version: 66.03
glider: 120
mission: 9
dive: 308
start: 12 22 108 10 54 5
data:
$ID,120
$MISSION,9
$DIVE,308
$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,-24115.785
$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
$GPS1,104708,5000.346,-14513.508,39,1.8,39,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-75.9
$GPS2,105310,5000.370,-14513.511,14,1.8,33,18.4
$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,30256.5,-308.4,66.8,-58272.4,549.3
$KALMAN_Y,240539.1,-35.8,-128.2,-249962.3,2461.3
$MHEAD_RNG_PITCHd_Wd,160.2,11923,-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,-11.00,0.000,2,0.000,0.000,134,2402,1919
$GC,38,-0.67,-117.3,3.9,-0.0,1,117,14.20,2.47,-58.95,0.000,4,0.288,0.092,3084,3805,3354
$GC,370,-0.45,-117.3,36.2,-11.9,30,377,0.30,2.33,0.00,0.000,6,0.155,0.055,3170,2401,3357
$GC,699,-0.49,-117.3,60.0,-6.8,61,704,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2401,3357
$GC,1033,-0.54,-117.3,82.8,-6.7,91,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2401,3357
$GC,1343,-0.60,-117.3,102.5,-6.5,106,1345,0.15,0.00,0.00,0.000,6,0.078,0.000,3110,2401,3358
$GC,1651,-0.60,-117.3,127.1,-7.4,121,1656,0.00,2.47,0.00,0.000,4,0.000,0.078,3110,3811,3358
$GC,1684,-0.56,-117.3,129.7,-8.2,122,1690,0.00,2.33,0.00,0.000,6,0.000,0.053,3110,2391,3358
$GC,2000,-0.56,-117.3,151.3,-7.0,138,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2392,3359
$GC,2306,-0.56,-117.3,171.9,-6.4,148,2310,0.00,2.38,0.00,0.000,4,0.000,0.069,3110,990,3358
$GC,2372,-0.56,-117.3,176.6,-7.1,150,2376,0.00,2.30,0.00,0.000,6,0.000,0.061,3110,2393,3358
$GC,2707,-0.56,-117.3,198.1,-6.3,161,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2393,3358
$GC,3013,-0.56,-117.3,217.6,-6.2,171,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2393,3358
$GC,3319,-0.56,-117.3,236.5,-6.1,181,3323,0.00,2.42,0.00,0.000,4,0.000,0.081,3110,3805,3358
$GC,3346,-0.56,-117.3,238.5,-7.1,181,3353,0.00,2.35,0.00,0.000,6,0.000,0.054,3110,2402,3358
$GC,3660,-0.56,-117.3,259.0,-6.6,192,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3358
$GC,3965,-0.56,-117.3,279.3,-6.6,202,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3358
$GC,4272,-0.56,-117.3,297.9,-5.9,212,4276,0.00,2.42,0.00,0.000,4,0.000,0.071,3110,985,3358
$GC,4301,-0.60,-117.3,299.5,-6.1,213,4305,0.00,2.33,0.00,0.000,6,0.000,0.064,3110,2408,3358
$GC,4633,-0.60,-117.3,318.2,-5.6,219,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3357
$GC,4936,-0.60,-117.3,334.9,-5.5,224,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3357
$GC,5238,-0.60,-117.3,352.5,-5.8,229,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3357
$GC,5542,-0.64,-117.3,371.4,-6.2,234,5546,0.00,2.42,0.00,0.000,4,0.000,0.072,3111,991,3357
$GC,5575,-0.70,-117.3,373.6,-6.3,234,5579,0.00,2.38,0.00,0.000,6,0.000,0.063,3110,2404,3357
$GC,5901,-0.75,-117.3,392.8,-5.9,240,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,3357
$GC,6204,-0.79,-117.3,411.1,-6.1,245,6206,0.15,0.00,0.00,0.000,6,0.088,0.000,3051,2404,3356
$GC,6507,-0.70,-117.3,435.3,-8.0,250,6512,0.12,2.45,0.00,0.000,4,0.107,0.071,3091,987,3356
$GC,6535,-0.70,-117.3,437.6,-7.8,250,6539,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2401,3356
$GC,6872,-0.70,-117.3,461.2,-7.0,256,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,7175,-0.66,-117.3,480.8,-6.4,261,7179,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,984,3356
$GC,7208,-0.66,-117.3,483.0,-6.3,261,7213,0.00,2.35,0.00,0.000,6,0.000,0.065,3086,2410,3356
$GC,7535,-0.66,-117.3,503.0,-6.2,267,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3356
$GC,7838,-0.66,-117.3,521.0,-5.9,272,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3356
$GC,8141,-0.66,-117.3,538.8,-5.9,277,8145,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,990,3355
