version: 66.03
glider: 120
mission: 9
dive: 336
start: 1 2 109 1 14 25
data:
$ID,120
$MISSION,9
$DIVE,336
$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,-24761.982
$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,22
$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
$GPS1,010725,5006.261,-14449.021,39,1.1,39,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.90
$_SM_ANGLEo,-68.7
$GPS2,011331,5006.225,-14448.953,12,1.7,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.061,0.079
$KALMAN_X,21562.2,25.6,76.7,-20758.3,131.3
$KALMAN_Y,245629.6,-312.2,124.8,-244188.9,-737.7
$MHEAD_RNG_PITCHd_Wd,303.6,3308,-24.0,-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,20,begin dive
$GC,22,-1.08,-32.8,0.0,0.0,0,35,0.00,0.00,-11.02,0.000,2,0.000,0.000,144,2405,1895
$GC,38,-1.15,-82.0,4.0,-0.0,1,123,12.70,0.00,-64.43,0.000,6,0.272,0.000,2941,2406,3213
$GC,441,-0.95,-82.0,74.8,-20.2,39,443,0.25,0.00,0.00,0.000,6,0.200,0.000,3005,2406,3215
$GC,762,-0.95,-82.0,127.4,-14.8,56,766,0.00,2.42,0.00,0.000,4,0.000,0.068,3010,992,3215
$GC,847,-1.01,-82.0,139.5,-14.4,60,851,0.00,2.30,0.00,0.000,6,0.000,0.063,3003,2402,3216
$GC,1161,-1.09,-82.0,181.7,-13.7,72,1163,0.12,0.00,0.00,0.000,6,0.086,0.000,2951,2402,3216
$GC,1468,-1.05,-82.0,228.2,-15.0,82,1472,0.00,2.38,0.00,0.000,4,0.000,0.079,2940,3816,3215
$GC,1500,-0.94,-82.0,233.5,-15.8,83,1505,0.28,2.33,0.00,0.000,6,0.183,0.056,3015,2398,3216
$GC,1830,-1.07,-82.0,269.8,-11.0,94,1834,0.12,2.45,0.00,0.000,4,0.087,0.079,2963,3810,3215
$GC,1862,-1.07,-82.0,274.1,-12.7,95,1867,0.00,2.30,0.00,0.000,6,0.000,0.055,2963,2399,3215
$GC,2191,-1.07,-82.0,317.2,-12.9,104,2195,0.00,2.38,0.00,0.000,4,0.000,0.070,2963,991,3216
$GC,2296,-1.07,-82.0,331.5,-13.4,105,2300,0.00,2.30,0.00,0.000,6,0.000,0.064,2963,2402,3215
$GC,2623,-1.07,-82.0,372.4,-12.5,111,2627,0.00,2.38,0.00,0.000,4,0.000,0.071,2963,983,3215
$GC,2662,-1.07,-82.0,377.3,-12.9,111,2666,0.00,2.33,0.00,0.000,6,0.000,0.065,2963,2404,3215
$GC,2988,-1.07,-82.0,417.3,-12.3,117,2992,0.00,2.33,0.00,0.000,4,0.000,0.071,2963,990,3215
$GC,3015,-1.07,-82.0,420.8,-12.8,117,3019,0.00,2.30,0.00,0.000,6,0.000,0.064,2963,2403,3215
$GC,3354,-1.07,-82.0,461.4,-12.1,123,3358,0.00,2.33,0.00,0.000,4,0.000,0.082,2963,3807,3215
$GC,3392,-1.07,-82.0,466.3,-12.3,123,3396,0.00,2.25,0.00,0.000,6,0.000,0.057,2963,2390,3215
$GC,3719,-1.07,-82.0,503.9,-11.5,129,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2390,3215
$GC,4022,-1.07,-82.0,537.7,-11.1,134,4026,0.00,2.40,0.00,0.000,4,0.000,0.082,2963,3809,3214
$GC,4071,-1.07,-82.0,543.5,-11.0,134,4075,0.00,2.28,0.00,0.000,6,0.000,0.058,2963,2397,3214
