version: 66.03
glider: 120
mission: 9
dive: 305
start: 12 21 108 7 9 20
data:
$ID,120
$MISSION,9
$DIVE,305
$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,-24050.379
$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,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
$GPS1,065831,5009.524,-14514.449,36,1.5,42,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,-72.5
$GPS2,070826,5009.493,-14514.455,14,1.5,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.177
$KALMAN_X,29758.1,111.4,-15.5,-59234.8,-257.7
$KALMAN_Y,236402.7,-68.3,9.1,-229036.9,2294.2
$MHEAD_RNG_PITCHd_Wd,155.4,28828,-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,23,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.98,0.000,2,0.000,0.000,135,2414,1951
$GC,40,-0.67,-117.3,3.9,-0.0,1,119,13.73,2.40,-59.00,0.000,4,0.278,0.096,3093,3805,3356
$GC,371,-0.44,-117.3,39.7,-11.5,30,379,0.28,2.35,0.00,0.000,6,0.158,0.055,3172,2390,3358
$GC,700,-0.49,-117.3,61.8,-6.6,61,704,0.00,2.47,0.00,0.000,4,0.000,0.078,3168,3805,3358
$GC,724,-0.55,-117.3,63.6,-6.6,62,730,0.00,2.30,0.00,0.000,6,0.000,0.053,3168,2399,3358
$GC,1047,-0.61,-117.3,84.0,-6.1,90,1049,0.15,0.00,0.00,0.000,6,0.082,0.000,3109,2399,3358
$GC,1357,-0.57,-117.3,109.2,-7.9,105,1361,0.00,2.45,0.00,0.000,4,0.000,0.078,3108,3817,3359
$GC,1429,-0.48,-117.3,115.5,-8.7,108,1433,0.17,2.33,0.00,0.000,6,0.128,0.054,3157,2399,3359
$GC,1745,-0.54,-117.3,135.1,-6.1,123,1749,0.00,2.38,0.00,0.000,4,0.000,0.068,3157,987,3359
$GC,1800,-0.62,-117.3,138.7,-6.5,125,1805,0.12,2.30,0.00,0.000,6,0.084,0.061,3107,2408,3359
$GC,2124,-0.62,-117.3,161.4,-7.1,138,2128,0.00,2.42,0.00,0.000,4,0.000,0.068,3106,984,3359
$GC,2153,-0.62,-117.3,163.5,-7.7,139,2157,0.00,2.35,0.00,0.000,6,0.000,0.061,3107,2411,3359
$GC,2488,-0.62,-117.3,186.2,-6.8,150,2492,0.00,2.33,0.00,0.000,4,0.000,0.080,3101,3806,3359
$GC,2531,-0.62,-117.3,189.4,-7.4,151,2535,0.00,2.30,0.00,0.000,6,0.000,0.054,3101,2399,3359
$GC,2856,-0.62,-117.3,209.5,-6.1,162,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3359
$GC,3162,-0.62,-117.3,227.9,-6.1,172,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3359
$GC,3468,-0.62,-117.3,246.5,-6.1,182,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3359
$GC,3774,-0.62,-117.3,266.2,-6.6,192,3778,0.00,2.40,0.00,0.000,4,0.000,0.071,3101,991,3358
$GC,3802,-0.62,-117.3,268.2,-6.9,193,3806,0.00,2.33,0.00,0.000,6,0.000,0.062,3101,2400,3359
$GC,4137,-0.62,-117.3,290.4,-6.5,204,4141,0.00,2.35,0.00,0.000,4,0.000,0.081,3101,3805,3359
$GC,4181,-0.62,-117.3,293.3,-6.0,205,4185,0.00,2.30,0.00,0.000,6,0.000,0.055,3101,2400,3358
$GC,4503,-0.62,-117.3,313.3,-6.2,213,4507,0.00,2.38,0.00,0.000,4,0.000,0.071,3101,993,3358
$GC,4527,-0.62,-117.3,314.7,-6.2,213,4531,0.00,2.30,0.00,0.000,6,0.000,0.063,3101,2410,3358
$GC,4864,-0.62,-117.3,336.4,-6.4,219,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,5167,-0.62,-117.3,355.3,-6.3,224,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,5471,-0.62,-117.3,373.8,-6.1,229,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,5774,-0.62,-117.3,392.3,-6.1,234,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2411,3358
$GC,6076,-0.62,-117.3,410.9,-6.1,239,6081,0.00,2.42,0.00,0.000,4,0.000,0.071,3101,994,3356
$GC,6103,-0.62,-117.3,412.6,-6.3,239,6108,0.00,2.35,0.00,0.000,6,0.000,0.063,3101,2403,3357
$GC,6441,-0.62,-117.3,432.8,-6.0,245,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3357
$GC,6745,-0.62,-117.3,449.6,-5.5,250,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3357
