version: 66.03
glider: 120
mission: 9
dive: 64
start: 9 20 108 15 30 5
data:
$ID,120
$MISSION,9
$DIVE,64
$D_SURF,6
$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,-18913.76
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,152401,4954.234,-14513.055,51,1.7,51,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.36
$_SM_ANGLEo,-75.6
$GPS2,152909,4954.256,-14512.999,14,1.7,14,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,0.083
$KALMAN_X,37823.8,132.2,-233.1,-65373.1,824.6
$KALMAN_Y,52617.6,-258.0,-97.2,-73178.0,3316.0
$MHEAD_RNG_PITCHd_Wd,43.9,35940,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,32,0.00,0.00,-11.98,0.000,2,0.000,0.000,139,2403,1957
$GC,34,-0.67,-117.3,4.2,-0.0,1,104,13.73,2.38,-50.10,0.000,4,0.295,0.083,3094,981,3355
$GC,355,-0.36,-117.3,46.5,-16.0,29,363,0.30,2.35,0.00,0.000,6,0.160,0.064,3197,2397,3357
$GC,683,-0.46,-117.3,64.9,-5.4,60,687,0.00,2.33,0.00,0.000,4,0.000,0.068,3201,981,3360
$GC,733,-0.59,-117.3,67.9,-5.8,64,738,0.20,2.30,0.00,0.000,6,0.077,0.061,3122,2408,3360
$GC,1063,-0.46,-117.3,97.8,-9.6,86,1067,0.15,2.30,0.00,0.000,4,0.163,0.079,3166,3806,3361
$GC,1116,-0.46,-117.3,102.6,-8.4,88,1124,0.00,2.28,0.00,0.000,6,0.000,0.055,3166,2391,3360
$GC,1432,-0.46,-117.3,125.8,-7.3,104,1436,0.00,2.28,0.00,0.000,4,0.000,0.071,3166,987,3361
$GC,1471,-0.46,-117.3,128.5,-7.4,106,1475,0.00,2.28,0.00,0.000,6,0.000,0.062,3166,2404,3361
$GC,1802,-0.52,-117.3,147.2,-5.9,122,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2404,3361
$GC,2109,-0.61,-117.3,164.6,-5.5,133,2114,0.15,2.30,0.00,0.000,4,0.087,0.071,3100,994,3361
$GC,2158,-0.49,-117.3,168.4,-7.5,134,2163,0.17,2.30,0.00,0.000,6,0.164,0.064,3154,2403,3360
$GC,2476,-0.55,-117.3,185.5,-5.2,145,2480,0.00,2.30,0.00,0.000,4,0.000,0.073,3154,989,3360
$GC,2504,-0.61,-117.3,187.1,-6.1,146,2509,0.12,2.28,0.00,0.000,6,0.088,0.063,3106,2408,3360
$GC,2838,-0.54,-117.3,207.2,-5.6,157,2842,0.12,2.30,0.00,0.000,4,0.162,0.083,3138,3816,3359
$GC,2875,-0.54,-117.3,209.2,-4.9,158,2879,0.00,2.28,0.00,0.000,6,0.000,0.058,3137,2395,3359
$GC,3204,-0.54,-117.3,227.2,-6.0,169,3208,0.00,2.33,0.00,0.000,4,0.000,0.082,3137,3807,3359
$GC,3242,-0.58,-117.3,229.8,-7.0,170,3246,0.00,2.25,0.00,0.000,6,0.000,0.060,3138,2402,3359
$GC,3571,-0.58,-117.3,252.5,-7.2,181,3575,0.00,2.28,0.00,0.000,4,0.000,0.074,3138,991,3359
$GC,3648,-0.58,-117.3,258.5,-7.7,183,3653,0.00,2.28,0.00,0.000,6,0.000,0.064,3138,2394,3359
$GC,3972,-0.58,-117.3,280.9,-6.9,194,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2394,3359
$GC,4278,-0.58,-117.3,301.5,-6.6,204,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2394,3358
$GC,4581,-0.58,-117.3,320.7,-6.3,209,4586,0.00,2.30,0.00,0.000,4,0.000,0.077,3138,990,3357
$GC,4607,-0.58,-117.3,322.4,-6.5,209,4612,0.00,2.30,0.00,0.000,6,0.000,0.064,3138,2402,3357
$GC,4945,-0.58,-117.3,340.0,-5.0,215,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2402,3357
$GC,5249,-0.58,-117.3,352.8,-4.2,220,5253,0.00,2.33,0.00,0.000,4,0.000,0.076,3138,981,3357
$GC,5275,-0.62,-117.3,354.1,-5.2,220,5280,0.00,2.33,0.00,0.000,6,0.000,0.066,3138,2405,3357
$GC,5613,-0.67,-117.3,371.2,-5.2,226,5615,0.12,0.00,0.00,0.000,6,0.091,0.000,3088,2405,3355
$GC,5916,-0.61,-117.3,391.8,-6.8,231,5918,0.10,0.00,0.00,0.000,6,0.112,0.000,3114,2405,3355
$GC,6219,-0.61,-117.3,411.5,-6.6,236,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3356
$GC,6522,-0.61,-117.3,431.2,-6.5,241,6526,0.00,2.33,0.00,0.000,4,0.000,0.077,3115,985,3355
$GC,6570,-0.61,-117.3,434.5,-6.7,241,6576,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2402,3354
