version: 66.03
glider: 120
mission: 9
dive: 228
start: 11 22 108 0 55 39
data:
$ID,120
$MISSION,9
$DIVE,228
$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,-22437.775
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,004737,4953.474,-14512.773,38,1.2,38,18.4
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-67.6
$GPS2,005444,4953.452,-14512.834,11,1.3,22,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132,0.119
$KALMAN_X,45497.3,-427.4,-94.1,-72432.0,1480.7
$KALMAN_Y,179173.0,67.2,-420.5,-201209.4,1987.8
$MHEAD_RNG_PITCHd_Wd,29.6,36835,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,45,0.00,0.00,-22.08,0.000,2,0.000,0.000,136,2404,2203
$GC,48,-0.67,-117.3,3.1,-4.3,2,106,13.82,2.42,-38.45,0.000,4,0.281,0.083,3095,984,3354
$GC,359,-0.43,-117.3,46.8,-11.9,29,365,0.28,2.33,0.00,0.000,6,0.157,0.064,3173,2400,3357
$GC,686,-0.48,-117.3,71.7,-8.0,60,690,0.00,2.38,0.00,0.000,4,0.000,0.081,3168,3810,3357
$GC,715,-0.48,-117.3,74.4,-8.7,62,719,0.00,2.30,0.00,0.000,6,0.000,0.054,3168,2387,3357
$GC,1033,-0.77,-117.3,96.8,-7.4,81,1038,0.25,2.47,0.00,0.000,4,0.086,0.076,3075,3822,3358
$GC,1196,-0.56,-117.3,112.6,-10.6,88,1201,0.20,2.33,0.00,0.000,6,0.156,0.054,3128,2391,3358
$GC,1512,-0.52,-117.3,138.7,-7.6,103,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2390,3359
$GC,1830,-0.52,-117.3,161.5,-6.9,116,1834,0.00,2.35,0.00,0.000,4,0.000,0.069,3128,992,3359
$GC,1879,-0.52,-117.3,165.1,-7.2,117,1883,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2405,3359
$GC,2198,-0.52,-117.3,185.2,-6.5,128,2202,0.00,2.35,0.00,0.000,4,0.000,0.081,3126,3812,3359
$GC,2241,-0.52,-117.3,188.2,-7.0,129,2245,0.00,2.33,0.00,0.000,6,0.000,0.055,3126,2397,3359
$GC,2566,-0.52,-117.3,208.7,-6.1,140,2570,0.00,2.35,0.00,0.000,4,0.000,0.071,3126,994,3359
$GC,2594,-0.52,-117.3,210.6,-6.7,141,2598,0.00,2.30,0.00,0.000,6,0.000,0.063,3126,2407,3359
$GC,2929,-0.52,-117.3,232.7,-6.9,152,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3359
$GC,3235,-0.52,-117.3,253.4,-6.5,162,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3359
$GC,3542,-0.52,-117.3,272.9,-6.3,172,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3358
$GC,3848,-0.52,-117.3,292.6,-6.4,182,3852,0.00,2.42,0.00,0.000,4,0.000,0.072,3126,987,3358
$GC,3876,-0.52,-117.3,294.4,-6.6,183,3880,0.00,2.35,0.00,0.000,6,0.000,0.064,3126,2405,3358
$GC,4208,-0.52,-117.3,314.8,-6.1,190,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3358
$GC,4512,-0.52,-117.3,333.5,-6.1,195,4516,0.00,2.40,0.00,0.000,4,0.000,0.073,3126,992,3357
$GC,4550,-0.57,-117.3,336.2,-6.4,195,4554,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2403,3357
$GC,4871,-0.57,-117.3,356.7,-6.4,201,4875,0.00,2.35,0.00,0.000,4,0.000,0.083,3126,3815,3357
$GC,4897,-0.63,-117.3,358.6,-6.9,201,4902,0.00,2.28,0.00,0.000,6,0.000,0.058,3126,2402,3357
$GC,5236,-0.68,-117.3,380.0,-6.3,207,5240,0.00,2.35,0.00,0.000,4,0.000,0.073,3126,992,3357
$GC,5285,-0.74,-117.3,383.5,-6.7,207,5290,0.15,2.30,0.00,0.000,6,0.085,0.064,3071,2406,3356
$GC,5595,-0.69,-117.3,406.8,-7.6,212,5599,0.00,2.33,0.00,0.000,4,0.000,0.082,3072,3809,3356
$GC,5650,-0.59,-117.3,411.4,-8.5,212,5657,0.20,2.30,0.00,0.000,6,0.134,0.058,3128,2399,3356
$GC,5960,-0.65,-117.3,430.8,-6.2,218,5964,0.00,2.35,0.00,0.000,4,0.000,0.073,3128,991,3356
$GC,5987,-0.70,-117.3,432.8,-7.0,218,5992,0.12,2.30,0.00,0.000,6,0.091,0.064,3081,2405,3356
$GC,6319,-0.70,-117.3,455.6,-7.0,224,6323,0.00,2.35,0.00,0.000,4,0.000,0.082,3080,3821,3356
$GC,6351,-0.64,-117.3,457.9,-7.9,224,6356,0.10,2.33,0.00,0.000,6,0.112,0.058,3106,2386,3356
