version: 66.03
glider: 120
mission: 9
dive: 346
start: 1 5 109 19 13 4
data:
$ID,120
$MISSION,9
$DIVE,346
$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,-24998.27
$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,23
$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
$GPS1,190551,5009.216,-14512.812,41,3.4,60,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-76.2
$GPS2,191210,5009.210,-14512.833,9,2.7,28,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.177
$KALMAN_X,24824.9,-244.3,-239.7,-51788.8,971.3
$KALMAN_Y,252091.5,-218.0,-39.1,-245049.2,2172.4
$MHEAD_RNG_PITCHd_Wd,168.0,28169,-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,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-10.98,0.000,2,0.000,0.000,133,2404,1910
$GC,38,-0.67,-117.3,3.8,-0.0,1,118,13.88,2.42,-59.70,0.000,4,0.280,0.095,3097,3804,3355
$GC,181,-0.51,-117.3,12.4,-9.4,13,188,0.20,2.33,0.00,0.000,6,0.163,0.054,3151,2391,3357
$GC,510,-0.51,-117.3,37.8,-9.0,44,514,0.00,2.38,0.00,0.000,4,0.000,0.070,3152,990,3357
$GC,532,-0.51,-117.3,40.5,-10.8,45,539,0.00,2.30,0.00,0.000,6,0.000,0.063,3152,2404,3357
$GC,857,-0.51,-117.3,64.9,-6.6,76,858,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2404,3357
$GC,1173,-0.51,-117.3,87.9,-7.5,101,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2404,3357
$GC,1484,-0.51,-117.3,110.9,-7.5,116,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2404,3357
$GC,1792,-0.76,-117.3,133.4,-7.5,131,1797,0.20,2.38,0.00,0.000,4,0.087,0.067,3078,993,3358
$GC,1900,-0.63,-117.3,142.3,-8.7,136,1904,0.12,2.30,0.00,0.000,6,0.154,0.062,3111,2408,3358
$GC,2234,-0.63,-117.3,166.4,-7.0,149,2238,0.00,2.38,0.00,0.000,4,0.000,0.068,3111,993,3358
$GC,2261,-0.63,-117.3,168.3,-6.6,149,2267,0.00,2.30,0.00,0.000,6,0.000,0.061,3111,2415,3358
$GC,2574,-0.63,-117.3,189.5,-7.0,160,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2415,3358
$GC,2880,-0.63,-117.3,211.0,-7.1,170,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2415,3358
$GC,3186,-0.63,-117.3,233.0,-7.2,180,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2415,3358
$GC,3493,-0.63,-117.3,255.5,-7.4,190,3496,0.00,2.40,0.00,0.000,4,0.000,0.071,3111,990,3358
$GC,3527,-0.63,-117.3,258.2,-7.7,191,3531,0.00,2.33,0.00,0.000,6,0.000,0.063,3111,2411,3358
$GC,3867,-0.63,-117.3,280.5,-6.3,202,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2411,3358
$GC,4174,-0.63,-117.3,299.0,-6.1,212,4178,0.00,2.35,0.00,0.000,4,0.000,0.071,3111,986,3358
$GC,4201,-0.63,-117.3,300.9,-6.5,212,4208,0.00,2.30,0.00,0.000,6,0.000,0.064,3111,2404,3357
$GC,4511,-0.63,-117.3,320.2,-6.3,218,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2404,3358
$GC,4814,-0.63,-117.3,340.7,-6.7,223,4818,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,987,3357
$GC,4840,-0.63,-117.3,342.7,-7.4,223,4844,0.00,2.33,0.00,0.000,6,0.000,0.064,3111,2411,3357
$GC,5179,-0.63,-117.3,365.6,-6.8,229,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2411,3357
$GC,5482,-0.63,-117.3,384.0,-6.0,234,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2411,3357
$GC,5784,-0.63,-117.3,400.1,-5.2,239,5788,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,990,3357
$GC,5828,-0.63,-117.3,402.5,-6.0,239,5832,0.00,2.30,0.00,0.000,6,0.000,0.064,3111,2403,3357
$GC,6150,-0.63,-117.3,419.6,-5.4,245,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2403,3356
$GC,6453,-0.67,-117.3,437.0,-5.7,250,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2403,3356
$GC,6756,-0.72,-117.3,454.6,-5.8,255,6760,0.00,2.38,0.00,0.000,4,0.000,0.071,3111,986,3356
