version: 66.03
glider: 120
mission: 9
dive: 298
start: 12 18 108 16 43 27
data:
$ID,120
$MISSION,9
$DIVE,298
$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,-23849.572
$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,19
$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
$GPS1,163637,5014.500,-14503.751,51,0.9,62,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.03
$_SM_ANGLEo,-71.6
$GPS2,164232,5014.526,-14503.795,11,1.3,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,0.125
$KALMAN_X,27567.2,-46.8,-149.4,-44089.7,632.3
$KALMAN_Y,230971.1,93.0,-359.1,-214076.5,462.5
$MHEAD_RNG_PITCHd_Wd,296.2,15391,-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,-11.30,0.000,2,0.000,0.000,138,2407,1930
$GC,38,-0.67,-117.3,3.9,-0.0,1,114,14.20,2.38,-55.20,0.000,4,0.289,0.096,3095,3806,3355
$GC,366,-0.47,-117.3,35.9,-10.6,30,373,0.22,2.30,0.00,0.000,6,0.158,0.056,3158,2395,3357
$GC,694,-0.47,-117.3,58.5,-7.7,61,700,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2395,3358
$GC,1028,-0.47,-117.3,82.9,-7.0,91,1032,0.00,2.40,0.00,0.000,4,0.000,0.067,3158,984,3358
$GC,1078,-0.47,-117.3,86.4,-7.1,93,1083,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2410,3357
$GC,1394,-0.47,-117.3,107.2,-6.5,108,1398,0.00,2.40,0.00,0.000,4,0.000,0.067,3155,992,3358
$GC,1433,-0.52,-117.3,110.0,-7.4,110,1437,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2407,3358
$GC,1767,-0.56,-117.3,132.4,-6.7,126,1770,0.00,2.35,0.00,0.000,4,0.000,0.080,3155,3805,3359
$GC,1805,-0.68,-117.3,135.0,-5.8,127,1812,0.17,2.30,0.00,0.000,6,0.080,0.053,3090,2388,3359
$GC,2141,-0.63,-117.3,160.6,-7.6,142,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2388,3358
$GC,2447,-0.63,-117.3,183.2,-7.0,152,2451,0.00,2.35,0.00,0.000,4,0.000,0.069,3090,989,3358
$GC,2475,-0.58,-117.3,185.3,-7.4,153,2480,0.15,2.30,0.00,0.000,6,0.141,0.061,3130,2411,3359
$GC,2810,-0.62,-117.3,204.5,-5.4,164,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2411,3358
$GC,3116,-0.67,-117.3,222.1,-6.1,174,3121,0.00,2.42,0.00,0.000,4,0.000,0.069,3130,984,3358
$GC,3155,-0.73,-117.3,224.8,-6.8,175,3160,0.15,2.35,0.00,0.000,6,0.083,0.063,3073,2411,3358
$GC,3479,-0.67,-117.3,250.6,-8.4,186,3483,0.00,2.35,0.00,0.000,4,0.000,0.081,3072,3813,3358
$GC,3518,-0.57,-117.3,254.2,-9.0,187,3523,0.20,2.30,0.00,0.000,6,0.131,0.055,3129,2399,3358
$GC,3841,-0.62,-117.3,275.4,-6.5,198,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2399,3358
$GC,4147,-0.67,-117.3,294.7,-6.4,208,4152,0.00,2.38,0.00,0.000,4,0.000,0.071,3129,994,3358
$GC,4198,-0.75,-117.3,298.0,-6.5,209,4203,0.15,2.33,0.00,0.000,6,0.084,0.064,3073,2412,3357
$GC,4538,-0.70,-117.3,321.2,-6.7,215,4542,0.00,2.35,0.00,0.000,4,0.000,0.082,3073,3812,3357
$GC,4571,-0.62,-117.3,323.6,-7.4,215,4575,0.15,2.30,0.00,0.000,6,0.120,0.056,3115,2394,3357
$GC,4897,-0.62,-117.3,342.9,-5.9,221,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2394,3357
$GC,5199,-0.62,-117.3,361.8,-6.3,226,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2394,3357
$GC,5503,-0.62,-117.3,382.7,-6.9,231,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2394,3357
$GC,5805,-0.62,-117.3,403.7,-6.8,236,5810,0.00,2.38,0.00,0.000,4,0.000,0.071,3115,989,3356
$GC,5861,-0.66,-117.3,407.6,-6.7,236,5868,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2411,3356
$GC,6171,-0.66,-117.3,427.1,-6.3,242,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3356
$GC,6474,-0.66,-117.3,443.8,-5.4,247,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3356
$GC,6777,-0.66,-117.3,460.5,-5.5,252,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3356
$GC,7080,-0.66,-117.3,477.7,-5.7,257,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3356
