version: 66.03
glider: 120
mission: 9
dive: 697
start: 5 18 109 12 50 21
data:
$ID,120
$MISSION,9
$DIVE,697
$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,-32495.096
$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,19
$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
$GPS1,124237,5013.695,-14440.351,28,1.5,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.6
$GPS2,124926,5013.694,-14440.308,12,1.5,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.096,0.150
$KALMAN_X,-142866.0,-122.5,25.8,183597.1,-615.5
$KALMAN_Y,146130.6,250.4,188.9,-127664.0,-2472.3
$MHEAD_RNG_PITCHd_Wd,14.0,18351,-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,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.70,0.000,2,0.000,0.000,136,2400,2739
$GC,74,-0.67,-117.3,3.7,-6.9,4,108,13.75,2.53,-12.43,0.000,4,0.268,0.080,3093,991,3357
$GC,230,-0.50,-117.3,25.5,-10.9,17,237,0.22,2.40,0.00,0.000,6,0.146,0.061,3156,2404,3359
$GC,562,-0.50,-117.3,48.0,-6.4,48,567,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2404,3359
$GC,889,-0.54,-117.3,71.1,-6.8,79,893,0.00,2.50,0.00,0.000,4,0.000,0.079,3152,3807,3360
$GC,919,-0.61,-117.3,73.4,-7.3,81,923,0.00,2.35,0.00,0.000,6,0.000,0.050,3152,2391,3360
$GC,1245,-0.61,-117.3,96.2,-7.0,101,1249,0.00,2.58,0.00,0.000,4,0.000,0.065,3152,985,3360
$GC,1286,-0.65,-117.3,99.0,-6.7,103,1291,0.15,2.42,0.00,0.000,6,0.071,0.058,3097,2402,3360
$GC,1615,-0.60,-117.3,126.0,-8.4,119,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3360
$GC,1924,-0.60,-117.3,150.1,-6.9,134,1928,0.00,2.55,0.00,0.000,4,0.000,0.077,3096,3817,3360
$GC,2003,-0.56,-117.3,156.0,-7.2,136,2008,0.15,2.42,0.00,0.000,6,0.104,0.051,3137,2390,3360
$GC,2323,-0.79,-117.3,178.9,-7.6,147,2328,0.20,2.60,0.00,0.000,4,0.076,0.075,3058,3817,3360
$GC,2421,-0.64,-117.3,187.9,-9.4,150,2426,0.17,2.42,0.00,0.000,6,0.119,0.051,3104,2395,3360
$GC,2757,-0.64,-117.3,211.9,-6.7,161,2761,0.00,2.53,0.00,0.000,4,0.000,0.066,3105,996,3360
$GC,2804,-0.64,-117.3,215.2,-6.9,162,2808,0.00,2.40,0.00,0.000,6,0.000,0.059,3102,2400,3360
$GC,3129,-0.64,-117.3,237.5,-7.0,173,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3360
$GC,3435,-0.64,-117.3,259.6,-7.2,183,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3360
$GC,3742,-0.64,-117.3,280.8,-6.8,193,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3360
$GC,4077,-0.64,-117.3,304.3,-7.0,203,4082,0.00,2.55,0.00,0.000,4,0.000,0.078,3099,3815,3360
$GC,4111,-0.64,-117.3,306.9,-7.0,203,4116,0.00,2.40,0.00,0.000,6,0.000,0.051,3099,2402,3360
$GC,4440,-0.64,-117.3,328.7,-6.6,209,4445,0.00,2.62,0.00,0.000,4,0.000,0.067,3099,990,3360
$GC,4475,-0.64,-117.3,331.3,-6.7,209,4480,0.00,2.45,0.00,0.000,6,0.000,0.059,3099,2408,3360
$GC,4803,-0.64,-117.3,353.0,-6.7,215,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3360
$GC,5106,-0.64,-117.3,374.4,-7.1,220,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3360
$GC,5409,-0.64,-117.3,394.3,-6.5,225,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3359
$GC,5712,-0.64,-117.3,413.0,-6.1,230,5717,0.00,2.67,0.00,0.000,4,0.000,0.067,3099,987,3359
$GC,5753,-0.64,-117.3,415.7,-6.6,230,5757,0.00,2.50,0.00,0.000,6,0.000,0.060,3099,2407,3359
$GC,6075,-0.64,-117.3,434.2,-5.7,236,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3359
$GC,6378,-0.64,-117.3,451.5,-5.6,241,6382,0.00,2.62,0.00,0.000,4,0.000,0.067,3099,985,3359
$GC,6406,-0.64,-117.3,453.3,-6.5,241,6410,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2401,3359
