version: 66.03
glider: 120
mission: 9
dive: 206
start: 11 13 108 17 2 15
data:
$ID,120
$MISSION,9
$DIVE,206
$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,-21937.814
$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,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
$GPS1,165556,4957.021,-14430.466,166,1.6,166,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-72.8
$GPS2,170120,4957.095,-14430.557,9,1.6,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,-0.177
$KALMAN_X,40764.3,-307.7,-113.4,-17568.6,1350.5
$KALMAN_Y,159518.0,110.2,-247.7,-175033.1,1592.2
$MHEAD_RNG_PITCHd_Wd,165.9,5775,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.60,0.000,2,0.000,0.000,137,2406,2447
$GC,57,-0.67,-117.3,3.4,-5.3,3,101,13.95,2.42,-23.50,0.000,4,0.286,0.093,3094,990,3354
$GC,173,-0.41,-117.3,19.3,-12.8,13,181,0.30,2.38,0.00,0.000,6,0.163,0.064,3178,2425,3356
$GC,501,-0.41,-117.3,39.9,-6.0,44,505,0.00,2.45,0.00,0.000,4,0.000,0.068,3179,982,3357
$GC,523,-0.41,-117.3,41.5,-6.5,45,529,0.00,2.33,0.00,0.000,6,0.000,0.062,3178,2402,3357
$GC,847,-0.41,-117.3,65.2,-6.8,76,851,0.00,2.38,0.00,0.000,4,0.000,0.067,3178,991,3357
$GC,891,-0.41,-117.3,68.4,-6.7,79,898,0.00,2.35,0.00,0.000,6,0.000,0.061,3179,2399,3357
$GC,1223,-0.71,-117.3,91.2,-7.4,104,1228,0.25,2.38,0.00,0.000,4,0.084,0.074,3085,3809,3358
$GC,1397,-0.54,-117.3,108.4,-10.5,112,1402,0.20,2.30,0.00,0.000,6,0.150,0.053,3141,2385,3359
$GC,1724,-0.54,-117.3,133.6,-7.8,128,1728,0.00,2.33,0.00,0.000,4,0.000,0.067,3141,988,3359
$GC,1751,-0.54,-117.3,136.0,-8.7,129,1755,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2402,3359
$GC,2092,-0.54,-117.3,157.6,-6.1,144,2096,0.00,2.35,0.00,0.000,4,0.000,0.079,3141,3808,3359
$GC,2135,-0.59,-117.3,160.5,-6.4,145,2139,0.00,2.28,0.00,0.000,6,0.000,0.054,3141,2394,3359
$GC,2460,-0.64,-117.3,180.4,-6.1,156,2464,0.00,2.35,0.00,0.000,4,0.000,0.070,3141,986,3359
$GC,2515,-0.70,-117.3,184.3,-7.6,157,2523,0.08,2.33,0.00,0.000,6,0.079,0.062,3084,2401,3359
$GC,2828,-0.59,-117.3,211.8,-9.1,168,2832,0.15,2.35,0.00,0.000,4,0.155,0.078,3125,3806,3359
$GC,2882,-0.59,-117.3,216.3,-7.4,169,2889,0.00,2.30,0.00,0.000,6,0.000,0.055,3125,2403,3359
$GC,3195,-0.59,-117.3,239.5,-7.2,180,3199,0.00,2.35,0.00,0.000,4,0.000,0.070,3125,991,3359
$GC,3223,-0.59,-117.3,241.7,-7.3,181,3227,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2405,3359
$GC,3557,-0.59,-117.3,264.6,-6.7,192,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3358
$GC,3863,-0.59,-117.3,284.9,-6.6,202,3867,0.00,2.40,0.00,0.000,4,0.000,0.071,3125,985,3358
$GC,3912,-0.59,-117.3,288.3,-7.1,203,3916,0.00,2.33,0.00,0.000,6,0.000,0.063,3125,2398,3358
$GC,4229,-0.59,-117.3,308.4,-6.4,212,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3357
$GC,4532,-0.59,-117.3,327.6,-6.4,217,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3357
$GC,4835,-0.59,-117.3,346.8,-6.3,222,4839,0.00,2.38,0.00,0.000,4,0.000,0.071,3125,991,3357
$GC,4890,-0.59,-117.3,350.6,-6.7,222,4897,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2401,3357
$GC,5200,-0.59,-117.3,369.7,-6.2,228,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3357
$GC,5503,-0.59,-117.3,388.1,-6.1,233,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3356
$GC,5806,-0.59,-117.3,406.4,-6.0,238,5810,0.00,2.38,0.00,0.000,4,0.000,0.072,3124,992,3356
$GC,5861,-0.64,-117.3,410.0,-6.4,238,5867,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2404,3356
$GC,6170,-0.68,-117.3,429.0,-6.1,244,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3356
