version: 66.03
glider: 120
mission: 9
dive: 144
start: 10 21 108 3 6 16
data:
$ID,120
$MISSION,9
$DIVE,144
$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,-20677.961
$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,20
$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
$GPS1,025938,4957.326,-14514.221,64,1.1,64,18.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,3.85
$_SM_ANGLEo,-75.9
$GPS2,030521,4957.366,-14514.234,14,1.1,14,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.039,-0.173
$KALMAN_X,46871.5,-135.2,-214.1,-75643.7,417.5
$KALMAN_Y,111251.9,115.6,-239.9,-126285.0,2369.5
$MHEAD_RNG_PITCHd_Wd,148.9,6788,-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,-12.57,0.000,2,0.000,0.000,148,2411,1967
$GC,37,-0.67,-117.3,3.9,-0.0,1,113,13.82,2.38,-55.45,0.000,4,0.287,0.081,3093,985,3355
$GC,147,-0.32,-117.3,10.8,-14.0,11,152,0.45,2.33,0.00,0.000,6,0.170,0.061,3211,2402,3356
$GC,472,-0.40,-117.3,34.6,-6.6,41,476,0.00,2.33,0.00,0.000,4,0.000,0.067,3211,991,3358
$GC,501,-0.49,-117.3,36.7,-7.0,43,506,0.15,2.30,0.00,0.000,6,0.081,0.059,3156,2402,3357
$GC,826,-0.55,-117.3,59.4,-6.0,73,830,0.00,2.30,0.00,0.000,4,0.000,0.075,3156,3808,3359
$GC,858,-0.55,-117.3,61.7,-7.1,75,865,0.00,2.28,0.00,0.000,6,0.000,0.051,3156,2388,3359
$GC,1182,-0.55,-117.3,83.6,-7.1,104,1185,0.00,2.25,0.00,0.000,4,0.000,0.065,3156,992,3360
$GC,1221,-0.55,-117.3,86.2,-7.1,106,1225,0.00,2.28,0.00,0.000,6,0.000,0.058,3156,2404,3360
$GC,1547,-0.55,-117.3,109.2,-7.8,122,1551,0.00,2.30,0.00,0.000,4,0.000,0.077,3155,3807,3361
$GC,1578,-0.55,-117.3,112.0,-8.7,123,1585,0.00,2.25,0.00,0.000,6,0.000,0.052,3155,2397,3361
$GC,1895,-0.60,-117.3,135.7,-6.5,139,1899,0.00,2.28,0.00,0.000,4,0.000,0.068,3155,992,3361
$GC,1935,-0.69,-117.3,138.1,-6.1,141,1939,0.17,2.28,0.00,0.000,6,0.083,0.059,3089,2404,3361
$GC,2249,-0.54,-117.3,163.6,-8.4,154,2253,0.15,2.30,0.00,0.000,4,0.160,0.077,3126,3806,3361
$GC,2304,-0.54,-117.3,167.6,-6.7,155,2311,0.00,2.22,0.00,0.000,6,0.000,0.054,3126,2392,3361
$GC,2616,-0.54,-117.3,188.0,-6.9,166,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3361
$GC,2922,-0.54,-117.3,212.0,-8.2,176,2926,0.00,2.28,0.00,0.000,4,0.000,0.071,3126,992,3360
$GC,2971,-0.54,-117.3,216.3,-8.6,177,2976,0.00,2.30,0.00,0.000,6,0.000,0.061,3126,2403,3360
$GC,3290,-0.54,-117.3,243.9,-8.4,188,3294,0.00,2.30,0.00,0.000,4,0.000,0.080,3126,3809,3359
$GC,3317,-0.54,-117.3,246.1,-7.8,189,3321,0.00,2.25,0.00,0.000,6,0.000,0.056,3126,2389,3360
$GC,3651,-0.54,-117.3,269.4,-6.5,200,3655,0.00,2.28,0.00,0.000,4,0.000,0.071,3126,989,3359
$GC,3689,-0.54,-117.3,272.0,-6.8,201,3693,0.00,2.30,0.00,0.000,6,0.000,0.061,3126,2400,3359
$GC,4019,-0.54,-117.3,291.9,-6.0,212,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3359
$GC,4354,-0.54,-117.3,312.2,-6.1,220,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3358
$GC,4658,-0.54,-117.3,330.1,-5.9,225,4662,0.00,2.30,0.00,0.000,4,0.000,0.071,3126,992,3357
$GC,4703,-0.59,-117.3,333.0,-6.8,225,4707,0.00,2.28,0.00,0.000,6,0.000,0.063,3125,2404,3357
$GC,5017,-0.59,-117.3,350.8,-5.6,231,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3357
$GC,5320,-0.59,-117.3,367.1,-5.3,236,5324,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,986,3357
$GC,5353,-0.63,-117.3,369.0,-6.0,236,5357,0.00,2.30,0.00,0.000,6,0.000,0.063,3126,2395,3357
$GC,5685,-0.63,-117.3,386.8,-5.4,242,5689,0.00,2.30,0.00,0.000,4,0.000,0.073,3126,990,3356
$GC,5717,-0.67,-117.3,388.8,-6.0,242,5721,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2398,3356
