version: 66.03
glider: 120
mission: 9
dive: 195
start: 11 9 108 13 43 57
data:
$ID,120
$MISSION,9
$DIVE,195
$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,-21708.57
$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,20
$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
$GPS1,133238,5013.950,-14436.504,121,1.3,121,18.6
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.5
$GPS2,134302,5013.990,-14436.394,12,1.8,17,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,0.132
$KALMAN_X,35139.1,178.0,260.5,-19750.6,-1660.9
$KALMAN_Y,149545.1,140.6,-118.7,-133930.7,-160.0
$MHEAD_RNG_PITCHd_Wd,23.4,15135,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.80,0.000,2,0.000,0.000,136,2408,2428
$GC,57,-0.67,-117.3,3.1,-4.8,3,104,13.90,2.45,-26.60,0.000,4,0.284,0.079,3093,984,3356
$GC,346,-0.40,-117.3,40.3,-13.4,29,351,0.35,2.35,0.00,0.000,6,0.162,0.061,3183,2405,3358
$GC,672,-0.65,-117.3,65.6,-7.8,59,677,0.20,2.38,0.00,0.000,4,0.081,0.066,3106,988,3359
$GC,712,-0.60,-117.3,69.1,-8.8,62,716,0.00,2.33,0.00,0.000,6,0.000,0.060,3106,2407,3359
$GC,1041,-0.44,-117.3,99.6,-9.6,83,1046,0.20,2.38,0.00,0.000,4,0.162,0.076,3167,3817,3360
$GC,1085,-0.52,-117.3,103.1,-7.4,85,1089,0.00,2.28,0.00,0.000,6,0.000,0.052,3167,2391,3360
$GC,1406,-0.58,-117.3,122.0,-5.3,101,1410,0.12,2.30,0.00,0.000,4,0.086,0.067,3118,992,3360
$GC,1432,-0.58,-117.3,124.0,-7.4,102,1436,0.00,2.33,0.00,0.000,6,0.000,0.060,3118,2405,3360
$GC,1754,-0.53,-117.3,148.6,-7.6,118,1758,0.00,2.33,0.00,0.000,4,0.000,0.077,3113,3809,3360
$GC,1837,-0.49,-117.3,155.1,-7.8,121,1842,0.15,2.25,0.00,0.000,6,0.127,0.054,3154,2394,3360
$GC,2156,-0.57,-117.3,171.5,-4.7,132,2160,0.00,2.30,0.00,0.000,4,0.000,0.069,3154,993,3360
$GC,2189,-0.64,-117.3,173.3,-4.9,133,2194,0.15,2.28,0.00,0.000,6,0.080,0.061,3099,2401,3360
$GC,2517,-0.64,-117.3,193.7,-6.5,144,2521,0.00,2.33,0.00,0.000,4,0.000,0.078,3099,3811,3360
$GC,2556,-0.57,-117.3,196.5,-7.7,145,2560,0.12,2.25,0.00,0.000,6,0.120,0.054,3133,2401,3360
$GC,2884,-0.57,-117.3,215.3,-5.5,156,2888,0.00,2.33,0.00,0.000,4,0.000,0.070,3133,987,3359
$GC,2923,-0.57,-117.3,217.7,-5.8,157,2927,0.00,2.30,0.00,0.000,6,0.000,0.061,3129,2407,3359
$GC,3252,-0.57,-117.3,235.8,-5.4,168,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2407,3359
$GC,3558,-0.57,-117.3,254.1,-6.3,178,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2407,3358
$GC,3864,-0.57,-117.3,276.1,-7.4,188,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2407,3358
$GC,4171,-0.57,-117.3,298.9,-7.3,198,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2407,3357
$GC,4504,-0.57,-117.3,320.9,-6.4,204,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2407,3357
$GC,4807,-0.57,-117.3,339.0,-6.0,209,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2407,3357
$GC,5110,-0.57,-117.3,357.5,-6.1,214,5114,0.00,2.35,0.00,0.000,4,0.000,0.072,3129,991,3356
$GC,5143,-0.61,-117.3,359.6,-6.2,214,5147,0.00,2.33,0.00,0.000,6,0.000,0.064,3129,2404,3356
$GC,5469,-0.65,-117.3,378.1,-5.6,220,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2404,3356
$GC,5773,-0.70,-117.3,394.8,-5.5,225,5774,0.12,0.00,0.00,0.000,6,0.092,0.000,3078,2404,3355
$GC,6076,-0.64,-117.3,416.4,-7.2,230,6081,0.12,2.35,0.00,0.000,4,0.116,0.072,3119,994,3355
$GC,6131,-0.64,-117.3,420.2,-6.9,230,6137,0.00,2.35,0.00,0.000,6,0.000,0.065,3112,2403,3355
$GC,6440,-0.64,-117.3,439.0,-6.0,236,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,6743,-0.64,-117.3,456.4,-5.7,241,6747,0.00,2.35,0.00,0.000,4,0.000,0.073,3113,993,3355
$GC,6775,-0.64,-117.3,458.4,-6.3,241,6779,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2396,3355
