version: 66.03
glider: 120
mission: 9
dive: 66
start: 9 21 108 9 32 23
data:
$ID,120
$MISSION,9
$DIVE,66
$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,-18942.166
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,092637,4958.398,-14505.507,34,1.1,34,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.26
$_SM_ANGLEo,-74.3
$GPS2,093127,4958.350,-14505.435,11,1.8,11,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,0.078
$KALMAN_X,34631.5,-116.8,-369.7,-52797.0,-565.0
$KALMAN_Y,53714.8,-486.8,-506.8,-66031.0,2540.0
$MHEAD_RNG_PITCHd_Wd,45.4,24209,-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,16,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,-12.18,0.000,2,0.000,0.000,139,2406,1754
$GC,34,-0.67,-117.3,4.2,-0.0,1,131,13.12,2.42,-73.32,0.000,4,0.281,0.084,3095,984,3356
$GC,382,-0.32,-117.3,41.5,-13.6,32,390,0.35,2.35,0.00,0.000,6,0.172,0.063,3202,2401,3359
$GC,710,-0.65,-117.3,62.0,-6.1,63,714,0.25,2.30,0.00,0.000,4,0.083,0.074,3108,3815,3360
$GC,849,-0.51,-117.3,72.5,-8.2,75,854,0.15,2.25,0.00,0.000,6,0.156,0.053,3149,2385,3361
$GC,1178,-0.46,-117.3,98.7,-7.6,95,1182,0.00,2.25,0.00,0.000,4,0.000,0.067,3149,984,3362
$GC,1216,-0.46,-117.3,101.7,-7.2,97,1220,0.00,2.28,0.00,0.000,6,0.000,0.061,3149,2409,3362
$GC,1548,-0.46,-117.3,126.7,-7.9,113,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2409,3362
$GC,1858,-0.46,-117.3,150.0,-7.4,128,1862,0.00,2.30,0.00,0.000,4,0.000,0.069,3149,994,3362
$GC,1935,-0.46,-117.3,156.2,-7.7,130,1940,0.00,2.30,0.00,0.000,6,0.000,0.061,3149,2403,3362
$GC,2260,-0.46,-117.3,174.6,-4.9,141,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2402,3362
$GC,2566,-0.50,-117.3,192.9,-6.1,151,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2403,3361
$GC,2872,-0.55,-117.3,206.9,-4.7,161,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2403,3361
$GC,3178,-0.60,-117.3,226.8,-7.2,171,3182,0.00,2.30,0.00,0.000,4,0.000,0.073,3149,992,3360
$GC,3208,-0.65,-117.3,229.0,-8.4,172,3213,0.12,2.28,0.00,0.000,6,0.086,0.064,3101,2406,3360
$GC,3542,-0.58,-117.3,256.6,-7.7,183,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2406,3360
$GC,3848,-0.50,-117.3,278.7,-7.3,193,3850,0.17,0.00,0.00,0.000,6,0.163,0.000,3148,2406,3359
$GC,4155,-0.57,-117.3,294.9,-4.7,203,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2406,3359
$GC,4458,-0.64,-117.3,310.5,-5.3,210,4463,0.12,2.30,0.00,0.000,4,0.088,0.074,3101,995,3359
$GC,4552,-0.58,-117.3,317.8,-7.9,211,4556,0.00,2.28,0.00,0.000,6,0.000,0.065,3100,2393,3359
$GC,4890,-0.50,-117.3,343.9,-7.6,217,4892,0.20,0.00,0.00,0.000,6,0.166,0.000,3155,2393,3358
$GC,5193,-0.59,-117.3,359.1,-5.0,222,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2393,3358
$GC,5496,-0.83,-117.3,375.5,-5.6,227,5501,0.28,2.28,0.00,0.000,4,0.088,0.076,3054,995,3357
$GC,5752,-0.63,-117.3,396.1,-8.8,230,5760,0.17,2.28,0.00,0.000,6,0.174,0.067,3109,2392,3357
$GC,6062,-0.59,-117.3,417.0,-6.8,236,6066,0.00,2.28,0.00,0.000,4,0.000,0.076,3109,994,3356
$GC,6094,-0.54,-117.3,419.5,-7.8,236,6099,0.12,2.28,0.00,0.000,6,0.174,0.065,3142,2410,3356
$GC,6426,-0.62,-117.3,437.4,-5.2,242,6430,0.00,2.30,0.00,0.000,4,0.000,0.076,3142,992,3356
$GC,6463,-0.69,-117.3,439.4,-5.6,242,6469,0.10,2.28,0.00,0.000,6,0.078,0.065,3093,2396,3355
$GC,6795,-0.69,-117.3,459.6,-6.2,248,6799,0.00,2.30,0.00,0.000,4,0.000,0.083,3094,3812,3355
$GC,6828,-0.63,-117.3,462.0,-7.1,248,6832,0.00,2.25,0.00,0.000,6,0.000,0.061,3094,2407,3355
$GC,7160,-0.57,-117.3,483.5,-6.5,254,7162,0.15,0.00,0.00,0.000,6,0.169,0.000,3133,2405,3355
