version: 66.03
glider: 120
mission: 9
dive: 231
start: 11 23 108 3 47 23
data:
$ID,120
$MISSION,9
$DIVE,231
$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,-22506.115
$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,18
$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
$GPS1,034108,5000.208,-14500.553,62,1.6,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-70.0
$GPS2,034627,5000.167,-14500.520,16,1.9,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,0.116
$KALMAN_X,42499.6,-191.1,-256.6,-54879.5,-369.0
$KALMAN_Y,179577.5,-337.3,-6.7,-189192.6,1292.9
$MHEAD_RNG_PITCHd_Wd,30.7,17767,-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,-117.3,0.0,0.0,0,55,0.00,0.00,-32.08,0.000,2,0.000,0.000,141,2412,2433
$GC,58,-0.67,-117.3,3.5,-4.4,3,102,14.12,2.45,-23.62,0.000,4,0.288,0.081,3094,982,3356
$GC,238,-0.43,-117.3,25.5,-13.2,19,243,0.30,2.35,0.00,0.000,6,0.162,0.064,3177,2404,3358
$GC,564,-0.43,-117.3,47.5,-7.3,49,565,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2404,3359
$GC,881,-0.51,-117.3,68.7,-6.2,79,885,0.00,2.40,0.00,0.000,4,0.000,0.067,3178,988,3360
$GC,955,-0.59,-117.3,73.5,-7.0,85,960,0.15,2.35,0.00,0.000,6,0.081,0.061,3122,2402,3360
$GC,1273,-0.59,-117.3,96.2,-6.9,104,1277,0.00,2.38,0.00,0.000,4,0.000,0.067,3122,980,3360
$GC,1299,-0.52,-117.3,98.2,-7.4,105,1303,0.00,2.33,0.00,0.000,6,0.000,0.061,3122,2405,3360
$GC,1621,-0.46,-117.3,123.4,-8.4,121,1626,0.17,2.35,0.00,0.000,4,0.157,0.077,3169,3819,3361
$GC,1693,-0.59,-117.3,128.6,-7.1,124,1698,0.12,2.30,0.00,0.000,6,0.087,0.054,3121,2392,3361
$GC,2029,-0.78,-117.3,155.9,-8.2,139,2033,0.15,2.42,0.00,0.000,4,0.099,0.077,3059,3818,3361
$GC,2106,-0.56,-117.3,163.5,-10.1,141,2111,0.25,2.30,0.00,0.000,6,0.156,0.055,3129,2397,3361
$GC,2424,-0.56,-117.3,184.8,-6.0,152,2428,0.00,2.35,0.00,0.000,4,0.000,0.071,3129,992,3361
$GC,2456,-0.56,-117.3,186.8,-6.2,153,2460,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2397,3360
$GC,2792,-0.56,-117.3,205.5,-5.7,164,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3361
$GC,3098,-0.56,-117.3,224.6,-6.5,174,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3360
$GC,3404,-0.56,-117.3,244.9,-6.6,184,3408,0.00,2.38,0.00,0.000,4,0.000,0.071,3128,994,3360
$GC,3436,-0.56,-117.3,247.2,-6.8,185,3440,0.00,2.35,0.00,0.000,6,0.000,0.064,3128,2403,3360
$GC,3772,-0.56,-117.3,268.0,-5.9,196,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3360
$GC,4077,-0.56,-117.3,285.5,-5.7,206,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3359
$GC,4414,-0.56,-117.3,304.9,-5.7,216,4418,0.00,2.40,0.00,0.000,4,0.000,0.071,3128,991,3359
$GC,4454,-0.60,-117.3,307.2,-5.7,216,4458,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2401,3359
$GC,4774,-0.65,-117.3,324.5,-5.4,222,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2400,3359
$GC,5077,-0.70,-117.3,341.6,-5.7,227,5079,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2401,3358
$GC,5380,-0.65,-117.3,361.8,-6.7,232,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2401,3358
$GC,5684,-0.61,-117.3,381.0,-6.3,237,5686,0.15,0.00,0.00,0.000,6,0.117,0.000,3120,2401,3358
$GC,5986,-0.61,-117.3,397.7,-5.5,242,5990,0.00,2.40,0.00,0.000,4,0.000,0.073,3121,991,3358
$GC,6040,-0.61,-117.3,401.1,-6.8,242,6047,0.00,2.33,0.00,0.000,6,0.000,0.065,3121,2395,3358
$GC,6351,-0.65,-117.3,419.4,-6.0,248,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3358
$GC,6654,-0.69,-117.3,438.1,-6.2,253,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2395,3358
$GC,6956,-0.73,-117.3,455.8,-5.8,258,6961,0.12,2.38,0.00,0.000,4,0.088,0.072,3072,990,3357
