version: 66.03
glider: 120
mission: 9
dive: 307
start: 12 22 108 1 44 58
data:
$ID,120
$MISSION,9
$DIVE,307
$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,-24081.57
$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,15
$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
$GPS1,013825,5003.203,-14513.096,46,1.5,46,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-68.8
$GPS2,014403,5003.183,-14513.076,13,1.6,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.004,-0.178
$KALMAN_X,30494.7,215.3,13.0,-58475.4,188.2
$KALMAN_Y,239063.0,-159.4,-315.7,-242966.2,2656.0
$MHEAD_RNG_PITCHd_Wd,160.3,17039,-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,-11.12,0.000,2,0.000,0.000,145,2401,1550
$GC,38,-0.67,-117.3,3.6,-0.0,1,145,13.57,2.50,-83.15,0.000,4,0.277,0.092,3097,3811,3356
$GC,397,-0.49,-117.3,37.9,-8.2,33,404,0.22,2.35,0.00,0.000,6,0.159,0.054,3159,2391,3357
$GC,726,-0.49,-117.3,62.7,-9.4,64,730,0.00,2.50,0.00,0.000,4,0.000,0.079,3155,3822,3357
$GC,754,-0.49,-117.3,65.7,-9.5,66,758,0.00,2.35,0.00,0.000,6,0.000,0.052,3155,2396,3357
$GC,1085,-0.49,-117.3,90.5,-6.6,90,1089,0.00,2.38,0.00,0.000,4,0.000,0.068,3155,988,3358
$GC,1126,-0.53,-117.3,93.4,-6.7,91,1132,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2410,3358
$GC,1442,-0.57,-117.3,114.8,-6.6,107,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2410,3358
$GC,1752,-0.64,-117.3,133.9,-6.0,122,1756,0.15,2.42,0.00,0.000,4,0.081,0.067,3091,989,3358
$GC,1814,-0.55,-117.3,138.9,-8.3,125,1819,0.17,2.30,0.00,0.000,6,0.150,0.061,3139,2403,3359
$GC,2140,-0.59,-117.3,157.8,-5.7,139,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2403,3359
$GC,2446,-0.65,-117.3,177.6,-6.5,149,2450,0.00,2.35,0.00,0.000,4,0.000,0.080,3139,3815,3359
$GC,2490,-0.76,-117.3,180.6,-7.1,150,2495,0.20,2.33,0.00,0.000,6,0.079,0.053,3066,2402,3358
$GC,2814,-0.62,-117.3,210.9,-9.6,161,2819,0.15,2.38,0.00,0.000,4,0.153,0.068,3118,993,3359
$GC,2842,-0.62,-117.3,213.6,-9.0,162,2846,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2404,3358
$GC,3183,-0.62,-117.3,238.5,-7.1,173,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3359
$GC,3489,-0.62,-117.3,258.7,-6.4,183,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3358
$GC,3796,-0.62,-117.3,277.5,-6.1,193,3799,0.00,2.42,0.00,0.000,4,0.000,0.070,3112,988,3358
$GC,3830,-0.62,-117.3,279.7,-6.5,194,3834,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2400,3358
$GC,4200,-0.62,-117.3,304.5,-6.9,205,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,4503,-0.62,-117.3,325.2,-6.8,210,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3357
$GC,4807,-0.62,-117.3,345.1,-6.4,215,4811,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,989,3357
$GC,4834,-0.62,-117.3,347.0,-6.6,215,4838,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2401,3357
$GC,5171,-0.62,-117.3,367.0,-5.8,221,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,5475,-0.62,-117.3,385.5,-6.1,226,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3357
$GC,5779,-0.62,-117.3,404.8,-6.3,231,5783,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,988,3356
$GC,5805,-0.62,-117.3,406.7,-7.1,231,5810,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2404,3355
$GC,6144,-0.62,-117.3,428.1,-6.4,237,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3356
$GC,6446,-0.62,-117.3,446.9,-6.1,242,6451,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,987,3356
$GC,6474,-0.62,-117.3,448.9,-7.1,242,6478,0.00,2.38,0.00,0.000,6,0.000,0.064,3113,2413,3356
$GC,6806,-0.66,-117.3,469.3,-6.2,248,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2414,3355
