version: 66.03
glider: 120
mission: 9
dive: 253
start: 12 1 108 13 1 53
data:
$ID,120
$MISSION,9
$DIVE,253
$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,-22961.42
$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,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
$GPS1,125538,5003.833,-14447.642,41,1.4,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-71.3
$GPS2,130057,5003.878,-14447.689,12,1.5,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.085,0.154
$KALMAN_X,36102.1,165.6,23.8,-33878.6,-419.0
$KALMAN_Y,193782.0,6.7,-244.7,-196637.3,629.5
$MHEAD_RNG_PITCHd_Wd,312.5,7725,-12.2,-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,19,begin dive
$GC,22,-0.67,-114.5,0.0,0.0,0,45,0.00,0.00,-21.70,0.000,2,0.000,0.000,148,2401,2058
$GC,48,-0.67,-114.5,3.6,-7.2,2,123,14.02,2.42,-54.53,0.000,4,0.289,0.081,3094,983,3343
$GC,146,-0.42,-114.5,7.8,-12.2,11,151,0.30,2.38,0.00,0.000,6,0.163,0.064,3178,2404,3344
$GC,474,-0.48,-114.5,31.6,-6.1,41,480,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2405,3345
$GC,799,-0.54,-114.5,56.3,-7.6,72,801,0.12,0.00,0.00,0.000,6,0.084,0.000,3129,2406,3345
$GC,1116,-0.54,-114.5,83.6,-7.7,100,1120,0.00,2.42,0.00,0.000,4,0.000,0.067,3129,981,3346
$GC,1227,-0.54,-114.5,92.8,-8.2,105,1231,0.00,2.35,0.00,0.000,6,0.000,0.061,3129,2413,3346
$GC,1554,-0.54,-114.5,118.3,-8.0,121,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2413,3347
$GC,1863,-0.54,-114.5,141.1,-7.1,136,1867,0.00,2.42,0.00,0.000,4,0.000,0.068,3129,983,3347
$GC,1948,-0.54,-114.5,147.2,-7.1,140,1952,0.00,2.33,0.00,0.000,6,0.000,0.061,3129,2401,3347
$GC,2282,-0.75,-114.5,173.3,-8.8,152,2287,0.15,2.40,0.00,0.000,4,0.091,0.068,3068,984,3347
$GC,2493,-0.61,-114.5,193.6,-9.4,158,2498,0.17,2.33,0.00,0.000,6,0.158,0.064,3116,2403,3347
$GC,2811,-0.61,-114.5,214.4,-6.5,169,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2403,3347
$GC,3117,-0.61,-114.5,234.2,-6.2,179,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2403,3347
$GC,3424,-0.61,-114.5,252.9,-6.2,189,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2402,3347
$GC,3729,-0.61,-114.5,271.7,-6.1,199,3734,0.00,2.40,0.00,0.000,4,0.000,0.071,3116,991,3347
$GC,3779,-0.61,-114.5,275.0,-6.3,200,3783,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2404,3347
$GC,4098,-0.61,-114.5,296.0,-6.8,211,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3347
$GC,4402,-0.61,-114.5,317.0,-7.0,217,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3346
$GC,4704,-0.61,-114.5,338.9,-7.2,222,4708,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,989,3346
$GC,4758,-0.61,-114.5,343.2,-7.6,222,4765,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2404,3346
$GC,5069,-0.61,-114.5,365.6,-7.2,228,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3345
$GC,5371,-0.61,-114.5,386.9,-7.0,233,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3345
$GC,5674,-0.61,-114.5,406.4,-6.3,238,5678,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,987,3345
$GC,5717,-0.61,-114.5,409.2,-6.7,238,5721,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2403,3345
$GC,6038,-0.61,-114.5,426.3,-5.3,244,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3345
$GC,6342,-0.61,-114.5,441.8,-5.0,249,6346,0.00,2.35,0.00,0.000,4,0.000,0.072,3113,982,3344
$GC,6381,-0.61,-114.5,443.8,-5.2,249,6385,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2405,3344
$GC,6701,-0.61,-114.5,461.7,-5.7,255,6705,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,985,3344
$GC,6750,-0.65,-114.5,464.6,-5.8,255,6754,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2411,3344
$GC,7060,-0.65,-114.5,483.3,-6.2,260,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3344