$GC,4381,-1.11,-82.0,578.7,-11.4,139,4386,0.00,2.38,0.00,0.000,4,0.000,0.072,2964,985,3214
$GC,4426,-1.16,-82.0,584.3,-11.8,139,4430,0.00,2.33,0.00,0.000,6,0.000,0.066,2963,2409,3214
$GC,4742,-1.21,-82.0,621.0,-11.7,145,4743,0.10,0.00,0.00,0.000,6,0.095,0.000,2920,2409,3213
$GC,5044,-1.14,-82.0,660.0,-12.9,150,5049,0.12,2.35,0.00,0.000,4,0.190,0.081,2940,3809,3213
$GC,5077,-1.08,-82.0,664.2,-12.1,150,5081,0.00,2.30,0.00,0.000,6,0.000,0.058,2944,2393,3213
$GC,5403,-1.08,-82.0,701.9,-11.5,156,5407,0.00,2.35,0.00,0.000,4,0.000,0.072,2944,995,3213
$GC,5431,-1.08,-82.0,705.3,-12.3,156,5436,0.12,2.30,0.00,0.000,6,0.189,0.064,2964,2409,3213
$GC,5763,-1.14,-82.0,740.4,-10.5,162,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2409,3213
$GC,6066,-1.21,-82.0,773.0,-10.8,167,6068,0.12,0.00,0.00,0.000,6,0.091,0.000,2915,2409,3212
$GC,6370,-1.15,-82.0,811.3,-12.7,172,6375,0.12,2.35,0.00,0.000,4,0.190,0.081,2934,3808,3212
$GC,6408,-1.10,-82.0,816.3,-13.4,172,6413,0.00,2.28,0.00,0.000,6,0.000,0.058,2935,2399,3212
$GC,6729,-1.10,-82.0,853.7,-11.6,178,6734,0.12,2.35,0.00,0.000,4,0.193,0.073,2972,990,3212
$GC,6757,-1.16,-82.0,856.9,-11.3,178,6761,0.00,2.30,0.00,0.000,6,0.000,0.068,2972,2404,3212
$GC,7095,-1.27,-82.0,889.1,-9.4,184,7097,0.17,0.00,0.00,0.000,6,0.077,0.000,2903,2404,3211
$GC,7398,-1.18,-82.0,925.8,-12.3,189,7403,0.12,2.40,0.00,0.000,4,0.187,0.074,2934,987,3212
$GC,7436,-1.18,-82.0,930.6,-11.5,189,7440,0.00,2.33,0.00,0.000,6,0.000,0.067,2933,2399,3211
$GC,7763,-1.18,-82.0,967.4,-11.4,195,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2399,3211
$STATE,8002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8002,begin apogee
$GC,8008,-0.22,0.0,995.1,11.4,199,8087,1.10,0.00,75.28,1.496,6,0.175,0.000,3244,2187,2876
$STATE,8088,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8090,1.15,82.0,996.9,0.0,200,8176,1.33,2.60,77.28,1.450,4,0.092,0.077,3691,798,2540
$GC,8322,0.84,82.0,989.6,8.4,203,8327,0.43,2.40,0.00,0.000,6,0.217,0.064,3593,2207,2538
$GC,8649,0.78,82.0,968.6,6.3,209,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2207,2538
$GC,8952,0.71,82.0,949.2,6.4,214,8957,0.15,2.40,0.00,0.000,4,0.213,0.077,3560,782,2538
$GC,9063,0.71,82.0,942.3,6.0,215,9067,0.00,2.33,0.00,0.000,6,0.000,0.065,3559,2203,2537
$GC,9384,0.71,82.0,923.5,5.9,221,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2203,2537
$GC,9688,0.71,82.0,905.7,5.9,226,9692,0.00,2.38,0.00,0.000,4,0.000,0.080,3560,787,2537
$GC,9793,0.71,82.0,899.2,5.5,227,9797,0.00,2.30,0.00,0.000,6,0.000,0.064,3559,2200,2537
$GC,10120,0.71,82.0,879.0,6.2,233,10124,0.00,2.38,0.00,0.000,4,0.000,0.080,3560,792,2537
$GC,10238,0.76,82.0,871.5,6.8,234,10241,0.00,2.28,0.00,0.000,6,0.000,0.064,3559,2208,2537
