version: 66.03
glider: 120
mission: 9
dive: 312
start: 12 24 108 0 21 26
data:
$ID,120
$MISSION,9
$DIVE,312
$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,-24213.734
$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,19
$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
$GPS1,001355,4958.881,-14503.695,35,1.4,53,18.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.77
$_SM_ANGLEo,-67.4
$GPS2,002032,4958.813,-14503.635,12,1.4,29,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,0.092
$KALMAN_X,28735.5,24.7,-133.5,-45142.6,-892.8
$KALMAN_Y,243180.9,-343.3,-303.4,-254992.2,1803.2
$MHEAD_RNG_PITCHd_Wd,40.4,22100,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.30,0.000,2,0.000,0.000,138,2404,1799
$GC,38,-0.67,-117.3,3.8,-0.0,1,125,13.75,2.50,-67.15,0.000,4,0.280,0.080,3095,990,3356
$GC,344,-0.47,-117.3,33.9,-9.8,28,350,0.25,2.33,0.00,0.000,6,0.158,0.067,3166,2402,3358
$GC,671,-0.47,-117.3,56.8,-6.5,59,677,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2402,3358
$GC,996,-0.52,-117.3,81.5,-5.6,89,997,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2402,3359
$GC,1306,-0.52,-117.3,99.7,-4.5,104,1310,0.00,2.40,0.00,0.000,4,0.000,0.068,3166,986,3359
$GC,1356,-0.57,-117.3,101.2,-3.0,106,1361,0.12,2.38,0.00,0.000,6,0.084,0.061,3122,2413,3359
$GC,1672,-0.57,-117.3,119.8,-6.9,121,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2413,3359
$GC,1981,-0.57,-117.3,141.5,-6.9,136,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2412,3359
$GC,2299,-0.62,-117.3,160.4,-6.1,149,2303,0.00,2.35,0.00,0.000,4,0.000,0.081,3121,3814,3359
$GC,2338,-0.62,-117.3,163.2,-8.0,150,2342,0.00,2.30,0.00,0.000,6,0.000,0.054,3121,2391,3359
$GC,2668,-0.62,-117.3,182.8,-5.8,161,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3359
$GC,2974,-0.62,-117.3,202.8,-6.3,171,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3359
$GC,3280,-0.66,-117.3,220.0,-5.4,181,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3359
$GC,3587,-0.71,-117.3,236.1,-5.2,191,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3359
$GC,3893,-0.75,-117.3,252.4,-5.2,201,3895,0.15,0.00,0.00,0.000,6,0.084,0.000,3061,2391,3359
$GC,4199,-0.66,-117.3,274.9,-7.5,211,4204,0.15,2.38,0.00,0.000,4,0.114,0.071,3110,986,3358
$GC,4231,-0.66,-117.3,277.4,-6.9,212,4236,0.00,2.35,0.00,0.000,6,0.000,0.064,3111,2401,3359
$GC,4561,-0.66,-117.3,299.0,-6.6,223,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3359
$GC,4895,-0.66,-117.3,320.8,-6.5,229,4899,0.00,2.40,0.00,0.000,4,0.000,0.083,3111,3808,3358
$GC,4922,-0.66,-117.3,322.7,-6.8,229,4926,0.00,2.30,0.00,0.000,6,0.000,0.054,3111,2401,3358
$GC,5260,-0.66,-117.3,344.2,-6.4,235,5264,0.00,2.40,0.00,0.000,4,0.000,0.071,3111,986,3358
$GC,5286,-0.66,-117.3,346.2,-7.4,235,5290,0.00,2.33,0.00,0.000,6,0.000,0.064,3111,2408,3357
$GC,5624,-0.66,-117.3,366.7,-6.0,241,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2408,3357
$GC,5928,-0.66,-117.3,383.8,-5.7,246,5932,0.00,2.40,0.00,0.000,4,0.000,0.071,3111,994,3357
$GC,5968,-0.66,-117.3,386.3,-6.1,246,5972,0.00,2.33,0.00,0.000,6,0.000,0.064,3111,2410,3357
$GC,6288,-0.66,-117.3,405.2,-5.9,252,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2410,3357
$GC,6591,-0.66,-117.3,424.3,-6.3,257,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2410,3357
$GC,6894,-0.66,-117.3,443.5,-6.4,262,6898,0.00,2.40,0.00,0.000,4,0.000,0.071,3111,990,3356
$GC,6926,-0.66,-117.3,445.8,-7.0,262,6930,0.00,2.30,0.00,0.000,6,0.000,0.064,3111,2401,3356
$GC,7259,-0.70,-117.3,466.8,-6.4,268,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2402,3356
