version: 66.03
glider: 120
mission: 9
dive: 357
start: 1 9 109 23 36 5
data:
$ID,120
$MISSION,9
$DIVE,357
$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,-25254.354
$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
$GPS1,232930,5004.146,-14453.348,57,1.1,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-72.8
$GPS2,233508,5004.168,-14453.383,10,1.9,10,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,0.134
$KALMAN_X,19303.7,97.7,62.1,-23812.3,-2010.9
$KALMAN_Y,262816.9,57.5,-119.4,-265308.8,168.0
$MHEAD_RNG_PITCHd_Wd,22.6,6861,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.68,0.000,2,0.000,0.000,134,2403,1926
$GC,39,-0.67,-117.3,3.9,-0.0,1,125,14.23,2.45,-61.22,0.000,4,0.287,0.096,3095,3805,3357
$GC,160,-0.44,-117.3,9.8,-10.5,12,165,0.28,2.30,0.00,0.000,6,0.159,0.056,3173,2388,3357
$GC,487,-0.51,-117.3,31.7,-6.4,42,491,0.00,2.35,0.00,0.000,4,0.000,0.070,3173,985,3358
$GC,513,-0.58,-117.3,33.5,-7.4,44,518,0.12,2.33,0.00,0.000,6,0.084,0.062,3122,2413,3358
$GC,839,-0.58,-117.3,59.6,-8.0,74,843,0.00,2.35,0.00,0.000,4,0.000,0.080,3122,3815,3358
$GC,873,-0.53,-117.3,62.7,-9.0,76,879,0.00,2.28,0.00,0.000,6,0.000,0.054,3121,2391,3358
$GC,1206,-0.49,-117.3,89.3,-8.5,103,1208,0.12,0.00,0.00,0.000,6,0.117,0.000,3156,2391,3359
$GC,1516,-0.54,-117.3,112.5,-6.4,118,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2391,3359
$GC,1825,-0.61,-117.3,132.7,-6.3,133,1830,0.12,2.35,0.00,0.000,4,0.081,0.068,3108,994,3359
$GC,1852,-0.61,-117.3,134.8,-7.6,134,1856,0.00,2.30,0.00,0.000,6,0.000,0.061,3108,2414,3359
$GC,2193,-0.61,-117.3,158.6,-6.5,149,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2414,3359
$GC,2499,-0.61,-117.3,179.4,-7.0,159,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2414,3359
$GC,2805,-0.61,-117.3,201.1,-6.9,169,2809,0.00,2.35,0.00,0.000,4,0.000,0.081,3107,3807,3359
$GC,2843,-0.61,-117.3,203.9,-7.1,170,2847,0.00,2.28,0.00,0.000,6,0.000,0.054,3108,2399,3359
$GC,3173,-0.61,-117.3,223.4,-5.9,181,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,3479,-0.61,-117.3,242.7,-6.4,191,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,3785,-0.61,-117.3,263.2,-6.7,201,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,4091,-0.61,-117.3,283.7,-6.8,211,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,4397,-0.61,-117.3,304.8,-6.9,220,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,4700,-0.61,-117.3,325.4,-6.7,225,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,5003,-0.61,-117.3,343.7,-6.0,230,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,3359
$GC,5306,-0.61,-117.3,361.0,-5.7,235,5310,0.00,2.35,0.00,0.000,4,0.000,0.073,3107,994,3358
$GC,5351,-0.68,-117.3,363.7,-5.8,235,5355,0.00,2.30,0.00,0.000,6,0.000,0.063,3108,2411,3358
$GC,5667,-0.88,-117.3,384.9,-7.0,241,5672,0.20,2.38,0.00,0.000,4,0.088,0.071,3040,994,3358
$GC,5840,-0.71,-117.3,400.5,-9.0,243,5845,0.17,2.30,0.00,0.000,6,0.164,0.064,3087,2407,3358
$GC,6161,-0.71,-117.3,423.9,-7.3,249,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2408,3358
$GC,6464,-0.71,-117.3,446.8,-7.6,254,6468,0.00,2.40,0.00,0.000,4,0.000,0.072,3087,984,3358
$GC,6502,-0.71,-117.3,450.0,-8.5,254,6506,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2399,3357
$GC,6823,-0.71,-117.3,474.6,-7.8,260,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3358
$GC,7125,-0.71,-117.3,499.0,-8.1,265,7129,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,987,3357
$GC,7153,-0.71,-117.3,501.3,-8.9,265,7158,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2402,3357