$GC,6892,-0.61,-117.3,454.9,-6.3,247,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7194,-0.61,-117.3,474.2,-6.4,252,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7498,-0.61,-117.3,494.0,-6.5,257,7501,0.00,2.33,0.00,0.000,4,0.000,0.077,3113,983,3354
$GC,7524,-0.61,-117.3,495.8,-6.9,257,7528,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2405,3354
$GC,7867,-0.61,-117.3,516.3,-5.9,263,7871,0.00,2.33,0.00,0.000,4,0.000,0.077,3113,986,3354
$GC,7899,-0.61,-117.3,518.4,-6.1,263,7904,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2396,3354
$GC,8231,-0.61,-117.3,537.7,-5.8,269,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3354
$GC,8534,-0.61,-117.3,556.7,-6.3,274,8538,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,992,3354
$GC,8571,-0.61,-117.3,559.5,-7.1,274,8576,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2406,3354
$GC,8897,-0.61,-117.3,581.6,-6.8,280,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3354
$GC,9200,-0.61,-117.3,601.5,-6.5,285,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3354
$GC,9504,-0.61,-117.3,620.0,-6.0,290,9508,0.00,2.33,0.00,0.000,4,0.000,0.078,3113,990,3353
$GC,9530,-0.61,-117.3,621.7,-6.7,290,9534,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2396,3353
$GC,9867,-0.61,-117.3,640.7,-5.6,296,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3353
$GC,10171,-0.78,-117.3,660.3,-6.5,301,10176,0.15,2.33,0.00,0.000,4,0.093,0.083,3052,3821,3352
$GC,10248,-0.70,-117.3,666.1,-7.8,302,10253,0.10,2.28,0.00,0.000,6,0.142,0.062,3084,2403,3352
$GC,10602,-0.78,-117.3,690.7,-7.0,308,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2403,3352
$GC,10905,-0.85,-117.3,711.8,-7.0,313,10910,0.12,2.33,0.00,0.000,4,0.093,0.084,3037,3817,3352
$GC,10931,-0.77,-117.3,714.0,-8.3,313,10936,0.08,2.28,0.00,0.000,6,0.160,0.062,3060,2397,3352
$GC,11269,-0.61,-117.3,741.2,-8.2,319,11274,0.17,2.28,0.00,0.000,4,0.184,0.077,3119,994,3352
$GC,11334,-0.61,-117.3,745.8,-6.8,320,11339,0.00,2.30,0.00,0.000,6,0.000,0.067,3115,2405,3352
$GC,11700,-0.61,-117.3,768.0,-6.1,326,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2405,3352
$GC,12003,-0.61,-117.3,786.2,-6.0,331,12007,0.00,2.30,0.00,0.000,4,0.000,0.078,3115,994,3352
$GC,12029,-0.61,-117.3,788.0,-6.5,331,12034,0.00,2.30,0.00,0.000,6,0.000,0.067,3115,2403,3352
$GC,12367,-0.61,-117.3,807.0,-5.6,337,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2403,3352
$GC,12670,-0.61,-117.3,823.8,-5.5,342,12674,0.00,2.30,0.00,0.000,4,0.000,0.079,3115,994,3352
$GC,12713,-0.61,-117.3,826.4,-6.4,342,12717,0.00,2.30,0.00,0.000,6,0.000,0.067,3115,2403,3351
$GC,13033,-0.61,-117.3,844.0,-5.4,348,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2404,3352
$GC,13336,-0.61,-117.3,860.9,-5.6,353,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2403,3351
$GC,13640,-0.61,-117.3,878.3,-5.8,358,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2403,3351
$GC,13943,-0.65,-117.3,895.9,-5.8,363,13947,0.00,2.33,0.00,0.000,4,0.000,0.079,3115,986,3351
$GC,13975,-0.65,-117.3,898.0,-6.1,363,13980,0.00,2.30,0.00,0.000,6,0.000,0.069,3115,2394,3351
$GC,14308,-0.70,-117.3,916.3,-5.5,369,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2394,3351
$GC,14611,-0.75,-117.3,931.8,-5.0,374,14612,0.12,0.00,0.00,0.000,6,0.096,0.000,3067,2394,3350
$GC,14913,-0.75,-117.3,948.3,-5.5,379,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2394,3350
$GC,15217,-0.71,-117.3,964.8,-5.5,384,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2394,3350
$GC,15519,-0.71,-117.3,982.2,-5.8,389,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2394,3350
$STATE,15700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15700,begin apogee
$GC,15705,-0.22,0.0,993.5,6.1,392,15807,0.57,0.00,99.57,1.509,6,0.154,0.000,3242,2195,2876
