version: 66.03
glider: 120
mission: 9
dive: 62
start: 9 19 108 21 28 23
data:
$ID,120
$MISSION,9
$DIVE,62
$D_SURF,4
$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,-18886.23
$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,18
$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
$GPS1,212237,4959.612,-14516.179,48,1.2,48,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-72.1
$GPS2,212727,4959.627,-14516.122,16,1.6,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.018,-0.177
$KALMAN_X,37390.8,-61.8,-107.2,-68577.3,1510.4
$KALMAN_Y,48784.7,-123.7,-45.1,-59565.8,2305.4
$MHEAD_RNG_PITCHd_Wd,155.7,11534,-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,-12.20,0.000,2,0.000,0.000,141,2402,1793
$GC,34,-0.67,-117.3,3.9,-0.0,1,112,13.52,2.42,-56.80,0.000,4,0.292,0.097,3095,3812,3356
$GC,366,-0.39,-117.3,44.8,-12.1,31,371,0.32,2.28,0.00,0.000,6,0.161,0.056,3190,2386,3359
$GC,692,-0.70,-117.3,67.2,-8.0,61,697,0.28,2.25,0.00,0.000,4,0.083,0.067,3092,991,3361
$GC,719,-0.70,-117.3,69.9,-9.8,63,723,0.00,2.28,0.00,0.000,6,0.000,0.060,3092,2408,3361
$GC,1047,-0.47,-117.3,108.9,-12.0,83,1052,0.22,2.30,0.00,0.000,4,0.170,0.067,3162,988,3362
$GC,1243,-0.47,-117.3,124.0,-6.1,92,1246,0.00,2.28,0.00,0.000,6,0.000,0.062,3162,2410,3362
$GC,1575,-0.52,-117.3,139.2,-4.1,108,1579,0.00,2.28,0.00,0.000,4,0.000,0.080,3157,3811,3362
$GC,1614,-0.58,-117.3,140.9,-4.6,110,1618,0.00,2.22,0.00,0.000,6,0.000,0.056,3157,2389,3362
$GC,1945,-0.64,-117.3,158.3,-5.8,124,1947,0.15,0.00,0.00,0.000,6,0.082,0.000,3097,2389,3362
$GC,2251,-0.53,-117.3,183.6,-8.4,134,2256,0.15,2.35,0.00,0.000,4,0.159,0.081,3141,3806,3362
$GC,2294,-0.53,-117.3,186.9,-7.4,135,2298,0.00,2.25,0.00,0.000,6,0.000,0.058,3141,2403,3361
$GC,2618,-0.53,-117.3,208.1,-6.5,146,2622,0.00,2.30,0.00,0.000,4,0.000,0.074,3141,984,3361
$GC,2655,-0.53,-117.3,211.0,-7.5,147,2660,0.00,2.30,0.00,0.000,6,0.000,0.064,3141,2398,3361
$GC,2985,-0.53,-117.3,232.1,-6.2,158,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2399,3361
$GC,3291,-0.53,-117.3,249.3,-5.3,168,3295,0.00,2.30,0.00,0.000,4,0.000,0.074,3141,986,3360
$GC,3339,-0.58,-117.3,251.9,-5.2,169,3344,0.00,2.30,0.00,0.000,6,0.000,0.065,3141,2396,3360
$GC,3657,-0.58,-117.3,267.7,-5.1,180,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2396,3360
$GC,3964,-0.62,-117.3,285.0,-6.0,190,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2396,3360
$GC,4269,-0.66,-117.3,305.6,-6.9,199,4274,0.12,2.30,0.00,0.000,4,0.095,0.074,3092,988,3359
$GC,4307,-0.56,-117.3,308.8,-8.7,199,4311,0.10,2.30,0.00,0.000,6,0.162,0.065,3130,2401,3358
$GC,4633,-0.56,-117.3,331.0,-6.6,205,4637,0.00,2.30,0.00,0.000,4,0.000,0.075,3131,991,3358
$GC,4681,-0.56,-117.3,334.1,-6.1,205,4686,0.00,2.30,0.00,0.000,6,0.000,0.066,3128,2405,3359
$GC,4997,-0.56,-117.3,350.2,-4.9,211,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2405,3358
$GC,5300,-0.56,-117.3,364.0,-4.5,216,5304,0.00,2.30,0.00,0.000,4,0.000,0.076,3128,991,3357
$GC,5342,-0.56,-117.3,366.3,-5.4,216,5347,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2405,3358
$GC,5669,-0.56,-117.3,384.7,-5.8,222,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2405,3357
$GC,5972,-0.56,-117.3,403.4,-6.2,227,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2405,3357
$GC,6275,-0.56,-117.3,421.4,-5.9,232,6279,0.00,2.30,0.00,0.000,4,0.000,0.077,3128,992,3356
$GC,6329,-0.61,-117.3,424.7,-6.7,232,6334,0.00,2.28,0.00,0.000,6,0.000,0.067,3128,2408,3357
$GC,6644,-0.61,-117.3,441.4,-5.3,238,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2408,3356
