version: 66.03
glider: 120
mission: 9
dive: 373
start: 1 16 109 1 49 15
data:
$ID,120
$MISSION,9
$DIVE,373
$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,-25574.773
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,014131,4955.118,-14430.128,37,1.8,37,18.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,3.78
$_SM_ANGLEo,-69.0
$GPS2,014820,4955.160,-14430.172,12,1.9,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.135
$KALMAN_X,17557.9,-384.5,19.5,6038.0,667.4
$KALMAN_Y,276210.5,-119.6,-190.1,-295142.9,3237.7
$MHEAD_RNG_PITCHd_Wd,164.4,2166,-17.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.82,-63.2,0.0,0.0,0,38,0.00,0.00,-11.43,0.000,2,0.000,0.000,136,2413,1768
$GC,42,-0.89,-117.3,3.9,-0.0,1,130,13.10,2.47,-69.25,0.000,4,0.268,0.079,3022,989,3356
$GC,189,-0.68,-117.3,18.0,-21.8,14,196,0.30,2.33,0.00,0.000,6,0.172,0.061,3096,2399,3357
$GC,517,-0.68,-117.3,54.6,-11.4,45,522,0.00,2.40,0.00,0.000,4,0.000,0.069,3097,986,3358
$GC,557,-0.68,-117.3,60.2,-13.9,48,562,0.00,2.33,0.00,0.000,6,0.000,0.062,3096,2404,3357
$GC,889,-0.68,-117.3,96.3,-10.5,72,891,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2404,3358
$GC,1198,-0.76,-117.3,125.9,-9.3,87,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3358
$GC,1508,-0.87,-117.3,151.3,-8.2,102,1512,0.17,2.38,0.00,0.000,4,0.076,0.067,3015,990,3359
$GC,1586,-0.76,-117.3,161.0,-13.2,104,1591,0.20,2.30,0.00,0.000,6,0.176,0.063,3067,2410,3359
$GC,1904,-0.80,-117.3,191.2,-9.0,115,1908,0.00,2.40,0.00,0.000,4,0.000,0.068,3067,993,3359
$GC,1977,-0.86,-117.3,198.0,-9.2,117,1981,0.00,2.30,0.00,0.000,6,0.000,0.062,3067,2408,3359
$GC,2302,-0.93,-117.3,225.9,-8.8,128,2303,0.15,0.00,0.00,0.000,6,0.077,0.000,3002,2408,3359
$GC,2607,-0.80,-117.3,263.7,-12.5,138,2609,0.20,0.00,0.00,0.000,6,0.171,0.000,3055,2408,3359
$GC,2913,-0.80,-117.3,295.4,-10.3,148,2917,0.00,2.40,0.00,0.000,4,0.000,0.081,3050,3808,3358
$GC,2957,-0.80,-117.3,300.4,-11.0,149,2961,0.00,2.30,0.00,0.000,6,0.000,0.054,3051,2389,3359
$GC,3278,-0.80,-117.3,333.7,-10.4,155,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2389,3359
$GC,3581,-0.84,-117.3,363.0,-9.6,160,3586,0.00,2.47,0.00,0.000,4,0.000,0.079,3042,3815,3359
$GC,3609,-0.84,-117.3,365.8,-10.1,160,3613,0.00,2.33,0.00,0.000,6,0.000,0.054,3042,2389,3359
$GC,3941,-0.84,-117.3,396.6,-9.3,166,3945,0.00,2.38,0.00,0.000,4,0.000,0.070,3042,986,3358
$GC,4019,-0.84,-117.3,404.0,-9.2,167,4023,0.00,2.30,0.00,0.000,6,0.000,0.064,3042,2398,3358
$GC,4374,-0.84,-117.3,434.6,-8.6,173,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2398,3358
$GC,4677,-0.84,-117.3,460.6,-8.6,178,4681,0.00,2.40,0.00,0.000,4,0.000,0.069,3042,988,3357
