version: 66.03
glider: 120
mission: 9
dive: 177
start: 11 2 108 16 22 27
data:
$ID,120
$MISSION,9
$DIVE,177
$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,-21360.783
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,161532,5017.666,-14511.105,88,1.1,88,18.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-70.3
$GPS2,162133,5017.646,-14511.034,10,1.6,10,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.010,-0.177
$KALMAN_X,43560.4,263.6,11.6,-69162.2,237.7
$KALMAN_Y,133444.0,237.6,-30.9,-111253.8,684.7
$MHEAD_RNG_PITCHd_Wd,164.7,43785,-12.1,-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,-117.0,0.0,0.0,0,35,0.00,0.00,-12.32,0.000,2,0.000,0.000,139,2412,1967
$GC,38,-0.67,-117.3,3.0,-0.0,1,123,13.88,2.45,-60.67,0.000,4,0.285,0.094,3094,3810,3354
$GC,352,-0.43,-117.3,39.1,-11.8,29,359,0.28,2.30,0.00,0.000,6,0.166,0.056,3170,2386,3356
$GC,678,-0.48,-117.3,65.2,-5.8,60,682,0.00,2.45,0.00,0.000,4,0.000,0.078,3168,3816,3357
$GC,707,-0.54,-117.3,67.1,-6.6,62,711,0.00,2.28,0.00,0.000,6,0.000,0.053,3168,2390,3357
$GC,1038,-0.54,-117.3,89.2,-7.3,87,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2390,3359
$GC,1347,-0.54,-117.3,111.3,-6.9,102,1351,0.00,2.42,0.00,0.000,4,0.000,0.078,3168,3814,3359
$GC,1373,-0.59,-117.3,113.2,-6.9,103,1378,0.12,2.25,0.00,0.000,6,0.084,0.053,3118,2402,3359
$GC,1694,-0.59,-117.3,139.5,-8.0,119,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2402,3359
$GC,2022,-0.59,-117.3,165.2,-7.6,132,2026,0.00,2.40,0.00,0.000,4,0.000,0.079,3116,3808,3359
$GC,2049,-0.59,-117.3,167.4,-8.1,133,2053,0.00,2.25,0.00,0.000,6,0.000,0.055,3117,2400,3359
$GC,2384,-0.59,-117.3,190.1,-6.5,144,2388,0.00,2.30,0.00,0.000,4,0.000,0.071,3116,993,3359
$GC,2415,-0.59,-117.3,192.3,-7.1,145,2420,0.00,2.30,0.00,0.000,6,0.000,0.061,3117,2397,3359
$GC,2751,-0.59,-117.3,215.9,-7.4,156,2755,0.00,2.33,0.00,0.000,4,0.000,0.081,3113,3805,3358
$GC,2783,-0.59,-117.3,218.6,-8.6,157,2787,0.00,2.25,0.00,0.000,6,0.000,0.056,3113,2397,3358
$GC,3118,-0.59,-117.3,243.4,-7.1,168,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,3424,-0.59,-117.3,263.4,-6.2,178,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,3731,-0.59,-117.3,282.2,-6.1,188,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3358
$GC,4037,-0.59,-117.3,300.2,-5.8,198,4041,0.00,2.40,0.00,0.000,4,0.000,0.081,3113,3805,3357
$GC,4063,-0.59,-117.3,301.9,-6.3,198,4067,0.00,2.28,0.00,0.000,6,0.000,0.057,3113,2402,3357
$GC,4401,-0.59,-117.3,321.0,-5.7,204,4405,0.00,2.33,0.00,0.000,4,0.000,0.072,3113,990,3356
$GC,4432,-0.59,-117.3,323.1,-6.1,204,4437,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2404,3356
$GC,4765,-0.59,-117.3,343.0,-6.0,210,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3356
$GC,5068,-0.59,-117.3,361.0,-6.0,215,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3356
$GC,5371,-0.59,-117.3,379.8,-6.2,220,5375,0.00,2.35,0.00,0.000,4,0.000,0.083,3113,3816,3355
$GC,5410,-0.59,-117.3,382.4,-6.8,220,5414,0.00,2.28,0.00,0.000,6,0.000,0.058,3113,2392,3355
$GC,5730,-0.59,-117.3,402.7,-6.4,226,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3355
$GC,6033,-0.59,-117.3,421.7,-6.2,231,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3355
$GC,6336,-0.59,-117.3,440.0,-6.0,236,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3355
$GC,6639,-0.59,-117.3,457.1,-5.6,241,6644,0.00,2.45,0.00,0.000,4,0.000,0.082,3113,3815,3355
$GC,6672,-0.59,-117.3,459.1,-6.0,241,6676,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2402,3355
