version: 66.03
glider: 120
mission: 9
dive: 44
start: 9 13 108 2 39 10
data:
$ID,120
$MISSION,9
$DIVE,44
$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,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,-18543.311
$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,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
$GPS1,023338,4955.484,-14435.348,31,1.2,31,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-74.0
$GPS2,023815,4955.478,-14435.312,12,1.4,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.143,0.106
$KALMAN_X,20120.6,7.5,201.4,-3213.1,-229.0
$KALMAN_Y,37395.8,-469.6,-324.2,-55232.6,2884.0
$MHEAD_RNG_PITCHd_Wd,288.1,28958,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,43,0.00,0.00,-22.62,0.000,2,0.000,0.000,146,2409,2161
$GC,45,-0.67,-117.3,3.1,-5.5,2,103,13.35,2.40,-37.17,0.000,4,0.291,0.107,3096,3807,3355
$GC,355,-0.34,-117.3,45.8,-13.1,30,360,0.38,2.25,0.00,0.000,6,0.170,0.057,3204,2397,3358
$GC,679,-0.69,-117.3,65.4,-5.7,60,684,0.30,2.30,0.00,0.000,4,0.086,0.069,3094,983,3360
$GC,913,-0.49,-117.3,88.8,-12.3,77,921,0.17,2.33,0.00,0.000,6,0.163,0.061,3149,2404,3361
$GC,1229,-0.49,-117.3,115.9,-7.1,93,1233,0.00,2.30,0.00,0.000,4,0.000,0.069,3149,991,3362
$GC,1260,-0.49,-117.3,118.1,-7.0,94,1268,0.00,2.30,0.00,0.000,6,0.000,0.061,3149,2402,3362
$GC,1576,-0.49,-117.3,138.5,-6.3,110,1580,0.00,2.30,0.00,0.000,4,0.000,0.081,3149,3814,3362
$GC,1630,-0.56,-117.3,142.0,-6.3,112,1637,0.00,2.28,0.00,0.000,6,0.000,0.057,3149,2393,3362
$GC,1965,-0.60,-117.3,162.0,-5.9,126,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2393,3362
$GC,2271,-0.65,-117.3,183.6,-7.4,136,2276,0.12,2.28,0.00,0.000,4,0.086,0.072,3100,988,3361
$GC,2299,-0.59,-117.3,186.1,-9.6,137,2303,0.00,2.28,0.00,0.000,6,0.000,0.064,3100,2400,3361
$GC,2633,-0.48,-117.3,217.9,-9.2,148,2635,0.20,0.00,0.00,0.000,6,0.166,0.000,3154,2400,3361
$GC,2939,-0.56,-117.3,237.6,-6.0,158,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2400,3361
$GC,3246,-0.63,-117.3,252.3,-4.7,168,3251,0.12,2.30,0.00,0.000,4,0.090,0.074,3107,991,3360
$GC,3294,-0.58,-117.3,255.7,-7.1,169,3299,0.00,2.30,0.00,0.000,6,0.000,0.066,3107,2402,3360
$GC,3613,-0.51,-117.3,279.1,-7.6,180,3615,0.15,0.00,0.00,0.000,6,0.170,0.000,3146,2402,3360
$GC,3919,-0.57,-117.3,297.4,-6.1,190,3923,0.00,2.30,0.00,0.000,4,0.000,0.076,3147,991,3359
$GC,3962,-0.64,-117.3,300.5,-6.8,191,3968,0.08,2.30,0.00,0.000,6,0.074,0.065,3109,2409,3358
$GC,4283,-0.64,-117.3,323.6,-7.2,197,4287,0.00,2.28,0.00,0.000,4,0.000,0.082,3109,3811,3358
$GC,4315,-0.64,-117.3,326.3,-7.9,197,4320,0.00,2.25,0.00,0.000,6,0.000,0.061,3109,2405,3358
$GC,4647,-0.64,-117.3,349.5,-6.9,203,4651,0.00,2.30,0.00,0.000,4,0.000,0.077,3109,982,3357
$GC,4678,-0.64,-117.3,351.8,-6.9,203,4683,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2397,3358
$GC,5011,-0.64,-117.3,374.4,-6.9,209,5015,0.00,2.30,0.00,0.000,4,0.000,0.084,3109,3811,3357
$GC,5042,-0.64,-117.3,376.8,-7.0,209,5047,0.00,2.28,0.00,0.000,6,0.000,0.063,3109,2394,3357
$GC,5375,-0.64,-117.3,400.2,-7.1,215,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2395,3357
$GC,5678,-0.64,-117.3,422.0,-7.1,220,5682,0.00,2.28,0.00,0.000,4,0.000,0.078,3109,991,3357
$GC,5726,-0.64,-117.3,425.6,-7.4,220,5731,0.00,2.30,0.00,0.000,6,0.000,0.065,3109,2404,3356
$GC,6041,-0.64,-117.3,447.1,-6.8,226,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3356
$GC,6344,-0.64,-117.3,465.0,-5.8,231,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2404,3356
$GC,6647,-0.64,-117.3,482.9,-6.0,236,6651,0.00,2.30,0.00,0.000,4,0.000,0.077,3109,992,3356