$GC,7562,-0.74,-117.3,484.8,-5.9,273,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3356
$GC,7865,-0.78,-117.3,502.3,-5.7,278,7870,0.15,2.40,0.00,0.000,4,0.088,0.071,3049,984,3356
$GC,7904,-0.64,-117.3,505.3,-7.9,278,7908,0.22,2.30,0.00,0.000,6,0.156,0.065,3110,2401,3356
$GC,8223,-0.64,-117.3,523.8,-5.8,284,8228,0.00,2.38,0.00,0.000,4,0.000,0.071,3110,992,3356
$GC,8262,-0.69,-117.3,526.2,-6.9,284,8266,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2401,3356
$GC,8584,-0.74,-117.3,546.2,-6.3,290,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3356
$GC,8886,-0.79,-117.3,565.7,-6.4,295,8891,0.15,2.40,0.00,0.000,4,0.086,0.071,3049,990,3355
$GC,8913,-0.71,-117.3,567.9,-8.6,295,8918,0.15,2.30,0.00,0.000,6,0.160,0.064,3086,2404,3355
$GC,9244,-0.71,-117.3,591.8,-7.0,301,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,9548,-0.71,-117.3,612.2,-6.7,306,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,9851,-0.71,-117.3,631.4,-6.2,311,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,10154,-0.71,-117.3,648.1,-5.4,316,10158,0.00,2.42,0.00,0.000,4,0.000,0.072,3086,989,3355
$GC,10209,-0.71,-117.3,651.1,-5.6,316,10215,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2400,3355
$GC,10519,-0.71,-117.3,668.3,-5.6,322,10523,0.00,2.38,0.00,0.000,4,0.000,0.084,3086,3815,3354
$GC,10553,-0.71,-117.3,670.3,-6.0,322,10558,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2391,3354
$GC,10880,-0.71,-117.3,689.1,-5.8,328,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3355
$GC,11183,-0.71,-117.3,706.8,-5.9,333,11187,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,992,3354
$GC,11216,-0.71,-117.3,709.1,-6.5,333,11220,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2401,3354
$GC,11542,-0.71,-117.3,728.0,-5.8,339,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,11845,-0.71,-117.3,746.1,-6.0,344,11849,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,989,3354
$GC,11883,-0.71,-117.3,748.6,-6.5,344,11887,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2408,3354
$GC,12210,-0.71,-117.3,768.3,-6.0,350,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3354
$GC,12513,-0.71,-117.3,786.6,-6.0,355,12517,0.00,2.42,0.00,0.000,4,0.000,0.073,3086,993,3354
$GC,12552,-0.71,-117.3,789.1,-6.3,355,12556,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2406,3354
$GC,12872,-0.71,-117.3,808.4,-5.9,361,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3354
$GC,13176,-0.71,-117.3,826.4,-6.0,366,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3354
$GC,13478,-0.71,-117.3,845.0,-6.1,371,13482,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,993,3353
$GC,13511,-0.71,-117.3,847.3,-6.7,371,13515,0.00,2.30,0.00,0.000,6,0.000,0.065,3086,2401,3353
$GC,13843,-0.71,-117.3,867.2,-6.0,377,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14146,-0.71,-117.3,884.4,-5.7,382,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14450,-0.71,-117.3,902.5,-6.0,387,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14752,-0.71,-117.3,920.8,-6.0,392,14756,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,993,3353
$GC,14796,-0.71,-117.3,923.7,-7.3,392,14800,0.00,2.30,0.00,0.000,6,0.000,0.065,3086,2399,3353
$GC,15117,-0.71,-117.3,943.9,-6.3,398,15121,0.00,2.35,0.00,0.000,4,0.000,0.074,3086,985,3353
$GC,15145,-0.71,-117.3,945.6,-6.9,398,15149,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2404,3353
$GC,15477,-0.71,-117.3,965.8,-6.0,404,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3353
$GC,15780,-0.71,-117.3,983.4,-5.8,409,15784,0.00,2.38,0.00,0.000,4,0.000,0.075,3086,985,3353