$GC,7107,-0.64,-117.3,478.4,-6.2,247,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3354
$GC,7410,-0.64,-117.3,498.2,-6.6,252,7414,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,995,3354
$GC,7436,-0.64,-117.3,500.3,-7.6,252,7440,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2404,3354
$GC,7774,-0.64,-117.3,523.4,-6.9,258,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3354
$GC,8077,-0.64,-117.3,544.0,-6.8,263,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3354
$GC,8380,-0.64,-117.3,563.2,-6.3,268,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3353
$GC,8683,-0.64,-117.3,580.1,-5.5,273,8687,0.00,2.38,0.00,0.000,4,0.000,0.074,3113,989,3353
$GC,8709,-0.64,-117.3,581.7,-6.1,273,8713,0.00,2.35,0.00,0.000,6,0.000,0.066,3113,2405,3353
$GC,9047,-0.64,-117.3,600.9,-5.8,279,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3353
$GC,9350,-0.64,-117.3,620.2,-6.3,284,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3353
$GC,9653,-0.64,-117.3,639.5,-6.3,289,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3353
$GC,9956,-0.64,-117.3,658.5,-6.3,294,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3352
$GC,10259,-0.64,-117.3,677.1,-6.1,299,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3352
$GC,10563,-0.64,-117.3,695.4,-6.0,304,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3352
$GC,10865,-0.64,-117.3,713.2,-5.8,309,10869,0.00,2.38,0.00,0.000,4,0.000,0.075,3113,993,3352
$GC,10886,-0.64,-117.3,714.4,-5.9,309,10891,0.00,2.35,0.00,0.000,6,0.000,0.067,3113,2402,3352
$GC,11231,-0.68,-117.3,734.5,-5.8,315,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3352
$GC,11534,-0.72,-117.3,751.9,-5.7,320,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3352
$GC,11836,-0.77,-117.3,769.4,-5.8,325,11838,0.12,0.00,0.00,0.000,6,0.094,0.000,3064,2404,3351
$GC,12139,-0.77,-117.3,789.6,-6.6,330,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2404,3351
$GC,12443,-0.72,-117.3,808.2,-6.1,335,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2404,3351
$GC,12746,-0.68,-117.3,826.3,-6.0,340,12748,0.12,0.00,0.00,0.000,6,0.122,0.000,3098,2404,3351
$GC,13049,-0.68,-117.3,843.3,-5.6,345,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3351
$GC,13352,-0.68,-117.3,862.3,-6.3,350,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3351
$GC,13654,-0.68,-117.3,882.0,-6.5,355,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3351
$GC,13958,-0.68,-117.3,902.0,-6.6,360,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3351
$GC,14261,-0.68,-117.3,921.5,-6.4,365,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3351
$GC,14564,-0.68,-117.3,940.5,-6.2,370,14568,0.00,2.40,0.00,0.000,4,0.000,0.087,3098,3812,3350
$GC,14591,-0.68,-117.3,942.3,-6.2,370,14595,0.00,2.33,0.00,0.000,6,0.000,0.061,3098,2400,3350
$GC,14929,-0.68,-117.3,961.9,-5.8,376,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3350
$GC,15232,-0.68,-117.3,978.8,-5.5,381,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3350
$STATE,15472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15472,begin apogee
$GC,15478,-0.22,0.0,992.4,5.6,385,15584,0.47,0.00,102.97,1.499,6,0.150,0.000,3241,2192,2876
$STATE,15584,end apogee,CONTROL_FINISHED_OK
$STATE,15585,begin climb
$GC,15586,0.67,117.3,994.5,0.0,386,15699,0.90,0.00,108.38,1.445,6,0.097,0.000,3530,2192,2397
$GC,15959,0.31,117.3,978.1,7.6,393,15964,0.38,2.47,0.00,0.000,4,0.179,0.078,3435,796,2393
$GC,16031,0.25,117.3,974.1,5.2,394,16036,0.15,2.40,0.00,0.000,6,0.172,0.064,3400,2202,2393