$GC,7485,-0.71,-117.3,527.4,-7.7,271,7489,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,984,3357
$GC,7518,-0.71,-117.3,530.1,-8.0,271,7522,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2401,3357
$GC,7845,-0.71,-117.3,554.3,-7.4,277,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,8147,-0.71,-117.3,576.0,-7.1,282,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,8450,-0.71,-117.3,596.8,-6.9,287,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,8753,-0.71,-117.3,618.4,-7.2,292,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,9056,-0.71,-117.3,640.8,-7.4,297,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3357
$GC,9360,-0.71,-117.3,661.9,-6.9,302,9364,0.00,2.35,0.00,0.000,4,0.000,0.073,3086,988,3356
$GC,9398,-0.71,-117.3,664.6,-6.9,302,9402,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2413,3356
$GC,9719,-0.71,-117.3,684.3,-6.0,308,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2413,3356
$GC,10022,-0.71,-117.3,701.1,-5.5,313,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3356
$GC,10325,-0.71,-117.3,719.0,-5.9,318,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2413,3356
$GC,10628,-0.71,-117.3,737.4,-6.1,323,10633,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,988,3356
$GC,10678,-0.71,-117.3,740.8,-6.4,323,10682,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2408,3356
$GC,10988,-0.71,-117.3,759.8,-6.1,328,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3356
$GC,11291,-0.71,-117.3,778.4,-6.1,333,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3355
$GC,11595,-0.71,-117.3,796.6,-5.9,338,11599,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,988,3355
$GC,11644,-0.71,-117.3,799.8,-6.1,338,11648,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2405,3355
$GC,11954,-0.71,-117.3,820.0,-6.6,343,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3355
$GC,12257,-0.71,-117.3,840.5,-6.8,348,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,12561,-0.71,-117.3,860.7,-6.6,353,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3355
$GC,12864,-0.71,-117.3,879.2,-6.1,358,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3355
$GC,13166,-0.71,-117.3,895.8,-5.4,363,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3355
$GC,13469,-0.71,-117.3,911.5,-5.1,368,13474,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,990,3355
$GC,13497,-0.71,-117.3,912.9,-5.2,368,13500,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2405,3354
$GC,13835,-0.71,-117.3,928.0,-4.4,374,13839,0.00,2.38,0.00,0.000,4,0.000,0.085,3086,3814,3354
$GC,13863,-0.71,-117.3,929.3,-4.6,374,13867,0.00,2.28,0.00,0.000,6,0.000,0.058,3086,2395,3354
$GC,14195,-0.71,-117.3,942.8,-4.1,380,14199,0.00,2.35,0.00,0.000,4,0.000,0.074,3086,989,3354
$GC,14228,-0.71,-117.3,944.4,-4.7,380,14233,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2412,3354
$GC,14555,-0.71,-117.3,958.1,-4.2,386,14556,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3354
$GC,14858,-0.71,-117.3,972.0,-4.7,391,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3354
$GC,15161,-0.71,-117.3,987.5,-5.1,396,15165,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,984,3354
$GC,15195,-0.71,-117.3,989.6,-6.3,396,15199,0.00,2.33,0.00,0.000,6,0.000,0.067,3086,2405,3354
$STATE,15203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15203,begin apogee
$GC,15209,-0.22,0.0,990.1,5.2,396,15320,0.50,0.00,108.28,1.486,6,0.140,0.000,3241,2191,2876
$STATE,15321,end apogee,CONTROL_FINISHED_OK
$STATE,15321,begin climb
$GC,15323,0.67,117.3,993.2,0.0,398,15447,0.88,2.65,112.95,1.434,4,0.091,0.077,3534,798,2396