$GC,10553,0.76,82.0,851.8,6.3,240,10557,0.00,2.38,0.00,0.000,4,0.000,0.080,3560,792,2537
$GC,10631,0.80,82.0,847.1,5.5,241,10635,0.00,2.30,0.00,0.000,6,0.000,0.064,3560,2212,2537
$GC,10979,0.80,82.0,825.8,6.1,247,10983,0.00,2.38,0.00,0.000,4,0.000,0.081,3559,791,2537
$GC,11035,0.85,82.0,822.3,5.9,247,11041,0.00,2.30,0.00,0.000,6,0.000,0.064,3559,2213,2537
$GC,11344,0.85,82.0,804.8,5.7,253,11348,0.00,2.40,0.00,0.000,4,0.000,0.080,3559,792,2536
$GC,11439,0.89,82.0,799.4,5.4,254,11444,0.12,2.30,0.00,0.000,6,0.091,0.064,3605,2214,2537
$GC,11771,0.81,82.0,779.3,6.0,260,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2215,2537
$GC,12074,0.72,82.0,762.6,5.5,265,12076,0.22,0.00,0.00,0.000,6,0.202,0.000,3549,2214,2536
$GC,12377,0.78,87.1,748.7,4.5,270,12388,0.00,2.45,5.50,1.048,4,0.000,0.077,3559,785,2520
$GC,12450,0.84,87.1,745.1,5.2,271,12454,0.00,2.33,0.00,0.000,6,0.000,0.064,3559,2210,2519
$GC,12805,0.89,87.9,727.8,4.9,277,12807,0.12,0.00,0.00,0.000,6,0.088,0.000,3606,2211,2519
$GC,13108,0.81,87.9,712.1,5.2,282,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2211,2519
$GC,13411,0.73,88.9,697.3,4.9,287,13413,0.20,0.00,0.00,0.000,6,0.199,0.000,3558,2211,2519
$GC,13714,0.80,100.7,685.4,3.8,292,13733,0.00,2.47,13.15,1.237,4,0.000,0.079,3559,791,2464
$GC,13891,0.87,100.7,676.6,5.3,294,13896,0.12,2.30,0.00,0.000,6,0.093,0.064,3605,2204,2464
$GC,14219,0.82,100.7,656.8,6.2,300,14223,0.00,2.33,0.00,0.000,4,0.000,0.081,3605,3607,2464
$GC,14353,0.67,100.7,647.5,6.4,302,14358,0.32,2.28,0.00,0.000,6,0.208,0.066,3535,2199,2464
$GC,14714,0.81,103.7,630.4,4.7,308,14721,0.12,0.00,4.40,0.891,6,0.094,0.000,3583,2199,2453
$GC,15016,0.81,103.7,612.2,6.1,313,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2199,2452
$GC,15320,0.81,103.7,594.1,6.0,318,15324,0.00,2.40,0.00,0.000,4,0.000,0.080,3586,789,2453
$GC,15510,0.81,103.7,582.6,6.0,320,15516,0.00,2.30,0.00,0.000,6,0.000,0.064,3586,2206,2453
$GC,15820,0.81,103.7,564.7,5.9,326,15824,0.00,2.38,0.00,0.000,4,0.000,0.080,3586,791,2453
$GC,15887,0.81,103.7,561.1,5.4,327,15891,0.00,2.30,0.00,0.000,6,0.000,0.063,3586,2212,2452
$GC,16247,0.81,103.7,542.4,5.3,333,16251,0.00,2.33,0.00,0.000,4,0.000,0.081,3586,3614,2453
$GC,16347,0.73,103.7,536.6,5.3,334,16352,0.15,2.30,0.00,0.000,6,0.215,0.066,3553,2197,2452
$GC,16674,0.84,111.1,522.7,4.2,340,16685,0.10,0.00,8.23,1.072,6,0.102,0.000,3590,2197,2422
$GC,16976,0.84,111.1,505.0,6.0,345,16977,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2197,2421
$GC,17279,0.84,111.1,486.4,6.2,350,17280,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2197,2421