$GC,7384,-0.70,-117.3,495.2,-5.7,262,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3356
$GC,7687,-0.75,-117.3,512.9,-5.9,267,7691,0.12,2.42,0.00,0.000,4,0.088,0.071,3065,992,3355
$GC,7749,-0.69,-117.3,517.4,-7.5,268,7754,0.10,2.33,0.00,0.000,6,0.150,0.064,3091,2399,3356
$GC,8114,-0.69,-117.3,542.1,-6.7,274,8118,0.00,2.38,0.00,0.000,4,0.000,0.083,3085,3817,3355
$GC,8141,-0.69,-117.3,544.1,-8.2,274,8145,0.00,2.30,0.00,0.000,6,0.000,0.057,3085,2395,3355
$GC,8479,-0.69,-117.3,567.2,-6.8,280,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3355
$GC,8782,-0.69,-117.3,587.6,-6.7,285,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3356
$GC,9086,-0.69,-117.3,606.9,-6.3,290,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,9388,-0.69,-117.3,626.5,-6.5,295,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,9691,-0.69,-117.3,646.0,-6.4,300,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,9995,-0.69,-117.3,666.0,-6.6,305,9999,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,986,3354
$GC,10021,-0.69,-117.3,667.9,-6.9,305,10025,0.00,2.33,0.00,0.000,6,0.000,0.066,3085,2393,3354
$GC,10360,-0.69,-117.3,690.4,-6.7,311,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3355
$GC,10662,-0.69,-117.3,709.9,-6.4,316,10666,0.00,2.40,0.00,0.000,4,0.000,0.084,3085,3816,3354
$GC,10694,-0.69,-117.3,712.2,-6.9,316,10698,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2398,3354
$GC,11027,-0.69,-117.3,734.0,-6.6,322,11031,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,989,3354
$GC,11059,-0.69,-117.3,736.4,-7.1,322,11063,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2399,3354
$GC,11391,-0.69,-117.3,758.3,-6.6,328,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3354
$GC,11694,-0.69,-117.3,777.9,-6.5,333,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,11997,-0.69,-117.3,796.8,-6.3,338,12002,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,988,3354
$GC,12024,-0.69,-117.3,798.6,-6.6,338,12028,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2401,3354
$GC,12362,-0.69,-117.3,819.4,-6.1,344,12366,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,3817,3353
$GC,12411,-0.69,-117.3,822.6,-6.7,344,12415,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2393,3353
$GC,12727,-0.69,-117.3,841.6,-6.0,350,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3353
$GC,13029,-0.69,-117.3,860.1,-6.2,355,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3353
$GC,13333,-0.69,-117.3,879.5,-6.4,360,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3353
$GC,13636,-0.69,-117.3,898.8,-6.4,365,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3353
$GC,13939,-0.69,-117.3,917.6,-6.2,370,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3353
$GC,14243,-0.69,-117.3,936.3,-6.2,375,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2393,3353
$GC,14545,-0.69,-117.3,954.1,-5.9,380,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3353
$GC,14848,-0.69,-117.3,971.4,-5.7,385,14852,0.00,2.45,0.00,0.000,4,0.000,0.085,3085,3805,3352
$GC,14880,-0.69,-117.3,973.3,-5.0,385,14884,0.00,2.33,0.00,0.000,6,0.000,0.059,3085,2396,3353
$STATE,15210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15210,begin apogee
$GC,15217,-0.22,0.0,990.7,5.2,391,15326,0.52,0.00,106.25,1.493,6,0.149,0.000,3241,2191,2876
$STATE,15326,end apogee,CONTROL_FINISHED_OK
$STATE,15326,begin climb
$GC,15329,0.67,117.3,992.4,0.0,392,15449,0.88,2.78,111.35,1.436,4,0.091,0.077,3532,794,2396
$GC,15466,0.30,117.3,992.8,5.6,395,15471,0.47,2.53,0.00,0.000,6,0.181,0.062,3415,2204,2395
$GC,15821,0.30,117.3,974.7,5.1,401,15822,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2205,2393