$GC,7004,-0.59,-117.3,477.5,-5.6,247,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7307,-0.59,-117.3,495.0,-5.8,252,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7610,-0.59,-117.3,513.0,-6.0,257,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7913,-0.59,-117.3,532.4,-6.4,262,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,8216,-0.59,-117.3,550.9,-6.1,267,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,8519,-0.59,-117.3,568.4,-5.7,272,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,8822,-0.59,-117.3,584.6,-5.3,277,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,9125,-0.59,-117.3,600.8,-5.4,282,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,9429,-0.59,-117.3,615.6,-4.8,287,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,9732,-0.59,-117.3,629.7,-4.7,292,9736,0.00,2.35,0.00,0.000,4,0.000,0.075,3113,985,3353
$GC,9759,-0.65,-117.3,631.1,-5.1,292,9763,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2410,3353
$GC,10098,-0.70,-117.3,645.9,-4.4,298,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3353
$GC,10401,-0.74,-117.3,659.4,-4.5,303,10406,0.12,2.35,0.00,0.000,4,0.095,0.083,3065,3810,3352
$GC,10439,-0.65,-117.3,662.0,-6.6,303,10444,0.15,2.28,0.00,0.000,6,0.137,0.060,3105,2391,3352
$GC,10759,-0.65,-117.3,679.2,-5.4,309,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2391,3352
$GC,11062,-0.65,-117.3,695.1,-5.2,314,11066,0.00,2.33,0.00,0.000,4,0.000,0.076,3105,989,3352
$GC,11089,-0.65,-117.3,696.6,-5.2,314,11092,0.00,2.33,0.00,0.000,6,0.000,0.067,3105,2406,3352
$GC,11426,-0.65,-117.3,713.8,-5.2,320,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2407,3352
$GC,11729,-0.65,-117.3,730.6,-5.6,325,11733,0.00,2.38,0.00,0.000,4,0.000,0.076,3105,989,3352
$GC,11760,-0.65,-117.3,732.7,-6.2,325,11765,0.00,2.35,0.00,0.000,6,0.000,0.067,3105,2402,3352
$GC,12093,-0.65,-117.3,753.9,-6.4,331,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3352
$GC,12396,-0.65,-117.3,772.9,-6.2,336,12400,0.00,2.35,0.00,0.000,4,0.000,0.075,3105,995,3352
$GC,12435,-0.65,-117.3,775.3,-6.6,336,12439,0.00,2.30,0.00,0.000,6,0.000,0.067,3105,2402,3351
$GC,12755,-0.65,-117.3,794.1,-5.8,342,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,13058,-0.65,-117.3,811.1,-5.5,347,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,13361,-0.65,-117.3,825.7,-4.7,352,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,13665,-0.65,-117.3,838.6,-4.2,357,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,13967,-0.65,-117.3,851.4,-4.2,362,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,14271,-0.65,-117.3,864.0,-4.2,367,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2402,3351
$GC,14574,-0.65,-117.3,876.9,-4.3,372,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,14877,-0.65,-117.3,891.5,-4.9,377,14878,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3350
$GC,15180,-0.69,-117.3,908.0,-5.5,382,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3351
$GC,15483,-0.69,-117.3,925.5,-5.8,387,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2403,3350
$GC,15786,-0.69,-117.3,943.1,-5.8,392,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2402,3350
$GC,16089,-0.73,-117.3,960.3,-5.7,397,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2403,3350
$GC,16393,-0.78,-117.3,977.2,-5.6,402,16397,0.12,2.35,0.00,0.000,4,0.096,0.076,3059,993,3350
$GC,16419,-0.72,-117.3,979.0,-6.9,402,16423,0.00,2.33,0.00,0.000,6,0.000,0.067,3058,2405,3350
$STATE,16573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16573,begin apogee
$GC,16578,-0.22,0.0,990.3,7.3,405,16683,0.62,0.00,102.35,1.506,6,0.157,0.000,3243,2192,2876
