version: 66.03
glider: 120
mission: 9
dive: 17
start: 9 3 108 13 1 4
data:
$ID,120
$MISSION,9
$DIVE,17
$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,-17979.385
$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,18
$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
$GPS1,125537,5006.730,-14514.923,34,1.6,34,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.4
$GPS2,130009,5006.728,-14514.961,13,1.7,13,18.4
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.027,-0.188
$KALMAN_X,15092.4,162.8,-222.3,-45015.2,1596.8
$KALMAN_Y,9158.7,54.2,-153.2,-6877.0,1575.7
$MHEAD_RNG_PITCHd_Wd,169.8,23824,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.77,-117.3,0.0,0.0,0,62,0.00,0.00,-42.35,0.000,2,0.000,0.000,148,2412,2591
$GC,64,-0.77,-117.3,3.4,-5.9,4,101,13.62,2.40,-17.35,0.000,4,0.300,0.110,3058,3816,3357
$GC,164,-0.36,-117.3,21.4,-19.4,13,169,0.50,2.33,0.00,0.000,6,0.192,0.065,3193,2398,3359
$GC,488,-0.54,-117.3,43.1,-5.2,43,493,0.15,2.33,0.00,0.000,4,0.081,0.074,3131,985,3360
$GC,598,-0.54,-117.3,52.0,-8.4,52,605,0.00,2.35,0.00,0.000,6,0.000,0.065,3130,2403,3361
$GC,923,-0.54,-117.3,79.3,-8.5,83,927,0.00,2.33,0.00,0.000,4,0.000,0.084,3129,3816,3362
$GC,963,-0.54,-117.3,82.8,-9.0,85,967,0.00,2.28,0.00,0.000,6,0.000,0.062,3129,2391,3362
$GC,1288,-0.54,-117.3,111.0,-8.6,101,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2391,3362
$GC,1597,-0.54,-117.3,136.3,-7.6,116,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2391,3362
$GC,1906,-0.61,-117.3,160.5,-7.8,129,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2391,3362
$GC,2212,-0.69,-117.3,182.0,-6.7,139,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2391,3362
$GC,2518,-0.76,-117.3,202.0,-6.5,149,2520,0.17,0.00,0.00,0.000,6,0.083,0.000,3059,2391,3362
$GC,2824,-0.63,-117.3,232.1,-10.1,159,2829,0.15,2.35,0.00,0.000,4,0.179,0.088,3099,3811,3361
$GC,2852,-0.59,-117.3,234.9,-9.8,160,2856,0.00,2.28,0.00,0.000,6,0.000,0.067,3099,2395,3361
$GC,3185,-0.59,-117.3,264.6,-8.9,171,3189,0.00,2.30,0.00,0.000,4,0.000,0.081,3099,984,3361
$GC,3217,-0.59,-117.3,267.8,-9.4,172,3222,0.00,2.33,0.00,0.000,6,0.000,0.070,3100,2398,3361
$GC,3552,-0.59,-117.3,296.9,-8.5,183,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3361
$GC,3856,-0.59,-117.3,319.9,-7.5,189,3860,0.00,2.33,0.00,0.000,4,0.000,0.088,3099,3814,3360
$GC,3881,-0.59,-117.3,321.8,-7.3,189,3886,0.00,2.30,0.00,0.000,6,0.000,0.068,3100,2394,3360
$GC,4219,-0.59,-117.3,345.4,-7.0,195,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3360
$GC,4522,-0.59,-117.3,367.7,-7.4,200,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3360
$GC,4825,-0.59,-117.3,391.4,-7.9,205,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3359
$GC,5128,-0.59,-117.3,414.8,-7.7,210,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3359
$GC,5431,-0.59,-117.3,436.3,-7.0,215,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3359
$GC,5735,-0.59,-117.3,456.1,-6.5,220,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3359
$GC,6038,-0.59,-117.3,476.1,-6.6,225,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3358
$GC,6341,-0.59,-117.3,495.7,-6.4,230,6345,0.00,2.35,0.00,0.000,4,0.000,0.090,3099,3811,3358
$GC,6373,-0.63,-117.3,497.9,-6.8,230,6377,0.00,2.30,0.00,0.000,6,0.000,0.069,3100,2396,3358
$GC,6705,-0.67,-117.3,516.6,-5.6,236,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3358
$GC,7008,-0.71,-117.3,533.4,-5.5,241,7012,0.00,2.35,0.00,0.000,4,0.000,0.091,3100,3813,3358
$GC,7051,-0.76,-117.3,536.2,-6.2,241,7056,0.00,2.30,0.00,0.000,6,0.000,0.070,3100,2396,3358
