version: 66.03
glider: 120
mission: 9
dive: 540
start: 3 20 109 7 17 20
data:
$ID,120
$MISSION,9
$DIVE,540
$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,-29328.619
$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,20
$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
$GPS1,070708,4958.449,-14439.080,70,1.5,71,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-71.9
$GPS2,071626,4958.412,-14439.025,36,1.6,36,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.109,0.141
$KALMAN_X,-49666.8,27.2,-109.0,91905.2,-645.9
$KALMAN_Y,115926.1,-97.2,-516.4,-124691.0,355.7
$MHEAD_RNG_PITCHd_Wd,303.7,21962,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.12,0.000,2,0.000,0.000,135,2407,1998
$GC,41,-0.67,-117.3,3.2,-0.0,1,117,14.15,2.47,-52.22,0.000,4,0.286,0.083,3096,994,3356
$GC,178,-0.50,-117.3,15.4,-14.6,13,183,0.20,2.35,0.00,0.000,6,0.156,0.065,3152,2402,3357
$GC,503,-0.50,-117.3,37.8,-6.0,43,508,0.00,2.40,0.00,0.000,4,0.000,0.084,3151,3808,3357
$GC,544,-0.55,-117.3,40.0,-5.3,46,549,0.00,2.28,0.00,0.000,6,0.000,0.054,3151,2389,3357
$GC,873,-0.55,-117.3,61.7,-6.9,76,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2389,3357
$GC,1197,-0.55,-117.3,84.5,-7.2,104,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2390,3357
$GC,1506,-0.55,-117.3,105.8,-7.3,119,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2389,3358
$GC,1816,-0.61,-117.3,127.9,-6.8,134,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2389,3358
$GC,2125,-0.78,-117.3,147.9,-6.5,149,2127,0.25,0.00,0.00,0.000,6,0.083,0.000,3061,2390,3357
$GC,2442,-0.85,-117.3,172.2,-7.6,160,2446,0.00,2.45,0.00,0.000,4,0.000,0.080,3060,3809,3357
$GC,2531,-0.70,-117.3,179.9,-8.4,162,2538,0.10,2.28,0.00,0.000,6,0.098,0.054,3088,2389,3357
$GC,2845,-0.62,-117.3,203.8,-7.3,173,2849,0.00,2.33,0.00,0.000,4,0.000,0.071,3088,992,3357
$GC,2890,-0.56,-117.3,207.4,-7.5,174,2895,0.17,2.35,0.00,0.000,6,0.149,0.062,3133,2412,3357
$GC,3215,-0.63,-117.3,226.0,-5.9,185,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2412,3358
$GC,3521,-0.71,-117.3,243.1,-5.4,195,3523,0.15,0.00,0.00,0.000,6,0.079,0.000,3075,2412,3358
$GC,3827,-0.71,-117.3,264.7,-7.4,205,3830,0.00,2.38,0.00,0.000,4,0.000,0.081,3074,3812,3358
$GC,3867,-0.64,-117.3,267.9,-8.1,206,3872,0.12,2.28,0.00,0.000,6,0.099,0.054,3109,2388,3358
$GC,4197,-0.64,-117.3,291.5,-6.9,217,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2389,3357
$GC,4532,-0.64,-117.3,312.8,-6.4,225,4536,0.00,2.47,0.00,0.000,4,0.000,0.081,3109,3815,3358
$GC,4560,-0.64,-117.3,314.5,-6.6,225,4564,0.00,2.28,0.00,0.000,6,0.000,0.054,3109,2392,3358
$GC,4893,-0.64,-117.3,335.7,-6.5,231,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2392,3358
$GC,5195,-0.64,-117.3,356.0,-6.7,236,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2393,3357
$GC,5498,-0.64,-117.3,375.0,-6.2,241,5503,0.00,2.47,0.00,0.000,4,0.000,0.082,3109,3816,3357
$GC,5534,-0.70,-117.3,377.2,-6.5,241,5538,0.00,2.28,0.00,0.000,6,0.000,0.054,3109,2395,3357
$GC,5862,-0.74,-117.3,397.5,-6.1,247,5866,0.00,2.35,0.00,0.000,4,0.000,0.071,3109,991,3357
$GC,5890,-0.78,-117.3,399.3,-6.4,247,5895,0.15,2.35,0.00,0.000,6,0.081,0.062,3054,2411,3357
$GC,6223,-0.71,-117.3,423.4,-7.3,253,6227,0.10,2.40,0.00,0.000,4,0.097,0.082,3084,3808,3357
$GC,6257,-0.71,-117.3,425.8,-7.1,253,6261,0.00,2.25,0.00,0.000,6,0.000,0.054,3083,2402,3357
$GC,6584,-0.71,-117.3,446.5,-6.3,259,6588,0.00,2.35,0.00,0.000,4,0.000,0.071,3084,994,3357
$GC,6606,-0.71,-117.3,448.1,-6.7,259,6610,0.00,2.35,0.00,0.000,6,0.000,0.064,3084,2408,3357
