version: 66.03
glider: 120
mission: 9
dive: 113
start: 10 9 108 7 36 22
data:
$ID,120
$MISSION,9
$DIVE,113
$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,-20006.633
$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,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
$GPS1,072937,5011.737,-14441.022,36,1.1,41,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.96
$_SM_ANGLEo,-75.7
$GPS2,073527,5011.741,-14441.044,11,1.9,11,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,0.118
$KALMAN_X,35993.5,146.6,-123.0,-25712.5,-1380.3
$KALMAN_Y,89515.6,50.4,-222.6,-77869.4,328.9
$MHEAD_RNG_PITCHd_Wd,29.8,21682,-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,18,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.05,0.000,2,0.000,0.000,143,2411,1803
$GC,36,-0.67,-117.3,5.0,-0.0,1,122,13.40,2.40,-64.12,0.000,4,0.280,0.094,3096,994,3356
$GC,373,-0.34,-117.3,42.9,-14.2,31,381,0.32,2.33,0.00,0.000,6,0.166,0.062,3205,2400,3359
$GC,701,-0.69,-117.3,63.1,-7.0,62,706,0.30,2.30,0.00,0.000,4,0.087,0.065,3097,990,3360
$GC,778,-0.50,-117.3,70.2,-9.3,68,785,0.17,2.30,0.00,0.000,6,0.163,0.059,3150,2396,3360
$GC,1098,-0.46,-117.3,94.9,-7.7,90,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2396,3362
$GC,1407,-0.46,-117.3,119.6,-8.3,105,1411,0.00,2.30,0.00,0.000,4,0.000,0.067,3150,987,3361
$GC,1461,-0.46,-117.3,124.2,-8.2,107,1468,0.00,2.30,0.00,0.000,6,0.000,0.059,3150,2397,3361
$GC,1777,-0.46,-117.3,145.2,-6.0,123,1781,0.00,2.30,0.00,0.000,4,0.000,0.080,3150,3806,3362
$GC,1816,-0.52,-117.3,147.6,-6.2,125,1820,0.00,2.22,0.00,0.000,6,0.000,0.054,3150,2388,3362
$GC,2135,-0.58,-117.3,166.6,-6.4,136,2139,0.00,2.25,0.00,0.000,4,0.000,0.069,3150,991,3361
$GC,2197,-0.64,-117.3,171.2,-8.0,138,2201,0.12,2.28,0.00,0.000,6,0.084,0.061,3102,2407,3361
$GC,2531,-0.56,-117.3,201.9,-9.2,149,2532,0.12,0.00,0.00,0.000,6,0.153,0.000,3135,2408,3361
$GC,2836,-0.56,-117.3,221.2,-5.6,159,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2407,3361
$GC,3142,-0.56,-117.3,237.8,-5.6,169,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2407,3361
$GC,3449,-0.56,-117.3,256.0,-6.1,179,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2407,3360
$GC,3755,-0.56,-117.3,274.8,-6.1,189,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2407,3359
$GC,4061,-0.56,-117.3,293.7,-6.1,199,4065,0.00,2.33,0.00,0.000,4,0.000,0.072,3135,991,3359
$GC,4093,-0.56,-117.3,295.8,-6.3,200,4098,0.00,2.33,0.00,0.000,6,0.000,0.064,3135,2403,3359
$GC,4427,-0.56,-117.3,315.1,-5.8,207,4431,0.00,2.30,0.00,0.000,4,0.000,0.072,3135,995,3358
$GC,4459,-0.56,-117.3,317.1,-6.0,207,4464,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2402,3358
$GC,4792,-0.61,-117.3,336.4,-5.9,213,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2401,3358
$GC,5094,-0.65,-117.3,353.0,-5.4,218,5098,0.00,2.30,0.00,0.000,4,0.000,0.073,3135,996,3357
$GC,5126,-0.65,-117.3,354.9,-6.2,218,5131,0.00,2.30,0.00,0.000,6,0.000,0.063,3135,2406,3357
$GC,5459,-0.69,-117.3,372.0,-5.2,224,5461,0.12,0.00,0.00,0.000,6,0.088,0.000,3089,2406,3357
$GC,5762,-0.65,-117.3,391.1,-6.3,229,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2406,3357
$GC,6065,-0.61,-117.3,409.7,-6.2,234,6067,0.12,0.00,0.00,0.000,6,0.117,0.000,3123,2406,3356
$GC,6368,-0.61,-117.3,427.7,-6.0,239,6372,0.00,2.33,0.00,0.000,4,0.000,0.074,3123,991,3356
$GC,6394,-0.61,-117.3,429.5,-6.7,239,6399,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2401,3356
$GC,6732,-0.61,-117.3,449.5,-5.9,245,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2400,3356
$GC,7035,-0.61,-117.3,467.8,-6.0,250,7039,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,996,3355
