version: 66.03
glider: 120
mission: 9
dive: 301
start: 12 19 108 18 23 46
data:
$ID,120
$MISSION,9
$DIVE,301
$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,-23934.969
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,181638,5021.429,-14512.538,34,1.5,34,18.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-72.7
$GPS2,182251,5021.476,-14512.566,15,1.8,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.029,-0.175
$KALMAN_X,29414.1,-312.9,-43.4,-56195.0,1265.8
$KALMAN_Y,230028.0,100.8,210.0,-200850.3,-638.9
$MHEAD_RNG_PITCHd_Wd,171.0,50869,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.2,0.0,0.0,0,35,0.00,0.00,-11.00,0.000,2,0.000,0.000,134,2411,1920
$GC,38,-0.67,-117.3,3.6,-0.0,1,117,14.00,2.47,-59.08,0.000,4,0.285,0.081,3097,987,3355
$GC,152,-0.46,-117.3,10.0,-12.4,11,157,0.25,2.33,0.00,0.000,6,0.165,0.064,3167,2398,3356
$GC,477,-0.46,-117.3,37.8,-9.3,41,478,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2398,3357
$GC,797,-0.51,-117.3,61.2,-6.7,71,798,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2398,3357
$GC,1112,-0.51,-117.3,84.7,-7.1,98,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2398,3358
$GC,1423,-0.81,-117.3,106.1,-7.7,113,1427,0.30,2.38,0.00,0.000,4,0.088,0.077,3058,3820,3358
$GC,1630,-0.59,-117.3,126.8,-9.5,122,1635,0.25,2.30,0.00,0.000,6,0.156,0.054,3127,2398,3358
$GC,1946,-0.59,-117.3,148.8,-7.4,137,1950,0.00,2.42,0.00,0.000,4,0.000,0.079,3126,3817,3359
$GC,1984,-0.59,-117.3,151.8,-7.4,139,1988,0.00,2.35,0.00,0.000,6,0.000,0.053,3126,2374,3358
$GC,2314,-0.59,-117.3,176.9,-7.5,150,2318,0.00,2.35,0.00,0.000,4,0.000,0.068,3126,985,3359
$GC,2376,-0.59,-117.3,181.4,-7.5,152,2380,0.00,2.30,0.00,0.000,6,0.000,0.062,3126,2401,3358
$GC,2710,-0.59,-117.3,204.1,-6.3,163,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3358
$GC,3017,-0.59,-117.3,223.3,-6.3,173,3021,0.00,2.40,0.00,0.000,4,0.000,0.069,3126,992,3359
$GC,3049,-0.64,-117.3,225.4,-6.4,174,3054,0.00,2.33,0.00,0.000,6,0.000,0.062,3126,2412,3358
$GC,3379,-0.64,-117.3,245.1,-5.8,185,3383,0.00,2.35,0.00,0.000,4,0.000,0.081,3126,3813,3358
$GC,3423,-0.71,-117.3,247.9,-6.3,186,3428,0.12,2.33,0.00,0.000,6,0.085,0.054,3079,2395,3358
$GC,3742,-0.71,-117.3,269.0,-6.7,197,3746,0.00,2.38,0.00,0.000,4,0.000,0.070,3079,993,3358
$GC,3786,-0.67,-117.3,272.4,-7.4,198,3790,0.00,2.28,0.00,0.000,6,0.000,0.062,3078,2400,3358
$GC,4104,-0.60,-117.3,294.5,-7.1,209,4109,0.15,2.35,0.00,0.000,4,0.146,0.080,3122,3806,3358
$GC,4137,-0.66,-117.3,296.9,-6.2,210,4141,0.00,2.30,0.00,0.000,6,0.000,0.055,3122,2398,3358
$GC,4464,-0.70,-117.3,316.6,-6.2,217,4468,0.00,2.40,0.00,0.000,4,0.000,0.071,3122,986,3357
$GC,4497,-0.77,-117.3,318.9,-7.0,217,4501,0.15,2.33,0.00,0.000,6,0.082,0.062,3066,2403,3357
$GC,4823,-0.70,-117.3,344.3,-7.9,223,4827,0.00,2.40,0.00,0.000,4,0.000,0.081,3066,3810,3356
$GC,4873,-0.61,-117.3,348.7,-8.3,223,4877,0.17,2.33,0.00,0.000,6,0.128,0.055,3115,2399,3357
$GC,5182,-0.61,-117.3,368.4,-6.3,228,5186,0.00,2.40,0.00,0.000,4,0.000,0.071,3116,993,3356
$GC,5222,-0.61,-117.3,371.1,-6.6,228,5227,0.00,2.28,0.00,0.000,6,0.000,0.063,3113,2399,3356
$GC,5543,-0.61,-117.3,390.0,-5.8,234,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3356
$GC,5846,-0.61,-117.3,407.0,-5.6,239,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3356
$GC,6149,-0.61,-117.3,422.6,-5.1,244,6153,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,993,3356
$GC,6188,-0.66,-117.3,424.6,-5.2,244,6192,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2406,3356
$GC,6508,-0.66,-117.3,441.0,-5.1,250,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3356
