version: 66.03
glider: 120
mission: 9
dive: 666
start: 5 6 109 21 20 24
data:
$ID,120
$MISSION,9
$DIVE,666
$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,-31862.771
$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,21
$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
$GPS1,211157,4956.350,-14434.895,36,2.2,55,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-73.5
$GPS2,211930,4956.324,-14434.931,38,1.4,42,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.135,0.115
$KALMAN_X,-128134.5,40.4,-106.1,175234.6,-504.4
$KALMAN_Y,149706.1,-507.4,-247.2,-162190.9,1841.5
$MHEAD_RNG_PITCHd_Wd,291.9,28074,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-40.22,0.000,2,0.000,0.000,135,2405,2768
$GC,74,-0.67,-117.3,3.9,-7.5,4,107,14.27,2.45,-11.52,0.000,4,0.272,0.082,3092,982,3358
$GC,159,-0.49,-117.3,19.2,-11.1,11,166,0.25,2.38,0.00,0.000,6,0.144,0.060,3155,2405,3359
$GC,489,-0.49,-117.3,43.5,-7.1,42,493,0.00,2.40,0.00,0.000,4,0.000,0.079,3155,3805,3360
$GC,518,-0.55,-117.3,46.0,-7.3,44,524,0.00,2.25,0.00,0.000,6,0.000,0.051,3155,2398,3360
$GC,848,-0.59,-117.3,69.0,-6.8,75,853,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2398,3360
$GC,1170,-0.64,-117.3,92.9,-7.5,98,1175,0.12,2.45,0.00,0.000,4,0.082,0.077,3102,3813,3360
$GC,1216,-0.55,-117.3,97.3,-9.9,100,1221,0.12,2.30,0.00,0.000,6,0.104,0.052,3135,2393,3360
$GC,1539,-0.55,-117.3,123.9,-8.1,116,1543,0.00,2.40,0.00,0.000,4,0.000,0.067,3135,995,3360
$GC,1589,-0.55,-117.3,128.2,-7.8,118,1594,0.00,2.38,0.00,0.000,6,0.000,0.059,3135,2398,3360
$GC,1907,-0.60,-117.3,151.3,-6.8,133,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2397,3361
$GC,2213,-0.66,-117.3,171.1,-6.3,143,2217,0.00,2.42,0.00,0.000,4,0.000,0.067,3135,996,3361
$GC,2250,-0.74,-117.3,173.6,-6.9,144,2255,0.17,2.40,0.00,0.000,6,0.071,0.059,3073,2404,3361
$GC,2586,-0.69,-117.3,199.4,-7.3,155,2590,0.00,2.40,0.00,0.000,4,0.000,0.077,3073,3808,3361
$GC,2643,-0.59,-117.3,204.0,-7.9,156,2647,0.20,2.30,0.00,0.000,6,0.117,0.052,3127,2388,3361
$GC,2958,-0.64,-117.3,223.1,-6.0,166,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2388,3360
$GC,3263,-0.70,-117.3,242.0,-6.3,176,3268,0.12,2.42,0.00,0.000,4,0.082,0.067,3080,987,3361
$GC,3293,-0.70,-117.3,244.3,-8.5,177,3297,0.00,2.40,0.00,0.000,6,0.000,0.059,3080,2404,3360
$GC,3636,-0.65,-117.3,272.8,-8.2,188,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2403,3360
$GC,3941,-0.60,-117.3,295.5,-7.0,198,3943,0.15,0.00,0.00,0.000,6,0.134,0.000,3122,2403,3360
$GC,4276,-0.66,-117.3,314.2,-5.6,205,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3361
$GC,4580,-0.72,-117.3,334.3,-6.7,210,4585,0.12,2.55,0.00,0.000,4,0.081,0.067,3080,991,3361
$GC,4609,-0.72,-117.3,336.8,-8.6,210,4614,0.00,2.42,0.00,0.000,6,0.000,0.060,3080,2406,3361
$GC,4943,-0.72,-117.3,363.8,-8.1,216,4947,0.00,2.47,0.00,0.000,4,0.000,0.079,3080,3817,3360
$GC,4994,-0.72,-117.3,367.8,-7.6,216,4999,0.00,2.33,0.00,0.000,6,0.000,0.053,3080,2403,3360
$GC,5305,-0.72,-117.3,389.6,-7.0,221,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3360
$GC,5608,-0.72,-117.3,409.5,-6.5,226,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2404,3360
$GC,5911,-0.72,-117.3,428.3,-6.2,231,5915,0.00,2.53,0.00,0.000,4,0.000,0.069,3080,994,3360
$GC,5945,-0.72,-117.3,430.5,-6.2,231,5950,0.00,2.45,0.00,0.000,6,0.000,0.059,3080,2399,3360
$GC,6274,-0.72,-117.3,450.4,-6.1,237,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3359
$GC,6576,-0.72,-117.3,469.2,-6.2,242,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3359
$GC,6879,-0.72,-117.3,486.5,-5.6,247,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3359
