version: 66.03
glider: 120
mission: 9
dive: 79
start: 9 26 108 7 53 23
data:
$ID,120
$MISSION,9
$DIVE,79
$D_SURF,6
$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,-19237.365
$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,23
$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
$GPS1,074224,5009.720,-14428.425,65,3.0,84,18.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.97
$_SM_ANGLEo,-73.2
$GPS2,075229,5009.764,-14428.458,13,2.9,32,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,-0.177
$KALMAN_X,31285.8,17.5,77.4,-6114.8,397.6
$KALMAN_Y,63261.7,24.9,-5.4,-55478.5,2581.8
$MHEAD_RNG_PITCHd_Wd,166.7,29220,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.30,0.000,2,0.000,0.000,148,2392,1971
$GC,35,-0.67,-117.3,4.9,-0.0,1,111,13.38,2.45,-51.67,0.000,4,0.285,0.094,3095,3809,3357
$GC,202,-0.28,-117.3,21.5,-14.6,16,207,0.45,2.28,0.00,0.000,6,0.164,0.054,3225,2389,3358
$GC,526,-0.59,-117.3,46.1,-6.7,46,531,0.28,2.28,0.00,0.000,4,0.087,0.065,3125,986,3359
$GC,598,-0.54,-117.3,51.7,-7.9,52,602,0.00,2.28,0.00,0.000,6,0.000,0.057,3124,2404,3359
$GC,923,-0.65,-117.3,79.3,-8.6,82,927,0.00,2.30,0.00,0.000,4,0.000,0.064,3124,984,3361
$GC,1012,-0.51,-117.3,87.0,-9.0,86,1016,0.00,2.30,0.00,0.000,6,0.000,0.058,3124,2400,3361
$GC,1339,-0.39,-117.3,116.3,-8.9,102,1344,0.20,2.30,0.00,0.000,4,0.162,0.074,3182,3813,3362
$GC,1365,-0.43,-117.3,118.2,-6.3,103,1370,0.00,2.25,0.00,0.000,6,0.000,0.051,3182,2399,3362
$GC,1687,-0.76,-117.3,136.9,-6.6,119,1692,0.30,2.28,0.00,0.000,4,0.087,0.067,3070,987,3362
$GC,1943,-0.57,-117.3,163.4,-10.9,129,1951,0.17,2.30,0.00,0.000,6,0.160,0.061,3125,2400,3362
$GC,2256,-0.52,-117.3,187.0,-7.1,140,2260,0.00,2.30,0.00,0.000,4,0.000,0.068,3125,984,3361
$GC,2294,-0.52,-117.3,189.8,-7.5,141,2298,0.00,2.30,0.00,0.000,6,0.000,0.061,3125,2400,3361
$GC,2623,-0.52,-117.3,213.4,-7.3,152,2627,0.00,2.30,0.00,0.000,4,0.000,0.070,3125,985,3361
$GC,2655,-0.52,-117.3,216.0,-7.6,153,2660,0.00,2.30,0.00,0.000,6,0.000,0.061,3125,2401,3361
$GC,2990,-0.52,-117.3,242.0,-7.7,164,2994,0.00,2.30,0.00,0.000,4,0.000,0.071,3125,986,3360
$GC,3022,-0.52,-117.3,244.6,-7.7,165,3027,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2401,3360
$GC,3358,-0.52,-117.3,267.3,-6.7,176,3362,0.00,2.28,0.00,0.000,4,0.000,0.071,3125,994,3359
$GC,3387,-0.52,-117.3,269.2,-6.7,177,3391,0.00,2.25,0.00,0.000,6,0.000,0.062,3125,2402,3359
$GC,3720,-0.52,-117.3,290.0,-6.0,188,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3359
$GC,4025,-0.52,-117.3,308.8,-6.3,196,4029,0.00,2.30,0.00,0.000,4,0.000,0.072,3125,984,3358
$GC,4090,-0.52,-117.3,313.6,-7.6,197,4095,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2396,3358
$GC,4456,-0.52,-117.3,340.9,-7.6,203,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3358
$GC,4759,-0.52,-117.3,362.1,-6.9,208,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3357
$GC,5062,-0.52,-117.3,381.8,-6.5,213,5066,0.00,2.28,0.00,0.000,4,0.000,0.073,3125,994,3356
$GC,5104,-0.52,-117.3,384.8,-7.1,213,5109,0.00,2.28,0.00,0.000,6,0.000,0.063,3125,2401,3356
$GC,5425,-0.52,-117.3,404.8,-6.4,219,5429,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,988,3356
$GC,5458,-0.52,-117.3,407.0,-6.5,219,5462,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2405,3356
$GC,5789,-0.52,-117.3,427.1,-6.1,225,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3356
$GC,6092,-0.52,-117.3,444.4,-5.6,230,6096,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,989,3355
$GC,6141,-0.52,-117.3,447.2,-5.2,230,6146,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2395,3355
$GC,6463,-0.52,-117.3,463.0,-4.9,236,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2395,3354