$GC,6473,-0.68,-117.3,445.9,-5.5,249,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3356
$GC,6777,-0.73,-117.3,460.9,-4.8,254,6782,0.12,2.35,0.00,0.000,4,0.091,0.072,3077,989,3354
$GC,6826,-0.64,-117.3,464.2,-6.7,254,6831,0.12,2.30,0.00,0.000,6,0.160,0.064,3108,2401,3355
$GC,7135,-0.64,-117.3,481.7,-5.7,259,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3355
$GC,7439,-0.64,-117.3,499.6,-5.9,264,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2401,3355
$GC,7742,-0.64,-117.3,519.4,-6.6,269,7746,0.00,2.35,0.00,0.000,4,0.000,0.074,3108,989,3354
$GC,7785,-0.64,-117.3,522.7,-7.7,269,7789,0.00,2.33,0.00,0.000,6,0.000,0.066,3108,2403,3354
$GC,8106,-0.64,-117.3,546.0,-7.3,275,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3354
$GC,8409,-0.64,-117.3,567.9,-7.2,280,8413,0.00,2.40,0.00,0.000,4,0.000,0.073,3108,987,3354
$GC,8435,-0.64,-117.3,570.0,-7.9,280,8440,0.00,2.35,0.00,0.000,6,0.000,0.065,3108,2398,3353
$GC,8773,-0.64,-117.3,593.5,-7.0,286,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3353
$GC,9076,-0.64,-117.3,613.1,-6.3,291,9080,0.00,2.35,0.00,0.000,4,0.000,0.074,3108,987,3353
$GC,9131,-0.64,-117.3,616.7,-6.6,291,9138,0.00,2.35,0.00,0.000,6,0.000,0.066,3108,2403,3354
$GC,9441,-0.64,-117.3,633.7,-5.4,297,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3353
$GC,9744,-0.64,-117.3,649.2,-5.1,302,9748,0.00,2.40,0.00,0.000,4,0.000,0.074,3108,990,3353
$GC,9782,-0.64,-117.3,651.3,-5.5,302,9786,0.00,2.33,0.00,0.000,6,0.000,0.066,3107,2402,3353
$GC,10109,-0.64,-117.3,667.0,-4.7,308,10113,0.00,2.35,0.00,0.000,4,0.000,0.074,3108,986,3353
$GC,10141,-0.64,-117.3,668.8,-5.6,308,10145,0.00,2.33,0.00,0.000,6,0.000,0.067,3108,2405,3352
$GC,10468,-0.64,-117.3,685.6,-5.2,314,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2405,3352
$GC,10770,-0.64,-117.3,701.9,-5.4,319,10774,0.00,2.38,0.00,0.000,4,0.000,0.074,3108,985,3352
$GC,10797,-0.64,-117.3,703.5,-6.2,319,10801,0.00,2.33,0.00,0.000,6,0.000,0.067,3108,2400,3352
$GC,11135,-0.64,-117.3,722.7,-5.7,325,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3352
$GC,11438,-0.64,-117.3,740.7,-6.0,330,11442,0.00,2.35,0.00,0.000,4,0.000,0.075,3108,986,3352
$GC,11475,-0.64,-117.3,743.2,-6.4,330,11480,0.00,2.35,0.00,0.000,6,0.000,0.066,3108,2398,3352
$GC,11802,-0.64,-117.3,762.2,-5.8,336,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3352
$GC,12106,-0.69,-117.3,779.5,-5.8,341,12110,0.00,2.38,0.00,0.000,4,0.000,0.075,3107,986,3352
$GC,12138,-0.69,-117.3,781.6,-5.9,341,12142,0.00,2.35,0.00,0.000,6,0.000,0.066,3108,2399,3352
$GC,12471,-0.73,-117.3,800.4,-5.6,347,12475,0.00,2.38,0.00,0.000,4,0.000,0.074,3108,991,3351
$GC,12492,-0.77,-117.3,801.8,-5.9,347,12497,0.12,2.33,0.00,0.000,6,0.091,0.067,3062,2410,3351
$GC,12835,-0.77,-117.3,824.1,-6.4,353,12837,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2410,3351
$GC,13138,-0.77,-117.3,843.7,-6.5,358,13142,0.00,2.35,0.00,0.000,4,0.000,0.084,3060,3812,3351
$GC,13171,-0.68,-117.3,846.3,-8.0,358,13176,0.12,2.30,0.00,0.000,6,0.123,0.059,3093,2396,3351
$GC,13503,-0.68,-117.3,867.8,-6.5,364,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2396,3351
$GC,13805,-0.68,-117.3,887.6,-6.5,369,13809,0.00,2.38,0.00,0.000,4,0.000,0.076,3093,992,3351
$GC,13868,-0.68,-117.3,892.1,-6.8,370,13872,0.00,2.33,0.00,0.000,6,0.000,0.067,3093,2409,3351
$GC,14233,-0.68,-117.3,915.2,-6.3,376,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2409,3351
$GC,14536,-0.68,-117.3,933.7,-6.1,381,14537,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2409,3351
