version: 66.03
glider: 120
mission: 9
dive: 680
start: 5 12 109 1 33 10
data:
$ID,120
$MISSION,9
$DIVE,680
$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,275
$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,-32218.236
$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,21
$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
$GPS1,012527,5013.656,-14513.000,88,2.2,107,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-75.4
$GPS2,013213,5013.617,-14513.031,13,1.9,30,18.5
$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,-125187.6,99.5,-259.6,127079.3,358.8
$KALMAN_Y,144633.6,-70.6,183.9,-125974.2,1944.8
$MHEAD_RNG_PITCHd_Wd,162.9,36332,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-40.10,0.000,2,0.000,0.000,142,2405,2787
$GC,74,-0.67,-117.3,3.9,-7.1,4,107,14.55,2.47,-11.05,0.000,4,0.272,0.092,3085,3807,3358
$GC,361,-0.48,-117.3,41.4,-10.3,29,368,0.28,2.35,0.00,0.000,6,0.142,0.053,3159,2388,3359
$GC,691,-0.54,-117.3,63.9,-6.6,60,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2388,3360
$GC,1026,-0.59,-117.3,86.1,-6.6,88,1028,0.12,0.00,0.00,0.000,6,0.077,0.000,3108,2388,3360
$GC,1336,-0.59,-117.3,109.9,-7.4,103,1340,0.00,2.62,0.00,0.000,4,0.000,0.065,3108,992,3360
$GC,1376,-0.59,-117.3,113.2,-7.8,105,1381,0.00,2.47,0.00,0.000,6,0.000,0.058,3108,2411,3360
$GC,1704,-0.59,-117.3,138.5,-7.4,121,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2410,3360
$GC,2023,-0.59,-117.3,162.3,-7.5,134,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,3360
$GC,2329,-0.59,-117.3,184.7,-6.9,144,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,3360
$GC,2635,-0.59,-117.3,204.3,-6.4,154,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,3360
$GC,2941,-0.59,-117.3,222.6,-5.7,164,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2409,3360
$GC,3248,-0.59,-117.3,242.1,-6.6,174,3252,0.00,2.55,0.00,0.000,4,0.000,0.079,3108,3806,3360
$GC,3283,-0.59,-117.3,244.4,-6.6,175,3287,0.00,2.42,0.00,0.000,6,0.000,0.051,3108,2402,3360
$GC,3613,-0.59,-117.3,265.5,-6.0,186,3618,0.00,2.65,0.00,0.000,4,0.000,0.066,3108,990,3360
$GC,3665,-0.66,-117.3,268.6,-5.6,187,3669,0.00,2.47,0.00,0.000,6,0.000,0.058,3107,2403,3360
$GC,3979,-0.66,-117.3,285.6,-5.3,197,3984,0.00,2.50,0.00,0.000,4,0.000,0.078,3108,3815,3360
$GC,4031,-0.73,-117.3,288.7,-5.7,198,4035,0.00,2.33,0.00,0.000,6,0.000,0.052,3107,2396,3360
$GC,4349,-0.77,-117.3,307.6,-6.1,207,4354,0.12,2.53,0.00,0.000,4,0.084,0.067,3058,994,3360
$GC,4390,-0.68,-117.3,311.0,-8.9,207,4395,0.15,2.40,0.00,0.000,6,0.130,0.059,3095,2401,3360
$GC,4711,-0.68,-117.3,336.3,-7.9,213,4716,0.00,2.47,0.00,0.000,4,0.000,0.079,3095,3816,3360
$GC,4740,-0.68,-117.3,338.6,-8.2,213,4744,0.00,2.35,0.00,0.000,6,0.000,0.052,3095,2389,3360
$GC,5073,-0.68,-117.3,364.8,-7.8,219,5078,0.00,2.50,0.00,0.000,4,0.000,0.068,3095,987,3360
$GC,5119,-0.68,-117.3,368.6,-8.2,219,5123,0.00,2.42,0.00,0.000,6,0.000,0.060,3095,2398,3360
$GC,5435,-0.68,-117.3,391.7,-7.2,225,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2397,3360
$GC,5738,-0.68,-117.3,413.4,-7.2,230,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2397,3360
$GC,6042,-0.68,-117.3,434.7,-7.0,235,6046,0.00,2.62,0.00,0.000,4,0.000,0.066,3095,995,3359
$GC,6081,-0.68,-117.3,437.7,-7.2,235,6085,0.00,2.45,0.00,0.000,6,0.000,0.060,3095,2400,3359
$GC,6403,-0.68,-117.3,458.8,-6.6,241,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3359
$GC,6706,-0.68,-117.3,478.2,-6.3,246,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3359
$GC,7009,-0.68,-117.3,496.2,-5.9,251,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3359
