version: 66.03
glider: 120
mission: 9
dive: 267
start: 12 6 108 22 12 10
data:
$ID,120
$MISSION,9
$DIVE,267
$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,-23218.525
$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,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
$GPS1,220237,4958.826,-14514.023,33,1.3,33,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-72.3
$GPS2,221114,4958.825,-14513.848,10,1.3,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.025,-0.176
$KALMAN_X,37575.1,15.7,144.5,-66390.4,-83.6
$KALMAN_Y,209981.6,-413.9,-132.5,-221870.9,3410.8
$MHEAD_RNG_PITCHd_Wd,153.6,9200,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.25,0.000,2,0.000,0.000,135,2412,1784
$GC,38,-0.67,-117.3,3.1,-0.0,1,129,13.65,2.42,-71.07,0.000,4,0.275,0.096,3096,3815,3354
$GC,269,-0.48,-117.3,21.3,-11.1,21,276,0.22,2.33,0.00,0.000,6,0.160,0.056,3158,2398,3356
$GC,597,-0.48,-117.3,48.3,-7.5,52,598,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2398,3357
$GC,912,-0.48,-117.3,72.5,-7.1,82,913,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2398,3357
$GC,1224,-0.48,-117.3,94.7,-7.6,102,1229,0.00,2.47,0.00,0.000,4,0.000,0.077,3155,3808,3358
$GC,1325,-0.56,-117.3,102.4,-7.6,106,1331,0.00,2.30,0.00,0.000,6,0.000,0.053,3154,2399,3357
$GC,1641,-0.60,-117.3,124.6,-6.9,122,1645,0.00,2.38,0.00,0.000,4,0.000,0.068,3155,985,3358
$GC,1731,-0.66,-117.3,131.1,-7.6,126,1736,0.15,2.33,0.00,0.000,6,0.081,0.061,3099,2402,3358
$GC,2047,-0.62,-117.3,153.2,-6.9,141,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,2353,-0.62,-117.3,174.1,-6.7,151,2357,0.00,2.38,0.00,0.000,4,0.000,0.080,3099,3818,3358
$GC,2419,-0.57,-117.3,179.2,-7.9,153,2424,0.12,2.30,0.00,0.000,6,0.117,0.054,3132,2395,3358
$GC,2749,-0.57,-117.3,201.8,-6.8,164,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2395,3358
$GC,3055,-0.61,-117.3,222.2,-6.8,174,3059,0.00,2.38,0.00,0.000,4,0.000,0.071,3133,992,3358
$GC,3083,-0.66,-117.3,224.1,-7.3,175,3088,0.00,2.33,0.00,0.000,6,0.000,0.061,3128,2412,3358
$GC,3419,-0.66,-117.3,246.3,-6.6,186,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2412,3358
$GC,3725,-0.66,-117.3,265.2,-5.9,196,3729,0.00,2.42,0.00,0.000,4,0.000,0.070,3128,990,3357
$GC,3757,-0.70,-117.3,267.3,-6.8,197,3762,0.12,2.35,0.00,0.000,6,0.088,0.062,3081,2404,3357
$GC,4087,-0.65,-117.3,288.1,-6.3,208,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3357
$GC,4422,-0.61,-117.3,309.1,-6.4,217,4424,0.12,0.00,0.00,0.000,6,0.110,0.000,3115,2404,3357
$GC,4725,-0.61,-117.3,327.3,-6.0,222,4729,0.00,2.40,0.00,0.000,4,0.000,0.071,3115,995,3356
$GC,4751,-0.61,-117.3,329.3,-6.8,222,4756,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2410,3356
$GC,5090,-0.61,-117.3,350.5,-6.3,228,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3356
$GC,5393,-0.61,-117.3,368.4,-5.9,233,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2410,3356
$GC,5695,-0.61,-117.3,385.4,-5.6,238,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3356
$GC,5999,-0.61,-117.3,402.3,-5.6,243,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3356
$GC,6302,-0.61,-117.3,419.4,-5.6,248,6306,0.00,2.42,0.00,0.000,4,0.000,0.072,3113,991,3356
$GC,6346,-0.61,-117.3,422.1,-6.3,248,6350,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2404,3355
$GC,6662,-0.61,-117.3,439.3,-5.4,254,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,6964,-0.61,-117.3,456.4,-5.6,259,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,7267,-0.61,-117.3,474.1,-5.8,264,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,7570,-0.61,-117.3,491.8,-5.8,269,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,7873,-0.61,-117.3,508.9,-5.7,274,7877,0.00,2.40,0.00,0.000,4,0.000,0.072,3113,996,3354
