version: 66.03
glider: 120
mission: 9
dive: 122
start: 10 12 108 17 21 39
data:
$ID,120
$MISSION,9
$DIVE,122
$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,-20182.525
$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,18
$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
$GPS1,171538,5005.085,-14429.985,37,1.9,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.38
$_SM_ANGLEo,-65.3
$GPS2,172044,5005.088,-14429.967,12,1.6,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.172
$KALMAN_X,40259.4,-78.3,-217.7,-16483.4,1150.2
$KALMAN_Y,91895.3,-209.1,80.8,-92614.5,1491.8
$MHEAD_RNG_PITCHd_Wd,170.6,20514,-12.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-112.6,0.0,0.0,0,33,0.00,0.00,-11.85,0.000,2,0.000,0.000,140,2407,1214
$GC,35,-0.68,-117.3,4.5,-0.0,1,163,12.98,2.45,-103.55,0.000,4,0.267,0.094,3095,3809,3356
$GC,415,-0.36,-117.3,40.7,-14.0,35,422,0.30,2.30,0.00,0.000,6,0.165,0.054,3199,2396,3357
$GC,742,-0.72,-117.3,64.1,-7.7,66,747,0.30,2.30,0.00,0.000,4,0.085,0.065,3092,985,3358
$GC,899,-0.55,-117.3,79.9,-10.8,79,906,0.17,2.30,0.00,0.000,6,0.164,0.059,3137,2413,3359
$GC,1214,-0.48,-117.3,109.6,-9.5,95,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2413,3360
$GC,1524,-0.44,-117.3,136.2,-7.7,110,1528,0.12,2.33,0.00,0.000,4,0.176,0.066,3171,991,3360
$GC,1595,-0.54,-117.3,141.5,-7.6,113,1599,0.00,2.28,0.00,0.000,6,0.000,0.058,3170,2400,3360
$GC,1915,-0.85,-117.3,164.3,-7.2,126,1919,0.32,2.28,0.00,0.000,4,0.082,0.067,3044,992,3360
$GC,2166,-0.59,-117.3,189.7,-10.5,133,2171,0.22,2.30,0.00,0.000,6,0.160,0.062,3122,2398,3360
$GC,2484,-0.59,-117.3,210.3,-6.5,144,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3360
$GC,2790,-0.59,-117.3,230.9,-6.7,154,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3359
$GC,3096,-0.59,-117.3,251.1,-6.6,164,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3358
$GC,3402,-0.59,-117.3,271.1,-6.4,174,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3358
$GC,3709,-0.59,-117.3,290.8,-6.5,184,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2399,3358
$GC,4044,-0.59,-117.3,313.6,-6.8,192,4048,0.00,2.30,0.00,0.000,4,0.000,0.071,3123,992,3357
$GC,4070,-0.59,-117.3,315.5,-7.7,192,4075,0.00,2.30,0.00,0.000,6,0.000,0.063,3123,2400,3356
$GC,4408,-0.59,-117.3,336.5,-6.1,198,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3356
$GC,4711,-0.59,-117.3,354.8,-6.1,203,4715,0.00,2.30,0.00,0.000,4,0.000,0.072,3123,993,3355
$GC,4743,-0.59,-117.3,356.9,-6.5,203,4747,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2397,3355
$GC,5075,-0.59,-117.3,376.2,-5.7,209,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2397,3355
$GC,5378,-0.59,-117.3,394.7,-6.1,214,5382,0.00,2.30,0.00,0.000,4,0.000,0.072,3122,988,3355
$GC,5426,-0.59,-117.3,397.9,-6.5,214,5431,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2393,3355
$GC,5741,-0.59,-117.3,418.0,-6.4,220,5745,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,985,3354
$GC,5768,-0.59,-117.3,419.9,-7.6,220,5772,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2396,3354
$GC,6105,-0.59,-117.3,441.6,-6.5,226,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2396,3354
$GC,6409,-0.59,-117.3,460.8,-6.3,231,6413,0.00,2.30,0.00,0.000,4,0.000,0.073,3123,995,3353
$GC,6435,-0.59,-117.3,462.6,-6.9,231,6439,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2403,3353
$GC,6773,-0.64,-117.3,483.2,-6.1,237,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3353
$GC,7076,-0.64,-117.3,502.2,-6.3,242,7080,0.00,2.33,0.00,0.000,4,0.000,0.074,3123,984,3353
$GC,7113,-0.64,-117.3,504.6,-6.4,242,7118,0.00,2.33,0.00,0.000,6,0.000,0.065,3123,2402,3353