$GC,7312,-0.68,-117.3,513.7,-5.8,256,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3359
$GC,7615,-0.68,-117.3,532.7,-6.3,261,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3359
$GC,7918,-0.68,-117.3,553.2,-6.8,266,7922,0.00,2.60,0.00,0.000,4,0.000,0.067,3095,995,3358
$GC,7952,-0.68,-117.3,555.8,-7.3,266,7956,0.00,2.45,0.00,0.000,6,0.000,0.061,3095,2405,3358
$GC,8280,-0.68,-117.3,579.0,-7.1,272,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2404,3358
$GC,8583,-0.68,-117.3,600.7,-7.2,277,8587,0.00,2.50,0.00,0.000,4,0.000,0.081,3095,3817,3358
$GC,8612,-0.72,-117.3,603.0,-7.2,277,8615,0.00,2.35,0.00,0.000,6,0.000,0.054,3095,2395,3358
$GC,8951,-0.72,-117.3,625.7,-6.7,283,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2397,3358
$GC,9254,-0.72,-117.3,645.0,-6.3,288,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3358
$GC,9557,-0.72,-117.3,664.0,-6.3,293,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2396,3358
$GC,9860,-0.72,-117.3,681.9,-5.8,298,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2396,3358
$GC,10163,-0.76,-117.3,699.5,-5.9,303,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2396,3358
$GC,10466,-0.76,-117.3,717.8,-6.0,308,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2396,3358
$GC,10771,-0.81,-117.3,736.3,-6.1,313,10776,0.12,2.72,0.00,0.000,4,0.086,0.067,3052,987,3358
$GC,10805,-0.77,-117.3,739.1,-7.8,313,10810,0.00,2.47,0.00,0.000,6,0.000,0.062,3052,2409,3357
$GC,11135,-0.71,-117.3,763.9,-7.6,319,11140,0.12,2.55,0.00,0.000,4,0.132,0.081,3085,3814,3357
$GC,11170,-0.71,-117.3,766.7,-7.3,319,11174,0.00,2.40,0.00,0.000,6,0.000,0.054,3085,2395,3357
$GC,11497,-0.71,-117.3,788.8,-6.7,325,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3357
$GC,11800,-0.71,-117.3,808.0,-6.3,330,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3357
$GC,12104,-0.71,-117.3,827.1,-6.3,335,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3357
$GC,12407,-0.71,-117.3,846.2,-6.3,340,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3357
$GC,12709,-0.71,-117.3,865.4,-6.3,345,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3357
$GC,13013,-0.71,-117.3,884.6,-6.3,350,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3356
$GC,13316,-0.71,-117.3,904.1,-6.5,355,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3356
$GC,13619,-0.71,-117.3,922.9,-6.2,360,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3356
$GC,13923,-0.71,-117.3,941.9,-6.3,365,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,14225,-0.71,-117.3,960.6,-6.2,370,14226,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,14528,-0.71,-117.3,978.3,-5.9,375,14529,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$STATE,14767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14767,begin apogee
$GC,14776,-0.22,0.0,991.2,5.3,379,14890,0.55,0.00,108.62,1.493,6,0.134,0.000,3242,2198,2876
$STATE,14890,end apogee,CONTROL_FINISHED_OK
$STATE,14890,begin climb
$GC,14895,0.67,117.3,995.2,0.0,381,15020,0.90,3.08,116.90,1.442,4,0.081,0.074,3528,3608,2396
$GC,15077,0.24,117.3,991.8,8.9,383,15083,0.60,2.80,0.00,0.000,6,0.176,0.058,3402,2204,2394
$GC,15389,0.24,117.3,975.1,5.3,388,15393,0.00,2.58,0.00,0.000,4,0.000,0.074,3409,776,2394
$GC,15439,0.24,117.3,972.3,6.1,388,15443,0.00,2.38,0.00,0.000,6,0.000,0.059,3409,2202,2393
$GC,15750,0.24,117.3,956.3,5.1,393,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2201,2393
$GC,16053,0.24,122.7,941.5,4.8,398,16061,0.00,0.00,5.75,1.126,6,0.000,0.000,3409,2201,2375
$GC,16358,0.26,139.4,927.7,4.5,403,16376,0.00,0.00,16.35,1.383,6,0.000,0.000,3409,2201,2307
$GC,16660,0.31,141.3,912.7,4.9,408,16664,0.00,2.50,0.00,0.000,4,0.000,0.077,3409,776,2305
