version: 66.03
glider: 120
mission: 9
dive: 136
start: 10 18 108 1 57 27
data:
$ID,120
$MISSION,9
$DIVE,136
$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,-20451.561
$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,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
$GPS1,015037,5020.420,-14510.688,41,1.8,41,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,4.12
$_SM_ANGLEo,-74.7
$GPS2,015632,5020.457,-14510.667,13,1.9,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,-0.174
$KALMAN_X,42982.4,-25.7,-306.1,-67534.4,1296.7
$KALMAN_Y,99382.6,142.4,-112.9,-71806.0,930.1
$MHEAD_RNG_PITCHd_Wd,173.7,49001,-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,18,begin dive
$GC,20,-0.67,-117.2,0.0,0.0,0,34,0.00,0.00,-12.38,0.000,2,0.000,0.000,148,2405,1934
$GC,37,-0.67,-117.3,4.1,-0.0,1,109,13.75,0.00,-51.10,0.000,6,0.285,0.000,3092,2405,3356
$GC,428,-0.34,-117.3,52.3,-13.1,38,430,0.40,0.00,0.00,0.000,6,0.168,0.000,3206,2405,3359
$GC,746,-0.70,-117.3,72.0,-7.0,68,750,0.32,2.35,0.00,0.000,4,0.087,0.074,3090,3816,3360
$GC,812,-0.54,-117.3,78.1,-9.8,73,819,0.12,2.28,0.00,0.000,6,0.150,0.053,3142,2396,3360
$GC,1128,-0.48,-117.3,107.1,-9.1,90,1132,0.00,2.28,0.00,0.000,4,0.000,0.067,3146,993,3361
$GC,1160,-0.48,-117.3,110.3,-8.9,91,1167,0.00,2.30,0.00,0.000,6,0.000,0.060,3147,2396,3361
$GC,1476,-0.48,-117.3,134.9,-6.9,107,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2396,3361
$GC,1796,-0.48,-117.3,151.7,-4.8,122,1800,0.00,2.35,0.00,0.000,4,0.000,0.079,3142,3809,3361
$GC,1838,-0.48,-117.3,154.1,-5.2,123,1843,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2407,3361
$GC,2163,-0.48,-117.3,171.2,-5.5,134,2167,0.00,2.30,0.00,0.000,4,0.000,0.070,3142,992,3361
$GC,2195,-0.48,-117.3,173.2,-6.3,135,2199,0.00,2.33,0.00,0.000,6,0.000,0.061,3142,2405,3361
$GC,2530,-0.48,-117.3,193.3,-6.3,146,2534,0.00,2.33,0.00,0.000,4,0.000,0.070,3142,987,3360
$GC,2573,-0.52,-117.3,196.6,-7.8,147,2577,0.00,2.30,0.00,0.000,6,0.000,0.062,3141,2409,3360
$GC,2897,-0.57,-117.3,217.3,-6.1,158,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2409,3360
$GC,3204,-0.61,-117.3,233.6,-5.0,168,3208,0.00,2.33,0.00,0.000,4,0.000,0.071,3141,992,3360
$GC,3236,-0.65,-117.3,235.5,-5.6,169,3240,0.00,2.30,0.00,0.000,6,0.000,0.063,3142,2408,3360
$GC,3571,-0.70,-117.3,254.1,-6.2,180,3573,0.15,0.00,0.00,0.000,6,0.087,0.000,3084,2408,3359
$GC,3878,-0.63,-117.3,282.2,-9.5,190,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3359
$GC,4213,-0.56,-117.3,311.7,-8.4,199,4215,0.17,0.00,0.00,0.000,6,0.130,0.000,3134,2408,3358
$GC,4516,-0.56,-117.3,329.7,-5.8,204,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2408,3358
$GC,4820,-0.56,-117.3,346.8,-5.7,209,4824,0.00,2.33,0.00,0.000,4,0.000,0.073,3134,992,3357
$GC,4841,-0.56,-117.3,348.2,-6.1,209,4846,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2395,3357
$GC,5185,-0.61,-117.3,368.8,-6.1,215,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2395,3357
$GC,5488,-0.66,-117.3,388.0,-6.3,220,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2395,3357
$GC,5791,-0.71,-117.3,406.3,-5.9,225,5796,0.15,2.33,0.00,0.000,4,0.084,0.073,3071,988,3356
$GC,5823,-0.58,-117.3,408.9,-8.7,225,5828,0.20,2.30,0.00,0.000,6,0.170,0.064,3124,2408,3356
$GC,6148,-0.58,-117.3,429.6,-6.4,231,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3356
$GC,6452,-0.58,-117.3,449.2,-6.5,236,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2408,3356
$GC,6755,-0.58,-117.3,468.6,-6.4,241,6759,0.00,2.33,0.00,0.000,4,0.000,0.074,3124,993,3356
$GC,6798,-0.58,-117.3,471.6,-6.8,241,6803,0.00,2.30,0.00,0.000,6,0.000,0.065,3124,2396,3355
