version: 66.03
glider: 120
mission: 9
dive: 100
start: 10 4 108 8 17 20
data:
$ID,120
$MISSION,9
$DIVE,100
$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,-19687.311
$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,20
$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
$GPS1,081108,5007.390,-14515.123,49,1.2,49,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.09
$_SM_ANGLEo,-75.2
$GPS2,081626,5007.416,-14515.081,13,1.4,30,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.027,-0.176
$KALMAN_X,45640.5,-218.6,-202.8,-75338.1,1641.9
$KALMAN_Y,77998.8,-181.3,-280.6,-74066.4,3009.1
$MHEAD_RNG_PITCHd_Wd,170.2,25105,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-12.80,0.000,2,0.000,0.000,148,2408,1985
$GC,36,-0.67,-117.3,5.4,-0.0,1,106,13.43,2.35,-50.80,0.000,4,0.285,0.092,3086,3816,3355
$GC,291,-0.26,-117.3,38.8,-17.4,23,298,0.45,2.30,0.00,0.000,6,0.170,0.054,3221,2395,3358
$GC,616,-0.82,-117.3,62.6,-6.9,54,621,0.47,2.35,0.00,0.000,4,0.096,0.072,3054,3819,3359
$GC,666,-0.56,-117.3,67.3,-9.9,58,671,0.28,2.25,0.00,0.000,6,0.173,0.052,3129,2394,3359
$GC,996,-0.45,-117.3,95.4,-9.2,81,1001,0.15,2.28,0.00,0.000,4,0.168,0.064,3177,984,3361
$GC,1050,-0.51,-117.3,99.8,-7.1,83,1057,0.00,2.30,0.00,0.000,6,0.000,0.058,3176,2399,3362
$GC,1367,-0.57,-117.3,120.5,-6.2,99,1368,0.15,0.00,0.00,0.000,6,0.081,0.000,3117,2398,3362
$GC,1675,-0.57,-117.3,144.5,-7.1,114,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3362
$GC,1993,-0.57,-117.3,162.8,-5.7,126,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3361
$GC,2299,-0.57,-117.3,180.4,-6.1,136,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3362
$GC,2605,-0.57,-117.3,202.2,-7.4,146,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3360
$GC,2911,-0.57,-117.3,223.5,-6.7,156,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3360
$GC,3218,-0.57,-117.3,241.3,-5.7,166,3222,0.00,2.30,0.00,0.000,4,0.000,0.071,3117,992,3360
$GC,3238,-0.57,-117.3,242.7,-5.8,166,3246,0.00,2.30,0.00,0.000,6,0.000,0.061,3117,2402,3360
$GC,3551,-0.57,-117.3,261.4,-6.1,177,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2402,3359
$GC,3857,-0.57,-117.3,281.1,-6.5,187,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2403,3359
$GC,4163,-0.57,-117.3,302.2,-7.1,197,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2402,3359
$GC,4466,-0.57,-117.3,324.3,-7.3,202,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2402,3358
$GC,4772,-0.57,-117.3,345.6,-7.0,207,4776,0.00,2.33,0.00,0.000,4,0.000,0.081,3114,3817,3357
$GC,4798,-0.57,-117.3,347.5,-7.0,207,4803,0.00,2.28,0.00,0.000,6,0.000,0.058,3113,2399,3357
$GC,5136,-0.57,-117.3,370.0,-6.8,213,5140,0.00,2.28,0.00,0.000,4,0.000,0.074,3113,992,3357
$GC,5156,-0.57,-117.3,371.7,-7.6,213,5161,0.00,2.28,0.00,0.000,6,0.000,0.062,3113,2396,3357
$GC,5500,-0.57,-117.3,396.6,-7.4,219,5504,0.00,2.30,0.00,0.000,4,0.000,0.081,3113,3807,3356
$GC,5531,-0.57,-117.3,399.1,-7.7,219,5536,0.00,2.25,0.00,0.000,6,0.000,0.058,3113,2403,3356
$GC,5863,-0.57,-117.3,422.4,-7.0,225,5867,0.00,2.28,0.00,0.000,4,0.000,0.074,3113,992,3356
$GC,5906,-0.57,-117.3,425.5,-7.4,225,5911,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2406,3356
$GC,6228,-0.57,-117.3,447.2,-6.8,231,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3356
$GC,6530,-0.57,-117.3,467.2,-6.5,236,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3355
$GC,6835,-0.57,-117.3,486.1,-6.2,241,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3355
$GC,7137,-0.57,-117.3,504.5,-6.0,246,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3355