$GC,7047,-0.62,-117.3,465.9,-5.3,255,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3356
$GC,7351,-0.62,-117.3,481.5,-5.2,260,7355,0.00,2.42,0.00,0.000,4,0.000,0.071,3101,990,3356
$GC,7378,-0.66,-117.3,483.1,-5.9,260,7382,0.00,2.38,0.00,0.000,6,0.000,0.064,3101,2408,3356
$GC,7710,-0.66,-117.3,500.9,-5.4,266,7714,0.00,2.38,0.00,0.000,4,0.000,0.072,3101,984,3356
$GC,7743,-0.71,-117.3,503.0,-6.1,266,7747,0.00,2.30,0.00,0.000,6,0.000,0.064,3101,2400,3356
$GC,8069,-0.71,-117.3,522.9,-6.1,272,8073,0.00,2.35,0.00,0.000,4,0.000,0.083,3101,3812,3356
$GC,8095,-0.71,-117.3,524.6,-6.8,272,8099,0.00,2.30,0.00,0.000,6,0.000,0.056,3101,2390,3356
$GC,8434,-0.71,-117.3,545.6,-6.3,278,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2390,3356
$GC,8736,-0.71,-117.3,564.3,-6.1,283,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2391,3355
$GC,9040,-0.71,-117.3,582.6,-6.0,288,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2391,3356
$GC,9343,-0.75,-117.3,600.7,-5.9,293,9347,0.00,2.40,0.00,0.000,4,0.000,0.072,3101,987,3355
$GC,9371,-0.81,-117.3,602.4,-6.5,293,9375,0.15,2.33,0.00,0.000,6,0.087,0.064,3045,2409,3355
$GC,9702,-0.73,-117.3,626.0,-7.1,299,9704,0.12,0.00,0.00,0.000,6,0.111,0.000,3079,2409,3355
$GC,10005,-0.73,-117.3,645.2,-6.3,304,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2409,3355
$GC,10308,-0.73,-117.3,664.5,-6.3,309,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2409,3355
$GC,10611,-0.73,-117.3,682.3,-5.9,314,10616,0.00,2.42,0.00,0.000,4,0.000,0.073,3080,990,3354
$GC,10650,-0.73,-117.3,684.7,-6.0,314,10654,0.00,2.38,0.00,0.000,6,0.000,0.066,3079,2409,3355
$GC,10977,-0.73,-117.3,703.8,-5.9,320,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2409,3354
$GC,11279,-0.73,-117.3,721.5,-5.8,325,11283,0.00,2.40,0.00,0.000,4,0.000,0.073,3079,992,3355
$GC,11318,-0.73,-117.3,723.9,-6.4,325,11322,0.00,2.30,0.00,0.000,6,0.000,0.065,3079,2399,3354
$GC,11639,-0.73,-117.3,742.8,-5.9,331,11643,0.00,2.38,0.00,0.000,4,0.000,0.084,3080,3812,3354
$GC,11671,-0.73,-117.3,744.9,-6.6,331,11675,0.00,2.30,0.00,0.000,6,0.000,0.058,3079,2397,3354
$GC,12003,-0.73,-117.3,765.5,-6.3,337,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2397,3354
$GC,12306,-0.73,-117.3,785.7,-6.7,342,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2397,3354
$GC,12609,-0.73,-117.3,805.8,-6.6,347,12614,0.00,2.40,0.00,0.000,4,0.000,0.074,3080,989,3354
$GC,12636,-0.73,-117.3,807.7,-6.8,347,12641,0.00,2.35,0.00,0.000,6,0.000,0.067,3080,2400,3353
$GC,12975,-0.73,-117.3,829.4,-6.4,353,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3353
$GC,13278,-0.73,-117.3,848.7,-6.4,358,13282,0.00,2.40,0.00,0.000,4,0.000,0.074,3079,994,3353
$GC,13327,-0.73,-117.3,852.1,-6.5,358,13331,0.00,2.33,0.00,0.000,6,0.000,0.065,3079,2410,3353
$GC,13642,-0.73,-117.3,871.4,-6.1,364,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2410,3353
$GC,13945,-0.73,-117.3,889.0,-5.8,369,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2410,3353
$GC,14249,-0.73,-117.3,906.1,-5.6,374,14253,0.00,2.42,0.00,0.000,4,0.000,0.074,3079,990,3353
$GC,14282,-0.73,-117.3,908.0,-5.6,374,14286,0.00,2.33,0.00,0.000,6,0.000,0.066,3080,2407,3353
$GC,14614,-0.73,-117.3,925.7,-5.3,380,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3353
$GC,14917,-0.73,-117.3,941.3,-5.1,385,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3353
$GC,15220,-0.73,-117.3,956.8,-5.1,390,15221,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3353
$GC,15524,-0.73,-117.3,971.9,-4.9,395,15525,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2406,3352