$GC,6812,-0.70,-117.3,456.7,-5.1,255,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3356
$GC,7115,-0.74,-117.3,472.7,-5.3,260,7117,0.12,0.00,0.00,0.000,6,0.091,0.000,3063,2405,3355
$GC,7418,-0.70,-117.3,490.8,-6.0,265,7422,0.00,2.38,0.00,0.000,4,0.000,0.082,3062,3817,3356
$GC,7446,-0.62,-117.3,492.7,-6.8,265,7450,0.20,2.35,0.00,0.000,6,0.122,0.056,3119,2398,3355
$GC,7777,-0.68,-117.3,509.7,-5.2,271,7781,0.00,2.42,0.00,0.000,4,0.000,0.071,3119,990,3355
$GC,7816,-0.75,-117.3,511.8,-5.9,271,7821,0.12,2.33,0.00,0.000,6,0.085,0.064,3070,2401,3355
$GC,8136,-0.75,-117.3,531.3,-6.1,277,8140,0.00,2.38,0.00,0.000,4,0.000,0.081,3070,3811,3355
$GC,8169,-0.70,-117.3,533.5,-7.1,277,8173,0.00,2.33,0.00,0.000,6,0.000,0.056,3069,2391,3355
$GC,8495,-0.70,-117.3,554.3,-6.3,283,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2391,3355
$GC,8798,-0.70,-117.3,573.4,-6.3,288,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2391,3355
$GC,9101,-0.70,-117.3,592.4,-6.4,293,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3355
$GC,9404,-0.70,-117.3,612.6,-6.7,298,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2391,3354
$GC,9707,-0.70,-117.3,633.7,-7.0,303,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3354
$GC,10010,-0.70,-117.3,654.8,-7.0,308,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2391,3354
$GC,10314,-0.70,-117.3,674.7,-6.5,313,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3354
$GC,10617,-0.70,-117.3,692.8,-5.8,318,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3354
$GC,10919,-0.70,-117.3,710.3,-5.8,323,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2391,3354
$GC,11223,-0.70,-117.3,728.1,-5.9,328,11227,0.00,2.42,0.00,0.000,4,0.000,0.073,3070,990,3353
$GC,11255,-0.70,-117.3,730.2,-6.0,328,11259,0.00,2.30,0.00,0.000,6,0.000,0.066,3069,2406,3353
$GC,11587,-0.70,-117.3,750.4,-6.1,334,11591,0.00,2.38,0.00,0.000,4,0.000,0.084,3069,3815,3353
$GC,11621,-0.66,-117.3,752.5,-6.3,334,11626,0.12,2.35,0.00,0.000,6,0.133,0.057,3102,2393,3353
$GC,11948,-0.71,-117.3,771.0,-5.7,340,11950,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2392,3353
$GC,12251,-0.76,-117.3,789.3,-6.1,345,12255,0.00,2.42,0.00,0.000,4,0.000,0.073,3102,995,3353
$GC,12283,-0.81,-117.3,791.5,-6.6,345,12288,0.12,2.30,0.00,0.000,6,0.093,0.065,3053,2401,3353
$GC,12609,-0.81,-117.3,814.5,-7.1,351,12613,0.00,2.35,0.00,0.000,4,0.000,0.083,3053,3810,3353
$GC,12647,-0.72,-117.3,817.4,-8.1,351,12652,0.10,2.33,0.00,0.000,6,0.108,0.057,3079,2394,3353
$GC,12967,-0.72,-117.3,839.2,-6.7,357,12971,0.00,2.38,0.00,0.000,4,0.000,0.073,3079,993,3353
$GC,12996,-0.72,-117.3,841.0,-6.9,357,13000,0.00,2.30,0.00,0.000,6,0.000,0.065,3079,2401,3353
$GC,13328,-0.72,-117.3,861.9,-6.2,363,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3353
$GC,13631,-0.72,-117.3,879.3,-5.8,368,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3353
$GC,13935,-0.72,-117.3,896.4,-5.6,373,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3352
$GC,14237,-0.72,-117.3,913.1,-5.6,378,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3353
$GC,14540,-0.72,-117.3,930.2,-5.6,383,14541,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3352
$GC,14844,-0.72,-117.3,947.1,-5.6,388,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3352
$GC,15146,-0.72,-117.3,963.2,-5.3,393,15150,0.00,2.42,0.00,0.000,4,0.000,0.074,3079,987,3352
$GC,15173,-0.72,-117.3,964.8,-5.7,393,15177,0.00,2.33,0.00,0.000,6,0.000,0.067,3079,2403,3352
$GC,15505,-0.72,-117.3,982.1,-5.2,399,15509,0.00,2.38,0.00,0.000,4,0.000,0.085,3079,3815,3352
$GC,15532,-0.72,-117.3,983.6,-5.7,399,15536,0.00,2.30,0.00,0.000,6,0.000,0.059,3079,2391,3352