$GC,7110,-0.70,-117.3,488.6,-6.4,253,7114,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,992,3355
$GC,7131,-0.74,-117.3,490.2,-6.8,253,7136,0.12,2.30,0.00,0.000,6,0.087,0.064,3065,2404,3355
$GC,7469,-0.74,-117.3,514.8,-7.4,259,7473,0.00,2.35,0.00,0.000,4,0.000,0.082,3061,3818,3355
$GC,7496,-0.66,-117.3,517.1,-8.8,259,7501,0.15,2.30,0.00,0.000,6,0.124,0.057,3101,2392,3355
$GC,7827,-0.66,-117.3,539.3,-6.7,265,7831,0.00,2.35,0.00,0.000,4,0.000,0.072,3103,987,3355
$GC,7871,-0.66,-117.3,542.4,-7.3,265,7875,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2402,3355
$GC,8186,-0.66,-117.3,563.5,-6.7,271,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3355
$GC,8489,-0.66,-117.3,583.2,-6.4,276,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3355
$GC,8792,-0.66,-117.3,601.7,-6.1,281,8796,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,996,3354
$GC,8813,-0.66,-117.3,603.1,-6.3,281,8817,0.00,2.30,0.00,0.000,6,0.000,0.064,3101,2401,3354
$GC,9151,-0.66,-117.3,621.7,-5.4,287,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3354
$GC,9454,-0.66,-117.3,637.4,-5.2,292,9458,0.00,2.42,0.00,0.000,4,0.000,0.072,3101,994,3354
$GC,9487,-0.66,-117.3,639.3,-5.8,292,9491,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2398,3354
$GC,9820,-0.66,-117.3,657.3,-5.5,298,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3354
$GC,10122,-0.66,-117.3,675.5,-6.0,303,10126,0.00,2.40,0.00,0.000,4,0.000,0.071,3101,996,3353
$GC,10149,-0.66,-117.3,677.3,-6.9,303,10154,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2404,3354
$GC,10482,-0.66,-117.3,698.5,-6.4,309,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3354
$GC,10785,-0.66,-117.3,716.4,-5.9,314,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2404,3354
$GC,11088,-0.66,-117.3,733.4,-5.7,319,11092,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,993,3353
$GC,11131,-0.66,-117.3,736.2,-6.1,319,11135,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2406,3353
$GC,11453,-0.66,-117.3,754.9,-5.8,325,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3353
$GC,11756,-0.66,-117.3,771.9,-5.5,330,11760,0.00,2.42,0.00,0.000,4,0.000,0.073,3101,992,3353
$GC,11783,-0.71,-117.3,773.4,-5.3,330,11787,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2404,3353
$GC,12122,-0.75,-117.3,790.3,-4.9,336,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3353
$GC,12425,-0.79,-117.3,804.6,-4.8,341,12426,0.12,0.00,0.00,0.000,6,0.091,0.000,3050,2404,3352
$GC,12727,-0.79,-117.3,822.9,-6.1,346,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2405,3352
$GC,13030,-0.79,-117.3,841.7,-6.2,351,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,13333,-0.79,-117.3,860.1,-6.1,356,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,13636,-0.79,-117.3,879.0,-6.2,361,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,13939,-0.79,-117.3,899.3,-6.8,366,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,14243,-0.79,-117.3,920.5,-7.0,371,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,14545,-0.79,-117.3,941.8,-7.1,376,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,14849,-0.79,-117.3,963.4,-7.1,381,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2404,3352
$GC,15151,-0.79,-117.3,983.7,-6.7,386,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2405,3352
$STATE,15270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15271,begin apogee
$GC,15277,-0.22,0.0,991.7,6.6,388,15386,0.65,0.00,106.38,1.494,6,0.140,0.000,3247,2198,2876
$STATE,15387,end apogee,CONTROL_FINISHED_OK
$STATE,15387,begin climb
$GC,15390,0.67,117.3,993.7,0.0,389,15513,0.85,2.80,111.43,1.437,4,0.089,0.076,3534,788,2396