$GC,7463,-0.62,-117.3,499.0,-5.1,259,7467,0.00,2.30,0.00,0.000,4,0.000,0.077,3133,981,3355
$GC,7495,-0.68,-117.3,500.8,-5.8,259,7499,0.12,2.28,0.00,0.000,6,0.088,0.065,3086,2402,3355
$GC,7821,-0.62,-117.3,523.5,-7.1,265,7826,0.12,2.30,0.00,0.000,4,0.151,0.082,3113,3816,3354
$GC,7852,-0.62,-117.3,525.9,-7.6,265,7858,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2392,3354
$GC,8185,-0.62,-117.3,548.7,-7.0,271,8189,0.00,2.25,0.00,0.000,4,0.000,0.077,3113,993,3354
$GC,8216,-0.62,-117.3,551.3,-8.5,271,8221,0.00,2.28,0.00,0.000,6,0.000,0.066,3112,2396,3354
$GC,8549,-0.62,-117.3,575.6,-7.3,277,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3354
$GC,8852,-0.62,-117.3,596.1,-6.7,282,8856,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,984,3354
$GC,8883,-0.62,-117.3,598.4,-7.7,282,8888,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2396,3353
$GC,9216,-0.62,-117.3,618.9,-6.1,288,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3354
$GC,9519,-0.62,-117.3,636.7,-5.8,293,9523,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,984,3353
$GC,9545,-0.62,-117.3,638.4,-6.6,293,9549,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2395,3353
$GC,9883,-0.62,-117.3,656.7,-5.5,299,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3353
$GC,10186,-0.62,-117.3,673.4,-5.5,304,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3353
$GC,10489,-0.62,-117.3,691.3,-6.0,309,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3353
$GC,10792,-0.62,-117.3,710.0,-6.1,314,10796,0.00,2.30,0.00,0.000,4,0.000,0.078,3113,988,3353
$GC,10829,-0.62,-117.3,712.5,-6.5,314,10834,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2399,3352
$GC,11156,-0.62,-117.3,731.7,-5.9,320,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3352
$GC,11459,-0.62,-117.3,748.6,-5.5,325,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3352
$GC,11762,-0.62,-117.3,764.3,-5.1,330,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3352
$GC,12065,-0.62,-117.3,781.3,-5.7,335,12069,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,993,3352
$GC,12102,-0.62,-117.3,783.9,-6.8,335,12106,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2402,3352
$GC,12428,-0.62,-117.3,805.1,-6.7,341,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3352
$GC,12731,-0.62,-117.3,825.1,-6.6,346,12735,0.00,2.30,0.00,0.000,4,0.000,0.078,3113,993,3352
$GC,12774,-0.62,-117.3,828.0,-6.6,346,12779,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2403,3352
$GC,13095,-0.62,-117.3,846.7,-5.8,352,13099,0.00,2.30,0.00,0.000,4,0.000,0.086,3113,3814,3352
$GC,13127,-0.67,-117.3,848.7,-5.7,352,13132,0.00,2.28,0.00,0.000,6,0.000,0.063,3113,2397,3351
$GC,13460,-0.71,-117.3,867.5,-5.7,358,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3351
$GC,13763,-0.75,-117.3,884.9,-5.7,363,13768,0.12,2.30,0.00,0.000,4,0.094,0.078,3065,985,3351
$GC,13789,-0.69,-117.3,886.8,-8.2,363,13794,0.08,2.33,0.00,0.000,6,0.171,0.069,3086,2403,3351
$GC,14126,-0.64,-117.3,910.1,-7.0,369,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3351
$GC,14429,-0.59,-117.3,932.7,-7.5,374,14434,0.15,2.33,0.00,0.000,4,0.183,0.078,3132,985,3351
$GC,14472,-0.69,-117.3,935.6,-6.2,374,14477,0.10,2.33,0.00,0.000,6,0.082,0.070,3088,2401,3351
$GC,14798,-0.69,-117.3,955.7,-6.1,380,14802,0.00,2.30,0.00,0.000,4,0.000,0.085,3087,3812,3351
$GC,14836,-0.69,-117.3,958.1,-6.2,380,14840,0.00,2.28,0.00,0.000,6,0.000,0.063,3087,2396,3351
$GC,15162,-0.69,-117.3,976.6,-5.6,386,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2396,3351
$STATE,15464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15464,begin apogee