$GC,6684,-0.64,-117.3,485.4,-6.5,236,6689,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2406,3355
$GC,7017,-0.64,-117.3,506.9,-6.5,242,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2406,3355
$GC,7320,-0.64,-117.3,527.9,-7.0,247,7324,0.00,2.33,0.00,0.000,4,0.000,0.077,3109,986,3355
$GC,7357,-0.64,-117.3,530.9,-8.0,247,7362,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2397,3355
$GC,7684,-0.64,-117.3,554.4,-7.3,253,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3355
$GC,7987,-0.64,-117.3,576.4,-7.2,258,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3355
$GC,8290,-0.64,-117.3,597.1,-6.8,263,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3354
$GC,8593,-0.64,-117.3,616.5,-6.4,268,8597,0.00,2.30,0.00,0.000,4,0.000,0.078,3109,990,3354
$GC,8636,-0.64,-117.3,619.1,-6.9,268,8640,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2402,3354
$GC,8957,-0.64,-117.3,636.9,-5.5,274,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3354
$GC,9260,-0.64,-117.3,652.3,-5.0,279,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3354
$GC,9563,-0.64,-117.3,667.0,-4.8,284,9567,0.00,2.30,0.00,0.000,4,0.000,0.078,3109,992,3353
$GC,9588,-0.64,-117.3,668.4,-5.3,284,9593,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2402,3353
$GC,9926,-0.64,-117.3,686.3,-5.4,290,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3353
$GC,10229,-0.64,-117.3,704.0,-5.9,295,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3353
$GC,10532,-0.64,-117.3,722.7,-6.1,300,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3353
$GC,10836,-0.64,-117.3,741.3,-6.1,305,10840,0.00,2.30,0.00,0.000,4,0.000,0.079,3109,991,3353
$GC,10861,-0.64,-117.3,743.0,-7.2,305,10866,0.00,2.30,0.00,0.000,6,0.000,0.068,3109,2405,3353
$GC,11199,-0.64,-117.3,763.4,-6.1,311,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2405,3353
$GC,11502,-0.64,-117.3,781.2,-5.8,316,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2405,3353
$GC,11805,-0.64,-117.3,798.9,-5.8,321,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2405,3353
$GC,12109,-0.64,-117.3,815.6,-5.5,326,12113,0.00,2.30,0.00,0.000,4,0.000,0.079,3109,992,3352
$GC,12135,-0.64,-117.3,817.1,-5.8,326,12139,0.00,2.30,0.00,0.000,6,0.000,0.068,3109,2403,3352
$GC,12472,-0.64,-117.3,835.3,-5.4,332,12476,0.00,2.30,0.00,0.000,4,0.000,0.087,3109,3814,3352
$GC,12499,-0.68,-117.3,836.8,-5.7,332,12503,0.00,2.28,0.00,0.000,6,0.000,0.066,3109,2403,3352
$GC,12837,-0.68,-117.3,854.9,-5.4,338,12841,0.00,2.30,0.00,0.000,4,0.000,0.081,3109,985,3352
$GC,12863,-0.68,-117.3,856.5,-5.9,338,12867,0.00,2.30,0.00,0.000,6,0.000,0.068,3109,2398,3352
$GC,13200,-0.68,-117.3,874.9,-5.5,344,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3352
$GC,13503,-0.68,-117.3,891.8,-5.5,349,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3352
$GC,13806,-0.68,-117.3,907.8,-5.3,354,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3352
$GC,14110,-0.68,-117.3,923.7,-5.3,359,14114,0.00,2.30,0.00,0.000,4,0.000,0.081,3109,991,3352
$GC,14142,-0.72,-117.3,925.5,-5.5,359,14146,0.00,2.30,0.00,0.000,6,0.000,0.070,3109,2397,3351
$GC,14479,-0.72,-117.3,942.6,-5.0,365,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3351
$GC,14783,-0.72,-117.3,957.4,-4.9,370,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3351
$GC,15086,-0.72,-117.3,971.9,-4.8,375,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3351
$GC,15388,-0.72,-117.3,986.9,-5.0,380,15390,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3351
$STATE,15448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15448,begin apogee
$GC,15452,-0.22,0.0,990.1,5.1,381,15554,0.45,0.00,99.70,1.504,6,0.153,0.000,3247,2200,2876
