version: 66.03
glider: 120
mission: 9
dive: 172
start: 10 31 108 18 22 10
data:
$ID,120
$MISSION,9
$DIVE,172
$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,-21288.471
$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,22
$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
$GPS1,181601,5009.148,-14455.859,36,0.9,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-77.1
$GPS2,182114,5009.171,-14455.825,11,1.5,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.121,0.131
$KALMAN_X,42076.4,134.7,-257.8,-49198.8,-18.8
$KALMAN_Y,130499.0,65.5,-58.0,-123796.1,308.9
$MHEAD_RNG_PITCHd_Wd,298.8,29043,-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,-117.3,0.0,0.0,0,44,0.00,0.00,-22.20,0.000,2,0.000,0.000,141,2418,2116
$GC,47,-0.67,-117.3,3.2,-3.8,2,112,14.07,2.40,-43.42,0.000,4,0.291,0.092,3085,3816,3355
$GC,229,-0.33,-117.3,23.0,-14.7,18,236,0.38,2.33,0.00,0.000,6,0.161,0.054,3209,2397,3357
$GC,557,-0.42,-117.3,43.7,-6.6,49,561,0.00,2.33,0.00,0.000,4,0.000,0.068,3209,989,3358
$GC,589,-0.52,-117.3,46.2,-6.8,51,596,0.15,2.35,0.00,0.000,6,0.067,0.060,3148,2404,3357
$GC,915,-0.57,-117.3,70.6,-6.5,82,919,0.00,2.33,0.00,0.000,4,0.000,0.066,3148,993,3358
$GC,971,-0.61,-117.3,74.5,-7.0,86,977,0.00,2.30,0.00,0.000,6,0.000,0.058,3148,2415,3359
$GC,1298,-0.61,-117.3,98.9,-7.6,106,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2415,3360
$GC,1608,-0.61,-117.3,122.1,-7.1,121,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2415,3360
$GC,1917,-0.61,-117.3,141.0,-5.9,136,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2415,3360
$GC,2226,-0.67,-117.3,156.9,-4.9,149,2231,0.15,2.38,0.00,0.000,4,0.081,0.069,3080,985,3360
$GC,2254,-0.56,-117.3,158.8,-7.3,150,2259,0.20,2.33,0.00,0.000,6,0.161,0.063,3133,2408,3360
$GC,2589,-0.56,-117.3,180.3,-6.6,161,2593,0.00,2.35,0.00,0.000,4,0.000,0.069,3134,989,3360
$GC,2621,-0.56,-117.3,182.6,-7.2,162,2625,0.00,2.33,0.00,0.000,6,0.000,0.062,3131,2398,3360
$GC,2956,-0.56,-117.3,203.6,-6.2,173,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2398,3360
$GC,3263,-0.56,-117.3,222.5,-6.2,183,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2398,3360
$GC,3569,-0.56,-117.3,241.5,-6.2,193,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2398,3359
$GC,3875,-0.56,-117.3,261.2,-6.6,203,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2398,3359
$GC,4181,-0.56,-117.3,279.9,-6.0,213,4185,0.00,2.33,0.00,0.000,4,0.000,0.071,3131,994,3358
$GC,4210,-0.56,-117.3,281.8,-7.1,214,4214,0.00,2.30,0.00,0.000,6,0.000,0.063,3131,2405,3358
$GC,4544,-0.56,-117.3,301.7,-6.0,225,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2405,3358
$GC,4847,-0.56,-117.3,320.6,-6.2,230,4851,0.00,2.35,0.00,0.000,4,0.000,0.073,3131,989,3357
$GC,4885,-0.56,-117.3,323.3,-7.0,230,4889,0.00,2.30,0.00,0.000,6,0.000,0.064,3131,2400,3357
$GC,5211,-0.56,-117.3,345.1,-6.8,236,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3357
$GC,5514,-0.56,-117.3,365.4,-6.7,241,5518,0.00,2.33,0.00,0.000,4,0.000,0.073,3131,994,3356
$GC,5540,-0.56,-117.3,367.5,-7.3,241,5544,0.00,2.33,0.00,0.000,6,0.000,0.064,3130,2399,3357
$GC,5878,-0.60,-117.3,391.4,-7.2,247,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2399,3356
$GC,6181,-0.65,-117.3,412.3,-6.8,252,6185,0.00,2.33,0.00,0.000,4,0.000,0.072,3131,994,3355
$GC,6208,-0.70,-117.3,414.3,-7.0,252,6213,0.12,2.30,0.00,0.000,6,0.087,0.064,3084,2405,3356
$GC,6546,-0.65,-117.3,438.8,-7.2,258,6550,0.00,2.33,0.00,0.000,4,0.000,0.083,3083,3810,3355
$GC,6578,-0.57,-117.3,441.3,-8.0,258,6583,0.17,2.25,0.00,0.000,6,0.140,0.058,3132,2395,3356
$GC,6904,-0.63,-117.3,460.3,-5.8,264,6908,0.00,2.30,0.00,0.000,4,0.000,0.074,3132,991,3355