$GC,6947,-0.61,-117.3,456.5,-4.9,243,6951,0.00,2.30,0.00,0.000,4,0.000,0.077,3128,994,3356
$GC,6974,-0.61,-117.3,457.9,-5.4,243,6978,0.00,2.30,0.00,0.000,6,0.000,0.067,3128,2402,3356
$GC,7317,-0.61,-117.3,475.7,-5.3,249,7321,0.00,2.30,0.00,0.000,4,0.000,0.075,3128,986,3356
$GC,7360,-0.66,-117.3,478.3,-6.3,249,7364,0.00,2.30,0.00,0.000,6,0.000,0.066,3128,2398,3356
$GC,7680,-0.66,-117.3,496.6,-5.8,255,7684,0.00,2.30,0.00,0.000,4,0.000,0.084,3128,3813,3356
$GC,7707,-0.71,-117.3,498.2,-6.1,255,7712,0.12,2.28,0.00,0.000,6,0.095,0.062,3081,2397,3355
$GC,8045,-0.62,-117.3,523.0,-7.4,261,8047,0.12,0.00,0.00,0.000,6,0.165,0.000,3112,2396,3355
$GC,8347,-0.62,-117.3,542.2,-6.3,266,8351,0.00,2.28,0.00,0.000,4,0.000,0.078,3112,994,3355
$GC,8391,-0.62,-117.3,545.3,-6.9,266,8395,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2402,3355
$GC,8712,-0.62,-117.3,567.2,-6.9,272,8716,0.00,2.30,0.00,0.000,4,0.000,0.077,3112,994,3355
$GC,8750,-0.62,-117.3,569.9,-7.6,272,8754,0.00,2.28,0.00,0.000,6,0.000,0.068,3112,2408,3355
$GC,9070,-0.62,-117.3,590.3,-6.3,278,9074,0.00,2.30,0.00,0.000,4,0.000,0.078,3112,990,3355
$GC,9101,-0.62,-117.3,592.4,-6.4,278,9106,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2405,3355
$GC,9439,-0.62,-117.3,611.6,-5.6,284,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3354
$GC,9742,-0.62,-117.3,627.5,-5.2,289,9746,0.00,2.33,0.00,0.000,4,0.000,0.078,3113,988,3354
$GC,9790,-0.62,-117.3,630.4,-6.1,289,9795,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2396,3354
$GC,10105,-0.62,-117.3,648.1,-5.8,295,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3354
$GC,10408,-0.62,-117.3,667.1,-6.3,300,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3354
$GC,10712,-0.62,-117.3,686.7,-6.5,305,10716,0.00,2.30,0.00,0.000,4,0.000,0.077,3112,993,3353
$GC,10749,-0.62,-117.3,689.2,-6.7,305,10754,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2400,3353
$GC,11076,-0.62,-117.3,710.5,-6.6,311,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3353
$GC,11378,-0.62,-117.3,730.6,-6.6,316,11382,0.00,2.30,0.00,0.000,4,0.000,0.078,3112,993,3353
$GC,11421,-0.62,-117.3,733.6,-7.0,316,11426,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2405,3353
$GC,11743,-0.62,-117.3,753.1,-6.0,322,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3353
$GC,12046,-0.62,-117.3,769.9,-5.5,327,12050,0.00,2.33,0.00,0.000,4,0.000,0.079,3112,987,3353
$GC,12077,-0.62,-117.3,771.9,-5.8,327,12082,0.00,2.33,0.00,0.000,6,0.000,0.070,3112,2405,3353
$GC,12409,-0.62,-117.3,789.8,-5.4,333,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3353
$GC,12712,-0.62,-117.3,806.6,-5.5,338,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,13016,-0.62,-117.3,822.8,-5.4,343,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2406,3352
$GC,13319,-0.62,-117.3,839.5,-5.5,348,13323,0.00,2.33,0.00,0.000,4,0.000,0.080,3112,993,3352
$GC,13345,-0.62,-117.3,841.1,-6.4,348,13350,0.00,2.33,0.00,0.000,6,0.000,0.070,3112,2407,3352
$GC,13683,-0.62,-117.3,860.0,-5.6,354,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2408,3352
$GC,13986,-0.62,-117.3,877.4,-5.7,359,13990,0.00,2.33,0.00,0.000,4,0.000,0.080,3112,991,3352
$GC,14034,-0.62,-117.3,880.4,-6.9,359,14039,0.00,2.30,0.00,0.000,6,0.000,0.069,3112,2399,3352
$GC,14350,-0.62,-117.3,898.3,-5.7,365,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3352
$GC,14653,-0.66,-117.3,915.7,-5.7,370,14657,0.00,2.33,0.00,0.000,4,0.000,0.079,3112,985,3352
$GC,14701,-0.66,-117.3,919.0,-6.9,370,14706,0.00,2.33,0.00,0.000,6,0.000,0.070,3112,2400,3352
