version: 66.03
glider: 120
mission: 9
dive: 613
start: 4 16 109 21 18 56
data:
$ID,120
$MISSION,9
$DIVE,613
$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,-30785.162
$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,21
$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
$GPS1,211107,5018.232,-14432.100,81,1.1,81,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.7
$GPS2,211801,5018.245,-14432.070,12,1.2,17,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,0.132
$KALMAN_X,-100758.1,226.7,251.8,150704.9,-2407.9
$KALMAN_Y,140096.7,-142.9,-72.1,-112534.7,-851.1
$MHEAD_RNG_PITCHd_Wd,23.3,5761,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-29.73,0.000,2,0.000,0.000,136,2409,2460
$GC,62,-0.67,-117.3,3.3,-5.7,3,106,13.65,2.42,-24.27,0.000,4,0.276,0.094,3085,3817,3355
$GC,327,-0.50,-117.3,31.7,-10.1,26,334,0.25,2.33,0.00,0.000,6,0.149,0.055,3154,2388,3357
$GC,658,-0.50,-117.3,54.6,-7.0,57,662,0.00,2.40,0.00,0.000,4,0.000,0.070,3155,993,3357
$GC,699,-0.54,-117.3,57.8,-7.4,60,703,0.00,2.38,0.00,0.000,6,0.000,0.061,3154,2409,3357
$GC,1028,-0.54,-117.3,80.5,-6.7,90,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2409,3357
$GC,1334,-0.54,-117.3,101.5,-6.9,105,1338,0.00,2.47,0.00,0.000,4,0.000,0.068,3154,979,3357
$GC,1391,-0.61,-117.3,105.6,-7.5,107,1397,0.00,2.40,0.00,0.000,6,0.000,0.061,3155,2405,3357
$GC,1708,-0.67,-117.3,127.4,-6.6,123,1713,0.15,2.42,0.00,0.000,4,0.079,0.077,3091,3815,3357
$GC,1749,-0.55,-117.3,130.7,-8.7,125,1754,0.17,2.30,0.00,0.000,6,0.119,0.054,3139,2396,3357
$GC,2067,-0.59,-117.3,151.9,-6.4,140,2071,0.00,2.40,0.00,0.000,4,0.000,0.069,3139,995,3358
$GC,2113,-0.67,-117.3,155.1,-7.0,141,2118,0.12,2.38,0.00,0.000,6,0.081,0.060,3092,2406,3358
$GC,2437,-0.67,-117.3,179.1,-7.2,152,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3358
$GC,2744,-0.67,-117.3,197.2,-5.7,162,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3357
$GC,3051,-0.67,-117.3,217.1,-6.6,172,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3358
$GC,3356,-0.67,-117.3,236.6,-6.3,182,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3358
$GC,3662,-0.67,-117.3,256.9,-6.9,192,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3357
$GC,3968,-0.67,-117.3,278.6,-7.0,202,3972,0.00,2.45,0.00,0.000,4,0.000,0.069,3092,995,3358
$GC,4014,-0.67,-117.3,282.1,-7.8,203,4018,0.00,2.38,0.00,0.000,6,0.000,0.061,3092,2399,3357
$GC,4340,-0.67,-117.3,305.7,-7.2,213,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3357
$GC,4642,-0.67,-117.3,326.6,-6.9,218,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3358
$GC,4945,-0.67,-117.3,347.7,-7.0,223,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3358
$GC,5249,-0.67,-117.3,369.0,-7.0,228,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3358
$GC,5551,-0.67,-117.3,390.8,-7.2,233,5555,0.00,2.45,0.00,0.000,4,0.000,0.070,3092,996,3357
$GC,5584,-0.67,-117.3,393.3,-7.2,233,5588,0.00,2.40,0.00,0.000,6,0.000,0.061,3092,2409,3358
$GC,5911,-0.67,-117.3,413.8,-6.2,239,5915,0.00,2.47,0.00,0.000,4,0.000,0.070,3092,986,3357
$GC,5951,-0.67,-117.3,416.5,-6.6,239,5955,0.00,2.40,0.00,0.000,6,0.000,0.061,3092,2402,3357
$GC,6272,-0.67,-117.3,436.4,-6.2,245,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3357
$GC,6576,-0.67,-117.3,455.9,-6.5,250,6580,0.00,2.47,0.00,0.000,4,0.000,0.070,3092,985,3357
$GC,6611,-0.67,-117.3,458.2,-5.9,250,6615,0.00,2.40,0.00,0.000,6,0.000,0.061,3092,2399,3357
$GC,6939,-0.67,-117.3,480.1,-6.7,256,6943,0.00,2.45,0.00,0.000,4,0.000,0.070,3092,992,3357
