version: 66.03
glider: 120
mission: 9
dive: 551
start: 3 24 109 9 13 5
data:
$ID,120
$MISSION,9
$DIVE,551
$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,-29536.592
$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,22
$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
$GPS1,085806,5016.087,-14512.327,48,1.4,48,18.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-74.3
$GPS2,091208,5016.092,-14512.336,18,1.5,18,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.177
$KALMAN_X,-47612.9,28.6,-340.7,50483.7,837.3
$KALMAN_Y,122144.4,-137.9,202.2,-98858.2,2822.4
$MHEAD_RNG_PITCHd_Wd,167.9,40896,-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,26,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-20.73,0.000,2,0.000,0.000,134,2403,2198
$GC,52,-0.67,-117.3,3.4,-4.7,2,111,14.05,2.42,-39.10,0.000,4,0.284,0.095,3096,3809,3355
$GC,259,-0.53,-117.3,22.0,-8.9,20,264,0.17,2.28,0.00,0.000,6,0.156,0.056,3144,2392,3356
$GC,585,-0.53,-117.3,47.9,-4.5,50,589,0.00,2.35,0.00,0.000,4,0.000,0.071,3145,986,3356
$GC,619,-0.53,-117.3,49.8,-5.8,52,626,0.00,2.35,0.00,0.000,6,0.000,0.062,3141,2412,3357
$GC,947,-0.53,-117.3,71.5,-7.0,83,951,0.00,2.38,0.00,0.000,4,0.000,0.082,3141,3817,3356
$GC,976,-0.53,-117.3,73.3,-6.1,85,980,0.00,2.28,0.00,0.000,6,0.000,0.054,3141,2388,3357
$GC,1306,-0.53,-117.3,95.9,-7.5,105,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2388,3356
$GC,1615,-0.53,-117.3,118.6,-7.3,120,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2388,3357
$GC,1925,-0.58,-117.3,137.5,-6.0,135,1929,0.00,2.33,0.00,0.000,4,0.000,0.071,3141,994,3357
$GC,1972,-0.64,-117.3,140.4,-6.1,137,1976,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2399,3357
$GC,2303,-0.71,-117.3,161.1,-6.4,151,2308,0.15,2.38,0.00,0.000,4,0.081,0.078,3073,3808,3357
$GC,2393,-0.62,-117.3,168.9,-8.9,153,2400,0.15,2.25,0.00,0.000,6,0.109,0.054,3115,2390,3357
$GC,2707,-0.62,-117.3,190.4,-6.9,164,2711,0.00,2.42,0.00,0.000,4,0.000,0.080,3112,3816,3357
$GC,2737,-0.62,-117.3,192.5,-7.3,165,2741,0.00,2.28,0.00,0.000,6,0.000,0.054,3112,2393,3357
$GC,3073,-0.62,-117.3,216.2,-7.0,176,3077,0.00,2.33,0.00,0.000,4,0.000,0.069,3112,992,3357
$GC,3107,-0.62,-117.3,218.7,-7.5,177,3111,0.00,2.33,0.00,0.000,6,0.000,0.061,3112,2400,3357
$GC,3436,-0.62,-117.3,241.7,-7.1,188,3441,0.00,2.38,0.00,0.000,4,0.000,0.070,3112,992,3357
$GC,3470,-0.62,-117.3,244.3,-7.3,189,3474,0.00,2.35,0.00,0.000,6,0.000,0.061,3112,2412,3357
$GC,3800,-0.62,-117.3,268.5,-7.4,200,3805,0.00,2.40,0.00,0.000,4,0.000,0.070,3112,992,3356
$GC,3823,-0.62,-117.3,270.3,-7.2,200,3829,0.00,2.35,0.00,0.000,6,0.000,0.061,3112,2412,3356
$GC,4136,-0.62,-117.3,293.2,-7.5,211,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3357
$GC,4470,-0.62,-117.3,318.9,-7.7,218,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3357
$GC,4775,-0.62,-117.3,340.7,-7.2,223,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3357
$GC,5077,-0.62,-117.3,361.2,-6.8,228,5081,0.00,2.40,0.00,0.000,4,0.000,0.071,3112,994,3357
$GC,5116,-0.67,-117.3,363.9,-6.6,228,5120,0.00,2.35,0.00,0.000,6,0.000,0.062,3112,2406,3357
$GC,5438,-0.67,-117.3,383.2,-5.9,234,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3357
$GC,5741,-0.67,-117.3,400.8,-5.8,239,5745,0.00,2.40,0.00,0.000,4,0.000,0.071,3112,989,3357
$GC,5786,-0.74,-117.3,403.7,-6.7,239,5790,0.00,2.35,0.00,0.000,6,0.000,0.062,3112,2401,3357
$GC,6102,-0.78,-117.3,423.4,-6.3,245,6104,0.15,0.00,0.00,0.000,6,0.082,0.000,3051,2400,3356
$GC,6406,-0.70,-117.3,447.3,-8.0,250,6410,0.12,2.40,0.00,0.000,4,0.097,0.081,3085,3810,3356
$GC,6469,-0.70,-117.3,452.3,-7.7,251,6473,0.00,2.28,0.00,0.000,6,0.000,0.055,3085,2392,3356
$GC,6836,-0.70,-117.3,480.3,-7.7,257,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3356