$STATE,15685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15685,begin apogee
$GC,15691,-0.22,0.0,992.1,5.4,402,15800,0.55,0.00,106.07,1.497,6,0.144,0.000,3246,2199,2876
$STATE,15801,end apogee,CONTROL_FINISHED_OK
$STATE,15801,begin climb
$GC,15803,0.67,117.3,993.9,0.0,403,15919,0.85,0.00,112.25,1.439,6,0.092,0.000,3525,2200,2396
$GC,16174,0.34,117.3,978.9,7.4,410,16179,0.32,2.53,0.00,0.000,4,0.163,0.079,3428,3618,2393
$GC,16223,0.23,117.3,975.8,5.7,410,16229,0.17,2.45,0.00,0.000,6,0.171,0.062,3393,2196,2392
$GC,16534,0.36,163.2,964.1,3.7,415,16577,0.12,0.00,41.38,1.434,6,0.087,0.000,3440,2196,2210
$GC,16837,0.36,163.2,947.4,5.7,420,16838,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2196,2206
$GC,17139,0.36,163.2,929.9,5.8,425,17140,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2196,2206
$GC,17442,0.36,163.2,911.4,6.2,430,17446,0.00,2.42,0.00,0.000,4,0.000,0.079,3445,786,2205
$GC,17480,0.36,163.2,908.9,6.7,430,17484,0.00,2.33,0.00,0.000,6,0.000,0.065,3444,2213,2205
$GC,17807,0.36,163.2,886.6,6.9,436,17811,0.00,2.33,0.00,0.000,4,0.000,0.082,3445,3612,2205
$GC,17839,0.26,163.2,883.9,7.3,436,17844,0.17,2.35,0.00,0.000,6,0.163,0.064,3402,2198,2205
$GC,18165,0.36,163.2,864.6,5.8,442,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2198,2205
$GC,18469,0.46,163.2,847.0,5.9,447,18470,0.17,0.00,0.00,0.000,6,0.081,0.000,3472,2198,2205
$GC,18772,0.35,163.2,824.2,7.6,452,18774,0.15,0.00,0.00,0.000,6,0.146,0.000,3431,2198,2205
$GC,19074,0.35,163.2,804.4,6.5,457,19075,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2198,2204
$GC,19377,0.35,163.2,785.5,6.2,462,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2198,2204
$GC,19681,0.35,163.2,767.6,5.9,467,19685,0.00,2.45,0.00,0.000,4,0.000,0.081,3430,3614,2204
$GC,19714,0.31,163.2,765.5,6.2,467,19718,0.00,2.40,0.00,0.000,6,0.000,0.064,3436,2199,2204
$GC,20046,0.31,163.2,746.2,5.8,473,20050,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,790,2204
$GC,20089,0.31,163.2,743.6,5.5,473,20093,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2207,2204
$GC,20411,0.31,163.2,726.1,5.4,479,20412,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2204
$GC,20713,0.31,163.2,710.1,5.2,484,20714,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2204
$GC,21016,0.31,163.2,694.2,5.2,489,21017,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2204
$GC,21320,0.31,163.2,678.3,5.2,494,21321,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2204
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$STATE,33031,end climb,SURFACE_DEPTH_REACHED
$STATE,33031,begin surface coast
$FINISH,2.9,1.025459
$STATE,33116,end surface coast,CONTROL_FINISHED_OK
$STATE,33116,begin surface
$SM_CCo,33135,14.43,0.823,0,0,1652,300.00
$SM_GC,4.85,0.00,0.00,14.43,0.000,0.000,0.823,150,2410,1652,-9.90,0.28,300.00
$IRIDIUM_FIX,5003.11,-14511.25,150398,101050
$TT8_MAMPS,0.026845
$HUMID,2099
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,14.50
$XPDR_PINGS,988
$24V_AH,21.9,59.911
$10V_AH,10.6,40.217
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$DEVICE_SECS,30.350,194.675,372.200,14.425,0.000,28.677,25.409,197.015,247.000,0.000,0.000,15.392,1830.672,28210.033,577.206,2266.080,635.078,33.382,1678.242,0.000,2245.268,0.000,0.465
$DEVICE_MAMPS,284.557,85.137,1497.184,822.991,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,667.198,648.832,1475.423,892.816,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50548,868
$CAP_FILE_SIZE,184663,0
$CFSIZE,260165632,235212800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201208,033808,5018.085,-14512.877,73,1.8,73,18.5