$GC,6944,-0.71,-117.3,470.8,-6.9,265,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3357
$GC,7247,-0.71,-117.3,492.1,-7.0,270,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3357
$GC,7550,-0.71,-117.3,513.4,-7.0,275,7554,0.00,2.40,0.00,0.000,4,0.000,0.071,3084,988,3357
$GC,7588,-0.71,-117.3,516.2,-7.4,275,7593,0.00,2.35,0.00,0.000,6,0.000,0.063,3084,2403,3357
$GC,7910,-0.71,-117.3,538.2,-6.8,281,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2402,3357
$GC,8214,-0.71,-117.3,557.0,-6.2,286,8218,0.00,2.40,0.00,0.000,4,0.000,0.072,3084,986,3356
$GC,8242,-0.71,-117.3,559.1,-7.0,286,8246,0.00,2.38,0.00,0.000,6,0.000,0.063,3084,2411,3356
$GC,8574,-0.71,-117.3,580.4,-6.5,292,8578,0.00,2.40,0.00,0.000,4,0.000,0.083,3084,3817,3356
$GC,8613,-0.71,-117.3,583.1,-6.3,292,8617,0.00,2.28,0.00,0.000,6,0.000,0.055,3084,2399,3356
$GC,8936,-0.71,-117.3,603.7,-6.6,298,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3356
$GC,9238,-0.71,-117.3,624.9,-7.0,303,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3356
$GC,9541,-0.71,-117.3,645.4,-6.8,308,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3356
$GC,9844,-0.71,-117.3,667.5,-7.3,313,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3356
$GC,10148,-0.71,-117.3,689.8,-7.4,318,10152,0.00,2.47,0.00,0.000,4,0.000,0.084,3083,3811,3355
$GC,10181,-0.71,-117.3,692.5,-8.0,318,10185,0.00,2.28,0.00,0.000,6,0.000,0.055,3083,2401,3355
$GC,10507,-0.71,-117.3,714.9,-6.9,324,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3355
$GC,10811,-0.71,-117.3,734.0,-6.3,329,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3355
$GC,11114,-0.71,-117.3,751.2,-5.6,334,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2401,3355
$GC,11417,-0.71,-117.3,767.2,-5.2,339,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3355
$GC,11720,-0.71,-117.3,782.7,-5.1,344,11724,0.00,2.40,0.00,0.000,4,0.000,0.074,3084,986,3355
$GC,11755,-0.71,-117.3,784.4,-4.7,344,11759,0.00,2.38,0.00,0.000,6,0.000,0.064,3084,2408,3355
$GC,12082,-0.71,-117.3,802.4,-5.5,350,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2408,3355
$GC,12385,-0.71,-117.3,820.9,-6.2,355,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3355
$GC,12688,-0.71,-117.3,840.1,-6.3,360,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2408,3355
$GC,12991,-0.71,-117.3,859.1,-6.3,365,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2408,3355
$GC,13294,-0.71,-117.3,877.9,-6.2,370,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3355
$GC,13598,-0.71,-117.3,895.7,-5.9,375,13599,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3355
$GC,13900,-0.71,-117.3,913.9,-6.0,380,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3354
$GC,14203,-0.71,-117.3,931.9,-6.0,385,14207,0.00,2.40,0.00,0.000,4,0.000,0.086,3084,3806,3354
$GC,14242,-0.76,-117.3,934.3,-5.7,385,14246,0.00,2.28,0.00,0.000,6,0.000,0.058,3084,2397,3354
$GC,14564,-0.76,-117.3,951.9,-5.4,391,14568,0.00,2.38,0.00,0.000,4,0.000,0.075,3084,993,3354
$GC,14592,-0.76,-117.3,953.5,-5.7,391,14597,0.00,2.35,0.00,0.000,6,0.000,0.065,3084,2399,3354
$GC,14925,-0.76,-117.3,970.7,-5.1,397,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2398,3353
$GC,15228,-0.76,-117.3,986.2,-5.1,402,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3354
$STATE,15346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15346,begin apogee
$GC,15355,-0.22,0.0,992.4,5.2,404,15469,0.52,0.00,108.65,1.488,6,0.143,0.000,3241,2196,2876
$STATE,15470,end apogee,CONTROL_FINISHED_OK
$STATE,15470,begin climb
$GC,15473,0.67,117.3,996.8,0.0,406,15592,0.93,0.00,115.47,1.433,6,0.094,0.000,3535,2196,2397