$GC,7139,-0.70,-117.3,503.4,-7.7,262,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3356
$GC,7442,-0.70,-117.3,525.9,-7.4,267,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3356
$GC,7746,-0.70,-117.3,546.6,-6.8,272,7750,0.00,2.45,0.00,0.000,4,0.000,0.083,3085,3811,3356
$GC,7784,-0.70,-117.3,549.4,-6.9,272,7788,0.00,2.28,0.00,0.000,6,0.000,0.055,3085,2394,3356
$GC,8106,-0.70,-117.3,570.6,-6.7,278,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3355
$GC,8409,-0.70,-117.3,591.8,-7.0,283,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3356
$GC,8713,-0.70,-117.3,613.2,-7.0,288,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3355
$GC,9015,-0.70,-117.3,633.7,-6.7,293,9019,0.00,2.45,0.00,0.000,4,0.000,0.083,3085,3815,3355
$GC,9054,-0.70,-117.3,636.3,-7.1,293,9058,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2399,3355
$GC,9375,-0.70,-117.3,656.8,-6.5,299,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,9679,-0.70,-117.3,676.7,-6.6,304,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,9982,-0.70,-117.3,696.9,-6.6,309,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10284,-0.70,-117.3,717.4,-6.8,314,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10588,-0.70,-117.3,738.2,-6.9,319,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10890,-0.70,-117.3,759.5,-7.0,324,10895,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3809,3354
$GC,10920,-0.70,-117.3,761.5,-7.1,324,10924,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2397,3354
$GC,11252,-0.70,-117.3,784.8,-7.0,330,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3354
$GC,11555,-0.70,-117.3,805.8,-6.9,335,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3354
$GC,11859,-0.70,-117.3,826.6,-6.9,340,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3355
$GC,12162,-0.70,-117.3,845.4,-6.1,345,12166,0.00,2.45,0.00,0.000,4,0.000,0.085,3085,3807,3354
$GC,12196,-0.74,-117.3,847.6,-5.9,345,12200,0.00,2.28,0.00,0.000,6,0.000,0.057,3085,2397,3354
$GC,12523,-0.74,-117.3,866.2,-5.7,351,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,12826,-0.74,-117.3,882.7,-5.3,356,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,13131,-0.74,-117.3,898.5,-5.1,361,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3354
$GC,13433,-0.74,-117.3,912.8,-4.7,366,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3354
$GC,13736,-0.74,-117.3,927.6,-4.9,371,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,14040,-0.74,-117.3,944.3,-5.6,376,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,14342,-0.74,-117.3,961.7,-5.8,381,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,14646,-0.74,-117.3,979.7,-6.0,386,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$STATE,14823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14824,begin apogee
$GC,14832,-0.22,0.0,990.7,6.1,389,14946,0.52,0.00,108.60,1.486,6,0.141,0.000,3242,2201,2876
$STATE,14947,end apogee,CONTROL_FINISHED_OK
$STATE,14947,begin climb
$GC,14951,0.67,117.3,996.2,0.0,391,15075,0.88,2.72,114.38,1.434,4,0.090,0.078,3533,794,2396
$GC,15183,0.34,117.3,992.2,6.9,394,15189,0.38,2.42,0.00,0.000,6,0.168,0.061,3433,2207,2394
$GC,15511,0.32,146.9,977.9,4.2,400,15540,0.00,0.00,27.35,1.411,6,0.000,0.000,3433,2207,2277
$GC,15815,0.32,146.9,962.6,5.1,405,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2207,2275
$GC,16117,0.32,146.9,945.7,5.6,410,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2207,2274
$GC,16420,0.32,146.9,927.0,6.2,415,16421,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2207,2274
$GC,16723,0.32,146.9,908.0,6.3,420,16727,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,793,2274
$GC,16762,0.32,146.9,905.3,6.3,420,16766,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2214,2274
