version: 66.03
glider: 120
mission: 9
dive: 16
start: 9 3 108 5 1 15
data:
$ID,120
$MISSION,9
$DIVE,16
$D_SURF,2
$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,550
$T_MISSION,615
$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,-17964.938
$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,19
$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
$GPS1,045238,5009.378,-14515.190,33,1.3,33,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.1
$GPS2,050021,5009.421,-14515.018,12,1.9,12,18.5
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.186
$KALMAN_X,14094.7,-288.5,-68.6,-43787.1,1873.0
$KALMAN_Y,8121.8,-137.6,-58.4,-750.8,1307.1
$MHEAD_RNG_PITCHd_Wd,173.1,28774,-14.4,-6.000
$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,17,begin dive
$GC,19,-0.77,-117.3,0.0,0.0,0,63,0.00,0.00,-42.50,0.000,2,0.000,0.000,135,2401,2531
$GC,65,-0.77,-117.3,3.2,-6.0,4,104,13.50,2.40,-19.25,0.000,4,0.294,0.089,3062,978,3356
$GC,108,-0.33,-117.3,10.1,-13.9,7,116,0.47,2.40,0.00,0.000,6,0.193,0.077,3206,2403,3356
$GC,433,-0.45,-117.3,36.7,-6.8,38,438,0.12,2.33,0.00,0.000,4,0.084,0.079,3158,3811,3358
$GC,487,-0.61,-117.3,41.1,-6.6,42,496,0.08,2.30,0.00,0.000,6,0.086,0.060,3118,2399,3358
$GC,813,-0.56,-117.3,72.1,-10.3,73,817,0.00,2.35,0.00,0.000,4,0.000,0.079,3115,3817,3360
$GC,844,-0.50,-117.3,75.3,-9.4,75,852,0.10,2.30,0.00,0.000,6,0.153,0.060,3147,2398,3360
$GC,1172,-0.50,-117.3,101.1,-7.4,94,1176,0.00,2.28,0.00,0.000,4,0.000,0.074,3147,994,3361
$GC,1215,-0.55,-117.3,104.4,-8.0,96,1219,0.00,2.30,0.00,0.000,6,0.000,0.064,3147,2398,3361
$GC,1542,-0.62,-117.3,126.7,-7.2,112,1546,0.00,2.33,0.00,0.000,4,0.000,0.083,3146,3819,3361
$GC,1596,-0.72,-117.3,131.0,-8.0,114,1604,0.15,2.28,0.00,0.000,6,0.069,0.062,3078,2405,3361
$GC,1911,-0.61,-117.3,165.6,-11.2,128,1915,0.15,2.33,0.00,0.000,4,0.170,0.077,3122,983,3361
$GC,2027,-0.66,-117.3,176.4,-9.0,131,2031,0.00,2.33,0.00,0.000,6,0.000,0.067,3122,2400,3361
$GC,2345,-0.70,-117.3,201.0,-7.5,142,2349,0.00,2.33,0.00,0.000,4,0.000,0.086,3122,3818,3360
$GC,2433,-0.79,-117.3,207.6,-6.8,144,2441,0.15,2.30,0.00,0.000,6,0.068,0.064,3053,2396,3360
$GC,2747,-0.63,-117.3,240.9,-11.0,155,2751,0.17,2.30,0.00,0.000,4,0.176,0.079,3106,986,3359
$GC,2789,-0.63,-117.3,245.1,-8.6,156,2794,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2407,3360
$GC,3113,-0.63,-117.3,271.3,-8.1,167,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3359
$GC,3419,-0.63,-117.3,295.9,-7.9,177,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3359
$GC,3723,-0.63,-117.3,319.1,-7.6,183,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3358
$GC,4026,-0.63,-117.3,341.6,-7.4,188,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2407,3358
$GC,4329,-0.63,-117.3,363.3,-7.1,193,4333,0.00,2.30,0.00,0.000,4,0.000,0.086,3102,3814,3358
$GC,4361,-0.63,-117.3,365.7,-7.6,193,4365,0.00,2.28,0.00,0.000,6,0.000,0.067,3102,2402,3358
$GC,4698,-0.63,-117.3,389.3,-7.0,199,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3357
$GC,5001,-0.63,-117.3,410.5,-7.0,204,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3357
$GC,5304,-0.63,-117.3,431.6,-6.9,209,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3357
$GC,5607,-0.63,-117.3,451.8,-6.7,214,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3356
$GC,5911,-0.63,-117.3,471.7,-6.6,219,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2403,3356
$GC,6214,-0.63,-117.3,492.3,-6.8,224,6218,0.00,2.33,0.00,0.000,4,0.000,0.087,3101,3812,3356
$GC,6245,-0.63,-117.3,494.5,-6.9,224,6250,0.00,2.28,0.00,0.000,6,0.000,0.068,3101,2404,3356
