version: 66.03
glider: 120
mission: 9
dive: 222
start: 11 19 108 16 43 27
data:
$ID,120
$MISSION,9
$DIVE,222
$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,-22258.57
$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
$GPS1,163638,5010.296,-14511.956,40,1.7,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-74.4
$GPS2,164232,5010.334,-14511.838,12,1.9,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.181
$KALMAN_X,41962.4,643.4,-79.9,-68813.5,-570.8
$KALMAN_Y,169110.2,-126.0,-197.4,-159913.0,2776.9
$MHEAD_RNG_PITCHd_Wd,157.1,30230,-11.6,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.65,-117.3,0.0,0.0,0,54,0.00,0.00,-31.35,0.000,2,0.000,0.000,139,2403,2417
$GC,57,-0.65,-117.3,3.4,-6.1,3,101,14.00,2.53,-25.02,0.000,4,0.287,0.094,3099,3811,3356
$GC,198,-0.40,-117.3,20.1,-12.6,15,205,0.30,2.33,0.00,0.000,6,0.162,0.056,3182,2396,3358
$GC,525,-0.40,-117.3,44.1,-6.9,46,526,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2396,3359
$GC,841,-0.46,-117.3,64.7,-5.8,76,845,0.00,2.47,0.00,0.000,4,0.000,0.080,3181,3816,3359
$GC,873,-0.64,-117.3,67.0,-6.7,78,880,0.20,2.35,0.00,0.000,6,0.084,0.053,3111,2371,3359
$GC,1195,-0.76,-117.3,91.1,-7.8,102,1200,0.12,2.47,0.00,0.000,4,0.105,0.076,3061,3818,3360
$GC,1295,-0.49,-117.3,102.0,-11.6,106,1302,0.32,2.30,0.00,0.000,6,0.159,0.054,3153,2401,3360
$GC,1611,-0.49,-117.3,127.7,-7.8,122,1615,0.00,2.38,0.00,0.000,4,0.000,0.068,3153,990,3361
$GC,1643,-0.49,-117.3,130.3,-7.7,123,1650,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2397,3361
$GC,1959,-0.53,-117.3,151.2,-6.6,139,1963,0.00,2.38,0.00,0.000,4,0.000,0.079,3153,3811,3361
$GC,1988,-0.60,-117.3,153.0,-6.4,140,1992,0.00,2.30,0.00,0.000,6,0.000,0.054,3153,2398,3361
$GC,2323,-0.84,-117.3,177.3,-7.4,151,2328,0.28,2.45,0.00,0.000,4,0.086,0.077,3049,3818,3361
$GC,2440,-0.61,-117.3,188.6,-10.6,154,2445,0.25,2.30,0.00,0.000,6,0.158,0.056,3118,2402,3361
$GC,2752,-0.61,-117.3,210.7,-6.9,164,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2402,3361
$GC,3059,-0.61,-117.3,233.5,-7.7,174,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2402,3361
$GC,3365,-0.61,-117.3,256.2,-7.2,184,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2401,3360
$GC,3671,-0.61,-117.3,278.1,-7.1,194,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2400,3360
$GC,3977,-0.61,-117.3,298.5,-6.6,204,3981,0.00,2.38,0.00,0.000,4,0.000,0.072,3118,993,3359
$GC,4010,-0.61,-117.3,300.7,-6.8,205,4014,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2411,3359
$GC,4348,-0.61,-117.3,323.4,-6.8,211,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3359
$GC,4651,-0.61,-117.3,344.7,-7.1,216,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3359
$GC,4953,-0.61,-117.3,365.7,-6.9,221,4958,0.00,2.42,0.00,0.000,4,0.000,0.071,3114,984,3358
$GC,4991,-0.61,-117.3,368.5,-7.1,221,4996,0.00,2.38,0.00,0.000,6,0.000,0.064,3113,2415,3359
$GC,5318,-0.61,-117.3,390.0,-6.6,227,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2415,3358
$GC,5622,-0.61,-117.3,411.2,-7.0,232,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2415,3358
$GC,5924,-0.61,-117.3,432.0,-6.8,237,5928,0.00,2.42,0.00,0.000,4,0.000,0.073,3113,987,3358
$GC,5951,-0.61,-117.3,434.0,-7.0,237,5955,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2399,3358
$GC,6289,-0.61,-117.3,456.7,-6.7,243,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,6592,-0.61,-117.3,475.8,-6.3,248,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3357
$GC,6895,-0.61,-117.3,494.2,-6.1,253,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,7198,-0.61,-117.3,512.9,-6.2,258,7202,0.00,2.40,0.00,0.000,4,0.000,0.073,3113,984,3357