$GC,17084,0.32,146.9,885.6,6.1,426,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2274
$GC,17386,0.32,146.9,869.1,5.4,431,17387,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2273
$GC,17689,0.34,156.2,854.7,4.7,436,17701,0.00,0.00,9.40,1.265,6,0.000,0.000,3436,2213,2239
$GC,17993,0.36,174.9,841.1,4.5,441,18013,0.00,0.00,18.45,1.348,6,0.000,0.000,3436,2214,2162
$GC,18296,0.36,174.9,825.9,5.1,446,18301,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,793,2159
$GC,18336,0.36,174.9,823.8,5.1,446,18340,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2197,2159
$GC,18657,0.36,174.9,806.3,5.5,452,18659,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2159
$GC,18960,0.36,174.9,788.4,6.0,457,18961,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2159
$GC,19264,0.36,174.9,769.9,6.1,462,19265,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2159
$GC,19567,0.36,174.9,750.9,6.3,467,19568,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2158
$GC,19869,0.36,174.9,731.2,6.5,472,19874,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,786,2159
$GC,19909,0.41,174.9,728.4,6.8,472,19913,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2158
$GC,20231,0.41,174.9,707.3,6.6,478,20235,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,789,2158
$GC,20270,0.46,174.9,704.5,6.2,478,20274,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2158
$GC,20592,0.46,174.9,683.1,6.6,484,20593,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2158
$GC,20895,0.46,174.9,663.9,6.3,489,20896,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2158
$GC,21199,0.46,174.9,646.6,5.6,494,21203,0.00,2.42,0.00,0.000,4,0.000,0.077,3436,793,2158
$GC,21244,0.51,174.9,644.0,5.3,494,21248,0.15,2.33,0.00,0.000,6,0.082,0.061,3499,2205,2158
$GC,21560,0.37,174.9,621.9,7.1,500,21562,0.22,0.00,0.00,0.000,6,0.147,0.000,3435,2205,2158
$GC,21863,0.43,185.2,607.1,4.7,505,21875,0.00,0.00,9.93,1.151,6,0.000,0.000,3435,2205,2121
$GC,22166,0.49,188.1,592.2,4.9,510,22176,0.12,2.45,4.60,0.894,4,0.084,0.078,3490,789,2109
$GC,22205,0.38,188.1,589.5,7.3,510,22210,0.17,2.33,0.00,0.000,6,0.137,0.061,3440,2205,2109
$GC,22527,0.42,188.1,571.1,5.7,516,22531,0.00,2.35,0.00,0.000,4,0.000,0.080,3441,3609,2108
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$GC,26085,0.60,211.7,360.1,4.4,573,26110,0.17,2.33,19.20,1.062,6,0.077,0.060,3519,2200,2013
$GC,26481,0.48,211.7,331.6,7.5,580,26483,0.17,0.00,0.00,0.000,6,0.144,0.000,3470,2201,2010
$GC,26780,0.48,211.7,313.7,5.9,585,26784,0.00,2.42,0.00,0.000,4,0.000,0.076,3476,779,2010
$GC,26820,0.48,211.7,311.1,5.4,585,26824,0.00,2.35,0.00,0.000,6,0.000,0.060,3476,2209,2010
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$STATE,31749,end climb,SURFACE_DEPTH_REACHED
$STATE,31749,begin surface coast
$FINISH,3.0,1.025730
$STATE,31799,end surface coast,CONTROL_FINISHED_OK
$STATE,31799,begin surface
$SM_CCo,31824,20.48,0.844,0,0,1754,275.23
$SM_GC,4.48,0.00,0.00,20.48,0.000,0.000,0.844,138,2410,1754,-9.94,0.28,275.23
$IRIDIUM_FIX,4956.40,-14517.01,180698,090925
$TT8_MAMPS,0.026845
$HUMID,2125
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$TCM_TEMP,17.70
$XPDR_PINGS,950
$24V_AH,21.0,107.877
$10V_AH,10.4,74.285
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$DEVICE_SECS,27.875,190.125,349.225,20.475,0.000,46.470,61.913,501.251,237.500,0.000,0.000,21.531,1742.159,26999.086,532.701,2215.915,1188.420,33.377,1622.331,0.000,2190.304,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,637.532,617.131,1410.927,853.645,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47465,830
$CAP_FILE_SIZE,179563,0
$CFSIZE,260165632,215908352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240309,180526,5013.098,-14512.957,33,4.2,52,18.5