version: 66.03
glider: 120
mission: 9
dive: 584
start: 4 5 109 20 20 0
data:
$ID,120
$MISSION,9
$DIVE,584
$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,275
$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,-30185.471
$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,24
$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
$GPS1,201106,4958.741,-14440.502,27,1.7,27,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.7
$GPS2,201902,4958.692,-14440.512,14,1.7,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,0.144
$KALMAN_X,-79616.5,-38.4,128.2,119919.4,-1324.3
$KALMAN_Y,135959.3,-253.9,-389.6,-144168.3,1551.1
$MHEAD_RNG_PITCHd_Wd,305.4,20456,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,109,0.00,0.00,-80.30,0.000,2,0.000,0.000,135,2404,2246
$GC,113,-0.67,-117.3,3.2,-1.8,8,170,14.00,2.47,-36.30,0.000,4,0.283,0.081,3096,985,3357
$GC,253,-0.53,-117.3,14.3,-10.8,20,260,0.17,2.35,0.00,0.000,6,0.151,0.064,3146,2397,3359
$GC,582,-0.53,-117.3,39.2,-8.0,51,586,0.00,2.38,0.00,0.000,4,0.000,0.081,3137,3819,3359
$GC,617,-0.53,-117.3,42.3,-8.5,54,621,0.00,2.28,0.00,0.000,6,0.000,0.054,3137,2389,3359
$GC,948,-0.53,-117.3,67.2,-6.7,84,953,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2390,3359
$GC,1269,-0.53,-117.3,90.7,-7.3,108,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2390,3359
$GC,1579,-0.53,-117.3,115.4,-8.4,123,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2389,3359
$GC,1888,-0.53,-117.3,139.0,-6.8,138,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2389,3359
$GC,2196,-0.58,-117.3,157.3,-5.4,151,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2390,3359
$GC,2502,-0.65,-117.3,172.7,-5.0,161,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2390,3359
$GC,2809,-0.72,-117.3,189.7,-5.8,171,2814,0.15,2.42,0.00,0.000,4,0.081,0.078,3072,3811,3359
$GC,2849,-0.62,-117.3,192.8,-8.0,172,2854,0.15,2.28,0.00,0.000,6,0.107,0.054,3114,2386,3359
$GC,3173,-0.62,-117.3,213.5,-6.5,183,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2387,3359
$GC,3480,-0.62,-117.3,233.5,-6.6,193,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2387,3359
$GC,3785,-0.62,-117.3,253.7,-6.5,203,3789,0.00,2.35,0.00,0.000,4,0.000,0.070,3120,997,3359
$GC,3830,-0.62,-117.3,256.9,-6.9,204,3834,0.00,2.35,0.00,0.000,6,0.000,0.061,3120,2401,3359
$GC,4156,-0.67,-117.3,276.2,-5.7,215,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3359
$GC,4462,-0.71,-117.3,293.7,-5.8,225,4465,0.00,2.38,0.00,0.000,4,0.000,0.068,3119,997,3359
$GC,4497,-0.75,-117.3,295.9,-6.5,226,4502,0.15,2.38,0.00,0.000,6,0.077,0.062,3065,2411,3359
$GC,4862,-0.70,-117.3,323.0,-7.5,233,4866,0.00,2.38,0.00,0.000,4,0.000,0.080,3061,3815,3358
$GC,4940,-0.59,-117.3,330.0,-8.8,234,4945,0.22,2.28,0.00,0.000,6,0.123,0.054,3125,2395,3359
$GC,5290,-0.66,-117.3,352.3,-6.3,240,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3358
$GC,5594,-0.73,-117.3,369.0,-5.5,245,5599,0.15,2.38,0.00,0.000,4,0.081,0.070,3065,996,3358
$GC,5622,-0.73,-117.3,371.1,-7.8,245,5626,0.00,2.35,0.00,0.000,6,0.000,0.061,3065,2403,3358
$GC,5961,-0.66,-117.3,395.7,-7.4,251,5966,0.12,2.40,0.00,0.000,4,0.143,0.080,3099,3810,3358
$GC,6011,-0.66,-117.3,399.3,-6.5,251,6015,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2393,3358
$GC,6322,-0.66,-117.3,419.4,-6.5,256,6326,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,986,3358
$GC,6367,-0.66,-117.3,422.7,-7.4,256,6371,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2411,3358
$GC,6695,-0.66,-117.3,443.7,-6.3,262,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3358
$GC,6998,-0.66,-117.3,462.9,-6.3,267,7002,0.00,2.42,0.00,0.000,4,0.000,0.070,3099,993,3357
