version: 66.03
glider: 120
mission: 9
dive: 617
start: 4 18 109 10 15 45
data:
$ID,120
$MISSION,9
$DIVE,617
$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,-30872.908
$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,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
$GPS1,100737,5010.775,-14425.120,29,1.3,29,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.9
$GPS2,101450,5010.812,-14425.099,16,1.5,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.045,-0.172
$KALMAN_X,-98531.9,78.1,223.6,156938.5,375.0
$KALMAN_Y,140859.3,713.6,446.9,-128461.2,-1038.2
$MHEAD_RNG_PITCHd_Wd,176.2,31622,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-30.65,0.000,2,0.000,0.000,147,2402,2356
$GC,64,-0.67,-117.3,3.0,-4.4,3,112,13.65,2.42,-28.77,0.000,4,0.278,0.093,3085,3808,3356
$GC,152,-0.46,-117.3,12.8,-13.4,10,159,0.28,2.30,0.00,0.000,6,0.147,0.055,3163,2386,3357
$GC,484,-0.53,-117.3,39.0,-7.9,41,488,0.00,2.38,0.00,0.000,4,0.000,0.069,3163,989,3357
$GC,514,-0.59,-117.3,41.6,-6.9,43,519,0.12,2.35,0.00,0.000,6,0.078,0.061,3117,2400,3357
$GC,843,-0.59,-117.3,67.5,-7.6,73,848,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3357
$GC,1175,-0.59,-117.3,92.3,-7.7,97,1179,0.00,2.40,0.00,0.000,4,0.000,0.079,3113,3806,3357
$GC,1239,-0.54,-117.3,97.9,-9.3,100,1244,0.10,2.30,0.00,0.000,6,0.098,0.054,3140,2389,3358
$GC,1567,-0.54,-117.3,123.4,-7.6,116,1571,0.00,2.38,0.00,0.000,4,0.000,0.068,3140,991,3358
$GC,1653,-0.59,-117.3,130.2,-7.5,120,1658,0.00,2.38,0.00,0.000,6,0.000,0.060,3140,2408,3358
$GC,1982,-0.65,-117.3,150.3,-5.7,136,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2408,3358
$GC,2289,-0.73,-117.3,168.1,-5.9,146,2293,0.15,2.45,0.00,0.000,4,0.079,0.067,3076,987,3357
$GC,2323,-0.66,-117.3,170.8,-8.2,147,2327,0.00,2.38,0.00,0.000,6,0.000,0.060,3076,2408,3357
$GC,2653,-0.58,-117.3,199.7,-8.6,158,2655,0.17,0.00,0.00,0.000,6,0.138,0.000,3127,2407,3358
$GC,2960,-0.63,-117.3,220.4,-6.7,168,2965,0.00,2.42,0.00,0.000,4,0.000,0.067,3127,988,3357
$GC,2991,-0.69,-117.3,222.7,-7.7,169,2995,0.12,2.38,0.00,0.000,6,0.081,0.060,3080,2404,3358
$GC,3326,-0.69,-117.3,246.3,-6.8,180,3330,0.00,2.42,0.00,0.000,4,0.000,0.079,3080,3819,3358
$GC,3350,-0.69,-117.3,247.9,-6.9,180,3356,0.00,2.30,0.00,0.000,6,0.000,0.054,3080,2392,3358
$GC,3663,-0.69,-117.3,271.2,-7.6,191,3667,0.00,2.40,0.00,0.000,4,0.000,0.070,3080,986,3358
$GC,3703,-0.69,-117.3,274.3,-7.9,192,3707,0.00,2.38,0.00,0.000,6,0.000,0.060,3080,2401,3358
$GC,4034,-0.64,-117.3,298.9,-7.4,203,4039,0.12,2.42,0.00,0.000,4,0.135,0.068,3116,992,3358
$GC,4063,-0.64,-117.3,301.1,-7.3,204,4067,0.00,2.38,0.00,0.000,6,0.000,0.061,3114,2403,3358
$GC,4402,-0.64,-117.3,323.0,-6.4,210,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3358
$GC,4705,-0.64,-117.3,342.1,-6.3,215,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3357