$GC,6765,-0.52,-117.3,478.5,-5.1,241,6769,0.00,2.28,0.00,0.000,4,0.000,0.075,3125,993,3354
$GC,6790,-0.52,-117.3,479.9,-5.2,241,6795,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2396,3354
$GC,7134,-0.52,-117.3,497.4,-5.2,247,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3354
$GC,7437,-0.52,-117.3,513.6,-5.4,252,7441,0.00,2.28,0.00,0.000,4,0.000,0.075,3125,994,3354
$GC,7474,-0.52,-117.3,516.0,-6.4,252,7479,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2400,3353
$GC,7807,-0.52,-117.3,535.2,-5.8,258,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3353
$GC,8110,-0.52,-117.3,552.6,-5.7,263,8114,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,987,3353
$GC,8142,-0.52,-117.3,554.7,-6.8,263,8146,0.00,2.30,0.00,0.000,6,0.000,0.066,3125,2402,3353
$GC,8474,-0.52,-117.3,576.1,-6.5,269,8478,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,986,3352
$GC,8501,-0.52,-117.3,578.1,-7.2,269,8505,0.00,2.28,0.00,0.000,6,0.000,0.065,3125,2409,3352
$GC,8832,-0.52,-117.3,599.4,-6.4,275,8836,0.00,2.30,0.00,0.000,4,0.000,0.075,3125,988,3353
$GC,8864,-0.52,-117.3,601.5,-6.3,275,8869,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2403,3352
$GC,9202,-0.57,-117.3,622.0,-6.0,281,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3352
$GC,9505,-0.61,-117.3,639.2,-5.6,286,9509,0.00,2.30,0.00,0.000,4,0.000,0.075,3125,993,3352
$GC,9532,-0.66,-117.3,640.8,-6.5,286,9536,0.00,2.30,0.00,0.000,6,0.000,0.065,3125,2406,3352
$GC,9870,-0.71,-117.3,658.1,-5.0,292,9871,0.12,0.00,0.00,0.000,6,0.090,0.000,3079,2406,3352
$GC,10172,-0.71,-117.3,676.2,-6.0,297,10176,0.00,2.30,0.00,0.000,4,0.000,0.075,3078,995,3351
$GC,10216,-0.62,-117.3,679.1,-6.5,297,10221,0.10,2.28,0.00,0.000,6,0.160,0.065,3109,2394,3351
$GC,10536,-0.62,-117.3,698.1,-5.9,303,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2394,3352
$GC,10839,-0.62,-117.3,717.5,-6.5,308,10843,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,985,3351
$GC,10877,-0.62,-117.3,720.2,-6.8,308,10882,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2397,3351
$GC,11203,-0.62,-117.3,742.0,-6.7,314,11207,0.00,2.30,0.00,0.000,4,0.000,0.075,3109,988,3351
$GC,11236,-0.62,-117.3,744.2,-6.5,314,11240,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2401,3351
$GC,11568,-0.62,-117.3,764.0,-5.8,320,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3351
$GC,11870,-0.62,-117.3,780.3,-5.3,325,11874,0.00,2.30,0.00,0.000,4,0.000,0.077,3109,991,3351
$GC,11902,-0.62,-117.3,782.0,-5.2,325,11907,0.00,2.30,0.00,0.000,6,0.000,0.066,3110,2406,3351
$GC,12240,-0.62,-117.3,798.5,-4.9,331,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3351
$GC,12543,-0.62,-117.3,814.1,-5.2,336,12547,0.00,2.30,0.00,0.000,4,0.000,0.077,3109,992,3351
$GC,12574,-0.62,-117.3,816.0,-5.4,336,12579,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2404,3351
$GC,12912,-0.62,-117.3,834.7,-5.7,342,12913,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3350
$GC,13215,-0.62,-117.3,852.4,-5.9,347,13219,0.00,2.33,0.00,0.000,4,0.000,0.077,3109,986,3350
$GC,13240,-0.62,-117.3,854.1,-6.1,347,13245,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2394,3350
$GC,13584,-0.62,-117.3,874.9,-6.2,353,13585,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2394,3350
$GC,13887,-0.62,-117.3,893.3,-6.1,358,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2393,3350
$GC,14190,-0.62,-117.3,911.3,-5.9,363,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2394,3350
$GC,14493,-0.62,-117.3,927.8,-5.4,368,14497,0.00,2.30,0.00,0.000,4,0.000,0.078,3110,987,3349
$GC,14524,-0.62,-117.3,929.8,-6.1,368,14529,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2398,3349
