version: 66.03
glider: 120
mission: 9
dive: 168
start: 10 30 108 4 51 36
data:
$ID,120
$MISSION,9
$DIVE,168
$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,-21207.77
$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,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
$GPS1,044507,4957.819,-14438.844,76,1.1,76,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-74.3
$GPS2,045041,4957.845,-14438.912,10,2.1,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.128,0.123
$KALMAN_X,41186.8,-59.7,-14.5,-28264.8,310.1
$KALMAN_Y,128771.9,-237.0,-251.9,-142534.6,1126.6
$MHEAD_RNG_PITCHd_Wd,295.3,22861,-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,-117.3,0.0,0.0,0,33,0.00,0.00,-11.57,0.000,2,0.000,0.000,147,2405,1945
$GC,36,-0.67,-117.3,3.1,-0.0,1,104,14.12,2.40,-48.75,0.000,4,0.293,0.082,3093,986,3355
$GC,267,-0.38,-117.3,31.3,-15.7,21,274,0.35,2.35,0.00,0.000,6,0.166,0.064,3190,2411,3357
$GC,593,-0.42,-117.3,56.9,-7.1,52,594,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2411,3358
$GC,911,-0.53,-117.3,74.9,-6.3,82,912,0.15,0.00,0.00,0.000,6,0.080,0.000,3134,2411,3359
$GC,1232,-0.53,-117.3,98.8,-7.5,101,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2411,3359
$GC,1541,-0.53,-117.3,121.9,-7.2,116,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2412,3360
$GC,1850,-0.53,-117.3,142.4,-5.8,131,1854,0.00,2.35,0.00,0.000,4,0.000,0.068,3134,987,3360
$GC,1882,-0.53,-117.3,144.4,-6.6,132,1889,0.00,2.35,0.00,0.000,6,0.000,0.061,3134,2402,3360
$GC,2206,-0.53,-117.3,163.4,-5.6,145,2210,0.00,2.33,0.00,0.000,4,0.000,0.069,3134,990,3360
$GC,2232,-0.53,-117.3,165.0,-5.6,145,2239,0.00,2.33,0.00,0.000,6,0.000,0.061,3134,2401,3360
$GC,2545,-0.53,-117.3,184.5,-6.5,156,2549,0.00,2.33,0.00,0.000,4,0.000,0.080,3128,3815,3360
$GC,2571,-0.53,-117.3,186.3,-6.4,156,2578,0.00,2.28,0.00,0.000,6,0.000,0.054,3129,2400,3360
$GC,2884,-0.53,-117.3,205.9,-5.8,167,2888,0.00,2.30,0.00,0.000,4,0.000,0.071,3129,993,3360
$GC,2918,-0.57,-117.3,207.8,-5.7,168,2921,0.00,2.28,0.00,0.000,6,0.000,0.062,3128,2401,3360
$GC,3257,-0.57,-117.3,226.7,-5.7,179,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3359
$GC,3564,-0.57,-117.3,247.7,-7.3,189,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3359
$GC,3870,-0.57,-117.3,271.1,-7.4,199,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3359
$GC,4176,-0.57,-117.3,291.5,-6.3,209,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2401,3358
$GC,4511,-0.57,-117.3,309.9,-5.4,217,4515,0.00,2.35,0.00,0.000,4,0.000,0.072,3128,984,3358
$GC,4544,-0.64,-117.3,311.8,-5.4,217,4548,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2399,3358
$GC,4869,-0.64,-117.3,328.5,-5.2,223,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3357
$GC,5172,-0.68,-117.3,345.3,-5.6,228,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3357
$GC,5476,-0.72,-117.3,363.0,-5.9,233,5477,0.15,0.00,0.00,0.000,6,0.088,0.000,3070,2399,3357
$GC,5779,-0.59,-117.3,388.6,-8.5,238,5781,0.20,0.00,0.00,0.000,6,0.166,0.000,3124,2399,3356
$GC,6081,-0.59,-117.3,407.4,-6.1,243,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3357
$GC,6384,-0.59,-117.3,426.1,-6.2,248,6388,0.00,2.33,0.00,0.000,4,0.000,0.072,3125,994,3356
$GC,6428,-0.59,-117.3,429.1,-7.0,248,6432,0.00,2.33,0.00,0.000,6,0.000,0.064,3124,2397,3356
$GC,6749,-0.59,-117.3,449.7,-6.5,254,6753,0.00,2.35,0.00,0.000,4,0.000,0.084,3125,3811,3355
$GC,6781,-0.64,-117.3,451.9,-6.6,254,6785,0.00,2.25,0.00,0.000,6,0.000,0.058,3124,2400,3355
$GC,7113,-0.69,-117.3,471.2,-5.7,260,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3355
$GC,7417,-0.75,-117.3,486.8,-5.1,265,7421,0.15,2.33,0.00,0.000,4,0.086,0.073,3060,993,3355
