version: 66.03
glider: 120
mission: 9
dive: 266
start: 12 6 108 13 11 31
data:
$ID,120
$MISSION,9
$DIVE,266
$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,-23202.264
$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
$GPS1,130438,5001.971,-14513.009,41,1.5,41,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-74.1
$GPS2,131037,5001.986,-14513.042,14,2.0,30,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.027,-0.176
$KALMAN_X,38105.5,-378.6,-31.8,-65400.0,1351.5
$KALMAN_Y,208936.8,-233.1,-257.5,-215039.6,3600.3
$MHEAD_RNG_PITCHd_Wd,170.2,14827,-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,-117.3,0.0,0.0,0,35,0.00,0.00,-12.05,0.000,2,0.000,0.000,135,2402,1956
$GC,38,-0.67,-117.3,3.5,-0.0,1,122,13.77,0.00,-63.45,0.000,6,0.281,0.000,3093,2402,3355
$GC,440,-0.45,-117.3,40.1,-10.9,39,445,0.25,2.53,0.00,0.000,4,0.172,0.080,3168,3817,3357
$GC,496,-0.50,-117.3,44.9,-7.2,43,502,0.00,2.33,0.00,0.000,6,0.000,0.054,3168,2392,3357
$GC,820,-0.50,-117.3,67.3,-6.8,74,825,0.00,2.38,0.00,0.000,4,0.000,0.068,3168,984,3357
$GC,872,-0.50,-117.3,71.0,-7.0,78,876,0.00,2.40,0.00,0.000,6,0.000,0.061,3168,2409,3357
$GC,1202,-0.57,-117.3,92.1,-6.4,100,1207,0.10,2.38,0.00,0.000,4,0.094,0.067,3128,988,3358
$GC,1264,-0.57,-117.3,96.8,-7.7,103,1268,0.00,2.35,0.00,0.000,6,0.000,0.061,3127,2411,3358
$GC,1597,-0.52,-117.3,122.1,-7.7,119,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2410,3358
$GC,1905,-0.52,-117.3,145.4,-7.1,134,1909,0.00,2.42,0.00,0.000,4,0.000,0.080,3127,3812,3358
$GC,2005,-0.52,-117.3,152.3,-6.8,139,2009,0.00,2.30,0.00,0.000,6,0.000,0.054,3127,2400,3358
$GC,2341,-0.52,-117.3,172.6,-6.2,150,2345,0.00,2.35,0.00,0.000,4,0.000,0.069,3127,993,3359
$GC,2407,-0.60,-117.3,177.0,-6.7,152,2411,0.00,2.30,0.00,0.000,6,0.000,0.061,3127,2398,3358
$GC,2736,-0.64,-117.3,198.0,-6.0,163,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3358
$GC,3043,-0.64,-117.3,213.3,-4.7,173,3047,0.00,2.40,0.00,0.000,4,0.000,0.081,3127,3819,3358
$GC,3071,-0.69,-117.3,214.8,-5.2,174,3075,0.00,2.33,0.00,0.000,6,0.000,0.055,3127,2391,3358
$GC,3407,-0.73,-117.3,231.7,-5.2,185,3408,0.15,0.00,0.00,0.000,6,0.087,0.000,3070,2391,3358
$GC,3713,-0.65,-117.3,253.5,-7.1,195,3718,0.12,2.38,0.00,0.000,4,0.112,0.071,3105,985,3357
$GC,3741,-0.65,-117.3,255.5,-7.1,196,3745,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2413,3358
$GC,4075,-0.60,-117.3,279.1,-7.3,207,4080,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,993,3357
$GC,4104,-0.60,-117.3,281.4,-7.7,208,4108,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2401,3357
$GC,4439,-0.60,-117.3,304.9,-6.8,218,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3357
$GC,4742,-0.56,-117.3,324.4,-6.4,223,4744,0.12,0.00,0.00,0.000,6,0.166,0.000,3132,2401,3357
$GC,5045,-0.63,-117.3,340.6,-5.3,228,5049,0.00,2.40,0.00,0.000,4,0.000,0.072,3132,987,3357
$GC,5078,-0.70,-117.3,342.5,-5.6,228,5082,0.12,2.33,0.00,0.000,6,0.091,0.064,3082,2407,3356
$GC,5403,-0.70,-117.3,364.1,-6.7,234,5407,0.00,2.35,0.00,0.000,4,0.000,0.081,3082,3815,3356
$GC,5430,-0.66,-117.3,366.1,-7.3,234,5434,0.00,2.30,0.00,0.000,6,0.000,0.057,3082,2400,3356
$GC,5762,-0.66,-117.3,389.2,-6.9,240,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,6065,-0.66,-117.3,408.4,-6.2,245,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,6368,-0.66,-117.3,425.9,-5.8,250,6372,0.00,2.50,0.00,0.000,4,0.000,0.081,3082,3818,3355
$GC,6422,-0.66,-117.3,429.5,-6.5,250,6429,0.00,2.35,0.00,0.000,6,0.000,0.057,3082,2403,3355
