version: 66.03
glider: 120
mission: 9
dive: 211
start: 11 15 108 15 19 10
data:
$ID,120
$MISSION,9
$DIVE,211
$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,-22055.457
$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,17
$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
$GPS1,151237,5002.712,-14447.626,36,0.9,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-77.0
$GPS2,151815,5002.740,-14447.701,14,1.2,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.079,0.159
$KALMAN_X,41597.8,-18.8,-206.1,-38971.4,354.3
$KALMAN_Y,159431.3,-120.0,-300.8,-164205.4,109.3
$MHEAD_RNG_PITCHd_Wd,315.3,9610,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.45,0.000,2,0.000,0.000,136,2400,2410
$GC,57,-0.67,-117.3,3.6,-5.8,3,99,13.93,0.00,-25.90,0.000,6,0.284,0.000,3093,2400,3357
$GC,415,-0.41,-117.3,45.6,-12.6,37,417,0.32,0.00,0.00,0.000,6,0.165,0.000,3185,2400,3359
$GC,732,-0.51,-117.3,67.6,-5.7,67,737,0.00,2.40,0.00,0.000,4,0.000,0.067,3185,991,3360
$GC,761,-0.62,-117.3,69.5,-6.5,69,766,0.20,2.38,0.00,0.000,6,0.078,0.061,3110,2414,3360
$GC,1080,-0.54,-117.3,94.6,-7.8,90,1085,0.12,2.40,0.00,0.000,4,0.106,0.079,3141,3811,3361
$GC,1129,-0.54,-117.3,98.3,-7.3,92,1134,0.00,2.30,0.00,0.000,6,0.000,0.053,3141,2396,3361
$GC,1451,-0.54,-117.3,123.6,-8.6,108,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2396,3362
$GC,1760,-0.54,-117.3,148.4,-7.4,123,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2396,3362
$GC,2077,-0.54,-117.3,168.1,-5.8,134,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2396,3362
$GC,2383,-0.58,-117.3,187.4,-6.2,144,2387,0.00,2.38,0.00,0.000,4,0.000,0.071,3141,989,3362
$GC,2416,-0.63,-117.3,189.5,-6.2,145,2420,0.00,2.33,0.00,0.000,6,0.000,0.063,3141,2399,3362
$GC,2752,-0.68,-117.3,209.1,-5.9,156,2754,0.12,0.00,0.00,0.000,6,0.088,0.000,3091,2399,3361
$GC,3058,-0.64,-117.3,230.7,-7.0,166,3062,0.00,2.40,0.00,0.000,4,0.000,0.071,3091,984,3361
$GC,3101,-0.57,-117.3,234.3,-8.0,167,3106,0.15,2.35,0.00,0.000,6,0.150,0.064,3129,2410,3361
$GC,3419,-0.57,-117.3,254.6,-6.5,178,3423,0.00,2.40,0.00,0.000,4,0.000,0.071,3129,987,3361
$GC,3447,-0.57,-117.3,256.7,-7.8,179,3451,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2405,3361
$GC,3782,-0.57,-117.3,278.4,-6.6,190,3786,0.00,2.38,0.00,0.000,4,0.000,0.082,3128,3806,3360
$GC,3820,-0.63,-117.3,281.0,-6.8,191,3824,0.00,2.28,0.00,0.000,6,0.000,0.056,3128,2400,3360
$GC,4144,-0.67,-117.3,301.7,-6.4,202,4148,0.00,2.38,0.00,0.000,4,0.000,0.072,3129,987,3360
$GC,4199,-0.72,-117.3,305.7,-6.8,202,4206,0.12,2.33,0.00,0.000,6,0.091,0.064,3080,2392,3360
$GC,4509,-0.66,-117.3,328.8,-7.6,208,4513,0.00,2.42,0.00,0.000,4,0.000,0.082,3080,3817,3359
$GC,4542,-0.57,-117.3,331.7,-8.0,208,4547,0.17,2.33,0.00,0.000,6,0.138,0.057,3127,2388,3359
$GC,4874,-0.57,-117.3,353.0,-6.4,214,4878,0.00,2.35,0.00,0.000,4,0.000,0.072,3128,988,3359
$GC,4906,-0.61,-117.3,355.1,-6.5,214,4910,0.00,2.28,0.00,0.000,6,0.000,0.064,3128,2400,3359
$GC,5239,-0.65,-117.3,374.4,-5.7,220,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3359
$GC,5541,-0.70,-117.3,391.8,-5.8,225,5543,0.12,0.00,0.00,0.000,6,0.092,0.000,3078,2401,3358
$GC,5845,-0.65,-117.3,414.0,-7.4,230,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2401,3358
$GC,6148,-0.60,-117.3,436.3,-7.3,235,6150,0.15,0.00,0.00,0.000,6,0.117,0.000,3121,2401,3358
$GC,6450,-0.60,-117.3,455.3,-6.2,240,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3358
$GC,6754,-0.65,-117.3,474.3,-6.3,245,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3358
$GC,7057,-0.69,-117.3,493.6,-6.4,250,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3358