$GC,6931,-0.69,-117.3,462.1,-6.9,264,6935,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2412,3355
$GC,7269,-0.74,-117.3,482.0,-5.9,270,7271,0.15,0.00,0.00,0.000,6,0.090,0.000,3070,2412,3355
$GC,7572,-0.66,-117.3,502.7,-6.8,275,7574,0.12,0.00,0.00,0.000,6,0.116,0.000,3104,2412,3355
$GC,7875,-0.66,-117.3,520.1,-5.6,280,7879,0.00,2.35,0.00,0.000,4,0.000,0.074,3105,994,3355
$GC,7906,-0.66,-117.3,521.9,-5.9,280,7911,0.00,2.33,0.00,0.000,6,0.000,0.067,3104,2396,3355
$GC,8240,-0.66,-117.3,538.6,-5.0,286,8244,0.00,2.35,0.00,0.000,4,0.000,0.084,3100,3811,3354
$GC,8266,-0.66,-117.3,540.2,-5.7,286,8271,0.00,2.28,0.00,0.000,6,0.000,0.058,3100,2405,3354
$GC,8604,-0.66,-117.3,558.3,-5.4,292,8608,0.00,2.33,0.00,0.000,4,0.000,0.074,3100,986,3354
$GC,8636,-0.66,-117.3,560.2,-5.8,292,8640,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2404,3354
$GC,8968,-0.66,-117.3,578.8,-5.7,298,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3354
$GC,9271,-0.66,-117.3,596.7,-5.9,303,9275,0.00,2.35,0.00,0.000,4,0.000,0.073,3100,987,3353
$GC,9302,-0.66,-117.3,598.7,-6.4,303,9307,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2392,3354
$GC,9635,-0.66,-117.3,619.3,-6.3,309,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3354
$GC,9938,-0.66,-117.3,639.0,-6.5,314,9942,0.00,2.38,0.00,0.000,4,0.000,0.085,3100,3812,3353
$GC,9969,-0.66,-117.3,641.2,-6.8,314,9974,0.00,2.30,0.00,0.000,6,0.000,0.059,3100,2396,3353
$GC,10302,-0.66,-117.3,663.4,-6.7,320,10306,0.00,2.33,0.00,0.000,4,0.000,0.074,3100,988,3353
$GC,10334,-0.66,-117.3,665.7,-6.6,320,10338,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2413,3353
$GC,10666,-0.66,-117.3,687.5,-6.5,326,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2413,3353
$GC,10969,-0.66,-117.3,706.0,-6.1,331,10973,0.00,2.33,0.00,0.000,4,0.000,0.086,3100,3808,3353
$GC,10996,-0.66,-117.3,707.8,-6.8,331,11000,0.00,2.28,0.00,0.000,6,0.000,0.060,3100,2406,3353
$GC,11334,-0.66,-117.3,728.5,-6.2,337,11338,0.00,2.33,0.00,0.000,4,0.000,0.074,3100,990,3352
$GC,11366,-0.66,-117.3,730.8,-6.7,337,11370,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2394,3353
$GC,11698,-0.66,-117.3,751.2,-6.1,343,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3353
$GC,12001,-0.66,-117.3,769.4,-6.0,348,12005,0.00,2.38,0.00,0.000,4,0.000,0.085,3099,3816,3352
$GC,12038,-0.66,-117.3,771.8,-6.5,348,12043,0.00,2.28,0.00,0.000,6,0.000,0.059,3100,2400,3352
$GC,12365,-0.66,-117.3,791.2,-6.0,354,12369,0.00,2.33,0.00,0.000,4,0.000,0.075,3099,990,3352
$GC,12393,-0.66,-117.3,793.1,-6.5,354,12397,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2400,3352
$GC,12724,-0.66,-117.3,812.7,-5.9,360,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3352
$GC,13027,-0.66,-117.3,830.6,-5.9,365,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,13330,-0.66,-117.3,847.5,-5.5,370,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3352
$GC,13633,-0.66,-117.3,864.9,-5.7,375,13637,0.00,2.35,0.00,0.000,4,0.000,0.075,3100,986,3351
$GC,13660,-0.66,-117.3,866.7,-6.2,375,13664,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2402,3351
$GC,13998,-0.66,-117.3,886.5,-5.9,381,13999,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3351
$GC,14301,-0.66,-117.3,904.7,-6.0,386,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3351
$GC,14604,-0.66,-117.3,923.4,-6.2,391,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3351
$GC,14907,-0.66,-117.3,942.6,-6.4,396,14911,0.00,2.40,0.00,0.000,4,0.000,0.087,3100,3815,3351
$GC,14938,-0.66,-117.3,944.8,-6.4,396,14943,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2407,3351
