version: 66.03
glider: 120
mission: 9
dive: 343
start: 1 4 109 15 11 55
data:
$ID,120
$MISSION,9
$DIVE,343
$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,-24937.637
$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
$GPS1,150107,5018.242,-14510.756,63,1.6,63,18.5
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.90
$_SM_ANGLEo,-68.2
$GPS2,151101,5018.209,-14510.597,17,1.9,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.174
$KALMAN_X,23323.9,-70.1,-106.3,-47956.6,1236.9
$KALMAN_Y,247089.6,456.2,139.3,-224254.9,-331.6
$MHEAD_RNG_PITCHd_Wd,173.7,44843,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-10.90,0.000,2,0.000,0.000,138,2411,1899
$GC,38,-0.67,-117.3,3.4,-0.0,1,135,13.68,2.47,-76.97,0.000,4,0.277,0.097,3097,3814,3355
$GC,230,-0.52,-117.3,15.6,-5.8,18,237,0.17,2.35,0.00,0.000,6,0.152,0.058,3145,2400,3357
$GC,558,-0.52,-117.3,43.5,-6.5,49,562,0.00,2.40,0.00,0.000,4,0.000,0.069,3145,988,3357
$GC,598,-0.52,-117.3,47.3,-10.4,52,602,0.00,2.33,0.00,0.000,6,0.000,0.064,3142,2410,3357
$GC,925,-0.52,-117.3,73.7,-7.7,82,929,0.00,2.35,0.00,0.000,4,0.000,0.081,3141,3815,3357
$GC,953,-0.52,-117.3,76.2,-7.4,84,958,0.00,2.30,0.00,0.000,6,0.000,0.054,3141,2394,3357
$GC,1281,-0.52,-117.3,104.4,-8.5,102,1285,0.00,2.35,0.00,0.000,4,0.000,0.069,3141,988,3357
$GC,1308,-0.52,-117.3,107.0,-9.4,103,1313,0.00,2.28,0.00,0.000,6,0.000,0.061,3141,2403,3357
$GC,1636,-0.52,-117.3,130.6,-6.6,119,1640,0.00,2.33,0.00,0.000,4,0.000,0.079,3141,3805,3358
$GC,1692,-0.58,-117.3,134.7,-7.0,121,1698,0.00,2.25,0.00,0.000,6,0.000,0.053,3141,2393,3358
$GC,2007,-0.62,-117.3,154.3,-5.8,136,2011,0.00,2.40,0.00,0.000,4,0.000,0.068,3141,986,3358
$GC,2080,-0.70,-117.3,158.6,-5.6,138,2085,0.15,2.30,0.00,0.000,6,0.082,0.062,3085,2401,3358
$GC,2404,-0.85,-117.3,180.8,-7.2,149,2409,0.12,2.35,0.00,0.000,4,0.111,0.077,3039,3811,3358
$GC,2661,-0.63,-117.3,206.8,-11.1,156,2668,0.25,2.30,0.00,0.000,6,0.157,0.054,3108,2401,3358
$GC,2974,-0.63,-117.3,231.0,-7.4,167,2978,0.00,2.38,0.00,0.000,4,0.000,0.068,3108,992,3358
$GC,3001,-0.63,-117.3,233.2,-7.9,167,3007,0.00,2.30,0.00,0.000,6,0.000,0.062,3109,2419,3358
$GC,3314,-0.63,-117.3,255.4,-7.0,178,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2419,3358
$GC,3620,-0.63,-117.3,276.6,-6.9,188,3624,0.00,2.42,0.00,0.000,4,0.000,0.069,3109,994,3358
$GC,3655,-0.63,-117.3,279.1,-7.3,189,3659,0.00,2.28,0.00,0.000,6,0.000,0.063,3108,2400,3358
$GC,4025,-0.63,-117.3,304.8,-7.0,200,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3358
$GC,4329,-0.63,-117.3,325.2,-6.7,205,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3358
$GC,4632,-0.63,-117.3,344.3,-6.3,210,4636,0.00,2.38,0.00,0.000,4,0.000,0.071,3108,990,3357
$GC,4665,-0.63,-117.3,346.4,-5.9,210,4669,0.00,2.33,0.00,0.000,6,0.000,0.064,3108,2402,3357
$GC,4997,-0.63,-117.3,364.9,-5.5,216,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3357
$GC,5301,-0.63,-117.3,380.1,-5.0,221,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3357
$GC,5604,-0.63,-117.3,396.1,-5.3,226,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3356
$GC,5906,-0.63,-117.3,413.6,-5.8,231,5911,0.00,2.40,0.00,0.000,4,0.000,0.071,3108,985,3356
$GC,5934,-0.63,-117.3,415.3,-6.2,231,5938,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2399,3356
$GC,6266,-0.63,-117.3,435.6,-6.2,237,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3356
$GC,6569,-0.63,-117.3,456.4,-6.9,242,6573,0.00,2.38,0.00,0.000,4,0.000,0.071,3108,989,3356
$GC,6607,-0.63,-117.3,459.3,-7.4,242,6610,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2400,3356