$GC,6677,-0.64,-117.3,479.8,-6.7,230,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2386,3356
$GC,6980,-0.64,-117.3,499.5,-6.5,235,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2386,3356
$GC,7284,-0.64,-117.3,519.4,-6.6,240,7288,0.00,2.38,0.00,0.000,4,0.000,0.073,3106,990,3355
$GC,7333,-0.64,-117.3,522.8,-6.9,240,7337,0.00,2.33,0.00,0.000,6,0.000,0.064,3106,2394,3355
$GC,7648,-0.64,-117.3,542.4,-6.2,246,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3355
$GC,7951,-0.64,-117.3,559.6,-5.7,251,7955,0.00,2.40,0.00,0.000,4,0.000,0.084,3106,3814,3355
$GC,7978,-0.64,-117.3,561.2,-5.6,251,7982,0.00,2.33,0.00,0.000,6,0.000,0.058,3106,2394,3355
$GC,8310,-0.64,-117.3,578.0,-5.0,257,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3355
$GC,8612,-0.64,-117.3,593.5,-5.1,262,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3354
$GC,8915,-0.64,-117.3,610.3,-5.6,267,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3355
$GC,9218,-0.64,-117.3,627.4,-5.7,272,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2394,3354
$GC,9522,-0.64,-117.3,645.5,-6.0,277,9526,0.00,2.38,0.00,0.000,4,0.000,0.074,3106,992,3354
$GC,9554,-0.64,-117.3,647.7,-7.1,277,9558,0.00,2.35,0.00,0.000,6,0.000,0.067,3106,2406,3354
$GC,9886,-0.64,-117.3,667.5,-5.9,283,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2406,3354
$GC,10189,-0.64,-117.3,683.3,-5.2,288,10193,0.00,2.38,0.00,0.000,4,0.000,0.085,3106,3818,3353
$GC,10228,-0.69,-117.3,685.5,-6.0,288,10232,0.00,2.33,0.00,0.000,6,0.000,0.059,3106,2393,3353
$GC,10548,-0.69,-117.3,703.1,-5.5,294,10552,0.00,2.35,0.00,0.000,4,0.000,0.074,3106,989,3353
$GC,10580,-0.69,-117.3,705.2,-7.0,294,10584,0.00,2.30,0.00,0.000,6,0.000,0.066,3106,2401,3353
$GC,10912,-0.69,-117.3,726.0,-6.4,300,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3353
$GC,11216,-0.69,-117.3,745.5,-6.5,305,11220,0.00,2.38,0.00,0.000,4,0.000,0.085,3100,3815,3353
$GC,11247,-0.69,-117.3,747.7,-6.9,305,11252,0.00,2.35,0.00,0.000,6,0.000,0.059,3100,2396,3353
$GC,11580,-0.69,-117.3,769.1,-6.4,311,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3353
$GC,11883,-0.69,-117.3,787.2,-6.0,316,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3353
$GC,12186,-0.69,-117.3,805.3,-6.0,321,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3353
$GC,12489,-0.69,-117.3,824.1,-6.3,326,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3353
$GC,12792,-0.69,-117.3,843.2,-6.4,331,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3353
$GC,13095,-0.69,-117.3,862.2,-6.2,336,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3353
$GC,13398,-0.69,-117.3,881.6,-6.4,341,13403,0.00,2.50,0.00,0.000,4,0.000,0.085,3100,3812,3352
$GC,13432,-0.74,-117.3,883.9,-6.7,341,13435,0.00,2.35,0.00,0.000,6,0.000,0.060,3100,2390,3352
$GC,13764,-0.78,-117.3,904.5,-6.1,347,13766,0.10,0.00,0.00,0.000,6,0.102,0.000,3060,2390,3352
$GC,14066,-0.78,-117.3,922.9,-6.0,352,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2390,3351
$GC,14370,-0.78,-117.3,940.1,-5.6,357,14371,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2390,3351
$GC,14673,-0.78,-117.3,956.0,-5.3,362,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2390,3351
$GC,14975,-0.78,-117.3,972.0,-5.3,367,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2390,3352
$GC,15278,-0.78,-117.3,988.7,-5.6,372,15280,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2390,3352
$STATE,15337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15337,begin apogee