$GC,6733,-0.66,-117.3,449.0,-6.4,256,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2403,3355
$GC,7035,-0.66,-117.3,471.1,-7.4,261,7039,0.00,2.38,0.00,0.000,4,0.000,0.073,3082,991,3354
$GC,7062,-0.66,-117.3,473.5,-8.9,261,7066,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2410,3355
$GC,7400,-0.66,-117.3,501.8,-8.4,267,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2410,3355
$GC,7703,-0.66,-117.3,526.3,-8.1,272,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2410,3355
$GC,8007,-0.66,-117.3,549.5,-7.6,277,8011,0.00,2.40,0.00,0.000,4,0.000,0.073,3082,983,3354
$GC,8033,-0.66,-117.3,551.7,-8.2,277,8037,0.00,2.38,0.00,0.000,6,0.000,0.064,3082,2403,3354
$GC,8371,-0.66,-117.3,575.0,-6.8,283,8375,0.00,2.40,0.00,0.000,4,0.000,0.083,3082,3808,3354
$GC,8403,-0.66,-117.3,577.0,-6.9,283,8408,0.00,2.35,0.00,0.000,6,0.000,0.057,3082,2391,3354
$GC,8736,-0.66,-117.3,597.6,-6.2,289,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3354
$GC,9038,-0.66,-117.3,615.0,-5.7,294,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3354
$GC,9341,-0.66,-117.3,631.1,-5.3,299,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3354
$GC,9645,-0.66,-117.3,646.4,-5.0,304,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$GC,9948,-0.66,-117.3,662.7,-5.4,309,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3354
$GC,10251,-0.66,-117.3,678.7,-5.2,314,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3354
$GC,10554,-0.66,-117.3,693.6,-4.9,319,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$GC,10857,-0.66,-117.3,708.7,-5.0,324,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$GC,11160,-0.66,-117.3,725.0,-5.4,329,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$GC,11464,-0.66,-117.3,743.1,-6.0,334,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$GC,11766,-0.66,-117.3,761.1,-5.9,339,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3353
$GC,12069,-0.66,-117.3,779.4,-6.1,344,12073,0.00,2.50,0.00,0.000,4,0.000,0.084,3082,3808,3352
$GC,12095,-0.66,-117.3,781.1,-6.9,344,12100,0.00,2.33,0.00,0.000,6,0.000,0.058,3082,2401,3352
$GC,12434,-0.66,-117.3,802.0,-6.2,350,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3353
$GC,12736,-0.66,-117.3,820.0,-5.9,355,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3352
$GC,13040,-0.66,-117.3,837.5,-5.7,360,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3352
$GC,13343,-0.66,-117.3,854.6,-5.7,365,13344,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3352
$GC,13646,-0.66,-117.3,871.0,-5.4,370,13650,0.00,2.47,0.00,0.000,4,0.000,0.085,3082,3811,3352
$GC,13678,-0.66,-117.3,872.8,-6.0,370,13682,0.00,2.33,0.00,0.000,6,0.000,0.059,3082,2392,3352
$GC,14004,-0.66,-117.3,890.3,-5.4,376,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3352
$GC,14307,-0.66,-117.3,906.9,-5.4,381,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3352
$GC,14611,-0.66,-117.3,922.3,-5.1,386,14615,0.00,2.50,0.00,0.000,4,0.000,0.084,3082,3818,3351
$GC,14637,-0.66,-117.3,923.7,-5.7,386,14642,0.00,2.33,0.00,0.000,6,0.000,0.059,3082,2401,3351
$GC,14975,-0.66,-117.3,940.6,-5.0,392,14980,0.00,2.40,0.00,0.000,4,0.000,0.074,3082,991,3351
$GC,15003,-0.66,-117.3,942.1,-4.7,392,15007,0.00,2.35,0.00,0.000,6,0.000,0.066,3082,2405,3351
$GC,15340,-0.66,-117.3,959.6,-5.2,398,15345,0.00,2.40,0.00,0.000,4,0.000,0.086,3082,3810,3351
$GC,15373,-0.66,-117.3,961.4,-5.3,398,15377,0.00,2.33,0.00,0.000,6,0.000,0.059,3082,2395,3351
$GC,15706,-0.66,-117.3,979.6,-5.5,404,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2395,3351