$GC,6994,-0.65,-117.3,458.6,-8.0,258,6999,0.12,2.30,0.00,0.000,6,0.166,0.065,3103,2399,3357
$GC,7315,-0.65,-117.3,479.0,-6.3,264,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2399,3357
$GC,7617,-0.65,-117.3,498.6,-6.5,269,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2399,3357
$GC,7921,-0.65,-117.3,518.0,-6.4,274,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2399,3357
$GC,8224,-0.65,-117.3,536.9,-6.2,279,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2399,3357
$GC,8527,-0.65,-117.3,557.1,-6.8,284,8531,0.00,2.40,0.00,0.000,4,0.000,0.072,3103,994,3356
$GC,8565,-0.65,-117.3,560.1,-7.4,284,8569,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2402,3356
$GC,8891,-0.65,-117.3,584.0,-7.4,290,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9195,-0.65,-117.3,606.7,-7.5,295,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,9497,-0.65,-117.3,629.1,-7.3,300,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9800,-0.65,-117.3,650.1,-7.0,305,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,10104,-0.65,-117.3,670.2,-6.6,310,10108,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,995,3355
$GC,10143,-0.65,-117.3,672.9,-6.6,310,10147,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2412,3355
$GC,10469,-0.65,-117.3,692.3,-5.8,316,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,10772,-0.65,-117.3,709.2,-5.6,321,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,11075,-0.65,-117.3,725.5,-5.4,326,11079,0.00,2.42,0.00,0.000,4,0.000,0.074,3100,991,3355
$GC,11124,-0.65,-117.3,728.4,-5.8,326,11129,0.00,2.35,0.00,0.000,6,0.000,0.067,3100,2421,3355
$GC,11440,-0.65,-117.3,745.8,-5.6,332,11444,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,992,3355
$GC,11466,-0.65,-117.3,747.6,-6.1,332,11470,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2396,3355
$GC,11804,-0.65,-117.3,767.8,-5.9,338,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3355
$GC,12107,-0.65,-117.3,786.2,-6.1,343,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3355
$GC,12410,-0.65,-117.3,804.7,-6.1,348,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,12713,-0.65,-117.3,822.9,-6.0,353,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,13017,-0.65,-117.3,841.8,-6.2,358,13021,0.00,2.38,0.00,0.000,4,0.000,0.075,3100,994,3354
$GC,13049,-0.65,-117.3,844.0,-6.4,358,13053,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2391,3354
$GC,13381,-0.65,-117.3,863.8,-5.9,364,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3354
$GC,13684,-0.65,-117.3,881.3,-5.8,369,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3354
$GC,13987,-0.65,-117.3,898.6,-5.8,374,13991,0.00,2.33,0.00,0.000,4,0.000,0.076,3100,994,3353
$GC,14031,-0.70,-117.3,901.2,-6.1,374,14035,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2410,3353
$GC,14345,-0.70,-117.3,918.5,-5.5,380,14349,0.00,2.35,0.00,0.000,4,0.000,0.085,3100,3809,3353
$GC,14371,-0.74,-117.3,920.0,-6.1,380,14375,0.00,2.30,0.00,0.000,6,0.000,0.060,3100,2394,3353
$GC,14710,-0.78,-117.3,938.0,-5.3,386,14711,0.10,0.00,0.00,0.000,6,0.102,0.000,3061,2393,3353
$GC,15012,-0.78,-117.3,955.7,-5.8,391,15013,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2394,3353
$GC,15315,-0.78,-117.3,973.3,-5.8,396,15319,0.00,2.38,0.00,0.000,4,0.000,0.077,3061,987,3353
$GC,15355,-0.78,-117.3,975.7,-6.3,396,15359,0.00,2.33,0.00,0.000,6,0.000,0.067,3061,2405,3353
$STATE,15612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15612,begin apogee
