version: 66.03
glider: 120
mission: 9
dive: 506
start: 3 7 109 8 16 42
data:
$ID,120
$MISSION,9
$DIVE,506
$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,-28668.508
$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
$GPS1,080907,5020.774,-14511.331,60,1.4,60,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.89
$_SM_ANGLEo,-74.7
$GPS2,081546,5020.779,-14511.296,18,2.8,37,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.004,-0.178
$KALMAN_X,-26583.0,319.4,-191.4,30240.6,73.2
$KALMAN_Y,91807.2,4.3,137.2,-59910.1,781.7
$MHEAD_RNG_PITCHd_Wd,162.9,49579,-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,-117.3,0.0,0.0,0,38,0.00,0.00,-10.88,0.000,2,0.000,0.000,138,2413,2030
$GC,42,-0.67,-117.3,3.9,-0.0,1,118,13.82,2.42,-53.50,0.000,4,0.280,0.096,3097,3815,3356
$GC,371,-0.53,-117.3,32.4,-12.3,30,378,0.17,2.28,0.00,0.000,6,0.154,0.056,3145,2398,3357
$GC,701,-0.53,-117.3,57.9,-7.8,61,705,0.00,2.35,0.00,0.000,4,0.000,0.070,3145,985,3357
$GC,745,-0.53,-117.3,61.5,-7.8,64,752,0.00,2.33,0.00,0.000,6,0.000,0.063,3141,2406,3358
$GC,1069,-0.53,-117.3,89.7,-8.7,90,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2405,3357
$GC,1377,-0.53,-117.3,112.1,-7.8,105,1381,0.00,2.38,0.00,0.000,4,0.000,0.069,3141,992,3357
$GC,1410,-0.53,-117.3,114.8,-7.9,106,1416,0.00,2.33,0.00,0.000,6,0.000,0.062,3141,2411,3357
$GC,1726,-0.53,-117.3,136.6,-6.7,122,1730,0.00,2.35,0.00,0.000,4,0.000,0.081,3141,3810,3358
$GC,1772,-0.62,-117.3,139.6,-6.7,124,1776,0.00,2.25,0.00,0.000,6,0.000,0.053,3141,2392,3358
$GC,2093,-0.70,-117.3,157.0,-5.4,138,2097,0.15,2.33,0.00,0.000,4,0.084,0.068,3077,987,3357
$GC,2122,-0.64,-117.3,159.0,-7.5,139,2127,0.12,2.33,0.00,0.000,6,0.142,0.061,3111,2403,3358
$GC,2458,-0.64,-117.3,182.1,-6.9,150,2462,0.00,2.35,0.00,0.000,4,0.000,0.069,3111,996,3358
$GC,2521,-0.64,-117.3,186.9,-7.3,152,2525,0.00,2.33,0.00,0.000,6,0.000,0.062,3111,2406,3358
$GC,2857,-0.64,-117.3,212.0,-7.5,163,2861,0.00,2.35,0.00,0.000,4,0.000,0.081,3111,3810,3358
$GC,2913,-0.69,-117.3,216.3,-7.7,164,2919,0.00,2.25,0.00,0.000,6,0.000,0.054,3112,2389,3358
$GC,3226,-0.69,-117.3,237.5,-6.8,175,3230,0.00,2.30,0.00,0.000,4,0.000,0.071,3111,997,3358
$GC,3259,-0.69,-117.3,240.0,-7.3,176,3263,0.00,2.33,0.00,0.000,6,0.000,0.063,3111,2411,3358
$GC,3589,-0.69,-117.3,261.3,-6.3,187,3593,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,995,3358
$GC,3622,-0.69,-117.3,263.6,-6.5,188,3626,0.00,2.33,0.00,0.000,6,0.000,0.062,3111,2408,3358
$GC,3951,-0.69,-117.3,282.2,-5.4,199,3955,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,992,3358
$GC,3985,-0.69,-117.3,284.2,-5.8,200,3990,0.00,2.33,0.00,0.000,6,0.000,0.062,3111,2404,3358
$GC,4346,-0.69,-117.3,304.0,-5.7,211,4350,0.00,2.35,0.00,0.000,4,0.000,0.071,3111,995,3358
$GC,4380,-0.69,-117.3,306.5,-6.3,211,4384,0.00,2.33,0.00,0.000,6,0.000,0.062,3111,2408,3358
$GC,4707,-0.69,-117.3,327.2,-6.4,217,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2407,3358
$GC,5010,-0.69,-117.3,345.4,-6.0,222,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2407,3358
$GC,5313,-0.69,-117.3,362.7,-5.6,227,5317,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,988,3357
$GC,5358,-0.74,-117.3,365.6,-6.4,227,5362,0.00,2.35,0.00,0.000,6,0.000,0.063,3111,2410,3357
$GC,5674,-0.74,-117.3,384.6,-6.0,233,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2411,3357
$GC,5978,-0.78,-117.3,403.4,-6.2,238,5982,0.15,2.38,0.00,0.000,4,0.084,0.070,3047,995,3357
$GC,6028,-0.64,-117.3,407.9,-9.2,238,6033,0.22,2.33,0.00,0.000,6,0.150,0.062,3107,2406,3357
