version: 66.03
glider: 120
mission: 9
dive: 261
start: 12 4 108 14 56 45
data:
$ID,120
$MISSION,9
$DIVE,261
$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,-23117.344
$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,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
$GPS1,145007,5015.375,-14511.522,42,1.1,42,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-77.1
$GPS2,145550,5015.365,-14511.586,11,1.1,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,-0.176
$KALMAN_X,36663.9,-57.8,-364.2,-62220.4,1140.2
$KALMAN_Y,198113.2,54.4,246.7,-180245.0,1249.9
$MHEAD_RNG_PITCHd_Wd,171.3,39550,-11.9,-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,22,-0.66,-117.3,0.0,0.0,0,35,0.00,0.00,-11.68,0.000,2,0.000,0.000,136,2412,1934
$GC,38,-0.66,-117.3,3.0,-0.0,1,119,14.30,2.58,-55.55,0.000,4,0.293,0.095,3094,3818,3356
$GC,135,-0.41,-117.3,8.3,-11.5,10,142,0.30,2.35,0.00,0.000,6,0.172,0.054,3176,2399,3357
$GC,463,-0.41,-117.3,32.3,-7.2,41,467,0.00,2.38,0.00,0.000,4,0.000,0.069,3177,991,3358
$GC,496,-0.46,-117.3,35.2,-8.5,43,502,0.00,2.33,0.00,0.000,6,0.000,0.061,3177,2401,3358
$GC,824,-0.51,-117.3,57.6,-6.7,74,829,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2401,3358
$GC,1149,-0.60,-117.3,80.0,-6.1,105,1154,0.15,2.40,0.00,0.000,4,0.083,0.066,3118,991,3359
$GC,1193,-0.60,-117.3,83.4,-7.8,107,1197,0.00,2.35,0.00,0.000,6,0.000,0.059,3117,2412,3359
$GC,1521,-0.78,-117.3,108.7,-8.2,123,1525,0.15,2.40,0.00,0.000,4,0.087,0.067,3057,988,3360
$GC,1718,-0.53,-117.3,131.1,-11.4,132,1722,0.30,2.33,0.00,0.000,6,0.160,0.063,3142,2405,3360
$GC,2033,-0.53,-117.3,153.9,-7.4,147,2037,0.00,2.38,0.00,0.000,4,0.000,0.079,3141,3812,3360
$GC,2139,-0.60,-117.3,160.9,-6.6,150,2144,0.00,2.30,0.00,0.000,6,0.000,0.054,3141,2390,3360
$GC,2463,-0.83,-117.3,180.7,-6.1,161,2468,0.25,2.45,0.00,0.000,4,0.087,0.077,3045,3807,3360
$GC,2605,-0.61,-117.3,192.8,-9.7,165,2610,0.28,2.30,0.00,0.000,6,0.161,0.055,3121,2397,3360
$GC,2928,-0.61,-117.3,213.6,-6.4,176,2932,0.00,2.33,0.00,0.000,4,0.000,0.070,3121,993,3360
$GC,2966,-0.61,-117.3,216.2,-6.6,177,2970,0.00,2.33,0.00,0.000,6,0.000,0.062,3121,2404,3360
$GC,3301,-0.61,-117.3,236.5,-6.1,188,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2404,3360
$GC,3607,-0.61,-117.3,254.5,-5.8,198,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2404,3360
$GC,3913,-0.61,-117.3,272.7,-6.0,208,3917,0.00,2.38,0.00,0.000,4,0.000,0.071,3121,989,3359
$GC,3935,-0.61,-117.3,274.1,-6.1,208,3939,0.00,2.30,0.00,0.000,6,0.000,0.063,3121,2399,3359
$GC,4253,-0.61,-117.3,294.2,-6.7,219,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2399,3359
$GC,4587,-0.61,-117.3,317.5,-7.0,226,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2399,3359
$GC,4890,-0.61,-117.3,338.9,-7.1,231,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2399,3359
$GC,5194,-0.61,-117.3,359.1,-6.6,236,5198,0.00,2.38,0.00,0.000,4,0.000,0.072,3121,991,3358
$GC,5233,-0.61,-117.3,361.9,-7.0,236,5238,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2398,3358
$GC,5554,-0.61,-117.3,381.4,-6.0,242,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3358
$GC,5857,-0.61,-117.3,398.4,-5.7,247,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3358
$GC,6160,-0.65,-117.3,415.4,-5.6,252,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3358
$GC,6464,-0.69,-117.3,431.8,-5.5,257,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3358
$GC,6766,-0.74,-117.3,449.1,-5.7,262,6771,0.12,2.40,0.00,0.000,4,0.089,0.071,3073,994,3357
$GC,6793,-0.69,-117.3,451.0,-7.6,262,6797,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2411,3357