$GC,15807,-0.71,-117.3,985.0,-6.3,409,15811,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2399,3352
$STATE,15900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15900,begin apogee
$GC,15906,-0.22,0.0,990.2,5.5,411,16016,0.52,0.00,106.95,1.494,6,0.141,0.000,3244,2200,2876
$STATE,16017,end apogee,CONTROL_FINISHED_OK
$STATE,16017,begin climb
$GC,16019,0.67,117.3,992.0,0.0,412,16143,0.88,2.70,111.62,1.438,4,0.098,0.076,3533,786,2396
$GC,16171,0.30,117.3,992.1,6.2,414,16176,0.45,2.50,0.00,0.000,6,0.179,0.061,3421,2199,2395
$GC,16508,0.30,117.3,973.5,5.6,420,16512,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,3608,2393
$GC,16574,0.22,117.3,969.2,5.4,421,16579,0.12,2.33,0.00,0.000,6,0.182,0.065,3393,2196,2393
$GC,16935,0.29,123.1,951.4,4.8,427,16943,0.00,0.00,6.12,1.147,6,0.000,0.000,3392,2196,2373
$GC,17238,0.39,145.0,938.0,4.4,432,17261,0.15,0.00,20.90,1.407,6,0.088,0.000,3450,2197,2285
$GC,17541,0.33,145.0,920.3,5.9,437,17545,0.00,2.42,0.00,0.000,4,0.000,0.081,3450,789,2284
$GC,17597,0.27,145.0,916.8,5.5,437,17603,0.17,2.30,0.00,0.000,6,0.160,0.064,3404,2200,2283
$GC,17907,0.36,162.7,902.7,4.5,443,17930,0.00,2.45,16.98,1.374,4,0.000,0.081,3404,3620,2211
$GC,17948,0.37,165.6,900.5,4.9,443,17957,0.00,2.35,4.35,0.936,6,0.000,0.064,3408,2201,2200
$GC,18275,0.47,183.3,885.9,4.5,449,18300,0.15,2.53,17.12,1.366,4,0.091,0.082,3474,3607,2127
$GC,18317,0.29,183.3,883.1,7.2,449,18322,0.25,2.40,0.00,0.000,6,0.169,0.064,3410,2201,2126
$GC,18638,0.39,194.1,867.8,4.7,455,18652,0.12,0.00,11.15,1.295,6,0.091,0.000,3455,2201,2083
$GC,18940,0.39,194.1,849.9,6.0,460,18942,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2201,2082
$GC,19243,0.39,194.1,831.1,6.1,465,19244,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2201,2081
$GC,19546,0.39,194.1,812.1,6.3,470,19550,0.00,2.42,0.00,0.000,4,0.000,0.084,3455,3608,2081
$GC,19580,0.32,194.1,809.7,6.6,470,19585,0.15,2.38,0.00,0.000,6,0.166,0.064,3424,2190,2081
$GC,19906,0.39,194.1,790.6,5.8,476,19910,0.00,2.42,0.00,0.000,4,0.000,0.080,3424,787,2081
$GC,19939,0.48,194.1,788.7,5.4,476,19943,0.15,2.30,0.00,0.000,6,0.090,0.063,3478,2203,2081
$GC,20265,0.40,194.1,764.1,7.7,482,20270,0.12,2.40,0.00,0.000,4,0.150,0.079,3449,786,2081
$GC,20303,0.40,194.1,761.2,7.3,482,20307,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2200,2081
$GC,20630,0.40,194.1,737.7,7.3,488,20634,0.00,2.33,0.00,0.000,4,0.000,0.082,3449,3608,2081
$GC,20668,0.33,194.1,734.4,8.0,488,20672,0.00,2.28,0.00,0.000,6,0.000,0.064,3449,2196,2080
$GC,20989,0.33,194.1,710.1,7.6,494,20990,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2196,2080
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$STATE,31784,end climb,SURFACE_DEPTH_REACHED
$STATE,31784,begin surface coast
$FINISH,2.9,1.025364
$STATE,31842,end surface coast,CONTROL_FINISHED_OK
$STATE,31843,begin surface
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$IRIDIUM_FIX,4936.36,-14503.49,190398,141445
$TT8_MAMPS,0.026078
$HUMID,2103
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$TCM_TEMP,16.00
$XPDR_PINGS,970
$24V_AH,21.7,62.015
$10V_AH,10.6,41.710
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$DEVICE_SECS,29.800,231.275,454.850,0.000,0.000,27.702,26.040,196.680,242.500,0.000,0.000,29.774,1776.846,26910.449,623.503,2352.259,646.655,33.379,1817.900,0.000,2307.665,0.000,0.466
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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,47398,830
$CAP_FILE_SIZE,188188,0
$CFSIZE,260165632,234360832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241208,091438,5001.098,-14459.292,33,1.8,33,18.5