$GC,8168,-0.66,-117.3,540.5,-6.2,277,8172,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2395,3355
$GC,8506,-0.66,-117.3,561.5,-6.4,283,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,8808,-0.66,-117.3,582.0,-6.8,288,8813,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3819,3355
$GC,8835,-0.66,-117.3,584.0,-7.0,288,8839,0.00,2.35,0.00,0.000,6,0.000,0.057,3086,2389,3355
$GC,9173,-0.66,-117.3,605.9,-6.5,294,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,3355
$GC,9477,-0.66,-117.3,625.1,-6.3,299,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,3355
$GC,9780,-0.66,-117.3,644.1,-6.3,304,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,3355
$GC,10083,-0.66,-117.3,662.6,-6.0,309,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,3355
$GC,10386,-0.66,-117.3,679.9,-5.8,314,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3355
$GC,10689,-0.66,-117.3,696.7,-5.5,319,10693,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,989,3354
$GC,10722,-0.66,-117.3,698.6,-5.8,319,10726,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2405,3354
$GC,11054,-0.66,-117.3,716.8,-5.5,325,11058,0.00,2.42,0.00,0.000,4,0.000,0.072,3086,990,3354
$GC,11092,-0.66,-117.3,719.1,-6.0,325,11096,0.00,2.35,0.00,0.000,6,0.000,0.065,3086,2401,3354
$GC,11414,-0.66,-117.3,736.7,-5.5,331,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,11716,-0.66,-117.3,753.3,-5.5,336,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,12019,-0.66,-117.3,771.0,-5.9,341,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,12322,-0.66,-117.3,789.4,-6.1,346,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,12625,-0.66,-117.3,807.7,-6.0,351,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,12929,-0.66,-117.3,826.0,-6.1,356,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13232,-0.66,-117.3,843.7,-5.8,361,13236,0.00,2.45,0.00,0.000,4,0.000,0.074,3086,985,3353
$GC,13270,-0.66,-117.3,846.1,-5.7,361,13274,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2399,3353
$GC,13591,-0.66,-117.3,864.0,-5.6,367,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,13894,-0.66,-117.3,880.5,-5.4,372,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3353
$GC,14197,-0.66,-117.3,896.9,-5.4,377,14201,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,986,3353
$GC,14229,-0.66,-117.3,898.8,-6.1,377,14233,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2399,3353
$GC,14561,-0.66,-117.3,917.2,-5.6,383,14566,0.00,2.38,0.00,0.000,4,0.000,0.086,3086,3809,3353
$GC,14589,-0.66,-117.3,918.8,-5.9,383,14593,0.00,2.28,0.00,0.000,6,0.000,0.060,3086,2398,3352
$GC,14920,-0.66,-117.3,937.1,-5.5,389,14924,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,990,3352
$GC,14953,-0.66,-117.3,939.0,-5.7,389,14957,0.00,2.33,0.00,0.000,6,0.000,0.066,3086,2403,3352
$GC,15285,-0.66,-117.3,957.8,-5.7,395,15289,0.00,2.38,0.00,0.000,4,0.000,0.087,3086,3811,3352
$GC,15312,-0.66,-117.3,959.4,-6.0,395,15316,0.00,2.30,0.00,0.000,6,0.000,0.059,3086,2388,3352
$GC,15643,-0.66,-117.3,978.2,-5.7,401,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2388,3352
$STATE,15883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15883,begin apogee
$GC,15889,-0.22,0.0,991.9,5.7,405,15999,0.52,0.00,107.15,1.497,6,0.138,0.000,3245,2196,2876
$STATE,16000,end apogee,CONTROL_FINISHED_OK
$STATE,16000,begin climb
$GC,16003,0.67,117.3,994.0,0.0,406,16124,0.85,2.75,111.80,1.441,4,0.091,0.077,3532,791,2397
$GC,16213,0.33,117.3,991.1,6.8,410,16219,0.40,2.45,0.00,0.000,6,0.177,0.063,3431,2200,2394
$GC,16563,0.29,124.3,973.8,4.8,416,16572,0.00,0.00,7.38,1.203,6,0.000,0.000,3431,2200,2369
$GC,16866,0.25,134.3,959.4,4.7,421,16882,0.12,2.40,10.75,1.315,4,0.184,0.080,3400,3611,2328