$GC,14862,-0.62,-117.3,947.4,-5.3,374,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3349
$GC,15166,-0.67,-117.3,963.3,-5.3,379,15170,0.00,2.30,0.00,0.000,4,0.000,0.077,3109,993,3349
$GC,15197,-0.67,-117.3,965.3,-6.4,379,15202,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2398,3349
$GC,15536,-0.71,-117.3,984.0,-5.6,385,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3349
$STATE,15655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15655,begin apogee
$GC,15660,-0.22,0.0,991.1,5.8,387,15762,0.45,0.00,99.30,1.515,6,0.151,0.000,3248,2198,2876
$STATE,15762,end apogee,CONTROL_FINISHED_OK
$STATE,15762,begin climb
$GC,15764,0.67,117.3,993.4,0.0,388,15874,0.88,2.60,103.20,1.467,4,0.098,0.080,3533,786,2397
$GC,15918,0.29,117.3,993.5,6.5,391,15923,0.43,2.50,0.00,0.000,6,0.190,0.063,3412,2199,2394
$GC,16267,0.33,155.2,979.2,3.9,397,16302,0.00,0.00,33.22,1.443,6,0.000,0.000,3412,2200,2243
$GC,16569,0.34,158.4,964.6,4.9,402,16579,0.00,2.42,4.18,0.939,4,0.000,0.081,3412,3620,2230
$GC,16618,0.29,158.4,961.8,6.1,402,16622,0.00,2.38,0.00,0.000,6,0.000,0.064,3420,2207,2230
$GC,16939,0.29,158.4,943.5,5.8,408,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2229
$GC,17241,0.29,158.4,924.5,6.3,413,17243,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2229
$GC,17545,0.29,158.4,903.8,6.9,418,17546,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2207,2229
$GC,17848,0.29,158.4,882.9,6.8,423,17849,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2229
$GC,18151,0.29,158.4,863.4,6.4,428,18152,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2207,2229
$GC,18454,0.29,158.4,844.2,6.3,433,18455,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2208,2228
$GC,18757,0.29,158.4,826.0,6.0,438,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2228
$GC,19060,0.29,158.4,807.7,6.0,443,19061,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2208,2228
$GC,19363,0.29,158.4,789.7,6.0,448,19367,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,780,2228
$GC,19389,0.29,158.4,788.1,5.4,448,19394,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2202,2228
$GC,19726,0.29,158.4,767.3,6.2,454,19728,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2228
$GC,20030,0.29,158.4,748.1,6.3,459,20031,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2228
$GC,20333,0.29,158.4,728.2,6.6,464,20337,0.00,2.30,0.00,0.000,4,0.000,0.084,3421,3609,2228
$GC,20371,0.24,158.4,725.2,7.3,464,20375,0.00,2.28,0.00,0.000,6,0.000,0.067,3421,2195,2228
$GC,20697,0.24,158.4,702.7,7.0,470,20698,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2195,2228
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$STATE,32295,end climb,SURFACE_DEPTH_REACHED
$STATE,32295,begin surface coast
$FINISH,3.9,1.022207
$STATE,32435,end surface coast,CONTROL_FINISHED_OK
$STATE,32435,begin surface
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$IRIDIUM_FIX,4953.05,-14428.52,211297,070744
$TT8_MAMPS,0.026078
$HUMID,2142
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$TCM_TEMP,16.80
$XPDR_PINGS,978
$24V_AH,23.0,19.006
$10V_AH,10.6,10.610
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$DEVICE_SECS,27.900,199.425,364.000,0.000,0.000,62.499,63.713,276.617,244.500,0.000,0.000,34.045,1810.457,27739.482,533.564,2388.364,637.410,33.372,1689.516,0.000,2354.697,0.000,0.466
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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,50764,860
$CAP_FILE_SIZE,184751,0
$CFSIZE,260165632,252571648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260908,165638,5006.774,-14428.145,51,1.6,51,18.6