$GC,7360,-0.73,-117.3,512.5,-6.2,255,7362,0.12,0.00,0.00,0.000,6,0.087,0.000,3073,2401,3357
$GC,7663,-0.69,-117.3,533.0,-6.7,260,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3357
$GC,7966,-0.69,-117.3,552.5,-6.5,265,7970,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3811,3357
$GC,8004,-0.61,-117.3,555.3,-7.4,265,8009,0.15,2.30,0.00,0.000,6,0.124,0.058,3115,2398,3357
$GC,8324,-0.61,-117.3,573.1,-5.5,271,8328,0.00,2.38,0.00,0.000,4,0.000,0.074,3115,990,3357
$GC,8351,-0.61,-117.3,574.8,-6.1,271,8355,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2396,3357
$GC,8689,-0.61,-117.3,594.6,-5.9,277,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3357
$GC,8992,-0.61,-117.3,613.0,-6.1,282,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3357
$GC,9295,-0.61,-117.3,631.1,-5.9,287,9299,0.00,2.40,0.00,0.000,4,0.000,0.074,3113,988,3357
$GC,9333,-0.61,-117.3,633.6,-6.8,287,9337,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2410,3357
$GC,9659,-0.65,-117.3,652.9,-5.8,293,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3357
$GC,9962,-0.65,-117.3,668.9,-5.2,298,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3357
$GC,10266,-0.69,-117.3,682.7,-4.5,303,10270,0.00,2.42,0.00,0.000,4,0.000,0.074,3113,993,3356
$GC,10300,-0.73,-117.3,684.4,-4.6,303,10304,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2401,3356
$GC,10632,-0.77,-117.3,697.6,-4.0,309,10634,0.15,0.00,0.00,0.000,6,0.086,0.000,3055,2401,3356
$GC,10935,-0.70,-117.3,714.7,-5.7,314,10936,0.12,0.00,0.00,0.000,6,0.115,0.000,3089,2401,3356
$GC,11237,-0.70,-117.3,731.4,-5.5,319,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2401,3356
$GC,11540,-0.70,-117.3,749.7,-6.1,324,11545,0.00,2.40,0.00,0.000,4,0.000,0.074,3089,996,3355
$GC,11573,-0.70,-117.3,752.0,-6.5,324,11577,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2397,3355
$GC,11905,-0.70,-117.3,774.2,-6.8,330,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3355
$GC,12209,-0.66,-117.3,795.0,-6.9,335,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3355
$GC,12511,-0.66,-117.3,815.1,-6.6,340,12515,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,991,3354
$GC,12548,-0.66,-117.3,817.7,-6.6,340,12553,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2407,3355
$GC,12875,-0.66,-117.3,838.4,-6.4,346,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,13179,-0.66,-117.3,857.7,-6.4,351,13183,0.00,2.40,0.00,0.000,4,0.000,0.075,3086,995,3354
$GC,13228,-0.66,-117.3,861.2,-6.3,351,13232,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2395,3354
$GC,13543,-0.66,-117.3,880.3,-6.0,357,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3355
$GC,13846,-0.66,-117.3,898.3,-5.9,362,13850,0.00,2.40,0.00,0.000,4,0.000,0.087,3086,3810,3354
$GC,13874,-0.66,-117.3,899.8,-6.1,362,13878,0.00,2.30,0.00,0.000,6,0.000,0.060,3086,2404,3354
$GC,14205,-0.66,-117.3,916.9,-5.1,368,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3354
$GC,14509,-0.66,-117.3,931.9,-4.9,373,14510,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3354
$GC,14811,-0.66,-117.3,947.6,-5.2,378,14815,0.00,2.42,0.00,0.000,4,0.000,0.076,3086,982,3354
$GC,14849,-0.66,-117.3,949.7,-5.3,378,14853,0.00,2.38,0.00,0.000,6,0.000,0.067,3086,2412,3353
$GC,15176,-0.66,-117.3,966.3,-5.1,384,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3354
$GC,15479,-0.66,-117.3,982.5,-5.4,389,15480,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3354
$STATE,15659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15659,begin apogee
$GC,15664,-0.22,0.0,992.7,5.6,392,15771,0.52,0.00,104.07,1.507,6,0.150,0.000,3242,2191,2876
$STATE,15772,end apogee,CONTROL_FINISHED_OK