$GC,6578,-0.67,-117.3,517.3,-6.8,230,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3356
$GC,6881,-0.72,-117.3,538.4,-6.9,235,6885,0.00,2.30,0.00,0.000,4,0.000,0.083,3101,990,3355
$GC,6912,-0.76,-117.3,541.0,-7.5,235,6917,0.00,2.30,0.00,0.000,6,0.000,0.071,3101,2396,3355
$GC,7245,-0.80,-117.3,564.8,-7.4,241,7246,0.12,0.00,0.00,0.000,6,0.089,0.000,3046,2396,3354
$GC,7548,-0.68,-117.3,594.5,-9.9,246,7550,0.17,0.00,0.00,0.000,6,0.176,0.000,3092,2396,3354
$GC,7850,-0.68,-117.3,618.7,-7.9,251,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2396,3354
$GC,8153,-0.68,-117.3,639.6,-6.7,256,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2396,3354
$GC,8457,-0.68,-117.3,659.4,-6.5,261,8461,0.00,2.33,0.00,0.000,4,0.000,0.089,3086,3821,3354
$GC,8519,-0.68,-117.3,663.5,-7.2,262,8523,0.00,2.28,0.00,0.000,6,0.000,0.070,3086,2398,3354
$GC,8884,-0.68,-117.3,688.4,-6.9,268,8888,0.00,2.35,0.00,0.000,4,0.000,0.089,3086,3822,3353
$GC,8910,-0.68,-117.3,690.4,-7.3,268,8915,0.00,2.30,0.00,0.000,6,0.000,0.069,3086,2402,3354
$GC,9247,-0.68,-117.3,715.2,-7.4,274,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,9551,-0.68,-117.3,738.2,-7.5,279,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,9854,-0.68,-117.3,760.0,-7.1,284,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,10157,-0.68,-117.3,780.3,-6.7,289,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,10460,-0.68,-117.3,800.0,-6.5,294,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,10763,-0.68,-117.3,818.6,-6.1,299,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,11066,-0.68,-117.3,837.0,-6.1,304,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3353
$GC,11369,-0.68,-117.3,855.2,-5.9,309,11373,0.00,2.33,0.00,0.000,4,0.000,0.091,3086,3809,3352
$GC,11395,-0.68,-117.3,856.9,-6.1,309,11400,0.00,2.28,0.00,0.000,6,0.000,0.071,3086,2404,3352
$GC,11734,-0.72,-117.3,876.9,-6.0,315,11738,0.00,2.33,0.00,0.000,4,0.000,0.090,3086,3811,3352
$GC,11765,-0.72,-117.3,879.0,-6.8,315,11770,0.00,2.30,0.00,0.000,6,0.000,0.072,3086,2399,3352
$GC,12098,-0.77,-117.3,900.6,-6.6,321,12099,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3352
$GC,12401,-0.82,-117.3,921.8,-7.0,326,12405,0.00,2.35,0.00,0.000,4,0.000,0.091,3086,3819,3352
$GC,12440,-0.87,-117.3,924.7,-8.5,326,12445,0.15,2.28,0.00,0.000,6,0.087,0.071,3026,2395,3352
$GC,12759,-0.74,-117.3,955.4,-9.7,332,12761,0.20,0.00,0.00,0.000,6,0.183,0.000,3079,2395,3352
$GC,13062,-0.74,-117.3,978.8,-7.6,337,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2395,3352
$STATE,13243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13243,begin apogee
$GC,13246,-0.22,0.0,992.7,7.7,340,13349,0.55,0.00,99.70,1.514,6,0.169,0.000,3245,2202,2876
$STATE,13350,end apogee,CONTROL_FINISHED_OK
$STATE,13350,begin climb
$GC,13351,0.77,117.3,994.9,0.0,341,13458,0.98,0.00,102.75,1.463,6,0.112,0.000,3555,2201,2397
$GC,13773,0.43,117.3,973.7,8.4,348,13775,0.38,0.00,0.00,0.000,6,0.195,0.000,3459,2202,2394
$GC,14076,0.35,123.8,955.8,5.8,353,14085,0.00,0.00,6.78,1.197,6,0.000,0.000,3459,2202,2371
$GC,14379,0.27,123.8,936.4,6.4,358,14381,0.20,0.00,0.00,0.000,6,0.189,0.000,3407,2202,2370
$GC,14682,0.38,143.3,920.2,5.3,363,14702,0.00,0.00,17.65,1.401,6,0.000,0.000,3407,2202,2291
$GC,14985,0.49,146.8,902.4,5.9,368,14996,0.17,2.40,4.82,1.036,4,0.089,0.086,3477,3608,2277
$GC,15051,0.31,146.8,896.5,9.5,369,15056,0.22,2.38,0.00,0.000,6,0.192,0.077,3421,2189,2276
$GC,15416,0.37,146.8,872.0,6.7,375,15421,0.00,2.40,0.00,0.000,4,0.000,0.086,3421,3616,2276
$GC,15448,0.37,146.8,869.6,6.9,375,15453,0.00,2.38,0.00,0.000,6,0.000,0.076,3421,2201,2276