$STATE,16684,end apogee,CONTROL_FINISHED_OK
$STATE,16684,begin climb
$GC,16686,0.67,117.3,992.3,0.0,406,16802,0.88,2.70,107.10,1.452,4,0.098,0.081,3532,792,2396
$GC,16835,0.28,117.3,992.3,7.1,408,16841,0.50,2.53,0.00,0.000,6,0.195,0.063,3410,2206,2394
$GC,17172,0.29,122.0,975.9,4.9,414,17180,0.00,0.00,5.32,1.064,6,0.000,0.000,3410,2206,2378
$GC,17476,0.29,126.7,961.2,4.9,419,17483,0.00,0.00,5.90,1.129,6,0.000,0.000,3411,2206,2359
$GC,17779,0.29,126.7,945.3,5.3,424,17783,0.00,2.42,0.00,0.000,4,0.000,0.081,3411,794,2358
$GC,17827,0.29,126.7,942.9,5.4,424,17832,0.00,2.38,0.00,0.000,6,0.000,0.065,3410,2200,2358
$GC,18143,0.30,129.4,927.3,4.9,430,18152,0.00,2.38,4.15,0.947,4,0.000,0.082,3410,3620,2348
$GC,18192,0.22,129.4,924.3,5.8,430,18196,0.00,2.33,0.00,0.000,6,0.000,0.066,3410,2200,2348
$GC,18513,0.22,129.4,907.9,5.2,436,18514,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2200,2347
$GC,18816,0.22,129.4,891.5,5.4,441,18820,0.00,2.38,0.00,0.000,4,0.000,0.081,3410,782,2347
$GC,18855,0.22,129.4,889.4,5.7,441,18859,0.00,2.33,0.00,0.000,6,0.000,0.064,3410,2205,2348
$GC,19175,0.22,129.4,872.0,5.5,447,19179,0.00,2.35,0.00,0.000,4,0.000,0.081,3410,3619,2347
$GC,19219,0.16,129.4,869.2,5.6,447,19224,0.15,2.33,0.00,0.000,6,0.185,0.066,3373,2189,2347
$GC,19541,0.30,154.0,855.3,4.3,453,19565,0.12,0.00,22.20,1.386,6,0.093,0.000,3418,2189,2248
$GC,19844,0.36,154.0,839.1,5.4,458,19845,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2189,2247
$GC,20146,0.43,154.0,823.1,5.3,463,20151,0.12,2.45,0.00,0.000,4,0.106,0.082,3466,3609,2246
$GC,20184,0.21,154.0,820.2,8.2,463,20189,0.30,2.35,0.00,0.000,6,0.182,0.067,3387,2191,2246
$GC,20504,0.32,154.0,803.8,5.0,469,20509,0.10,2.38,0.00,0.000,4,0.099,0.081,3424,787,2246
$GC,20531,0.36,154.0,802.4,5.0,469,20535,0.00,2.33,0.00,0.000,6,0.000,0.065,3424,2202,2246
$GC,20863,0.36,154.0,783.8,5.5,475,20864,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2202,2246
$GC,21166,0.36,154.0,767.8,5.2,480,21170,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,791,2246
$GC,21204,0.36,154.0,765.7,5.3,480,21208,0.00,2.33,0.00,0.000,6,0.000,0.067,3424,2204,2246
$GC,21530,0.36,154.3,749.3,5.0,486,21531,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2204,2246
$GC,21833,0.37,158.0,734.4,4.9,491,21840,0.00,0.00,5.15,1.019,6,0.000,0.000,3424,2204,2231
$GC,22137,0.41,160.0,719.5,4.9,496,22139,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2204,2231
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$STATE,34505,end climb,SURFACE_DEPTH_REACHED
$STATE,34506,begin surface coast
$FINISH,1.7,1.014037
$STATE,34581,end surface coast,CONTROL_FINISHED_OK
$STATE,34581,begin surface
$SM_CCo,34658,0.00,0.000,0,0,1630,305.64
$SM_GC,2.83,9.50,0.00,0.00,0.068,0.000,0.000,139,2412,1630,-9.88,0.34,305.64
$IRIDIUM_FIX,5003.11,-14514.02,270198,070739
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$HUMID,2135
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$TCM_TEMP,16.40
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$24V_AH,22.4,36.950
$10V_AH,10.7,23.601
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$DEVICE_SECS,28.850,179.575,385.600,0.000,0.000,30.579,25.613,195.339,245.750,0.000,0.000,10.387,1813.051,29853.346,548.717,2256.119,538.854,33.383,1668.175,0.000,2242.344,0.000,0.465
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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,50659,866
$CAP_FILE_SIZE,183310,0
$CFSIZE,260165632,244891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031108,020108,5014.910,-14511.303,29,1.7,29,18.5