version: 66.03
glider: 120
mission: 9
dive: 401
start: 1 26 109 13 19 13
data:
$ID,120
$MISSION,9
$DIVE,401
$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,275
$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,-26141.135
$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,22
$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
$GPS1,125837,5007.381,-14449.426,32,1.5,32,18.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.16
$_SM_ANGLEo,-70.1
$GPS2,131819,5007.412,-14449.371,36,1.5,36,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.153,0.091
$KALMAN_X,-7844.5,104.6,161.5,37425.7,-2087.4
$KALMAN_Y,7461.7,64.6,-164.2,-81.3,690.7
$MHEAD_RNG_PITCHd_Wd,40.7,34164,-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,-10.93,0.000,2,0.000,0.000,136,2405,2017
$GC,40,-0.67,-117.3,4.0,-0.0,1,116,14.20,2.47,-51.22,0.000,4,0.287,0.090,3085,3805,3356
$GC,353,-0.47,-117.3,34.0,-9.8,29,358,0.28,2.33,0.00,0.000,6,0.152,0.054,3163,2390,3358
$GC,681,-0.52,-117.3,57.6,-6.5,59,685,0.00,2.38,0.00,0.000,4,0.000,0.068,3162,987,3358
$GC,714,-0.56,-117.3,60.3,-7.3,61,720,0.00,2.28,0.00,0.000,6,0.000,0.061,3163,2398,3358
$GC,1042,-0.62,-117.3,80.4,-5.7,92,1047,0.15,2.38,0.00,0.000,4,0.079,0.067,3105,984,3358
$GC,1069,-0.57,-117.3,82.9,-8.4,93,1073,0.00,2.30,0.00,0.000,6,0.000,0.061,3104,2401,3358
$GC,1386,-0.48,-117.3,110.7,-9.0,108,1388,0.20,0.00,0.00,0.000,6,0.147,0.000,3161,2401,3359
$GC,1695,-0.57,-117.3,129.5,-5.8,123,1699,0.00,2.38,0.00,0.000,4,0.000,0.067,3161,990,3359
$GC,1728,-0.67,-117.3,131.5,-5.5,124,1735,0.17,2.28,0.00,0.000,6,0.077,0.060,3095,2401,3359
$GC,2044,-0.67,-117.3,154.9,-6.9,139,2048,0.00,2.33,0.00,0.000,4,0.000,0.068,3095,992,3359
$GC,2094,-0.67,-117.3,158.4,-7.3,140,2098,0.00,2.28,0.00,0.000,6,0.000,0.060,3094,2400,3359
$GC,2413,-0.62,-117.3,181.8,-8.0,151,2416,0.00,2.38,0.00,0.000,4,0.000,0.079,3094,3814,3359
$GC,2475,-0.58,-117.3,187.1,-8.2,152,2482,0.12,2.28,0.00,0.000,6,0.129,0.053,3127,2387,3359
$GC,2787,-0.58,-117.3,207.8,-6.5,163,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3359
$GC,3094,-0.63,-117.3,226.0,-5.7,173,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3359
$GC,3400,-0.68,-117.3,242.6,-5.3,183,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2387,3359
$GC,3707,-0.74,-117.3,258.6,-5.5,193,3712,0.15,2.40,0.00,0.000,4,0.080,0.067,3065,990,3359
$GC,3736,-0.67,-117.3,260.7,-7.6,194,3741,0.12,2.33,0.00,0.000,6,0.150,0.062,3098,2402,3359
$GC,4071,-0.67,-117.3,283.9,-6.9,205,4074,0.00,2.38,0.00,0.000,4,0.000,0.069,3098,986,3359
$GC,4106,-0.67,-117.3,286.4,-7.0,206,4110,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2403,3359
$GC,4445,-0.67,-117.3,308.5,-6.4,215,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3359
$GC,4748,-0.67,-117.3,327.5,-6.3,220,4752,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,990,3358
$GC,4804,-0.67,-117.3,331.5,-7.1,220,4810,0.00,2.33,0.00,0.000,6,0.000,0.062,3098,2406,3358
$GC,5114,-0.67,-117.3,352.5,-6.8,226,5118,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,990,3358
$GC,5152,-0.67,-117.3,355.5,-7.5,226,5156,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2406,3358
$GC,5473,-0.67,-117.3,378.0,-7.0,232,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3357
$GC,5776,-0.67,-117.3,396.9,-6.1,237,5780,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,990,3357
$GC,5810,-0.67,-117.3,398.9,-6.4,237,5814,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2406,3357
$GC,6136,-0.67,-117.3,417.5,-5.8,243,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3357
$GC,6439,-0.67,-117.3,435.8,-6.0,248,6443,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,992,3357