$GC,17583,0.84,111.1,467.7,6.2,355,17584,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2197,2421
$GC,17885,0.84,111.1,449.1,6.1,360,17887,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2197,2421
$GC,18189,0.84,111.1,430.9,6.0,365,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2197,2421
$GC,18491,0.84,111.1,412.3,6.2,370,18495,0.00,2.40,0.00,0.000,4,0.000,0.077,3599,783,2421
$GC,18586,0.84,111.1,406.5,5.8,371,18591,0.00,2.30,0.00,0.000,6,0.000,0.063,3599,2203,2421
$GC,18918,0.84,111.1,386.3,6.0,377,18919,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2203,2421
$GC,19222,0.84,111.1,369.0,5.7,382,19223,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2203,2421
$GC,19524,0.84,111.1,350.7,6.1,387,19526,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2203,2421
$GC,19827,0.84,111.1,331.9,6.2,392,19832,0.00,2.35,0.00,0.000,4,0.000,0.080,3599,3611,2421
$GC,19951,0.75,111.1,323.9,6.3,393,19958,0.15,2.35,0.00,0.000,6,0.214,0.065,3566,2198,2421
$GC,20263,0.86,112.4,308.7,4.9,399,20267,0.00,2.35,0.00,0.000,4,0.000,0.077,3575,788,2421
$GC,20375,0.96,118.0,303.2,4.4,400,20393,0.15,2.30,7.47,0.937,6,0.087,0.062,3629,2210,2395
$GC,20697,0.91,118.0,283.7,6.1,410,20699,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,2210,2394
$GC,21004,0.86,118.0,266.6,5.6,420,21008,0.15,2.42,0.00,0.000,4,0.206,0.076,3604,781,2394
$GC,21261,0.86,118.0,254.8,5.0,427,21268,0.00,2.33,0.00,0.000,6,0.000,0.063,3604,2195,2394
$GC,21574,0.87,125.1,241.5,4.3,438,21588,0.00,2.40,7.82,0.914,4,0.000,0.077,3613,790,2366
$GC,21685,0.87,125.1,235.8,5.5,441,21688,0.00,2.30,0.00,0.000,6,0.000,0.063,3613,2203,2365
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$STATE,25490,end climb,SURFACE_DEPTH_REACHED
$STATE,25490,begin surface coast
$FINISH,3.3,1.025549
$STATE,25555,end surface coast,CONTROL_FINISHED_OK
$STATE,25555,begin surface
$SM_CCo,25575,83.85,0.842,0,0,1653,300.00
$SM_GC,3.74,0.00,0.00,83.85,0.000,0.000,0.842,143,2401,1653,-9.92,0.03,300.00
$IRIDIUM_FIX,4946.36,-14448.39,280398,161613
$TT8_MAMPS,0.026845
$HUMID,2069
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,15.80
$XPDR_PINGS,900
$24V_AH,21.9,66.554
$10V_AH,10.6,44.904
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$DEVICE_SECS,29.950,179.100,265.875,83.850,0.000,30.517,25.886,159.509,225.000,0.000,0.000,30.907,1506.444,21132.457,511.336,2297.176,570.294,33.376,1626.370,0.000,2243.465,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,486.417,472.912,1084.014,655.443,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38063,638
$CAP_FILE_SIZE,164545,0
$CFSIZE,260165632,232525824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020109,082345,5008.394,-14451.096,40,4.1,60,18.5