$GC,7182,-0.72,-117.3,502.7,-5.3,252,7186,0.00,2.55,0.00,0.000,4,0.000,0.068,3080,987,3359
$GC,7222,-0.72,-117.3,504.9,-5.3,252,7226,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2408,3359
$GC,7543,-0.72,-117.3,522.7,-5.6,258,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3359
$GC,7847,-0.72,-117.3,539.5,-5.6,263,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3359
$GC,8150,-0.72,-117.3,556.4,-5.5,268,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3359
$GC,8453,-0.72,-117.3,573.2,-5.5,273,8457,0.00,2.60,0.00,0.000,4,0.000,0.067,3080,985,3358
$GC,8510,-0.72,-117.3,576.5,-6.2,273,8516,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2405,3358
$GC,8820,-0.72,-117.3,593.7,-5.6,279,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3359
$GC,9123,-0.72,-117.3,612.0,-6.1,284,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3358
$GC,9427,-0.72,-117.3,632.0,-6.6,289,9431,0.00,2.55,0.00,0.000,4,0.000,0.069,3080,995,3358
$GC,9455,-0.72,-117.3,633.9,-6.9,289,9459,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2405,3358
$GC,9795,-0.72,-117.3,656.0,-6.6,295,9799,0.00,2.47,0.00,0.000,4,0.000,0.081,3080,3809,3358
$GC,9834,-0.72,-117.3,658.8,-6.5,295,9838,0.00,2.33,0.00,0.000,6,0.000,0.054,3080,2394,3358
$GC,10157,-0.72,-117.3,678.8,-6.2,301,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2394,3358
$GC,10460,-0.72,-117.3,696.1,-5.6,306,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2394,3358
$GC,10762,-0.72,-117.3,711.7,-5.1,311,10767,0.00,2.58,0.00,0.000,4,0.000,0.070,3080,989,3358
$GC,10797,-0.72,-117.3,713.5,-4.7,311,10801,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2408,3358
$GC,11124,-0.72,-117.3,729.1,-4.8,317,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3358
$GC,11428,-0.72,-117.3,745.0,-5.3,322,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3358
$GC,11730,-0.72,-117.3,762.4,-5.7,327,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3357
$GC,12033,-0.72,-117.3,780.8,-6.1,332,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3357
$GC,12337,-0.72,-117.3,800.0,-6.4,337,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3358
$GC,12639,-0.72,-117.3,819.4,-6.4,342,12644,0.00,2.60,0.00,0.000,4,0.000,0.070,3080,995,3357
$GC,12686,-0.78,-117.3,822.5,-7.7,342,12690,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2409,3357
$GC,13002,-0.78,-117.3,842.7,-6.4,348,13006,0.00,2.47,0.00,0.000,4,0.000,0.082,3080,3809,3357
$GC,13035,-0.78,-117.3,845.2,-7.6,348,13039,0.00,2.33,0.00,0.000,6,0.000,0.054,3080,2397,3357
$GC,13364,-0.95,-117.3,867.7,-7.1,354,13369,0.17,2.50,0.00,0.000,4,0.087,0.071,3014,988,3356
$GC,13583,-0.79,-117.3,886.8,-8.8,357,13588,0.17,2.45,0.00,0.000,6,0.148,0.063,3056,2408,3356
$GC,13928,-0.73,-117.3,910.6,-6.8,363,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2407,3356
$GC,14231,-0.67,-117.3,931.0,-6.8,368,14233,0.15,0.00,0.00,0.000,6,0.169,0.000,3096,2407,3356
$GC,14535,-0.74,-117.3,946.0,-4.9,373,14539,0.00,2.50,0.00,0.000,4,0.000,0.071,3096,994,3356
$GC,14581,-0.85,-117.3,948.6,-5.5,373,14586,0.17,2.45,0.00,0.000,6,0.078,0.063,3040,2409,3356
$GC,14898,-0.98,-117.3,967.9,-6.1,379,14903,0.12,2.53,0.00,0.000,4,0.106,0.071,2999,993,3356
$GC,15080,-0.77,-117.3,981.8,-8.2,381,15085,0.25,2.45,0.00,0.000,6,0.160,0.064,3061,2400,3356
$STATE,15271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15271,begin apogee
$GC,15280,-0.22,0.0,992.6,5.4,385,15394,0.62,0.00,108.80,1.490,6,0.137,0.000,3245,2197,2876
$STATE,15394,end apogee,CONTROL_FINISHED_OK
$STATE,15395,begin climb
$GC,15398,0.67,117.3,996.0,0.0,387,15522,0.93,2.88,116.53,1.438,4,0.084,0.077,3534,794,2397