$GC,7224,-0.61,-117.3,514.6,-6.8,258,7229,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2401,3357
$GC,7562,-0.61,-117.3,535.4,-6.2,264,7566,0.00,2.38,0.00,0.000,4,0.000,0.084,3113,3809,3357
$GC,7594,-0.66,-117.3,537.5,-6.0,264,7598,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2393,3357
$GC,7920,-0.66,-117.3,557.6,-6.1,270,7925,0.00,2.35,0.00,0.000,4,0.000,0.073,3113,991,3357
$GC,7953,-0.66,-117.3,559.8,-6.0,270,7957,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2401,3357
$GC,8286,-0.66,-117.3,579.7,-6.0,276,8290,0.00,2.35,0.00,0.000,4,0.000,0.084,3113,3809,3356
$GC,8313,-0.71,-117.3,581.4,-6.2,276,8317,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2390,3356
$GC,8650,-0.71,-117.3,600.0,-5.5,282,8655,0.00,2.35,0.00,0.000,4,0.000,0.073,3113,990,3356
$GC,8678,-0.75,-117.3,601.6,-5.9,282,8682,0.12,2.33,0.00,0.000,6,0.089,0.064,3066,2414,3356
$GC,9015,-0.68,-117.3,623.8,-6.7,288,9020,0.12,2.35,0.00,0.000,4,0.118,0.084,3100,3813,3356
$GC,9069,-0.68,-117.3,627.5,-6.4,288,9077,0.00,2.33,0.00,0.000,6,0.000,0.059,3100,2399,3356
$GC,9379,-0.68,-117.3,646.3,-6.1,294,9383,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,984,3356
$GC,9422,-0.68,-117.3,649.3,-6.9,294,9427,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2405,3356
$GC,9743,-0.68,-117.3,669.4,-6.4,300,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3356
$GC,10046,-0.68,-117.3,689.1,-6.5,305,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,10349,-0.68,-117.3,708.8,-6.5,310,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3356
$GC,10652,-0.68,-117.3,727.7,-6.3,315,10656,0.00,2.42,0.00,0.000,4,0.000,0.074,3100,990,3355
$GC,10680,-0.68,-117.3,729.6,-7.3,315,10684,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2405,3355
$GC,11012,-0.68,-117.3,748.4,-5.6,321,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3355
$GC,11314,-0.68,-117.3,764.0,-5.1,326,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3355
$GC,11617,-0.68,-117.3,780.0,-5.3,331,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,11921,-0.68,-117.3,796.9,-5.6,336,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3355
$GC,12224,-0.68,-117.3,815.7,-6.3,341,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3354
$GC,12527,-0.68,-117.3,836.2,-6.8,346,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,12830,-0.68,-117.3,856.9,-6.8,351,12834,0.00,2.42,0.00,0.000,4,0.000,0.074,3099,991,3354
$GC,12856,-0.68,-117.3,858.9,-7.6,351,12861,0.00,2.38,0.00,0.000,6,0.000,0.067,3100,2405,3353
$GC,13194,-0.68,-117.3,880.1,-6.3,357,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3354
$GC,13497,-0.68,-117.3,897.7,-5.8,362,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3354
$GC,13800,-0.68,-117.3,914.1,-5.4,367,13804,0.00,2.42,0.00,0.000,4,0.000,0.075,3100,985,3354
$GC,13832,-0.68,-117.3,915.9,-5.7,367,13837,0.00,2.35,0.00,0.000,6,0.000,0.068,3099,2407,3354
$GC,14165,-0.68,-117.3,933.1,-5.2,373,14166,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3353
$GC,14468,-0.68,-117.3,948.6,-5.1,378,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,14771,-0.68,-117.3,964.2,-5.2,383,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,15074,-0.68,-117.3,980.3,-5.4,388,15078,0.00,2.40,0.00,0.000,4,0.000,0.076,3099,987,3353
$GC,15106,-0.68,-117.3,982.2,-6.3,388,15110,0.00,2.35,0.00,0.000,6,0.000,0.067,3099,2412,3353
$STATE,15256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15256,begin apogee