$GC,6800,-0.72,-117.3,457.7,-6.8,255,6804,0.00,2.33,0.00,0.000,6,0.000,0.064,3111,2400,3356
$GC,7123,-0.76,-117.3,476.5,-5.8,261,7124,0.12,0.00,0.00,0.000,6,0.091,0.000,3062,2400,3355
$GC,7424,-0.76,-117.3,497.4,-6.9,266,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3355
$GC,7727,-0.76,-117.3,517.2,-6.5,271,7731,0.00,2.38,0.00,0.000,4,0.000,0.071,3063,987,3355
$GC,7772,-0.71,-117.3,520.5,-7.2,271,7776,0.00,2.33,0.00,0.000,6,0.000,0.064,3062,2409,3355
$GC,8087,-0.63,-117.3,543.4,-7.4,277,8089,0.17,0.00,0.00,0.000,6,0.147,0.000,3111,2409,3355
$GC,8390,-0.69,-117.3,561.3,-5.9,282,8394,0.00,2.38,0.00,0.000,4,0.000,0.072,3112,986,3355
$GC,8434,-0.76,-117.3,563.9,-5.8,282,8439,0.12,2.30,0.00,0.000,6,0.087,0.064,3066,2401,3355
$GC,8748,-0.76,-117.3,583.5,-6.2,288,8752,0.00,2.35,0.00,0.000,4,0.000,0.081,3067,3815,3354
$GC,8793,-0.70,-117.3,586.5,-6.9,288,8797,0.00,2.28,0.00,0.000,6,0.000,0.057,3066,2394,3354
$GC,9108,-0.70,-117.3,606.3,-6.2,294,9112,0.00,2.35,0.00,0.000,4,0.000,0.073,3066,984,3354
$GC,9130,-0.70,-117.3,608.0,-7.4,294,9134,0.00,2.30,0.00,0.000,6,0.000,0.063,3066,2401,3354
$GC,9474,-0.65,-117.3,631.5,-7.0,300,9476,0.15,0.00,0.00,0.000,6,0.151,0.000,3107,2401,3355
$GC,9777,-0.71,-117.3,649.9,-6.0,305,9781,0.00,2.33,0.00,0.000,4,0.000,0.071,3107,990,3355
$GC,9804,-0.76,-117.3,651.6,-6.2,305,9809,0.12,2.30,0.00,0.000,6,0.087,0.064,3062,2413,3354
$GC,10136,-0.76,-117.3,673.3,-6.5,311,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2413,3354
$GC,10439,-0.76,-117.3,692.1,-6.1,316,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2413,3354
$GC,10742,-0.76,-117.3,710.2,-5.9,321,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2413,3354
$GC,11045,-0.76,-117.3,728.5,-6.0,326,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2413,3353
$GC,11348,-0.76,-117.3,746.4,-5.9,331,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2413,3353
$GC,11651,-0.76,-117.3,763.8,-5.8,336,11656,0.00,2.38,0.00,0.000,4,0.000,0.073,3062,989,3353
$GC,11684,-0.76,-117.3,765.9,-6.0,336,11688,0.00,2.30,0.00,0.000,6,0.000,0.064,3062,2401,3353
$GC,12017,-0.72,-117.3,786.7,-6.4,342,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2401,3354
$GC,12320,-0.68,-117.3,805.8,-6.3,347,12325,0.12,2.35,0.00,0.000,4,0.151,0.072,3095,994,3353
$GC,12359,-0.73,-117.3,808.3,-6.1,347,12363,0.00,2.30,0.00,0.000,6,0.000,0.065,3095,2404,3353
$GC,12680,-0.73,-117.3,826.9,-5.9,353,12684,0.00,2.35,0.00,0.000,4,0.000,0.084,3095,3808,3353
$GC,12708,-0.79,-117.3,828.6,-6.5,353,12712,0.00,2.25,0.00,0.000,6,0.000,0.058,3095,2395,3353
$GC,13046,-0.84,-117.3,848.6,-5.9,359,13051,0.15,2.33,0.00,0.000,4,0.087,0.073,3032,991,3352
$GC,13096,-0.69,-117.3,852.5,-8.0,359,13101,0.22,2.30,0.00,0.000,6,0.168,0.065,3091,2400,3353
$GC,13405,-0.69,-117.3,871.1,-5.9,364,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3352
$GC,13709,-0.69,-117.3,889.2,-6.0,369,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3353
$GC,14012,-0.69,-117.3,907.5,-6.0,374,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3352
$GC,14314,-0.69,-117.3,924.7,-5.7,379,14318,0.00,2.35,0.00,0.000,4,0.000,0.074,3092,991,3352
$GC,14347,-0.69,-117.3,926.7,-6.0,379,14351,0.00,2.30,0.00,0.000,6,0.000,0.065,3092,2400,3352
$GC,14680,-0.73,-117.3,944.1,-5.2,385,14681,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3352
$GC,14984,-0.78,-117.3,958.8,-4.8,390,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3352
$GC,15286,-0.82,-117.3,974.5,-5.2,395,15288,0.12,0.00,0.00,0.000,6,0.092,0.000,3045,2401,3352
$STATE,15586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15587,begin apogee