$GC,7072,-0.61,-117.3,470.3,-6.6,250,7077,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2403,3355
$GC,7399,-0.61,-117.3,489.4,-5.8,256,7403,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,992,3355
$GC,7425,-0.61,-117.3,491.1,-6.5,256,7429,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2405,3355
$GC,7762,-0.61,-117.3,509.6,-5.4,262,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3355
$GC,8065,-0.61,-117.3,527.2,-5.8,267,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3355
$GC,8369,-0.61,-117.3,545.8,-6.2,272,8373,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,996,3355
$GC,8412,-0.61,-117.3,548.8,-6.9,272,8417,0.00,2.28,0.00,0.000,6,0.000,0.065,3123,2405,3355
$GC,8734,-0.65,-117.3,568.6,-6.2,278,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3355
$GC,9036,-0.69,-117.3,586.8,-5.9,283,9040,0.00,2.30,0.00,0.000,4,0.000,0.075,3123,996,3354
$GC,9086,-0.74,-117.3,590.0,-6.2,283,9090,0.08,2.30,0.00,0.000,6,0.084,0.065,3073,2402,3354
$GC,9401,-0.68,-117.3,611.3,-6.8,289,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3354
$GC,9704,-0.62,-117.3,632.8,-7.1,294,9706,0.15,0.00,0.00,0.000,6,0.128,0.000,3115,2402,3354
$GC,10007,-0.62,-117.3,652.3,-6.4,299,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3353
$GC,10310,-0.62,-117.3,671.5,-6.3,304,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3354
$GC,10613,-0.62,-117.3,689.8,-6.0,309,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3354
$GC,10917,-0.62,-117.3,707.1,-5.7,314,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3354
$GC,11219,-0.62,-117.3,723.9,-5.5,319,11223,0.00,2.30,0.00,0.000,4,0.000,0.075,3115,994,3353
$GC,11250,-0.62,-117.3,725.7,-5.5,319,11255,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2397,3353
$GC,11583,-0.62,-117.3,743.7,-5.5,325,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,11886,-0.62,-117.3,760.9,-5.6,330,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,12190,-0.62,-117.3,777.4,-5.4,335,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,12492,-0.62,-117.3,793.7,-5.4,340,12496,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,988,3352
$GC,12518,-0.62,-117.3,795.2,-5.9,340,12523,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2405,3352
$GC,12856,-0.62,-117.3,813.9,-5.6,346,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3352
$GC,13159,-0.62,-117.3,832.0,-6.0,351,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3352
$GC,13463,-0.62,-117.3,849.5,-5.7,356,13468,0.00,2.33,0.00,0.000,4,0.000,0.076,3113,996,3352
$GC,13501,-0.62,-117.3,851.9,-5.3,356,13506,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2398,3352
$GC,13828,-0.67,-117.3,869.8,-5.4,362,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3352
$GC,14131,-0.71,-117.3,886.0,-5.3,367,14133,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3352
$GC,14434,-0.75,-117.3,901.9,-5.2,372,14436,0.12,0.00,0.00,0.000,6,0.094,0.000,3066,2399,3351
$GC,14738,-0.71,-117.3,919.3,-5.7,377,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3351
$GC,15040,-0.71,-117.3,937.0,-5.8,382,15041,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3351
$GC,15343,-0.71,-117.3,953.5,-5.4,387,15347,0.00,2.33,0.00,0.000,4,0.000,0.085,3063,3813,3351
$GC,15375,-0.61,-117.3,955.4,-6.3,387,15380,0.12,2.28,0.00,0.000,6,0.143,0.061,3114,2405,3351
$GC,15707,-0.67,-117.3,970.1,-4.3,393,15711,0.00,2.30,0.00,0.000,4,0.000,0.077,3114,994,3351
$GC,15740,-0.72,-117.3,971.8,-5.0,393,15744,0.00,2.28,0.00,0.000,6,0.000,0.067,3114,2401,3351
$GC,16067,-0.78,-117.3,986.0,-4.4,399,16069,0.15,0.00,0.00,0.000,6,0.094,0.000,3058,2401,3350