$GC,7440,-0.68,-117.3,523.3,-5.7,248,7444,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,991,3353
$GC,7472,-0.68,-117.3,525.3,-5.7,248,7477,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2403,3353
$GC,7805,-0.72,-117.3,543.9,-5.6,254,7807,0.12,0.00,0.00,0.000,6,0.088,0.000,3075,2404,3352
$GC,8108,-0.68,-117.3,564.5,-6.9,259,8112,0.00,2.30,0.00,0.000,4,0.000,0.073,3075,992,3352
$GC,8158,-0.60,-117.3,568.2,-7.5,259,8162,0.17,2.28,0.00,0.000,6,0.161,0.064,3120,2408,3352
$GC,8473,-0.60,-117.3,585.4,-5.4,265,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2408,3352
$GC,8776,-0.60,-117.3,602.1,-5.6,270,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2408,3352
$GC,9079,-0.64,-117.3,618.5,-5.4,275,9083,0.00,2.33,0.00,0.000,4,0.000,0.074,3120,992,3351
$GC,9124,-0.69,-117.3,621.2,-6.7,275,9128,0.00,2.28,0.00,0.000,6,0.000,0.064,3120,2403,3351
$GC,9440,-0.74,-117.3,639.0,-5.6,281,9442,0.12,0.00,0.00,0.000,6,0.090,0.000,3073,2403,3351
$GC,9741,-0.74,-117.3,659.6,-6.8,286,9745,0.00,2.30,0.00,0.000,4,0.000,0.083,3072,3807,3350
$GC,9768,-0.66,-117.3,661.5,-7.8,286,9772,0.12,2.25,0.00,0.000,6,0.135,0.059,3105,2393,3350
$GC,10099,-0.66,-117.3,682.5,-6.3,292,10103,0.00,2.30,0.00,0.000,4,0.000,0.075,3105,988,3350
$GC,10130,-0.66,-117.3,685.0,-7.5,292,10135,0.00,2.30,0.00,0.000,6,0.000,0.065,3102,2395,3350
$GC,10463,-0.66,-117.3,705.5,-6.2,298,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2395,3350
$GC,10766,-0.66,-117.3,724.5,-6.2,303,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2395,3350
$GC,11069,-0.66,-117.3,743.1,-6.1,308,11073,0.00,2.33,0.00,0.000,4,0.000,0.075,3102,988,3350
$GC,11095,-0.66,-117.3,744.9,-6.6,308,11099,0.00,2.33,0.00,0.000,6,0.000,0.066,3102,2400,3349
$GC,11432,-0.66,-117.3,765.8,-6.2,314,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3349
$GC,11736,-0.66,-117.3,783.8,-5.9,319,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3349
$GC,12039,-0.66,-117.3,801.0,-5.6,324,12043,0.00,2.30,0.00,0.000,4,0.000,0.074,3102,995,3349
$GC,12082,-0.66,-117.3,803.6,-6.4,324,12086,0.00,2.30,0.00,0.000,6,0.000,0.067,3102,2396,3349
$GC,12403,-0.66,-117.3,821.2,-5.5,330,12407,0.00,2.33,0.00,0.000,4,0.000,0.085,3102,3809,3349
$GC,12431,-0.66,-117.3,822.9,-6.5,330,12435,0.00,2.25,0.00,0.000,6,0.000,0.061,3106,2393,3349
$GC,12762,-0.66,-117.3,841.1,-5.5,336,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2393,3348
$GC,13065,-0.66,-117.3,857.5,-5.4,341,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2393,3348
$GC,13368,-0.70,-117.3,873.8,-5.4,346,13372,0.00,2.30,0.00,0.000,4,0.000,0.077,3106,985,3348
$GC,13394,-0.70,-117.3,875.4,-6.2,346,13398,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2400,3348
$GC,13732,-0.70,-117.3,893.7,-5.4,352,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3348
$GC,14037,-0.75,-117.3,909.6,-5.2,357,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3348
$GC,14338,-0.79,-117.3,925.5,-5.4,362,14343,0.12,2.33,0.00,0.000,4,0.094,0.084,3059,3809,3348
$GC,14365,-0.72,-117.3,927.2,-6.3,362,14369,0.00,2.25,0.00,0.000,6,0.000,0.061,3059,2398,3348
$GC,14702,-0.62,-117.3,950.2,-6.8,368,14707,0.17,2.38,0.00,0.000,4,0.170,0.085,3111,3810,3348
$GC,14735,-0.70,-117.3,952.1,-5.0,368,14739,0.00,2.28,0.00,0.000,6,0.000,0.061,3111,2389,3348
$GC,15067,-0.77,-117.3,968.6,-4.9,374,15069,0.12,0.00,0.00,0.000,6,0.094,0.000,3065,2389,3348
$GC,15369,-0.77,-117.3,985.7,-5.7,379,15373,0.00,2.38,0.00,0.000,4,0.000,0.084,3064,3809,3348
$GC,15412,-0.70,-117.3,988.5,-6.7,379,15416,0.00,2.28,0.00,0.000,6,0.000,0.061,3064,2404,3348
$STATE,15489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15489,begin apogee
$GC,15493,-0.22,0.0,993.2,6.0,381,15596,0.60,0.00,99.90,1.509,6,0.148,0.000,3247,2190,2876