$GC,7373,-0.81,-117.3,554.8,-5.8,247,7375,0.12,0.00,0.00,0.000,6,0.091,0.000,3047,2396,3357
$GC,7676,-0.70,-117.3,579.2,-8.3,252,7678,0.15,0.00,0.00,0.000,6,0.179,0.000,3085,2396,3357
$GC,7978,-0.70,-117.3,601.6,-7.4,257,7982,0.00,2.35,0.00,0.000,4,0.000,0.091,3085,3817,3357
$GC,8004,-0.70,-117.3,603.8,-8.2,257,8009,0.00,2.30,0.00,0.000,6,0.000,0.069,3085,2398,3357
$GC,8342,-0.70,-117.3,628.2,-7.2,263,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3357
$GC,8645,-0.70,-117.3,650.5,-7.4,268,8649,0.00,2.30,0.00,0.000,4,0.000,0.084,3085,988,3357
$GC,8670,-0.70,-117.3,652.5,-7.9,268,8675,0.00,2.33,0.00,0.000,6,0.000,0.074,3085,2403,3357
$GC,9008,-0.70,-117.3,677.5,-7.3,274,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3357
$GC,9311,-0.70,-117.3,699.1,-7.1,279,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3357
$GC,9615,-0.70,-117.3,720.5,-7.1,284,9619,0.00,2.33,0.00,0.000,4,0.000,0.092,3085,3814,3356
$GC,9646,-0.70,-117.3,723.0,-7.5,284,9651,0.00,2.30,0.00,0.000,6,0.000,0.070,3085,2400,3356
$GC,9978,-0.70,-117.3,745.9,-6.9,290,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,10281,-0.70,-117.3,767.2,-7.0,295,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,10585,-0.70,-117.3,789.8,-7.5,300,10589,0.00,2.30,0.00,0.000,4,0.000,0.085,3085,991,3356
$GC,10622,-0.70,-117.3,792.8,-8.0,300,10627,0.00,2.33,0.00,0.000,6,0.000,0.074,3085,2405,3356
$GC,10948,-0.70,-117.3,817.7,-7.6,306,10952,0.00,2.33,0.00,0.000,4,0.000,0.093,3085,3816,3356
$GC,10980,-0.70,-117.3,820.3,-7.8,306,10985,0.00,2.30,0.00,0.000,6,0.000,0.071,3085,2400,3356
$GC,11313,-0.74,-117.3,845.8,-7.6,312,11317,0.00,2.35,0.00,0.000,4,0.000,0.092,3085,3812,3356
$GC,11356,-0.78,-117.3,849.3,-8.2,312,11360,0.00,2.30,0.00,0.000,6,0.000,0.071,3085,2401,3356
$GC,11676,-0.83,-117.3,872.7,-7.2,318,11678,0.10,0.00,0.00,0.000,6,0.095,0.000,3044,2401,3355
$GC,11980,-0.74,-117.3,898.8,-8.7,323,11981,0.12,0.00,0.00,0.000,6,0.176,0.000,3074,2401,3355
$GC,12282,-0.74,-117.3,920.4,-7.0,328,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3355
$GC,12585,-0.74,-117.3,940.4,-6.6,333,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3355
$GC,12888,-0.74,-117.3,960.2,-6.5,338,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2401,3355
$GC,13191,-0.74,-117.3,979.5,-6.4,343,13195,0.00,2.35,0.00,0.000,4,0.000,0.094,3073,3810,3355
$GC,13241,-0.74,-117.3,982.9,-6.7,343,13246,0.00,2.28,0.00,0.000,6,0.000,0.073,3072,2396,3355
$STATE,13372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13372,begin apogee
$GC,13376,-0.22,0.0,991.5,6.5,346,13479,0.57,0.00,100.35,1.513,6,0.166,0.000,3245,2187,2876
$STATE,13480,end apogee,CONTROL_FINISHED_OK
$STATE,13480,begin climb
$GC,13481,0.77,117.3,992.9,0.0,347,13593,1.00,2.62,103.32,1.462,4,0.108,0.089,3559,792,2397
$GC,13631,0.39,117.3,991.4,7.8,350,13637,0.40,2.47,0.00,0.000,6,0.203,0.069,3446,2191,2395
$GC,13986,0.33,117.3,969.1,6.1,356,13990,0.00,2.42,0.00,0.000,4,0.000,0.088,3446,3612,2394
$GC,14036,0.20,117.3,965.9,6.5,356,14041,0.25,2.38,0.00,0.000,6,0.195,0.077,3387,2201,2393
$GC,14350,0.40,176.3,952.9,4.0,362,14407,0.15,2.55,50.50,1.454,4,0.088,0.088,3449,788,2156
$GC,14433,0.40,176.3,947.6,6.9,362,14438,0.00,2.47,0.00,0.000,6,0.000,0.070,3449,2199,2154
$GC,14777,0.40,176.3,924.5,6.6,368,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2152
$GC,15079,0.40,176.3,904.1,6.8,373,15084,0.00,2.42,0.00,0.000,4,0.000,0.091,3449,785,2152
$GC,15128,0.40,176.3,900.8,6.2,373,15133,0.00,2.38,0.00,0.000,6,0.000,0.071,3449,2200,2152
$GC,15443,0.40,176.3,879.0,7.0,379,15444,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2152
