version: 66.03
glider: 120
mission: 9
dive: 304
start: 12 20 108 21 52 15
data:
$ID,120
$MISSION,9
$DIVE,304
$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,-24016.83
$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,16
$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
$GPS1,214538,5012.474,-14514.080,28,1.2,28,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-73.6
$GPS2,215120,5012.479,-14514.075,14,1.2,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.013,-0.177
$KALMAN_X,29998.1,-222.6,60.8,-58764.8,881.8
$KALMAN_Y,234819.7,-57.2,116.4,-222053.2,2113.2
$MHEAD_RNG_PITCHd_Wd,165.7,34297,-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,-117.3,0.0,0.0,0,35,0.00,0.00,-11.10,0.000,2,0.000,0.000,136,2400,1913
$GC,38,-0.67,-117.3,3.5,-0.0,1,124,14.02,2.55,-61.33,0.000,4,0.286,0.094,3094,3812,3356
$GC,365,-0.47,-117.3,35.2,-13.9,30,372,0.25,2.38,0.00,0.000,6,0.155,0.055,3165,2390,3358
$GC,692,-0.47,-117.3,56.9,-6.3,61,695,0.00,2.40,0.00,0.000,4,0.000,0.068,3164,985,3358
$GC,719,-0.47,-117.3,58.6,-5.7,63,726,0.00,2.35,0.00,0.000,6,0.000,0.062,3165,2413,3358
$GC,1054,-0.47,-117.3,82.5,-8.0,94,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2412,3359
$GC,1364,-0.54,-117.3,106.5,-7.6,109,1368,0.00,2.45,0.00,0.000,4,0.000,0.067,3165,992,3359
$GC,1408,-0.63,-117.3,110.1,-7.7,111,1413,0.15,2.35,0.00,0.000,6,0.081,0.061,3110,2410,3359
$GC,1729,-0.63,-117.3,136.4,-7.9,127,1733,0.00,2.38,0.00,0.000,4,0.000,0.079,3110,3811,3359
$GC,1762,-0.56,-117.3,139.3,-9.0,128,1768,0.00,2.33,0.00,0.000,6,0.000,0.053,3110,2397,3359
$GC,2096,-0.56,-117.3,165.4,-7.6,142,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3359
$GC,2403,-0.56,-117.3,186.9,-6.9,152,2407,0.00,2.42,0.00,0.000,4,0.000,0.080,3110,3811,3360
$GC,2499,-0.56,-117.3,193.5,-7.0,155,2503,0.00,2.35,0.00,0.000,6,0.000,0.054,3110,2389,3359
$GC,2833,-0.56,-117.3,214.3,-6.4,166,2837,0.00,2.38,0.00,0.000,4,0.000,0.069,3110,991,3359
$GC,2883,-0.61,-117.3,217.8,-7.2,167,2887,0.00,2.30,0.00,0.000,6,0.000,0.061,3110,2414,3360
$GC,3200,-0.61,-117.3,239.4,-6.8,178,3204,0.00,2.35,0.00,0.000,4,0.000,0.081,3110,3816,3360
$GC,3227,-0.61,-117.3,241.5,-7.4,178,3234,0.00,2.38,0.00,0.000,6,0.000,0.054,3110,2397,3359
$GC,3540,-0.61,-117.3,262.3,-6.7,189,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3360
$GC,3847,-0.61,-117.3,282.0,-6.4,199,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3359
$GC,4152,-0.61,-117.3,301.5,-6.3,209,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3359
$GC,4456,-0.61,-117.3,319.4,-5.8,214,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3359
$GC,4759,-0.61,-117.3,336.1,-5.5,219,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3359
$GC,5062,-0.61,-117.3,354.1,-6.0,224,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3358
$GC,5365,-0.61,-117.3,373.1,-6.3,229,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3358
$GC,5668,-0.61,-117.3,392.6,-6.5,234,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3359
$GC,5971,-0.61,-117.3,412.1,-6.4,239,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3358
$GC,6275,-0.65,-117.3,430.7,-6.0,244,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3358
$GC,6578,-0.69,-117.3,447.9,-5.6,249,6582,0.00,2.45,0.00,0.000,4,0.000,0.082,3110,3811,3357
$GC,6606,-0.75,-117.3,449.6,-5.9,249,6610,0.00,2.35,0.00,0.000,6,0.000,0.056,3110,2394,3357
$GC,6944,-0.80,-117.3,468.4,-5.6,255,6949,0.15,2.40,0.00,0.000,4,0.088,0.071,3050,988,3357
$GC,6971,-0.70,-117.3,470.5,-7.9,255,6976,0.15,2.30,0.00,0.000,6,0.160,0.064,3087,2400,3357
$GC,7309,-0.70,-117.3,494.1,-7.0,261,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2400,3357
