version: 66.03
glider: 120
mission: 9
dive: 269
start: 12 7 108 16 5 0
data:
$ID,120
$MISSION,9
$DIVE,269
$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,-23248.807
$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
$GPS1,155837,4953.853,-14511.307,35,1.4,35,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-76.1
$GPS2,160403,4953.849,-14511.325,14,1.3,14,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.153,0.091
$KALMAN_X,38278.0,-69.1,-64.1,-63817.5,670.0
$KALMAN_Y,213666.0,-184.8,-158.6,-234990.0,3408.9
$MHEAD_RNG_PITCHd_Wd,40.9,35055,-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,-117.3,0.0,0.0,0,34,0.00,0.00,-11.12,0.000,2,0.000,0.000,148,2405,1933
$GC,37,-0.67,-117.3,3.5,-0.0,1,115,14.07,2.50,-58.40,0.000,4,0.288,0.094,3096,3812,3356
$GC,369,-0.45,-117.3,35.2,-11.6,31,374,0.25,2.35,0.00,0.000,6,0.161,0.055,3166,2398,3358
$GC,697,-0.45,-117.3,58.7,-6.6,61,701,0.00,2.38,0.00,0.000,4,0.000,0.069,3166,992,3358
$GC,736,-0.45,-117.3,61.5,-6.9,64,740,0.00,2.33,0.00,0.000,6,0.000,0.062,3166,2412,3359
$GC,1072,-0.51,-117.3,82.7,-6.0,93,1076,0.00,2.42,0.00,0.000,4,0.000,0.068,3166,984,3358
$GC,1121,-0.58,-117.3,86.0,-6.3,95,1126,0.12,2.33,0.00,0.000,6,0.083,0.061,3118,2402,3359
$GC,1437,-0.79,-117.3,109.5,-7.8,110,1442,0.15,2.38,0.00,0.000,4,0.106,0.076,3057,3810,3360
$GC,1672,-0.55,-117.3,134.9,-10.4,120,1679,0.28,2.33,0.00,0.000,6,0.157,0.054,3134,2391,3360
$GC,1998,-0.55,-117.3,156.5,-6.8,135,2002,0.00,2.45,0.00,0.000,4,0.000,0.078,3126,3806,3360
$GC,2064,-0.60,-117.3,161.4,-7.1,137,2068,0.00,2.28,0.00,0.000,6,0.000,0.054,3126,2391,3359
$GC,2399,-0.60,-117.3,182.9,-6.2,148,2403,0.00,2.38,0.00,0.000,4,0.000,0.069,3126,986,3359
$GC,2443,-0.64,-117.3,185.8,-6.3,149,2447,0.00,2.30,0.00,0.000,6,0.000,0.061,3126,2399,3360
$GC,2761,-0.64,-117.3,204.0,-5.7,160,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3359
$GC,3067,-0.64,-117.3,221.7,-6.0,170,3071,0.00,2.38,0.00,0.000,4,0.000,0.070,3126,989,3359
$GC,3095,-0.69,-117.3,223.4,-6.1,171,3099,0.00,2.35,0.00,0.000,6,0.000,0.063,3126,2411,3359
$GC,3430,-0.74,-117.3,244.9,-6.6,182,3432,0.15,0.00,0.00,0.000,6,0.085,0.000,3067,2411,3359
$GC,3736,-0.64,-117.3,269.1,-7.9,192,3738,0.15,0.00,0.00,0.000,6,0.117,0.000,3109,2411,3359
$GC,4042,-0.64,-117.3,290.1,-6.6,202,4046,0.00,2.40,0.00,0.000,4,0.000,0.071,3109,995,3359
$GC,4086,-0.64,-117.3,293.2,-7.4,203,4090,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2398,3359
$GC,4408,-0.64,-117.3,313.0,-6.1,211,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3358
$GC,4711,-0.64,-117.3,332.1,-6.3,216,4715,0.00,2.40,0.00,0.000,4,0.000,0.071,3109,988,3358
$GC,4760,-0.64,-117.3,335.5,-6.6,216,4764,0.00,2.35,0.00,0.000,6,0.000,0.064,3109,2401,3358
$GC,5076,-0.64,-117.3,356.5,-6.7,222,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3358
$GC,5378,-0.64,-117.3,376.2,-6.5,227,5382,0.00,2.38,0.00,0.000,4,0.000,0.071,3109,995,3357
$GC,5433,-0.64,-117.3,380.1,-7.3,227,5440,0.00,2.33,0.00,0.000,6,0.000,0.064,3109,2398,3357
$GC,5743,-0.64,-117.3,399.8,-6.4,233,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3357
$GC,6046,-0.64,-117.3,419.8,-6.6,238,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2398,3357
$GC,6349,-0.64,-117.3,440.0,-6.6,243,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3357
$GC,6652,-0.64,-117.3,460.6,-6.8,248,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3357
$GC,6955,-0.64,-117.3,481.8,-7.0,253,6959,0.00,2.40,0.00,0.000,4,0.000,0.072,3109,992,3357
$GC,6993,-0.64,-117.3,484.6,-7.1,253,6998,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2401,3357