$GC,15746,0.40,176.3,856.3,7.6,384,15747,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2152
$GC,16049,0.40,176.3,832.3,7.9,389,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2151
$GC,16352,0.40,176.3,808.2,7.9,394,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2151
$GC,16656,0.40,176.3,784.3,7.9,399,16660,0.00,2.38,0.00,0.000,4,0.000,0.090,3449,787,2151
$GC,16738,0.40,176.3,777.6,7.7,400,16743,0.00,2.33,0.00,0.000,6,0.000,0.070,3449,2198,2151
$GC,17087,0.40,176.3,749.2,8.2,406,17091,0.00,2.33,0.00,0.000,4,0.000,0.088,3449,3611,2151
$GC,17153,0.34,176.3,743.0,9.6,407,17157,0.00,2.33,0.00,0.000,6,0.000,0.077,3449,2205,2151
$GC,17518,0.34,176.3,713.4,8.1,413,17522,0.00,2.35,0.00,0.000,4,0.000,0.090,3449,789,2151
$GC,17555,0.39,176.3,710.3,7.8,413,17559,0.00,2.33,0.00,0.000,6,0.000,0.070,3449,2204,2150
$GC,17881,0.39,176.3,684.8,7.8,419,17882,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2151
$GC,18184,0.39,176.3,662.4,7.4,424,18188,0.00,2.38,0.00,0.000,4,0.000,0.089,3448,782,2151
$GC,18233,0.44,176.3,658.9,6.3,424,18238,0.00,2.33,0.00,0.000,6,0.000,0.071,3449,2197,2151
$GC,18548,0.44,176.3,636.9,7.0,430,18549,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2151
$GC,18851,0.44,176.3,616.5,6.7,435,18855,0.00,2.35,0.00,0.000,4,0.000,0.089,3449,788,2150
$GC,18883,0.50,176.3,614.4,6.3,435,18888,0.00,2.33,0.00,0.000,6,0.000,0.070,3449,2203,2151
$GC,19215,0.50,176.3,591.9,6.8,441,19216,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2151
$GC,19519,0.54,176.3,570.6,7.1,446,19520,0.12,0.00,0.00,0.000,6,0.098,0.000,3499,2203,2151
$GC,19822,0.45,176.3,544.4,8.7,451,19823,0.15,0.00,0.00,0.000,6,0.173,0.000,3460,2203,2151
$GC,20124,0.45,176.3,522.1,7.2,456,20126,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2203,2151
$GC,20427,0.45,176.3,500.7,7.1,461,20428,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2203,2151
$GC,20730,0.45,176.3,479.4,6.9,466,20732,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2203,2151
$GC,21034,0.45,176.3,458.6,6.9,471,21037,0.00,2.35,0.00,0.000,4,0.000,0.089,3463,791,2151
$GC,21104,0.45,176.3,453.5,7.0,472,21109,0.00,2.30,0.00,0.000,6,0.000,0.070,3463,2200,2151
$GC,21470,0.45,176.3,428.2,7.0,478,21474,0.00,2.30,0.00,0.000,4,0.000,0.087,3463,3618,2151
$GC,21513,0.40,176.3,424.5,8.0,478,21518,0.00,2.33,0.00,0.000,6,0.000,0.074,3463,2199,2151
$GC,21840,0.40,176.3,401.5,7.0,484,21841,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2151
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$STATE,27554,end climb,SURFACE_DEPTH_REACHED
$STATE,27554,begin surface coast
$FINISH,0.6,1.016169
$STATE,27575,end surface coast,CONTROL_FINISHED_OK
$STATE,27575,begin surface
$SM_CCo,27651,0.00,0.000,0,0,1608,311.04
$SM_GC,1.92,9.62,0.00,0.00,0.078,0.000,0.000,147,2403,1608,-9.86,0.08,311.04
$IRIDIUM_FIX,4949.70,-14518.08,281197,050550
$TT8_MAMPS,0.026078
$HUMID,2197
$INTERNAL_PRESSURE,9.07505
$TCM_TEMP,16.20
$XPDR_PINGS,846
$24V_AH,23.3,7.377
$10V_AH,10.6,2.899
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$DEVICE_SECS,28.800,165.075,363.400,0.000,0.000,30.480,26.335,129.624,211.500,0.000,0.000,13.819,1539.459,23544.996,514.988,2001.515,322.379,33.360,1495.035,0.000,1984.952,0.000,0.465
$DEVICE_MAMPS,299.897,110.448,1513.291,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,551.126,533.471,1226.177,254.535,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41182,721
$CAP_FILE_SIZE,155688,0
$CFSIZE,260165632,257269760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030908,204328,5004.121,-14515.372,40,3.4,59,18.4