$GC,7440,-0.57,-117.3,521.5,-5.5,251,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3355
$GC,7745,-0.57,-117.3,538.7,-5.7,256,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3355
$GC,8046,-0.57,-117.3,556.5,-5.9,261,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3355
$GC,8349,-0.57,-117.3,574.3,-5.9,266,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3355
$GC,8654,-0.57,-117.3,593.3,-6.3,271,8658,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,988,3354
$GC,8686,-0.62,-117.3,595.7,-7.3,271,8690,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2397,3354
$GC,9018,-0.62,-117.3,616.9,-6.4,277,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3354
$GC,9321,-0.62,-117.3,636.0,-6.3,282,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3354
$GC,9624,-0.62,-117.3,654.1,-6.0,287,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3354
$GC,9928,-0.62,-117.3,670.9,-5.5,292,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,10230,-0.62,-117.3,687.0,-5.2,297,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,10533,-0.62,-117.3,702.5,-5.1,302,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,10838,-0.62,-117.3,720.1,-5.9,307,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,11140,-0.66,-117.3,737.9,-5.8,312,11144,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,984,3352
$GC,11162,-0.72,-117.3,739.2,-5.9,312,11166,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2399,3352
$GC,11499,-0.77,-117.3,758.3,-5.6,318,11501,0.15,0.00,0.00,0.000,6,0.094,0.000,3057,2400,3352
$GC,11802,-0.69,-117.3,778.9,-6.8,323,11804,0.12,0.00,0.00,0.000,6,0.123,0.000,3091,2399,3352
$GC,12105,-0.69,-117.3,797.6,-6.1,328,12109,0.00,2.33,0.00,0.000,4,0.000,0.076,3091,987,3352
$GC,12137,-0.69,-117.3,799.6,-6.2,328,12142,0.00,2.33,0.00,0.000,6,0.000,0.067,3088,2400,3352
$GC,12470,-0.65,-117.3,820.3,-6.3,334,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3352
$GC,12772,-0.65,-117.3,838.9,-6.2,339,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3351
$GC,13075,-0.65,-117.3,858.4,-6.5,344,13079,0.00,2.33,0.00,0.000,4,0.000,0.076,3088,988,3352
$GC,13102,-0.65,-117.3,860.2,-6.5,344,13106,0.00,2.33,0.00,0.000,6,0.000,0.066,3088,2403,3351
$GC,13440,-0.65,-117.3,881.2,-6.3,350,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2404,3351
$GC,13744,-0.65,-117.3,900.6,-6.4,355,13748,0.00,2.33,0.00,0.000,4,0.000,0.076,3088,985,3351
$GC,13770,-0.65,-117.3,902.5,-6.1,355,13774,0.00,2.33,0.00,0.000,6,0.000,0.067,3088,2401,3351
$GC,14108,-0.65,-117.3,923.5,-6.2,361,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3350
$GC,14411,-0.65,-117.3,943.0,-6.4,366,14415,0.00,2.33,0.00,0.000,4,0.000,0.077,3088,983,3351
$GC,14454,-0.65,-117.3,945.8,-7.0,366,14458,0.00,2.33,0.00,0.000,6,0.000,0.067,3088,2399,3351
$GC,14775,-0.65,-117.3,965.9,-6.3,372,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3350
$GC,15078,-0.65,-117.3,984.4,-6.1,377,15079,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3350
$STATE,15197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15197,begin apogee
$GC,15202,-0.22,0.0,991.8,6.1,379,15305,0.52,0.00,100.12,1.508,6,0.155,0.000,3246,2200,2876
$STATE,15305,end apogee,CONTROL_FINISHED_OK
$STATE,15305,begin climb
$GC,15307,0.67,117.3,993.5,0.0,380,15418,0.85,2.62,103.65,1.456,4,0.100,0.079,3533,788,2397
$GC,15468,0.29,117.3,990.7,8.6,382,15473,0.47,2.47,0.00,0.000,6,0.191,0.062,3414,2199,2394
$GC,15794,0.29,117.3,972.0,5.7,388,15798,0.00,2.40,0.00,0.000,4,0.000,0.081,3414,3608,2394
$GC,15865,0.17,117.3,967.4,6.8,389,15870,0.17,2.35,0.00,0.000,6,0.180,0.064,3379,2195,2393