$STATE,15772,begin climb
$GC,15774,0.67,117.3,994.7,0.0,393,15891,0.90,2.72,108.80,1.457,4,0.095,0.081,3533,797,2396
$GC,15924,0.28,117.3,995.2,6.9,396,15929,0.47,2.50,0.00,0.000,6,0.185,0.062,3415,2200,2395
$GC,16267,0.31,137.8,979.6,4.4,402,16288,0.00,0.00,18.67,1.389,6,0.000,0.000,3415,2199,2314
$GC,16631,0.32,148.5,962.5,4.7,408,16644,0.00,0.00,11.43,1.334,6,0.000,0.000,3415,2199,2269
$GC,17001,0.32,148.5,943.7,5.2,414,17002,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2199,2268
$GC,17304,0.32,148.5,927.6,5.3,419,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2199,2267
$GC,17607,0.32,149.2,912.4,5.0,424,17608,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2199,2267
$GC,17910,0.32,149.2,896.8,5.2,429,17911,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2199,2267
$GC,18213,0.32,149.2,880.4,5.4,434,18214,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2199,2267
$GC,18516,0.32,149.2,864.3,5.3,439,18520,0.00,2.38,0.00,0.000,4,0.000,0.083,3415,3611,2267
$GC,18548,0.27,149.2,862.4,5.6,439,18552,0.00,2.35,0.00,0.000,6,0.000,0.065,3421,2200,2267
$GC,18874,0.27,150.0,846.1,5.0,445,18879,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,784,2267
$GC,18918,0.29,162.5,843.9,4.6,445,18936,0.00,2.33,13.00,1.335,6,0.000,0.064,3421,2209,2213
$GC,19238,0.29,162.5,827.8,5.1,451,19243,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,784,2212
$GC,19294,0.34,175.9,824.8,4.6,451,19314,0.00,2.33,13.10,1.322,6,0.000,0.065,3421,2202,2158
$GC,19669,0.34,175.9,803.9,5.7,458,19671,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2156
$GC,19972,0.34,175.9,785.7,6.0,463,19974,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2202,2156
$GC,20275,0.34,175.9,766.9,6.2,468,20279,0.00,2.45,0.00,0.000,4,0.000,0.081,3422,783,2156
$GC,20302,0.40,175.9,765.0,7.5,468,20306,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2199,2156
$GC,20640,0.44,175.9,743.9,6.3,474,20642,0.12,0.00,0.00,0.000,6,0.098,0.000,3472,2199,2156
$GC,20944,0.34,175.9,720.5,7.7,479,20949,0.15,2.45,0.00,0.000,4,0.153,0.081,3425,789,2156
$GC,20978,0.39,175.9,718.2,6.0,479,20982,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2209,2156
$GC,21304,0.44,175.9,699.0,5.8,485,21305,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2209,2156
$GC,21606,0.44,175.9,682.1,5.5,490,21611,0.00,2.45,0.00,0.000,4,0.000,0.081,3426,785,2156
$GC,21639,0.50,175.9,680.2,5.9,490,21644,0.15,2.33,0.00,0.000,6,0.092,0.065,3481,2209,2156
$GC,21971,0.38,175.9,656.3,7.4,496,21973,0.15,0.00,0.00,0.000,6,0.154,0.000,3441,2209,2155
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$STATE,32370,end climb,SURFACE_DEPTH_REACHED
$STATE,32370,begin surface coast
$FINISH,1.5,1.025169
$STATE,32467,end surface coast,CONTROL_FINISHED_OK
$STATE,32467,begin surface
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$SM_GC,3.51,0.00,0.00,19.92,0.000,0.000,0.831,142,2406,1653,-9.92,0.20,300.00
$IRIDIUM_FIX,4943.02,-14445.66,090298,050539
$TT8_MAMPS,0.026845
$HUMID,2106
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$TCM_TEMP,16.40
$XPDR_PINGS,971
$24V_AH,22.2,43.173
$10V_AH,10.6,28.157
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$DEVICE_SECS,29.800,171.950,351.325,19.925,0.000,30.113,26.218,163.060,242.750,0.000,0.000,14.522,1767.940,27786.092,511.273,2250.103,521.455,33.381,1609.444,0.000,2227.610,0.000,0.465
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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,50696,846
$CAP_FILE_SIZE,176440,0
$CFSIZE,260165632,242200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161108,002208,5006.239,-14450.543,34,1.4,34,18.5