$GC,6933,-0.63,-117.3,480.6,-6.5,248,6937,0.00,2.33,0.00,0.000,4,0.000,0.071,3109,985,3356
$GC,6961,-0.63,-117.3,482.4,-6.8,248,6965,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2401,3356
$GC,7294,-0.68,-117.3,502.8,-6.0,254,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3356
$GC,7596,-0.68,-117.3,519.7,-5.5,259,7600,0.00,2.35,0.00,0.000,4,0.000,0.071,3109,993,3355
$GC,7634,-0.72,-117.3,522.0,-5.8,259,7638,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2401,3355
$GC,7955,-0.77,-117.3,539.8,-5.6,265,7957,0.12,0.00,0.00,0.000,6,0.092,0.000,3061,2401,3355
$GC,8259,-0.77,-117.3,559.9,-6.7,270,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2401,3355
$GC,8561,-0.77,-117.3,579.7,-6.5,275,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2401,3355
$GC,8864,-0.77,-117.3,599.6,-6.6,280,8868,0.00,2.35,0.00,0.000,4,0.000,0.082,3060,3811,3355
$GC,8903,-0.69,-117.3,602.6,-8.0,280,8908,0.12,2.25,0.00,0.000,6,0.118,0.056,3093,2391,3355
$GC,9224,-0.69,-117.3,621.8,-5.9,286,9228,0.00,2.30,0.00,0.000,4,0.000,0.073,3094,986,3355
$GC,9256,-0.69,-117.3,624.1,-7.5,286,9260,0.00,2.33,0.00,0.000,6,0.000,0.064,3093,2412,3355
$GC,9589,-0.69,-117.3,644.5,-6.3,292,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3355
$GC,9892,-0.69,-117.3,663.2,-6.2,297,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3355
$GC,10196,-0.69,-117.3,680.6,-5.7,302,10200,0.00,2.38,0.00,0.000,4,0.000,0.073,3093,987,3354
$GC,10228,-0.69,-117.3,682.8,-6.2,302,10233,0.00,2.30,0.00,0.000,6,0.000,0.065,3093,2398,3354
$GC,10561,-0.69,-117.3,699.6,-5.0,308,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3355
$GC,10864,-0.69,-117.3,714.8,-5.0,313,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3355
$GC,11167,-0.69,-117.3,731.4,-5.6,318,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3354
$GC,11470,-0.69,-117.3,749.4,-6.0,323,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3354
$GC,11773,-0.69,-117.3,768.8,-6.5,328,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3354
$GC,12076,-0.69,-117.3,788.2,-6.4,333,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3354
$GC,12379,-0.69,-117.3,807.8,-6.5,338,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3354
$GC,12683,-0.69,-117.3,826.2,-6.0,343,12687,0.00,2.45,0.00,0.000,4,0.000,0.072,3094,993,3353
$GC,12710,-0.73,-117.3,827.9,-5.9,343,12714,0.00,2.33,0.00,0.000,6,0.000,0.065,3093,2412,3353
$GC,13042,-0.77,-117.3,845.6,-5.2,349,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2413,3353
$GC,13346,-0.81,-117.3,859.6,-4.6,354,13351,0.12,2.38,0.00,0.000,4,0.090,0.074,3046,995,3353
$GC,13396,-0.74,-117.3,862.5,-5.5,354,13401,0.12,2.30,0.00,0.000,6,0.147,0.064,3078,2405,3352
$GC,13705,-0.74,-117.3,878.5,-5.2,359,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3353
$GC,14008,-0.74,-117.3,895.7,-5.7,364,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3353
$GC,14312,-0.74,-117.3,913.1,-5.7,369,14313,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3353
$GC,14615,-0.74,-117.3,930.9,-5.9,374,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3353
$GC,14917,-0.74,-117.3,949.1,-6.0,379,14919,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2405,3353
$GC,15220,-0.74,-117.3,968.1,-6.3,384,15225,0.00,2.40,0.00,0.000,4,0.000,0.074,3078,995,3353
$GC,15248,-0.74,-117.3,970.0,-7.5,384,15252,0.00,2.30,0.00,0.000,6,0.000,0.065,3078,2398,3352
$STATE,15583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15583,begin apogee
$GC,15590,-0.22,0.0,991.1,6.2,390,15705,0.55,0.00,107.70,1.491,6,0.147,0.000,3244,2202,2876