$GC,6049,-0.67,-117.3,407.6,-5.7,248,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3356
$GC,6352,-0.67,-117.3,426.0,-6.1,253,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3356
$GC,6655,-0.67,-117.3,444.6,-6.1,258,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3355
$GC,6958,-0.67,-117.3,463.9,-6.4,263,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3355
$GC,7261,-0.67,-117.3,483.4,-6.4,268,7265,0.00,2.33,0.00,0.000,4,0.000,0.073,3126,987,3354
$GC,7293,-0.73,-117.3,485.4,-6.0,268,7298,0.12,2.30,0.00,0.000,6,0.092,0.063,3080,2408,3355
$GC,7625,-0.67,-117.3,507.9,-6.8,274,7629,0.00,2.33,0.00,0.000,4,0.000,0.073,3080,993,3354
$GC,7658,-0.59,-117.3,510.6,-8.0,274,7663,0.17,2.28,0.00,0.000,6,0.162,0.064,3126,2400,3355
$GC,7984,-0.59,-117.3,530.2,-6.0,280,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3355
$GC,8288,-0.63,-117.3,548.8,-6.1,285,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3355
$GC,8590,-0.67,-117.3,566.8,-5.9,290,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,8894,-0.71,-117.3,584.5,-5.8,295,8898,0.12,2.33,0.00,0.000,4,0.094,0.072,3079,994,3354
$GC,8920,-0.67,-117.3,586.4,-7.2,295,8924,0.00,2.30,0.00,0.000,6,0.000,0.065,3079,2413,3354
$GC,9258,-0.57,-117.3,611.7,-7.6,301,9260,0.20,0.00,0.00,0.000,6,0.165,0.000,3133,2413,3354
$GC,9562,-0.65,-117.3,626.2,-4.6,306,9566,0.00,2.35,0.00,0.000,4,0.000,0.074,3134,989,3353
$GC,9602,-0.73,-117.3,628.2,-5.0,306,9606,0.17,2.30,0.00,0.000,6,0.088,0.065,3072,2409,3353
$GC,9922,-0.64,-117.3,648.1,-6.3,312,9927,0.15,2.33,0.00,0.000,4,0.164,0.082,3113,3813,3353
$GC,9965,-0.68,-117.3,650.6,-5.9,312,9969,0.00,2.25,0.00,0.000,6,0.000,0.059,3112,2403,3353
$GC,10286,-0.68,-117.3,666.0,-4.8,318,10290,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,983,3353
$GC,10330,-0.68,-117.3,668.4,-5.4,318,10334,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2402,3353
$GC,10651,-0.68,-117.3,686.0,-5.5,324,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,10953,-0.68,-117.3,703.9,-6.0,329,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3353
$GC,11257,-0.68,-117.3,722.4,-6.1,334,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,11561,-0.68,-117.3,741.0,-6.1,339,11565,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,993,3352
$GC,11593,-0.68,-117.3,743.4,-7.1,339,11598,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2405,3352
$GC,11926,-0.68,-117.3,763.5,-6.1,345,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,12229,-0.68,-117.3,782.0,-6.1,350,12233,0.00,2.35,0.00,0.000,4,0.000,0.075,3113,984,3352
$GC,12255,-0.68,-117.3,783.7,-6.3,350,12259,0.00,2.35,0.00,0.000,6,0.000,0.067,3112,2406,3352
$GC,12593,-0.68,-117.3,803.9,-6.0,356,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3352
$GC,12896,-0.68,-117.3,821.7,-5.9,361,12900,0.00,2.35,0.00,0.000,4,0.000,0.076,3112,983,3352
$GC,12927,-0.68,-117.3,823.8,-6.3,361,12932,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2394,3352
$GC,13259,-0.68,-117.3,842.9,-5.8,367,13261,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2394,3352
$GC,13563,-0.72,-117.3,859.9,-5.6,372,13568,0.00,2.33,0.00,0.000,4,0.000,0.077,3113,990,3351
$GC,13590,-0.76,-117.3,861.6,-5.6,372,13595,0.12,2.30,0.00,0.000,6,0.094,0.067,3066,2405,3351
$GC,13927,-0.76,-117.3,883.0,-6.3,378,13931,0.00,2.33,0.00,0.000,4,0.000,0.084,3066,3812,3351
$GC,13959,-0.67,-117.3,885.3,-6.7,378,13964,0.12,2.25,0.00,0.000,6,0.140,0.061,3098,2399,3351
$GC,14291,-0.67,-117.3,905.3,-6.0,384,14295,0.00,2.33,0.00,0.000,4,0.000,0.076,3098,985,3351
