version: 66.03
glider: 120
mission: 9
dive: 86
start: 9 29 108 0 20 17
data:
$ID,120
$MISSION,9
$DIVE,86
$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,-19378.762
$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
$GPS1,001132,4958.774,-14439.881,74,1.8,74,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.02
$_SM_ANGLEo,-77.6
$GPS2,001921,4958.816,-14439.916,10,1.9,10,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.114
$KALMAN_X,34651.0,9.2,131.3,-23138.4,290.7
$KALMAN_Y,70302.3,-236.2,-274.1,-82251.6,1804.4
$MHEAD_RNG_PITCHd_Wd,291.3,20711,-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,-12.65,0.000,2,0.000,0.000,144,2409,1984
$GC,35,-0.67,-117.3,5.2,-0.0,1,105,13.45,2.38,-50.78,0.000,4,0.286,0.079,3094,979,3355
$GC,211,-0.34,-117.3,23.2,-15.0,16,218,0.32,2.35,0.00,0.000,6,0.171,0.061,3202,2396,3357
$GC,537,-0.39,-117.3,49.9,-6.6,47,541,0.00,2.30,0.00,0.000,4,0.000,0.064,3202,985,3358
$GC,569,-0.55,-117.3,51.9,-5.5,49,577,0.15,2.33,0.00,0.000,6,0.066,0.058,3139,2407,3359
$GC,894,-0.55,-117.3,75.9,-8.6,80,898,0.00,2.28,0.00,0.000,4,0.000,0.074,3139,3813,3360
$GC,949,-0.48,-117.3,81.2,-9.8,84,957,0.00,2.25,0.00,0.000,6,0.000,0.051,3139,2396,3360
$GC,1265,-0.42,-117.3,106.9,-7.8,100,1267,0.15,0.00,0.00,0.000,6,0.157,0.000,3178,2394,3361
$GC,1574,-0.50,-117.3,125.3,-5.4,115,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2394,3361
$GC,1884,-0.80,-117.3,145.0,-6.9,130,1889,0.32,2.25,0.00,0.000,4,0.084,0.067,3058,993,3361
$GC,1923,-0.63,-117.3,148.3,-9.2,132,1928,0.20,2.28,0.00,0.000,6,0.173,0.061,3112,2414,3361
$GC,2236,-0.54,-117.3,171.5,-7.3,143,2240,0.00,2.28,0.00,0.000,4,0.000,0.079,3112,3814,3361
$GC,2347,-0.48,-117.3,180.3,-8.3,146,2352,0.17,2.25,0.00,0.000,6,0.160,0.054,3160,2403,3361
$GC,2670,-0.57,-117.3,198.9,-5.8,157,2674,0.00,2.28,0.00,0.000,4,0.000,0.070,3160,984,3360
$GC,2699,-0.65,-117.3,200.7,-6.3,158,2703,0.15,2.28,0.00,0.000,6,0.079,0.061,3103,2407,3360
$GC,3033,-0.57,-117.3,226.5,-7.7,169,3037,0.00,2.28,0.00,0.000,4,0.000,0.079,3100,3812,3359
$GC,3065,-0.49,-117.3,229.4,-9.4,170,3070,0.15,2.25,0.00,0.000,6,0.153,0.055,3148,2399,3359
$GC,3400,-0.54,-117.3,249.8,-6.1,181,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2399,3359
$GC,3706,-0.59,-117.3,269.6,-6.6,191,3710,0.00,2.28,0.00,0.000,4,0.000,0.071,3148,990,3358
$GC,3733,-0.65,-117.3,271.4,-6.8,192,3738,0.12,2.28,0.00,0.000,6,0.086,0.061,3100,2412,3358
$GC,4067,-0.58,-117.3,297.5,-7.9,203,4069,0.10,0.00,0.00,0.000,6,0.156,0.000,3124,2412,3357
$GC,4371,-0.58,-117.3,318.5,-6.9,209,4375,0.00,2.28,0.00,0.000,4,0.000,0.083,3124,3804,3356
$GC,4408,-0.58,-117.3,321.3,-7.1,209,4413,0.00,2.25,0.00,0.000,6,0.000,0.058,3124,2402,3357
$GC,4735,-0.58,-117.3,343.2,-6.7,215,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3356
$GC,5038,-0.58,-117.3,362.4,-6.2,220,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3355
$GC,5341,-0.58,-117.3,381.7,-6.4,225,5345,0.00,2.28,0.00,0.000,4,0.000,0.074,3124,991,3355
$GC,5373,-0.58,-117.3,384.0,-7.0,225,5378,0.00,2.28,0.00,0.000,6,0.000,0.063,3124,2392,3354
$GC,5705,-0.58,-117.3,406.7,-6.9,231,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3355
$GC,6008,-0.58,-117.3,429.0,-7.4,236,6012,0.00,2.30,0.00,0.000,4,0.000,0.083,3124,3810,3354
$GC,6034,-0.58,-117.3,431.0,-8.3,236,6039,0.00,2.25,0.00,0.000,6,0.000,0.058,3124,2399,3354
$GC,6378,-0.58,-117.3,453.8,-6.6,242,6382,0.00,2.28,0.00,0.000,4,0.000,0.074,3124,991,3353
$GC,6410,-0.58,-117.3,456.0,-7.0,242,6414,0.00,2.30,0.00,0.000,6,0.000,0.064,3124,2408,3353
$GC,6742,-0.58,-117.3,475.4,-5.9,248,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3353
$GC,7045,-0.58,-117.3,493.3,-5.9,253,7049,0.00,2.33,0.00,0.000,4,0.000,0.074,3124,985,3352