$GC,7895,-0.61,-117.3,510.2,-5.8,274,7900,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2407,3354
$GC,8232,-0.61,-117.3,530.7,-6.1,280,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3354
$GC,8536,-0.61,-117.3,549.6,-6.2,285,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3354
$GC,8839,-0.61,-117.3,567.5,-5.9,290,8844,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,990,3354
$GC,8878,-0.66,-117.3,570.0,-6.9,290,8882,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2406,3354
$GC,9199,-0.70,-117.3,587.2,-5.3,296,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3354
$GC,9502,-0.75,-117.3,602.5,-5.0,301,9507,0.12,2.38,0.00,0.000,4,0.092,0.073,3066,996,3353
$GC,9535,-0.70,-117.3,604.5,-6.5,301,9539,0.00,2.30,0.00,0.000,6,0.000,0.064,3066,2403,3353
$GC,9861,-0.62,-117.3,624.9,-6.3,307,9862,0.17,0.00,0.00,0.000,6,0.157,0.000,3115,2403,3353
$GC,10164,-0.69,-117.3,639.0,-4.6,312,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2403,3353
$GC,10468,-0.75,-117.3,653.6,-4.8,317,10470,0.12,0.00,0.00,0.000,6,0.091,0.000,3069,2403,3353
$GC,10770,-0.75,-117.3,672.4,-6.3,322,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2403,3353
$GC,11073,-0.75,-117.3,692.8,-6.8,327,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2403,3353
$GC,11376,-0.75,-117.3,714.5,-7.2,332,11380,0.00,2.45,0.00,0.000,4,0.000,0.083,3069,3812,3352
$GC,11403,-0.75,-117.3,716.6,-7.9,332,11407,0.00,2.33,0.00,0.000,6,0.000,0.058,3068,2400,3353
$GC,11740,-0.75,-117.3,741.0,-7.2,338,11745,0.00,2.42,0.00,0.000,4,0.000,0.074,3068,986,3353
$GC,11767,-0.75,-117.3,743.1,-7.6,338,11772,0.00,2.35,0.00,0.000,6,0.000,0.064,3068,2397,3353
$GC,12106,-0.70,-117.3,766.8,-7.0,344,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2397,3353
$GC,12409,-0.65,-117.3,786.8,-6.6,349,12414,0.12,2.42,0.00,0.000,4,0.160,0.073,3105,986,3352
$GC,12453,-0.70,-117.3,789.5,-5.2,349,12457,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2407,3352
$GC,12768,-0.70,-117.3,807.2,-5.7,355,12772,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,989,3352
$GC,12796,-0.70,-117.3,808.9,-6.1,355,12800,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2405,3352
$GC,13128,-0.70,-117.3,827.9,-5.7,361,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3352
$GC,13431,-0.74,-117.3,845.7,-5.9,366,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3352
$GC,13735,-0.78,-117.3,863.3,-5.8,371,13739,0.00,2.42,0.00,0.000,4,0.000,0.074,3100,983,3351
$GC,13768,-0.83,-117.3,865.4,-5.5,371,13772,0.15,2.38,0.00,0.000,6,0.089,0.066,3046,2407,3352
$GC,14095,-0.77,-117.3,887.3,-6.7,377,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2407,3352
$GC,14397,-0.71,-117.3,907.2,-6.5,382,14398,0.15,0.00,0.00,0.000,6,0.120,0.000,3088,2407,3351
$GC,14699,-0.71,-117.3,924.3,-5.6,387,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2407,3352
$GC,15003,-0.71,-117.3,940.3,-5.3,392,15007,0.00,2.42,0.00,0.000,4,0.000,0.075,3089,985,3352
$GC,15035,-0.71,-117.3,942.3,-6.2,392,15039,0.00,2.38,0.00,0.000,6,0.000,0.067,3086,2401,3351
$GC,15367,-0.71,-117.3,959.8,-5.2,398,15369,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3351
$GC,15670,-0.71,-117.3,976.3,-5.5,403,15674,0.00,2.38,0.00,0.000,4,0.000,0.075,3086,992,3351
$GC,15697,-0.71,-117.3,977.9,-6.3,403,15701,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2405,3351
$STATE,15905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15905,begin apogee
$GC,15910,-0.22,0.0,990.1,5.8,407,16018,0.52,0.00,105.25,1.496,6,0.150,0.000,3241,2192,2876