$GC,7320,-0.64,-117.3,505.2,-6.3,259,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3357
$GC,7623,-0.64,-117.3,522.2,-5.6,264,7628,0.00,2.38,0.00,0.000,4,0.000,0.072,3109,995,3356
$GC,7667,-0.64,-117.3,524.8,-6.2,264,7671,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2401,3356
$GC,7988,-0.64,-117.3,542.9,-5.6,270,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3356
$GC,8292,-0.64,-117.3,560.0,-5.6,275,8296,0.00,2.38,0.00,0.000,4,0.000,0.073,3109,995,3356
$GC,8324,-0.64,-117.3,562.1,-6.3,275,8328,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2400,3356
$GC,8657,-0.69,-117.3,580.4,-5.6,281,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3356
$GC,8959,-0.69,-117.3,597.7,-5.8,286,8963,0.00,2.38,0.00,0.000,4,0.000,0.073,3109,995,3355
$GC,8987,-0.69,-117.3,599.5,-6.9,286,8991,0.00,2.30,0.00,0.000,6,0.000,0.064,3109,2402,3355
$GC,9319,-0.73,-117.3,620.0,-6.3,292,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3355
$GC,9622,-0.78,-117.3,638.2,-6.0,297,9627,0.12,2.40,0.00,0.000,4,0.091,0.071,3064,996,3355
$GC,9648,-0.78,-117.3,640.0,-6.9,297,9652,0.00,2.30,0.00,0.000,6,0.000,0.064,3064,2404,3355
$GC,9987,-0.71,-117.3,662.5,-6.6,303,9991,0.00,2.38,0.00,0.000,4,0.000,0.084,3059,3815,3355
$GC,10025,-0.61,-117.3,665.2,-7.0,303,10030,0.20,2.30,0.00,0.000,6,0.138,0.058,3115,2395,3355
$GC,10346,-0.67,-117.3,681.1,-4.9,309,10350,0.00,2.38,0.00,0.000,4,0.000,0.073,3121,996,3355
$GC,10385,-0.75,-117.3,683.3,-5.3,309,10389,0.15,2.30,0.00,0.000,6,0.087,0.065,3069,2401,3355
$GC,10704,-0.75,-117.3,702.1,-5.9,315,10709,0.00,2.38,0.00,0.000,4,0.000,0.084,3069,3818,3354
$GC,10743,-0.69,-117.3,704.7,-6.4,315,10747,0.00,2.33,0.00,0.000,6,0.000,0.058,3069,2393,3354
$GC,11064,-0.65,-117.3,723.7,-5.8,321,11066,0.15,0.00,0.00,0.000,6,0.137,0.000,3110,2391,3354
$GC,11367,-0.71,-117.3,739.0,-5.1,326,11371,0.00,2.38,0.00,0.000,4,0.000,0.074,3110,989,3354
$GC,11399,-0.77,-117.3,741.0,-5.6,326,11404,0.12,2.33,0.00,0.000,6,0.091,0.064,3066,2408,3354
$GC,11725,-0.77,-117.3,760.3,-5.9,332,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2408,3354
$GC,12028,-0.77,-117.3,777.9,-5.8,337,12032,0.00,2.38,0.00,0.000,4,0.000,0.084,3066,3818,3354
$GC,12060,-0.71,-117.3,780.0,-6.9,337,12065,0.00,2.33,0.00,0.000,6,0.000,0.058,3066,2395,3354
$GC,12387,-0.71,-117.3,800.1,-6.2,343,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2395,3354
$GC,12690,-0.71,-117.3,819.9,-6.6,348,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2395,3354
$GC,12993,-0.71,-117.3,840.3,-6.8,353,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2395,3354
$GC,13296,-0.71,-117.3,861.1,-6.9,358,13300,0.00,2.50,0.00,0.000,4,0.000,0.083,3066,3811,3354
$GC,13328,-0.67,-117.3,863.5,-6.5,358,13333,0.12,2.35,0.00,0.000,6,0.125,0.058,3099,2398,3354
$GC,13654,-0.67,-117.3,883.4,-6.1,364,13658,0.00,2.38,0.00,0.000,4,0.000,0.074,3099,991,3354
$GC,13681,-0.67,-117.3,885.1,-6.7,364,13685,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2405,3354
$GC,14018,-0.71,-117.3,904.5,-5.7,370,14020,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3354
$GC,14322,-0.76,-117.3,921.5,-5.6,375,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3354
$GC,14625,-0.81,-117.3,937.5,-5.2,380,14627,0.12,0.00,0.00,0.000,6,0.094,0.000,3050,2404,3353
$GC,14927,-0.81,-117.3,955.5,-6.0,385,14929,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2404,3353
$GC,15231,-0.81,-117.3,972.9,-5.7,390,15235,0.00,2.42,0.00,0.000,4,0.000,0.084,3051,3809,3353