$GC,6477,-0.67,-117.3,438.3,-6.2,248,6481,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2410,3357
$GC,6799,-0.67,-117.3,456.9,-5.8,254,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3357
$GC,7101,-0.67,-117.3,474.6,-5.8,259,7105,0.00,2.33,0.00,0.000,4,0.000,0.071,3098,995,3356
$GC,7129,-0.67,-117.3,476.3,-6.8,259,7133,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2411,3356
$GC,7461,-0.67,-117.3,496.1,-6.1,265,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3356
$GC,7765,-0.67,-117.3,515.7,-6.6,270,7769,0.00,2.38,0.00,0.000,4,0.000,0.071,3098,995,3355
$GC,7798,-0.67,-117.3,518.2,-7.4,270,7802,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2401,3356
$GC,8124,-0.67,-117.3,540.8,-7.0,276,8128,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,987,3356
$GC,8152,-0.67,-117.3,543.0,-8.1,276,8156,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2398,3355
$GC,8484,-0.67,-117.3,566.1,-6.9,282,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,8787,-0.67,-117.3,585.6,-6.4,287,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3355
$GC,9090,-0.67,-117.3,604.6,-6.2,292,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,9393,-0.67,-117.3,623.5,-6.2,297,9397,0.00,2.33,0.00,0.000,4,0.000,0.072,3098,993,3355
$GC,9426,-0.67,-117.3,625.6,-6.9,297,9430,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2407,3355
$GC,9752,-0.67,-117.3,645.4,-6.1,303,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3355
$GC,10055,-0.67,-117.3,663.3,-5.9,308,10059,0.00,2.35,0.00,0.000,4,0.000,0.073,3098,985,3355
$GC,10082,-0.67,-117.3,665.1,-6.6,308,10086,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2401,3355
$GC,10414,-0.67,-117.3,684.6,-5.9,314,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3355
$GC,10717,-0.67,-117.3,701.6,-5.5,319,10721,0.00,2.33,0.00,0.000,4,0.000,0.072,3098,994,3355
$GC,10750,-0.72,-117.3,703.5,-6.2,319,10754,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2407,3355
$GC,11076,-0.77,-117.3,721.8,-5.7,325,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3355
$GC,11380,-0.81,-117.3,739.3,-5.7,330,11382,0.12,0.00,0.00,0.000,6,0.093,0.000,3051,2407,3354
$GC,11682,-0.81,-117.3,759.8,-6.9,335,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2407,3353
$GC,11985,-0.81,-117.3,781.2,-7.2,340,11989,0.00,2.40,0.00,0.000,4,0.000,0.072,3050,991,3354
$GC,12019,-0.77,-117.3,784.0,-7.9,340,12023,0.00,2.33,0.00,0.000,6,0.000,0.064,3050,2413,3354
$GC,12346,-0.70,-117.3,809.8,-7.9,346,12348,0.15,0.00,0.00,0.000,6,0.147,0.000,3092,2414,3354
$GC,12648,-0.70,-117.3,830.9,-7.0,351,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2414,3353
$GC,12952,-0.70,-117.3,851.0,-6.6,356,12956,0.00,2.40,0.00,0.000,4,0.000,0.074,3092,994,3353
$GC,12985,-0.74,-117.3,853.4,-7.2,356,12989,0.00,2.33,0.00,0.000,6,0.000,0.065,3092,2412,3353
$GC,13318,-0.78,-117.3,874.8,-6.5,362,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2411,3353
$GC,13620,-0.83,-117.3,893.4,-6.1,367,13622,0.12,0.00,0.00,0.000,6,0.087,0.000,3044,2412,3353
$GC,13923,-0.83,-117.3,913.6,-6.7,372,13927,0.00,2.38,0.00,0.000,4,0.000,0.073,3043,992,3353
$GC,13951,-0.77,-117.3,915.7,-6.8,372,13955,0.00,2.30,0.00,0.000,6,0.000,0.064,3043,2400,3353
$GC,14283,-0.69,-117.3,940.2,-7.3,378,14285,0.17,0.00,0.00,0.000,6,0.151,0.000,3092,2401,3353
$GC,14587,-0.74,-117.3,955.8,-5.0,383,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3353
$GC,14890,-0.79,-117.3,969.1,-4.3,388,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3353
$GC,15193,-0.84,-117.3,981.8,-4.2,393,15195,0.15,0.00,0.00,0.000,6,0.084,0.000,3035,2401,3352