$GC,7065,-0.58,-117.3,494.8,-6.4,253,7070,0.00,2.30,0.00,0.000,6,0.000,0.065,3124,2398,3353
$GC,7408,-0.58,-117.3,516.1,-6.4,259,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3352
$GC,7711,-0.58,-117.3,536.2,-6.6,264,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3352
$GC,8015,-0.58,-117.3,556.2,-6.6,269,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3352
$GC,8318,-0.62,-117.3,575.3,-6.2,274,8322,0.00,2.30,0.00,0.000,4,0.000,0.074,3124,991,3352
$GC,8344,-0.62,-117.3,577.1,-7.3,274,8349,0.00,2.30,0.00,0.000,6,0.000,0.065,3124,2400,3352
$GC,8683,-0.66,-117.3,596.8,-5.9,280,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3352
$GC,8986,-0.71,-117.3,613.6,-5.5,285,8988,0.12,0.00,0.00,0.000,6,0.092,0.000,3077,2400,3350
$GC,9288,-0.71,-117.3,632.9,-6.4,290,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2400,3351
$GC,9592,-0.67,-117.3,652.4,-6.5,295,9596,0.00,2.30,0.00,0.000,4,0.000,0.082,3076,3817,3350
$GC,9624,-0.59,-117.3,654.8,-7.8,295,9629,0.12,2.28,0.00,0.000,6,0.137,0.059,3127,2399,3350
$GC,9962,-0.64,-117.3,674.5,-5.8,301,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3350
$GC,10264,-0.70,-117.3,691.7,-5.7,306,10269,0.12,2.30,0.00,0.000,4,0.094,0.074,3080,985,3350
$GC,10307,-0.63,-117.3,694.7,-6.9,306,10312,0.08,2.30,0.00,0.000,6,0.167,0.066,3103,2394,3350
$GC,10628,-0.63,-117.3,713.9,-5.8,312,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3350
$GC,10931,-0.63,-117.3,730.1,-5.3,317,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3350
$GC,11234,-0.63,-117.3,746.7,-5.5,322,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3350
$GC,11537,-0.63,-117.3,764.8,-6.0,327,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3349
$GC,11840,-0.63,-117.3,783.5,-6.1,332,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3349
$GC,12143,-0.63,-117.3,802.4,-6.3,337,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3349
$GC,12446,-0.63,-117.3,821.1,-6.2,342,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3349
$GC,12749,-0.63,-117.3,840.8,-6.5,347,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2394,3349
$GC,13052,-0.63,-117.3,860.1,-6.3,352,13057,0.00,2.30,0.00,0.000,4,0.000,0.077,3104,994,3348
$GC,13084,-0.63,-117.3,862.3,-6.5,352,13089,0.00,2.30,0.00,0.000,6,0.000,0.067,3101,2402,3348
$GC,13417,-0.63,-117.3,881.3,-5.6,358,13421,0.00,2.33,0.00,0.000,4,0.000,0.086,3101,3819,3348
$GC,13443,-0.63,-117.3,882.8,-5.6,358,13448,0.00,2.28,0.00,0.000,6,0.000,0.061,3101,2401,3348
$GC,13781,-0.63,-117.3,900.4,-5.2,364,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3348
$GC,14084,-0.63,-117.3,915.3,-4.9,369,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3348
$GC,14387,-0.63,-117.3,931.1,-5.2,374,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3348
$GC,14690,-0.63,-117.3,948.4,-5.7,379,14694,0.00,2.35,0.00,0.000,4,0.000,0.087,3101,3816,3348
$GC,14721,-0.63,-117.3,950.5,-6.2,379,14727,0.00,2.28,0.00,0.000,6,0.000,0.061,3101,2401,3347
$GC,15054,-0.63,-117.3,970.9,-6.2,385,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3347
$STATE,15355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15355,begin apogee
$GC,15360,-0.22,0.0,990.4,6.4,390,15462,0.47,0.00,99.00,1.516,6,0.154,0.000,3244,2188,2876
$STATE,15462,end apogee,CONTROL_FINISHED_OK
$STATE,15463,begin climb
$GC,15464,0.67,117.3,992.5,0.0,391,15575,0.88,2.60,103.25,1.463,4,0.103,0.081,3533,799,2397
$GC,15608,0.27,117.3,993.0,6.9,393,15613,0.50,2.50,0.00,0.000,6,0.193,0.063,3408,2200,2395
$GC,15956,0.27,123.0,976.2,4.8,399,15964,0.00,0.00,6.05,1.147,6,0.000,0.000,3408,2200,2374
$GC,16259,0.27,123.0,961.1,5.0,404,16260,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2374
