version: 66.03
glider: 120
mission: 9
dive: 348
start: 1 6 109 13 48 11
data:
$ID,120
$MISSION,9
$DIVE,348
$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,-25048.256
$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,20
$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
$GPS1,134137,5004.291,-14512.184,53,1.2,53,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-74.7
$GPS2,134714,5004.342,-14512.165,15,1.5,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.051,-0.170
$KALMAN_X,26646.1,-529.9,2.3,-52777.9,2086.2
$KALMAN_Y,256659.4,229.0,-23.5,-259108.9,2627.4
$MHEAD_RNG_PITCHd_Wd,178.4,19134,-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,-10.95,0.000,2,0.000,0.000,136,2408,1904
$GC,38,-0.67,-117.3,3.7,-0.0,1,125,14.05,2.47,-65.80,0.000,4,0.285,0.096,3093,3815,3355
$GC,138,-0.44,-117.3,6.6,-8.0,10,142,0.28,2.30,0.00,0.000,6,0.160,0.057,3170,2392,3357
$GC,464,-0.50,-117.3,28.9,-6.7,40,466,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2391,3358
$GC,783,-0.55,-117.3,49.6,-6.5,70,787,0.00,2.42,0.00,0.000,4,0.000,0.080,3168,3815,3358
$GC,811,-0.63,-117.3,51.4,-6.7,72,816,0.17,2.28,0.00,0.000,6,0.081,0.054,3103,2398,3358
$GC,1137,-0.56,-117.3,78.9,-8.4,102,1141,0.12,2.38,0.00,0.000,4,0.101,0.068,3139,995,3358
$GC,1171,-0.56,-117.3,82.0,-8.7,103,1177,0.00,2.28,0.00,0.000,6,0.000,0.062,3139,2401,3358
$GC,1487,-0.56,-117.3,105.1,-6.9,119,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2401,3358
$GC,1796,-0.56,-117.3,125.1,-6.6,134,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2401,3358
$GC,2105,-0.56,-117.3,145.0,-6.6,149,2109,0.00,2.40,0.00,0.000,4,0.000,0.067,3139,995,3359
$GC,2155,-0.61,-117.3,148.5,-7.5,151,2159,0.00,2.35,0.00,0.000,6,0.000,0.062,3139,2409,3359
$GC,2494,-0.68,-117.3,172.8,-7.2,163,2499,0.12,2.38,0.00,0.000,4,0.085,0.078,3087,3807,3358
$GC,2550,-0.60,-117.3,177.5,-8.5,164,2557,0.12,2.28,0.00,0.000,6,0.117,0.054,3121,2399,3359
$GC,2862,-0.60,-117.3,196.1,-5.2,175,2866,0.00,2.38,0.00,0.000,4,0.000,0.069,3121,993,3359
$GC,2935,-0.60,-117.3,200.3,-6.3,177,2939,0.00,2.30,0.00,0.000,6,0.000,0.062,3121,2400,3358
$GC,3259,-0.60,-117.3,217.9,-5.7,188,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3359
$GC,3565,-0.60,-117.3,236.0,-5.9,198,3569,0.00,2.33,0.00,0.000,4,0.000,0.071,3121,993,3358
$GC,3604,-0.65,-117.3,238.4,-6.4,199,3608,0.00,2.30,0.00,0.000,6,0.000,0.063,3121,2403,3358
$GC,3927,-0.65,-117.3,258.6,-6.4,210,3931,0.00,2.35,0.00,0.000,4,0.000,0.082,3121,3818,3358
$GC,3956,-0.71,-117.3,260.5,-6.5,211,3961,0.00,2.28,0.00,0.000,6,0.000,0.056,3121,2388,3358
$GC,4292,-0.76,-117.3,282.8,-6.6,222,4294,0.15,0.00,0.00,0.000,6,0.084,0.000,3064,2388,3358
$GC,4598,-0.70,-117.3,307.4,-8.1,231,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2388,3358
$GC,4901,-0.63,-117.3,330.7,-7.7,236,4905,0.15,2.40,0.00,0.000,4,0.116,0.071,3119,987,3358
$GC,4934,-0.67,-117.3,332.9,-6.4,236,4938,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2401,3358
$GC,5260,-0.67,-117.3,350.5,-5.2,242,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,5564,-0.67,-117.3,365.5,-4.9,247,5568,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,988,3357
$GC,5596,-0.67,-117.3,367.3,-5.2,247,5600,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2404,3357
$GC,5929,-0.67,-117.3,384.7,-5.3,253,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3357
$GC,6232,-0.71,-117.3,402.2,-5.9,258,6236,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,995,3357
$GC,6265,-0.71,-117.3,404.4,-6.5,258,6269,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2412,3357
$GC,6598,-0.76,-117.3,423.8,-5.8,264,6600,0.12,0.00,0.00,0.000,6,0.089,0.000,3063,2412,3356