$STATE,15371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15371,begin apogee
$GC,15378,-0.22,0.0,991.2,4.9,396,15494,0.68,0.00,108.45,1.486,6,0.136,0.000,3240,2205,2876
$STATE,15495,end apogee,CONTROL_FINISHED_OK
$STATE,15495,begin climb
$GC,15497,0.67,117.3,994.1,0.0,398,15614,0.90,0.00,113.97,1.434,6,0.089,0.000,3530,2205,2397
$GC,15918,0.34,117.3,968.0,8.8,405,15920,0.35,0.00,0.00,0.000,6,0.164,0.000,3433,2205,2393
$GC,16220,0.34,117.3,950.4,5.7,410,16224,0.00,2.38,0.00,0.000,4,0.000,0.078,3441,790,2393
$GC,16270,0.29,117.3,947.5,5.9,410,16274,0.00,2.30,0.00,0.000,6,0.000,0.063,3441,2204,2393
$GC,16581,0.23,117.3,930.6,5.4,415,16585,0.15,2.35,0.00,0.000,4,0.166,0.078,3397,3616,2392
$GC,16614,0.23,117.3,928.8,5.1,415,16618,0.00,2.30,0.00,0.000,6,0.000,0.064,3397,2199,2392
$GC,16941,0.34,156.2,915.9,3.9,421,16978,0.00,0.00,35.15,1.418,6,0.000,0.000,3396,2199,2239
$GC,17245,0.49,184.9,903.1,4.2,426,17275,0.22,0.00,27.10,1.389,6,0.077,0.000,3481,2199,2122
$GC,17547,0.40,184.9,882.5,7.0,431,17549,0.12,0.00,0.00,0.000,6,0.142,0.000,3448,2199,2117
$GC,17849,0.40,184.9,864.7,5.8,436,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2199,2117
$GC,18152,0.40,184.9,847.5,5.7,441,18156,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,792,2117
$GC,18197,0.40,184.9,844.8,5.5,441,18201,0.00,2.28,0.00,0.000,6,0.000,0.062,3449,2200,2117
$GC,18512,0.40,184.9,826.9,5.8,447,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2117
$GC,18815,0.40,184.9,808.7,6.0,452,18816,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2116
$GC,19118,0.40,184.9,789.2,6.5,457,19122,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,788,2116
$GC,19146,0.40,184.9,787.3,7.0,457,19150,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2212,2116
$GC,19484,0.40,184.9,762.8,7.4,463,19486,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2212,2116
$GC,19787,0.40,184.9,739.3,7.8,468,19788,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2212,2116
$GC,20090,0.40,184.9,716.3,7.5,473,20094,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,789,2116
$GC,20145,0.40,184.9,712.4,7.3,473,20152,0.00,2.35,0.00,0.000,6,0.000,0.063,3449,2199,2116
$GC,20455,0.40,184.9,690.1,7.2,479,20460,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,782,2116
$GC,20494,0.40,184.9,687.3,6.8,479,20498,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2203,2116
$GC,20815,0.40,184.9,666.7,6.4,485,20819,0.00,2.33,0.00,0.000,4,0.000,0.079,3449,3607,2116
$GC,20849,0.35,184.9,664.3,7.3,485,20853,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2200,2116
$GC,21175,0.35,184.9,644.8,5.9,491,21179,0.00,2.35,0.00,0.000,4,0.000,0.080,3449,789,2116
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$STATE,31674,end climb,SURFACE_DEPTH_REACHED
$STATE,31674,begin surface coast
$FINISH,2.8,1.012447
$STATE,31729,end surface coast,CONTROL_FINISHED_OK
$STATE,31729,begin surface
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$IRIDIUM_FIX,4949.70,-14451.14,220498,131307
$TT8_MAMPS,0.026078
$HUMID,2095
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$TCM_TEMP,14.40
$XPDR_PINGS,955
$24V_AH,21.5,78.842
$10V_AH,10.5,53.694
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$DEVICE_SECS,30.325,211.125,403.675,0.000,0.000,141.835,135.993,481.087,238.750,0.000,0.000,36.070,1739.457,27189.891,603.073,2210.761,1236.612,33.362,1694.263,0.000,2169.420,0.000,0.465
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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,47531,829
$CAP_FILE_SIZE,192562,0
$CFSIZE,260165632,227487744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260109,221100,5009.528,-14444.658,55,1.1,60,18.6