version: 66.03
glider: 120
mission: 9
dive: 207
start: 11 14 108 2 8 41
data:
$ID,120
$MISSION,9
$DIVE,207
$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,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,-21973.527
$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,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
$GPS1,015326,4954.292,-14430.740,36,1.7,36,18.5
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.5
$GPS2,020747,4954.166,-14430.701,15,2.2,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.161,0.076
$KALMAN_X,40758.1,53.7,-147.5,-18057.2,508.7
$KALMAN_Y,161529.5,-119.7,-439.8,-182052.5,3020.0
$MHEAD_RNG_PITCHd_Wd,276.8,34427,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.67,0.000,2,0.000,0.000,123,2411,2434
$GC,57,-0.67,-117.3,3.1,-4.8,3,104,14.07,2.47,-27.10,0.000,4,0.288,0.098,3094,3799,3356
$GC,335,-0.42,-117.3,36.2,-13.8,28,340,0.30,2.30,0.00,0.000,6,0.157,0.055,3179,2396,3358
$GC,659,-0.42,-117.3,59.3,-6.2,58,664,0.00,2.45,0.00,0.000,4,0.000,0.078,3179,3810,3359
$GC,688,-0.56,-117.3,61.3,-7.1,60,693,0.15,2.30,0.00,0.000,6,0.083,0.052,3126,2393,3359
$GC,1022,-0.75,-117.3,86.5,-7.8,87,1027,0.15,2.40,0.00,0.000,4,0.094,0.075,3060,3806,3359
$GC,1066,-0.47,-117.3,91.0,-11.2,89,1071,0.35,2.28,0.00,0.000,6,0.159,0.053,3159,2397,3360
$GC,1387,-0.47,-117.3,113.2,-6.4,105,1391,0.00,2.35,0.00,0.000,4,0.000,0.067,3159,988,3360
$GC,1427,-0.51,-117.3,116.2,-7.7,107,1431,0.00,2.30,0.00,0.000,6,0.000,0.059,3155,2407,3360
$GC,1754,-0.55,-117.3,141.1,-7.5,123,1758,0.00,2.38,0.00,0.000,4,0.000,0.067,3155,990,3360
$GC,1832,-0.65,-117.3,146.9,-7.0,126,1839,0.15,2.30,0.00,0.000,6,0.080,0.061,3099,2400,3360
$GC,2155,-0.57,-117.3,175.3,-8.9,138,2160,0.12,2.35,0.00,0.000,4,0.153,0.078,3126,3806,3360
$GC,2244,-0.57,-117.3,182.5,-8.0,140,2250,0.00,2.30,0.00,0.000,6,0.000,0.054,3125,2398,3360
$GC,2556,-0.57,-117.3,204.9,-7.0,151,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3360
$GC,2862,-0.57,-117.3,226.9,-7.1,161,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3360
$GC,3169,-0.57,-117.3,247.8,-6.7,171,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3359
$GC,3475,-0.57,-117.3,267.3,-6.3,181,3479,0.00,2.35,0.00,0.000,4,0.000,0.071,3125,996,3358
$GC,3518,-0.57,-117.3,270.2,-6.3,182,3523,0.00,2.35,0.00,0.000,6,0.000,0.063,3125,2396,3358
$GC,3842,-0.57,-117.3,289.5,-6.0,193,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2396,3358
$GC,4147,-0.57,-117.3,309.6,-6.8,201,4151,0.00,2.38,0.00,0.000,4,0.000,0.071,3125,988,3357
$GC,4184,-0.57,-117.3,312.3,-7.3,201,4189,0.00,2.35,0.00,0.000,6,0.000,0.064,3125,2399,3357
$GC,4512,-0.57,-117.3,334.9,-6.9,207,4516,0.00,2.38,0.00,0.000,4,0.000,0.071,3125,986,3357
$GC,4550,-0.61,-117.3,337.7,-7.0,207,4554,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2411,3357
$GC,4870,-0.61,-117.3,358.5,-6.5,213,4875,0.00,2.35,0.00,0.000,4,0.000,0.082,3125,3810,3357
$GC,4898,-0.65,-117.3,360.3,-7.2,213,4902,0.00,2.28,0.00,0.000,6,0.000,0.056,3125,2398,3356
$GC,5235,-0.65,-117.3,381.8,-6.3,219,5239,0.00,2.38,0.00,0.000,4,0.000,0.072,3125,986,3356
$GC,5262,-0.70,-117.3,383.6,-6.6,219,5266,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2412,3356
$GC,5593,-0.70,-117.3,403.4,-5.9,225,5597,0.00,2.40,0.00,0.000,4,0.000,0.071,3125,991,3356
$GC,5626,-0.74,-117.3,405.5,-5.9,225,5631,0.15,2.30,0.00,0.000,6,0.084,0.063,3070,2411,3355
$GC,5953,-0.62,-117.3,429.0,-7.3,231,5958,0.15,2.38,0.00,0.000,4,0.160,0.081,3113,3811,3355
$GC,5985,-0.62,-117.3,431.2,-6.2,231,5989,0.00,2.33,0.00,0.000,6,0.000,0.057,3113,2395,3355