$STATE,15555,end apogee,CONTROL_FINISHED_OK
$STATE,15555,begin climb
$GC,15556,0.67,117.3,991.9,0.0,382,15663,0.85,0.00,103.05,1.451,6,0.105,0.000,3523,2198,2397
$GC,15920,0.32,117.3,972.7,8.2,388,15923,0.38,0.00,0.00,0.000,6,0.183,0.000,3424,2199,2394
$GC,16223,0.25,117.3,956.4,5.2,393,16227,0.00,2.40,0.00,0.000,4,0.000,0.084,3424,3609,2393
$GC,16261,0.11,117.3,954.3,5.8,393,16266,0.20,2.38,0.00,0.000,6,0.173,0.071,3350,2204,2393
$GC,16593,0.38,167.1,942.4,3.6,399,16639,0.28,0.00,42.88,1.443,6,0.094,0.000,3442,2204,2194
$GC,16896,0.33,167.1,923.5,6.5,404,16900,0.00,2.40,0.00,0.000,4,0.000,0.084,3442,3608,2191
$GC,16973,0.20,167.1,917.4,7.8,405,16978,0.20,2.38,0.00,0.000,6,0.172,0.070,3389,2200,2190
$GC,17333,0.30,168.6,899.2,5.0,411,17335,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2200,2189
$GC,17636,0.40,168.6,884.1,5.0,416,17638,0.17,0.00,0.00,0.000,6,0.090,0.000,3451,2200,2190
$GC,17939,0.33,168.6,862.8,7.1,421,17940,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2200,2189
$GC,18242,0.26,168.6,840.1,7.5,426,18244,0.17,0.00,0.00,0.000,6,0.163,0.000,3405,2200,2190
$GC,18545,0.31,168.6,820.4,6.5,431,18549,0.00,2.35,0.00,0.000,4,0.000,0.085,3405,3610,2190
$GC,18583,0.31,168.6,817.6,8.4,431,18588,0.00,2.33,0.00,0.000,6,0.000,0.071,3408,2199,2189
$GC,18915,0.36,168.6,794.8,6.9,437,18916,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2199,2190
$GC,19218,0.41,168.6,773.3,7.0,442,19220,0.12,0.00,0.00,0.000,6,0.104,0.000,3455,2199,2189
$GC,19521,0.34,168.6,748.4,8.2,447,19523,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2200,2189
$GC,19824,0.27,168.6,724.9,7.7,452,19826,0.17,0.00,0.00,0.000,6,0.163,0.000,3408,2200,2189
$GC,20128,0.33,168.6,707.7,5.5,457,20132,0.00,2.35,0.00,0.000,4,0.000,0.086,3408,3614,2189
$GC,20165,0.33,168.6,705.3,6.5,457,20170,0.00,2.33,0.00,0.000,6,0.000,0.070,3408,2198,2189
$GC,20498,0.39,168.6,687.9,5.3,463,20499,0.10,0.00,0.00,0.000,6,0.104,0.000,3442,2198,2189
$GC,20800,0.39,168.6,667.6,6.8,468,20804,0.00,2.35,0.00,0.000,4,0.000,0.085,3442,3620,2189
$GC,20849,0.28,168.6,663.7,8.0,468,20853,0.12,2.33,0.00,0.000,6,0.176,0.070,3411,2199,2189
$GC,21164,0.34,168.6,643.9,6.2,474,21165,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2200,2188
$GC,21467,0.39,168.6,627.6,5.3,479,21471,0.00,2.33,0.00,0.000,4,0.000,0.085,3411,785,2189
$GC,21510,0.49,173.0,625.5,4.9,479,21521,0.20,2.28,5.68,1.025,6,0.090,0.066,3484,2202,2170
$GC,21824,0.34,173.0,603.0,7.3,484,21829,0.17,2.30,0.00,0.000,4,0.168,0.081,3428,3620,2169
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$STATE,32064,end climb,SURFACE_DEPTH_REACHED
$STATE,32064,begin surface coast
$FINISH,1.7,1.015984
$STATE,32107,end surface coast,CONTROL_FINISHED_OK
$STATE,32107,begin surface
$SM_CCo,32123,12.95,0.804,0,0,1652,300.00
$SM_GC,4.86,0.00,0.00,12.95,0.000,0.000,0.804,147,2414,1652,-9.91,0.42,300.00
$IRIDIUM_FIX,4936.36,-14432.01,071297,171717
$TT8_MAMPS,0.026078
$HUMID,2194
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$TCM_TEMP,16.50
$XPDR_PINGS,950
$24V_AH,23.4,12.412
$10V_AH,10.6,6.139
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$DEVICE_SECS,29.400,185.825,342.675,12.950,0.000,27.789,27.209,133.223,237.500,0.000,0.000,12.467,1785.053,27405.523,553.696,2312.053,356.682,33.368,1659.309,0.000,2292.336,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,646.855,625.142,1439.000,300.522,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47458,846
$CAP_FILE_SIZE,177495,0
$CFSIZE,260165632,255279104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130908,113708,4957.920,-14439.717,107,1.0,107,18.5