version: 66.03
glider: 120
mission: 9
dive: 507
start: 3 7 109 17 5 46
data:
$ID,120
$MISSION,9
$DIVE,507
$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,275
$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,-28681.012
$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
$GPS1,165836,5018.509,-14511.467,40,1.3,40,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-74.1
$GPS2,170450,5018.517,-14511.523,11,1.3,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.032,-0.175
$KALMAN_X,-26212.4,-316.1,-29.5,30079.7,1221.0
$KALMAN_Y,94546.7,435.2,-95.3,-67055.0,1771.4
$MHEAD_RNG_PITCHd_Wd,172.0,45386,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-11.07,0.000,2,0.000,0.000,142,2413,1991
$GC,42,-0.67,-117.3,3.5,-0.0,1,118,13.93,2.40,-54.62,0.000,4,0.281,0.094,3084,3811,3355
$GC,270,-0.48,-117.3,22.8,-9.8,21,277,0.28,2.30,0.00,0.000,6,0.153,0.055,3161,2383,3355
$GC,599,-0.53,-117.3,43.3,-5.5,52,605,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2383,3356
$GC,926,-0.58,-117.3,62.6,-6.8,83,930,0.00,2.33,0.00,0.000,4,0.000,0.071,3161,994,3356
$GC,968,-0.63,-117.3,66.0,-8.8,86,973,0.15,2.33,0.00,0.000,6,0.077,0.062,3107,2409,3357
$GC,1303,-0.57,-117.3,90.3,-6.7,110,1307,0.00,2.35,0.00,0.000,4,0.000,0.080,3103,3809,3356
$GC,1330,-0.48,-117.3,92.5,-7.6,111,1335,0.20,2.25,0.00,0.000,6,0.122,0.054,3160,2398,3357
$GC,1648,-0.53,-117.3,111.4,-6.1,126,1652,0.00,2.33,0.00,0.000,4,0.000,0.069,3161,998,3357
$GC,1681,-0.60,-117.3,113.6,-6.4,127,1688,0.12,2.30,0.00,0.000,6,0.081,0.061,3114,2408,3357
$GC,1998,-0.60,-117.3,135.8,-6.6,143,2002,0.00,2.38,0.00,0.000,4,0.000,0.069,3114,988,3356
$GC,2065,-0.60,-117.3,140.7,-7.7,146,2069,0.00,2.33,0.00,0.000,6,0.000,0.061,3114,2402,3356
$GC,2385,-0.60,-117.3,163.9,-7.5,159,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3357
$GC,2691,-0.60,-117.3,184.7,-6.5,169,2695,0.00,2.38,0.00,0.000,4,0.000,0.081,3113,3811,3357
$GC,2737,-0.60,-117.3,188.0,-7.5,170,2741,0.00,2.25,0.00,0.000,6,0.000,0.054,3113,2398,3357
$GC,3061,-0.60,-117.3,207.7,-6.0,181,3065,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,988,3357
$GC,3100,-0.66,-117.3,210.4,-6.5,182,3104,0.00,2.33,0.00,0.000,6,0.000,0.061,3113,2400,3356
$GC,3425,-0.66,-117.3,229.1,-5.6,193,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,3730,-0.70,-117.3,245.9,-5.6,203,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3357
$GC,4037,-0.74,-117.3,263.5,-5.8,213,4041,0.12,2.38,0.00,0.000,4,0.091,0.070,3067,996,3357
$GC,4067,-0.69,-117.3,265.6,-8.5,214,4071,0.00,2.33,0.00,0.000,6,0.000,0.063,3066,2400,3357
$GC,4404,-0.60,-117.3,292.1,-8.1,225,4408,0.15,2.40,0.00,0.000,4,0.146,0.081,3113,3820,3357
$GC,4433,-0.60,-117.3,294.3,-7.4,226,4437,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2395,3357
$GC,4767,-0.65,-117.3,316.5,-6.7,233,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,5069,-0.65,-117.3,336.3,-6.5,238,5073,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,988,3356
$GC,5097,-0.65,-117.3,338.1,-6.8,238,5101,0.00,2.33,0.00,0.000,6,0.000,0.062,3113,2401,3356
$GC,5429,-0.65,-117.3,356.8,-5.6,244,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,5732,-0.65,-117.3,374.0,-5.7,249,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3356
$GC,6037,-0.69,-117.3,392.6,-6.3,254,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3356
$GC,6339,-0.73,-117.3,411.8,-6.4,259,6343,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,995,3357
$GC,6367,-0.79,-117.3,413.9,-6.7,259,6372,0.15,2.33,0.00,0.000,6,0.083,0.063,3058,2405,3356
$GC,6700,-0.74,-117.3,437.9,-7.3,265,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2405,3356
$GC,7002,-0.69,-117.3,458.8,-6.8,270,7007,0.12,2.40,0.00,0.000,4,0.103,0.071,3095,988,3356
