version: 66.03
glider: 120
mission: 9
dive: 264
start: 12 5 108 19 6 21
data:
$ID,120
$MISSION,9
$DIVE,264
$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,-23160.953
$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
$GPS1,185928,5007.521,-14513.728,40,4.9,59,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-73.8
$GPS2,190526,5007.495,-14513.735,10,1.1,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.002,-0.178
$KALMAN_X,37255.7,-171.8,-70.1,-65533.8,210.4
$KALMAN_Y,205355.7,-441.7,-194.9,-201102.6,3769.2
$MHEAD_RNG_PITCHd_Wd,161.1,25063,-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,22,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-21.80,0.000,2,0.000,0.000,140,2401,2177
$GC,48,-0.67,-117.3,3.5,-4.9,2,104,14.18,0.00,-39.00,0.000,6,0.290,0.000,3093,2401,3355
$GC,419,-0.43,-117.3,44.4,-11.9,37,424,0.25,2.50,0.00,0.000,4,0.170,0.080,3168,3810,3358
$GC,459,-0.49,-117.3,47.9,-7.5,40,463,0.00,2.30,0.00,0.000,6,0.000,0.054,3168,2398,3358
$GC,785,-0.49,-117.3,73.9,-7.6,70,789,0.00,2.35,0.00,0.000,4,0.000,0.069,3168,993,3358
$GC,817,-0.49,-117.3,76.8,-8.2,72,824,0.00,2.40,0.00,0.000,6,0.000,0.061,3169,2403,3358
$GC,1135,-0.56,-117.3,98.7,-5.9,90,1139,0.00,2.35,0.00,0.000,4,0.000,0.067,3168,992,3358
$GC,1180,-0.64,-117.3,101.4,-6.0,92,1185,0.17,2.35,0.00,0.000,6,0.081,0.061,3104,2411,3359
$GC,1507,-0.53,-117.3,128.8,-8.9,108,1509,0.15,0.00,0.00,0.000,6,0.153,0.000,3143,2411,3360
$GC,1826,-0.53,-117.3,152.3,-6.9,123,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2411,3360
$GC,2132,-0.57,-117.3,170.1,-5.5,133,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2411,3359
$GC,2438,-0.64,-117.3,187.1,-5.5,143,2442,0.00,2.40,0.00,0.000,4,0.000,0.082,3141,3805,3360
$GC,2466,-0.73,-117.3,188.7,-6.2,143,2473,0.17,2.33,0.00,0.000,6,0.081,0.054,3077,2371,3359
$GC,2779,-0.66,-117.3,211.3,-7.4,154,2783,0.00,2.33,0.00,0.000,4,0.000,0.071,3076,988,3359
$GC,2807,-0.55,-117.3,213.8,-8.9,155,2812,0.22,2.33,0.00,0.000,6,0.155,0.062,3135,2408,3359
$GC,3142,-0.61,-117.3,234.7,-5.9,166,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2408,3360
$GC,3448,-0.68,-117.3,253.2,-6.1,176,3450,0.12,0.00,0.00,0.000,6,0.087,0.000,3087,2408,3359
$GC,3754,-0.68,-117.3,274.9,-6.9,186,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2408,3359
$GC,4061,-0.68,-117.3,295.6,-6.8,196,4065,0.00,2.40,0.00,0.000,4,0.000,0.071,3087,989,3359
$GC,4089,-0.64,-117.3,297.7,-7.4,197,4094,0.00,2.38,0.00,0.000,6,0.000,0.064,3087,2410,3359
$GC,4421,-0.57,-117.3,323.8,-8.0,203,4423,0.15,0.00,0.00,0.000,6,0.156,0.000,3127,2410,3359
$GC,4725,-0.62,-117.3,343.8,-6.5,208,4729,0.00,2.40,0.00,0.000,4,0.000,0.072,3127,991,3358
$GC,4774,-0.70,-117.3,347.1,-6.8,208,4779,0.12,2.33,0.00,0.000,6,0.089,0.064,3081,2410,3358
$GC,5083,-0.70,-117.3,367.1,-6.4,213,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2410,3358
$GC,5387,-0.70,-117.3,386.7,-6.5,218,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2410,3358
$GC,5690,-0.70,-117.3,406.8,-6.7,223,5694,0.00,2.33,0.00,0.000,4,0.000,0.082,3081,3806,3357
$GC,5723,-0.64,-117.3,409.2,-7.7,223,5727,0.00,2.28,0.00,0.000,6,0.000,0.058,3081,2401,3357
$GC,6049,-0.64,-117.3,431.3,-6.7,229,6053,0.00,2.38,0.00,0.000,4,0.000,0.073,3080,993,3358
$GC,6088,-0.64,-117.3,434.2,-7.5,229,6092,0.00,2.33,0.00,0.000,6,0.000,0.063,3081,2412,3358
$GC,6410,-0.57,-117.3,456.9,-7.1,235,6415,0.15,2.40,0.00,0.000,4,0.159,0.071,3132,994,3357
$GC,6444,-0.66,-117.3,459.0,-5.6,235,6448,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2398,3357