$GC,15261,-0.22,0.0,990.3,5.4,391,15369,0.47,0.00,104.78,1.499,6,0.145,0.000,3242,2201,2876
$STATE,15369,end apogee,CONTROL_FINISHED_OK
$STATE,15369,begin climb
$GC,15372,0.65,117.3,992.2,0.0,392,15488,0.85,2.67,109.28,1.448,4,0.092,0.080,3524,783,2396
$GC,15566,0.31,117.3,988.6,7.6,394,15572,0.40,2.50,0.00,0.000,6,0.181,0.063,3422,2205,2394
$GC,15921,0.24,117.3,970.1,5.1,400,15925,0.00,2.40,0.00,0.000,4,0.000,0.081,3422,3613,2393
$GC,15965,0.11,117.3,967.6,5.4,400,15970,0.25,2.38,0.00,0.000,6,0.175,0.066,3357,2198,2392
$GC,16280,0.30,165.3,955.9,3.7,406,16330,0.15,2.55,42.45,1.443,4,0.090,0.080,3418,790,2201
$GC,16357,0.30,165.3,951.9,5.7,407,16361,0.00,2.42,0.00,0.000,6,0.000,0.065,3418,2213,2199
$GC,16712,0.34,165.3,932.5,5.5,413,16714,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2213,2197
$GC,17015,0.34,165.3,916.7,5.2,418,17019,0.00,2.47,0.00,0.000,4,0.000,0.081,3418,784,2197
$GC,17052,0.34,165.3,914.6,6.1,418,17056,0.00,2.35,0.00,0.000,6,0.000,0.067,3419,2202,2197
$GC,17379,0.38,165.3,897.5,5.2,424,17380,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2202,2197
$GC,17682,0.40,174.8,882.9,4.7,429,17696,0.00,2.45,9.05,1.279,4,0.000,0.081,3418,782,2163
$GC,17729,0.40,174.8,880.4,5.7,429,17734,0.00,2.35,0.00,0.000,6,0.000,0.065,3418,2205,2162
$GC,18051,0.41,183.5,865.0,4.8,435,18062,0.00,0.00,9.32,1.277,6,0.000,0.000,3419,2205,2128
$GC,18354,0.46,183.5,849.1,5.3,440,18356,0.15,0.00,0.00,0.000,6,0.094,0.000,3477,2206,2127
$GC,18657,0.31,183.5,825.3,8.0,445,18659,0.20,0.00,0.00,0.000,6,0.156,0.000,3422,2206,2127
$GC,18960,0.31,183.5,807.7,5.8,450,18964,0.00,2.40,0.00,0.000,4,0.000,0.083,3422,3619,2127
$GC,18987,0.31,183.5,805.9,6.4,450,18991,0.00,2.38,0.00,0.000,6,0.000,0.065,3422,2193,2127
$GC,19324,0.31,183.5,787.7,5.3,456,19325,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2193,2127
$GC,19627,0.31,183.5,771.6,5.3,461,19629,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2193,2127
$GC,19930,0.31,183.5,754.8,5.5,466,19931,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2193,2126
$GC,20233,0.31,183.5,737.7,5.7,471,20237,0.00,2.42,0.00,0.000,4,0.000,0.081,3422,781,2127
$GC,20266,0.37,183.5,735.8,5.4,471,20270,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2203,2126
$GC,20592,0.37,183.5,717.6,5.6,477,20593,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2203,2127
$GC,20895,0.37,183.5,700.3,5.7,482,20899,0.00,2.42,0.00,0.000,4,0.000,0.081,3422,783,2126
$GC,20928,0.44,183.5,698.3,5.9,482,20933,0.12,2.33,0.00,0.000,6,0.096,0.064,3470,2206,2127
$GC,21254,0.35,183.5,674.4,7.5,488,21259,0.15,2.35,0.00,0.000,4,0.149,0.081,3428,3611,2126
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$GC,27332,0.49,211.2,327.9,4.7,588,27348,0.12,2.42,10.60,1.013,4,0.096,0.080,3489,790,2013
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$STATE,32519,end climb,SURFACE_DEPTH_REACHED
$STATE,32519,begin surface coast
$FINISH,1.3,1.025265
$STATE,32678,end surface coast,CONTROL_FINISHED_OK
$STATE,32678,begin surface
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$10V_AH,10.6,29.604
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$DEVICE_SECS,28.875,210.025,366.100,12.050,0.000,31.446,41.277,157.879,251.000,0.000,0.000,17.038,1807.358,27790.902,543.245,2363.538,552.024,33.376,1709.370,0.000,2333.476,0.000,0.465
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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,50625,849
$CAP_FILE_SIZE,181954,0
$CFSIZE,260165632,241348608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,201108,015038,5007.909,-14510.850,84,1.1,84,18.5