$GC,6967,-0.67,-117.3,482.2,-7.3,256,6971,0.00,2.38,0.00,0.000,6,0.000,0.061,3092,2405,3357
$GC,7306,-0.67,-117.3,504.5,-6.7,262,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3357
$GC,7608,-0.67,-117.3,525.0,-6.8,267,7613,0.00,2.47,0.00,0.000,4,0.000,0.071,3092,988,3357
$GC,7649,-0.71,-117.3,527.7,-6.8,267,7653,0.00,2.40,0.00,0.000,6,0.000,0.061,3092,2401,3357
$GC,7970,-0.71,-117.3,549.0,-6.7,273,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2401,3357
$GC,8273,-0.71,-117.3,567.3,-6.0,278,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3357
$GC,8577,-0.71,-117.3,583.4,-5.3,283,8581,0.00,2.45,0.00,0.000,4,0.000,0.070,3092,993,3356
$GC,8614,-0.77,-117.3,585.3,-5.3,283,8618,0.00,2.40,0.00,0.000,6,0.000,0.061,3092,2405,3357
$GC,8941,-0.77,-117.3,600.9,-4.7,289,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3357
$GC,9244,-0.77,-117.3,615.6,-4.9,294,9248,0.00,2.45,0.00,0.000,4,0.000,0.071,3092,995,3356
$GC,9273,-0.82,-117.3,617.3,-5.8,294,9278,0.12,2.40,0.00,0.000,6,0.085,0.061,3045,2410,3356
$GC,9607,-0.75,-117.3,639.5,-6.9,300,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2409,3356
$GC,9909,-0.69,-117.3,661.2,-7.2,305,9914,0.15,2.47,0.00,0.000,4,0.107,0.070,3091,995,3356
$GC,9973,-0.69,-117.3,665.7,-6.8,306,9977,0.00,2.40,0.00,0.000,6,0.000,0.063,3086,2400,3356
$GC,10340,-0.69,-117.3,689.8,-6.6,312,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3356
$GC,10642,-0.69,-117.3,710.3,-6.7,317,10646,0.00,2.45,0.00,0.000,4,0.000,0.071,3086,995,3355
$GC,10676,-0.69,-117.3,712.8,-7.0,317,10680,0.00,2.40,0.00,0.000,6,0.000,0.062,3085,2404,3356
$GC,11004,-0.69,-117.3,735.4,-6.9,323,11008,0.00,2.47,0.00,0.000,4,0.000,0.071,3086,986,3356
$GC,11038,-0.69,-117.3,737.8,-7.1,323,11042,0.00,2.42,0.00,0.000,6,0.000,0.063,3086,2408,3356
$GC,11366,-0.69,-117.3,761.4,-7.3,329,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,11669,-0.69,-117.3,784.3,-7.5,334,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,11972,-0.69,-117.3,805.3,-6.8,339,11976,0.00,2.47,0.00,0.000,4,0.000,0.071,3086,987,3355
$GC,12000,-0.69,-117.3,807.2,-6.8,339,12004,0.00,2.40,0.00,0.000,6,0.000,0.063,3086,2399,3355
$GC,12333,-0.69,-117.3,828.1,-6.2,345,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3355
$GC,12636,-0.69,-117.3,846.8,-6.2,350,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3355
$GC,12940,-0.69,-117.3,864.8,-5.9,355,12944,0.00,2.45,0.00,0.000,4,0.000,0.072,3086,996,3355
$GC,12986,-0.74,-117.3,867.8,-6.5,355,12990,0.00,2.40,0.00,0.000,6,0.000,0.064,3086,2402,3354
$GC,13302,-0.74,-117.3,885.2,-5.5,361,13306,0.00,2.45,0.00,0.000,4,0.000,0.072,3086,997,3354
$GC,13337,-0.74,-117.3,887.0,-5.3,361,13341,0.00,2.40,0.00,0.000,6,0.000,0.064,3086,2401,3354
$GC,13664,-0.74,-117.3,902.4,-4.6,367,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,13968,-0.74,-117.3,917.9,-5.2,372,13972,0.00,2.47,0.00,0.000,4,0.000,0.072,3086,990,3354
$GC,14008,-0.79,-117.3,920.2,-5.7,372,14012,0.00,2.42,0.00,0.000,6,0.000,0.063,3086,2409,3354
$GC,14329,-0.79,-117.3,937.4,-5.4,378,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3354
$GC,14632,-0.79,-117.3,954.7,-5.8,383,14637,0.00,2.50,0.00,0.000,4,0.000,0.072,3086,986,3353
$GC,14673,-0.83,-117.3,957.2,-6.2,383,14678,0.12,2.42,0.00,0.000,6,0.087,0.064,3040,2401,3353
$GC,14995,-0.79,-117.3,979.2,-6.9,389,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2401,3354
$STATE,15173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15173,begin apogee