$GC,6770,-0.73,-117.3,477.2,-5.5,241,6772,0.15,0.00,0.00,0.000,6,0.087,0.000,3071,2398,3356
$GC,7072,-0.73,-117.3,497.9,-6.9,246,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2398,3356
$GC,7376,-0.73,-117.3,517.3,-6.3,251,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2398,3357
$GC,7679,-0.73,-117.3,537.1,-6.5,256,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3356
$GC,7982,-0.73,-117.3,557.5,-6.8,261,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3356
$GC,8285,-0.73,-117.3,579.7,-7.4,266,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2398,3356
$GC,8588,-0.73,-117.3,603.0,-7.7,271,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2398,3356
$GC,8891,-0.73,-117.3,626.7,-7.9,276,8895,0.00,2.40,0.00,0.000,4,0.000,0.083,3071,3812,3355
$GC,8918,-0.69,-117.3,629.0,-8.9,276,8923,0.00,2.33,0.00,0.000,6,0.000,0.057,3071,2391,3355
$GC,9250,-0.69,-117.3,654.4,-7.5,282,9254,0.00,2.35,0.00,0.000,4,0.000,0.074,3071,993,3355
$GC,9278,-0.69,-117.3,656.4,-7.7,282,9282,0.00,2.30,0.00,0.000,6,0.000,0.064,3071,2404,3355
$GC,9610,-0.63,-117.3,681.7,-7.6,288,9612,0.15,0.00,0.00,0.000,6,0.156,0.000,3111,2404,3355
$GC,9912,-0.69,-117.3,699.5,-5.8,293,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2404,3355
$GC,10216,-0.74,-117.3,715.4,-5.2,298,10220,0.12,2.42,0.00,0.000,4,0.091,0.073,3066,986,3355
$GC,10242,-0.74,-117.3,717.1,-6.3,298,10246,0.00,2.35,0.00,0.000,6,0.000,0.065,3066,2412,3354
$GC,10575,-0.69,-117.3,737.9,-6.3,304,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2412,3354
$GC,10878,-0.63,-117.3,756.2,-6.0,309,10880,0.15,0.00,0.00,0.000,6,0.156,0.000,3108,2412,3354
$GC,11181,-0.69,-117.3,771.6,-5.0,314,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2412,3355
$GC,11484,-0.74,-117.3,787.8,-5.4,319,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2412,3355
$GC,11787,-0.80,-117.3,805.6,-5.9,324,11792,0.15,2.42,0.00,0.000,4,0.088,0.074,3050,995,3355
$GC,11831,-0.69,-117.3,809.1,-8.3,324,11836,0.15,2.33,0.00,0.000,6,0.166,0.066,3089,2407,3354
$GC,12146,-0.69,-117.3,830.7,-6.8,330,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2407,3354
$GC,12448,-0.69,-117.3,849.8,-6.2,335,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2407,3354
$GC,12752,-0.69,-117.3,867.2,-5.7,340,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2407,3354
$GC,13055,-0.69,-117.3,883.6,-5.4,345,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2407,3354
$GC,13358,-0.69,-117.3,900.3,-5.5,350,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2407,3354
$GC,13661,-0.69,-117.3,916.2,-5.2,355,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2407,3354
$GC,13964,-0.69,-117.3,932.1,-5.3,360,13968,0.00,2.40,0.00,0.000,4,0.000,0.085,3086,3812,3353
$GC,13996,-0.69,-117.3,934.1,-5.8,360,14000,0.00,2.35,0.00,0.000,6,0.000,0.059,3086,2392,3353
$GC,14328,-0.69,-117.3,953.3,-5.9,366,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3353
$GC,14631,-0.69,-117.3,971.6,-6.1,371,14633,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3353
$STATE,14932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14932,begin apogee
$GC,14938,-0.22,0.0,991.0,6.5,376,15046,0.52,0.00,105.38,1.495,6,0.149,0.000,3242,2199,2876
$STATE,15047,end apogee,CONTROL_FINISHED_OK
$STATE,15047,begin climb
$GC,15049,0.67,117.3,993.2,0.0,377,15167,0.88,2.70,109.88,1.439,4,0.094,0.078,3532,786,2395
$GC,15217,0.31,117.3,994.1,6.1,380,15222,0.43,2.50,0.00,0.000,6,0.179,0.064,3426,2198,2393
$GC,15538,0.29,141.2,980.1,4.3,386,15562,0.00,0.00,22.00,1.397,6,0.000,0.000,3426,2198,2300