$GC,7035,-0.69,-117.3,461.0,-6.7,270,7040,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2405,3356
$GC,7362,-0.69,-117.3,480.1,-5.8,276,7366,0.00,2.38,0.00,0.000,4,0.000,0.071,3095,992,3356
$GC,7391,-0.69,-117.3,481.9,-6.8,276,7395,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2410,3356
$GC,7723,-0.69,-117.3,501.2,-5.8,282,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2410,3356
$GC,8026,-0.69,-117.3,517.8,-5.5,287,8030,0.00,2.40,0.00,0.000,4,0.000,0.071,3094,985,3355
$GC,8070,-0.69,-117.3,520.5,-5.6,287,8074,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2403,3355
$GC,8386,-0.69,-117.3,536.5,-5.1,293,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3355
$GC,8688,-0.69,-117.3,552.7,-5.4,298,8692,0.00,2.40,0.00,0.000,4,0.000,0.071,3094,986,3355
$GC,8710,-0.69,-117.3,554.1,-5.8,298,8714,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2404,3355
$GC,9048,-0.69,-117.3,574.4,-6.1,304,9052,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,995,3355
$GC,9076,-0.69,-117.3,576.3,-7.3,304,9080,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2410,3355
$GC,9408,-0.69,-117.3,596.7,-6.1,310,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3355
$GC,9711,-0.69,-117.3,615.8,-6.3,315,9715,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,989,3355
$GC,9739,-0.69,-117.3,617.7,-6.7,315,9743,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2404,3355
$GC,10072,-0.69,-117.3,637.9,-6.0,321,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3355
$GC,10374,-0.69,-117.3,656.2,-6.0,326,10378,0.00,2.38,0.00,0.000,4,0.000,0.084,3094,3806,3355
$GC,10414,-0.74,-117.3,658.6,-6.5,326,10418,0.00,2.25,0.00,0.000,6,0.000,0.057,3094,2401,3355
$GC,10735,-0.74,-117.3,676.4,-5.5,332,10739,0.00,2.35,0.00,0.000,4,0.000,0.073,3094,994,3355
$GC,10780,-0.74,-117.3,679.1,-6.2,332,10784,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2413,3355
$GC,11095,-0.74,-117.3,696.8,-5.5,338,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2413,3355
$GC,11398,-0.74,-117.3,712.6,-5.2,343,11402,0.00,2.40,0.00,0.000,4,0.000,0.073,3094,994,3355
$GC,11431,-0.74,-117.3,714.4,-5.8,343,11435,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2409,3354
$GC,11758,-0.74,-117.3,731.5,-5.2,349,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2409,3354
$GC,12060,-0.74,-117.3,748.3,-5.6,354,12064,0.00,2.40,0.00,0.000,4,0.000,0.073,3095,993,3354
$GC,12105,-0.78,-117.3,751.2,-6.0,354,12110,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2410,3354
$GC,12422,-0.78,-117.3,769.9,-5.9,360,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2409,3354
$GC,12725,-0.83,-117.3,787.6,-5.9,365,12729,0.15,2.40,0.00,0.000,4,0.084,0.072,3031,994,3353
$GC,12758,-0.70,-117.3,790.3,-8.0,365,12763,0.22,2.35,0.00,0.000,6,0.154,0.064,3092,2408,3354
$GC,13085,-0.70,-117.3,809.7,-5.9,371,13086,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3353
$GC,13389,-0.74,-117.3,827.4,-5.8,376,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,13691,-0.74,-117.3,846.8,-6.5,381,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,13994,-0.74,-117.3,866.8,-6.7,386,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2407,3353
$GC,14297,-0.74,-117.3,886.7,-6.5,391,14298,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,14601,-0.78,-117.3,906.1,-6.4,396,14602,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2408,3354
$GC,14904,-0.82,-117.3,924.7,-6.1,401,14908,0.12,2.42,0.00,0.000,4,0.085,0.073,3044,994,3353
$GC,14943,-0.76,-117.3,927.4,-6.7,401,14947,0.00,2.35,0.00,0.000,6,0.000,0.066,3044,2401,3353
$GC,15264,-0.69,-117.3,949.5,-6.8,407,15266,0.17,0.00,0.00,0.000,6,0.144,0.000,3092,2400,3353