$GC,15017,-0.70,-117.3,937.5,-5.8,376,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3352
$GC,15320,-0.75,-117.3,955.0,-5.8,381,15322,0.12,0.00,0.00,0.000,6,0.095,0.000,3066,2400,3351
$GC,15623,-0.75,-117.3,973.7,-6.1,386,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2401,3351
$STATE,15925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15925,begin apogee
$GC,15929,-0.22,0.0,991.8,6.0,391,16032,0.57,0.00,99.78,1.512,6,0.154,0.000,3241,2200,2876
$STATE,16032,end apogee,CONTROL_FINISHED_OK
$STATE,16032,begin climb
$GC,16034,0.67,117.3,993.3,0.0,392,16145,0.88,2.60,102.62,1.455,4,0.107,0.081,3533,796,2396
$GC,16189,0.29,117.3,990.9,8.2,394,16194,0.43,2.47,0.00,0.000,6,0.191,0.065,3419,2196,2394
$GC,16526,0.23,117.3,970.3,6.0,400,16530,0.00,2.40,0.00,0.000,4,0.000,0.082,3415,3611,2393
$GC,16569,0.12,117.3,967.2,7.1,400,16575,0.20,2.38,0.00,0.000,6,0.173,0.067,3364,2209,2393
$GC,16896,0.25,129.5,952.0,4.7,406,16910,0.10,0.00,11.18,1.334,6,0.102,0.000,3398,2209,2347
$GC,17199,0.34,139.2,937.7,4.7,411,17214,0.00,2.42,9.80,1.305,4,0.000,0.086,3398,3613,2307
$GC,17246,0.34,139.2,935.0,5.9,411,17251,0.00,2.40,0.00,0.000,6,0.000,0.068,3406,2190,2307
$GC,17562,0.34,139.2,918.0,5.4,417,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2190,2307
$GC,17865,0.34,139.2,901.8,5.3,422,17866,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2189,2307
$GC,18168,0.34,140.5,886.5,5.0,427,18169,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2189,2307
$GC,18471,0.35,149.3,872.0,4.7,432,18486,0.00,2.35,9.95,1.307,4,0.000,0.085,3406,792,2267
$GC,18532,0.40,149.3,869.1,5.1,433,18536,0.12,2.30,0.00,0.000,6,0.101,0.066,3452,2200,2267
$GC,18902,0.30,149.3,846.0,6.3,439,18906,0.15,2.35,0.00,0.000,4,0.171,0.084,3408,3614,2267
$GC,18933,0.31,157.0,844.1,4.8,439,18948,0.00,2.33,8.15,1.244,6,0.000,0.069,3408,2203,2235
$GC,19264,0.36,163.5,828.2,4.8,445,19273,0.00,0.00,7.22,1.195,6,0.000,0.000,3408,2203,2209
$GC,19567,0.41,163.5,812.8,5.1,450,19572,0.12,2.38,0.00,0.000,4,0.101,0.087,3453,3614,2208
$GC,19599,0.24,163.5,810.7,6.6,450,19604,0.17,2.35,0.00,0.000,6,0.173,0.069,3402,2197,2208
$GC,19931,0.31,163.5,792.6,5.5,456,19932,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2197,2208
$GC,20234,0.38,163.5,775.1,5.8,461,20239,0.12,2.38,0.00,0.000,4,0.096,0.085,3447,3614,2208
$GC,20271,0.22,163.5,772.3,7.6,461,20276,0.17,2.33,0.00,0.000,6,0.177,0.070,3393,2206,2208
$GC,20597,0.31,163.5,754.7,5.3,467,20598,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2207,2208
$GC,20900,0.41,163.5,738.8,5.2,472,20902,0.17,0.00,0.00,0.000,6,0.096,0.000,3454,2206,2208
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$STATE,32755,end climb,SURFACE_DEPTH_REACHED
$STATE,32756,begin surface coast
$FINISH,3.0,1.024026
$STATE,32810,end surface coast,CONTROL_FINISHED_OK
$STATE,32810,begin surface
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$HUMID,2180
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$TCM_TEMP,16.50
$XPDR_PINGS,991
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$10V_AH,10.6,8.451
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$DEVICE_SECS,31.250,233.100,382.175,0.000,0.000,29.851,27.209,137.352,247.750,0.000,0.000,16.592,1836.357,27929.826,555.829,2465.732,388.064,33.370,1788.869,0.000,2437.634,0.000,0.465
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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,47425,830
$CAP_FILE_SIZE,197383,0
$CFSIZE,260165632,253865984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200908,063737,4956.909,-14515.669,34,1.6,34,18.4