$GC,7363,-0.65,-114.5,501.8,-6.1,265,7367,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,984,3344
$GC,7402,-0.65,-114.5,504.3,-6.6,265,7406,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2406,3344
$GC,7723,-0.69,-114.5,524.2,-6.3,271,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3344
$GC,8025,-0.69,-114.5,543.1,-6.3,276,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3344
$GC,8328,-0.74,-114.5,561.4,-6.0,281,8332,0.00,2.38,0.00,0.000,4,0.000,0.073,3113,991,3344
$GC,8383,-0.80,-114.5,565.0,-6.7,281,8390,0.12,2.35,0.00,0.000,6,0.073,0.064,3058,2406,3343
$GC,8693,-0.73,-114.5,585.6,-6.7,287,8697,0.00,2.35,0.00,0.000,4,0.000,0.082,3058,3813,3343
$GC,8755,-0.62,-114.5,590.0,-7.4,288,8760,0.20,2.30,0.00,0.000,6,0.136,0.058,3114,2393,3343
$GC,9121,-0.67,-117.3,607.6,-4.7,294,9125,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,986,3343
$GC,9148,-0.72,-117.3,608.9,-4.9,294,9152,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2399,3342
$GC,9481,-0.77,-117.3,624.5,-4.8,300,9483,0.15,0.00,0.00,0.000,6,0.087,0.000,3055,2399,3342
$GC,9783,-0.71,-117.3,643.2,-6.2,305,9785,0.10,0.00,0.00,0.000,6,0.104,0.000,3083,2399,3342
$GC,10087,-0.71,-117.3,661.9,-6.2,310,10091,0.00,2.35,0.00,0.000,4,0.000,0.073,3083,995,3342
$GC,10119,-0.71,-117.3,664.2,-7.0,310,10123,0.00,2.33,0.00,0.000,6,0.000,0.066,3083,2395,3342
$GC,10452,-0.71,-117.3,685.6,-6.5,316,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3342
$GC,10754,-0.71,-117.3,705.6,-6.6,321,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3342
$GC,11058,-0.71,-117.3,726.2,-6.9,326,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3342
$GC,11361,-0.71,-117.3,746.1,-6.6,331,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3342
$GC,11664,-0.71,-117.3,765.9,-6.5,336,11668,0.00,2.35,0.00,0.000,4,0.000,0.074,3083,989,3341
$GC,11730,-0.71,-117.3,770.6,-6.3,337,11734,0.00,2.35,0.00,0.000,6,0.000,0.067,3083,2402,3341
$GC,12096,-0.71,-117.3,794.2,-6.4,343,12100,0.00,2.40,0.00,0.000,4,0.000,0.074,3083,987,3341
$GC,12122,-0.71,-117.3,796.1,-7.0,343,12126,0.00,2.35,0.00,0.000,6,0.000,0.066,3083,2412,3341
$GC,12460,-0.71,-117.3,817.4,-6.3,349,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2412,3341
$GC,12763,-0.71,-117.3,835.5,-5.9,354,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2412,3341
$GC,13067,-0.71,-117.3,852.4,-5.5,359,13071,0.00,2.42,0.00,0.000,4,0.000,0.074,3083,995,3341
$GC,13099,-0.71,-117.3,854.4,-5.7,359,13103,0.00,2.33,0.00,0.000,6,0.000,0.067,3083,2405,3341
$GC,13431,-0.71,-117.3,870.5,-4.8,365,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3341
$GC,13735,-0.71,-117.3,885.3,-4.9,370,13739,0.00,2.38,0.00,0.000,4,0.000,0.075,3083,995,3341
$GC,13761,-0.71,-117.3,886.8,-5.6,370,13765,0.00,2.33,0.00,0.000,6,0.000,0.067,3083,2403,3341
$GC,14099,-0.71,-117.3,905.9,-5.8,376,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3341
$GC,14402,-0.71,-117.3,925.1,-6.4,381,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3341
$GC,14705,-0.71,-117.3,944.6,-6.5,386,14709,0.00,2.42,0.00,0.000,4,0.000,0.074,3083,993,3340
$GC,14732,-0.71,-117.3,946.4,-6.9,386,14736,0.00,2.35,0.00,0.000,6,0.000,0.067,3083,2411,3340
$GC,15063,-0.71,-117.3,967.2,-6.3,392,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3340
$GC,15366,-0.71,-117.3,985.1,-5.8,397,15370,0.00,2.38,0.00,0.000,4,0.000,0.075,3083,987,3340
$GC,15398,-0.71,-117.3,987.2,-6.5,397,15402,0.00,2.35,0.00,0.000,6,0.000,0.067,3083,2411,3340
$STATE,15485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15485,begin apogee
$GC,15491,-0.22,0.0,992.1,5.5,399,15597,0.52,0.00,102.25,1.497,6,0.147,0.000,3241,2199,2876