$GC,15618,-0.22,0.0,992.2,6.3,401,15726,0.62,0.00,105.00,1.499,6,0.152,0.000,3246,2193,2876
$STATE,15727,end apogee,CONTROL_FINISHED_OK
$STATE,15727,begin climb
$GC,15729,0.67,117.3,993.7,0.0,402,15846,0.85,2.67,109.43,1.447,4,0.094,0.079,3533,790,2396
$GC,15890,0.30,117.3,992.3,7.3,403,15895,0.45,2.50,0.00,0.000,6,0.181,0.064,3420,2198,2394
$GC,16211,0.26,117.3,975.0,5.4,409,16215,0.00,2.42,0.00,0.000,4,0.000,0.082,3420,3615,2392
$GC,16254,0.15,117.3,972.5,5.3,409,16259,0.20,2.38,0.00,0.000,6,0.176,0.065,3372,2196,2392
$GC,16570,0.31,160.7,960.3,3.8,415,16611,0.15,0.00,38.78,1.439,6,0.087,0.000,3426,2196,2220
$GC,16872,0.31,160.7,944.4,5.4,420,16876,0.00,2.47,0.00,0.000,4,0.000,0.084,3426,3618,2217
$GC,16921,0.26,160.7,941.2,6.3,420,16926,0.12,2.38,0.00,0.000,6,0.160,0.065,3404,2191,2216
$GC,17231,0.32,160.7,925.0,5.2,425,17232,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2191,2216
$GC,17534,0.39,160.7,909.3,5.2,430,17539,0.12,2.50,0.00,0.000,4,0.091,0.083,3451,3619,2216
$GC,17583,0.24,160.7,905.7,7.3,430,17588,0.20,2.38,0.00,0.000,6,0.172,0.065,3399,2199,2216
$GC,17893,0.33,160.7,889.2,5.3,435,17898,0.00,2.45,0.00,0.000,4,0.000,0.081,3399,3611,2215
$GC,17920,0.33,160.7,887.4,5.5,435,17924,0.00,2.35,0.00,0.000,6,0.000,0.064,3408,2192,2215
$GC,18258,0.39,160.7,866.7,6.2,441,18260,0.10,0.00,0.00,0.000,6,0.101,0.000,3447,2192,2215
$GC,18562,0.34,160.7,843.8,7.7,446,18566,0.00,2.45,0.00,0.000,4,0.000,0.083,3448,3622,2216
$GC,18606,0.22,160.7,839.9,8.7,446,18611,0.22,2.35,0.00,0.000,6,0.169,0.066,3389,2199,2215
$GC,18921,0.34,160.7,821.4,5.8,452,18922,0.12,0.00,0.00,0.000,6,0.091,0.000,3435,2199,2216
$GC,19223,0.34,160.7,802.2,6.4,457,19227,0.00,2.47,0.00,0.000,4,0.000,0.084,3435,3619,2215
$GC,19255,0.27,160.7,799.9,7.4,457,19260,0.00,2.38,0.00,0.000,6,0.000,0.065,3435,2190,2215
$GC,19581,0.27,160.7,778.4,6.5,463,19585,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,3617,2215
$GC,19619,0.18,160.7,775.6,7.3,463,19624,0.22,2.35,0.00,0.000,6,0.171,0.066,3377,2192,2215
$GC,19940,0.37,186.7,761.5,4.3,469,19966,0.17,0.00,23.12,1.332,6,0.088,0.000,3439,2192,2113
$GC,20243,0.42,186.7,745.1,5.5,474,20248,0.00,2.50,0.00,0.000,4,0.000,0.083,3439,3622,2111
$GC,20287,0.36,186.7,742.1,7.0,474,20292,0.00,2.38,0.00,0.000,6,0.000,0.064,3448,2200,2111
$GC,20603,0.36,186.7,722.5,6.2,480,20604,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2200,2111
$GC,20905,0.36,186.7,703.7,6.2,485,20906,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2200,2111
$GC,21208,0.36,186.7,684.5,6.3,490,21210,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2200,2111
$GC,21512,0.36,186.7,665.7,6.2,495,21513,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2200,2111
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$STATE,31636,end climb,SURFACE_DEPTH_REACHED
$STATE,31636,begin surface coast
$FINISH,1.3,1.016710
$STATE,31698,end surface coast,CONTROL_FINISHED_OK
$STATE,31698,begin surface
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$HUMID,2107
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$10V_AH,10.6,30.814
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$DEVICE_SECS,31.225,196.000,400.375,0.000,0.000,23.735,31.014,147.424,241.000,0.000,0.000,16.356,1763.483,27001.838,545.788,2258.687,521.032,33.377,1660.406,0.000,2232.351,0.000,0.465
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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,47492,836
$CAP_FILE_SIZE,178725,0
$CFSIZE,260165632,240660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,231108,123808,5002.722,-14456.880,33,1.6,33,18.5