$GC,7034,-0.66,-117.3,465.2,-6.9,267,7038,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2406,3357
$GC,7361,-0.66,-117.3,485.6,-6.2,273,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3357
$GC,7664,-0.66,-117.3,503.3,-5.9,278,7668,0.00,2.42,0.00,0.000,4,0.000,0.070,3099,992,3357
$GC,7703,-0.66,-117.3,505.8,-6.1,278,7707,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2408,3357
$GC,8024,-0.66,-117.3,523.3,-5.4,284,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3357
$GC,8327,-0.66,-117.3,540.7,-5.7,289,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3357
$GC,8630,-0.66,-117.3,559.6,-6.3,294,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3357
$GC,8933,-0.66,-117.3,579.1,-6.5,299,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3357
$GC,9237,-0.66,-117.3,598.4,-6.4,304,9241,0.00,2.45,0.00,0.000,4,0.000,0.071,3099,982,3356
$GC,9276,-0.66,-117.3,601.1,-7.3,304,9280,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2398,3356
$GC,9597,-0.66,-117.3,620.4,-6.0,310,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,9900,-0.66,-117.3,637.9,-5.7,315,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,10204,-0.66,-117.3,654.8,-5.5,320,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,10506,-0.66,-117.3,672.6,-6.0,325,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3356
$GC,10809,-0.66,-117.3,691.1,-6.1,330,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,11112,-0.66,-117.3,710.2,-6.3,335,11117,0.00,2.42,0.00,0.000,4,0.000,0.072,3099,986,3355
$GC,11141,-0.71,-117.3,712.1,-7.0,335,11145,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2404,3355
$GC,11481,-0.75,-117.3,733.5,-6.3,341,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3355
$GC,11783,-0.80,-117.3,752.8,-6.3,346,11784,0.12,0.00,0.00,0.000,6,0.092,0.000,3049,2403,3355
$GC,12085,-0.80,-117.3,774.4,-7.2,351,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2403,3355
$GC,12389,-0.80,-117.3,795.1,-6.8,356,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2403,3355
$GC,12692,-0.80,-117.3,815.3,-6.7,361,12696,0.00,2.42,0.00,0.000,4,0.000,0.083,3048,3815,3355
$GC,12731,-0.74,-117.3,818.2,-7.2,361,12736,0.10,2.30,0.00,0.000,6,0.095,0.056,3076,2396,3355
$GC,13052,-0.74,-117.3,837.3,-5.8,367,13056,0.00,2.40,0.00,0.000,4,0.000,0.072,3076,993,3354
$GC,13087,-0.74,-117.3,839.4,-6.0,367,13091,0.00,2.38,0.00,0.000,6,0.000,0.064,3073,2400,3355
$GC,13413,-0.74,-117.3,858.5,-5.8,373,13418,0.00,2.42,0.00,0.000,4,0.000,0.084,3073,3811,3355
$GC,13442,-0.74,-117.3,860.3,-5.7,373,13446,0.00,2.30,0.00,0.000,6,0.000,0.056,3073,2390,3354
$GC,13774,-0.74,-117.3,879.3,-5.7,379,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,14078,-0.74,-117.3,896.9,-5.8,384,14079,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2391,3354
$GC,14381,-0.74,-117.3,914.8,-5.9,389,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,14683,-0.74,-117.3,933.1,-6.1,394,14685,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,14987,-0.74,-117.3,950.7,-5.8,399,14988,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,15290,-0.74,-117.3,968.2,-5.7,404,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,15593,-0.74,-117.3,985.9,-5.9,409,15595,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$STATE,15711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15711,begin apogee
$GC,15719,-0.22,0.0,993.4,6.1,411,15833,0.57,0.00,107.90,1.492,6,0.141,0.000,3244,2192,2876
$STATE,15834,end apogee,CONTROL_FINISHED_OK
$STATE,15834,begin climb
$GC,15838,0.67,117.3,998.3,0.0,413,15961,0.90,2.78,115.03,1.437,4,0.088,0.074,3545,796,2397
$GC,16002,0.28,117.3,997.9,5.7,415,16008,0.52,2.55,0.00,0.000,6,0.170,0.061,3414,2205,2394
