version: 66.03
glider: 120
mission: 9
dive: 667
start: 5 7 109 6 25 18
data:
$ID,120
$MISSION,9
$DIVE,667
$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,-31902.281
$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,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
$GPS1,061715,4957.933,-14439.189,41,4.0,60,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.2
$GPS2,062421,4957.893,-14439.115,19,3.3,38,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.108,0.141
$KALMAN_X,-127883.9,134.5,-21.5,169819.1,-273.0
$KALMAN_Y,147815.0,-272.5,-438.4,-157428.2,190.1
$MHEAD_RNG_PITCHd_Wd,304.1,22642,-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,-40.40,0.000,2,0.000,0.000,141,2400,2732
$GC,74,-0.67,-117.3,3.8,-6.6,4,108,14.43,2.50,-12.90,0.000,4,0.273,0.080,3093,990,3356
$GC,193,-0.50,-117.3,20.7,-8.7,14,200,0.22,2.38,0.00,0.000,6,0.146,0.062,3156,2404,3357
$GC,522,-0.50,-117.3,44.9,-7.2,45,528,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2403,3358
$GC,849,-0.50,-117.3,68.0,-6.9,76,854,0.00,2.50,0.00,0.000,4,0.000,0.067,3156,990,3358
$GC,879,-0.50,-117.3,70.3,-7.3,78,883,0.00,2.40,0.00,0.000,6,0.000,0.059,3154,2402,3358
$GC,1217,-0.50,-117.3,92.3,-6.7,101,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3357
$GC,1526,-0.55,-117.3,113.9,-7.0,116,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3358
$GC,1835,-0.86,-117.3,137.0,-8.0,131,1841,0.30,2.58,0.00,0.000,4,0.080,0.064,3043,986,3358
$GC,1893,-0.69,-117.3,142.4,-9.9,133,1900,0.20,2.42,0.00,0.000,6,0.152,0.061,3093,2409,3358
$GC,2229,-0.62,-117.3,171.1,-8.6,146,2233,0.00,2.50,0.00,0.000,4,0.000,0.079,3093,3810,3358
$GC,2285,-0.62,-117.3,176.4,-8.9,147,2292,0.00,2.30,0.00,0.000,6,0.000,0.052,3093,2396,3358
$GC,2600,-0.57,-117.3,201.1,-7.4,158,2605,0.12,2.50,0.00,0.000,4,0.153,0.065,3131,994,3359
$GC,2651,-0.66,-117.3,204.4,-6.0,159,2655,0.00,2.40,0.00,0.000,6,0.000,0.058,3128,2404,3358
$GC,2971,-0.71,-117.3,221.3,-5.0,170,2976,0.12,2.45,0.00,0.000,4,0.082,0.077,3073,3814,3358
$GC,3036,-0.63,-117.3,225.5,-6.8,172,3041,0.15,2.30,0.00,0.000,6,0.117,0.052,3111,2397,3358
$GC,3372,-0.63,-117.3,244.9,-5.9,183,3376,0.00,2.42,0.00,0.000,4,0.000,0.067,3112,991,3359
$GC,3411,-0.63,-117.3,247.6,-5.9,184,3416,0.00,2.40,0.00,0.000,6,0.000,0.060,3111,2402,3358
$GC,3737,-0.63,-117.3,267.8,-6.4,195,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3358
$GC,4043,-0.63,-117.3,287.7,-6.8,205,4047,0.00,2.47,0.00,0.000,4,0.000,0.068,3112,987,3358
$GC,4082,-0.63,-117.3,290.6,-7.2,206,4086,0.00,2.42,0.00,0.000,6,0.000,0.060,3111,2406,3358
$GC,4406,-0.63,-117.3,312.9,-6.9,214,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3358
$GC,4709,-0.63,-117.3,332.0,-6.2,219,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3358