$GC,4722,-0.88,-117.3,464.8,-9.1,178,4726,0.00,2.33,0.00,0.000,6,0.000,0.064,3042,2400,3357
$GC,5037,-0.88,-117.3,492.7,-9.0,184,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2400,3357
$GC,5340,-0.88,-117.3,520.0,-9.0,189,5344,0.00,2.33,0.00,0.000,4,0.000,0.071,3042,991,3357
$GC,5390,-0.93,-117.3,524.8,-8.9,189,5394,0.00,2.30,0.00,0.000,6,0.000,0.064,3042,2406,3357
$GC,5701,-0.97,-117.3,552.0,-8.7,194,5705,0.12,2.38,0.00,0.000,4,0.086,0.070,2988,983,3357
$GC,5728,-0.88,-117.3,554.8,-10.6,194,5733,0.17,2.33,0.00,0.000,6,0.179,0.064,3031,2413,3357
$GC,6060,-0.88,-117.3,582.7,-8.3,200,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2412,3356
$GC,6362,-0.88,-117.3,607.1,-8.0,205,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2412,3356
$GC,6665,-0.88,-117.3,630.7,-7.8,210,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2412,3356
$GC,6969,-0.88,-117.3,653.6,-7.5,215,6973,0.00,2.35,0.00,0.000,4,0.000,0.072,3037,993,3356
$GC,7007,-0.88,-117.3,656.8,-8.3,215,7011,0.00,2.30,0.00,0.000,6,0.000,0.063,3029,2410,3355
$GC,7329,-0.88,-117.3,682.1,-8.0,221,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2410,3355
$GC,7631,-0.88,-117.3,707.5,-8.4,226,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2410,3355
$GC,7934,-0.88,-117.3,733.6,-8.7,231,7938,0.00,2.38,0.00,0.000,4,0.000,0.084,3029,3816,3355
$GC,7955,-0.88,-117.3,735.6,-8.6,231,7959,0.00,2.30,0.00,0.000,6,0.000,0.057,3029,2401,3355
$GC,8294,-0.88,-117.3,765.9,-9.0,237,8298,0.00,2.40,0.00,0.000,4,0.000,0.071,3029,986,3355
$GC,8338,-0.88,-117.3,770.2,-9.6,237,8342,0.00,2.33,0.00,0.000,6,0.000,0.065,3029,2404,3355
$GC,8653,-0.88,-117.3,798.2,-8.9,243,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2404,3355
$GC,8956,-0.88,-117.3,823.9,-8.4,248,8960,0.00,2.38,0.00,0.000,4,0.000,0.084,3029,3817,3354
$GC,8995,-0.88,-117.3,827.1,-8.3,248,8999,0.00,2.30,0.00,0.000,6,0.000,0.057,3029,2400,3354
$GC,9316,-0.92,-117.3,852.9,-8.1,254,9320,0.00,2.38,0.00,0.000,4,0.000,0.073,3029,984,3355
$GC,9359,-0.92,-117.3,856.8,-8.6,254,9364,0.00,2.33,0.00,0.000,6,0.000,0.065,3029,2407,3354
$GC,9676,-1.00,-117.3,882.3,-8.1,260,9680,0.00,2.38,0.00,0.000,4,0.000,0.084,3029,3811,3354
$GC,9720,-1.05,-117.3,886.1,-8.4,260,9725,0.15,2.28,0.00,0.000,6,0.082,0.058,2970,2399,3354
$GC,10035,-0.91,-117.3,919.6,-10.8,266,10040,0.15,2.40,0.00,0.000,4,0.178,0.073,3013,985,3354
$GC,10090,-0.91,-117.3,925.2,-9.9,266,10097,0.00,2.33,0.00,0.000,6,0.000,0.067,3013,2400,3354
$GC,10400,-0.91,-117.3,952.6,-8.9,272,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2399,3354
$GC,10703,-0.91,-117.3,979.9,-9.0,277,10707,0.00,2.42,0.00,0.000,4,0.000,0.086,3013,3811,3353