$GC,15569,-0.75,-117.3,964.4,-4.8,412,15572,0.00,2.40,0.00,0.000,4,0.000,0.074,3093,994,3353
$GC,15614,-0.81,-117.3,966.7,-4.8,412,15619,0.12,2.35,0.00,0.000,6,0.083,0.066,3049,2406,3352
$GC,15935,-0.81,-117.3,983.9,-5.3,418,15939,0.00,2.40,0.00,0.000,4,0.000,0.084,3047,3805,3352
$GC,15975,-0.75,-117.3,986.4,-6.5,418,15979,0.00,2.28,0.00,0.000,6,0.000,0.058,3047,2401,3352
$STATE,16050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16050,begin apogee
$GC,16058,-0.22,0.0,990.6,5.4,420,16173,0.65,0.00,109.03,1.486,6,0.132,0.000,3246,2187,2875
$STATE,16174,end apogee,CONTROL_FINISHED_OK
$STATE,16174,begin climb
$GC,16177,0.67,117.3,994.3,0.0,422,16296,0.90,0.00,115.45,1.430,6,0.092,0.000,3534,2187,2397
$GC,16598,0.34,117.3,972.8,7.8,429,16601,0.38,0.00,0.00,0.000,6,0.167,0.000,3429,2187,2393
$GC,16900,0.34,121.7,957.5,4.9,434,16907,0.00,0.00,4.93,1.026,6,0.000,0.000,3429,2187,2379
$GC,17203,0.35,131.0,943.1,4.7,439,17219,0.00,2.38,10.43,1.299,4,0.000,0.078,3438,793,2340
$GC,17282,0.36,138.1,939.3,4.8,440,17296,0.00,2.33,7.85,1.217,6,0.000,0.062,3438,2208,2312
$GC,17635,0.36,138.1,919.9,5.5,446,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2208,2311
$GC,17939,0.36,138.1,902.1,5.9,451,17940,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2207,2311
$GC,18241,0.36,138.1,883.7,6.1,456,18246,0.00,2.42,0.00,0.000,4,0.000,0.079,3439,788,2311
$GC,18298,0.36,138.1,880.0,6.3,456,18305,0.00,2.35,0.00,0.000,6,0.000,0.063,3439,2229,2311
$GC,18608,0.36,138.1,860.5,6.3,462,18609,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2229,2311
$GC,18911,0.36,138.1,840.6,6.5,467,18915,0.00,2.45,0.00,0.000,4,0.000,0.077,3447,790,2310
$GC,18956,0.36,138.1,837.5,6.4,467,18960,0.00,2.33,0.00,0.000,6,0.000,0.063,3447,2207,2310
$GC,19272,0.31,138.1,818.0,6.2,473,19273,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2207,2311
$GC,19575,0.26,138.1,801.7,5.3,478,19576,0.15,0.00,0.00,0.000,6,0.167,0.000,3407,2208,2310
$GC,19878,0.40,193.0,791.0,3.4,483,19931,0.12,0.00,49.97,1.361,6,0.087,0.000,3458,2208,2088
$GC,20181,0.40,193.0,774.2,5.7,488,20186,0.00,2.42,0.00,0.000,4,0.000,0.079,3462,793,2084
$GC,20244,0.40,193.0,770.5,6.0,489,20249,0.00,2.33,0.00,0.000,6,0.000,0.061,3462,2205,2084
$GC,20611,0.40,193.0,748.2,6.2,495,20615,0.00,2.42,0.00,0.000,4,0.000,0.079,3462,782,2082
$GC,20686,0.40,193.0,743.4,6.2,496,20690,0.00,2.33,0.00,0.000,6,0.000,0.061,3462,2206,2083
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$GC,27770,0.61,216.4,289.6,6.8,611,27775,0.20,2.33,0.00,0.000,6,0.080,0.059,3525,2214,1991
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$STATE,32353,end climb,SURFACE_DEPTH_REACHED
$STATE,32353,begin surface coast
$FINISH,2.7,1.022884
$STATE,32487,end surface coast,CONTROL_FINISHED_OK
$STATE,32487,begin surface
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$SM_GC,3.87,9.52,0.00,0.00,0.071,0.000,0.000,146,2403,1751,-9.85,0.11,275.96
$IRIDIUM_FIX,5003.11,-14508.49,010698,080817
$TT8_MAMPS,0.026845
$HUMID,2108
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$TCM_TEMP,15.40
$XPDR_PINGS,1028
$24V_AH,21.1,99.340
$10V_AH,10.4,68.247
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$DEVICE_SECS,29.250,254.600,374.825,0.000,0.000,30.450,23.816,171.902,257.000,0.000,0.000,11.875,1868.441,27205.207,595.160,2459.715,807.469,33.376,1817.449,0.000,2437.378,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,653.341,633.954,1444.713,875.981,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50654,850
$CAP_FILE_SIZE,197066,0
$CFSIZE,260165632,219258880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080309,021000,5015.775,-14512.891,38,1.5,44,18.5