$GC,15498,0.32,117.3,992.0,7.2,400,15503,0.45,2.47,0.00,0.000,6,0.183,0.061,3422,2208,2394
$GC,15813,0.32,117.3,975.9,5.1,406,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2209,2394
$GC,16116,0.32,117.3,959.9,5.3,411,16117,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2208,2393
$GC,16420,0.32,117.3,943.6,5.3,416,16424,0.00,2.40,0.00,0.000,4,0.000,0.080,3421,789,2393
$GC,16455,0.33,126.1,941.7,4.7,416,16469,0.00,2.30,8.77,1.266,6,0.000,0.063,3422,2204,2362
$GC,16785,0.33,126.1,925.0,5.0,422,16789,0.00,2.35,0.00,0.000,4,0.000,0.081,3422,3619,2361
$GC,16825,0.26,126.1,922.8,5.9,422,16829,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2191,2361
$GC,17146,0.27,131.8,907.0,4.8,428,17154,0.00,0.00,6.82,1.191,6,0.000,0.000,3422,2191,2339
$GC,17449,0.27,135.5,892.2,4.9,433,17456,0.00,0.00,5.25,1.072,6,0.000,0.000,3422,2191,2323
$GC,17752,0.27,135.5,876.9,5.1,438,17753,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2191,2322
$GC,18055,0.27,135.5,861.1,5.3,443,18056,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2191,2322
$GC,18358,0.27,135.5,844.7,5.5,448,18362,0.00,2.42,0.00,0.000,4,0.000,0.081,3422,3621,2322
$GC,18397,0.21,135.5,842.2,6.3,448,18401,0.12,2.33,0.00,0.000,6,0.182,0.064,3392,2196,2322
$GC,18717,0.33,142.1,826.8,4.8,454,18732,0.00,2.40,7.55,1.194,4,0.000,0.080,3395,786,2296
$GC,18756,0.49,174.9,824.9,4.1,454,18792,0.22,2.30,30.30,1.366,6,0.079,0.062,3480,2207,2162
$GC,19149,0.38,174.9,795.3,7.7,461,19151,0.15,0.00,0.00,0.000,6,0.148,0.000,3439,2207,2158
$GC,19450,0.38,174.9,775.3,6.5,466,19454,0.00,2.40,0.00,0.000,4,0.000,0.080,3439,781,2158
$GC,19495,0.43,174.9,772.3,7.1,466,19499,0.00,2.33,0.00,0.000,6,0.000,0.064,3439,2208,2158
$GC,19809,0.43,174.9,751.4,6.7,472,19811,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2208,2157
$GC,20112,0.43,174.9,731.4,6.6,477,20117,0.00,2.38,0.00,0.000,4,0.000,0.080,3439,789,2157
$GC,20152,0.47,174.9,729.0,6.4,477,20156,0.00,2.30,0.00,0.000,6,0.000,0.063,3439,2209,2157
$GC,20472,0.47,174.9,709.8,5.9,483,20473,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2209,2157
$GC,20775,0.47,174.9,692.1,5.9,488,20776,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2209,2157
$GC,21078,0.47,174.9,674.7,5.7,493,21080,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2209,2157
$GC,21382,0.47,174.9,657.4,5.7,498,21386,0.00,2.33,0.00,0.000,4,0.000,0.081,3439,3617,2157
$GC,21415,0.47,174.9,655.2,6.1,498,21419,0.00,2.30,0.00,0.000,6,0.000,0.064,3438,2189,2157
$GC,21741,0.47,174.9,637.7,5.3,504,21745,0.00,2.33,0.00,0.000,4,0.000,0.080,3439,780,2157
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$STATE,32595,end climb,SURFACE_DEPTH_REACHED
$STATE,32595,begin surface coast
$FINISH,2.8,1.011960
$STATE,32777,end surface coast,CONTROL_FINISHED_OK
$STATE,32777,begin surface
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$HUMID,2072
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$TCM_TEMP,15.80
$XPDR_PINGS,1020
$24V_AH,21.6,70.560
$10V_AH,10.6,47.742
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$DEVICE_SECS,29.000,206.675,342.500,43.200,0.000,30.413,24.899,155.675,255.000,0.000,0.000,10.804,1819.357,27801.104,546.419,2358.010,649.870,33.379,1720.818,0.000,2336.969,0.000,0.466
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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,50743,867
$CAP_FILE_SIZE,183171,0
$CFSIZE,260165632,230903808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100109,084457,5006.847,-14450.134,32,4.3,51,18.5