$GC,5012,-0.63,-117.3,348.9,-5.5,224,5016,0.00,2.53,0.00,0.000,4,0.000,0.067,3112,989,3359
$GC,5057,-0.67,-117.3,351.5,-5.4,224,5061,0.00,2.42,0.00,0.000,6,0.000,0.060,3112,2402,3358
$GC,5375,-0.86,-117.3,370.7,-6.2,230,5379,0.20,2.53,0.00,0.000,4,0.081,0.067,3038,991,3357
$GC,5535,-0.73,-117.3,383.2,-8.6,232,5540,0.15,2.42,0.00,0.000,6,0.140,0.061,3075,2400,3357
$GC,5875,-0.67,-117.3,408.2,-7.4,238,5879,0.00,2.47,0.00,0.000,4,0.000,0.080,3072,3809,3358
$GC,5903,-0.59,-117.3,410.6,-7.8,238,5908,0.20,2.33,0.00,0.000,6,0.141,0.053,3123,2393,3357
$GC,6242,-0.80,-117.3,433.3,-7.1,244,6247,0.17,2.47,0.00,0.000,4,0.082,0.069,3057,990,3357
$GC,6361,-0.80,-117.3,443.1,-8.8,245,6365,0.00,2.42,0.00,0.000,6,0.000,0.060,3056,2409,3357
$GC,6672,-0.89,-117.3,468.2,-8.1,250,6676,0.00,2.47,0.00,0.000,4,0.000,0.069,3056,994,3357
$GC,6728,-0.89,-117.3,472.8,-8.5,250,6733,0.00,2.42,0.00,0.000,6,0.000,0.060,3056,2410,3357
$GC,7040,-1.00,-117.3,497.3,-7.9,255,7044,0.15,2.50,0.00,0.000,4,0.084,0.067,2997,994,3357
$GC,7215,-0.73,-117.3,515.5,-11.2,257,7220,0.32,2.42,0.00,0.000,6,0.154,0.061,3077,2405,3357
$GC,7537,-0.69,-117.3,538.4,-7.0,263,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2404,3357
$GC,7841,-0.64,-117.3,559.1,-6.9,268,7842,0.12,0.00,0.00,0.000,6,0.156,0.000,3112,2404,3357
$GC,8143,-0.73,-117.3,577.2,-5.9,273,8147,0.00,2.47,0.00,0.000,4,0.000,0.070,3112,996,3356
$GC,8171,-0.91,-117.3,579.2,-7.3,273,8176,0.28,2.42,0.00,0.000,6,0.074,0.060,3020,2406,3356
$GC,8504,-0.91,-117.3,607.0,-8.4,279,8508,0.00,2.45,0.00,0.000,4,0.000,0.081,3016,3809,3356
$GC,8539,-0.76,-117.3,610.1,-8.8,279,8544,0.20,2.33,0.00,0.000,6,0.153,0.054,3064,2391,3356
$GC,8867,-0.69,-117.3,635.0,-7.6,285,8871,0.10,2.47,0.00,0.000,4,0.174,0.070,3093,988,3356
$GC,8906,-0.69,-117.3,638.0,-6.9,285,8910,0.00,2.45,0.00,0.000,6,0.000,0.062,3093,2406,3356
$GC,9228,-0.69,-117.3,658.2,-6.2,291,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3356
$GC,9530,-0.69,-117.3,675.2,-5.6,296,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3356
$GC,9834,-0.69,-117.3,691.1,-5.2,301,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3356
$GC,10136,-0.69,-117.3,706.5,-5.0,306,10141,0.00,2.53,0.00,0.000,4,0.000,0.070,3093,992,3355
$GC,10166,-0.69,-117.3,708.0,-5.5,306,10170,0.00,2.45,0.00,0.000,6,0.000,0.061,3092,2409,3355
$GC,10499,-0.69,-117.3,724.3,-5.0,312,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3355
$GC,10803,-0.69,-117.3,739.8,-5.1,317,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3355
$GC,11105,-0.69,-117.3,756.7,-5.7,322,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3355
$GC,11408,-0.69,-117.3,773.6,-5.5,327,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2409,3355
$GC,11711,-0.69,-117.3,790.6,-5.7,332,11715,0.00,2.53,0.00,0.000,4,0.000,0.071,3093,993,3355