$GC,6901,-0.71,-117.3,445.2,-7.1,269,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2412,3356
$GC,7204,-0.67,-117.3,466.0,-6.8,274,7209,0.12,2.42,0.00,0.000,4,0.109,0.071,3106,989,3356
$GC,7231,-0.67,-117.3,467.8,-6.7,274,7235,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2398,3356
$GC,7569,-0.67,-117.3,485.9,-5.3,280,7573,0.00,2.38,0.00,0.000,4,0.000,0.071,3106,985,3356
$GC,7596,-0.67,-117.3,487.5,-5.5,280,7600,0.00,2.33,0.00,0.000,6,0.000,0.064,3106,2403,3356
$GC,7928,-0.67,-117.3,504.8,-5.2,286,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3356
$GC,8231,-0.67,-117.3,521.6,-5.6,291,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3357
$GC,8535,-0.67,-117.3,539.2,-5.8,296,8539,0.00,2.40,0.00,0.000,4,0.000,0.071,3106,993,3356
$GC,8562,-0.67,-117.3,541.1,-7.3,296,8566,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2407,3356
$GC,8900,-0.67,-117.3,560.5,-5.8,302,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3356
$GC,9203,-0.67,-117.3,577.2,-5.5,307,9207,0.00,2.38,0.00,0.000,4,0.000,0.072,3106,988,3356
$GC,9252,-0.71,-117.3,580.4,-6.3,307,9256,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2401,3356
$GC,9564,-0.76,-117.3,597.5,-5.5,312,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3356
$GC,9866,-0.80,-117.3,612.7,-5.0,317,9868,0.15,0.00,0.00,0.000,6,0.084,0.000,3046,2401,3355
$GC,10168,-0.73,-117.3,630.4,-5.8,322,10170,0.12,0.00,0.00,0.000,6,0.108,0.000,3081,2401,3355
$GC,10472,-0.73,-117.3,646.1,-5.2,327,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3355
$GC,10774,-0.73,-117.3,662.5,-5.5,332,10778,0.00,2.42,0.00,0.000,4,0.000,0.073,3082,987,3355
$GC,10806,-0.73,-117.3,664.5,-6.2,332,10811,0.00,2.35,0.00,0.000,6,0.000,0.065,3082,2405,3355
$GC,11133,-0.73,-117.3,683.3,-5.8,338,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2405,3355
$GC,11436,-0.73,-117.3,700.5,-5.6,343,11440,0.00,2.38,0.00,0.000,4,0.000,0.073,3082,993,3355
$GC,11486,-0.73,-117.3,703.8,-6.8,343,11490,0.00,2.33,0.00,0.000,6,0.000,0.065,3082,2410,3355
$GC,11795,-0.73,-117.3,722.1,-6.0,348,11799,0.00,2.35,0.00,0.000,4,0.000,0.074,3082,993,3355
$GC,11817,-0.73,-117.3,723.7,-6.2,348,11821,0.00,2.30,0.00,0.000,6,0.000,0.065,3082,2399,3355
$GC,12161,-0.73,-117.3,745.4,-6.4,354,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3355
$GC,12464,-0.73,-117.3,764.9,-6.4,359,12468,0.00,2.33,0.00,0.000,4,0.000,0.073,3082,993,3354
$GC,12508,-0.73,-117.3,768.0,-7.8,359,12512,0.00,2.30,0.00,0.000,6,0.000,0.065,3081,2404,3354
$GC,12824,-0.73,-117.3,787.8,-6.3,365,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3354
$GC,13126,-0.73,-117.3,807.1,-6.4,370,13130,0.00,2.35,0.00,0.000,4,0.000,0.074,3082,987,3354
$GC,13170,-0.73,-117.3,810.3,-7.2,370,13173,0.00,2.33,0.00,0.000,6,0.000,0.066,3082,2411,3354
$GC,13491,-0.81,-117.3,830.6,-6.3,376,13495,0.00,2.35,0.00,0.000,4,0.000,0.074,3082,995,3354
$GC,13557,-0.87,-117.3,835.4,-6.7,377,13562,0.15,2.30,0.00,0.000,6,0.083,0.066,3029,2408,3354
$GC,13918,-0.92,-117.3,863.4,-8.0,383,13922,0.00,2.35,0.00,0.000,4,0.000,0.084,3028,3812,3354
$GC,13995,-0.74,-117.3,870.2,-8.6,384,14000,0.17,2.25,0.00,0.000,6,0.171,0.058,3073,2402,3354
$GC,14344,-0.74,-117.3,893.6,-6.7,390,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3354
$GC,14647,-0.74,-117.3,912.7,-6.3,395,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3354
$GC,14950,-0.74,-117.3,930.0,-5.6,400,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3354
$GC,15253,-0.74,-117.3,945.4,-5.0,405,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3354
$GC,15557,-0.74,-117.3,960.1,-4.9,410,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3354