$GC,16391,0.29,154.7,959.9,3.9,400,16430,0.00,2.50,32.88,1.429,4,0.000,0.081,3399,3610,2245
$GC,16458,0.30,161.2,956.7,4.8,401,16472,0.00,2.40,7.40,1.179,6,0.000,0.064,3408,2197,2218
$GC,16823,0.34,161.2,937.0,5.5,407,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2197,2216
$GC,17125,0.39,161.2,919.7,5.7,412,17130,0.10,2.45,0.00,0.000,4,0.103,0.083,3446,3609,2216
$GC,17158,0.25,161.2,917.1,9.3,412,17163,0.20,2.35,0.00,0.000,6,0.177,0.066,3398,2192,2216
$GC,17483,0.33,161.2,897.5,6.0,418,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2192,2216
$GC,17787,0.40,161.2,878.8,6.2,423,17789,0.15,0.00,0.00,0.000,6,0.091,0.000,3452,2192,2216
$GC,18090,0.33,161.2,855.8,7.6,428,18092,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2192,2216
$GC,18393,0.25,161.2,833.8,7.2,433,18395,0.20,0.00,0.00,0.000,6,0.158,0.000,3398,2192,2215
$GC,18696,0.34,161.2,818.3,5.0,438,18700,0.00,2.45,0.00,0.000,4,0.000,0.083,3398,3612,2216
$GC,18739,0.34,161.2,815.8,5.2,438,18743,0.00,2.35,0.00,0.000,6,0.000,0.066,3398,2203,2215
$GC,19061,0.43,161.2,799.6,5.1,444,19062,0.17,0.00,0.00,0.000,6,0.091,0.000,3463,2203,2215
$GC,19364,0.34,161.2,777.7,7.4,449,19368,0.15,2.40,0.00,0.000,4,0.159,0.080,3421,796,2215
$GC,19397,0.38,161.2,775.4,5.4,449,19401,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2207,2215
$GC,19724,0.38,161.2,755.8,6.0,455,19728,0.00,2.35,0.00,0.000,4,0.000,0.082,3422,3618,2215
$GC,19768,0.32,161.2,752.6,8.1,455,19771,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2199,2215
$GC,20088,0.32,161.2,733.8,5.9,461,20090,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2215
$GC,20391,0.32,161.2,715.9,5.9,466,20395,0.00,2.40,0.00,0.000,4,0.000,0.082,3421,3609,2215
$GC,20435,0.27,161.2,713.1,6.5,466,20439,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2190,2215
$GC,20750,0.27,161.2,694.5,5.9,472,20754,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,795,2215
$GC,20777,0.31,161.2,692.8,6.4,472,20781,0.00,2.30,0.00,0.000,6,0.000,0.064,3422,2202,2215
$GC,21114,0.31,161.2,673.0,5.9,478,21118,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3616,2214
$GC,21153,0.27,161.2,670.4,6.3,478,21157,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2194,2215
$GC,21479,0.27,161.2,651.3,5.9,484,21480,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2195,2214
$GC,21782,0.27,161.2,632.9,6.1,489,21786,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,3609,2214
$GC,21809,0.27,161.2,631.1,6.1,489,21813,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2206,2214
$GC,22147,0.27,161.2,611.2,5.9,495,22148,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2206,2215
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$STATE,31855,end climb,SURFACE_DEPTH_REACHED
$STATE,31855,begin surface coast
$FINISH,2.6,1.025104
$STATE,31954,end surface coast,CONTROL_FINISHED_OK
$STATE,31954,begin surface
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$TT8_MAMPS,0.026078
$HUMID,2126
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$TCM_TEMP,16.40
$XPDR_PINGS,932
$24V_AH,22.4,40.227
$10V_AH,10.6,26.011
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$DEVICE_SECS,29.250,189.100,351.425,18.900,0.000,60.596,54.713,321.302,233.000,0.000,0.000,17.255,1730.913,27385.982,527.966,2219.655,745.487,33.376,1621.323,0.000,2200.354,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,624.360,610.479,1387.068,841.068,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47614,816
$CAP_FILE_SIZE,179520,0
$CFSIZE,260165632,243474432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091108,223901,5016.790,-14432.831,71,1.3,76,18.6