$GC,15841,0.30,143.3,965.3,4.9,391,15845,0.00,2.42,0.00,0.000,4,0.000,0.082,3426,3617,2298
$GC,15879,0.21,143.3,963.0,6.1,391,15884,0.15,2.40,0.00,0.000,6,0.179,0.065,3388,2191,2298
$GC,16200,0.34,174.9,949.9,4.1,397,16234,0.12,0.00,30.88,1.430,6,0.084,0.000,3436,2191,2163
$GC,16504,0.39,174.9,933.0,5.7,402,16508,0.00,2.53,0.00,0.000,4,0.000,0.082,3435,3613,2160
$GC,16547,0.32,174.9,929.8,7.0,402,16551,0.00,2.40,0.00,0.000,6,0.000,0.065,3435,2200,2159
$GC,16862,0.32,174.9,909.2,6.5,408,16864,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2159
$GC,17165,0.32,174.9,889.2,6.7,413,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2159
$GC,17469,0.32,174.9,868.7,6.7,418,17473,0.00,2.47,0.00,0.000,4,0.000,0.082,3435,3609,2159
$GC,17507,0.24,174.9,865.5,7.5,418,17512,0.15,2.38,0.00,0.000,6,0.173,0.065,3398,2191,2158
$GC,17827,0.35,174.9,846.1,6.1,424,17829,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2191,2158
$GC,18131,0.46,174.9,827.5,6.2,429,18132,0.20,0.00,0.00,0.000,6,0.081,0.000,3475,2191,2158
$GC,18434,0.36,174.9,801.5,8.7,434,18436,0.15,0.00,0.00,0.000,6,0.150,0.000,3435,2191,2158
$GC,18736,0.36,174.9,779.0,7.3,439,18737,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2191,2158
$GC,19039,0.36,174.9,756.7,7.4,444,19044,0.00,2.47,0.00,0.000,4,0.000,0.081,3435,3617,2158
$GC,19089,0.29,174.9,752.7,8.1,444,19093,0.00,2.38,0.00,0.000,6,0.000,0.066,3435,2192,2158
$GC,19399,0.29,174.9,730.8,7.1,449,19400,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2158
$GC,19702,0.29,174.9,709.7,6.9,454,19706,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,3609,2158
$GC,19734,0.24,174.9,707.1,7.5,454,19739,0.15,2.35,0.00,0.000,6,0.173,0.065,3398,2192,2157
$GC,20061,0.37,174.9,689.3,5.4,460,20065,0.12,2.35,0.00,0.000,4,0.090,0.081,3444,789,2157
$GC,20104,0.37,174.9,686.6,6.0,460,20108,0.00,2.30,0.00,0.000,6,0.000,0.066,3444,2204,2158
$GC,20425,0.37,174.9,667.1,6.1,466,20426,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2204,2158
$GC,20728,0.37,174.9,649.6,5.7,471,20732,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,789,2158
$GC,20760,0.37,175.9,647.9,5.0,471,20765,0.00,2.30,0.00,0.000,6,0.000,0.066,3448,2202,2158
$GC,21086,0.37,175.9,630.7,5.2,477,21090,0.00,2.35,0.00,0.000,4,0.000,0.083,3448,3617,2157
$GC,21131,0.28,175.9,628.1,6.0,477,21135,0.15,2.30,0.00,0.000,6,0.170,0.066,3410,2198,2157
$GC,21446,0.42,197.6,614.4,4.4,483,21469,0.12,0.00,20.25,1.235,6,0.090,0.000,3456,2197,2070
$GC,21749,0.46,197.6,596.8,5.9,488,21753,0.00,2.40,0.00,0.000,4,0.000,0.082,3456,3612,2067
$GC,21798,0.38,197.6,593.1,7.3,488,21802,0.00,2.33,0.00,0.000,6,0.000,0.065,3462,2193,2067
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$STATE,31164,end climb,SURFACE_DEPTH_REACHED
$STATE,31164,begin surface coast
$FINISH,2.1,1.006076
$STATE,31282,end surface coast,CONTROL_FINISHED_OK
$STATE,31282,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2106
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$TCM_TEMP,16.10
$XPDR_PINGS,929
$24V_AH,21.9,53.017
$10V_AH,10.6,35.262
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$DEVICE_SECS,29.800,166.900,344.550,26.725,0.000,26.369,26.243,177.640,232.250,0.000,0.000,15.889,1723.426,26748.955,526.863,2118.493,562.903,33.385,1552.394,0.000,2095.608,0.000,0.465
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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,47471,831
$CAP_FILE_SIZE,170230,0
$CFSIZE,260165632,238092288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061208,034937,5004.693,-14513.055,29,1.0,29,18.4