$GC,16928,0.29,163.7,956.3,4.2,422,16963,0.00,2.40,27.35,1.413,6,0.000,0.062,3408,2202,2208
$GC,17297,0.37,172.8,939.3,4.7,428,17308,0.00,0.00,9.52,1.282,6,0.000,0.000,3408,2202,2170
$GC,17600,0.46,177.0,924.5,4.9,433,17607,0.17,0.00,5.38,1.086,6,0.083,0.000,3477,2202,2154
$GC,17903,0.36,177.0,903.1,7.1,438,17905,0.15,0.00,0.00,0.000,6,0.151,0.000,3436,2202,2153
$GC,18205,0.36,177.0,885.2,5.9,443,18209,0.00,2.45,0.00,0.000,4,0.000,0.080,3437,783,2153
$GC,18243,0.36,177.0,882.9,5.5,443,18247,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2208,2153
$GC,18569,0.36,177.0,862.9,6.2,449,18570,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2153
$GC,18873,0.36,177.0,843.2,6.5,454,18877,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,786,2153
$GC,18911,0.36,177.0,840.7,6.3,454,18915,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2203,2153
$GC,19237,0.36,177.0,819.5,6.5,460,19238,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2152
$GC,19541,0.36,177.0,800.4,6.3,465,19545,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3614,2152
$GC,19580,0.30,177.0,797.7,6.2,465,19584,0.00,2.38,0.00,0.000,6,0.000,0.065,3436,2195,2152
$GC,19901,0.30,177.0,778.0,6.1,471,19905,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,789,2152
$GC,19939,0.30,177.0,775.6,5.9,471,19943,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2206,2152
$GC,20260,0.30,177.0,756.9,5.9,477,20261,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2206,2152
$GC,20563,0.30,177.0,739.6,5.7,482,20564,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2153
$GC,20866,0.30,177.0,722.3,5.7,487,20870,0.00,2.45,0.00,0.000,4,0.000,0.079,3437,784,2152
$GC,20915,0.35,177.0,719.4,5.2,487,20919,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2214,2152
$GC,21225,0.35,177.0,702.7,5.4,492,21226,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2215,2153
$GC,21528,0.35,177.8,687.3,5.0,497,21530,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2153
$GC,21831,0.36,186.6,672.8,4.7,502,21843,0.00,0.00,9.82,1.189,6,0.000,0.000,3436,2215,2115
$GC,22135,0.41,189.6,658.0,4.9,507,22141,0.00,0.00,4.57,0.920,6,0.000,0.000,3436,2214,2102
$GC,22438,0.45,189.6,642.4,5.1,512,22439,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2214,2101
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$GC,26838,0.45,217.2,374.8,4.7,582,26853,0.00,2.30,9.62,1.021,6,0.000,0.062,3463,2204,1989
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$GC,28249,0.56,217.2,287.1,6.3,609,28250,0.10,0.00,0.00,0.000,6,0.094,0.000,3503,2201,1987
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$GC,29286,0.57,227.4,225.8,4.7,643,29298,0.12,0.00,9.98,0.946,6,0.093,0.000,3518,2190,1949
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$GC,30273,0.59,227.4,165.8,6.5,675,30277,0.00,2.42,0.00,0.000,4,0.000,0.079,3477,3610,1946
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$STATE,32950,end climb,SURFACE_DEPTH_REACHED
$STATE,32950,begin surface coast
$FINISH,2.8,1.011323
$STATE,33068,end surface coast,CONTROL_FINISHED_OK
$STATE,33068,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2086
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$TCM_TEMP,15.80
$XPDR_PINGS,996
$24V_AH,21.7,61.242
$10V_AH,10.6,41.166
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$DEVICE_SECS,28.750,205.100,365.500,31.300,0.000,31.109,26.580,159.861,249.000,0.000,0.000,33.584,1823.664,28105.871,558.300,2367.718,619.929,33.379,1724.958,0.000,2330.089,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,663.816,642.735,1460.112,886.020,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50718,859
$CAP_FILE_SIZE,184852,0
$CFSIZE,260165632,234672128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221208,200732,4956.820,-14513.345,49,2.0,49,18.4