$GC,5009,-0.68,-117.3,361.8,-6.5,220,5014,0.00,2.42,0.00,0.000,4,0.000,0.069,3114,991,3357
$GC,5049,-0.75,-117.3,364.8,-7.2,220,5054,0.12,2.38,0.00,0.000,6,0.082,0.060,3066,2405,3358
$GC,5371,-0.71,-117.3,389.2,-7.7,226,5375,0.00,2.42,0.00,0.000,4,0.000,0.080,3066,3816,3357
$GC,5423,-0.64,-117.3,393.7,-8.2,226,5428,0.15,2.30,0.00,0.000,6,0.107,0.054,3107,2394,3357
$GC,5733,-0.64,-117.3,415.9,-7.0,231,5738,0.00,2.40,0.00,0.000,4,0.000,0.070,3108,992,3357
$GC,5762,-0.64,-117.3,418.0,-7.1,231,5766,0.00,2.38,0.00,0.000,6,0.000,0.061,3107,2403,3357
$GC,6101,-0.68,-117.3,439.6,-6.4,237,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3358
$GC,6405,-0.73,-117.3,459.0,-6.3,242,6409,0.00,2.45,0.00,0.000,4,0.000,0.070,3108,988,3357
$GC,6439,-0.77,-117.3,461.4,-7.0,242,6444,0.12,2.40,0.00,0.000,6,0.080,0.061,3062,2408,3357
$GC,6766,-0.77,-117.3,484.8,-7.2,248,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2408,3356
$GC,7069,-0.77,-117.3,506.3,-7.1,253,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2408,3357
$GC,7373,-0.77,-117.3,527.3,-6.9,258,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2408,3357
$GC,7675,-0.77,-117.3,547.4,-6.7,263,7679,0.00,2.45,0.00,0.000,4,0.000,0.070,3062,997,3357
$GC,7704,-0.77,-117.3,549.5,-8.0,263,7708,0.00,2.38,0.00,0.000,6,0.000,0.061,3062,2401,3357
$GC,8037,-0.71,-117.3,570.6,-6.3,269,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2400,3357
$GC,8341,-0.65,-117.3,588.3,-5.8,274,8343,0.15,0.00,0.00,0.000,6,0.134,0.000,3104,2401,3357
$GC,8644,-0.70,-117.3,603.3,-4.9,279,8648,0.00,2.45,0.00,0.000,4,0.000,0.071,3105,995,3356
$GC,8679,-0.76,-117.3,605.4,-6.0,279,8684,0.00,2.40,0.00,0.000,6,0.000,0.062,3105,2411,3356
$GC,9008,-0.81,-117.3,624.2,-5.8,285,9010,0.15,0.00,0.00,0.000,6,0.079,0.000,3044,2410,3356
$GC,9310,-0.75,-117.3,646.8,-7.6,290,9315,0.10,2.45,0.00,0.000,4,0.094,0.069,3076,998,3355
$GC,9360,-0.75,-117.3,650.9,-8.5,290,9365,0.00,2.38,0.00,0.000,6,0.000,0.063,3072,2399,3356
$GC,9672,-0.71,-117.3,674.5,-7.7,295,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3356
$GC,9975,-0.71,-117.3,697.7,-7.6,300,9979,0.00,2.42,0.00,0.000,4,0.000,0.071,3072,997,3356
$GC,10003,-0.71,-117.3,700.1,-8.5,300,10007,0.00,2.40,0.00,0.000,6,0.000,0.064,3072,2408,3356
$GC,10335,-0.71,-117.3,724.4,-7.3,306,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3355
$GC,10639,-0.71,-117.3,745.5,-6.9,311,10643,0.00,2.45,0.00,0.000,4,0.000,0.071,3073,998,3355
$GC,10685,-0.71,-117.3,748.9,-7.1,311,10689,0.00,2.40,0.00,0.000,6,0.000,0.064,3073,2408,3355
$GC,11002,-0.71,-117.3,769.9,-6.6,317,11006,0.00,2.45,0.00,0.000,4,0.000,0.071,3072,998,3355
$GC,11047,-0.71,-117.3,773.3,-7.1,317,11051,0.00,2.40,0.00,0.000,6,0.000,0.063,3073,2405,3355
$GC,11364,-0.71,-117.3,795.0,-6.9,323,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2405,3355