$GC,16562,0.27,123.0,945.5,5.2,409,16564,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2374
$GC,16865,0.27,123.0,928.8,5.5,414,16869,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,3619,2374
$GC,16903,0.20,123.0,926.4,7.1,414,16908,0.00,2.35,0.00,0.000,6,0.000,0.067,3408,2202,2374
$GC,17235,0.20,123.0,907.5,5.7,420,17236,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2373
$GC,17538,0.20,123.0,889.8,5.8,425,17542,0.00,2.35,0.00,0.000,4,0.000,0.082,3408,790,2373
$GC,17569,0.20,123.0,887.9,5.3,425,17574,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2209,2373
$GC,17901,0.20,123.0,868.6,5.9,431,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2209,2373
$GC,18204,0.20,123.0,851.3,5.7,436,18206,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2209,2373
$GC,18507,0.20,123.0,834.8,5.4,441,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2209,2373
$GC,18811,0.20,123.0,819.4,5.0,446,18815,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,783,2373
$GC,18859,0.22,138.4,817.0,4.6,446,18880,0.00,2.33,13.93,1.348,6,0.000,0.065,3408,2209,2311
$GC,19240,0.22,140.5,798.3,4.9,453,19242,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2208,2310
$GC,19544,0.22,143.7,783.4,4.9,458,19552,0.00,0.00,6.22,1.135,6,0.000,0.000,3408,2208,2289
$GC,19846,0.22,143.7,768.0,5.1,463,19847,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2208,2288
$GC,20149,0.22,143.7,752.2,5.3,468,20153,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,786,2288
$GC,20187,0.28,143.7,750.1,5.3,468,20192,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2198,2287
$GC,20519,0.28,143.7,731.7,5.6,474,20520,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2198,2288
$GC,20822,0.28,143.7,715.2,5.4,479,20823,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2198,2288
$GC,21126,0.32,144.7,700.0,5.0,484,21127,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2198,2288
$GC,21428,0.33,157.7,685.9,4.6,489,21447,0.00,2.40,12.80,1.263,4,0.000,0.081,3408,794,2233
$GC,21482,0.42,162.6,683.3,4.9,489,21495,0.12,2.30,5.80,1.042,6,0.097,0.063,3453,2206,2213
$GC,21796,0.36,162.6,664.0,6.3,495,21797,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2206,2212
$GC,22099,0.30,162.6,644.8,6.3,500,22101,0.15,0.00,0.00,0.000,6,0.158,0.000,3414,2206,2212
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$GC,30644,0.60,224.8,132.1,4.9,688,30653,0.15,2.35,4.10,0.688,4,0.094,0.080,3532,788,1959
$GC,30669,0.54,224.8,130.3,8.3,689,30674,0.15,2.30,0.00,0.000,6,0.164,0.063,3493,2210,1959
$GC,30996,0.54,224.8,110.7,6.0,705,31000,0.00,2.38,0.00,0.000,4,0.000,0.080,3493,779,1958
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$STATE,32916,end climb,SURFACE_DEPTH_REACHED
$STATE,32916,begin surface coast
$FINISH,3.9,1.011812
$STATE,33034,end surface coast,CONTROL_FINISHED_OK
$STATE,33034,begin surface
$SM_CCo,33051,10.65,0.794,0,0,1653,300.00
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$IRIDIUM_FIX,4939.69,-14439.40,241297,000050
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$HUMID,2149
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$XPDR_PINGS,940
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$10V_AH,10.7,11.519
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$DEVICE_SECS,29.025,185.925,362.050,10.650,0.000,57.976,54.616,198.071,235.000,0.000,0.000,10.984,1819.828,28337.684,539.561,2308.719,523.423,33.371,1668.142,0.000,2296.089,0.000,0.465
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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,50574,867
$CAP_FILE_SIZE,185705,0
$CFSIZE,260165632,252030976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,093337,5001.511,-14444.055,103,0.8,103,18.5