$GC,15271,-0.66,-117.3,965.3,-6.1,402,15275,0.00,2.35,0.00,0.000,4,0.000,0.076,3100,993,3351
$GC,15297,-0.66,-117.3,967.1,-7.1,402,15301,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2405,3351
$GC,15635,-0.66,-117.3,987.4,-6.0,408,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3351
$STATE,15693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15694,begin apogee
$GC,15699,-0.22,0.0,990.9,6.0,409,15804,0.47,0.00,102.28,1.506,6,0.147,0.000,3242,2192,2875
$STATE,15804,end apogee,CONTROL_FINISHED_OK
$STATE,15804,begin climb
$GC,15806,0.67,117.3,993.0,0.0,410,15922,0.88,2.67,106.70,1.450,4,0.097,0.080,3533,794,2396
$GC,15961,0.28,117.3,992.7,6.9,412,15966,0.47,2.50,0.00,0.000,6,0.189,0.062,3415,2191,2395
$GC,16299,0.24,117.3,975.0,5.2,418,16300,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2190,2393
$GC,16601,0.20,117.3,958.6,5.4,423,16603,0.12,0.00,0.00,0.000,6,0.185,0.000,3385,2191,2393
$GC,16905,0.28,135.9,944.8,4.5,428,16923,0.00,0.00,16.88,1.397,6,0.000,0.000,3385,2190,2321
$GC,17208,0.37,150.2,930.9,4.6,433,17228,0.15,2.45,13.95,1.365,4,0.087,0.084,3449,3613,2262
$GC,17261,0.19,150.2,927.5,7.3,433,17266,0.28,2.38,0.00,0.000,6,0.174,0.066,3377,2193,2262
$GC,17571,0.35,184.3,914.5,4.0,438,17605,0.17,0.00,30.88,1.423,6,0.087,0.000,3440,2193,2124
$GC,17874,0.35,184.3,896.0,6.2,443,17875,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2193,2120
$GC,18176,0.35,184.3,877.3,6.1,448,18178,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2193,2119
$GC,18479,0.35,184.3,858.6,6.2,453,18481,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2193,2119
$GC,18783,0.35,184.3,840.1,6.1,458,18787,0.00,2.38,0.00,0.000,4,0.000,0.082,3449,781,2119
$GC,18815,0.35,184.3,838.0,7.0,458,18819,0.00,2.38,0.00,0.000,6,0.000,0.066,3449,2206,2119
$GC,19147,0.31,184.3,816.7,6.4,464,19151,0.00,2.35,0.00,0.000,4,0.000,0.084,3449,3613,2119
$GC,19169,0.22,184.3,814.9,7.5,464,19173,0.22,2.33,0.00,0.000,6,0.170,0.066,3389,2196,2118
$GC,19513,0.38,202.4,799.3,4.5,470,19534,0.15,2.40,16.15,1.335,4,0.090,0.082,3450,780,2049
$GC,19561,0.38,202.4,796.3,7.3,470,19566,0.00,2.38,0.00,0.000,6,0.000,0.065,3450,2198,2049
$GC,19876,0.38,202.4,774.6,6.9,476,19878,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2198,2048
$GC,20180,0.38,202.4,753.5,7.0,481,20184,0.00,2.38,0.00,0.000,4,0.000,0.084,3451,3610,2048
$GC,20207,0.31,202.4,751.4,7.7,481,20212,0.12,2.33,0.00,0.000,6,0.179,0.066,3420,2198,2048
$GC,20538,0.37,202.4,731.2,6.2,487,20539,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2198,2048
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$GC,22171,0.41,214.1,626.9,4.7,514,22187,0.12,2.35,11.07,1.190,4,0.094,0.082,3455,783,2002
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$STATE,31566,end climb,SURFACE_DEPTH_REACHED
$STATE,31566,begin surface coast
$FINISH,1.7,1.002501
$STATE,31684,end surface coast,CONTROL_FINISHED_OK
$STATE,31684,begin surface
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$IRIDIUM_FIX,4946.36,-14453.88,250198,090906
$TT8_MAMPS,0.026078
$HUMID,2121
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$TCM_TEMP,16.30
$XPDR_PINGS,957
$24V_AH,22.4,36.048
$10V_AH,10.7,22.932
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$DEVICE_SECS,29.025,197.725,371.975,0.000,0.000,30.549,25.976,145.745,239.250,0.000,0.000,16.109,1761.735,27047.639,541.226,2237.511,481.617,33.378,1657.019,0.000,2222.888,0.000,0.465
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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,50533,845
$CAP_FILE_SIZE,175808,0
$CFSIZE,260165632,245293056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011108,031238,5012.319,-14500.148,31,1.0,31,18.5