$GC,7126,-0.59,-117.3,474.5,-7.0,268,7128,0.20,0.00,0.00,0.000,6,0.160,0.000,3127,2411,3357
$GC,7429,-0.66,-117.3,489.4,-4.9,273,7433,0.00,2.38,0.00,0.000,4,0.000,0.072,3128,991,3357
$GC,7456,-0.74,-117.3,490.9,-5.6,273,7460,0.15,2.30,0.00,0.000,6,0.087,0.064,3074,2400,3356
$GC,7787,-0.74,-117.3,511.6,-6.4,279,7791,0.00,2.35,0.00,0.000,4,0.000,0.082,3074,3809,3356
$GC,7836,-0.67,-117.3,515.1,-7.6,279,7840,0.00,2.28,0.00,0.000,6,0.000,0.057,3074,2400,3356
$GC,8146,-0.63,-117.3,535.0,-6.4,284,8148,0.15,0.00,0.00,0.000,6,0.127,0.000,3116,2398,3356
$GC,8449,-0.67,-117.3,550.7,-5.1,289,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2398,3356
$GC,8753,-0.72,-117.3,565.4,-4.9,294,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2397,3356
$GC,9055,-0.78,-117.3,580.8,-5.2,299,9057,0.15,0.00,0.00,0.000,6,0.084,0.000,3059,2398,3356
$GC,9358,-0.71,-117.3,602.0,-7.1,304,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3356
$GC,9661,-0.64,-117.3,624.6,-7.4,309,9666,0.15,2.53,0.00,0.000,4,0.120,0.081,3100,3815,3356
$GC,9694,-0.64,-117.3,627.0,-7.3,309,9698,0.00,2.33,0.00,0.000,6,0.000,0.057,3099,2402,3356
$GC,10019,-0.64,-117.3,648.1,-6.5,315,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,10323,-0.64,-117.3,668.1,-6.6,320,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,10626,-0.64,-117.3,687.8,-6.5,325,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,10929,-0.64,-117.3,707.2,-6.3,330,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,11232,-0.64,-117.3,725.3,-5.9,335,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,11535,-0.64,-117.3,742.4,-5.6,340,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,11838,-0.64,-117.3,757.7,-5.0,345,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,12141,-0.64,-117.3,772.1,-4.8,350,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3354
$GC,12445,-0.64,-117.3,787.1,-5.0,355,12449,0.00,2.47,0.00,0.000,4,0.000,0.085,3099,3811,3354
$GC,12473,-0.68,-117.3,788.6,-5.6,355,12477,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2396,3354
$GC,12811,-0.87,-117.3,810.4,-6.8,361,12816,0.15,2.45,0.00,0.000,4,0.100,0.082,3039,3809,3354
$GC,12969,-0.76,-117.3,823.5,-8.7,363,12974,0.12,2.33,0.00,0.000,6,0.129,0.059,3071,2392,3354
$GC,13306,-0.70,-117.3,850.1,-7.9,369,13310,0.00,2.45,0.00,0.000,4,0.000,0.084,3071,3814,3354
$GC,13339,-0.64,-117.3,852.8,-8.0,369,13343,0.12,2.33,0.00,0.000,6,0.164,0.059,3103,2393,3354
$GC,13665,-0.69,-117.3,875.5,-7.0,375,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2393,3354
$GC,13968,-0.73,-117.3,897.4,-7.2,380,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2393,3354
$GC,14271,-0.78,-117.3,918.2,-6.8,385,14273,0.12,0.00,0.00,0.000,6,0.091,0.000,3057,2393,3353
$GC,14574,-0.78,-117.3,940.3,-7.3,390,14578,0.00,2.45,0.00,0.000,4,0.000,0.084,3057,3809,3353
$GC,14606,-0.70,-117.3,942.8,-8.5,390,14611,0.12,2.33,0.00,0.000,6,0.120,0.059,3090,2395,3353
$GC,14932,-0.70,-117.3,963.2,-6.1,396,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2395,3353
$GC,15235,-0.70,-117.3,980.4,-5.7,401,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2395,3353
$STATE,15415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15415,begin apogee
$GC,15421,-0.22,0.0,990.5,5.5,404,15530,0.50,0.00,105.55,1.493,6,0.146,0.000,3241,2191,2876
$STATE,15530,end apogee,CONTROL_FINISHED_OK
$STATE,15530,begin climb
$GC,15533,0.66,117.3,992.3,0.0,405,15650,0.88,2.67,110.12,1.434,4,0.088,0.078,3533,793,2395
$GC,15683,0.29,117.3,992.2,6.5,406,15689,0.47,2.50,0.00,0.000,6,0.183,0.062,3415,2200,2394