$GC,15859,-0.74,-117.3,976.4,-5.5,415,15863,0.00,2.42,0.00,0.000,4,0.000,0.074,3073,991,3353
$GC,15887,-0.74,-117.3,978.2,-6.4,415,15891,0.00,2.35,0.00,0.000,6,0.000,0.066,3073,2401,3353
$STATE,16095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16095,begin apogee
$GC,16101,-0.22,0.0,990.1,5.7,419,16217,0.57,0.00,108.20,1.490,6,0.146,0.000,3245,2194,2876
$STATE,16218,end apogee,CONTROL_FINISHED_OK
$STATE,16218,begin climb
$GC,16221,0.67,117.3,994.3,0.0,421,16338,0.90,0.00,113.72,1.437,6,0.096,0.000,3531,2193,2397
$GC,16641,0.35,117.3,973.1,7.7,428,16646,0.32,2.45,0.00,0.000,4,0.163,0.077,3444,787,2394
$GC,16690,0.29,117.3,969.9,5.4,428,16695,0.12,2.35,0.00,0.000,6,0.163,0.063,3414,2207,2394
$GC,17001,0.30,126.5,955.2,4.7,433,17015,0.00,2.38,9.23,1.270,4,0.000,0.081,3414,3611,2360
$GC,17049,0.25,126.5,952.6,5.6,433,17053,0.00,2.33,0.00,0.000,6,0.000,0.062,3422,2195,2360
$GC,17363,0.25,126.5,936.2,5.2,439,17368,0.00,2.40,0.00,0.000,4,0.000,0.080,3422,790,2359
$GC,17419,0.25,126.5,933.3,5.3,439,17426,0.00,2.30,0.00,0.000,6,0.000,0.063,3422,2206,2359
$GC,17729,0.25,128.0,917.7,5.0,445,17733,0.00,2.35,0.00,0.000,4,0.000,0.081,3422,3618,2359
$GC,17802,0.19,128.0,913.7,5.5,446,17807,0.17,2.33,0.00,0.000,6,0.176,0.064,3379,2188,2359
$GC,18157,0.37,167.4,899.7,3.9,452,18197,0.17,0.00,37.60,1.418,6,0.087,0.000,3442,2188,2193
$GC,18459,0.37,167.4,883.8,5.3,457,18460,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2188,2190
$GC,18763,0.41,168.4,868.7,5.0,462,18764,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2188,2190
$GC,19066,0.47,177.9,854.3,4.7,467,19078,0.00,0.00,10.45,1.288,6,0.000,0.000,3442,2188,2150
$GC,19369,0.51,177.9,839.1,5.1,472,19374,0.12,2.40,0.00,0.000,4,0.101,0.078,3502,780,2149
$GC,19432,0.35,177.9,834.6,8.1,473,19437,0.25,2.33,0.00,0.000,6,0.151,0.064,3432,2201,2149
$GC,19798,0.36,182.5,816.0,4.9,479,19805,0.00,0.00,5.88,1.100,6,0.000,0.000,3432,2201,2131
$GC,20101,0.36,184.8,801.1,4.9,484,20102,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2201,2130
$GC,20403,0.36,184.8,785.7,5.1,489,20407,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,786,2130
$GC,20436,0.41,184.8,783.9,5.3,489,20440,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2204,2130
$GC,20762,0.41,184.8,765.8,5.7,495,20764,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2130
$GC,21065,0.41,184.8,748.1,5.9,500,21070,0.00,0.00,3.62,0.802,6,0.000,0.000,3436,2204,2122
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$GC,28923,0.43,220.0,292.6,7.7,631,28928,0.17,2.30,0.00,0.000,6,0.171,0.063,3459,2199,1975
$GC,29253,0.50,220.0,270.5,7.0,642,29257,0.00,2.35,0.00,0.000,4,0.000,0.078,3463,784,1975
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$STATE,33426,end climb,SURFACE_DEPTH_REACHED
$STATE,33426,begin surface coast
$FINISH,2.5,1.025392
$STATE,33504,end surface coast,CONTROL_FINISHED_OK
$STATE,33504,begin surface
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$IRIDIUM_FIX,4949.70,-14515.32,020498,040400
$TT8_MAMPS,0.026845
$HUMID,2093
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$TCM_TEMP,15.80
$XPDR_PINGS,1047
$24V_AH,21.6,68.838
$10V_AH,10.6,46.535
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$DEVICE_SECS,30.425,239.850,388.975,7.200,0.000,31.350,29.189,146.783,261.750,0.000,0.000,15.632,1891.609,28253.170,629.312,2433.133,657.569,33.386,1825.869,0.000,2408.983,0.000,0.465
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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,50658,867
$CAP_FILE_SIZE,199551,0
$CFSIZE,260165632,231575552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060109,230830,5001.099,-14514.488,48,2.0,48,18.4