$GC,7611,-0.70,-117.3,516.5,-7.5,266,7615,0.00,2.42,0.00,0.000,4,0.000,0.071,3087,990,3357
$GC,7638,-0.70,-117.3,518.7,-7.7,266,7642,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2400,3357
$GC,7970,-0.70,-117.3,543.6,-7.5,272,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3357
$GC,8272,-0.70,-117.3,566.5,-7.6,277,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,8575,-0.70,-117.3,589.8,-7.7,282,8579,0.00,2.42,0.00,0.000,4,0.000,0.072,3086,993,3356
$GC,8602,-0.70,-117.3,592.0,-8.5,282,8606,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2407,3356
$GC,8940,-0.70,-117.3,615.8,-7.0,288,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,9244,-0.70,-117.3,636.5,-6.9,293,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,9546,-0.70,-117.3,657.5,-6.9,298,9551,0.00,2.45,0.00,0.000,4,0.000,0.072,3085,988,3356
$GC,9585,-0.70,-117.3,660.1,-7.2,298,9589,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2407,3356
$GC,9911,-0.70,-117.3,681.1,-6.4,304,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,10215,-0.70,-117.3,699.2,-5.9,309,10219,0.00,2.45,0.00,0.000,4,0.000,0.072,3086,994,3355
$GC,10241,-0.70,-117.3,700.9,-6.6,309,10245,0.00,2.30,0.00,0.000,6,0.000,0.065,3086,2400,3355
$GC,10579,-0.70,-117.3,719.7,-5.5,315,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,10882,-0.70,-117.3,735.8,-5.3,320,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,11186,-0.70,-117.3,751.6,-5.2,325,11190,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3815,3355
$GC,11212,-0.70,-117.3,753.2,-6.4,325,11216,0.00,2.35,0.00,0.000,6,0.000,0.057,3086,2395,3355
$GC,11550,-0.70,-117.3,771.9,-5.6,331,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,11853,-0.70,-117.3,790.0,-6.0,336,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,12157,-0.70,-117.3,808.6,-6.2,341,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,12460,-0.70,-117.3,826.9,-6.0,346,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,12763,-0.70,-117.3,845.6,-6.2,351,12767,0.00,2.47,0.00,0.000,4,0.000,0.084,3086,3811,3354
$GC,12800,-0.70,-117.3,848.0,-6.1,351,12804,0.00,2.35,0.00,0.000,6,0.000,0.058,3086,2396,3354
$GC,13127,-0.70,-117.3,869.5,-6.7,357,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3354
$GC,13430,-0.70,-117.3,890.6,-7.0,362,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3354
$GC,13733,-0.70,-117.3,911.2,-6.7,367,13738,0.00,2.42,0.00,0.000,4,0.000,0.074,3086,990,3354
$GC,13766,-0.70,-117.3,913.7,-7.2,367,13770,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2413,3354
$GC,14099,-0.70,-117.3,935.1,-6.4,373,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2413,3354
$GC,14402,-0.70,-117.3,953.2,-6.0,378,14406,0.00,2.45,0.00,0.000,4,0.000,0.074,3086,992,3353
$GC,14428,-0.70,-117.3,954.8,-6.1,378,14432,0.00,2.33,0.00,0.000,6,0.000,0.066,3086,2410,3353
$GC,14766,-0.70,-117.3,974.3,-5.8,384,14767,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3354
$STATE,15067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15067,begin apogee
$GC,15073,-0.22,0.0,991.7,5.7,389,15183,0.52,0.00,106.95,1.494,6,0.141,0.000,3244,2202,2876
$STATE,15184,end apogee,CONTROL_FINISHED_OK
$STATE,15184,begin climb
$GC,15186,0.67,117.3,993.8,0.0,390,15310,0.88,2.80,111.38,1.439,4,0.096,0.076,3533,789,2396
$GC,15388,0.34,117.3,991.7,7.3,393,15394,0.40,2.47,0.00,0.000,6,0.176,0.062,3431,2207,2394
$GC,15744,0.30,124.2,974.4,4.8,399,15758,0.00,2.45,7.38,1.200,4,0.000,0.081,3428,3613,2368
$GC,15786,0.18,124.2,972.1,5.3,399,15791,0.22,2.40,0.00,0.000,6,0.174,0.063,3379,2193,2369
