version: 66.03
glider: 120
mission: 9
dive: 166
start: 10 29 108 10 55 5
data:
$ID,120
$MISSION,9
$DIVE,166
$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,-21160.449
$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,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
$GPS1,104555,4953.789,-14429.768,43,1.1,44,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-71.3
$GPS2,105409,4953.789,-14429.770,12,1.6,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,0.092
$KALMAN_X,40171.0,-176.8,46.6,-16334.2,250.7
$KALMAN_Y,128859.1,-78.2,-225.5,-150333.9,2218.8
$MHEAD_RNG_PITCHd_Wd,282.6,35701,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,39,0.00,0.00,-16.60,0.000,2,0.000,0.000,148,2399,2066
$GC,42,-0.67,-117.3,3.1,-2.1,2,107,13.65,2.40,-42.05,0.000,4,0.281,0.081,3094,994,3356
$GC,291,-0.37,-117.3,34.6,-14.2,24,298,0.28,2.35,0.00,0.000,6,0.158,0.064,3191,2397,3358
$GC,617,-0.37,-117.3,62.5,-7.2,55,618,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2397,3358
$GC,933,-0.70,-117.3,84.8,-7.6,82,938,0.28,2.33,0.00,0.000,4,0.085,0.065,3091,986,3360
$GC,1091,-0.52,-117.3,100.4,-10.6,89,1096,0.22,2.30,0.00,0.000,6,0.158,0.060,3149,2402,3360
$GC,1412,-0.52,-117.3,123.1,-6.2,105,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2402,3361
$GC,1721,-0.52,-117.3,142.4,-5.9,120,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2402,3361
$GC,2039,-0.52,-117.3,158.6,-5.3,133,2043,0.00,2.33,0.00,0.000,4,0.000,0.067,3149,987,3361
$GC,2101,-0.59,-117.3,162.2,-5.9,135,2106,0.00,2.30,0.00,0.000,6,0.000,0.061,3149,2403,3360
$GC,2436,-0.65,-117.3,182.5,-6.3,146,2438,0.12,0.00,0.00,0.000,6,0.086,0.000,3099,2404,3359
$GC,2742,-0.65,-117.3,204.8,-7.2,156,2746,0.00,2.33,0.00,0.000,4,0.000,0.068,3099,985,3359
$GC,2771,-0.58,-117.3,206.9,-8.2,157,2776,0.12,2.30,0.00,0.000,6,0.159,0.063,3131,2401,3359
$GC,3105,-0.58,-117.3,226.6,-5.5,168,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2401,3359
$GC,3411,-0.58,-117.3,245.4,-6.5,178,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2401,3359
$GC,3717,-0.58,-117.3,266.7,-7.0,188,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3358
$GC,4024,-0.58,-117.3,287.7,-6.6,198,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2401,3358
$GC,4359,-0.58,-117.3,309.5,-6.4,207,4363,0.00,2.33,0.00,0.000,4,0.000,0.071,3131,991,3357
$GC,4408,-0.58,-117.3,312.8,-6.9,207,4412,0.00,2.35,0.00,0.000,6,0.000,0.063,3128,2398,3357
$GC,4723,-0.58,-117.3,332.8,-6.4,213,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3357
$GC,5026,-0.58,-117.3,352.1,-6.4,218,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3357
$GC,5329,-0.58,-117.3,370.7,-6.1,223,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3356
$GC,5632,-0.58,-117.3,387.9,-5.6,228,5636,0.00,2.33,0.00,0.000,4,0.000,0.072,3128,992,3356
$GC,5676,-0.62,-117.3,390.5,-5.5,228,5680,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2405,3356
$GC,5997,-0.62,-117.3,408.0,-5.6,234,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3355
$GC,6300,-0.62,-117.3,425.7,-5.9,239,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2405,3356
$GC,6603,-0.67,-117.3,443.0,-5.6,244,6607,0.00,2.35,0.00,0.000,4,0.000,0.073,3128,984,3354
$GC,6630,-0.71,-117.3,444.6,-6.0,244,6635,0.12,2.30,0.00,0.000,6,0.091,0.064,3079,2399,3355
$GC,6968,-0.64,-117.3,467.5,-7.0,250,6970,0.12,0.00,0.00,0.000,6,0.133,0.000,3112,2399,3354
$GC,7271,-0.64,-117.3,487.2,-6.5,255,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3354
$GC,7573,-0.64,-117.3,507.6,-6.7,260,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3354
$GC,7876,-0.64,-117.3,526.6,-6.3,265,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3354