$GC,14322,-0.67,-117.3,907.3,-6.3,384,14327,0.00,2.35,0.00,0.000,6,0.000,0.067,3098,2402,3351
$GC,14655,-0.67,-117.3,926.9,-5.8,390,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3351
$GC,14958,-0.67,-117.3,944.5,-5.8,395,14962,0.00,2.35,0.00,0.000,4,0.000,0.076,3098,984,3351
$GC,14984,-0.67,-117.3,946.1,-5.8,395,14988,0.00,2.35,0.00,0.000,6,0.000,0.067,3098,2404,3351
$GC,15321,-0.67,-117.3,964.8,-5.5,401,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3350
$GC,15625,-0.67,-117.3,981.8,-5.7,406,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3350
$STATE,15805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15805,begin apogee
$GC,15810,-0.22,0.0,992.6,5.9,409,15914,0.47,0.00,101.55,1.504,6,0.152,0.000,3241,2192,2876
$STATE,15915,end apogee,CONTROL_FINISHED_OK
$STATE,15915,begin climb
$GC,15916,0.67,117.3,994.5,0.0,410,16026,0.90,0.00,106.18,1.448,6,0.102,0.000,3527,2192,2397
$GC,16291,0.31,117.3,977.2,7.8,417,16293,0.40,0.00,0.00,0.000,6,0.183,0.000,3424,2192,2393
$GC,16594,0.25,117.3,961.4,5.1,422,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2192,2392
$GC,16897,0.19,117.3,946.1,5.0,427,16899,0.17,0.00,0.00,0.000,6,0.180,0.000,3379,2191,2392
$GC,17201,0.32,162.2,934.7,3.7,432,17245,0.12,2.55,38.67,1.442,4,0.094,0.081,3423,3604,2213
$GC,17279,0.23,162.2,930.5,6.3,433,17284,0.12,2.38,0.00,0.000,6,0.179,0.066,3396,2202,2211
$GC,17627,0.34,189.5,915.3,4.2,439,17657,0.00,2.47,24.23,1.398,4,0.000,0.081,3396,794,2103
$GC,17685,0.53,240.5,912.9,3.5,439,17737,0.28,2.38,46.17,1.403,6,0.085,0.064,3491,2208,1895
$GC,18052,0.41,240.5,881.8,8.7,446,18054,0.15,0.00,0.00,0.000,6,0.166,0.000,3454,2208,1888
$GC,18355,0.41,240.5,860.0,7.2,451,18356,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2208,1887
$GC,18658,0.41,240.5,837.0,7.7,456,18662,0.00,2.35,0.00,0.000,4,0.000,0.081,3454,3609,1886
$GC,18685,0.34,240.5,834.5,8.5,456,18689,0.00,2.33,0.00,0.000,6,0.000,0.065,3454,2189,1885
$GC,19022,0.34,240.5,806.7,8.3,462,19023,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2189,1885
$GC,19325,0.34,240.5,779.9,8.9,467,19329,0.00,2.40,0.00,0.000,4,0.000,0.081,3454,3617,1885
$GC,19357,0.27,240.5,776.6,10.3,467,19362,0.20,2.30,0.00,0.000,6,0.179,0.064,3408,2200,1885
$GC,19683,0.41,240.5,753.3,7.1,473,19685,0.12,0.00,0.00,0.000,6,0.097,0.000,3452,2199,1885
$GC,19986,0.46,240.5,729.3,8.0,478,19987,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2199,1885
$GC,20290,0.53,240.5,704.7,8.1,483,20295,0.10,2.38,0.00,0.000,4,0.120,0.083,3491,3610,1885
$GC,20316,0.41,240.5,701.7,11.2,483,20321,0.12,2.33,0.00,0.000,6,0.184,0.066,3456,2200,1884
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$STATE,29771,end climb,SURFACE_DEPTH_REACHED
$STATE,29771,begin surface coast
$FINISH,2.6,1.003167
$STATE,29824,end surface coast,CONTROL_FINISHED_OK
$STATE,29824,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2155
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$TCM_TEMP,16.30
$XPDR_PINGS,917
$24V_AH,22.8,30.846
$10V_AH,10.6,19.196
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$DEVICE_SECS,31.425,204.750,435.650,0.000,0.000,28.135,28.222,179.414,229.250,0.000,0.000,14.283,1701.907,25306.361,584.179,2164.623,481.847,33.378,1681.074,0.000,2141.784,0.000,0.465
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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,47436,798
$CAP_FILE_SIZE,177967,0
$CFSIZE,260165632,247488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211008,112538,4954.675,-14513.058,26,1.2,26,18.4