2.40,0.00,0.000,4,0.000,0.074,3106,994,3356
$GC,8505,-0.64,-117.3,578.8,-7.1,260,8509,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2409,3356
$GC,8843,-0.64,-117.3,600.3,-6.4,266,8847,0.00,2.38,0.00,0.000,4,0.000,0.085,3106,3812,3356
$GC,8864,-0.64,-117.3,601.7,-6.0,266,8868,0.00,2.33,0.00,0.000,6,0.000,0.058,3106,2404,3356
$GC,9207,-0.64,-117.3,621.8,-5.8,272,9211,0.00,2.38,0.00,0.000,4,0.000,0.074,3106,992,3356
$GC,9229,-0.64,-117.3,623.1,-6.1,272,9233,0.00,2.30,0.00,0.000,6,0.000,0.065,3106,2400,3356
$GC,9572,-0.64,-117.3,643.0,-5.7,278,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,9875,-0.64,-117.3,659.3,-5.4,283,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,3356
$GC,10178,-0.64,-117.3,674.7,-5.0,288,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3355
$GC,10481,-0.64,-117.3,690.2,-5.1,293,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,10785,-0.64,-117.3,704.4,-4.6,298,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,11088,-0.64,-117.3,718.3,-4.6,303,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,11391,-0.64,-117.3,732.7,-4.7,308,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3355
$GC,11694,-0.64,-117.3,747.4,-4.9,313,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3355
$GC,11997,-0.64,-117.3,762.5,-5.0,318,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3355
$GC,12300,-0.64,-117.3,778.2,-5.2,323,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3355
$GC,12603,-0.64,-117.3,795.2,-5.7,328,12607,0.00,2.42,0.00,0.000,4,0.000,0.074,3106,991,3355
$GC,12647,-0.68,-117.3,798.0,-6.7,328,12651,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2403,3355
$GC,12963,-0.86,-117.3,818.3,-6.8,334,12968,0.17,2.42,0.00,0.000,4,0.088,0.074,3038,993,3354
$GC,13153,-0.71,-117.3,834.0,-8.3,336,13160,0.17,2.35,0.00,0.000,6,0.172,0.068,3085,2396,3354
$GC,13463,-0.71,-117.3,853.6,-6.4,342,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2396,3354
$GC,13766,-0.71,-117.3,872.6,-6.3,347,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3354
$GC,14068,-0.71,-117.3,890.7,-5.9,352,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3354
$GC,14372,-0.71,-117.3,908.8,-6.0,357,14376,0.00,2.42,0.00,0.000,4,0.000,0.075,3085,992,3354
$GC,14398,-0.71,-117.3,910.6,-6.3,357,14402,0.00,2.35,0.00,0.000,6,0.000,0.067,3085,2396,3354
$GC,14736,-0.71,-117.3,930.5,-5.9,363,14738,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2396,3354
$GC,15039,-0.71,-117.3,948.6,-6.1,368,15044,0.00,2.40,0.00,0.000,4,0.000,0.087,3084,3811,3354
$GC,15066,-0.71,-117.3,950.5,-6.5,368,15071,0.00,2.35,0.00,0.000,6,0.000,0.061,3084,2396,3354
$GC,15405,-0.71,-117.3,971.4,-6.2,374,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3354
$STATE,15705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15705,begin apogee
$GC,15711,-0.22,0.0,990.4,6.2,379,15818,0.52,0.00,104.75,1.503,6,0.145,0.000,3244,2194,2876
$STATE,15819,end apogee,CONTROL_FINISHED_OK
$STATE,15819,begin climb
$GC,15821,0.67,117.3,992.5,0.0,380,15935,0.88,0.00,110.35,1.450,6,0.091,0.000,3531,2194,2397
$GC,16191,0.33,117.3,977.2,7.5,387,16196,0.35,2.50,0.00,0.000,4,0.170,0.078,3440,784,2394
$GC,16235,0.26,117.3,974.3,5.2,387,16240,0.15,2.42,0.00,0.000,6,0.166,0.065,3403,2209,2393
$GC,16550,0.31,158.9,962.1,3.8,393,16589,0.00,0.00,37.22,1.434,6,0.000,0.000,3403,2209,2228
$GC,16853,0.41,189.9,949.7,4.1,398,16885,0.15,0.00,29.02,1.415,6,0.083,0.000,3462,2208,2100
$GC,17157,0.34,189.9,931.4,6.2,403,17158,0.12,0.00,0.00,0.000,6,0.148,0.000,3430,2209,2096