$GC,8180,-0.64,-117.3,545.1,-6.1,270,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3354
$GC,8483,-0.64,-117.3,564.5,-6.4,275,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3353
$GC,8786,-0.64,-117.3,583.9,-6.4,280,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3353
$GC,9089,-0.64,-117.3,603.1,-6.3,285,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,9392,-0.64,-117.3,621.7,-6.1,290,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3353
$GC,9695,-0.64,-117.3,640.6,-6.2,295,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3353
$GC,9998,-0.64,-117.3,659.5,-6.3,300,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3352
$GC,10301,-0.64,-117.3,678.0,-6.1,305,10305,0.00,2.35,0.00,0.000,4,0.000,0.074,3112,987,3352
$GC,10333,-0.64,-117.3,680.3,-6.9,305,10337,0.00,2.38,0.00,0.000,6,0.000,0.067,3112,2402,3352
$GC,10665,-0.64,-117.3,699.8,-5.9,311,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3352
$GC,10968,-0.64,-117.3,716.2,-5.4,316,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3352
$GC,11271,-0.64,-117.3,732.5,-5.3,321,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3352
$GC,11574,-0.64,-117.3,750.0,-5.8,326,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3352
$GC,11877,-0.64,-117.3,768.6,-6.2,331,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3351
$GC,12181,-0.64,-117.3,786.4,-5.8,336,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3351
$GC,12484,-0.68,-117.3,803.4,-5.6,341,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3351
$GC,12786,-0.68,-117.3,819.5,-5.3,346,12790,0.00,2.38,0.00,0.000,4,0.000,0.075,3113,983,3350
$GC,12813,-0.72,-117.3,821.1,-5.8,346,12817,0.00,2.35,0.00,0.000,6,0.000,0.067,3112,2412,3350
$GC,13151,-0.77,-117.3,839.6,-5.5,352,13153,0.12,0.00,0.00,0.000,6,0.091,0.000,3064,2412,3350
$GC,13454,-0.77,-117.3,859.5,-6.6,357,13458,0.00,2.38,0.00,0.000,4,0.000,0.075,3064,985,3350
$GC,13480,-0.69,-117.3,861.4,-7.3,357,13485,0.12,2.33,0.00,0.000,6,0.167,0.067,3094,2401,3350
$GC,13817,-0.69,-117.3,882.5,-6.2,363,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3350
$GC,14121,-0.69,-117.3,900.9,-6.1,368,14125,0.00,2.38,0.00,0.000,4,0.000,0.087,3094,3819,3350
$GC,14147,-0.69,-117.3,902.6,-6.0,368,14152,0.00,2.33,0.00,0.000,6,0.000,0.061,3094,2394,3350
$GC,14485,-0.69,-117.3,923.5,-6.3,374,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3350
$GC,14788,-0.69,-117.3,942.1,-6.2,379,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3350
$GC,15091,-0.69,-117.3,960.1,-5.9,384,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3350
$GC,15394,-0.69,-117.3,977.6,-5.7,389,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3350
$STATE,15636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15636,begin apogee
$GC,15641,-0.22,0.0,991.0,5.6,393,15746,0.50,0.00,101.62,1.502,6,0.151,0.000,3245,2200,2875
$STATE,15746,end apogee,CONTROL_FINISHED_OK
$STATE,15747,begin climb
$GC,15748,0.67,117.3,992.7,0.0,394,15859,0.85,0.00,106.43,1.447,6,0.094,0.000,3525,2200,2397
$GC,16176,0.32,117.3,968.5,8.6,401,16178,0.38,0.00,0.00,0.000,6,0.176,0.000,3426,2200,2393
$GC,16478,0.26,117.3,950.4,5.9,406,16479,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2200,2392
$GC,16781,0.19,117.3,931.8,6.2,411,16783,0.17,0.00,0.00,0.000,6,0.178,0.000,3381,2199,2392
$GC,17084,0.26,117.3,916.2,5.1,416,17088,0.00,2.45,0.00,0.000,4,0.000,0.082,3380,3619,2392
$GC,17138,0.26,117.3,913.1,5.1,416,17146,0.00,2.38,0.00,0.000,6,0.000,0.064,3381,2197,2392
$GC,17449,0.36,131.3,898.8,4.6,422,17464,0.15,0.00,12.82,1.345,6,0.094,0.000,3437,2197,2340
$GC,17752,0.28,131.3,881.6,5.7,427,17754,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2197,2339
