version: 66.03
glider: 120
mission: 9
dive: 94
start: 10 2 108 2 29 29
data:
$ID,120
$MISSION,9
$DIVE,94
$D_SURF,6
$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,-19557.988
$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,18
$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
$GPS1,021056,5018.954,-14509.434,43,1.3,43,18.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.97
$_SM_ANGLEo,-72.2
$GPS2,022833,5018.915,-14509.565,13,1.5,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.102,0.106
$KALMAN_X,40634.7,60.2,-252.8,-64016.0,1220.6
$KALMAN_Y,68405.2,-16.2,-104.1,-43531.0,-337.7
$MHEAD_RNG_PITCHd_Wd,297.6,4790,-15.4,-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,-0.76,-76.3,0.0,0.0,0,28,0.00,0.00,-7.62,0.000,2,0.000,0.000,135,2400,1833
$GC,30,-0.81,-117.3,5.0,-0.0,1,116,13.10,2.40,-63.17,0.000,4,0.281,0.092,3044,3809,3356
$GC,155,-0.43,-117.3,15.9,-18.6,12,163,0.47,2.28,0.00,0.000,6,0.175,0.054,3177,2393,3358
$GC,482,-0.59,-117.3,49.4,-7.6,43,484,0.15,0.00,0.00,0.000,6,0.077,0.000,3116,2393,3358
$GC,798,-0.59,-117.3,76.9,-8.9,73,802,0.00,2.35,0.00,0.000,4,0.000,0.074,3114,3814,3360
$GC,837,-0.59,-117.3,80.7,-9.8,76,841,0.00,2.22,0.00,0.000,6,0.000,0.051,3114,2393,3360
$GC,1168,-0.59,-117.3,112.3,-9.0,92,1172,0.00,2.25,0.00,0.000,4,0.000,0.066,3114,989,3361
$GC,1194,-0.59,-117.3,114.9,-9.7,93,1199,0.00,2.30,0.00,0.000,6,0.000,0.059,3114,2406,3361
$GC,1515,-0.59,-117.3,145.0,-8.9,109,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3360
$GC,1822,-0.63,-117.3,171.5,-8.1,120,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3360
$GC,2129,-0.68,-117.3,196.8,-8.3,130,2133,0.00,2.28,0.00,0.000,4,0.000,0.069,3114,995,3359
$GC,2206,-0.75,-117.3,203.5,-8.6,132,2211,0.08,2.28,0.00,0.000,6,0.071,0.061,3071,2397,3359
$GC,2535,-0.70,-117.3,236.0,-10.0,143,2539,0.00,2.28,0.00,0.000,4,0.000,0.070,3071,995,3358
$GC,2579,-0.64,-117.3,240.7,-10.5,144,2584,0.10,2.28,0.00,0.000,6,0.170,0.063,3102,2395,3358
$GC,2902,-0.64,-117.3,268.2,-8.6,155,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2395,3358
$GC,3209,-0.64,-117.3,294.9,-8.6,165,3213,0.00,2.30,0.00,0.000,4,0.000,0.072,3103,988,3357
$GC,3258,-0.69,-117.3,299.3,-8.3,166,3262,0.00,2.28,0.00,0.000,6,0.000,0.063,3100,2403,3356
$GC,3573,-0.69,-117.3,326.1,-8.5,172,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,3876,-0.69,-117.3,350.5,-8.0,177,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3355
$GC,4179,-0.73,-117.3,372.7,-7.2,182,4183,0.00,2.30,0.00,0.000,4,0.000,0.072,3100,993,3354
$GC,4229,-0.79,-117.3,376.3,-6.9,182,4233,0.12,2.28,0.00,0.000,6,0.085,0.064,3047,2405,3354
$GC,4544,-0.69,-117.3,404.0,-8.9,188,4546,0.17,0.00,0.00,0.000,6,0.172,0.000,3093,2405,3354
$GC,4846,-0.69,-117.3,424.8,-6.8,193,4850,0.00,2.30,0.00,0.000,4,0.000,0.073,3093,995,3353
$GC,4878,-0.69,-117.3,427.2,-7.2,193,4883,0.00,2.28,0.00,0.000,6,0.000,0.064,3093,2393,3353
$GC,5210,-0.69,-117.3,451.3,-7.6,199,5214,0.00,2.30,0.00,0.000,4,0.000,0.074,3093,988,3353
$GC,5238,-0.69,-117.3,453.6,-8.7,199,5242,0.00,2.28,0.00,0.000,6,0.000,0.065,3093,2403,3353
$GC,5569,-0.74,-117.3,480.6,-8.2,205,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3352
$GC,5872,-0.79,-117.3,503.6,-7.5,210,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2404,3352
$GC,6175,-0.83,-117.3,525.1,-7.1,215,6180,0.15,2.30,0.00,0.000,4,0.082,0.073,3024,992,3351
$GC,6207,-0.69,-117.3,528.2,-10.1,215,6211,0.20,2.30,0.00,0.000,6,0.182,0.066,3085,2401,3352
$GC,6538,-0.69,-117.3,550.8,-6.6,221,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3351