$STATE,15947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15947,begin apogee
$GC,15953,-0.22,0.0,992.8,5.5,408,16061,0.55,0.00,104.97,1.498,6,0.146,0.000,3247,2186,2876
$STATE,16061,end apogee,CONTROL_FINISHED_OK
$STATE,16062,begin climb
$GC,16064,0.67,117.3,994.7,0.0,409,16182,0.85,2.65,110.12,1.439,4,0.095,0.077,3533,796,2395
$GC,16198,0.32,137.5,995.7,4.4,410,16225,0.45,2.53,20.20,1.339,6,0.183,0.062,3423,2204,2315
$GC,16546,0.32,137.5,974.5,6.2,416,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2204,2311
$GC,16849,0.32,137.5,956.0,6.1,421,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2204,2311
$GC,17152,0.32,137.5,937.8,6.0,426,17156,0.00,2.42,0.00,0.000,4,0.000,0.081,3423,786,2311
$GC,17184,0.32,137.5,935.7,6.6,426,17188,0.00,2.35,0.00,0.000,6,0.000,0.064,3423,2218,2311
$GC,17517,0.32,137.5,916.1,5.9,432,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2218,2311
$GC,17819,0.32,137.5,899.0,5.6,437,17823,0.00,2.45,0.00,0.000,4,0.000,0.081,3423,791,2311
$GC,17863,0.32,137.5,896.7,6.4,437,17867,0.00,2.33,0.00,0.000,6,0.000,0.064,3423,2210,2311
$GC,18184,0.32,137.5,880.1,5.2,443,18185,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2210,2310
$GC,18488,0.33,148.8,865.8,4.7,448,18501,0.00,0.00,10.93,1.305,6,0.000,0.000,3423,2210,2269
$GC,18791,0.36,168.9,852.2,4.4,453,18812,0.00,0.00,18.95,1.368,6,0.000,0.000,3423,2210,2187
$GC,19094,0.37,180.4,838.2,4.7,458,19112,0.00,2.55,11.60,1.292,4,0.000,0.080,3422,789,2140
$GC,19147,0.48,214.6,835.7,4.0,458,19185,0.15,2.35,31.88,1.364,6,0.087,0.064,3477,2198,2001
$GC,19525,0.41,214.6,808.6,7.5,465,19529,0.00,2.42,0.00,0.000,4,0.000,0.081,3478,786,1995
$GC,19558,0.35,214.6,805.6,8.2,465,19563,0.17,2.35,0.00,0.000,6,0.160,0.064,3431,2212,1995
$GC,19890,0.40,214.6,784.0,6.6,471,19894,0.00,2.33,0.00,0.000,4,0.000,0.082,3431,3606,1995
$GC,19933,0.40,214.6,780.6,7.1,471,19938,0.00,2.30,0.00,0.000,6,0.000,0.065,3435,2202,1993
$GC,20255,0.44,214.6,757.9,7.2,477,20256,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,1994
$GC,20559,0.49,214.6,734.6,7.6,482,20564,0.12,2.45,0.00,0.000,4,0.097,0.082,3489,3615,1993
$GC,20593,0.31,214.6,731.1,10.2,482,20598,0.28,2.38,0.00,0.000,6,0.171,0.065,3415,2195,1993
$GC,20919,0.42,214.6,707.4,7.2,488,20924,0.12,2.38,0.00,0.000,4,0.087,0.080,3461,788,1993
$GC,20953,0.42,214.6,704.6,9.5,488,20958,0.00,2.30,0.00,0.000,6,0.000,0.065,3461,2200,1994
$GC,21280,0.42,214.6,678.1,8.0,494,21281,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2201,1994
$GC,21582,0.42,214.6,655.4,7.5,499,21587,0.00,2.42,0.00,0.000,4,0.000,0.080,3462,786,1993
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$STATE,31653,end climb,SURFACE_DEPTH_REACHED
$STATE,31653,begin surface coast
$FINISH,2.2,1.025396
$STATE,31718,end surface coast,CONTROL_FINISHED_OK
$STATE,31718,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2096
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$TCM_TEMP,16.00
$XPDR_PINGS,952
$24V_AH,21.9,53.393
$10V_AH,10.6,35.530
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$DEVICE_SECS,27.675,186.475,408.700,0.000,0.000,26.125,26.516,165.232,238.000,0.000,0.000,30.052,1728.150,27028.506,554.501,2266.641,567.993,33.378,1674.789,0.000,2232.495,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,634.626,620.571,1406.953,853.275,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47431,828
$CAP_FILE_SIZE,172941,0
$CFSIZE,260165632,237932544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061208,220237,4958.826,-14514.023,33,1.3,33,18.4