$GC,11744,-0.69,-117.3,792.8,-6.2,332,11748,0.00,2.45,0.00,0.000,6,0.000,0.063,3093,2399,3354
$GC,12072,-0.73,-117.3,812.3,-6.0,338,12077,0.00,2.53,0.00,0.000,4,0.000,0.083,3089,3808,3354
$GC,12113,-0.77,-117.3,815.1,-6.7,338,12118,0.00,2.33,0.00,0.000,6,0.000,0.055,3090,2398,3354
$GC,12436,-0.97,-117.3,838.6,-7.5,344,12441,0.22,2.53,0.00,0.000,4,0.081,0.080,3003,3811,3354
$GC,12616,-0.75,-117.3,856.4,-10.7,346,12621,0.28,2.33,0.00,0.000,6,0.155,0.055,3071,2400,3354
$GC,12932,-0.75,-117.3,879.0,-7.0,352,12936,0.00,2.47,0.00,0.000,4,0.000,0.072,3071,995,3354
$GC,12971,-0.75,-117.3,881.8,-6.4,352,12976,0.00,2.45,0.00,0.000,6,0.000,0.063,3071,2407,3354
$GC,13293,-0.75,-117.3,901.4,-6.0,358,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2406,3354
$GC,13597,-0.75,-117.3,918.5,-5.7,363,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2406,3354
$GC,13900,-0.75,-117.3,935.3,-5.5,368,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2406,3354
$GC,14202,-0.75,-117.3,952.4,-5.7,373,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2406,3354
$GC,14506,-0.75,-117.3,971.0,-6.3,378,14510,0.00,2.55,0.00,0.000,4,0.000,0.072,3071,985,3354
$GC,14550,-0.75,-117.3,974.2,-7.0,378,14555,0.00,2.47,0.00,0.000,6,0.000,0.063,3071,2406,3353
$STATE,14803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14803,begin apogee
$GC,14812,-0.22,0.0,990.7,6.5,383,14925,0.57,0.00,107.88,1.488,6,0.133,0.000,3240,2190,2876
$STATE,14926,end apogee,CONTROL_FINISHED_OK
$STATE,14926,begin climb
$GC,14930,0.67,117.3,995.9,0.0,385,15053,0.90,0.00,115.95,1.440,6,0.083,0.000,3527,2190,2396
$GC,15362,0.35,117.3,979.0,6.6,392,15364,0.35,0.00,0.00,0.000,6,0.160,0.000,3433,2191,2393
$GC,15661,0.32,137.3,965.4,4.4,397,15685,0.00,2.47,18.12,1.386,4,0.000,0.077,3443,787,2316
$GC,15740,0.28,137.3,961.5,5.1,398,15745,0.12,2.38,0.00,0.000,6,0.151,0.060,3413,2209,2315
$GC,16096,0.31,160.6,945.9,4.3,404,16120,0.00,0.00,22.10,1.404,6,0.000,0.000,3413,2208,2221
$GC,16399,0.39,178.0,932.5,4.5,409,16418,0.00,0.00,16.88,1.376,6,0.000,0.000,3413,2208,2150
$GC,16702,0.50,200.6,919.1,4.4,414,16727,0.20,0.00,21.67,1.391,6,0.071,0.000,3496,2208,2058
$GC,17006,0.36,200.6,896.9,7.5,419,17008,0.22,0.00,0.00,0.000,6,0.146,0.000,3435,2208,2054
$GC,17308,0.36,200.6,879.9,5.6,424,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2208,2054
$GC,17610,0.36,200.6,861.2,6.3,429,17615,0.00,2.47,0.00,0.000,4,0.000,0.077,3438,793,2053
$GC,17657,0.41,200.6,858.1,6.6,429,17661,0.00,2.35,0.00,0.000,6,0.000,0.059,3437,2199,2054
$GC,17973,0.41,200.6,836.2,7.1,435,17974,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2198,2053
$GC,18276,0.41,200.6,813.8,7.4,440,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2198,2052
$GC,18579,0.41,200.6,792.5,6.9,445,18584,0.00,2.47,0.00,0.000,4,0.000,0.077,3438,793,2052