$GC,18054,0.21,131.3,865.8,5.2,432,18056,0.20,0.00,0.00,0.000,6,0.158,0.000,3384,2197,2338
$GC,18358,0.38,193.6,855.9,3.2,437,18418,0.17,0.00,54.58,1.414,6,0.088,0.000,3448,2198,2085
$GC,18721,0.38,193.6,834.1,6.3,443,18722,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2080
$GC,19023,0.38,193.6,812.3,7.4,448,19024,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2079
$GC,19326,0.38,193.6,788.0,8.1,453,19328,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2079
$GC,19630,0.33,193.6,763.1,8.2,458,19631,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2197,2079
$GC,19933,0.33,193.6,738.4,8.1,463,19934,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2197,2079
$GC,20236,0.33,193.6,715.7,7.4,468,20237,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2197,2079
$GC,20539,0.33,193.6,695.0,6.7,473,20540,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2197,2078
$GC,20842,0.33,193.6,674.7,6.7,478,20843,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2197,2078
$GC,21145,0.33,193.6,655.4,6.3,483,21149,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,789,2078
$GC,21182,0.33,193.6,653.0,6.2,483,21186,0.00,2.35,0.00,0.000,6,0.000,0.064,3448,2205,2078
$GC,21509,0.33,193.6,632.5,6.4,489,21513,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,790,2078
$GC,21540,0.33,193.6,630.3,6.8,489,21545,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2197,2078
$GC,21873,0.33,193.6,608.1,6.8,495,21877,0.00,2.38,0.00,0.000,4,0.000,0.082,3449,3620,2078
$GC,21906,0.25,193.6,605.5,7.3,495,21910,0.17,2.33,0.00,0.000,6,0.173,0.066,3404,2196,2078
$GC,22231,0.37,193.6,587.8,5.4,501,22233,0.10,0.00,0.00,0.000,6,0.101,0.000,3439,2196,2078
$GC,22534,0.45,193.6,569.5,6.0,506,22535,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2196,2078
$GC,22838,0.54,193.6,552.5,5.5,511,22840,0.15,0.00,0.00,0.000,6,0.100,0.000,3499,2196,2078
$GC,23141,0.39,193.6,528.3,8.1,516,23146,0.17,2.38,0.00,0.000,4,0.163,0.081,3449,786,2078
$GC,23167,0.39,193.6,526.4,6.5,516,23171,0.00,2.35,0.00,0.000,6,0.000,0.064,3449,2206,2078
$GC,23505,0.39,193.6,504.8,6.4,522,23509,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,794,2077
$GC,23537,0.39,193.6,502.7,6.1,522,23541,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2213,2078
$GC,23869,0.39,193.6,482.0,6.2,528,23870,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2212,2078
$GC,24172,0.39,193.6,463.5,6.1,533,24177,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,791,2078
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$GC,30717,0.59,246.2,68.0,4.2,736,30750,0.15,2.42,22.45,0.897,4,0.086,0.078,3520,786,1871
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$STATE,31709,end climb,SURFACE_DEPTH_REACHED
$STATE,31710,begin surface coast
$FINISH,1.9,1.025047
$STATE,31838,end surface coast,CONTROL_FINISHED_OK
$STATE,31838,begin surface
$SM_CCo,31916,0.00,0.000,0,0,1640,302.95
$SM_GC,2.83,9.52,0.00,0.00,0.069,0.000,0.000,145,2406,1640,-9.86,0.17,302.95
$IRIDIUM_FIX,4936.36,-14432.01,230198,101024
$TT8_MAMPS,0.026078
$HUMID,2133
$INTERNAL_PRESSURE,9.08482
$TCM_TEMP,16.60
$XPDR_PINGS,926
$24V_AH,22.4,34.943
$10V_AH,10.7,22.130
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$DEVICE_SECS,28.925,136.775,366.850,0.000,0.000,57.948,58.383,203.086,231.500,0.000,0.000,12.035,1701.908,27496.203,502.002,2110.675,594.572,33.377,1525.314,0.000,2109.721,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,644.108,624.262,1426.468,865.193,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47572,839
$CAP_FILE_SIZE,163422,0
$CFSIZE,260165632,245772288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291008,194838,4955.932,-14433.994,62,1.3,62,18.5