$GC,6338,-0.64,-117.3,428.7,-6.6,243,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3357
$GC,6642,-0.64,-117.3,448.6,-6.5,248,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3357
$GC,6944,-0.64,-117.3,469.3,-6.9,253,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2406,3357
$GC,7247,-0.64,-117.3,489.8,-6.7,258,7252,0.00,2.38,0.00,0.000,4,0.000,0.071,3107,995,3356
$GC,7287,-0.70,-117.3,492.7,-7.4,258,7291,0.00,2.33,0.00,0.000,6,0.000,0.064,3107,2401,3356
$GC,7610,-0.74,-117.3,512.8,-6.2,264,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,3357
$GC,7912,-0.79,-117.3,530.0,-5.6,269,7914,0.15,0.00,0.00,0.000,6,0.084,0.000,3050,2400,3356
$GC,8215,-0.73,-117.3,550.6,-6.8,274,8217,0.12,0.00,0.00,0.000,6,0.104,0.000,3085,2400,3356
$GC,8518,-0.73,-117.3,568.9,-6.0,279,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3356
$GC,8821,-0.73,-117.3,588.5,-6.5,284,8825,0.00,2.38,0.00,0.000,4,0.000,0.071,3086,993,3356
$GC,8890,-0.73,-117.3,593.5,-7.8,285,8894,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2410,3356
$GC,9250,-0.73,-117.3,620.5,-7.6,291,9254,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,989,3356
$GC,9278,-0.73,-117.3,622.7,-8.6,291,9282,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2408,3356
$GC,9611,-0.73,-117.3,647.8,-7.6,297,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3356
$GC,9913,-0.73,-117.3,670.1,-7.3,302,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,10217,-0.73,-117.3,690.9,-6.8,307,10221,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,990,3355
$GC,10256,-0.73,-117.3,693.7,-6.9,307,10260,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2404,3355
$GC,10578,-0.73,-117.3,715.9,-7.0,313,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,10880,-0.73,-117.3,737.9,-7.3,318,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,11183,-0.73,-117.3,759.1,-7.0,323,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,11486,-0.73,-117.3,779.3,-6.6,328,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,11789,-0.73,-117.3,797.5,-5.9,333,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,12093,-0.73,-117.3,814.2,-5.5,338,12097,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,992,3355
$GC,12137,-0.73,-117.3,817.0,-6.2,338,12141,0.00,2.35,0.00,0.000,6,0.000,0.066,3085,2401,3355
$GC,12452,-0.73,-117.3,834.0,-5.4,344,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,12755,-0.73,-117.3,849.7,-5.1,349,12759,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,996,3355
$GC,12800,-0.73,-117.3,852.1,-5.6,349,12804,0.00,2.35,0.00,0.000,6,0.000,0.066,3086,2406,3355
$GC,13115,-0.73,-117.3,868.6,-5.3,355,13119,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,990,3355
$GC,13142,-0.73,-117.3,870.2,-6.2,355,13147,0.00,2.35,0.00,0.000,6,0.000,0.065,3086,2402,3355
$GC,13476,-0.73,-117.3,887.8,-5.3,361,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,13778,-0.73,-117.3,903.8,-5.3,366,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,14082,-0.73,-117.3,919.8,-5.3,371,14086,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,992,3354
$GC,14110,-0.73,-117.3,921.5,-5.5,371,14114,0.00,2.35,0.00,0.000,6,0.000,0.066,3086,2406,3354
$GC,14448,-0.73,-117.3,939.8,-5.5,377,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3354
$GC,14751,-0.73,-117.3,956.3,-5.4,382,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3354
$GC,15054,-0.73,-117.3,971.9,-5.1,387,15058,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,997,3354
$GC,15081,-0.73,-117.3,973.4,-5.9,387,15085,0.00,2.35,0.00,0.000,6,0.000,0.067,3086,2404,3354