$STATE,15597,end apogee,CONTROL_FINISHED_OK
$STATE,15597,begin climb
$GC,15600,0.68,117.3,993.7,0.0,400,15716,0.88,2.65,109.40,1.440,4,0.094,0.078,3532,789,2396
$GC,15756,0.31,117.3,992.6,7.5,401,15761,0.45,2.50,0.00,0.000,6,0.183,0.062,3421,2200,2395
$GC,16081,0.31,117.3,973.9,5.7,407,16083,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2393
$GC,16385,0.31,117.3,956.6,5.7,412,16386,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2393
$GC,16688,0.31,117.3,938.8,5.9,417,16689,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2392
$GC,16991,0.31,117.3,920.9,5.9,422,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2392
$GC,17294,0.31,117.3,903.6,5.7,427,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2392
$GC,17597,0.31,117.3,887.4,5.3,432,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2392
$GC,17900,0.31,117.3,871.9,5.1,437,17904,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,3612,2392
$GC,17932,0.23,126.9,870.2,4.7,437,17946,0.00,2.35,9.20,1.271,6,0.000,0.064,3421,2190,2358
$GC,18263,0.23,127.3,853.5,5.0,443,18268,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,787,2357
$GC,18302,0.25,135.9,851.6,4.7,443,18317,0.00,2.33,9.73,1.272,6,0.000,0.064,3422,2205,2320
$GC,18627,0.25,135.9,835.5,5.0,449,18628,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2320
$GC,18931,0.27,152.9,821.7,4.5,454,18949,0.00,0.00,16.12,1.337,6,0.000,0.000,3421,2205,2252
$GC,19234,0.27,154.2,806.8,5.0,459,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2251
$GC,19536,0.27,154.2,791.0,5.3,464,19537,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2250
$GC,19839,0.27,154.2,775.0,5.3,469,19843,0.00,2.45,0.00,0.000,4,0.000,0.080,3422,780,2250
$GC,19878,0.34,165.9,772.9,4.7,469,19900,0.00,2.35,12.75,1.279,6,0.000,0.063,3421,2210,2198
$GC,20203,0.39,165.9,754.6,5.7,475,20204,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2211,2197
$GC,20506,0.43,165.9,737.5,5.7,480,20511,0.10,2.42,0.00,0.000,4,0.099,0.080,3462,784,2197
$GC,20544,0.38,165.9,734.9,7.1,480,20549,0.00,2.35,0.00,0.000,6,0.000,0.066,3461,2210,2197
$GC,20865,0.32,165.9,712.4,7.2,486,20867,0.15,0.00,0.00,0.000,6,0.149,0.000,3421,2210,2197
$GC,21168,0.37,165.9,694.2,5.9,491,21169,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2210,2197
$GC,21472,0.42,165.9,676.7,5.7,496,21473,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2211,2197
$GC,21775,0.47,165.9,660.7,5.2,501,21780,0.15,2.47,0.00,0.000,4,0.088,0.080,3490,788,2197
$GC,21818,0.34,165.9,657.8,7.0,501,21823,0.22,2.33,0.00,0.000,6,0.156,0.064,3427,2202,2196
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$STATE,33187,end climb,SURFACE_DEPTH_REACHED
$STATE,33187,begin surface coast
$FINISH,2.0,1.013519
$STATE,33324,end surface coast,CONTROL_FINISHED_OK
$STATE,33325,begin surface
$SM_CCo,33343,27.20,0.838,0,0,1652,300.00
$SM_GC,3.13,0.00,0.00,27.20,0.000,0.000,0.838,143,2405,1652,-9.92,0.14,300.00
$IRIDIUM_FIX,4943.02,-14445.66,250298,030319
$TT8_MAMPS,0.026845
$HUMID,2102
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,16.10
$XPDR_PINGS,1032
$24V_AH,22.0,50.969
$10V_AH,10.6,33.763
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$DEVICE_SECS,29.475,176.475,347.625,27.200,0.000,24.424,31.738,146.063,258.000,0.000,0.000,12.431,1831.654,28416.127,548.483,2341.750,547.948,33.377,1688.061,0.000,2326.963,0.000,0.465
$DEVICE_MAMPS,289.159,82.069,1497.184,837.564,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,675.312,652.217,1488.868,902.823,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50575,876
$CAP_FILE_SIZE,180383,0
$CFSIZE,260165632,238956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,221908,5007.282,-14451.540,25,1.5,25,18.5