$GC,7454,-0.58,-117.3,489.6,-8.1,265,7459,0.25,2.30,0.00,0.000,6,0.164,0.065,3128,2404,3355
$GC,7781,-0.63,-117.3,506.0,-5.0,271,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2404,3355
$GC,8084,-0.69,-117.3,521.6,-5.2,276,8088,0.00,2.35,0.00,0.000,4,0.000,0.073,3129,986,3354
$GC,8116,-0.75,-117.3,523.6,-6.0,276,8121,0.10,2.33,0.00,0.000,6,0.076,0.065,3071,2400,3354
$GC,8448,-0.68,-117.3,547.5,-7.4,282,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3354
$GC,8751,-0.63,-117.3,569.3,-7.1,287,8753,0.15,0.00,0.00,0.000,6,0.123,0.000,3113,2400,3354
$GC,9054,-0.63,-117.3,588.2,-6.2,292,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3354
$GC,9357,-0.63,-117.3,606.6,-6.0,297,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3354
$GC,9660,-0.63,-117.3,625.0,-6.0,302,9664,0.00,2.35,0.00,0.000,4,0.000,0.074,3114,987,3353
$GC,9697,-0.63,-117.3,627.5,-6.9,302,9701,0.00,2.35,0.00,0.000,6,0.000,0.066,3113,2393,3353
$GC,10024,-0.63,-117.3,646.4,-5.7,308,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3354
$GC,10327,-0.63,-117.3,663.3,-5.6,313,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3353
$GC,10631,-0.63,-117.3,680.1,-5.5,318,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3353
$GC,10933,-0.63,-117.3,697.0,-5.6,323,10937,0.00,2.35,0.00,0.000,4,0.000,0.076,3114,985,3353
$GC,10959,-0.63,-117.3,698.5,-6.1,323,10963,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2401,3353
$GC,11297,-0.63,-117.3,717.5,-5.7,329,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2401,3353
$GC,11600,-0.63,-117.3,736.1,-6.2,334,11604,0.00,2.35,0.00,0.000,4,0.000,0.075,3114,984,3352
$GC,11637,-0.63,-117.3,738.7,-6.7,334,11642,0.00,2.35,0.00,0.000,6,0.000,0.067,3114,2404,3352
$GC,11964,-0.63,-117.3,759.2,-6.3,340,11968,0.00,2.35,0.00,0.000,4,0.000,0.087,3112,3810,3352
$GC,11991,-0.68,-117.3,761.0,-6.4,340,11994,0.00,2.28,0.00,0.000,6,0.000,0.060,3112,2391,3352
$GC,12328,-0.73,-117.3,780.6,-5.8,346,12332,0.00,2.33,0.00,0.000,4,0.000,0.076,3113,984,3352
$GC,12365,-0.73,-117.3,783.0,-6.2,346,12370,0.00,2.35,0.00,0.000,6,0.000,0.067,3113,2404,3352
$GC,12693,-0.77,-117.3,801.8,-5.7,352,12695,0.12,0.00,0.00,0.000,6,0.093,0.000,3065,2404,3352
$GC,12996,-0.73,-117.3,821.0,-6.3,357,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2404,3352
$GC,13299,-0.68,-117.3,839.5,-6.1,362,13303,0.12,2.35,0.00,0.000,4,0.117,0.075,3105,994,3352
$GC,13325,-0.68,-117.3,841.1,-5.2,362,13329,0.00,2.30,0.00,0.000,6,0.000,0.068,3105,2399,3351
$GC,13663,-0.68,-117.3,859.3,-5.5,368,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2399,3352
$GC,13965,-0.68,-117.3,876.3,-5.6,373,13969,0.00,2.38,0.00,0.000,4,0.000,0.087,3100,3817,3352
$GC,13992,-0.68,-117.3,878.1,-6.5,373,13996,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2400,3351
$GC,14330,-0.68,-117.3,897.7,-5.8,379,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3351
$GC,14633,-0.68,-117.3,915.3,-5.8,384,14637,0.00,2.33,0.00,0.000,4,0.000,0.077,3100,989,3351
$GC,14659,-0.68,-117.3,916.9,-6.3,384,14664,0.00,2.35,0.00,0.000,6,0.000,0.068,3099,2400,3351
$GC,14997,-0.68,-117.3,937.2,-6.0,390,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3351
$GC,15300,-0.68,-117.3,955.6,-6.1,395,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3351
$GC,15604,-0.68,-117.3,973.9,-6.0,400,15608,0.00,2.35,0.00,0.000,4,0.000,0.077,3100,987,3351
$GC,15630,-0.68,-117.3,975.8,-6.5,400,15634,0.00,2.33,0.00,0.000,6,0.000,0.067,3099,2408,3351
$STATE,15905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15906,begin apogee
$GC,15910,-0.22,0.0,992.7,6.1,405,16016,0.47,0.00,102.55,1.504,6,0.150,0.000,3242,2195,2875
