version: 66.03
glider: 120
mission: 9
dive: 513
start: 3 10 109 0 6 5
data:
$ID,120
$MISSION,9
$DIVE,513
$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,-28790.695
$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,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
$GPS1,235837,5002.887,-14512.898,42,1.2,42,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-77.3
$GPS2,000508,5002.887,-14512.842,12,1.5,12,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.006,-0.178
$KALMAN_X,-26811.3,20.0,-156.4,28903.6,-67.4
$KALMAN_Y,108575.8,-536.1,-326.7,-108792.1,4312.2
$MHEAD_RNG_PITCHd_Wd,159.6,16472,-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,-10.90,0.000,2,0.000,0.000,136,2405,2020
$GC,42,-0.67,-117.3,3.4,-0.0,1,118,13.98,2.47,-55.55,0.000,4,0.280,0.091,3086,3811,3354
$GC,266,-0.47,-117.3,20.9,-11.1,21,272,0.28,2.33,0.00,0.000,6,0.151,0.054,3163,2398,3356
$GC,593,-0.53,-117.3,42.9,-6.9,51,597,0.00,2.40,0.00,0.000,4,0.000,0.069,3163,987,3356
$GC,622,-0.59,-117.3,45.0,-7.8,53,627,0.12,2.35,0.00,0.000,6,0.081,0.061,3117,2401,3356
$GC,951,-0.59,-117.3,70.0,-7.3,83,955,0.00,2.35,0.00,0.000,4,0.000,0.080,3113,3808,3356
$GC,979,-0.54,-117.3,72.8,-8.9,85,986,0.00,2.28,0.00,0.000,6,0.000,0.053,3113,2394,3356
$GC,1299,-0.49,-117.3,100.2,-8.9,105,1304,0.15,2.38,0.00,0.000,4,0.121,0.068,3163,988,3357
$GC,1327,-0.54,-117.3,102.4,-7.0,106,1331,0.00,2.33,0.00,0.000,6,0.000,0.061,3163,2400,3356
$GC,1644,-0.62,-117.3,123.0,-6.1,121,1649,0.15,2.38,0.00,0.000,4,0.081,0.078,3104,3809,3357
$GC,1723,-0.58,-117.3,129.3,-8.0,124,1729,0.00,2.25,0.00,0.000,6,0.000,0.054,3104,2394,3357
$GC,2050,-0.58,-117.3,153.2,-7.2,140,2054,0.00,2.40,0.00,0.000,4,0.000,0.079,3102,3810,3357
$GC,2079,-0.58,-117.3,155.5,-7.5,141,2083,0.00,2.28,0.00,0.000,6,0.000,0.054,3101,2389,3357
$GC,2414,-0.58,-117.3,176.7,-5.9,152,2418,0.00,2.33,0.00,0.000,4,0.000,0.071,3104,986,3357
$GC,2493,-0.63,-117.3,181.6,-6.5,154,2497,0.00,2.33,0.00,0.000,6,0.000,0.060,3104,2404,3357
$GC,2811,-0.63,-117.3,202.2,-6.6,165,2815,0.00,2.38,0.00,0.000,4,0.000,0.080,3101,3819,3357
$GC,2867,-0.63,-117.3,206.2,-7.3,166,2874,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2389,3357
$GC,3181,-0.63,-117.3,227.0,-6.9,177,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2389,3357
$GC,3487,-0.63,-117.3,247.6,-6.7,187,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2389,3357
$GC,3793,-0.63,-117.3,268.4,-6.8,197,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3357
$GC,4099,-0.63,-117.3,289.2,-6.9,207,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3357
$GC,4405,-0.63,-117.3,310.2,-6.7,215,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3357
$GC,4707,-0.63,-117.3,330.1,-6.5,220,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2390,3356
$GC,5010,-0.63,-117.3,350.6,-6.8,225,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3357
$GC,5313,-0.63,-117.3,370.4,-6.5,230,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2389,3357
$GC,5616,-0.63,-117.3,389.0,-6.0,235,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3356
$GC,5921,-0.67,-117.3,405.7,-5.5,240,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2389,3356
$GC,6223,-0.72,-117.3,422.7,-5.7,245,6227,0.00,2.50,0.00,0.000,4,0.000,0.081,3101,3815,3356
$GC,6256,-0.76,-117.3,424.8,-6.4,245,6260,0.00,2.33,0.00,0.000,6,0.000,0.054,3101,2394,3356
$GC,6583,-0.82,-117.3,444.0,-5.9,251,6588,0.15,2.40,0.00,0.000,4,0.094,0.071,3038,992,3356
$GC,6618,-0.66,-117.3,446.7,-8.9,251,6623,0.22,2.35,0.00,0.000,6,0.154,0.064,3100,2405,3356