$GC,15781,0.44,146.8,846.5,7.0,381,15782,0.12,0.00,0.00,0.000,6,0.096,0.000,3467,2201,2276
$GC,16084,0.38,146.8,821.4,8.3,386,16088,0.00,2.38,0.00,0.000,4,0.000,0.090,3477,780,2276
$GC,16121,0.31,146.8,818.0,8.6,386,16126,0.17,2.35,0.00,0.000,6,0.170,0.071,3424,2199,2276
$GC,16448,0.37,146.8,796.7,6.4,392,16449,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2199,2276
$GC,16751,0.44,150.0,778.6,5.9,397,16758,0.10,0.00,4.35,0.960,6,0.102,0.000,3463,2199,2264
$GC,17054,0.44,150.0,758.5,6.6,402,17055,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2264
$GC,17357,0.40,150.0,739.5,6.3,407,17358,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2264
$GC,17660,0.35,150.0,720.2,6.3,412,17662,0.12,0.00,0.00,0.000,6,0.174,0.000,3433,2199,2263
$GC,17964,0.41,161.7,703.2,5.6,417,17976,0.00,0.00,11.05,1.247,6,0.000,0.000,3433,2199,2216
$GC,18267,0.47,164.2,685.3,5.9,422,18273,0.10,0.00,3.90,0.851,6,0.101,0.000,3472,2199,2206
$GC,18570,0.42,164.2,663.4,7.2,427,18574,0.00,2.38,0.00,0.000,4,0.000,0.091,3476,789,2206
$GC,18607,0.38,164.2,660.4,6.9,427,18612,0.10,2.33,0.00,0.000,6,0.164,0.069,3446,2197,2206
$GC,18939,0.38,164.2,638.2,6.7,433,18943,0.00,2.33,0.00,0.000,4,0.000,0.086,3446,3609,2206
$GC,18976,0.38,164.2,635.2,7.0,433,18980,0.00,2.35,0.00,0.000,6,0.000,0.075,3449,2193,2206
$GC,19302,0.38,164.2,612.2,7.1,439,19303,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2193,2206
$GC,19605,0.38,164.2,590.4,7.2,444,19606,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2193,2206
$GC,19908,0.38,164.2,568.3,7.3,449,19912,0.00,2.33,0.00,0.000,4,0.000,0.091,3449,790,2206
$GC,19952,0.43,164.2,565.0,7.4,449,19956,0.00,2.33,0.00,0.000,6,0.000,0.069,3449,2206,2206
$GC,20272,0.43,164.2,542.5,7.0,455,20276,0.00,2.30,0.00,0.000,4,0.000,0.087,3449,3610,2206
$GC,20309,0.43,164.2,539.5,8.0,455,20314,0.00,2.33,0.00,0.000,6,0.000,0.076,3449,2200,2206
$GC,20636,0.43,164.2,518.4,6.4,461,20637,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2206
$GC,20939,0.43,164.2,499.5,6.3,466,20941,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2206
$GC,21242,0.43,164.2,480.1,6.4,471,21246,0.00,2.35,0.00,0.000,4,0.000,0.089,3449,778,2206
$GC,21269,0.49,164.2,478.4,7.0,471,21273,0.00,2.33,0.00,0.000,6,0.000,0.067,3449,2203,2206
$GC,21607,0.54,164.2,457.2,6.3,477,21608,0.12,0.00,0.00,0.000,6,0.097,0.000,3501,2203,2206
$GC,21910,0.44,164.2,434.9,7.4,482,21914,0.15,2.35,0.00,0.000,4,0.172,0.087,3463,790,2206
$GC,21958,0.44,164.2,431.9,6.3,482,21963,0.00,2.30,0.00,0.000,6,0.000,0.067,3463,2200,2206
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$STATE,28307,end climb,SURFACE_DEPTH_REACHED
$STATE,28308,begin surface coast
$FINISH,0.6,1.024694
$STATE,28319,end surface coast,CONTROL_FINISHED_OK
$STATE,28320,begin surface
$SM_CCo,28396,0.00,0.000,0,0,1531,329.68
$SM_GC,1.42,10.00,0.00,0.00,0.084,0.000,0.000,148,2412,1531,-9.86,0.31,329.68
$IRIDIUM_FIX,4953.05,-14518.93,281197,050537
$TT8_MAMPS,0.026078
$HUMID,2196
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$TCM_TEMP,16.10
$XPDR_PINGS,857
$24V_AH,23.3,7.204
$10V_AH,10.6,2.791
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$DEVICE_SECS,30.825,154.700,382.600,0.000,0.000,55.262,57.799,199.946,214.250,0.000,0.000,12.405,1580.044,24291.295,530.495,1997.175,461.327,33.360,1506.790,0.000,1986.007,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,572.972,557.034,1278.004,276.292,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44269,751
$CAP_FILE_SIZE,163470,0
$CFSIZE,260165632,257335296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030908,125537,5006.730,-14514.923,34,1.6,34,18.4