$GC,6317,-0.62,-117.3,450.1,-5.7,237,6321,0.00,2.35,0.00,0.000,4,0.000,0.072,3112,991,3355
$GC,6360,-0.62,-117.3,452.8,-6.2,237,6364,0.00,2.30,0.00,0.000,6,0.000,0.064,3112,2410,3355
$GC,6681,-0.62,-117.3,472.8,-6.4,243,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3355
$GC,6984,-0.62,-117.3,492.7,-6.6,248,6988,0.00,2.40,0.00,0.000,4,0.000,0.072,3112,985,3354
$GC,7011,-0.62,-117.3,494.7,-7.5,248,7015,0.00,2.35,0.00,0.000,6,0.000,0.064,3112,2405,3354
$GC,7349,-0.62,-117.3,517.6,-6.8,254,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3354
$GC,7653,-0.62,-117.3,538.2,-6.8,259,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3354
$GC,7955,-0.62,-117.3,557.1,-6.3,264,7959,0.00,2.40,0.00,0.000,4,0.000,0.073,3112,991,3353
$GC,7992,-0.62,-117.3,559.6,-6.5,264,7996,0.00,2.35,0.00,0.000,6,0.000,0.065,3113,2397,3353
$GC,8319,-0.62,-117.3,577.9,-5.5,270,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3354
$GC,8622,-0.62,-117.3,593.4,-5.1,275,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3353
$GC,8925,-0.62,-117.3,608.9,-5.2,280,8929,0.00,2.38,0.00,0.000,4,0.000,0.073,3112,994,3353
$GC,8957,-0.62,-117.3,610.9,-5.9,280,8962,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2400,3352
$GC,9290,-0.62,-117.3,628.3,-5.3,286,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3353
$GC,9593,-0.62,-117.3,644.9,-5.5,291,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3353
$GC,9896,-0.62,-117.3,662.0,-5.7,296,9900,0.00,2.40,0.00,0.000,4,0.000,0.074,3113,987,3352
$GC,9927,-0.62,-117.3,664.1,-6.6,296,9932,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2393,3352
$GC,10260,-0.62,-117.3,684.0,-6.0,302,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2393,3352
$GC,10563,-0.62,-117.3,701.8,-5.8,307,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2393,3352
$GC,10866,-0.62,-117.3,719.1,-5.7,312,10870,0.00,2.40,0.00,0.000,4,0.000,0.074,3112,988,3352
$GC,10916,-0.67,-117.3,722.3,-6.9,312,10920,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2405,3352
$GC,11231,-0.71,-117.3,740.5,-5.8,318,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3352
$GC,11535,-0.76,-117.3,758.5,-5.9,323,11536,0.12,0.00,0.00,0.000,6,0.093,0.000,3064,2405,3351
$GC,11838,-0.71,-117.3,779.0,-6.8,328,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2405,3351
$GC,12140,-0.67,-117.3,799.0,-6.6,333,12142,0.12,0.00,0.00,0.000,6,0.114,0.000,3099,2405,3350
$GC,12443,-0.67,-117.3,816.7,-5.8,338,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3351
$GC,12746,-0.67,-117.3,834.6,-5.9,343,12751,0.00,2.42,0.00,0.000,4,0.000,0.075,3099,987,3351
$GC,12786,-0.67,-117.3,837.2,-7.6,343,12790,0.00,2.33,0.00,0.000,6,0.000,0.067,3098,2404,3351
$GC,13107,-0.67,-117.3,855.0,-5.5,349,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3351
$GC,13409,-0.67,-117.3,870.8,-5.2,354,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3351
$GC,13712,-0.67,-117.3,886.1,-5.0,359,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3350
$GC,14017,-0.67,-117.3,901.3,-5.0,364,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3350
$GC,14319,-0.67,-117.3,917.7,-5.5,369,14323,0.00,2.42,0.00,0.000,4,0.000,0.075,3099,991,3350
$GC,14351,-0.67,-117.3,919.7,-5.4,369,14355,0.00,2.35,0.00,0.000,6,0.000,0.067,3099,2419,3350
$GC,14683,-0.67,-117.3,938.5,-5.7,375,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2419,3350
$GC,14987,-0.67,-117.3,955.6,-5.6,380,14991,0.00,2.45,0.00,0.000,4,0.000,0.076,3099,988,3349
$GC,15013,-0.67,-117.3,957.2,-5.7,380,15017,0.00,2.35,0.00,0.000,6,0.000,0.067,3099,2401,3349
$GC,15351,-0.67,-117.3,976.1,-5.6,386,15355,0.00,2.40,0.00,0.000,4,0.000,0.076,3099,994,3350