$STATE,15597,end apogee,CONTROL_FINISHED_OK
$STATE,15597,begin climb
$GC,15599,0.68,117.3,994.6,0.0,382,15707,0.90,0.00,104.53,1.450,6,0.096,0.000,3537,2190,2397
$GC,15975,0.31,117.3,972.3,9.1,389,15980,0.40,2.47,0.00,0.000,4,0.185,0.079,3427,3614,2393
$GC,16019,0.18,117.3,968.9,7.2,389,16024,0.22,2.38,0.00,0.000,6,0.179,0.064,3380,2202,2393
$GC,16334,0.28,132.6,954.2,4.5,395,16349,0.00,0.00,13.88,1.355,6,0.000,0.000,3380,2203,2335
$GC,16637,0.39,145.4,940.2,4.6,400,16656,0.15,2.45,12.80,1.347,4,0.091,0.083,3443,3603,2282
$GC,16684,0.22,145.4,937.3,5.9,400,16689,0.22,2.35,0.00,0.000,6,0.178,0.067,3391,2197,2282
$GC,16999,0.31,151.1,921.8,4.8,406,17008,0.00,0.00,6.47,1.172,6,0.000,0.000,3391,2197,2258
$GC,17370,0.40,160.9,904.1,4.7,412,17382,0.17,0.00,9.90,1.300,6,0.088,0.000,3457,2197,2219
$GC,17673,0.31,160.9,883.0,7.1,417,17675,0.15,0.00,0.00,0.000,6,0.160,0.000,3418,2197,2218
$GC,17975,0.31,160.9,864.2,6.1,422,17976,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2218
$GC,18278,0.31,160.9,844.6,6.6,427,18279,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2218
$GC,18583,0.31,160.9,825.1,6.4,432,18584,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2218
$GC,18884,0.31,160.9,806.0,6.3,437,18885,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2218
$GC,19187,0.31,160.9,788.5,5.7,442,19189,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2217
$GC,19492,0.31,160.9,772.2,5.4,447,19493,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2197,2217
$GC,19794,0.31,160.9,756.2,5.3,452,19798,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,779,2217
$GC,19832,0.35,160.9,754.1,5.1,452,19836,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2212,2218
$GC,20157,0.35,160.9,736.4,5.4,458,20159,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2217
$GC,20461,0.35,160.9,719.2,5.7,463,20462,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2218
$GC,20764,0.35,160.9,702.4,5.5,468,20765,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2211,2217
$GC,21067,0.35,160.9,686.8,5.1,473,21069,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2217
$GC,21370,0.35,160.9,671.2,5.1,478,21371,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2217
$GC,21673,0.35,160.9,655.0,5.4,483,21674,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2217
$GC,21978,0.35,160.9,637.4,5.8,488,21979,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2217
$GC,22279,0.35,160.9,618.2,6.4,493,22283,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,787,2217
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$GC,30991,0.65,234.3,63.7,5.6,732,30995,0.00,2.38,0.00,0.000,4,0.000,0.077,3519,781,1918
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$STATE,31860,end climb,SURFACE_DEPTH_REACHED
$STATE,31860,begin surface coast
$FINISH,5.8,1.024708
$STATE,31872,end surface coast,CONTROL_FINISHED_OK
$STATE,31872,begin surface
$SM_CCo,31952,0.00,0.000,0,0,1543,326.98
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$TT8_MAMPS,0.026078
$HUMID,2156
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$TCM_TEMP,16.60
$XPDR_PINGS,913
$24V_AH,23.0,26.761
$10V_AH,10.6,16.269
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$DEVICE_SECS,30.325,181.200,388.475,0.000,0.000,27.851,25.975,147.788,228.250,0.000,0.000,12.940,1730.715,27270.525,573.853,2234.263,441.775,33.371,1694.474,0.000,2219.731,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,626.149,604.469,1382.634,837.882,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47564,813
$CAP_FILE_SIZE,177636,0
$CFSIZE,260165632,249196544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131008,021525,5001.893,-14430.624,40,1.3,40,18.6