$GC,7119,-0.58,-117.3,491.4,-6.2,247,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3356
$GC,7422,-0.58,-117.3,511.3,-6.6,252,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3355
$GC,7726,-0.62,-117.3,531.4,-6.6,257,7730,0.00,2.33,0.00,0.000,4,0.000,0.074,3124,988,3355
$GC,7764,-0.67,-117.3,534.2,-6.7,257,7768,0.00,2.30,0.00,0.000,6,0.000,0.065,3124,2406,3355
$GC,8090,-0.71,-117.3,553.6,-5.8,263,8092,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2406,3355
$GC,8393,-0.71,-117.3,572.4,-6.2,268,8397,0.00,2.33,0.00,0.000,4,0.000,0.083,3075,3816,3355
$GC,8431,-0.62,-117.3,575.0,-6.7,268,8435,0.15,2.25,0.00,0.000,6,0.138,0.059,3114,2399,3355
$GC,8756,-0.62,-117.3,592.8,-5.4,274,8760,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,994,3355
$GC,8782,-0.62,-117.3,594.5,-5.6,274,8787,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2396,3355
$GC,9120,-0.62,-117.3,614.2,-5.9,280,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3355
$GC,9423,-0.62,-117.3,632.7,-6.1,285,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3355
$GC,9726,-0.62,-117.3,651.9,-6.4,290,9730,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,988,3354
$GC,9747,-0.62,-117.3,653.3,-6.6,290,9752,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2399,3354
$GC,10091,-0.62,-117.3,676.4,-6.8,296,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3354
$GC,10394,-0.62,-117.3,698.1,-7.1,301,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3354
$GC,10697,-0.62,-117.3,718.8,-6.8,306,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3354
$GC,11000,-0.62,-117.3,739.2,-6.8,311,11004,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,989,3353
$GC,11031,-0.62,-117.3,741.6,-7.2,311,11036,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2402,3353
$GC,11364,-0.62,-117.3,763.4,-6.6,317,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,11667,-0.62,-117.3,782.2,-6.1,322,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,11970,-0.62,-117.3,799.5,-5.6,327,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,12273,-0.62,-117.3,815.8,-5.3,332,12274,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,12578,-0.66,-117.3,832.0,-5.3,337,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,12880,-0.70,-117.3,848.0,-5.3,342,12884,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,994,3353
$GC,12912,-0.75,-117.3,850.1,-6.4,342,12917,0.12,2.30,0.00,0.000,6,0.093,0.067,3068,2409,3352
$GC,13244,-0.75,-117.3,871.0,-6.4,348,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2409,3352
$GC,13547,-0.75,-117.3,890.9,-6.5,353,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2409,3352
$GC,13852,-0.75,-117.3,910.8,-6.6,358,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2409,3352
$GC,14153,-0.75,-117.3,930.2,-6.4,363,14157,0.00,2.35,0.00,0.000,4,0.000,0.076,3068,985,3352
$GC,14180,-0.71,-117.3,932.0,-6.6,363,14184,0.00,2.33,0.00,0.000,6,0.000,0.067,3067,2411,3352
$GC,14517,-0.63,-117.3,953.0,-6.2,369,14519,0.15,0.00,0.00,0.000,6,0.170,0.000,3106,2411,3352
$GC,14820,-0.63,-117.3,966.9,-4.5,374,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2411,3351
$GC,15124,-0.63,-117.3,978.9,-3.9,379,15128,0.00,2.35,0.00,0.000,4,0.000,0.076,3106,991,3351
$GC,15150,-0.63,-117.3,980.1,-4.6,379,15155,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2418,3351
$STATE,15426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15426,begin apogee
$GC,15431,-0.22,0.0,990.6,3.8,384,15534,0.45,0.00,100.95,1.505,6,0.146,0.000,3243,2203,2876
$STATE,15535,end apogee,CONTROL_FINISHED_OK
$STATE,15535,begin climb