$GC,6843,-0.69,-117.3,569.8,-6.2,226,6847,0.00,2.30,0.00,0.000,4,0.000,0.074,3085,992,3351
$GC,6880,-0.73,-117.3,572.5,-6.8,226,6885,0.00,2.30,0.00,0.000,6,0.000,0.065,3085,2402,3350
$GC,7206,-0.73,-117.3,591.9,-6.0,232,7210,0.00,2.30,0.00,0.000,4,0.000,0.074,3086,992,3350
$GC,7233,-0.73,-117.3,593.6,-6.3,232,7237,0.00,2.30,0.00,0.000,6,0.000,0.066,3086,2401,3350
$GC,7571,-0.78,-117.3,612.1,-5.5,238,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3350
$GC,7875,-0.78,-117.3,629.6,-5.9,243,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3350
$GC,8177,-0.82,-117.3,650.4,-7.0,248,8181,0.00,2.30,0.00,0.000,4,0.000,0.076,3085,988,3349
$GC,8231,-0.87,-117.3,654.8,-7.7,248,8239,0.10,2.30,0.00,0.000,6,0.072,0.066,3031,2401,3349
$GC,8541,-0.77,-117.3,685.1,-10.0,254,8543,0.15,0.00,0.00,0.000,6,0.176,0.000,3069,2401,3349
$GC,8843,-0.77,-117.3,710.7,-8.4,259,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2401,3349
$GC,9146,-0.77,-117.3,737.1,-8.7,264,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2401,3349
$GC,9451,-0.77,-117.3,761.9,-8.1,269,9455,0.00,2.30,0.00,0.000,4,0.000,0.076,3069,991,3348
$GC,9495,-0.77,-117.3,765.6,-8.3,269,9499,0.00,2.30,0.00,0.000,6,0.000,0.067,3069,2394,3348
$GC,9816,-0.77,-117.3,789.4,-7.4,275,9820,0.00,2.28,0.00,0.000,4,0.000,0.077,3069,997,3348
$GC,9865,-0.77,-117.3,793.3,-7.7,275,9869,0.00,2.30,0.00,0.000,6,0.000,0.067,3069,2403,3348
$GC,10180,-0.77,-117.3,816.9,-7.5,281,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2404,3348
$GC,10483,-0.77,-117.3,839.5,-7.5,286,10487,0.00,2.33,0.00,0.000,4,0.000,0.087,3069,3818,3347
$GC,10526,-0.77,-117.3,842.9,-7.4,286,10531,0.00,2.28,0.00,0.000,6,0.000,0.061,3069,2405,3347
$GC,10847,-0.77,-117.3,866.2,-7.3,292,10851,0.00,2.30,0.00,0.000,4,0.000,0.077,3069,988,3347
$GC,10890,-0.77,-117.3,869.6,-7.3,292,10894,0.00,2.33,0.00,0.000,6,0.000,0.067,3069,2406,3347
$GC,11211,-0.77,-117.3,893.6,-7.5,298,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2406,3347
$GC,11514,-0.77,-117.3,916.1,-7.4,303,11518,0.00,2.33,0.00,0.000,4,0.000,0.077,3069,989,3347
$GC,11556,-0.77,-117.3,919.5,-8.1,303,11561,0.00,2.33,0.00,0.000,6,0.000,0.067,3069,2406,3347
$GC,11877,-0.77,-117.3,942.9,-7.3,309,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2406,3346
$GC,12180,-0.77,-117.3,965.1,-7.3,314,12184,0.00,2.33,0.00,0.000,4,0.000,0.077,3069,988,3346
$GC,12212,-0.77,-117.3,967.5,-7.2,314,12217,0.00,2.33,0.00,0.000,6,0.000,0.067,3069,2407,3346
$STATE,12543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12543,begin apogee
$GC,12548,-0.22,0.0,991.8,7.3,320,12650,0.57,0.00,99.18,1.510,6,0.157,0.000,3244,2194,2876
$STATE,12650,end apogee,CONTROL_FINISHED_OK
$STATE,12650,begin climb
$GC,12652,0.81,117.3,993.7,0.0,321,12763,1.02,2.62,103.32,1.458,4,0.102,0.082,3575,796,2397
$GC,12802,0.44,117.3,992.6,8.1,323,12807,0.40,2.50,0.00,0.000,6,0.202,0.062,3465,2199,2395
$GC,13144,0.38,117.3,970.2,6.4,329,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2199,2393
$GC,13447,0.31,117.3,950.7,6.5,334,13449,0.17,0.00,0.00,0.000,6,0.192,0.000,3420,2199,2393
$GC,13751,0.39,117.3,934.4,5.3,339,13755,0.00,2.35,0.00,0.000,4,0.000,0.081,3420,3614,2393
$GC,13777,0.39,117.3,932.8,6.4,339,13781,0.00,2.35,0.00,0.000,6,0.000,0.065,3424,2197,2393
$GC,14115,0.45,117.3,913.5,5.8,345,14117,0.12,0.00,0.00,0.000,6,0.091,0.000,3476,2197,2393
$GC,14418,0.37,117.3,890.8,7.7,350,14420,0.15,0.00,0.00,0.000,6,0.173,0.000,3438,2197,2393
$GC,14721,0.37,117.3,871.0,6.4,355,14725,0.00,2.35,0.00,0.000,4,0.000,0.081,3438,784,2392
$GC,14759,0.42,117.3,868.5,6.2,355,14763,0.00,2.33,0.00,0.000,6,0.000,0.065,3438,2199,2392