$GC,16319,0.34,165.9,986.2,3.6,421,16365,0.00,0.00,44.35,1.430,6,0.000,0.000,3414,2204,2199
$GC,16622,0.42,186.2,973.3,4.4,426,16647,0.12,2.47,19.23,1.381,4,0.082,0.079,3465,789,2115
$GC,16701,0.36,186.2,968.3,7.1,427,16706,0.12,2.35,0.00,0.000,6,0.133,0.061,3432,2208,2115
$GC,17056,0.36,186.2,947.7,5.8,433,17057,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2207,2113
$GC,17360,0.36,186.2,929.4,6.1,438,17361,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2207,2112
$GC,17662,0.36,186.2,910.5,6.2,443,17666,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,780,2112
$GC,17737,0.40,186.2,905.7,6.4,444,17741,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2214,2112
$GC,18092,0.40,186.2,884.9,5.8,450,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2111
$GC,18395,0.40,186.2,868.4,5.4,455,18399,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,791,2111
$GC,18446,0.45,186.2,865.8,5.2,455,18450,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2204,2111
$GC,18757,0.45,186.2,849.7,5.2,460,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2111
$GC,19060,0.45,186.2,834.1,5.1,465,19064,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,788,2111
$GC,19123,0.50,186.2,830.8,5.6,466,19128,0.12,2.35,0.00,0.000,6,0.090,0.061,3489,2208,2111
$GC,19491,0.38,186.2,804.7,7.4,472,19492,0.17,0.00,0.00,0.000,6,0.144,0.000,3439,2207,2111
$GC,19792,0.38,186.2,786.3,6.0,477,19797,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,788,2110
$GC,19838,0.38,186.2,783.4,6.0,477,19842,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2206,2111
$GC,20155,0.38,186.2,764.6,5.9,483,20156,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2110
$GC,20457,0.38,186.2,746.8,5.9,488,20461,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,793,2110
$GC,20507,0.38,186.2,743.6,5.8,488,20511,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2210,2111
$GC,20818,0.38,186.2,725.0,6.0,493,20822,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,794,2110
$GC,20854,0.38,186.2,722.8,6.6,493,20858,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2214,2110
$GC,21181,0.38,186.2,702.5,6.3,499,21185,0.00,2.47,0.00,0.000,4,0.000,0.078,3449,786,2110
$GC,21216,0.38,186.2,700.4,6.5,499,21220,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2203,2110
$GC,21544,0.38,186.2,680.1,6.2,505,21545,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2110
$GC,21846,0.38,186.2,659.9,6.7,510,21847,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2110
$GC,22149,0.38,186.2,638.6,7.0,515,22150,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2110
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$STATE,32264,end climb,SURFACE_DEPTH_REACHED
$STATE,32264,begin surface coast
$FINISH,1.5,1.008020
$STATE,32392,end surface coast,CONTROL_FINISHED_OK
$STATE,32392,begin surface
$SM_CCo,32415,28.98,0.838,0,0,1754,275.23
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$IRIDIUM_FIX,4936.36,-14436.67,300698,111115
$TT8_MAMPS,0.026845
$HUMID,2118
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$TCM_TEMP,15.40
$XPDR_PINGS,1015
$24V_AH,21.0,114.316
$10V_AH,10.4,78.875
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$DEVICE_SECS,28.525,196.900,333.575,28.975,0.000,25.754,30.650,257.475,253.750,0.000,0.000,14.892,1815.334,27239.309,601.528,2339.803,917.573,33.380,1733.794,0.000,2313.297,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,665.593,641.894,1475.627,892.017,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50717,868
$CAP_FILE_SIZE,180626,0
$CFSIZE,260165632,213286912
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060409,052231,5001.645,-14443.462,62,1.2,62,18.5