version: 66.03
glider: 120
mission: 9
dive: 647
start: 4 29 109 17 49 0
data:
$ID,120
$MISSION,9
$DIVE,647
$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,-31460.57
$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,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
$GPS1,174125,4959.711,-14458.754,62,1.3,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-74.4
$GPS2,174802,4959.719,-14458.777,17,1.3,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,0.098
$KALMAN_X,-114040.7,-27.0,57.5,132689.1,-3098.1
$KALMAN_Y,151820.9,-515.6,-189.5,-158066.7,414.0
$MHEAD_RNG_PITCHd_Wd,38.2,17203,-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,-117.3,0.0,0.0,0,69,0.00,0.00,-40.47,0.000,2,0.000,0.000,135,2413,2782
$GC,73,-0.67,-117.3,3.9,-6.7,4,107,13.18,2.47,-11.55,0.000,4,0.264,0.091,3085,3803,3357
$GC,271,-0.49,-117.3,31.4,-11.2,21,277,0.25,2.33,0.00,0.000,6,0.146,0.054,3156,2394,3359
$GC,602,-0.49,-117.3,55.3,-7.2,52,606,0.00,2.50,0.00,0.000,4,0.000,0.067,3155,992,3359
$GC,654,-0.54,-117.3,59.3,-7.0,56,658,0.00,2.38,0.00,0.000,6,0.000,0.059,3155,2400,3359
$GC,990,-0.54,-117.3,83.1,-7.2,85,991,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,3359
$GC,1300,-0.58,-117.3,104.6,-7.2,100,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,3359
$GC,1609,-0.65,-117.3,127.5,-7.3,115,1610,0.15,0.00,0.00,0.000,6,0.081,0.000,3095,2399,3359
$GC,1927,-0.65,-117.3,153.5,-7.3,130,1932,0.00,2.53,0.00,0.000,4,0.000,0.066,3095,984,3359
$GC,1951,-0.65,-117.3,155.4,-7.9,130,1957,0.00,2.40,0.00,0.000,6,0.000,0.059,3094,2402,3359
$GC,2265,-0.65,-117.3,177.5,-6.9,141,2268,0.00,2.50,0.00,0.000,4,0.000,0.066,3094,988,3359
$GC,2293,-0.65,-117.3,179.7,-7.3,141,2300,0.00,2.38,0.00,0.000,6,0.000,0.060,3094,2397,3359
$GC,2607,-0.65,-117.3,202.0,-7.1,152,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3360
$GC,2914,-0.65,-117.3,224.2,-7.3,162,2918,0.00,2.50,0.00,0.000,4,0.000,0.067,3094,983,3359
$GC,2943,-0.65,-117.3,226.5,-7.9,163,2947,0.00,2.42,0.00,0.000,6,0.000,0.059,3094,2405,3359
$GC,3279,-0.65,-117.3,250.6,-6.9,174,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3359
$GC,3586,-0.65,-117.3,270.6,-6.4,184,3590,0.00,2.47,0.00,0.000,4,0.000,0.067,3094,981,3359
$GC,3653,-0.65,-117.3,275.1,-6.6,186,3658,0.00,2.42,0.00,0.000,6,0.000,0.060,3094,2409,3359
$GC,3984,-0.65,-117.3,297.0,-6.8,197,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3359
$GC,4288,-0.65,-117.3,318.0,-6.9,203,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3359
$GC,4591,-0.65,-117.3,338.8,-6.9,208,4596,0.00,2.50,0.00,0.000,4,0.000,0.068,3095,986,3359
$GC,4631,-0.65,-117.3,341.8,-7.5,208,4635,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2403,3359
$GC,4952,-0.65,-117.3,364.4,-7.0,214,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3359
$GC,5255,-0.65,-117.3,385.6,-7.0,219,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3359
$GC,5560,-0.65,-117.3,404.8,-6.2,224,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3359
$GC,5862,-0.65,-117.3,423.1,-6.1,229,5866,0.00,2.53,0.00,0.000,4,0.000,0.068,3094,981,3359
$GC,5913,-0.70,-117.3,426.5,-6.7,229,5917,0.00,2.42,0.00,0.000,6,0.000,0.061,3095,2402,3359
$GC,6224,-0.70,-117.3,447.0,-6.7,234,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3359
$GC,6527,-0.70,-117.3,466.4,-6.3,239,6532,0.00,2.50,0.00,0.000,4,0.000,0.068,3094,986,3359
$GC,6556,-0.74,-117.3,468.3,-6.6,239,6560,0.00,2.42,0.00,0.000,6,0.000,0.061,3094,2408,3359
$GC,6889,-0.74,-117.3,487.4,-5.7,245,6893,0.00,2.45,0.00,0.000,4,0.000,0.081,3094,3807,3358