$GC,14839,-0.68,-117.3,952.2,-6.1,386,14843,0.00,2.42,0.00,0.000,4,0.000,0.076,3093,985,3351
$GC,14879,-0.68,-117.3,954.6,-6.8,386,14883,0.00,2.33,0.00,0.000,6,0.000,0.068,3093,2401,3351
$GC,15199,-0.68,-117.3,973.6,-5.9,392,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3351
$STATE,15500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15500,begin apogee
$GC,15506,-0.22,0.0,991.1,5.8,397,15612,0.50,0.00,103.22,1.495,6,0.146,0.000,3245,2194,2876
$STATE,15613,end apogee,CONTROL_FINISHED_OK
$STATE,15613,begin climb
$GC,15615,0.67,117.3,992.8,0.0,398,15732,0.90,2.75,108.75,1.441,4,0.093,0.079,3535,3606,2396
$GC,15778,0.18,117.3,991.5,8.1,401,15783,0.70,2.53,0.00,0.000,6,0.203,0.064,3378,2199,2394
$GC,16110,0.29,138.0,976.3,4.4,407,16131,0.00,0.00,19.12,1.379,6,0.000,0.000,3378,2198,2313
$GC,16413,0.39,138.0,961.1,5.1,412,16415,0.20,0.00,0.00,0.000,6,0.084,0.000,3450,2199,2312
$GC,16716,0.28,138.0,940.4,6.9,417,16718,0.15,0.00,0.00,0.000,6,0.168,0.000,3413,2199,2311
$GC,17019,0.28,138.0,922.5,5.9,422,17020,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2199,2311
$GC,17322,0.28,138.0,907.0,5.1,427,17323,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2199,2310
$GC,17625,0.31,162.4,893.8,4.3,432,17649,0.00,0.00,22.33,1.402,6,0.000,0.000,3413,2199,2213
$GC,17929,0.33,180.2,880.3,4.5,437,17947,0.00,0.00,16.80,1.360,6,0.000,0.000,3413,2198,2141
$GC,18232,0.40,200.7,866.9,4.4,442,18257,0.10,2.53,19.38,1.360,4,0.098,0.084,3451,3610,2057
$GC,18298,0.29,200.7,862.8,6.6,443,18303,0.15,2.42,0.00,0.000,6,0.176,0.066,3414,2189,2054
$GC,18663,0.36,204.4,844.8,4.9,449,18670,0.00,0.00,4.62,0.984,6,0.000,0.000,3414,2189,2042
$GC,18966,0.44,204.4,829.2,5.2,454,18968,0.15,0.00,0.00,0.000,6,0.091,0.000,3471,2189,2041
$GC,19269,0.36,204.4,807.4,7.3,459,19274,0.15,2.47,0.00,0.000,4,0.152,0.081,3425,3618,2041
$GC,19301,0.36,204.4,804.9,7.7,459,19305,0.00,2.38,0.00,0.000,6,0.000,0.065,3425,2193,2041
$GC,19634,0.41,204.4,785.1,6.0,465,19635,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2193,2041
$GC,19937,0.46,204.4,766.9,5.9,470,19939,0.12,0.00,0.00,0.000,6,0.097,0.000,3473,2193,2041
$GC,20240,0.39,204.4,742.9,8.1,475,20245,0.12,2.42,0.00,0.000,4,0.153,0.081,3441,3607,2040
$GC,20267,0.33,204.4,740.6,7.8,475,20271,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2200,2040
$GC,20605,0.33,204.4,715.3,7.5,481,20606,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2041
$GC,20907,0.33,204.4,691.7,7.8,486,20911,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,790,2040
$GC,20940,0.33,204.4,689.1,7.6,486,20944,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2198,2040
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$STATE,31433,end climb,SURFACE_DEPTH_REACHED
$STATE,31433,begin surface coast
$FINISH,1.1,1.014534
$STATE,31743,end surface coast,CONTROL_FINISHED_OK
$STATE,31743,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2103
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$TCM_TEMP,15.00
$XPDR_PINGS,1012
$24V_AH,22.2,42.231
$10V_AH,10.6,27.481
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$DEVICE_SECS,29.475,208.850,341.375,35.600,0.000,30.166,28.135,149.181,253.000,0.000,0.000,15.499,1802.552,26878.289,576.357,2347.993,510.979,33.386,1713.554,0.000,2322.861,0.000,0.465
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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,50694,849
$CAP_FILE_SIZE,181892,0
$CFSIZE,260165632,242597888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,141108,015326,4954.292,-14430.740,36,1.7,36,18.5