$GC,15541,0.31,117.3,995.1,6.2,389,15547,0.52,2.72,0.00,0.000,6,0.177,0.058,3423,2207,2395
$GC,15880,0.31,117.3,976.1,5.6,395,15881,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2206,2394
$GC,16184,0.31,117.3,960.1,5.2,400,16185,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2206,2393
$GC,16487,0.34,136.6,946.2,4.4,405,16506,0.00,0.00,17.67,1.391,6,0.000,0.000,3423,2206,2319
$GC,16791,0.36,156.7,932.9,4.4,410,16812,0.00,0.00,19.38,1.391,6,0.000,0.000,3423,2206,2237
$GC,17093,0.39,177.6,919.6,4.4,415,17115,0.00,0.00,19.90,1.384,6,0.000,0.000,3423,2206,2151
$GC,17397,0.45,187.1,905.5,4.7,420,17412,0.12,2.47,10.07,1.289,4,0.078,0.078,3476,787,2112
$GC,17461,0.36,187.1,901.5,7.0,421,17466,0.17,2.35,0.00,0.000,6,0.146,0.060,3431,2213,2111
$GC,17828,0.36,187.1,880.5,5.8,427,17830,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2212,2110
$GC,18131,0.36,187.1,861.0,6.5,432,18132,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2212,2110
$GC,18434,0.36,187.1,840.7,6.7,437,18435,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2212,2109
$GC,18737,0.36,187.1,819.9,6.9,442,18739,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2212,2109
$GC,19040,0.36,187.1,800.1,6.5,447,19044,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,788,2109
$GC,19091,0.40,187.1,796.5,7.0,447,19095,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2200,2110
$GC,19402,0.40,187.1,776.3,6.5,452,19403,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2109
$GC,19706,0.40,187.1,756.7,6.4,457,19710,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,3611,2109
$GC,19740,0.40,187.1,754.3,6.2,457,19744,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2193,2109
$GC,20067,0.40,187.1,734.1,6.2,463,20072,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,784,2109
$GC,20142,0.46,187.1,729.5,6.1,464,20146,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2207,2109
$GC,20504,0.51,187.1,709.3,5.5,470,20506,0.12,0.00,0.00,0.000,6,0.091,0.000,3491,2206,2109
$GC,20807,0.39,187.1,689.0,6.7,475,20809,0.17,0.00,0.00,0.000,6,0.142,0.000,3444,2206,2109
$GC,21111,0.40,191.1,674.0,4.9,480,21118,0.00,0.00,4.70,0.941,6,0.000,0.000,3444,2205,2096
$GC,21413,0.40,195.4,659.3,4.9,485,21424,0.00,2.50,5.70,1.022,4,0.000,0.076,3449,788,2078
$GC,21458,0.40,195.4,657.0,5.1,485,21463,0.00,2.38,0.00,0.000,6,0.000,0.059,3449,2208,2078
$GC,21775,0.40,195.4,640.1,5.4,491,21776,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2078
$GC,22079,0.40,195.4,622.9,5.8,496,22080,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2078
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$STATE,31997,end climb,SURFACE_DEPTH_REACHED
$STATE,31997,begin surface coast
$FINISH,4.9,1.025609
$STATE,32022,end surface coast,CONTROL_FINISHED_OK
$STATE,32022,begin surface
$SM_CCo,32109,0.00,0.000,0,0,1712,285.28
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$IRIDIUM_FIX,4936.36,-14415.31,310798,121205
$TT8_MAMPS,0.026845
$HUMID,2147
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,15.50
$XPDR_PINGS,959
$24V_AH,20.7,129.791
$10V_AH,10.3,90.193
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$DEVICE_SECS,31.475,201.850,382.050,0.000,0.000,30.800,26.065,196.081,239.750,0.000,0.000,42.745,1737.904,27073.385,582.288,2231.097,922.482,33.381,1661.164,0.000,2186.634,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,623.206,601.187,1380.566,836.659,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47446,812
$CAP_FILE_SIZE,179562,0
$CFSIZE,260165632,206934016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070509,061715,4957.933,-14439.189,41,4.0,60,18.5