$GC,10735,-0.91,-117.3,983.0,-8.9,277,10739,0.00,2.33,0.00,0.000,6,0.000,0.058,3013,2397,3353
$STATE,10817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10817,begin apogee
$GC,10824,-0.22,0.0,990.2,8.8,279,10940,0.77,0.00,108.25,1.485,6,0.159,0.000,3241,2190,2876
$STATE,10941,end apogee,CONTROL_FINISHED_OK
$STATE,10941,begin climb
$GC,10943,0.89,117.3,994.9,0.0,281,11065,1.10,0.00,113.05,1.434,6,0.092,0.000,3596,2190,2396
$GC,11369,0.60,117.3,969.6,9.0,288,11371,0.32,0.00,0.00,0.000,6,0.189,0.000,3513,2190,2394
$GC,11672,0.53,117.3,949.5,6.5,293,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2190,2394
$GC,11974,0.46,117.3,930.0,6.4,298,11979,0.15,2.42,0.00,0.000,4,0.183,0.076,3477,789,2393
$GC,12092,0.50,117.3,923.5,5.3,299,12096,0.00,2.30,0.00,0.000,6,0.000,0.063,3477,2208,2393
$GC,12407,0.50,117.3,906.7,5.4,305,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2208,2393
$GC,12710,0.50,117.3,890.4,5.4,310,12714,0.00,2.45,0.00,0.000,4,0.000,0.077,3477,786,2393
$GC,12760,0.55,117.3,887.8,5.4,310,12764,0.00,2.30,0.00,0.000,6,0.000,0.062,3477,2204,2393
$GC,13069,0.55,117.3,870.4,5.7,315,13073,0.00,2.33,0.00,0.000,4,0.000,0.079,3477,3608,2392
$GC,13133,0.50,117.3,866.4,6.5,316,13137,0.00,2.33,0.00,0.000,6,0.000,0.065,3477,2192,2392
$GC,13499,0.50,117.3,844.4,6.0,322,13503,0.00,2.33,0.00,0.000,4,0.000,0.080,3477,791,2392
$GC,13562,0.54,117.3,840.8,5.9,323,13566,0.00,2.30,0.00,0.000,6,0.000,0.062,3477,2211,2392
$GC,13927,0.54,117.3,819.7,5.7,329,13932,0.00,2.30,0.00,0.000,4,0.000,0.079,3477,3606,2392
$GC,14000,0.49,117.3,815.0,6.7,330,14004,0.00,2.28,0.00,0.000,6,0.000,0.065,3477,2202,2392
$GC,14355,0.49,117.3,795.4,5.6,336,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2202,2392
$GC,14658,0.53,117.3,778.0,5.7,341,14663,0.00,2.38,0.00,0.000,4,0.000,0.079,3477,791,2392
$GC,14714,0.59,117.3,774.6,6.0,341,14721,0.00,2.28,0.00,0.000,6,0.000,0.062,3477,2200,2391
$GC,15025,0.63,117.3,757.1,5.7,347,15026,0.12,0.00,0.00,0.000,6,0.090,0.000,3531,2199,2392
$GC,15328,0.52,117.3,735.7,7.1,352,15330,0.17,0.00,0.00,0.000,6,0.163,0.000,3485,2200,2391
$GC,15630,0.52,117.3,717.8,5.8,357,15631,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2200,2391
$GC,15933,0.52,117.3,700.3,5.8,362,15937,0.00,2.40,0.00,0.000,4,0.000,0.079,3482,3618,2391
$GC,15978,0.48,117.3,697.2,7.1,362,15982,0.00,2.35,0.00,0.000,6,0.000,0.063,3490,2198,2391
$GC,16293,0.48,117.3,677.8,6.1,368,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2198,2391
$GC,16596,0.48,117.3,659.3,6.1,373,16597,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2198,2391
$GC,16899,0.48,117.3,641.4,5.9,378,16903,0.00,2.42,0.00,0.000,4,0.000,0.079,3490,788,2391