$GC,17459,0.34,189.9,914.0,5.7,408,17460,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2208,2095
$GC,17762,0.34,189.9,894.9,6.4,413,17763,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2209,2095
$GC,18065,0.34,189.9,874.5,6.8,418,18069,0.00,2.45,0.00,0.000,4,0.000,0.080,3436,793,2095
$GC,18097,0.34,189.9,871.9,7.8,418,18101,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2208,2095
$GC,18430,0.34,189.9,848.4,7.1,424,18434,0.00,2.35,0.00,0.000,4,0.000,0.083,3435,3613,2095
$GC,18456,0.30,189.9,846.2,7.6,424,18461,0.00,2.35,0.00,0.000,6,0.000,0.067,3435,2203,2095
$GC,18795,0.30,189.9,822.2,7.1,430,18799,0.00,2.40,0.00,0.000,4,0.000,0.081,3435,791,2095
$GC,18844,0.30,189.9,818.6,6.9,430,18848,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2215,2095
$GC,19159,0.30,189.9,797.4,6.7,436,19161,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2215,2095
$GC,19462,0.30,189.9,777.2,6.7,441,19463,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2215,2094
$GC,19766,0.30,189.9,756.1,6.9,446,19767,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2215,2094
$GC,20069,0.30,189.9,734.7,7.0,451,20070,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2216,2094
$GC,20371,0.30,189.9,713.1,7.1,456,20376,0.00,2.45,0.00,0.000,4,0.000,0.082,3435,784,2094
$GC,20398,0.30,189.9,711.2,7.0,456,20402,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2201,2095
$GC,20736,0.30,189.9,688.8,6.6,462,20737,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2094
$GC,21039,0.30,189.9,668.4,6.7,467,21040,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2094
$GC,21342,0.30,189.9,648.4,6.6,472,21344,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2094
$GC,21645,0.30,189.9,629.5,6.2,477,21649,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,789,2094
$GC,21683,0.35,189.9,627.2,6.0,477,21687,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2206,2094
$GC,22009,0.35,189.9,609.1,5.5,483,22013,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,782,2094
$GC,22048,0.41,194.7,606.9,4.9,483,22057,0.00,2.33,4.50,0.900,6,0.000,0.064,3435,2206,2081
$GC,22373,0.45,196.2,590.8,5.0,489,22375,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2081
$GC,22677,0.48,220.8,577.7,4.3,494,22703,0.12,0.00,23.95,1.226,6,0.094,0.000,3488,2206,1976
$GC,22980,0.40,220.8,558.0,6.7,499,22981,0.15,0.00,0.00,0.000,6,0.146,0.000,3448,2206,1972
$GC,23282,0.40,220.8,539.4,6.2,504,23286,0.00,2.45,0.00,0.000,4,0.000,0.081,3449,791,1972
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$STATE,31307,end climb,SURFACE_DEPTH_REACHED
$STATE,31307,begin surface coast
$FINISH,1.3,1.012976
$STATE,31373,end surface coast,CONTROL_FINISHED_OK
$STATE,31374,begin surface
$SM_CCo,31392,9.23,0.789,0,0,1653,300.00
$SM_GC,3.36,0.00,0.00,9.23,0.000,0.000,0.789,147,2400,1653,-9.91,0.00,300.00
$IRIDIUM_FIX,4949.70,-14510.65,140298,111151
$TT8_MAMPS,0.026078
$HUMID,2133
$INTERNAL_PRESSURE,9.05552
$TCM_TEMP,16.00
$XPDR_PINGS,936
$24V_AH,22.2,45.697
$10V_AH,10.6,30.017
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$DEVICE_SECS,29.550,176.300,368.450,9.225,0.000,28.499,28.917,152.039,234.000,0.000,0.000,53.595,1699.342,26803.041,571.261,2172.536,516.138,33.382,1598.627,0.000,2117.797,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,620.852,605.687,1375.183,832.571,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47475,809
$CAP_FILE_SIZE,169529,0
$CFSIZE,260165632,241123328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,211108,055807,4959.674,-14513.411,67,1.8,67,18.4