$STATE,16019,end apogee,CONTROL_FINISHED_OK
$STATE,16019,begin climb
$GC,16021,0.67,117.3,992.0,0.0,408,16137,0.88,0.00,110.15,1.438,6,0.094,0.000,3526,2192,2396
$GC,16455,0.35,117.3,974.0,6.9,416,16460,0.32,2.45,0.00,0.000,4,0.173,0.078,3443,786,2393
$GC,16511,0.32,151.3,971.2,4.0,416,16547,0.00,2.35,30.85,1.411,6,0.000,0.064,3441,2202,2259
$GC,16879,0.28,151.3,951.4,5.5,423,16884,0.12,2.40,0.00,0.000,4,0.169,0.081,3408,3620,2256
$GC,16934,0.28,151.3,948.1,5.8,423,16941,0.00,2.38,0.00,0.000,6,0.000,0.065,3408,2202,2256
$GC,17244,0.33,152.9,933.1,5.0,429,17248,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,786,2256
$GC,17278,0.41,152.9,931.4,5.1,429,17282,0.12,2.33,0.00,0.000,6,0.094,0.064,3454,2210,2256
$GC,17603,0.34,152.9,909.4,6.9,435,17608,0.00,2.35,0.00,0.000,4,0.000,0.082,3454,3621,2255
$GC,17659,0.18,152.9,904.8,7.8,435,17666,0.25,2.35,0.00,0.000,6,0.172,0.066,3376,2203,2255
$GC,17969,0.32,152.9,888.8,5.1,441,17974,0.15,2.38,0.00,0.000,4,0.088,0.079,3438,783,2255
$GC,18023,0.32,152.9,885.2,7.9,441,18031,0.00,2.35,0.00,0.000,6,0.000,0.067,3437,2201,2255
$GC,18333,0.32,152.9,865.3,6.4,447,18337,0.00,2.35,0.00,0.000,4,0.000,0.082,3438,3614,2255
$GC,18383,0.22,152.9,861.7,7.1,447,18388,0.17,2.33,0.00,0.000,6,0.174,0.066,3393,2198,2255
$GC,18693,0.33,162.4,846.7,4.7,452,18706,0.00,0.00,10.48,1.295,6,0.000,0.000,3393,2198,2214
$GC,18997,0.46,179.3,833.0,4.5,457,19016,0.22,0.00,16.52,1.345,6,0.084,0.000,3476,2198,2145
$GC,19300,0.36,179.3,811.7,7.1,462,19302,0.15,0.00,0.00,0.000,6,0.154,0.000,3437,2198,2143
$GC,19602,0.36,179.3,794.8,5.5,467,19606,0.00,2.42,0.00,0.000,4,0.000,0.081,3437,788,2143
$GC,19629,0.36,179.3,793.4,5.4,467,19633,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2205,2143
$GC,19966,0.36,179.3,776.0,5.2,473,19967,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2205,2143
$GC,20270,0.36,179.3,760.2,5.2,478,20274,0.00,2.38,0.00,0.000,4,0.000,0.082,3437,3608,2142
$GC,20302,0.30,179.3,758.2,6.0,478,20306,0.00,2.38,0.00,0.000,6,0.000,0.065,3437,2189,2142
$GC,20628,0.30,179.3,740.7,5.4,484,20630,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2189,2142
$GC,20931,0.30,179.3,723.8,5.6,489,20936,0.00,2.47,0.00,0.000,4,0.000,0.081,3437,3615,2142
$GC,20995,0.25,179.3,719.8,6.0,490,21000,0.15,2.40,0.00,0.000,6,0.176,0.065,3398,2195,2142
$GC,21360,0.40,198.5,703.3,4.5,496,21381,0.15,0.00,18.00,1.282,6,0.092,0.000,3452,2195,2066
$GC,21664,0.45,198.5,685.9,5.8,501,21665,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2195,2064
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$GC,26854,0.53,218.4,352.2,5.7,586,26858,0.00,2.47,0.00,0.000,4,0.000,0.081,3468,3614,1982
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$STATE,32181,end climb,SURFACE_DEPTH_REACHED
$STATE,32181,begin surface coast
$FINISH,2.2,1.025434
$STATE,32257,end surface coast,CONTROL_FINISHED_OK
$STATE,32257,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2105
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$TCM_TEMP,15.80
$XPDR_PINGS,982
$24V_AH,21.9,53.584
$10V_AH,10.6,35.664
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$DEVICE_SECS,29.100,190.875,382.075,0.000,0.000,59.853,69.356,203.732,245.500,0.000,0.000,15.629,1773.542,27543.502,549.444,2294.699,685.744,33.384,1688.090,0.000,2269.290,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,643.355,624.104,1420.849,859.664,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47555,836
$CAP_FILE_SIZE,182756,0
$CFSIZE,260165632,237850624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071208,071207,4956.079,-14512.960,25,1.3,25,18.4