$GC,6944,-0.66,-117.3,466.3,-5.9,257,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,7247,-0.66,-117.3,483.5,-5.7,262,7251,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,983,3356
$GC,7276,-0.66,-117.3,485.5,-6.9,262,7280,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2402,3355
$GC,7608,-0.66,-117.3,506.9,-6.6,268,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3356
$GC,7911,-0.66,-117.3,527.3,-6.7,273,7915,0.00,2.40,0.00,0.000,4,0.000,0.083,3100,3813,3355
$GC,7945,-0.71,-117.3,529.6,-7.0,273,7949,0.00,2.30,0.00,0.000,6,0.000,0.055,3100,2388,3355
$GC,8273,-0.71,-117.3,548.7,-5.7,279,8277,0.00,2.45,0.00,0.000,4,0.000,0.082,3100,3810,3356
$GC,8301,-0.75,-117.3,550.5,-5.7,279,8305,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2398,3355
$GC,8633,-0.75,-117.3,567.4,-5.0,285,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3355
$GC,8936,-0.75,-117.3,582.6,-5.1,290,8940,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,984,3355
$GC,8964,-0.75,-117.3,584.1,-5.4,290,8968,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2403,3355
$GC,9296,-0.75,-117.3,602.6,-5.6,296,9300,0.00,2.42,0.00,0.000,4,0.000,0.083,3100,3811,3355
$GC,9329,-0.80,-117.3,604.7,-6.1,296,9334,0.12,2.30,0.00,0.000,6,0.086,0.054,3052,2395,3355
$GC,9656,-0.80,-117.3,628.8,-7.6,302,9661,0.00,2.45,0.00,0.000,4,0.000,0.082,3052,3818,3355
$GC,9685,-0.71,-117.3,631.3,-9.5,302,9690,0.12,2.30,0.00,0.000,6,0.108,0.057,3086,2390,3355
$GC,10017,-0.71,-117.3,656.6,-7.6,308,10021,0.00,2.38,0.00,0.000,4,0.000,0.072,3086,990,3355
$GC,10050,-0.71,-117.3,659.3,-8.4,308,10054,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2406,3355
$GC,10377,-0.71,-117.3,681.9,-6.8,314,10381,0.00,2.40,0.00,0.000,4,0.000,0.082,3086,3818,3354
$GC,10410,-0.71,-117.3,684.1,-6.2,314,10414,0.00,2.30,0.00,0.000,6,0.000,0.056,3086,2395,3354
$GC,10736,-0.71,-117.3,701.9,-5.4,320,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3354
$GC,11040,-0.71,-117.3,715.6,-4.4,325,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3354
$GC,11344,-0.71,-117.3,728.3,-4.2,330,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3354
$GC,11646,-0.71,-117.3,742.7,-4.8,335,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3354
$GC,11949,-0.71,-117.3,759.7,-5.7,340,11953,0.00,2.47,0.00,0.000,4,0.000,0.083,3086,3806,3354
$GC,11976,-0.71,-117.3,761.6,-6.5,340,11980,0.00,2.33,0.00,0.000,6,0.000,0.056,3086,2394,3354
$GC,12310,-0.71,-117.3,781.8,-6.1,346,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3354
$GC,12612,-0.71,-117.3,800.5,-6.2,351,12616,0.00,2.47,0.00,0.000,4,0.000,0.084,3086,3812,3353
$GC,12645,-0.71,-117.3,802.6,-6.3,351,12649,0.00,2.33,0.00,0.000,6,0.000,0.056,3086,2400,3353
$GC,12971,-0.71,-117.3,821.8,-5.9,357,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,13275,-0.71,-117.3,840.3,-6.1,362,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,13578,-0.71,-117.3,858.5,-6.0,367,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,13880,-0.71,-117.3,876.5,-5.9,372,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,14184,-0.71,-117.3,894.5,-5.9,377,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14487,-0.71,-117.3,911.6,-5.7,382,14488,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,14790,-0.71,-117.3,928.7,-5.6,387,14792,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,15093,-0.71,-117.3,946.4,-5.9,392,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,15396,-0.71,-117.3,964.5,-5.9,397,15397,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,15699,-0.71,-117.3,983.3,-6.2,402,15703,0.00,2.53,0.00,0.000,4,0.000,0.084,3086,3818,3352