$STATE,16186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16186,begin apogee
$GC,16191,-0.22,0.0,992.6,4.9,401,16294,0.62,0.00,100.25,1.509,6,0.153,0.000,3246,2199,2876
$STATE,16294,end apogee,CONTROL_FINISHED_OK
$STATE,16295,begin climb
$GC,16296,0.67,117.3,994.0,0.0,402,16407,0.88,2.62,104.22,1.453,4,0.098,0.079,3533,797,2397
$GC,16430,0.27,117.3,992.9,7.5,405,16435,0.50,2.50,0.00,0.000,6,0.194,0.061,3410,2203,2394
$GC,16795,0.27,117.3,973.2,5.2,411,16799,0.00,2.40,0.00,0.000,4,0.000,0.081,3410,3610,2393
$GC,16832,0.17,117.3,970.9,6.1,411,16837,0.15,2.35,0.00,0.000,6,0.183,0.065,3374,2205,2393
$GC,17158,0.31,166.6,958.9,3.6,417,17203,0.15,0.00,42.58,1.443,6,0.091,0.000,3427,2205,2197
$GC,17462,0.31,166.6,941.7,5.8,422,17463,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2205,2194
$GC,17764,0.31,166.6,924.7,5.6,427,17768,0.00,2.38,0.00,0.000,4,0.000,0.083,3427,3609,2193
$GC,17801,0.22,166.6,922.1,7.4,427,17806,0.12,2.35,0.00,0.000,6,0.166,0.066,3390,2198,2193
$GC,18128,0.32,170.4,906.2,4.9,433,18134,0.00,0.00,4.55,1.004,6,0.000,0.000,3390,2198,2181
$GC,18431,0.41,170.4,889.7,5.5,438,18435,0.15,2.40,0.00,0.000,4,0.089,0.084,3450,3613,2181
$GC,18468,0.24,170.4,886.8,8.0,438,18473,0.20,2.33,0.00,0.000,6,0.183,0.067,3400,2191,2181
$GC,18795,0.32,170.4,867.5,5.8,444,18796,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2191,2181
$GC,19097,0.39,170.4,850.5,5.6,449,19099,0.15,0.00,0.00,0.000,6,0.094,0.000,3454,2191,2181
$GC,19400,0.31,170.4,829.3,7.1,454,19405,0.15,2.33,0.00,0.000,4,0.160,0.081,3419,787,2181
$GC,19438,0.35,170.4,826.9,5.7,454,19442,0.00,2.33,0.00,0.000,6,0.000,0.064,3419,2204,2180
$GC,19764,0.35,170.4,808.6,5.6,460,19765,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2205,2181
$GC,20067,0.35,170.4,791.1,5.8,465,20068,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2205,2180
$GC,20370,0.35,170.4,772.1,6.3,470,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2204,2180
$GC,20673,0.35,170.4,751.5,6.8,475,20677,0.00,2.33,0.00,0.000,4,0.000,0.084,3419,3611,2180
$GC,20705,0.35,170.4,749.0,8.1,475,20709,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2195,2180
$GC,21036,0.35,170.4,724.9,7.3,481,21038,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2180
$GC,21340,0.35,170.4,703.6,7.0,486,21341,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2179
$GC,21643,0.35,170.4,683.5,6.5,491,21647,0.00,2.38,0.00,0.000,4,0.000,0.084,3421,3618,2180
$GC,21675,0.35,170.4,681.2,6.3,491,21679,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2197,2179
$GC,22007,0.35,170.4,662.5,5.5,497,22008,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2180
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$STATE,32868,end climb,SURFACE_DEPTH_REACHED
$STATE,32868,begin surface coast
$FINISH,3.9,1.014145
$STATE,32945,end surface coast,CONTROL_FINISHED_OK
$STATE,32945,begin surface
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$HUMID,2167
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$TCM_TEMP,16.40
$XPDR_PINGS,959
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$10V_AH,10.7,15.079
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$DEVICE_SECS,29.825,191.325,389.400,0.000,0.000,25.208,58.354,159.840,239.750,0.000,0.000,11.961,1780.074,28252.688,576.803,2276.678,480.321,33.377,1702.383,0.000,2258.649,0.000,0.465
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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,47582,833
$CAP_FILE_SIZE,182664,0
$CFSIZE,260165632,249913344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091008,164802,5014.101,-14437.188,44,1.2,44,18.6