$GC,18616,0.46,200.6,790.3,5.6,445,18620,0.00,2.38,0.00,0.000,6,0.000,0.058,3438,2205,2052
$GC,18945,0.51,200.6,770.0,6.1,451,18947,0.12,0.00,0.00,0.000,6,0.085,0.000,3491,2204,2052
$GC,19247,0.40,200.6,746.8,7.7,456,19252,0.15,2.53,0.00,0.000,4,0.140,0.076,3449,783,2052
$GC,19292,0.40,200.6,743.6,6.6,456,19296,0.00,2.40,0.00,0.000,6,0.000,0.061,3449,2201,2052
$GC,19609,0.40,200.6,723.9,6.3,462,19610,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2052
$GC,19911,0.40,200.6,705.0,6.2,467,19912,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2052
$GC,20214,0.40,200.6,686.9,6.0,472,20219,0.00,2.53,0.00,0.000,4,0.000,0.076,3450,791,2052
$GC,20250,0.40,200.6,684.8,5.9,472,20254,0.00,2.40,0.00,0.000,6,0.000,0.059,3450,2207,2052
$GC,20579,0.40,200.6,664.5,6.1,478,20583,0.00,2.45,0.00,0.000,4,0.000,0.079,3450,3617,2052
$GC,20609,0.40,200.6,662.4,7.1,478,20614,0.00,2.35,0.00,0.000,6,0.000,0.061,3450,2204,2051
$GC,20942,0.40,200.6,640.3,6.6,484,20947,0.00,2.50,0.00,0.000,4,0.000,0.077,3450,784,2052
$GC,20977,0.44,200.6,637.8,6.3,484,20981,0.00,2.40,0.00,0.000,6,0.000,0.059,3450,2200,2052
$GC,21305,0.44,200.6,615.2,7.0,490,21306,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2051
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$GC,28131,0.44,200.6,204.8,5.9,628,28135,0.00,2.42,0.00,0.000,6,0.000,0.058,3464,2213,2052
$GC,28462,0.57,218.5,188.8,4.5,639,28484,0.12,2.45,16.12,0.953,4,0.088,0.077,3515,3610,1983
$GC,28704,0.41,218.5,171.6,6.6,646,28709,0.25,2.40,0.00,0.000,6,0.162,0.059,3455,2199,1981
$GC,29030,0.52,218.5,156.0,5.0,657,29034,0.00,2.50,0.00,0.000,4,0.000,0.073,3463,789,1981
$GC,29115,0.62,218.5,151.5,5.5,659,29120,0.17,2.38,0.00,0.000,6,0.074,0.058,3532,2201,1981
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$STATE,31741,end climb,SURFACE_DEPTH_REACHED
$STATE,31741,begin surface coast
$FINISH,1.2,1.025625
$STATE,31837,end surface coast,CONTROL_FINISHED_OK
$STATE,31837,begin surface
$SM_CCo,31861,21.77,0.844,0,0,1754,275.23
$SM_GC,2.98,0.00,0.00,21.77,0.000,0.000,0.844,142,2408,1754,-9.92,0.25,275.23
$IRIDIUM_FIX,4939.69,-14439.40,310798,212127
$TT8_MAMPS,0.026845
$HUMID,2149
$INTERNAL_PRESSURE,9.03599
$TCM_TEMP,14.20
$XPDR_PINGS,1024
$24V_AH,20.7,129.977
$10V_AH,10.3,90.332
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$DEVICE_SECS,31.575,196.900,348.575,21.775,0.000,24.689,29.459,178.848,256.000,0.000,0.000,38.882,1814.063,26638.078,542.030,2408.572,899.460,33.380,1689.013,0.000,2358.895,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,654.664,627.213,1448.791,875.494,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50743,852
$CAP_FILE_SIZE,182014,0
$CFSIZE,260165632,206852096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070509,151836,4959.897,-14441.935,69,1.1,69,18.5