$STATE,16016,end apogee,CONTROL_FINISHED_OK
$STATE,16017,begin climb
$GC,16019,0.67,117.3,994.9,0.0,406,16135,0.88,2.67,106.90,1.451,4,0.099,0.081,3533,795,2396
$GC,16146,0.27,117.3,997.4,5.6,408,16152,0.52,2.53,0.00,0.000,6,0.193,0.062,3405,2204,2394
$GC,16506,0.30,144.1,982.2,4.2,414,16533,0.00,0.00,24.33,1.404,6,0.000,0.000,3405,2204,2288
$GC,16809,0.30,144.2,967.5,5.0,419,16810,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2204,2286
$GC,17112,0.30,144.2,951.2,5.4,424,17113,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2204,2286
$GC,17415,0.30,144.2,934.3,5.5,429,17416,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2204,2286
$GC,17718,0.30,144.2,916.7,5.8,434,17722,0.00,2.40,0.00,0.000,4,0.000,0.081,3408,793,2285
$GC,17745,0.34,144.2,915.0,5.8,434,17749,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2200,2286
$GC,18083,0.34,144.2,895.3,5.9,440,18087,0.00,2.35,0.00,0.000,4,0.000,0.083,3408,3608,2285
$GC,18115,0.34,144.2,893.1,6.6,440,18119,0.00,2.35,0.00,0.000,6,0.000,0.066,3408,2196,2285
$GC,18447,0.34,144.2,874.6,5.5,446,18448,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2285
$GC,18750,0.34,144.2,858.2,5.4,451,18751,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2285
$GC,19053,0.34,144.2,841.4,5.5,456,19054,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2285
$GC,19356,0.34,144.2,825.3,5.3,461,19360,0.00,2.40,0.00,0.000,4,0.000,0.083,3408,3612,2285
$GC,19393,0.34,144.2,822.9,6.7,461,19398,0.00,2.33,0.00,0.000,6,0.000,0.067,3408,2209,2285
$GC,19720,0.34,144.2,805.6,5.3,467,19721,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2209,2285
$GC,20023,0.34,144.2,789.1,5.5,472,20027,0.00,2.40,0.00,0.000,4,0.000,0.081,3408,777,2285
$GC,20055,0.39,144.2,787.2,5.2,472,20060,0.08,2.35,0.00,0.000,6,0.086,0.065,3463,2200,2285
$GC,20387,0.28,144.2,764.1,7.1,478,20389,0.20,0.00,0.00,0.000,6,0.160,0.000,3409,2200,2284
$GC,20689,0.28,144.2,748.0,5.2,483,20690,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2285
$GC,20992,0.28,144.2,731.6,5.4,488,20994,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2285
$GC,21296,0.28,144.2,715.6,5.3,493,21297,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2284
$GC,21599,0.28,144.2,699.5,5.3,498,21600,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2284
$GC,21902,0.28,144.2,683.7,5.2,503,21903,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2284
$GC,22205,0.28,144.2,667.9,5.2,508,22206,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2200,2284
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$STATE,32955,end climb,SURFACE_DEPTH_REACHED
$STATE,32955,begin surface coast
$FINISH,1.9,1.013798
$STATE,33042,end surface coast,CONTROL_FINISHED_OK
$STATE,33042,begin surface
$SM_CCo,33119,0.00,0.000,0,0,1637,303.93
$SM_GC,2.80,9.30,0.00,0.00,0.064,0.000,0.000,150,2405,1637,-9.85,0.14,303.93
$IRIDIUM_FIX,4936.36,-14432.01,230198,202001
$TT8_MAMPS,0.026078
$HUMID,2137
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$TCM_TEMP,15.10
$XPDR_PINGS,952
$24V_AH,22.4,35.311
$10V_AH,10.7,22.394
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$DEVICE_SECS,28.900,174.325,368.600,0.000,0.000,28.915,25.436,150.226,238.000,0.000,0.000,30.674,1750.901,28512.010,516.657,2187.572,478.297,33.373,1591.312,0.000,2151.700,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.720,631.382,1433.265,867.446,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47533,843
$CAP_FILE_SIZE,172867,0
$CFSIZE,260165632,245612544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,301008,140455,5000.923,-14442.270,28,2.0,45,18.5