$GC,15727,-0.76,-117.3,985.2,-6.5,402,15732,0.00,2.38,0.00,0.000,6,0.000,0.058,3086,2401,3352
$STATE,15814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15814,begin apogee
$GC,15822,-0.22,0.0,990.7,6.2,404,15937,0.52,0.00,108.97,1.486,6,0.129,0.000,3248,2196,2875
$STATE,15938,end apogee,CONTROL_FINISHED_OK
$STATE,15938,begin climb
$GC,15941,0.67,117.3,997.4,0.0,406,16065,0.85,2.78,114.32,1.436,4,0.096,0.078,3524,3613,2396
$GC,16144,0.26,117.3,994.2,7.8,409,16150,0.50,2.53,0.00,0.000,6,0.176,0.061,3405,2199,2394
$GC,16500,0.28,133.9,978.1,4.5,415,16521,0.00,2.47,15.60,1.365,4,0.000,0.078,3408,782,2330
$GC,16556,0.34,133.9,975.4,5.3,415,16562,0.00,2.33,0.00,0.000,6,0.000,0.061,3408,2200,2328
$GC,16866,0.39,133.9,958.5,5.6,421,16871,0.10,2.38,0.00,0.000,4,0.089,0.081,3450,3614,2328
$GC,16901,0.23,133.9,956.0,7.2,421,16906,0.22,2.33,0.00,0.000,6,0.174,0.063,3392,2189,2328
$GC,17229,0.33,133.9,937.6,5.6,427,17233,0.00,2.35,0.00,0.000,4,0.000,0.080,3395,788,2328
$GC,17262,0.44,133.9,935.5,5.3,427,17267,0.20,2.30,0.00,0.000,6,0.077,0.061,3472,2201,2328
$GC,17589,0.31,133.9,912.3,7.1,433,17591,0.20,0.00,0.00,0.000,6,0.146,0.000,3416,2201,2327
$GC,17893,0.31,133.9,896.4,5.1,438,17894,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2201,2328
$GC,18196,0.33,147.9,882.5,4.6,443,18215,0.00,2.50,13.50,1.343,4,0.000,0.078,3422,798,2273
$GC,18256,0.37,147.9,879.6,5.4,443,18262,0.00,2.30,0.00,0.000,6,0.000,0.063,3422,2199,2272
$GC,18567,0.39,158.2,865.0,4.7,449,18579,0.00,0.00,10.80,1.295,6,0.000,0.000,3422,2198,2231
$GC,18871,0.43,162.0,850.4,4.9,454,18878,0.10,0.00,5.25,1.061,6,0.089,0.000,3464,2198,2215
$GC,19173,0.43,162.0,833.6,5.6,459,19174,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2198,2214
$GC,19475,0.43,162.0,816.0,5.8,464,19479,0.00,2.40,0.00,0.000,4,0.000,0.083,3464,3619,2214
$GC,19516,0.27,162.0,813.3,7.5,464,19521,0.22,2.33,0.00,0.000,6,0.166,0.064,3405,2200,2213
$GC,19837,0.42,195.5,799.9,4.0,470,19876,0.15,2.50,31.33,1.355,4,0.083,0.080,3473,789,2077
$GC,19901,0.37,195.5,796.3,6.0,471,19906,0.12,2.35,0.00,0.000,6,0.131,0.061,3440,2204,2075
$GC,20267,0.37,195.5,775.3,5.8,477,20271,0.00,2.35,0.00,0.000,4,0.000,0.080,3440,3609,2072
$GC,20312,0.37,195.5,772.1,7.2,477,20316,0.00,2.30,0.00,0.000,6,0.000,0.062,3443,2198,2072
$GC,20627,0.37,195.5,750.8,6.9,483,20628,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2198,2072
$GC,20931,0.37,195.5,728.0,7.6,488,20935,0.00,2.40,0.00,0.000,4,0.000,0.081,3442,3615,2071
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$STATE,32216,end climb,SURFACE_DEPTH_REACHED
$STATE,32216,begin surface coast
$FINISH,2.3,1.022664
$STATE,32334,end surface coast,CONTROL_FINISHED_OK
$STATE,32334,begin surface
$SM_CCo,32357,2.60,0.379,0,0,1754,275.23
$SM_GC,5.12,0.00,0.00,2.60,0.000,0.000,0.379,141,2411,1754,-9.93,0.31,275.23
$IRIDIUM_FIX,4949.70,-14515.32,030698,141450
$TT8_MAMPS,0.026845
$HUMID,2120
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$TCM_TEMP,15.60
$XPDR_PINGS,981
$24V_AH,21.1,100.457
$10V_AH,10.4,69.072
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$DEVICE_SECS,30.225,223.500,369.000,2.600,0.000,31.431,34.862,173.683,245.250,0.000,0.000,12.528,1809.228,27214.648,540.257,2374.058,805.909,33.374,1730.938,0.000,2349.393,0.000,0.465
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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,47437,837
$CAP_FILE_SIZE,190252,0
$CFSIZE,260165632,218808320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100309,090731,5000.385,-14512.701,84,1.5,84,18.4