$GC,16954,0.48,117.3,638.3,5.3,378,16961,0.00,2.33,0.00,0.000,6,0.000,0.063,3490,2201,2391
$GC,17264,0.48,117.3,621.5,5.4,384,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2201,2391
$GC,17567,0.48,117.3,605.9,5.2,389,17571,0.00,2.35,0.00,0.000,4,0.000,0.080,3490,3614,2391
$GC,17630,0.41,117.3,602.1,5.8,390,17634,0.15,2.35,0.00,0.000,6,0.187,0.064,3454,2188,2391
$GC,17996,0.55,125.4,585.0,4.6,396,18007,0.12,0.00,8.15,1.090,6,0.087,0.000,3506,2188,2364
$GC,18298,0.55,125.4,566.7,6.2,401,18299,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2188,2363
$GC,18601,0.55,125.4,546.9,6.5,406,18605,0.00,2.45,0.00,0.000,4,0.000,0.078,3506,3616,2363
$GC,18664,0.45,125.4,542.2,7.7,407,18669,0.17,2.35,0.00,0.000,6,0.185,0.064,3462,2196,2363
$GC,19030,0.58,125.4,521.1,5.6,413,19034,0.12,2.38,0.00,0.000,4,0.092,0.077,3518,790,2362
$GC,19092,0.58,125.4,516.9,7.0,414,19096,0.00,2.30,0.00,0.000,6,0.000,0.061,3518,2206,2363
$GC,19458,0.58,125.4,491.3,6.9,420,19459,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2206,2363
$GC,19760,0.58,125.4,472.5,6.1,425,19764,0.00,2.38,0.00,0.000,4,0.000,0.081,3518,3619,2363
$GC,19815,0.45,125.4,469.0,7.1,425,19822,0.20,2.33,0.00,0.000,6,0.183,0.064,3467,2194,2363
$GC,20126,0.59,146.6,456.6,3.9,431,20151,0.12,2.42,19.27,1.125,4,0.090,0.079,3520,792,2278
$GC,20235,0.59,146.6,450.5,5.9,432,20239,0.00,2.30,0.00,0.000,6,0.000,0.061,3520,2200,2277
$GC,20556,0.59,146.6,431.5,6.0,438,20560,0.00,2.35,0.00,0.000,4,0.000,0.078,3520,3614,2277
$GC,20613,0.49,146.6,427.6,7.0,438,20620,0.17,2.33,0.00,0.000,6,0.184,0.064,3477,2204,2276
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$STATE,27719,end climb,SURFACE_DEPTH_REACHED
$STATE,27719,begin surface coast
$FINISH,2.7,1.014149
$STATE,27774,end surface coast,CONTROL_FINISHED_OK
$STATE,27776,begin surface
$SM_CCo,27857,0.00,0.000,0,0,1631,305.40
$SM_GC,3.90,9.62,0.00,0.00,0.065,0.000,0.000,141,2408,1631,-9.87,0.23,305.40
$IRIDIUM_FIX,4939.69,-14430.07,110498,161601
$TT8_MAMPS,0.026845
$HUMID,2088
$INTERNAL_PRESSURE,9.02622
$TCM_TEMP,14.50
$XPDR_PINGS,933
$24V_AH,21.7,73.597
$10V_AH,10.5,49.904
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$DEVICE_SECS,29.475,211.950,387.700,0.000,0.000,28.150,24.985,217.794,233.250,0.000,0.000,12.106,1633.474,23072.242,556.994,2309.410,682.814,33.383,1717.504,0.000,2281.357,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,562.849,537.926,1242.033,752.148,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44384,731
$CAP_FILE_SIZE,177272,0
$CFSIZE,260165632,229666816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160109,093436,4952.859,-14430.023,27,1.7,27,18.5