$GC,15377,-0.67,-117.3,977.6,-6.0,386,15381,0.00,2.35,0.00,0.000,6,0.000,0.068,3099,2395,3349
$STATE,15652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15652,begin apogee
$GC,15658,-0.22,0.0,992.5,5.4,391,15764,0.47,0.00,103.25,1.494,6,0.145,0.000,3243,2202,2876
$STATE,15765,end apogee,CONTROL_FINISHED_OK
$STATE,15765,begin climb
$GC,15767,0.67,117.3,994.3,0.0,392,15883,0.88,2.72,108.20,1.444,4,0.094,0.080,3533,794,2397
$GC,15922,0.29,117.3,993.2,7.5,394,15927,0.47,2.50,0.00,0.000,6,0.190,0.063,3416,2200,2394
$GC,16254,0.29,117.3,974.7,5.5,400,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2393
$GC,16556,0.29,117.3,957.4,5.7,405,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2392
$GC,16859,0.29,117.3,940.3,5.7,410,16861,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2200,2392
$GC,17163,0.29,117.3,924.0,5.3,415,17164,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2392
$GC,17466,0.29,117.3,908.1,5.2,420,17467,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2392
$GC,17769,0.29,118.4,893.0,5.0,425,17770,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2200,2391
$GC,18072,0.30,123.9,878.2,4.8,430,18085,0.00,2.45,6.62,1.184,4,0.000,0.082,3416,3622,2370
$GC,18131,0.21,123.9,875.0,5.4,430,18139,0.15,2.40,0.00,0.000,6,0.178,0.066,3385,2187,2370
$GC,18441,0.34,164.4,862.9,3.8,436,18480,0.12,0.00,36.05,1.401,6,0.091,0.000,3433,2187,2205
$GC,18744,0.34,164.4,845.5,5.8,441,18745,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2187,2203
$GC,19047,0.34,164.4,828.2,5.7,446,19048,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2187,2202
$GC,19350,0.34,164.4,810.8,5.8,451,19354,0.00,2.47,0.00,0.000,4,0.000,0.082,3433,3610,2201
$GC,19387,0.25,164.4,808.2,6.7,451,19392,0.15,2.38,0.00,0.000,6,0.170,0.066,3398,2192,2201
$GC,19708,0.35,164.4,792.2,5.1,457,19709,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2192,2201
$GC,20011,0.44,164.4,775.4,5.6,462,20013,0.17,0.00,0.00,0.000,6,0.085,0.000,3464,2192,2201
$GC,20314,0.35,164.4,752.6,7.7,467,20319,0.12,2.45,0.00,0.000,4,0.154,0.081,3428,3613,2201
$GC,20358,0.28,164.4,749.1,8.0,467,20362,0.00,2.35,0.00,0.000,6,0.000,0.065,3436,2200,2201
$GC,20679,0.28,164.4,726.8,7.0,473,20680,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2201
$GC,20981,0.28,164.4,705.2,7.2,478,20986,0.00,2.42,0.00,0.000,4,0.000,0.082,3436,3612,2201
$GC,21020,0.21,164.4,702.2,6.6,478,21025,0.20,2.35,0.00,0.000,6,0.167,0.066,3384,2197,2200
$GC,21340,0.36,164.4,684.3,5.5,484,21342,0.15,0.00,0.00,0.000,6,0.093,0.000,3437,2197,2201
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$STATE,32246,end climb,SURFACE_DEPTH_REACHED
$STATE,32246,begin surface coast
$FINISH,1.1,1.013007
$STATE,32322,end surface coast,CONTROL_FINISHED_OK
$STATE,32322,begin surface
$SM_CCo,32340,23.35,0.834,0,0,1653,300.00
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$TT8_MAMPS,0.026078
$HUMID,2131
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$TCM_TEMP,16.30
$XPDR_PINGS,957
$24V_AH,22.2,42.429
$10V_AH,10.6,27.619
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$DEVICE_SECS,30.400,218.775,345.000,23.350,0.000,80.102,159.597,348.829,239.250,0.000,0.000,35.081,1795.515,27631.494,535.607,2338.279,918.299,33.376,1689.320,0.000,2294.293,0.000,0.465
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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,50608,834
$CAP_FILE_SIZE,192032,0
$CFSIZE,260165632,242507776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141108,110908,4955.953,-14435.196,26,1.9,26,18.5