$GC,15085,0.42,117.3,847.5,6.4,361,15089,0.00,2.33,0.00,0.000,4,0.000,0.081,3438,3613,2392
$GC,15117,0.38,117.3,845.3,7.1,361,15121,0.00,2.30,0.00,0.000,6,0.000,0.067,3439,2189,2392
$GC,15449,0.38,117.3,824.8,6.1,367,15453,0.00,2.38,0.00,0.000,4,0.000,0.082,3438,3618,2392
$GC,15520,0.33,117.3,820.0,6.8,368,15524,0.00,2.33,0.00,0.000,6,0.000,0.067,3439,2200,2392
$GC,15880,0.33,117.3,798.8,5.9,374,15881,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2200,2391
$GC,16183,0.33,117.3,780.8,6.0,379,16184,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2200,2391
$GC,16486,0.33,117.3,762.2,6.2,384,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2200,2391
$GC,16791,0.33,117.3,743.9,6.1,389,16792,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2200,2391
$GC,17092,0.33,117.3,727.0,5.5,394,17093,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2199,2391
$GC,17396,0.33,119.7,712.0,4.9,399,17400,0.00,2.33,0.00,0.000,4,0.000,0.081,3438,786,2391
$GC,17451,0.42,135.8,709.5,4.3,399,17471,0.00,2.30,15.55,1.290,6,0.000,0.064,3438,2200,2321
$GC,17827,0.49,141.5,691.7,4.8,406,17836,0.12,0.00,6.30,1.091,6,0.091,0.000,3490,2200,2299
$GC,18130,0.42,141.5,672.2,6.5,411,18132,0.15,0.00,0.00,0.000,6,0.175,0.000,3453,2200,2298
$GC,18432,0.42,141.5,653.0,6.4,416,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2200,2298
$GC,18735,0.42,141.5,632.5,6.8,421,18737,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2200,2298
$GC,19039,0.42,141.5,612.3,6.6,426,19040,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2199,2298
$GC,19342,0.42,141.5,593.8,6.0,431,19346,0.00,2.33,0.00,0.000,4,0.000,0.082,3453,3617,2298
$GC,19373,0.42,141.5,591.7,7.3,431,19378,0.00,2.33,0.00,0.000,6,0.000,0.066,3452,2198,2298
$GC,19705,0.42,141.5,574.2,5.1,437,19709,0.00,2.33,0.00,0.000,4,0.000,0.081,3453,783,2298
$GC,19767,0.50,146.0,571.4,4.8,438,19777,0.00,2.30,5.47,0.992,6,0.000,0.064,3453,2213,2281
$GC,20132,0.55,154.2,554.3,4.6,444,20146,0.12,2.35,8.43,1.113,4,0.088,0.082,3505,3607,2247
$GC,20199,0.37,154.2,549.5,7.4,445,20204,0.25,2.30,0.00,0.000,6,0.199,0.067,3442,2194,2246
$GC,20564,0.45,154.2,530.7,5.1,451,20568,0.00,2.33,0.00,0.000,4,0.000,0.080,3449,783,2246
$GC,20607,0.55,154.2,528.2,5.8,451,20612,0.10,2.33,0.00,0.000,6,0.078,0.062,3514,2204,2247
$GC,20927,0.43,154.2,502.4,8.2,457,20929,0.20,0.00,0.00,0.000,6,0.179,0.000,3461,2204,2246
$GC,21231,0.43,154.2,481.0,7.1,462,21232,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2205,2246
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$STATE,28992,end climb,SURFACE_DEPTH_REACHED
$STATE,28992,begin surface coast
$FINISH,3.9,1.022865
$STATE,29057,end surface coast,CONTROL_FINISHED_OK
$STATE,29057,begin surface
$SM_CCo,29074,19.58,0.829,0,0,1653,300.00
$SM_GC,6.63,0.00,0.00,19.58,0.000,0.000,0.829,148,2409,1653,-9.90,0.25,300.00
$IRIDIUM_FIX,5003.11,-14511.25,271297,020212
$TT8_MAMPS,0.026078
$HUMID,2176
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$TCM_TEMP,16.60
$XPDR_PINGS,876
$24V_AH,23.0,21.711
$10V_AH,10.6,12.572
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$DEVICE_SECS,29.650,195.500,336.925,19.575,0.000,140.105,143.142,405.428,219.000,0.000,0.000,13.838,1686.340,24768.701,509.973,2264.569,917.077,33.371,1636.225,0.000,2237.880,0.000,0.466
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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,44372,771
$CAP_FILE_SIZE,186445,0
$CFSIZE,260165632,251408384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021008,103601,5021.684,-14512.276,58,1.3,63,18.5