$GC,11666,-0.71,-117.3,815.4,-6.7,328,11670,0.00,2.45,0.00,0.000,4,0.000,0.071,3073,998,3355
$GC,11716,-0.71,-117.3,819.0,-7.5,328,11720,0.00,2.40,0.00,0.000,6,0.000,0.064,3072,2404,3355
$GC,12027,-0.71,-117.3,838.2,-6.2,333,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3355
$GC,12330,-0.71,-117.3,856.6,-6.1,338,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3355
$GC,12633,-0.71,-117.3,874.8,-6.0,343,12637,0.00,2.47,0.00,0.000,4,0.000,0.071,3072,993,3354
$GC,12666,-0.71,-117.3,877.1,-7.5,343,12671,0.00,2.40,0.00,0.000,6,0.000,0.064,3072,2401,3354
$GC,12994,-0.71,-117.3,897.5,-6.3,349,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3354
$GC,13297,-0.71,-117.3,916.7,-6.3,354,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3354
$GC,13601,-0.71,-117.3,934.7,-5.9,359,13605,0.00,2.47,0.00,0.000,4,0.000,0.072,3073,995,3354
$GC,13646,-0.71,-117.3,937.6,-6.5,359,13650,0.00,2.42,0.00,0.000,6,0.000,0.064,3073,2412,3354
$GC,13962,-0.71,-117.3,956.2,-5.9,365,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2411,3354
$GC,14264,-0.71,-117.3,974.2,-5.9,370,14269,0.00,2.50,0.00,0.000,4,0.000,0.072,3073,993,3354
$GC,14310,-0.71,-117.3,977.2,-6.6,370,14314,0.00,2.40,0.00,0.000,6,0.000,0.064,3072,2399,3354
$STATE,14564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14564,begin apogee
$GC,14572,-0.22,0.0,992.5,6.0,375,14685,0.57,0.00,107.80,1.494,6,0.137,0.000,3244,2199,2876
$STATE,14686,end apogee,CONTROL_FINISHED_OK
$STATE,14686,begin climb
$GC,14690,0.67,117.3,996.7,0.0,377,14812,0.85,0.00,115.12,1.438,6,0.083,0.000,3527,2199,2396
$GC,15117,0.35,117.3,976.8,7.3,384,15122,0.30,2.42,0.00,0.000,4,0.170,0.075,3447,782,2392
$GC,15162,0.29,117.3,973.8,5.7,384,15167,0.15,2.35,0.00,0.000,6,0.156,0.060,3409,2211,2392
$GC,15479,0.31,136.8,959.7,4.4,390,15503,0.00,2.40,17.80,1.383,4,0.000,0.079,3409,3603,2317
$GC,15550,0.31,136.8,955.9,5.9,391,15554,0.00,2.30,0.00,0.000,6,0.000,0.062,3409,2193,2317
$GC,15917,0.37,136.8,937.3,5.0,397,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2193,2316
$GC,16220,0.42,136.9,922.1,5.0,402,16222,0.12,0.00,0.00,0.000,6,0.083,0.000,3463,2193,2316
$GC,16524,0.32,136.9,902.2,6.6,407,16526,0.15,0.00,0.00,0.000,6,0.138,0.000,3422,2193,2315
$GC,16826,0.32,136.9,884.7,5.8,412,16830,0.00,2.45,0.00,0.000,4,0.000,0.078,3422,3607,2315
$GC,16890,0.26,136.9,880.7,5.6,413,16894,0.00,2.35,0.00,0.000,6,0.000,0.061,3422,2193,2316
$GC,17257,0.26,136.9,860.9,5.3,419,17258,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2193,2315
$GC,17560,0.27,142.2,845.9,4.8,424,17571,0.00,2.42,6.38,1.151,4,0.000,0.079,3421,3610,2295
$GC,17629,0.22,142.2,842.1,5.5,425,17633,0.12,2.33,0.00,0.000,6,0.180,0.061,3392,2197,2295
$GC,17991,0.37,175.9,827.2,4.0,431,18030,0.15,2.47,31.30,1.374,4,0.078,0.077,3461,3608,2155
