version: 66.03
glider: 120
mission: 9
dive: 167
start: 10 29 108 19 57 47
data:
$ID,120
$MISSION,9
$DIVE,167
$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,-21176.465
$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
$GPS1,194838,4955.932,-14433.994,62,1.3,62,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-69.2
$GPS2,195651,4955.992,-14433.855,15,1.4,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.148,0.098
$KALMAN_X,40985.9,182.1,101.0,-22422.1,301.0
$KALMAN_Y,129296.4,-260.0,-138.1,-146589.4,1990.1
$MHEAD_RNG_PITCHd_Wd,285.0,29395,-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,-117.3,0.0,0.0,0,34,0.00,0.00,-12.23,0.000,2,0.000,0.000,134,2408,1954
$GC,37,-0.67,-117.3,3.1,-0.0,1,112,13.52,2.42,-52.67,0.000,4,0.280,0.085,3092,993,3356
$GC,270,-0.39,-117.3,29.8,-14.7,22,275,0.38,2.33,0.00,0.000,6,0.169,0.061,3189,2400,3358
$GC,595,-0.39,-117.3,53.7,-6.7,52,599,0.00,2.33,0.00,0.000,4,0.000,0.066,3189,990,3359
$GC,656,-0.39,-117.3,57.9,-6.5,57,660,0.00,2.30,0.00,0.000,6,0.000,0.060,3189,2401,3359
$GC,983,-0.72,-117.3,79.6,-7.6,87,988,0.28,2.33,0.00,0.000,4,0.087,0.074,3089,3810,3360
$GC,1068,-0.53,-117.3,87.5,-9.7,91,1072,0.20,2.25,0.00,0.000,6,0.153,0.051,3143,2394,3360
$GC,1394,-0.48,-117.3,112.2,-7.4,107,1399,0.00,2.30,0.00,0.000,4,0.000,0.067,3144,986,3361
$GC,1434,-0.48,-117.3,115.4,-8.2,109,1438,0.00,2.30,0.00,0.000,6,0.000,0.060,3142,2402,3361
$GC,1766,-0.48,-117.3,140.0,-6.6,125,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2402,3361
$GC,2083,-0.48,-117.3,162.5,-7.5,138,2088,0.00,2.35,0.00,0.000,4,0.000,0.079,3142,3812,3360
$GC,2122,-0.55,-117.3,165.2,-7.2,139,2126,0.00,2.25,0.00,0.000,6,0.000,0.053,3142,2398,3360
$GC,2452,-0.59,-117.3,184.7,-5.8,150,2456,0.00,2.30,0.00,0.000,4,0.000,0.069,3142,993,3360
$GC,2490,-0.64,-117.3,187.3,-6.8,151,2494,0.00,2.30,0.00,0.000,6,0.000,0.061,3142,2411,3360
$GC,2819,-0.68,-117.3,207.1,-6.2,162,2824,0.12,2.35,0.00,0.000,4,0.087,0.067,3091,987,3360
$GC,2857,-0.58,-117.3,210.1,-8.0,163,2862,0.15,2.30,0.00,0.000,6,0.158,0.061,3130,2401,3360
$GC,3180,-0.58,-117.3,231.2,-6.5,174,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3360
$GC,3486,-0.58,-117.3,250.3,-6.1,184,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3359
$GC,3792,-0.58,-117.3,269.4,-6.4,194,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3359
$GC,4099,-0.58,-117.3,288.4,-6.0,204,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3358
$GC,4434,-0.58,-117.3,309.9,-6.6,213,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3358
$GC,4737,-0.58,-117.3,332.2,-7.5,218,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3357
$GC,5040,-0.58,-117.3,354.8,-7.4,223,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2401,3357
$GC,5344,-0.58,-117.3,374.5,-6.4,228,5348,0.00,2.33,0.00,0.000,4,0.000,0.071,3130,994,3356
$GC,5376,-0.58,-117.3,376.5,-6.6,228,5381,0.00,2.33,0.00,0.000,6,0.000,0.064,3128,2399,3356
$GC,5708,-0.58,-117.3,395.2,-5.6,234,5712,0.00,2.35,0.00,0.000,4,0.000,0.082,3128,3810,3356
$GC,5735,-0.63,-117.3,396.7,-5.9,234,5739,0.00,2.25,0.00,0.000,6,0.000,0.057,3128,2400,3356
$GC,6073,-0.67,-117.3,416.2,-5.9,240,6077,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,984,3356
$GC,6111,-0.72,-117.3,418.8,-6.9,240,6116,0.15,2.30,0.00,0.000,6,0.087,0.064,3072,2402,3355
$GC,6438,-0.60,-117.3,445.5,-8.3,246,6439,0.17,0.00,0.00,0.000,6,0.163,0.000,3119,2402,3356
$GC,6741,-0.60,-117.3,464.9,-6.3,251,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2402,3355
$GC,7043,-0.60,-117.3,482.9,-6.0,256,7047,0.00,2.35,0.00,0.000,4,0.000,0.073,3119,984,3355