$GC,6923,-0.74,-117.3,489.4,-5.5,245,6927,0.00,2.30,0.00,0.000,6,0.000,0.053,3094,2390,3358
$GC,7251,-0.74,-117.3,507.7,-5.6,251,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3358
$GC,7554,-0.74,-117.3,525.3,-5.8,256,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2391,3358
$GC,7857,-0.74,-117.3,543.6,-6.0,261,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3358
$GC,8160,-0.74,-117.3,560.2,-5.4,266,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3358
$GC,8463,-0.74,-117.3,576.7,-5.5,271,8467,0.00,2.47,0.00,0.000,4,0.000,0.070,3094,987,3358
$GC,8509,-0.80,-117.3,579.3,-5.9,271,8514,0.12,2.42,0.00,0.000,6,0.087,0.061,3049,2401,3358
$GC,8825,-0.74,-117.3,601.3,-7.1,277,8829,0.00,2.47,0.00,0.000,4,0.000,0.080,3049,3815,3358
$GC,8882,-0.66,-117.3,606.0,-8.2,277,8889,0.17,2.35,0.00,0.000,6,0.108,0.054,3098,2377,3358
$GC,9194,-0.66,-117.3,625.4,-6.2,283,9198,0.00,2.45,0.00,0.000,4,0.000,0.070,3098,986,3358
$GC,9228,-0.66,-117.3,627.8,-7.1,283,9232,0.00,2.42,0.00,0.000,6,0.000,0.062,3098,2398,3358
$GC,9554,-0.66,-117.3,647.3,-5.9,289,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,9858,-0.70,-117.3,665.4,-6.0,294,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,10162,-0.70,-117.3,684.9,-6.5,299,10166,0.00,2.47,0.00,0.000,4,0.000,0.070,3098,985,3357
$GC,10190,-0.70,-117.3,687.2,-7.3,299,10194,0.00,2.42,0.00,0.000,6,0.000,0.062,3098,2402,3357
$GC,10529,-0.75,-117.3,709.2,-6.5,305,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3357
$GC,10832,-0.80,-117.3,728.4,-6.3,310,10837,0.12,2.47,0.00,0.000,4,0.088,0.070,3049,996,3357
$GC,10878,-0.74,-117.3,731.8,-7.6,310,10882,0.00,2.42,0.00,0.000,6,0.000,0.062,3049,2409,3357
$GC,11194,-0.67,-117.3,753.8,-6.9,316,11196,0.17,0.00,0.00,0.000,6,0.138,0.000,3100,2408,3357
$GC,11497,-0.72,-117.3,769.4,-5.1,321,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3357
$GC,11802,-0.78,-117.3,785.1,-5.2,326,11806,0.12,2.53,0.00,0.000,4,0.087,0.071,3054,986,3356
$GC,11836,-0.78,-117.3,787.3,-5.9,326,11841,0.00,2.45,0.00,0.000,6,0.000,0.062,3054,2410,3356
$GC,12165,-0.73,-117.3,808.9,-6.6,332,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2410,3356
$GC,12468,-0.67,-117.3,828.5,-6.4,337,12470,0.15,0.00,0.00,0.000,6,0.141,0.000,3097,2410,3356
$GC,12771,-0.73,-117.3,845.6,-5.6,342,12775,0.00,2.55,0.00,0.000,4,0.000,0.071,3097,993,3356
$GC,12810,-0.80,-117.3,848.0,-6.6,342,12815,0.12,2.45,0.00,0.000,6,0.085,0.061,3054,2406,3356
$GC,13132,-0.80,-117.3,869.4,-6.8,348,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2406,3356
$GC,13436,-0.80,-117.3,889.9,-6.8,353,13440,0.00,2.50,0.00,0.000,4,0.000,0.072,3054,993,3356
$GC,13481,-0.80,-117.3,893.3,-7.5,353,13485,0.00,2.42,0.00,0.000,6,0.000,0.063,3054,2401,3356
$GC,13797,-0.80,-117.3,914.9,-6.8,359,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2399,3355
$GC,14100,-0.80,-117.3,934.0,-6.2,364,14104,0.00,2.50,0.00,0.000,4,0.000,0.071,3054,992,3356
$GC,14145,-0.80,-117.3,936.8,-5.4,364,14150,0.00,2.45,0.00,0.000,6,0.000,0.064,3054,2411,3355
$GC,14462,-0.76,-117.3,955.3,-5.8,370,14463,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2410,3355
$GC,14765,-0.76,-117.3,972.3,-5.6,375,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2409,3355
$STATE,15065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15065,begin apogee
$GC,15074,-0.22,0.0,990.3,5.9,380,15187,0.65,0.00,108.10,1.492,6,0.137,0.000,3245,2193,2876
$STATE,15188,end apogee,CONTROL_FINISHED_OK
$STATE,15188,begin climb