$GC,15826,-0.73,-117.3,987.1,-5.1,400,15830,0.00,2.45,0.00,0.000,4,0.000,0.074,3079,988,3352
$GC,15852,-0.73,-117.3,988.6,-5.7,400,15857,0.00,2.35,0.00,0.000,6,0.000,0.067,3079,2406,3352
$STATE,15881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15881,begin apogee
$GC,15887,-0.22,0.0,990.1,5.6,401,16001,0.55,0.00,107.20,1.493,6,0.141,0.000,3247,2199,2876
$STATE,16002,end apogee,CONTROL_FINISHED_OK
$STATE,16002,begin climb
$GC,16005,0.67,117.3,993.4,0.0,403,16129,0.85,2.78,111.93,1.440,4,0.091,0.076,3533,790,2396
$GC,16230,0.33,117.3,984.7,8.9,406,16235,0.40,2.45,0.00,0.000,6,0.178,0.062,3430,2201,2394
$GC,16562,0.28,117.3,965.2,5.8,412,16566,0.00,2.38,0.00,0.000,4,0.000,0.080,3428,3614,2393
$GC,16625,0.16,117.3,961.3,6.1,413,16630,0.25,2.35,0.00,0.000,6,0.173,0.063,3371,2189,2393
$GC,16991,0.33,154.7,946.5,3.9,419,17028,0.17,0.00,33.62,1.429,6,0.082,0.000,3436,2189,2245
$GC,17294,0.33,154.7,929.0,6.0,424,17298,0.00,2.47,0.00,0.000,4,0.000,0.081,3436,3617,2242
$GC,17326,0.25,154.7,926.7,6.9,424,17331,0.15,2.40,0.00,0.000,6,0.176,0.064,3400,2192,2242
$GC,17655,0.35,165.0,911.4,4.7,430,17667,0.00,0.00,10.32,1.303,6,0.000,0.000,3400,2193,2203
$GC,17956,0.47,177.2,897.3,4.6,435,17971,0.20,0.00,12.62,1.335,6,0.080,0.000,3477,2192,2153
$GC,18259,0.36,177.2,875.2,7.5,440,18264,0.15,2.50,0.00,0.000,4,0.153,0.080,3429,3609,2151
$GC,18303,0.36,177.2,871.9,6.8,440,18307,0.00,2.40,0.00,0.000,6,0.000,0.063,3435,2197,2151
$GC,18618,0.36,177.2,852.2,6.2,446,18619,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2198,2151
$GC,18921,0.36,177.2,833.0,6.4,451,18925,0.00,2.47,0.00,0.000,4,0.000,0.081,3435,3610,2151
$GC,18953,0.32,177.2,830.5,6.5,451,18957,0.00,2.40,0.00,0.000,6,0.000,0.064,3436,2191,2151
$GC,19280,0.32,177.2,808.9,6.7,457,19281,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2151
$GC,19582,0.32,177.2,787.5,7.1,462,19587,0.00,2.47,0.00,0.000,4,0.000,0.081,3435,3620,2151
$GC,19638,0.27,177.2,783.1,7.6,462,19645,0.00,2.40,0.00,0.000,6,0.000,0.064,3436,2192,2151
$GC,19947,0.27,177.2,761.9,6.8,468,19952,0.12,2.45,0.00,0.000,4,0.172,0.080,3402,3612,2151
$GC,19986,0.34,177.2,759.4,5.7,468,19990,0.00,2.38,0.00,0.000,6,0.000,0.063,3407,2189,2151
$GC,20306,0.45,177.2,742.3,5.3,474,20311,0.15,2.45,0.00,0.000,4,0.087,0.081,3474,3615,2151
$GC,20345,0.27,177.2,739.2,9.1,474,20350,0.25,2.35,0.00,0.000,6,0.167,0.065,3408,2200,2150
$GC,20666,0.38,177.2,722.3,5.2,480,20670,0.00,2.40,0.00,0.000,4,0.000,0.079,3408,792,2150
$GC,20693,0.51,180.1,720.8,4.9,480,20703,0.20,2.30,4.05,0.877,6,0.084,0.064,3482,2212,2141
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$STATE,32517,end climb,SURFACE_DEPTH_REACHED
$STATE,32517,begin surface coast
$FINISH,2.7,1.015714
$STATE,32667,end surface coast,CONTROL_FINISHED_OK
$STATE,32667,begin surface
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$IRIDIUM_FIX,4949.70,-14515.32,170398,070715
$TT8_MAMPS,0.026845
$HUMID,2091
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$TCM_TEMP,16.00
$XPDR_PINGS,1005
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$10V_AH,10.6,40.756
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$DEVICE_SECS,29.225,233.250,351.300,35.575,0.000,53.518,63.445,267.379,251.250,0.000,0.000,32.921,1837.276,27675.846,579.629,2424.788,793.997,33.382,1782.962,0.000,2379.741,0.000,0.466
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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,50638,848
$CAP_FILE_SIZE,194571,0
$CFSIZE,260165632,234901504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211208,161602,5006.288,-14513.996,40,1.8,40,18.4