$GC,16225,0.25,120.5,949.7,4.9,395,16230,0.00,2.38,0.00,0.000,4,0.000,0.081,3381,783,2393
$GC,16258,0.35,134.1,948.0,4.6,395,16278,0.10,2.35,15.07,1.381,6,0.079,0.064,3439,2194,2329
$GC,16588,0.26,134.1,926.3,6.7,401,16593,0.15,2.38,0.00,0.000,4,0.164,0.081,3394,3613,2327
$GC,16619,0.26,134.1,924.1,5.6,401,16624,0.00,2.35,0.00,0.000,6,0.000,0.066,3394,2199,2327
$GC,16952,0.31,134.1,907.1,5.1,407,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2200,2327
$GC,17256,0.37,136.0,892.1,4.9,412,17257,0.12,0.00,0.00,0.000,6,0.100,0.000,3442,2200,2327
$GC,17558,0.28,136.0,872.8,6.5,417,17560,0.12,0.00,0.00,0.000,6,0.162,0.000,3410,2199,2327
$GC,17861,0.28,136.0,856.0,5.5,422,17865,0.00,2.35,0.00,0.000,4,0.000,0.082,3411,3614,2327
$GC,17904,0.20,136.0,853.2,6.0,422,17908,0.00,2.33,0.00,0.000,6,0.000,0.067,3410,2194,2327
$GC,18225,0.20,136.0,836.1,5.4,428,18226,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2194,2327
$GC,18528,0.20,136.0,820.1,5.3,433,18529,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2194,2327
$GC,18831,0.20,136.0,804.6,5.0,438,18832,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2194,2327
$GC,19134,0.21,139.5,789.8,4.9,443,19142,0.00,0.00,5.72,1.102,6,0.000,0.000,3410,2194,2307
$GC,19438,0.21,141.5,775.1,4.9,448,19442,0.00,2.38,0.00,0.000,4,0.000,0.082,3410,3616,2307
$GC,19469,0.16,141.5,773.3,5.9,448,19480,0.12,2.33,3.88,0.872,6,0.176,0.067,3373,2199,2299
$GC,19801,0.31,158.6,758.5,4.5,454,19819,0.15,0.00,15.80,1.312,6,0.094,0.000,3424,2200,2229
$GC,20104,0.31,158.6,740.8,5.9,459,20105,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2228
$GC,20406,0.31,158.6,723.0,5.9,464,20407,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2199,2228
$GC,20709,0.31,158.6,705.3,5.8,469,20713,0.00,2.35,0.00,0.000,4,0.000,0.081,3424,782,2227
$GC,20752,0.31,158.6,702.8,5.4,469,20757,0.00,2.33,0.00,0.000,6,0.000,0.063,3424,2199,2228
$GC,21073,0.31,158.6,684.4,5.7,475,21075,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2200,2227
$GC,21376,0.31,158.6,667.9,5.5,480,21378,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2227
$GC,21680,0.31,158.6,652.1,5.1,485,21684,0.00,2.33,0.00,0.000,4,0.000,0.082,3424,3616,2227
$GC,21719,0.25,158.6,649.8,5.9,485,21723,0.00,2.30,0.00,0.000,6,0.000,0.066,3425,2189,2227
$GC,22039,0.25,158.6,633.3,5.1,491,22040,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2190,2227
$GC,22341,0.25,158.6,617.7,5.1,496,22342,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2190,2227
$GC,22645,0.26,162.4,602.9,4.9,501,22654,0.00,2.38,4.53,0.913,4,0.000,0.083,3425,3611,2214
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$STATE,32418,end climb,SURFACE_DEPTH_REACHED
$STATE,32419,begin surface coast
$FINISH,5.2,1.024587
$STATE,32438,end surface coast,CONTROL_FINISHED_OK
$STATE,32438,begin surface
$SM_CCo,32457,20.23,0.837,0,0,1653,300.00
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$IRIDIUM_FIX,4953.05,-14511.49,281297,232301
$TT8_MAMPS,0.026078
$HUMID,2214
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$TCM_TEMP,15.20
$XPDR_PINGS,958
$24V_AH,22.9,22.781
$10V_AH,10.7,13.366
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$DEVICE_SECS,29.575,190.875,344.725,20.225,0.000,24.334,29.759,146.785,239.500,0.000,0.000,30.729,1763.104,27828.873,554.364,2229.253,416.232,33.378,1651.534,0.000,2192.010,0.000,0.465
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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,47556,836
$CAP_FILE_SIZE,176672,0
$CFSIZE,260165632,250945536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041008,172038,5004.583,-14515.846,84,1.1,84,18.4