$GC,15192,0.67,117.3,994.6,0.0,382,15314,0.88,0.00,116.05,1.443,6,0.087,0.000,3531,2193,2396
$GC,15619,0.35,117.3,973.7,7.7,389,15621,0.35,0.00,0.00,0.000,6,0.163,0.000,3433,2193,2393
$GC,15921,0.29,117.3,957.7,5.1,394,15926,0.00,2.42,0.00,0.000,4,0.000,0.079,3433,3611,2392
$GC,16035,0.18,117.3,951.3,6.3,395,16040,0.22,2.30,0.00,0.000,6,0.174,0.062,3378,2204,2392
$GC,16352,0.35,161.5,939.1,3.7,401,16394,0.15,0.00,39.62,1.438,6,0.081,0.000,3438,2205,2217
$GC,16656,0.35,161.5,921.8,6.0,406,16657,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2205,2214
$GC,16957,0.35,161.5,903.5,6.1,411,16962,0.00,2.42,0.00,0.000,4,0.000,0.078,3438,3608,2213
$GC,16986,0.29,161.5,901.4,6.7,411,16990,0.00,2.40,0.00,0.000,6,0.000,0.061,3438,2195,2213
$GC,17319,0.29,161.5,880.5,6.3,417,17320,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2196,2213
$GC,17623,0.29,161.5,861.5,6.3,422,17628,0.00,2.55,0.00,0.000,4,0.000,0.076,3438,783,2213
$GC,17663,0.29,161.5,858.8,6.8,422,17667,0.00,2.38,0.00,0.000,6,0.000,0.060,3438,2207,2213
$GC,17984,0.29,161.5,838.6,6.4,428,17988,0.00,2.40,0.00,0.000,4,0.000,0.079,3438,3610,2212
$GC,18052,0.21,161.5,833.5,8.0,429,18057,0.22,2.33,0.00,0.000,6,0.160,0.060,3387,2190,2212
$GC,18415,0.37,161.5,814.8,5.2,435,18419,0.15,2.42,0.00,0.000,4,0.078,0.076,3452,790,2212
$GC,18471,0.37,161.5,811.0,7.0,435,18478,0.00,2.38,0.00,0.000,6,0.000,0.061,3452,2213,2212
$GC,18784,0.37,161.5,790.5,6.7,441,18788,0.00,2.40,0.00,0.000,4,0.000,0.081,3451,3614,2212
$GC,18830,0.25,161.5,786.9,7.1,441,18835,0.20,2.33,0.00,0.000,6,0.166,0.062,3401,2202,2212
$GC,19147,0.37,161.5,769.8,5.3,447,19148,0.12,0.00,0.00,0.000,6,0.081,0.000,3449,2202,2212
$GC,19449,0.37,161.5,752.1,5.8,452,19453,0.00,2.45,0.00,0.000,4,0.000,0.080,3449,3614,2211
$GC,19489,0.27,161.5,749.2,8.6,452,19494,0.17,2.35,0.00,0.000,6,0.166,0.062,3406,2192,2212
$GC,19812,0.37,161.6,733.0,5.0,458,19813,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2193,2211
$GC,20114,0.47,161.6,717.6,5.1,463,20119,0.15,2.47,0.00,0.000,4,0.079,0.076,3475,793,2212
$GC,20144,0.41,161.6,715.7,6.9,463,20148,0.00,2.38,0.00,0.000,6,0.000,0.060,3475,2207,2212
$GC,20477,0.32,161.6,691.2,7.4,469,20482,0.17,2.45,0.00,0.000,4,0.145,0.079,3420,3614,2212
$GC,20528,0.32,161.6,687.6,6.3,469,20532,0.00,2.35,0.00,0.000,6,0.000,0.061,3421,2200,2211
$GC,20840,0.38,161.6,669.1,6.0,474,20841,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2211
$GC,21142,0.44,161.6,651.0,6.0,479,21144,0.12,0.00,0.00,0.000,6,0.089,0.000,3476,2200,2212
$GC,21447,0.37,161.6,628.9,7.4,484,21449,0.15,0.00,0.00,0.000,6,0.137,0.000,3434,2201,2211
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$STATE,32620,end climb,SURFACE_DEPTH_REACHED
$STATE,32620,begin surface coast
$FINISH,0.9,1.025649
$STATE,32717,end surface coast,CONTROL_FINISHED_OK
$STATE,32717,begin surface
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$HUMID,2141
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$TCM_TEMP,13.90
$XPDR_PINGS,1001
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$10V_AH,10.4,87.580
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$DEVICE_SECS,30.850,205.150,340.000,29.700,0.000,31.584,27.209,166.933,250.250,0.000,0.000,17.105,1818.713,27611.445,560.053,2279.138,889.664,33.380,1666.815,0.000,2267.108,0.000,0.466
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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,50680,856
$CAP_FILE_SIZE,185178,0
$CFSIZE,260165632,208384000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300409,025655,5001.625,-14454.228,59,1.6,59,18.5