$GC,16108,0.35,168.2,960.1,3.7,405,16150,0.15,0.00,40.22,1.437,6,0.084,0.000,3435,2194,2189
$GC,16410,0.39,168.2,943.3,5.7,410,16412,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2186
$GC,16713,0.44,168.2,925.8,5.8,415,16717,0.00,2.47,0.00,0.000,4,0.000,0.083,3435,3612,2185
$GC,16746,0.39,168.2,923.4,7.6,415,16750,0.00,2.40,0.00,0.000,6,0.000,0.064,3435,2202,2186
$GC,17071,0.39,168.2,902.8,6.4,421,17076,0.00,2.47,0.00,0.000,4,0.000,0.079,3436,786,2185
$GC,17115,0.39,168.2,900.0,6.0,421,17119,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2211,2185
$GC,17436,0.39,168.2,880.3,6.1,427,17440,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3610,2184
$GC,17491,0.31,168.2,876.5,7.5,427,17499,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2198,2185
$GC,17801,0.31,168.2,858.2,5.9,433,17802,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2185
$GC,18104,0.31,168.2,839.1,6.3,438,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2185
$GC,18407,0.31,168.2,819.7,6.5,443,18411,0.00,2.45,0.00,0.000,4,0.000,0.080,3436,3609,2185
$GC,18457,0.25,168.2,816.1,8.0,443,18461,0.15,2.38,0.00,0.000,6,0.173,0.064,3398,2200,2184
$GC,18767,0.37,168.2,798.4,5.7,448,18768,0.12,0.00,0.00,0.000,6,0.087,0.000,3445,2201,2184
$GC,19069,0.41,168.2,778.1,6.8,453,19071,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2201,2184
$GC,19372,0.41,168.2,757.6,6.8,458,19374,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2201,2184
$GC,19676,0.45,168.2,738.3,6.3,463,19680,0.00,2.42,0.00,0.000,4,0.000,0.079,3445,791,2184
$GC,19714,0.45,168.2,735.8,5.8,463,19718,0.00,2.30,0.00,0.000,6,0.000,0.065,3445,2204,2184
$GC,20035,0.45,168.2,716.3,6.1,469,20036,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2204,2184
$GC,20338,0.45,168.2,698.4,5.9,474,20339,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2205,2184
$GC,20641,0.45,168.2,681.5,5.5,479,20642,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2204,2184
$GC,20944,0.45,168.2,665.2,5.3,484,20948,0.00,2.38,0.00,0.000,4,0.000,0.083,3445,3610,2184
$GC,20993,0.38,168.2,661.9,6.4,484,20997,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2201,2184
$GC,21303,0.38,168.2,643.9,5.8,489,21307,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,791,2184
$GC,21380,0.38,168.2,639.4,5.1,490,21384,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2207,2184
$GC,21729,0.38,168.2,619.0,5.9,496,21730,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2184
$GC,22032,0.38,168.2,601.1,6.0,501,22033,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2184
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$STATE,32621,end climb,SURFACE_DEPTH_REACHED
$STATE,32621,begin surface coast
$FINISH,4.4,1.025472
$STATE,32652,end surface coast,CONTROL_FINISHED_OK
$STATE,32652,begin surface
$SM_CCo,32674,19.73,0.829,0,0,1652,300.00
$SM_GC,3.53,0.00,0.00,19.73,0.000,0.000,0.829,145,2412,1652,-9.91,0.37,300.00
$IRIDIUM_FIX,4956.40,-14512.33,160398,131340
$TT8_MAMPS,0.026845
$HUMID,2097
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.90
$XPDR_PINGS,977
$24V_AH,21.7,60.464
$10V_AH,10.6,40.617
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$DEVICE_SECS,28.550,192.050,366.675,19.725,0.000,24.181,27.327,165.117,244.250,0.000,0.000,14.980,1782.236,27799.654,559.483,2301.661,588.613,33.382,1687.648,0.000,2273.055,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,647.818,635.848,1449.912,876.040,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50621,853
$CAP_FILE_SIZE,176631,0
$CFSIZE,260165632,234987520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211208,065831,5009.524,-14514.449,36,1.5,42,18.5