$GC,7081,-0.60,-117.3,485.3,-6.3,256,7085,0.00,2.33,0.00,0.000,6,0.000,0.064,3115,2398,3355
$GC,7407,-0.60,-117.3,504.3,-5.8,262,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3355
$GC,7711,-0.60,-117.3,521.8,-5.8,267,7715,0.00,2.33,0.00,0.000,4,0.000,0.073,3114,992,3354
$GC,7737,-0.60,-117.3,523.6,-6.5,267,7741,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2396,3354
$GC,8075,-0.60,-117.3,543.5,-5.9,273,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3354
$GC,8378,-0.60,-117.3,561.6,-6.0,278,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2396,3354
$GC,8681,-0.60,-117.3,580.2,-6.1,283,8685,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,993,3353
$GC,8713,-0.60,-117.3,582.4,-6.7,283,8717,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2416,3354
$GC,9045,-0.60,-117.3,602.9,-6.2,289,9049,0.00,2.38,0.00,0.000,4,0.000,0.073,3114,986,3354
$GC,9082,-0.60,-117.3,605.5,-6.7,289,9087,0.00,2.35,0.00,0.000,6,0.000,0.065,3114,2402,3353
$GC,9409,-0.60,-117.3,625.9,-6.3,295,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3353
$GC,9712,-0.60,-117.3,644.3,-6.2,300,9716,0.00,2.35,0.00,0.000,4,0.000,0.074,3114,987,3353
$GC,9750,-0.60,-117.3,646.8,-6.7,300,9754,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2395,3353
$GC,10076,-0.60,-117.3,667.1,-6.3,306,10080,0.00,2.35,0.00,0.000,4,0.000,0.084,3114,3811,3353
$GC,10105,-0.65,-117.3,668.8,-6.2,306,10109,0.00,2.25,0.00,0.000,6,0.000,0.058,3114,2394,3353
$GC,10437,-0.65,-117.3,689.8,-6.3,312,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2394,3353
$GC,10739,-0.69,-117.3,708.3,-6.0,317,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2394,3353
$GC,11043,-0.73,-117.3,725.2,-5.5,322,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2394,3353
$GC,11346,-0.77,-117.3,740.8,-5.1,327,11351,0.15,2.33,0.00,0.000,4,0.091,0.074,3051,989,3351
$GC,11384,-0.63,-117.3,743.4,-7.8,327,11389,0.22,2.33,0.00,0.000,6,0.172,0.067,3110,2408,3352
$GC,11704,-0.63,-117.3,760.2,-5.2,333,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,3351
$GC,12007,-0.63,-117.3,777.4,-5.7,338,12011,0.00,2.35,0.00,0.000,4,0.000,0.074,3111,990,3351
$GC,12044,-0.63,-117.3,779.7,-6.0,338,12049,0.00,2.33,0.00,0.000,6,0.000,0.066,3111,2408,3351
$GC,12371,-0.67,-117.3,798.5,-5.8,344,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2408,3351
$GC,12674,-0.71,-117.3,815.8,-5.7,349,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2408,3351
$GC,12977,-0.71,-117.3,833.0,-5.7,354,12981,0.00,2.38,0.00,0.000,4,0.000,0.075,3111,986,3351
$GC,13021,-0.75,-117.3,835.9,-7.1,354,13026,0.12,2.33,0.00,0.000,6,0.093,0.066,3066,2408,3351
$GC,13336,-0.75,-117.3,857.2,-6.9,360,13337,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2408,3350
$GC,13638,-0.75,-117.3,878.4,-7.0,365,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2408,3350
$GC,13941,-0.75,-117.3,899.1,-6.8,370,13945,0.00,2.35,0.00,0.000,4,0.000,0.076,3066,993,3350
$GC,13985,-0.68,-117.3,902.3,-7.8,370,13990,0.12,2.30,0.00,0.000,6,0.166,0.067,3096,2399,3350
$GC,14300,-0.68,-117.3,920.4,-5.6,376,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3350
$GC,14603,-0.68,-117.3,936.2,-5.2,381,14607,0.00,2.35,0.00,0.000,4,0.000,0.075,3097,990,3351
$GC,14641,-0.68,-117.3,938.4,-6.0,381,14645,0.00,2.33,0.00,0.000,6,0.000,0.067,3096,2411,3350
$GC,14967,-0.68,-117.3,954.1,-4.8,387,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2411,3350
$GC,15271,-0.68,-117.3,968.4,-4.7,392,15275,0.00,2.35,0.00,0.000,4,0.000,0.076,3096,993,3350
$GC,15320,-0.68,-117.3,971.0,-4.2,392,15324,0.00,2.30,0.00,0.000,6,0.000,0.068,3096,2399,3349