$GC,15893,0.33,117.3,977.0,7.2,413,15898,0.35,2.38,0.00,0.000,4,0.165,0.077,3441,791,2394
$GC,15945,0.30,126.5,974.4,4.7,413,15960,0.00,2.33,9.45,1.262,6,0.000,0.062,3440,2204,2359
$GC,16328,0.27,143.4,957.0,4.5,420,16347,0.15,0.00,16.48,1.370,6,0.163,0.000,3402,2204,2291
$GC,16632,0.40,184.1,945.3,3.8,425,16672,0.12,0.00,38.12,1.423,6,0.080,0.000,3451,2204,2125
$GC,16935,0.40,184.1,929.5,5.4,430,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2204,2120
$GC,17237,0.40,184.1,912.9,5.5,435,17241,0.00,2.35,0.00,0.000,4,0.000,0.082,3451,3610,2119
$GC,17288,0.32,184.1,909.4,7.0,435,17292,0.12,2.30,0.00,0.000,6,0.172,0.064,3420,2193,2120
$GC,17599,0.39,184.1,891.6,5.7,440,17600,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2194,2119
$GC,17901,0.46,184.1,872.6,6.3,445,17903,0.12,0.00,0.00,0.000,6,0.085,0.000,3468,2194,2119
$GC,18204,0.46,184.1,851.2,7.2,450,18205,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2194,2119
$GC,18507,0.46,184.1,828.0,7.7,455,18511,0.00,2.38,0.00,0.000,4,0.000,0.081,3469,781,2118
$GC,18542,0.46,184.1,825.2,8.1,455,18547,0.00,2.35,0.00,0.000,6,0.000,0.062,3469,2215,2119
$GC,18871,0.40,184.1,799.1,7.9,461,18872,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2215,2118
$GC,19173,0.34,184.1,776.8,7.4,466,19178,0.15,2.45,0.00,0.000,4,0.137,0.079,3424,778,2118
$GC,19212,0.44,185.3,774.5,5.0,466,19217,0.10,2.33,0.00,0.000,6,0.091,0.061,3463,2199,2118
$GC,19534,0.44,185.3,755.1,6.1,472,19535,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2199,2118
$GC,19836,0.44,185.3,737.1,6.0,477,19841,0.00,2.38,0.00,0.000,4,0.000,0.081,3463,3613,2118
$GC,19865,0.36,185.3,735.1,7.2,477,19869,0.00,2.30,0.00,0.000,6,0.000,0.064,3463,2200,2117
$GC,20199,0.32,185.3,713.1,6.6,483,20203,0.15,2.40,0.00,0.000,4,0.165,0.078,3423,781,2117
$GC,20272,0.42,185.3,708.8,5.2,484,20276,0.00,2.33,0.00,0.000,6,0.000,0.061,3423,2200,2118
$GC,20627,0.51,185.3,688.4,5.9,490,20629,0.17,0.00,0.00,0.000,6,0.080,0.000,3494,2199,2118
$GC,20931,0.39,185.3,663.3,8.4,495,20933,0.17,0.00,0.00,0.000,6,0.140,0.000,3444,2199,2117
$GC,21233,0.39,185.3,642.1,6.9,500,21234,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2199,2117
$GC,21536,0.39,185.3,622.0,6.6,505,21537,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2199,2117
$GC,21839,0.39,185.3,603.0,6.2,510,21843,0.00,2.38,0.00,0.000,4,0.000,0.080,3444,3611,2117
$GC,21875,0.39,185.3,600.8,6.7,510,21879,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2199,2117
$GC,22202,0.39,185.3,581.6,5.7,516,22206,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,786,2117
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$STATE,31549,end climb,SURFACE_DEPTH_REACHED
$STATE,31549,begin surface coast
$FINISH,2.2,1.025726
$STATE,31621,end surface coast,CONTROL_FINISHED_OK
$STATE,31621,begin surface
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$HUMID,2119
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$TCM_TEMP,15.40
$XPDR_PINGS,962
$24V_AH,21.1,105.693
$10V_AH,10.4,72.775
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$DEVICE_SECS,29.025,180.025,364.025,7.125,0.000,52.184,91.448,174.815,240.500,0.000,0.000,36.079,1740.458,26838.400,564.256,2189.970,865.292,33.375,1611.851,0.000,2147.265,0.000,0.467
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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,47472,834
$CAP_FILE_SIZE,173425,0
$CFSIZE,260165632,216760320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,160700,5001.298,-14442.098,86,1.4,86,18.5