$STATE,15808,end apogee,CONTROL_FINISHED_OK
$STATE,15808,begin climb
$GC,15809,0.67,117.3,995.1,0.0,393,15920,0.88,2.60,102.75,1.455,4,0.108,0.081,3532,796,2397
$GC,16038,0.30,117.3,987.4,8.8,396,16043,0.45,2.42,0.00,0.000,6,0.189,0.065,3417,2203,2394
$GC,16370,0.25,117.7,970.4,5.0,402,16374,0.00,2.38,0.00,0.000,4,0.000,0.082,3414,3611,2393
$GC,16424,0.14,117.7,967.1,6.2,402,16431,0.20,2.38,0.00,0.000,6,0.172,0.067,3364,2199,2393
$GC,16734,0.31,169.7,955.9,3.5,408,16781,0.17,0.00,44.88,1.449,6,0.090,0.000,3424,2200,2184
$GC,17036,0.31,169.7,937.6,6.3,413,17037,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2181
$GC,17339,0.31,169.7,917.8,6.5,418,17340,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2180
$GC,17642,0.31,169.7,897.6,6.7,423,17644,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2180
$GC,17946,0.31,169.7,877.9,6.5,428,17949,0.00,2.38,0.00,0.000,4,0.000,0.085,3424,3612,2180
$GC,17978,0.25,169.7,875.4,7.8,428,17982,0.00,2.35,0.00,0.000,6,0.000,0.070,3425,2197,2180
$GC,18315,0.25,169.7,853.9,6.3,434,18316,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2197,2179
$GC,18618,0.25,169.7,834.5,6.4,439,18619,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2197,2179
$GC,18921,0.25,169.7,814.1,6.8,444,18925,0.00,2.33,0.00,0.000,4,0.000,0.085,3424,792,2179
$GC,18958,0.25,169.7,811.6,5.5,444,18963,0.00,2.33,0.00,0.000,6,0.000,0.065,3424,2209,2179
$GC,19284,0.25,169.7,790.4,6.5,450,19286,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2209,2179
$GC,19587,0.25,169.7,771.1,6.3,455,19592,0.00,2.38,0.00,0.000,4,0.000,0.084,3425,783,2179
$GC,19630,0.25,169.7,768.3,6.2,455,19635,0.00,2.33,0.00,0.000,6,0.000,0.066,3424,2200,2179
$GC,19952,0.25,169.7,749.1,6.0,461,19955,0.00,2.30,0.00,0.000,4,0.000,0.084,3424,3611,2179
$GC,19989,0.19,169.7,746.4,6.6,461,19994,0.12,2.30,0.00,0.000,6,0.173,0.069,3388,2206,2179
$GC,20316,0.34,183.8,731.2,4.6,467,20331,0.12,0.00,12.62,1.275,6,0.093,0.000,3431,2206,2126
$GC,20619,0.34,183.8,713.5,5.9,472,20620,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2206,2125
$GC,20922,0.34,183.8,695.7,5.9,477,20923,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2206,2125
$GC,21225,0.34,183.8,678.1,5.8,482,21226,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2206,2125
$GC,21528,0.34,183.8,659.4,6.2,487,21529,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2205,2125
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$GC,26627,0.43,215.9,341.1,8.3,571,26632,0.15,2.38,0.00,0.000,4,0.166,0.081,3450,789,1991
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$STATE,31811,end climb,SURFACE_DEPTH_REACHED
$STATE,31811,begin surface coast
$FINISH,3.2,1.015208
$STATE,31876,end surface coast,CONTROL_FINISHED_OK
$STATE,31876,begin surface
$SM_CCo,31952,0.00,0.000,0,0,1562,322.32
$SM_GC,3.96,9.55,0.00,0.00,0.075,0.000,0.000,149,2411,1562,-9.86,0.31,322.32
$IRIDIUM_FIX,4939.69,-14518.29,151297,060654
$TT8_MAMPS,0.026078
$HUMID,2194
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$TCM_TEMP,15.10
$XPDR_PINGS,960
$24V_AH,23.2,16.293
$10V_AH,10.6,8.699
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$DEVICE_SECS,29.375,177.100,368.450,0.000,0.000,31.050,27.119,154.020,240.000,0.000,0.000,14.625,1739.726,27302.695,524.144,2297.492,393.578,33.374,1640.009,0.000,2275.229,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,632.844,612.955,1409.078,286.250,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47486,829
$CAP_FILE_SIZE,172897,0
$CFSIZE,260165632,253739008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210908,002337,4956.743,-14509.303,27,1.4,27,18.4