$GC,18065,0.24,175.9,822.5,7.6,432,18070,0.25,2.35,0.00,0.000,6,0.161,0.061,3395,2193,2154
$GC,18422,0.38,176.0,804.7,5.0,438,18424,0.12,0.00,0.00,0.000,6,0.081,0.000,3442,2194,2153
$GC,18723,0.44,176.0,786.2,6.2,443,18728,0.00,2.45,0.00,0.000,4,0.000,0.081,3442,3616,2153
$GC,18763,0.38,176.0,783.3,7.2,443,18767,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2194,2152
$GC,19086,0.38,176.0,761.9,6.6,449,19087,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2195,2152
$GC,19388,0.38,176.0,742.2,6.5,454,19392,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,785,2153
$GC,19438,0.38,176.0,738.8,6.6,454,19442,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2206,2152
$GC,19749,0.38,176.0,718.9,6.4,459,19750,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2152
$GC,20053,0.38,176.0,699.3,6.5,464,20057,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,3618,2152
$GC,20103,0.30,176.0,695.5,8.3,464,20108,0.12,2.35,0.00,0.000,6,0.171,0.062,3419,2202,2152
$GC,20415,0.39,176.0,677.4,5.8,469,20419,0.00,2.45,0.00,0.000,4,0.000,0.078,3419,3614,2152
$GC,20454,0.39,176.0,674.7,5.7,469,20459,0.00,2.35,0.00,0.000,6,0.000,0.061,3422,2199,2152
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$GC,26988,0.53,216.8,297.9,4.7,578,27004,0.00,2.40,11.43,0.991,4,0.000,0.077,3462,3618,1991
$GC,27053,0.53,216.8,294.4,5.5,580,27057,0.00,2.35,0.00,0.000,6,0.000,0.061,3462,2188,1989
$GC,27390,0.58,216.8,276.5,5.4,591,27392,0.12,0.00,0.00,0.000,6,0.087,0.000,3520,2188,1989
$GC,27695,0.47,216.8,253.1,7.7,601,27697,0.17,0.00,0.00,0.000,6,0.140,0.000,3470,2188,1988
$GC,28002,0.52,221.3,236.8,4.9,611,28009,0.00,0.00,5.15,0.803,6,0.000,0.000,3470,2188,1973
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$GC,29292,0.55,231.1,164.1,4.7,653,29304,0.00,0.00,10.12,0.907,6,0.000,0.000,3466,2206,1934
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$STATE,31839,end climb,SURFACE_DEPTH_REACHED
$STATE,31839,begin surface coast
$FINISH,1.0,1.018503
$STATE,32075,end surface coast,CONTROL_FINISHED_OK
$STATE,32075,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2128
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$TCM_TEMP,14.20
$XPDR_PINGS,1001
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$10V_AH,10.3,83.460
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$DEVICE_SECS,30.050,221.000,375.000,0.000,0.000,25.818,30.023,194.907,250.250,0.000,0.000,16.204,1819.135,26967.123,547.983,2342.940,897.054,33.383,1708.604,0.000,2316.574,0.000,0.467
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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,50730,846
$CAP_FILE_SIZE,189895,0
$CFSIZE,260165632,210698240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180409,191301,5007.643,-14426.907,37,1.4,37,18.6