$STATE,15410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15410,begin apogee
$GC,15419,-0.22,0.0,990.5,5.2,393,15533,0.52,0.00,108.88,1.489,6,0.139,0.000,3244,2203,2876
$STATE,15533,end apogee,CONTROL_FINISHED_OK
$STATE,15534,begin climb
$GC,15537,0.67,117.3,994.8,0.0,395,15660,0.88,0.00,114.22,1.432,6,0.096,0.000,3528,2203,2397
$GC,15966,0.36,117.3,973.9,7.6,402,15971,0.30,2.38,0.00,0.000,4,0.161,0.080,3438,3608,2394
$GC,16006,0.23,117.3,971.0,6.0,402,16011,0.17,2.30,0.00,0.000,6,0.184,0.064,3394,2201,2393
$GC,16328,0.35,155.5,958.2,3.9,408,16365,0.12,0.00,34.92,1.422,6,0.087,0.000,3442,2202,2241
$GC,16630,0.35,155.5,942.3,5.4,413,16631,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2202,2239
$GC,16934,0.35,155.5,926.0,5.4,418,16935,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2202,2238
$GC,17236,0.36,166.2,911.5,4.7,423,17252,0.00,2.40,10.52,1.305,4,0.000,0.079,3449,791,2197
$GC,17303,0.36,166.2,908.0,5.6,424,17307,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2204,2197
$GC,17664,0.37,173.3,890.4,4.8,430,17678,0.00,2.38,7.88,1.224,4,0.000,0.083,3449,3602,2169
$GC,17697,0.30,173.3,888.6,5.1,430,17702,0.12,2.28,0.00,0.000,6,0.178,0.064,3418,2202,2168
$GC,18030,0.40,204.4,874.8,4.1,436,18065,0.00,2.45,29.65,1.392,4,0.000,0.080,3421,789,2042
$GC,18091,0.52,213.0,872.1,4.8,437,18106,0.17,2.35,9.55,1.233,6,0.083,0.061,3488,2201,2007
$GC,18463,0.43,213.0,844.3,7.7,443,18464,0.12,0.00,0.00,0.000,6,0.143,0.000,3454,2201,2002
$GC,18765,0.43,213.0,822.8,7.0,448,18769,0.00,2.40,0.00,0.000,4,0.000,0.078,3463,790,2002
$GC,18828,0.43,213.0,818.2,6.1,449,18833,0.00,2.33,0.00,0.000,6,0.000,0.062,3463,2214,2002
$GC,19200,0.43,213.0,791.7,7.1,455,19202,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2213,2001
$GC,19504,0.43,213.0,769.9,7.2,460,19505,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2213,2001
$GC,19807,0.43,213.0,748.8,6.9,465,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2213,2001
$GC,20110,0.43,213.0,726.4,7.4,470,20114,0.00,2.42,0.00,0.000,4,0.000,0.081,3463,790,2001
$GC,20137,0.43,213.0,724.2,7.6,470,20142,0.00,2.30,0.00,0.000,6,0.000,0.063,3463,2195,2001
$GC,20470,0.43,213.0,699.1,7.6,476,20471,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2194,2001
$GC,20774,0.43,213.0,677.5,7.0,481,20778,0.00,2.40,0.00,0.000,4,0.000,0.079,3463,789,2000
$GC,20801,0.43,213.0,675.5,6.9,481,20806,0.00,2.33,0.00,0.000,6,0.000,0.061,3463,2215,2000
$GC,21140,0.43,213.0,653.4,6.5,487,21144,0.00,2.42,0.00,0.000,4,0.000,0.079,3463,790,2000
$GC,21184,0.43,213.0,650.4,6.6,487,21189,0.00,2.33,0.00,0.000,6,0.000,0.062,3463,2209,2001
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$STATE,31067,end climb,SURFACE_DEPTH_REACHED
$STATE,31067,begin surface coast
$FINISH,2.6,1.025663
$STATE,31154,end surface coast,CONTROL_FINISHED_OK
$STATE,31154,begin surface
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$HUMID,2130
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$TCM_TEMP,15.40
$XPDR_PINGS,959
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$10V_AH,10.4,68.107
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$DEVICE_SECS,28.025,217.150,374.600,0.000,0.000,28.641,28.378,167.277,239.750,0.000,0.000,38.290,1718.726,26279.467,535.376,2332.982,757.113,33.378,1698.772,0.000,2278.848,0.000,0.465
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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,47500,796
$CAP_FILE_SIZE,178682,0
$CFSIZE,260165632,219361280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070309,165836,5018.509,-14511.467,40,1.3,40,18.5