$GC,16706,0.39,141.3,910.2,5.7,408,16710,0.00,2.38,0.00,0.000,6,0.000,0.059,3409,2207,2305
$GC,17024,0.44,141.3,894.1,5.1,414,17028,0.15,2.40,0.00,0.000,4,0.079,0.077,3480,3608,2305
$GC,17058,0.19,141.3,891.6,7.5,414,17063,0.40,2.35,0.00,0.000,6,0.166,0.061,3387,2188,2305
$GC,17386,0.34,167.3,877.0,4.3,420,17416,0.12,0.00,25.95,1.401,6,0.082,0.000,3436,2189,2192
$GC,17757,0.34,167.3,856.1,5.8,426,17761,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,786,2190
$GC,17796,0.34,167.3,853.7,5.6,426,17800,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2203,2190
$GC,18129,0.34,167.3,836.4,5.2,432,18133,0.00,2.53,0.00,0.000,4,0.000,0.076,3436,787,2189
$GC,18164,0.34,167.3,834.5,5.2,432,18168,0.00,2.38,0.00,0.000,6,0.000,0.060,3436,2206,2190
$GC,18493,0.35,174.0,818.6,4.8,438,18502,0.00,0.00,7.00,1.168,6,0.000,0.000,3436,2205,2166
$GC,18795,0.35,174.1,803.8,5.0,443,18799,0.00,2.55,0.00,0.000,4,0.000,0.076,3436,784,2165
$GC,18840,0.39,174.1,801.4,5.1,443,18844,0.00,2.38,0.00,0.000,6,0.000,0.060,3436,2202,2165
$GC,19158,0.39,174.1,785.2,5.2,449,19159,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2165
$GC,19460,0.39,174.1,769.4,5.2,454,19461,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2165
$GC,19763,0.39,174.1,752.8,5.5,459,19764,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2165
$GC,20066,0.39,174.1,734.2,6.2,464,20071,0.00,2.60,0.00,0.000,4,0.000,0.075,3436,788,2165
$GC,20102,0.43,174.1,731.9,6.5,464,20106,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2201,2164
$GC,20430,0.47,174.1,709.2,7.1,470,20435,0.10,2.58,0.00,0.000,4,0.097,0.074,3489,787,2165
$GC,20464,0.36,174.1,706.3,8.5,470,20469,0.22,2.40,0.00,0.000,6,0.138,0.059,3431,2201,2165
$GC,20793,0.36,174.1,684.2,6.6,476,20794,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2200,2164
$GC,21095,0.40,174.1,666.1,5.9,481,21100,0.00,2.53,0.00,0.000,4,0.000,0.076,3436,782,2164
$GC,21136,0.45,175.7,663.8,5.0,481,21140,0.00,2.42,0.00,0.000,6,0.000,0.059,3436,2205,2164
$GC,21458,0.46,182.6,648.2,4.8,487,21472,0.00,2.40,9.25,1.160,4,0.000,0.080,3436,3616,2131
$GC,21508,0.46,182.6,645.6,5.4,487,21512,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2200,2130
$GC,21825,0.54,214.7,632.4,4.1,493,21860,0.15,0.00,29.52,1.258,6,0.082,0.000,3508,2200,2000
$GC,22195,0.41,214.7,606.9,7.2,499,22200,0.17,2.40,0.00,0.000,4,0.141,0.075,3464,790,1995
$GC,22286,0.41,214.7,601.3,6.1,500,22290,0.00,2.35,0.00,0.000,6,0.000,0.059,3464,2208,1995
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$GC,26872,0.60,214.7,301.8,6.1,576,26873,0.15,0.00,0.00,0.000,6,0.082,0.000,3530,2199,1993
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$STATE,31632,end climb,SURFACE_DEPTH_REACHED
$STATE,31633,begin surface coast
$FINISH,0.5,1.007155
$STATE,31770,end surface coast,CONTROL_FINISHED_OK
$STATE,31770,begin surface
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$IRIDIUM_FIX,4956.40,-14512.33,050898,161622
$TT8_MAMPS,0.026845
$HUMID,2147
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$TCM_TEMP,15.70
$XPDR_PINGS,962
$24V_AH,20.6,132.396
$10V_AH,10.3,92.118
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$DEVICE_SECS,30.050,189.050,349.800,21.675,0.000,26.105,28.290,164.929,240.500,0.000,0.000,30.591,1732.422,26858.279,520.944,2213.375,887.961,33.371,1609.773,0.000,2180.223,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,639.104,615.393,1413.312,856.853,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47490,831
$CAP_FILE_SIZE,171715,0
$CFSIZE,260165632,205832192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120509,102454,5010.625,-14513.398,29,1.2,42,18.5