$GC,15258,-0.73,-117.3,974.5,-6.3,390,15262,0.00,2.35,0.00,0.000,6,0.000,0.058,3050,2391,3353
$STATE,15527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15527,begin apogee
$GC,15533,-0.22,0.0,990.1,5.7,395,15641,0.65,0.00,105.25,1.496,6,0.143,0.000,3245,2199,2876
$STATE,15642,end apogee,CONTROL_FINISHED_OK
$STATE,15642,begin climb
$GC,15644,0.67,117.3,991.6,0.0,396,15762,0.85,2.70,110.03,1.436,4,0.091,0.077,3533,788,2395
$GC,15800,0.30,117.3,989.9,7.4,399,15805,0.45,2.50,0.00,0.000,6,0.180,0.061,3420,2204,2394
$GC,16132,0.30,117.3,970.3,5.9,405,16133,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2204,2392
$GC,16435,0.30,117.3,953.3,5.5,410,16439,0.00,2.38,0.00,0.000,4,0.000,0.081,3420,3611,2392
$GC,16473,0.20,117.3,951.0,5.9,410,16478,0.15,2.38,0.00,0.000,6,0.179,0.064,3385,2196,2392
$GC,16794,0.33,157.1,938.2,3.9,416,16831,0.12,0.00,35.38,1.434,6,0.088,0.000,3432,2196,2235
$GC,17097,0.39,169.4,924.1,4.6,421,17111,0.00,0.00,12.10,1.326,6,0.000,0.000,3432,2196,2185
$GC,17401,0.44,174.2,909.5,4.9,426,17408,0.00,0.00,6.05,1.134,6,0.000,0.000,3432,2196,2165
$GC,17703,0.49,174.2,894.0,5.2,431,17708,0.12,2.50,0.00,0.000,4,0.104,0.081,3483,3617,2164
$GC,17741,0.27,174.2,890.8,8.9,431,17747,0.30,2.40,0.00,0.000,6,0.169,0.065,3407,2195,2164
$GC,18063,0.35,174.2,874.4,5.1,437,18064,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2163
$GC,18365,0.43,178.8,859.6,4.9,442,18373,0.15,0.00,5.55,1.098,6,0.090,0.000,3464,2195,2147
$GC,18668,0.43,178.8,840.0,6.6,447,18669,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2195,2146
$GC,18971,0.39,178.8,820.2,6.6,452,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2195,2146
$GC,19274,0.39,178.8,799.8,6.8,457,19278,0.00,2.42,0.00,0.000,4,0.000,0.083,3465,3612,2146
$GC,19307,0.26,178.8,797.1,8.9,457,19312,0.22,2.35,0.00,0.000,6,0.171,0.066,3404,2200,2146
$GC,19633,0.36,178.8,779.3,5.4,463,19634,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2200,2145
$GC,19936,0.45,178.8,763.6,5.1,468,19941,0.15,2.40,0.00,0.000,4,0.087,0.081,3468,783,2145
$GC,19975,0.39,178.8,761.2,6.0,468,19979,0.00,2.33,0.00,0.000,6,0.000,0.067,3468,2209,2145
$GC,20295,0.31,178.8,739.2,6.9,474,20297,0.17,0.00,0.00,0.000,6,0.148,0.000,3420,2209,2145
$GC,20598,0.37,178.8,722.0,5.7,479,20602,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,789,2145
$GC,20631,0.45,178.8,720.2,5.4,479,20635,0.12,2.30,0.00,0.000,6,0.094,0.064,3470,2203,2145
$GC,20957,0.38,178.8,697.1,7.3,485,20958,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2203,2145
$GC,21260,0.31,178.8,674.9,7.3,490,21261,0.17,0.00,0.00,0.000,6,0.147,0.000,3421,2204,2145
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$STATE,32565,end climb,SURFACE_DEPTH_REACHED
$STATE,32565,begin surface coast
$FINISH,2.3,1.005651
$STATE,32653,end surface coast,CONTROL_FINISHED_OK
$STATE,32653,begin surface
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$HUMID,2105
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$TCM_TEMP,16.10
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$10V_AH,10.6,35.927
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$DEVICE_SECS,31.550,195.450,370.500,11.700,0.000,28.227,27.235,151.325,244.750,0.000,0.000,14.218,1813.818,27772.008,548.563,2314.581,558.293,33.386,1682.659,0.000,2287.198,0.000,0.465
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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,50708,854
$CAP_FILE_SIZE,185453,0
$CFSIZE,260165632,237694976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081208,011132,4956.191,-14507.229,69,1.1,69,18.4