$GC,15593,-0.22,0.0,992.4,5.9,400,15708,0.65,0.00,107.90,1.492,6,0.145,0.000,3240,2193,2876
$STATE,15709,end apogee,CONTROL_FINISHED_OK
$STATE,15709,begin climb
$GC,15712,0.67,117.3,996.5,0.0,402,15836,0.88,2.72,112.70,1.438,4,0.091,0.076,3534,798,2396
$GC,15870,0.31,117.3,994.5,6.0,404,15875,0.45,2.47,0.00,0.000,6,0.181,0.061,3422,2196,2395
$GC,16202,0.32,121.6,978.0,4.9,410,16209,0.00,0.00,4.97,1.026,6,0.000,0.000,3422,2196,2380
$GC,16505,0.33,131.0,963.5,4.7,415,16517,0.00,0.00,10.25,1.302,6,0.000,0.000,3422,2196,2341
$GC,16808,0.34,136.0,948.8,4.9,420,16817,0.00,0.00,6.32,1.161,6,0.000,0.000,3422,2196,2321
$GC,17112,0.36,156.4,935.3,4.4,425,17133,0.00,0.00,19.42,1.398,6,0.000,0.000,3422,2196,2238
$GC,17415,0.37,160.1,920.8,4.9,430,17425,0.00,2.38,5.00,1.046,4,0.000,0.081,3422,3614,2223
$GC,17447,0.37,160.1,918.8,5.4,430,17451,0.00,2.35,0.00,0.000,6,0.000,0.064,3422,2189,2223
$GC,17780,0.43,169.5,903.2,4.7,436,17792,0.00,0.00,10.27,1.303,6,0.000,0.000,3422,2189,2184
$GC,18083,0.47,169.5,887.8,5.1,441,18085,0.15,0.00,0.00,0.000,6,0.086,0.000,3480,2189,2183
$GC,18386,0.36,169.5,866.2,7.3,446,18388,0.17,0.00,0.00,0.000,6,0.149,0.000,3431,2189,2182
$GC,18688,0.36,169.5,848.2,5.9,451,18690,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2189,2183
$GC,18992,0.36,169.5,830.1,5.9,456,18996,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,786,2183
$GC,19025,0.36,169.5,828.2,6.1,456,19029,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2214,2183
$GC,19357,0.36,169.5,807.9,6.2,462,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2182
$GC,19659,0.36,169.5,788.6,6.4,467,19664,0.00,2.40,0.00,0.000,4,0.000,0.080,3435,787,2182
$GC,19710,0.40,169.5,785.3,6.7,467,19714,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2205,2182
$GC,20020,0.40,169.5,765.7,6.4,472,20021,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2182
$GC,20322,0.40,169.5,746.9,6.1,477,20326,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,782,2182
$GC,20355,0.44,169.5,744.9,5.9,477,20359,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2203,2182
$GC,20681,0.44,169.5,725.9,5.8,483,20682,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2182
$GC,20985,0.44,172.0,710.6,4.9,488,20986,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2182
$GC,21288,0.48,202.9,697.8,4.1,493,21321,0.12,0.00,30.42,1.301,6,0.094,0.000,3489,2203,2049
$GC,21591,0.39,202.9,678.0,6.8,498,21596,0.15,2.45,0.00,0.000,4,0.145,0.077,3449,787,2045
$GC,21630,0.44,202.9,675.6,5.9,498,21634,0.00,2.33,0.00,0.000,6,0.000,0.063,3450,2204,2045
$GC,21950,0.44,202.9,656.0,6.3,504,21952,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2045
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$STATE,32664,end climb,SURFACE_DEPTH_REACHED
$STATE,32664,begin surface coast
$FINISH,2.7,1.014326
$STATE,32805,end surface coast,CONTROL_FINISHED_OK
$STATE,32806,begin surface
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$TT8_MAMPS,0.026845
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$TCM_TEMP,15.70
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$10V_AH,10.6,46.260
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$DEVICE_SECS,29.200,193.125,348.300,45.400,0.000,24.021,30.293,170.773,250.500,0.000,0.000,30.661,1822.015,27909.709,574.870,2289.429,647.475,33.382,1687.412,0.000,2250.319,0.000,0.465
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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,50639,872
$CAP_FILE_SIZE,181624,0
$CFSIZE,260165632,231739392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060109,042207,5006.398,-14511.910,32,1.6,32,18.4