$GC,15636,-0.68,-117.3,985.5,-4.6,398,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3350
$STATE,15755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15755,begin apogee
$GC,15759,-0.22,0.0,990.9,4.5,400,15864,0.50,0.00,102.15,1.503,6,0.151,0.000,3247,2200,2876
$STATE,15865,end apogee,CONTROL_FINISHED_OK
$STATE,15865,begin climb
$GC,15867,0.67,117.3,992.2,0.0,401,15983,0.85,2.67,106.57,1.450,4,0.097,0.078,3533,794,2396
$GC,16005,0.27,117.3,991.1,6.6,403,16011,0.50,2.53,0.00,0.000,6,0.192,0.063,3410,2206,2394
$GC,16354,0.27,117.3,970.5,5.9,409,16358,0.00,2.42,0.00,0.000,4,0.000,0.081,3410,3621,2393
$GC,16397,0.18,117.3,967.7,5.9,409,16402,0.15,2.38,0.00,0.000,6,0.183,0.065,3374,2203,2392
$GC,16713,0.29,134.8,953.4,4.5,415,16731,0.12,0.00,16.10,1.380,6,0.091,0.000,3419,2202,2326
$GC,17015,0.29,134.8,937.1,5.4,420,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2203,2324
$GC,17318,0.29,140.3,922.2,4.8,425,17326,0.00,0.00,6.15,1.154,6,0.000,0.000,3419,2203,2304
$GC,17621,0.33,174.0,909.7,4.0,430,17654,0.00,0.00,30.58,1.419,6,0.000,0.000,3419,2203,2166
$GC,17924,0.37,200.9,897.0,4.2,435,17951,0.00,0.00,24.83,1.392,6,0.000,0.000,3419,2203,2055
$GC,18228,0.42,201.1,882.3,5.0,440,18229,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2203,2052
$GC,18530,0.48,201.1,865.5,5.6,445,18535,0.15,2.45,0.00,0.000,4,0.097,0.084,3483,3615,2051
$GC,18579,0.26,201.1,861.1,9.2,445,18584,0.32,2.35,0.00,0.000,6,0.178,0.067,3402,2194,2051
$GC,18889,0.36,201.1,842.9,5.8,450,18890,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2194,2051
$GC,19192,0.47,201.1,823.9,6.3,455,19194,0.20,0.00,0.00,0.000,6,0.085,0.000,3477,2194,2051
$GC,19495,0.36,201.1,796.4,9.2,460,19497,0.15,0.00,0.00,0.000,6,0.160,0.000,3438,2194,2050
$GC,19798,0.36,201.1,772.9,7.7,465,19799,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2194,2050
$GC,20101,0.36,201.1,751.1,7.1,470,20105,0.00,2.42,0.00,0.000,4,0.000,0.083,3438,3613,2050
$GC,20155,0.30,201.1,746.9,8.1,470,20162,0.00,2.35,0.00,0.000,6,0.000,0.067,3438,2197,2050
$GC,20465,0.30,201.1,727.1,6.3,476,20466,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2197,2050
$GC,20767,0.30,201.1,708.1,6.2,481,20772,0.00,2.40,0.00,0.000,4,0.000,0.082,3438,3619,2050
$GC,20806,0.25,201.1,705.3,7.9,481,20810,0.15,2.33,0.00,0.000,6,0.173,0.065,3399,2190,2049
$GC,21133,0.39,209.0,689.6,4.8,487,21143,0.12,0.00,7.68,1.147,6,0.095,0.000,3443,2190,2024
$GC,21436,0.46,209.0,672.9,5.5,492,21437,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2190,2023
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$STATE,31371,end climb,SURFACE_DEPTH_REACHED
$STATE,31371,begin surface coast
$FINISH,1.8,1.013030
$STATE,31501,end surface coast,CONTROL_FINISHED_OK
$STATE,31501,begin surface
$SM_CCo,31519,8.40,0.775,0,0,1652,300.00
$SM_GC,4.39,0.00,0.00,8.40,0.000,0.000,0.775,148,2405,1652,-9.91,0.17,300.00
$IRIDIUM_FIX,4936.36,-14436.67,230198,202006
$TT8_MAMPS,0.026078
$HUMID,2127
$INTERNAL_PRESSURE,9.07505
$TCM_TEMP,15.40
$XPDR_PINGS,1002
$24V_AH,22.4,35.133
$10V_AH,10.7,22.263
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$DEVICE_SECS,31.575,229.825,362.275,8.400,0.000,57.707,55.881,205.479,250.500,0.000,0.000,15.385,1825.509,26671.451,561.557,2359.762,600.332,33.371,1731.510,0.000,2334.430,0.000,0.467
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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,47475,827
$CAP_FILE_SIZE,194781,0
$CFSIZE,260165632,245673984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,301008,044507,4957.819,-14438.844,76,1.1,76,18.5