$GC,16015,0.29,117.3,975.2,5.1,412,16019,0.00,2.40,0.00,0.000,4,0.000,0.081,3415,3611,2392
$GC,16058,0.20,117.3,972.7,6.0,412,16063,0.15,2.38,0.00,0.000,6,0.178,0.064,3386,2189,2392
$GC,16374,0.29,134.7,958.7,4.5,418,16392,0.00,0.00,16.17,1.376,6,0.000,0.000,3386,2189,2326
$GC,16677,0.38,135.9,943.8,5.0,423,16682,0.15,2.47,0.00,0.000,4,0.086,0.081,3449,3615,2326
$GC,16726,0.20,135.9,940.4,7.8,423,16731,0.25,2.38,0.00,0.000,6,0.174,0.065,3384,2194,2325
$GC,17037,0.30,143.2,925.3,4.8,428,17051,0.00,2.42,8.85,1.275,4,0.000,0.081,3385,793,2292
$GC,17085,0.44,146.0,922.8,4.9,428,17096,0.22,2.33,4.65,0.998,6,0.084,0.063,3465,2208,2280
$GC,17400,0.32,146.0,901.1,7.0,433,17402,0.15,0.00,0.00,0.000,6,0.151,0.000,3425,2209,2279
$GC,17703,0.32,146.0,884.0,5.6,438,17704,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2209,2279
$GC,18006,0.33,149.1,868.9,4.9,443,18012,0.00,0.00,4.30,0.957,6,0.000,0.000,3425,2209,2268
$GC,18309,0.34,158.2,854.6,4.7,448,18321,0.00,0.00,9.75,1.276,6,0.000,0.000,3425,2209,2230
$GC,18612,0.34,158.2,838.7,5.3,453,18616,0.00,2.45,0.00,0.000,4,0.000,0.079,3428,782,2230
$GC,18651,0.34,158.2,836.4,5.8,453,18655,0.00,2.35,0.00,0.000,6,0.000,0.063,3428,2214,2230
$GC,18971,0.34,158.2,817.8,5.9,459,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2215,2230
$GC,19274,0.34,158.2,799.3,6.2,464,19278,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,784,2230
$GC,19311,0.34,158.2,796.8,6.1,464,19316,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2202,2230
$GC,19638,0.34,158.2,776.1,6.4,470,19642,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,791,2230
$GC,19665,0.34,158.2,774.2,6.4,470,19669,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2207,2230
$GC,20003,0.34,158.2,753.2,6.3,476,20004,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2230
$GC,20306,0.34,158.2,735.0,6.0,481,20310,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,785,2230
$GC,20369,0.34,158.2,731.2,6.0,482,20373,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2210,2230
$GC,20734,0.34,158.2,707.6,6.5,488,20735,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2230
$GC,21037,0.34,158.2,687.3,6.7,493,21038,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2230
$GC,21340,0.34,158.2,668.0,6.3,498,21344,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,780,2230
$GC,21394,0.34,158.2,664.5,6.6,498,21401,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2202,2230
$GC,21705,0.34,158.2,646.3,5.9,504,21706,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2229
$GC,22007,0.34,158.2,629.1,5.6,509,22011,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,792,2230
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$STATE,33182,end climb,SURFACE_DEPTH_REACHED
$STATE,33182,begin surface coast
$FINISH,1.9,1.008937
$STATE,33301,end surface coast,CONTROL_FINISHED_OK
$STATE,33301,begin surface
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$HUMID,2084
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$XPDR_PINGS,1053
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$10V_AH,10.6,34.856
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$DEVICE_SECS,30.650,204.375,348.525,37.800,0.000,29.255,30.542,159.875,263.250,0.000,0.000,16.236,1885.878,28193.994,557.624,2476.349,580.373,33.386,1767.824,0.000,2443.253,0.000,0.465
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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,50699,887
$CAP_FILE_SIZE,190775,0
$CFSIZE,260165632,238313472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,001402,5012.988,-14511.412,42,1.7,42,18.5