$GC,15468,-0.22,0.0,991.9,5.0,391,15571,0.50,0.00,99.43,1.509,6,0.146,0.000,3241,2198,2876
$STATE,15571,end apogee,CONTROL_FINISHED_OK
$STATE,15571,begin climb
$GC,15573,0.67,117.3,993.2,0.0,392,15683,0.90,2.58,102.72,1.455,4,0.104,0.081,3533,794,2396
$GC,15721,0.28,117.3,989.8,8.8,395,15726,0.43,2.47,0.00,0.000,6,0.190,0.063,3412,2196,2394
$GC,16074,0.28,117.3,968.0,6.1,401,16078,0.00,2.40,0.00,0.000,4,0.000,0.081,3413,3616,2393
$GC,16129,0.17,117.3,964.2,6.2,401,16134,0.17,2.35,0.00,0.000,6,0.179,0.067,3379,2198,2393
$GC,16444,0.27,133.8,949.4,4.5,407,16460,0.00,0.00,14.60,1.374,6,0.000,0.000,3379,2198,2330
$GC,16747,0.39,159.8,936.3,4.3,412,16777,0.15,2.50,23.25,1.414,4,0.091,0.084,3440,3607,2224
$GC,16798,0.25,159.8,933.1,6.2,412,16803,0.20,2.40,0.00,0.000,6,0.175,0.067,3399,2203,2223
$GC,17114,0.31,164.4,917.5,4.9,418,17121,0.00,0.00,5.43,1.095,6,0.000,0.000,3399,2203,2205
$GC,17417,0.38,164.4,901.8,5.2,423,17421,0.12,2.38,0.00,0.000,4,0.094,0.083,3445,785,2205
$GC,17448,0.38,164.4,899.7,6.1,423,17453,0.00,2.35,0.00,0.000,6,0.000,0.066,3444,2197,2205
$GC,17780,0.31,164.4,877.3,6.9,429,17782,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2197,2204
$GC,18084,0.24,164.4,855.5,7.2,434,18088,0.15,2.35,0.00,0.000,4,0.165,0.083,3400,3616,2204
$GC,18115,0.24,164.4,853.3,6.6,434,18120,0.00,2.33,0.00,0.000,6,0.000,0.067,3408,2202,2204
$GC,18448,0.29,164.4,833.0,6.2,440,18449,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2204
$GC,18750,0.33,164.4,814.0,6.3,445,18752,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2204
$GC,19054,0.37,164.4,795.9,6.1,450,19055,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2204
$GC,19357,0.42,164.4,779.4,5.3,455,19358,0.12,0.00,0.00,0.000,6,0.104,0.000,3456,2202,2204
$GC,19660,0.32,164.4,760.9,6.1,460,19662,0.12,0.00,0.00,0.000,6,0.163,0.000,3425,2202,2204
$GC,19963,0.33,173.0,746.0,4.8,465,19973,0.00,0.00,8.60,1.216,6,0.000,0.000,3424,2202,2170
$GC,20266,0.34,179.1,731.3,4.8,470,20274,0.00,0.00,6.78,1.134,6,0.000,0.000,3425,2202,2145
$GC,20569,0.34,179.1,714.8,5.5,475,20573,0.00,2.35,0.00,0.000,4,0.000,0.084,3425,787,2145
$GC,20601,0.38,179.1,712.9,6.2,475,20605,0.00,2.33,0.00,0.000,6,0.000,0.065,3425,2198,2145
$GC,20938,0.38,179.1,691.8,6.4,481,20939,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2197,2145
$GC,21242,0.38,179.1,671.6,6.7,486,21243,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2197,2145
$GC,21545,0.38,179.1,651.3,6.7,491,21549,0.00,2.35,0.00,0.000,4,0.000,0.084,3425,786,2144
$GC,21582,0.43,179.1,648.8,7.0,491,21587,0.00,2.30,0.00,0.000,6,0.000,0.064,3425,2197,2145
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$STATE,32117,end climb,SURFACE_DEPTH_REACHED
$STATE,32117,begin surface coast
$FINISH,3.4,1.020307
$STATE,32213,end surface coast,CONTROL_FINISHED_OK
$STATE,32214,begin surface
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$HUMID,2191
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$TCM_TEMP,15.10
$XPDR_PINGS,1074
$24V_AH,23.1,16.655
$10V_AH,10.6,8.954
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$DEVICE_SECS,32.100,227.875,362.950,0.000,0.000,31.094,25.320,141.509,268.500,0.000,0.000,11.929,1889.945,27022.980,559.544,2707.929,397.373,33.375,1881.629,0.000,2677.167,0.000,0.465
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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,47369,840
$CAP_FILE_SIZE,201897,0
$CFSIZE,260165632,253558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210908,183137,5000.201,-14501.158,31,1.7,31,18.5