$GC,15537,0.67,117.3,991.6,0.0,385,15649,0.90,2.62,104.95,1.447,4,0.095,0.080,3535,793,2395
$GC,15699,0.28,117.3,986.3,9.3,388,15705,0.50,2.47,0.00,0.000,6,0.192,0.061,3411,2203,2394
$GC,16030,0.28,117.3,964.5,6.5,394,16031,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2203,2392
$GC,16333,0.28,117.3,945.8,6.2,399,16338,0.00,2.38,0.00,0.000,4,0.000,0.081,3410,3608,2392
$GC,16371,0.17,117.3,943.3,6.8,399,16376,0.15,2.33,0.00,0.000,6,0.186,0.065,3374,2200,2392
$GC,16699,0.28,131.0,927.9,4.6,405,16713,0.00,0.00,12.27,1.348,6,0.000,0.000,3374,2200,2341
$GC,17002,0.41,152.0,914.6,4.4,410,17024,0.22,0.00,19.45,1.395,6,0.084,0.000,3456,2200,2256
$GC,17305,0.30,152.0,895.3,6.5,415,17309,0.15,2.40,0.00,0.000,4,0.160,0.078,3421,780,2254
$GC,17348,0.30,155.2,892.7,4.9,415,17358,0.00,2.35,4.40,0.971,6,0.000,0.064,3421,2200,2243
$GC,17668,0.30,155.2,876.3,5.2,421,17672,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3610,2242
$GC,17717,0.23,155.2,873.4,5.9,421,17721,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2190,2242
$GC,18032,0.24,162.0,858.1,4.8,427,18042,0.00,0.00,7.45,1.217,6,0.000,0.000,3421,2190,2215
$GC,18336,0.24,165.7,843.3,4.9,432,18342,0.00,0.00,5.03,1.048,6,0.000,0.000,3421,2190,2200
$GC,18638,0.24,165.7,827.8,5.1,437,18643,0.00,2.40,0.00,0.000,4,0.000,0.082,3421,3610,2199
$GC,18671,0.19,165.7,825.9,5.7,437,18676,0.12,2.33,0.00,0.000,6,0.170,0.067,3385,2207,2199
$GC,19004,0.33,186.9,811.6,4.4,443,19026,0.12,0.00,19.30,1.357,6,0.094,0.000,3428,2207,2114
$GC,19306,0.41,186.9,794.0,5.9,448,19311,0.00,2.38,0.00,0.000,4,0.000,0.081,3429,790,2112
$GC,19333,0.46,186.9,792.1,7.0,448,19338,0.10,2.33,0.00,0.000,6,0.106,0.066,3468,2203,2112
$GC,19671,0.35,186.9,765.4,8.0,454,19673,0.12,0.00,0.00,0.000,6,0.158,0.000,3437,2204,2111
$GC,19973,0.35,186.9,743.9,7.1,459,19975,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2204,2111
$GC,20276,0.35,186.9,721.9,7.3,464,20280,0.00,2.38,0.00,0.000,4,0.000,0.081,3437,790,2111
$GC,20308,0.35,186.9,719.5,7.1,464,20312,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2200,2112
$GC,20640,0.35,186.9,695.2,7.4,470,20641,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2111
$GC,20943,0.35,186.9,673.5,7.0,475,20947,0.00,2.35,0.00,0.000,4,0.000,0.082,3437,3622,2111
$GC,20991,0.28,186.9,669.7,7.4,475,20996,0.00,2.33,0.00,0.000,6,0.000,0.066,3437,2189,2111
$GC,21307,0.28,186.9,647.9,6.9,481,21308,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2190,2111
$GC,21609,0.28,186.9,626.7,7.0,486,21613,0.00,2.33,0.00,0.000,4,0.000,0.082,3437,789,2111
$GC,21647,0.28,186.9,624.0,7.0,486,21652,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2201,2111
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$STATE,31650,end climb,SURFACE_DEPTH_REACHED
$STATE,31650,begin surface coast
$FINISH,3.8,1.024820
$STATE,31681,end surface coast,CONTROL_FINISHED_OK
$STATE,31681,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2119
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$TCM_TEMP,16.90
$XPDR_PINGS,973
$24V_AH,22.6,29.348
$10V_AH,10.6,18.133
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$DEVICE_SECS,31.425,219.650,376.650,0.000,0.000,30.739,33.166,185.134,243.250,0.000,0.000,13.017,1790.552,26979.869,553.842,2268.358,517.819,33.382,1689.549,0.000,2258.126,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,634.222,617.469,1403.029,852.134,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47474,825
$CAP_FILE_SIZE,188916,0
$CFSIZE,260165632,248098816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181008,104801,5017.682,-14510.196,39,1.6,39,18.5