$STATE,15706,end apogee,CONTROL_FINISHED_OK
$STATE,15706,begin climb
$GC,15708,0.67,117.3,995.6,0.0,392,15832,0.88,2.72,112.07,1.438,4,0.096,0.077,3533,789,2397
$GC,15865,0.31,117.3,994.2,6.1,394,15871,0.45,2.50,0.00,0.000,6,0.178,0.061,3420,2202,2395
$GC,16197,0.31,117.3,977.5,5.0,400,16202,0.00,2.38,0.00,0.000,4,0.000,0.080,3420,3616,2393
$GC,16265,0.23,117.3,973.7,6.0,401,16269,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2199,2393
$GC,16625,0.23,117.6,955.6,5.0,407,16629,0.00,2.35,0.00,0.000,4,0.000,0.080,3421,785,2393
$GC,16687,0.24,122.5,952.6,4.9,408,16698,0.00,2.33,5.80,1.123,6,0.000,0.064,3421,2207,2376
$GC,17054,0.26,137.9,935.4,4.6,414,17071,0.00,0.00,15.23,1.374,6,0.000,0.000,3421,2207,2313
$GC,17356,0.29,162.3,922.2,4.3,419,17386,0.00,2.47,22.98,1.403,4,0.000,0.080,3421,788,2214
$GC,17422,0.36,177.8,919.2,4.6,420,17443,0.00,2.35,15.45,1.344,6,0.000,0.063,3421,2203,2150
$GC,17788,0.44,192.4,902.4,4.6,426,17807,0.12,2.40,14.40,1.343,4,0.094,0.082,3472,3615,2091
$GC,17835,0.29,192.4,899.1,7.0,426,17840,0.25,2.35,0.00,0.000,6,0.169,0.065,3409,2192,2088
$GC,18151,0.40,192.4,882.8,5.2,432,18155,0.12,2.35,0.00,0.000,4,0.090,0.080,3455,782,2088
$GC,18205,0.40,192.4,879.3,6.4,432,18212,0.00,2.33,0.00,0.000,6,0.000,0.065,3455,2208,2088
$GC,18515,0.40,192.4,857.7,7.1,438,18517,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2208,2088
$GC,18818,0.40,192.4,834.8,7.7,443,18822,0.00,2.38,0.00,0.000,4,0.000,0.080,3462,782,2087
$GC,18846,0.40,192.4,832.5,8.4,443,18850,0.00,2.33,0.00,0.000,6,0.000,0.065,3462,2214,2088
$GC,19177,0.40,192.4,806.4,8.0,449,19181,0.00,2.33,0.00,0.000,4,0.000,0.082,3462,3618,2088
$GC,19210,0.30,192.4,803.5,7.9,449,19214,0.17,2.30,0.00,0.000,6,0.168,0.065,3416,2195,2086
$GC,19536,0.40,192.4,784.4,5.7,455,19540,0.00,2.33,0.00,0.000,4,0.000,0.079,3421,785,2087
$GC,19569,0.50,192.4,782.5,5.6,455,19574,0.17,2.30,0.00,0.000,6,0.086,0.063,3487,2208,2087
$GC,19896,0.40,192.4,758.4,7.5,461,19900,0.15,2.33,0.00,0.000,4,0.147,0.080,3440,3613,2087
$GC,19923,0.40,192.4,756.4,6.7,461,19927,0.00,2.28,0.00,0.000,6,0.000,0.064,3449,2198,2087
$GC,20254,0.40,192.4,736.7,6.0,467,20255,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2087
$GC,20557,0.40,192.4,718.8,5.9,472,20558,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2087
$GC,20861,0.40,192.4,700.6,6.0,477,20862,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2087
$GC,21163,0.40,192.4,682.9,5.9,482,21165,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2086
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$STATE,32289,end climb,SURFACE_DEPTH_REACHED
$STATE,32289,begin surface coast
$FINISH,2.8,1.025579
$STATE,32373,end surface coast,CONTROL_FINISHED_OK
$STATE,32373,begin surface
$SM_CCo,32393,27.55,0.841,0,0,1653,300.00
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$HUMID,2093
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$TCM_TEMP,15.90
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$10V_AH,10.6,45.845
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$DEVICE_SECS,28.450,225.650,358.450,27.550,0.000,55.129,59.995,263.273,251.750,0.000,0.000,34.403,1806.583,27383.699,561.973,2453.273,801.970,33.387,1783.686,0.000,2401.323,0.000,0.465
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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,47488,836
$CAP_FILE_SIZE,190338,0
$CFSIZE,260165632,231976960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050109,001459,5015.121,-14510.819,104,2.1,123,18.5