$GC,16123,0.30,121.8,959.9,4.9,406,16130,0.00,0.00,5.10,1.054,6,0.000,0.000,3415,2205,2379
$GC,16427,0.31,126.6,945.4,4.9,411,16435,0.00,0.00,6.15,1.154,6,0.000,0.000,3415,2205,2359
$GC,16730,0.31,129.8,930.7,4.9,416,16740,0.00,2.42,4.72,1.025,4,0.000,0.079,3421,790,2346
$GC,16768,0.32,139.9,928.9,4.7,416,16783,0.00,2.33,10.62,1.309,6,0.000,0.064,3421,2213,2305
$GC,17088,0.33,142.9,913.2,4.9,421,17094,0.00,0.00,4.43,0.979,6,0.000,0.000,3421,2213,2292
$GC,17391,0.33,143.4,898.0,5.0,426,17393,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2213,2293
$GC,17693,0.33,143.4,882.8,5.1,431,17698,0.00,2.45,0.00,0.000,4,0.000,0.079,3421,791,2292
$GC,17756,0.33,147.6,879.6,4.9,432,17767,0.00,2.30,5.97,1.137,6,0.000,0.064,3422,2200,2274
$GC,18121,0.33,147.6,861.2,5.1,438,18123,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2274
$GC,18425,0.33,147.6,845.8,5.1,443,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2273
$GC,18727,0.33,147.6,830.4,5.1,448,18728,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2273
$GC,19031,0.33,147.6,815.1,5.0,453,19035,0.00,2.40,0.00,0.000,4,0.000,0.079,3422,791,2273
$GC,19070,0.38,147.6,813.1,5.0,453,19074,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2211,2273
$GC,19391,0.38,151.3,797.5,4.9,459,19398,0.00,0.00,4.85,1.013,6,0.000,0.000,3421,2210,2259
$GC,19694,0.40,162.6,783.4,4.7,464,19707,0.00,0.00,11.45,1.274,6,0.000,0.000,3421,2210,2213
$GC,19997,0.47,177.8,769.5,4.6,469,20018,0.15,2.45,15.12,1.296,4,0.087,0.080,3491,791,2150
$GC,20063,0.33,177.8,765.0,8.0,470,20068,0.25,2.33,0.00,0.000,6,0.156,0.064,3422,2204,2149
$GC,20423,0.39,177.8,744.8,5.7,476,20424,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2204,2148
$GC,20726,0.45,177.8,726.4,6.1,481,20728,0.12,0.00,0.00,0.000,6,0.085,0.000,3471,2204,2148
$GC,21030,0.37,177.8,703.6,7.6,486,21035,0.12,2.42,0.00,0.000,4,0.146,0.077,3447,791,2147
$GC,21064,0.37,177.8,701.1,6.3,486,21068,0.00,2.30,0.00,0.000,6,0.000,0.064,3447,2205,2147
$GC,21390,0.37,177.8,680.5,6.2,492,21391,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2205,2147
$GC,21693,0.37,177.8,661.8,6.1,497,21694,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2205,2147
$GC,21996,0.37,177.8,643.8,5.9,502,22000,0.00,2.42,0.00,0.000,4,0.000,0.080,3448,786,2147
$GC,22040,0.37,177.8,641.0,6.6,502,22044,0.00,2.30,0.00,0.000,6,0.000,0.064,3448,2202,2147
$GC,22361,0.37,177.8,621.5,6.1,508,22362,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2202,2147
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$GC,29130,0.48,218.8,225.8,4.9,637,29139,0.00,2.30,4.07,0.710,6,0.000,0.063,3490,2206,1983
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$STATE,32808,end climb,SURFACE_DEPTH_REACHED
$STATE,32808,begin surface coast
$FINISH,4.5,1.025477
$STATE,32835,end surface coast,CONTROL_FINISHED_OK
$STATE,32835,begin surface
$SM_CCo,32857,22.12,0.835,0,0,1652,300.00
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$IRIDIUM_FIX,4959.75,-14219.31,140398,070738
$TT8_MAMPS,0.026078
$HUMID,2095
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$TCM_TEMP,18.00
$XPDR_PINGS,992
$24V_AH,21.8,59.383
$10V_AH,10.6,39.827
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$DEVICE_SECS,29.225,194.700,372.850,22.125,0.000,31.044,28.020,169.088,248.000,0.000,0.000,11.972,1790.045,27955.578,569.102,2309.408,605.166,33.382,1700.818,0.000,2286.375,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,645.278,631.141,1434.563,868.060,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47468,844
$CAP_FILE_SIZE,181315,0
$CFSIZE,260165632,235450368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191208,015258,5016.716,-14507.296,31,6.6,50,18.5