$GC,15342,-0.22,0.0,992.2,5.7,373,15450,0.60,0.00,104.30,1.502,6,0.140,0.000,3243,2199,2876
$STATE,15450,end apogee,CONTROL_FINISHED_OK
$STATE,15450,begin climb
$GC,15453,0.67,117.3,994.0,0.0,374,15569,0.88,2.72,109.30,1.448,4,0.094,0.079,3533,789,2396
$GC,15603,0.29,117.3,994.2,6.6,377,15608,0.47,2.53,0.00,0.000,6,0.183,0.063,3415,2201,2395
$GC,15946,0.29,121.9,977.6,4.9,383,15956,0.00,2.42,5.35,1.067,4,0.000,0.081,3414,3621,2378
$GC,15995,0.20,121.9,974.7,5.7,383,16000,0.15,2.40,0.00,0.000,6,0.179,0.064,3386,2202,2378
$GC,16305,0.30,146.7,961.2,4.3,388,16335,0.00,2.53,23.17,1.415,4,0.000,0.081,3386,788,2277
$GC,16364,0.44,159.3,958.4,4.6,388,16384,0.22,2.38,12.75,1.325,6,0.083,0.064,3465,2208,2226
$GC,16740,0.32,159.3,930.3,7.7,395,16742,0.15,0.00,0.00,0.000,6,0.153,0.000,3426,2208,2224
$GC,17042,0.32,159.3,909.6,6.9,400,17043,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2208,2223
$GC,17345,0.32,159.3,889.5,6.6,405,17346,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2209,2223
$GC,17648,0.32,159.3,870.8,6.2,410,17649,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2209,2223
$GC,17951,0.32,159.3,853.2,5.8,415,17955,0.00,2.40,0.00,0.000,4,0.000,0.082,3426,3609,2223
$GC,17983,0.25,159.3,851.2,6.0,415,17987,0.00,2.38,0.00,0.000,6,0.000,0.065,3426,2193,2223
$GC,18315,0.25,159.3,833.3,5.3,421,18320,0.00,2.38,0.00,0.000,4,0.000,0.082,3425,784,2223
$GC,18348,0.25,159.3,831.5,5.2,421,18352,0.00,2.33,0.00,0.000,6,0.000,0.065,3425,2205,2223
$GC,18680,0.25,159.3,812.9,5.7,427,18684,0.00,2.35,0.00,0.000,4,0.000,0.082,3426,3615,2223
$GC,18713,0.19,159.3,810.7,7.4,427,18717,0.17,2.33,0.00,0.000,6,0.174,0.066,3381,2200,2222
$GC,19039,0.35,166.2,795.1,4.8,433,19048,0.15,0.00,7.03,1.174,6,0.091,0.000,3435,2200,2198
$GC,19342,0.39,166.2,777.5,5.9,438,19343,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2198
$GC,19645,0.44,166.2,760.7,5.5,443,19649,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,791,2197
$GC,19688,0.44,166.2,758.2,6.0,443,19692,0.00,2.35,0.00,0.000,6,0.000,0.067,3435,2222,2198
$GC,20009,0.44,166.2,740.1,5.6,449,20010,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2222,2198
$GC,20312,0.44,166.2,723.2,5.6,454,20313,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2222,2197
$GC,20615,0.44,166.2,706.7,5.5,459,20619,0.00,2.47,0.00,0.000,4,0.000,0.081,3436,787,2197
$GC,20653,0.44,166.2,704.4,6.0,459,20657,0.00,2.33,0.00,0.000,6,0.000,0.067,3435,2206,2197
$GC,20974,0.44,166.2,686.8,5.4,465,20975,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2197
$GC,21277,0.44,166.2,670.9,5.2,470,21281,0.00,2.38,0.00,0.000,4,0.000,0.084,3435,3618,2197
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$STATE,31682,end climb,SURFACE_DEPTH_REACHED
$STATE,31682,begin surface coast
$FINISH,1.4,1.002386
$STATE,31758,end surface coast,CONTROL_FINISHED_OK
$STATE,31758,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2118
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$TCM_TEMP,16.00
$XPDR_PINGS,937
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$10V_AH,10.6,30.418
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$DEVICE_SECS,28.800,209.225,365.875,9.425,0.000,28.006,26.402,246.266,234.250,0.000,0.000,22.688,1720.624,27064.705,533.854,2268.245,622.876,33.383,1658.366,0.000,2233.543,0.000,0.466
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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,47452,801
$CAP_FILE_SIZE,179456,0
$CFSIZE,260165632,240881664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221108,094702,4955.689,-14509.219,56,2.0,56,18.4