$GC,15609,0.34,117.3,989.2,7.9,392,15614,0.40,2.45,0.00,0.000,6,0.179,0.063,3432,2199,2394
$GC,15946,0.28,117.3,971.5,5.1,398,15950,0.00,2.38,0.00,0.000,4,0.000,0.080,3428,3613,2393
$GC,15996,0.17,117.3,968.7,5.4,398,16001,0.25,2.33,0.00,0.000,6,0.173,0.063,3371,2199,2393
$GC,16307,0.37,174.5,958.0,3.4,403,16365,0.20,0.00,51.25,1.446,6,0.081,0.000,3447,2198,2163
$GC,16668,0.37,174.5,937.3,5.9,409,16669,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2199,2160
$GC,16971,0.37,174.5,920.0,5.7,414,16972,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2199,2160
$GC,17274,0.37,174.5,903.4,5.5,419,17278,0.00,2.45,0.00,0.000,4,0.000,0.081,3449,781,2159
$GC,17307,0.37,174.5,901.5,5.0,419,17311,0.00,2.33,0.00,0.000,6,0.000,0.064,3448,2204,2159
$GC,17633,0.37,174.5,883.2,5.6,425,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2159
$GC,17936,0.37,174.5,864.8,6.1,430,17937,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2158
$GC,18239,0.37,174.5,845.5,6.3,435,18240,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2159
$GC,18542,0.37,174.5,825.9,6.5,440,18543,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2158
$GC,18846,0.37,174.5,806.0,6.6,445,18850,0.00,2.45,0.00,0.000,4,0.000,0.081,3448,788,2158
$GC,18878,0.37,174.5,803.8,7.0,445,18882,0.00,2.33,0.00,0.000,6,0.000,0.065,3449,2211,2158
$GC,19210,0.37,174.5,782.7,6.3,451,19212,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2158
$GC,19514,0.37,174.5,763.0,6.5,456,19518,0.00,2.47,0.00,0.000,4,0.000,0.080,3449,781,2158
$GC,19576,0.37,174.5,758.8,7.0,457,19580,0.00,2.33,0.00,0.000,6,0.000,0.064,3448,2204,2157
$GC,19941,0.37,174.5,733.7,6.9,463,19945,0.00,2.35,0.00,0.000,4,0.000,0.082,3449,3615,2158
$GC,19968,0.32,174.5,731.5,7.6,463,19972,0.00,2.33,0.00,0.000,6,0.000,0.065,3449,2195,2158
$GC,20300,0.32,174.5,708.7,6.9,469,20304,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,3612,2158
$GC,20363,0.24,174.5,703.9,8.7,470,20368,0.20,2.30,0.00,0.000,6,0.164,0.065,3396,2199,2157
$GC,20729,0.39,175.0,685.1,5.0,476,20733,0.15,2.38,0.00,0.000,4,0.085,0.079,3460,784,2157
$GC,20761,0.39,175.0,683.1,6.2,476,20765,0.00,2.33,0.00,0.000,6,0.000,0.065,3460,2212,2158
$GC,21087,0.39,175.0,661.3,6.7,482,21088,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2212,2158
$GC,21391,0.39,175.0,640.7,6.7,487,21392,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2212,2157
$GC,21694,0.39,175.0,621.0,6.5,492,21698,0.00,2.42,0.00,0.000,4,0.000,0.081,3462,784,2158
$GC,21726,0.39,175.0,618.9,6.5,492,21730,0.00,2.30,0.00,0.000,6,0.000,0.064,3462,2211,2158
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$STATE,32255,end climb,SURFACE_DEPTH_REACHED
$STATE,32255,begin surface coast
$FINISH,2.9,1.013716
$STATE,32394,end surface coast,CONTROL_FINISHED_OK
$STATE,32394,begin surface
$SM_CCo,32414,37.62,0.841,0,0,1653,300.00
$SM_GC,3.95,0.00,0.00,37.62,0.000,0.000,0.841,139,2401,1653,-9.93,0.03,300.00
$IRIDIUM_FIX,4946.36,-14517.23,170398,161651
$TT8_MAMPS,0.026078
$HUMID,2087
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,16.00
$XPDR_PINGS,987
$24V_AH,21.7,61.053
$10V_AH,10.6,41.030
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$DEVICE_SECS,28.700,209.975,339.050,37.625,0.000,27.381,26.040,154.358,246.750,0.000,0.000,14.679,1791.706,27483.758,571.666,2336.723,599.143,33.376,1736.896,0.000,2309.350,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.937,631.831,1439.685,871.467,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50576,847
$CAP_FILE_SIZE,182080,0
$CFSIZE,260165632,234749952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221208,104708,5000.346,-14513.508,39,1.8,39,18.4