$GC,15181,-0.22,0.0,991.8,6.9,392,15296,0.68,0.00,107.82,1.492,6,0.128,0.000,3244,2199,2875
$STATE,15296,end apogee,CONTROL_FINISHED_OK
$STATE,15296,begin climb
$GC,15301,0.67,117.3,996.9,0.0,394,15425,0.88,2.83,113.90,1.441,4,0.088,0.077,3534,795,2396
$GC,15448,0.34,141.0,998.4,4.3,396,15479,0.43,2.62,24.95,1.361,6,0.173,0.058,3432,2207,2301
$GC,15791,0.34,141.9,981.7,5.0,402,15795,0.00,2.35,0.00,0.000,4,0.000,0.079,3432,3614,2298
$GC,15847,0.26,141.9,978.2,6.4,402,15854,0.15,2.30,0.00,0.000,6,0.180,0.062,3400,2192,2298
$GC,16158,0.36,159.8,964.1,4.5,408,16179,0.10,0.00,17.73,1.388,6,0.088,0.000,3441,2192,2224
$GC,16524,0.36,159.8,943.3,5.7,414,16525,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2192,2222
$GC,16826,0.36,159.8,925.8,5.8,419,16830,0.00,2.40,0.00,0.000,4,0.000,0.081,3441,3610,2222
$GC,16861,0.28,159.8,923.5,6.4,419,16866,0.15,2.30,0.00,0.000,6,0.166,0.061,3411,2195,2222
$GC,17189,0.34,159.8,906.1,5.3,425,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2195,2221
$GC,17491,0.41,159.8,890.2,5.3,430,17493,0.12,0.00,0.00,0.000,6,0.081,0.000,3462,2195,2221
$GC,17794,0.35,159.8,870.6,6.5,435,17799,0.00,2.42,0.00,0.000,4,0.000,0.081,3463,3610,2221
$GC,17830,0.20,159.8,868.0,6.4,435,17835,0.30,2.33,0.00,0.000,6,0.166,0.061,3383,2194,2221
$GC,18159,0.38,182.4,853.3,4.4,441,18187,0.15,2.45,21.33,1.372,4,0.078,0.077,3449,790,2131
$GC,18211,0.38,182.4,850.1,6.5,441,18215,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2202,2130
$GC,18521,0.38,182.4,830.0,6.6,446,18525,0.00,2.35,0.00,0.000,4,0.000,0.081,3449,3608,2128
$GC,18567,0.29,182.4,826.6,7.5,446,18572,0.15,2.30,0.00,0.000,6,0.172,0.061,3412,2195,2128
$GC,18883,0.38,182.4,809.4,5.4,452,18887,0.00,2.40,0.00,0.000,4,0.000,0.078,3412,3613,2128
$GC,18916,0.38,182.4,807.4,5.9,452,18920,0.00,2.33,0.00,0.000,6,0.000,0.061,3421,2188,2127
$GC,19244,0.46,182.4,789.5,5.5,458,19249,0.12,2.45,0.00,0.000,4,0.084,0.079,3474,3619,2127
$GC,19289,0.29,182.4,786.1,8.5,458,19294,0.22,2.35,0.00,0.000,6,0.166,0.062,3417,2190,2127
$GC,19606,0.38,183.4,769.9,5.0,464,19610,0.00,2.42,0.00,0.000,4,0.000,0.079,3416,3609,2127
$GC,19657,0.38,183.4,767.1,5.5,464,19661,0.00,2.33,0.00,0.000,6,0.000,0.060,3421,2191,2127
$GC,19968,0.45,183.4,751.6,5.0,469,19973,0.12,2.45,0.00,0.000,4,0.084,0.078,3474,3619,2127
$GC,19996,0.35,183.4,749.7,6.6,469,20001,0.17,2.33,0.00,0.000,6,0.166,0.061,3431,2191,2127
$GC,20330,0.40,183.4,731.7,5.4,475,20331,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2191,2127
$GC,20632,0.44,183.4,715.4,5.4,480,20636,0.00,2.42,0.00,0.000,4,0.000,0.079,3431,3608,2127
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$STATE,32249,end climb,SURFACE_DEPTH_REACHED
$STATE,32249,begin surface coast
$FINISH,1.0,1.001914
$STATE,32399,end surface coast,CONTROL_FINISHED_OK
$STATE,32399,begin surface
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$HUMID,2136
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$TCM_TEMP,15.50
$XPDR_PINGS,990
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$10V_AH,10.4,82.883
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$DEVICE_SECS,30.025,236.275,369.175,2.675,0.000,26.102,26.669,185.925,247.500,0.000,0.000,17.204,1814.713,27203.920,530.988,2382.137,896.104,33.383,1733.926,0.000,2346.884,0.000,0.466
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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,47439,838
$CAP_FILE_SIZE,192312,0
$CFSIZE,260165632,211038208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170409,062136,5020.474,-14428.212,80,1.4,92,18.7