$GC,6740,-0.64,-117.3,473.4,-6.2,247,6744,0.00,2.50,0.00,0.000,4,0.000,0.069,3099,989,3359
$GC,6774,-0.64,-117.3,475.7,-6.5,247,6778,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2405,3359
$GC,7102,-0.64,-117.3,495.3,-5.9,253,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3358
$GC,7404,-0.64,-117.3,511.3,-5.2,258,7409,0.00,2.50,0.00,0.000,4,0.000,0.068,3099,992,3358
$GC,7434,-0.64,-117.3,512.8,-5.5,258,7438,0.00,2.45,0.00,0.000,6,0.000,0.060,3099,2408,3358
$GC,7767,-0.64,-117.3,529.3,-5.0,264,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3358
$GC,8070,-0.64,-117.3,546.6,-5.8,269,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3358
$GC,8373,-0.64,-117.3,565.7,-6.4,274,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3358
$GC,8677,-0.64,-117.3,585.7,-6.7,279,8681,0.00,2.60,0.00,0.000,4,0.000,0.068,3099,991,3358
$GC,8711,-0.68,-117.3,588.3,-7.2,279,8715,0.00,2.45,0.00,0.000,6,0.000,0.060,3099,2401,3358
$GC,9038,-0.68,-117.3,611.3,-7.0,285,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,9341,-0.68,-117.3,632.6,-7.0,290,9345,0.00,2.62,0.00,0.000,4,0.000,0.069,3099,983,3357
$GC,9387,-0.73,-117.3,635.9,-7.5,290,9391,0.00,2.47,0.00,0.000,6,0.000,0.061,3099,2403,3357
$GC,9703,-0.77,-117.3,657.1,-6.7,296,9708,0.00,2.50,0.00,0.000,4,0.000,0.081,3099,3816,3357
$GC,9738,-0.83,-117.3,659.5,-6.6,296,9743,0.15,2.35,0.00,0.000,6,0.079,0.053,3047,2397,3357
$GC,10067,-0.78,-117.3,682.1,-6.8,302,10071,0.00,2.53,0.00,0.000,4,0.000,0.069,3047,985,3357
$GC,10131,-0.71,-117.3,686.8,-7.1,303,10136,0.15,2.47,0.00,0.000,6,0.127,0.061,3084,2406,3357
$GC,10498,-0.71,-117.3,708.5,-5.8,309,10501,0.00,2.47,0.00,0.000,4,0.000,0.081,3085,3808,3357
$GC,10533,-0.71,-117.3,710.5,-5.9,309,10537,0.00,2.35,0.00,0.000,6,0.000,0.053,3084,2396,3357
$GC,10865,-0.71,-117.3,729.4,-5.6,315,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3357
$GC,11169,-0.71,-117.3,746.1,-5.5,320,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3357
$GC,11472,-0.71,-117.3,762.6,-5.5,325,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3357
$GC,11776,-0.71,-117.3,779.4,-5.5,330,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3357
$GC,12078,-0.71,-117.3,794.9,-5.2,335,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3356
$GC,12381,-0.71,-117.3,808.8,-4.5,340,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3356
$GC,12684,-0.71,-117.3,822.4,-4.5,345,12689,0.00,2.67,0.00,0.000,4,0.000,0.068,3085,996,3356
$GC,12719,-0.71,-117.3,824.2,-4.6,345,12723,0.00,2.47,0.00,0.000,6,0.000,0.061,3084,2408,3356
$GC,13047,-0.71,-117.3,840.1,-4.9,351,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3356
$GC,13349,-0.71,-117.3,856.7,-5.5,356,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3356
$GC,13652,-0.71,-117.3,874.9,-6.1,361,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3356
$GC,13955,-0.71,-117.3,893.7,-6.2,366,13960,0.00,2.67,0.00,0.000,4,0.000,0.068,3084,988,3355
$GC,14002,-0.71,-117.3,896.8,-6.1,366,14006,0.00,2.53,0.00,0.000,6,0.000,0.062,3084,2408,3356
$GC,14318,-0.71,-117.3,916.8,-6.3,372,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3355
$GC,14621,-0.71,-117.3,935.0,-6.0,377,14622,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3355
$GC,14924,-0.71,-117.3,952.2,-5.7,382,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3355
$GC,15228,-0.71,-117.3,968.4,-5.3,387,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3355
$GC,15530,-0.71,-117.3,984.6,-5.3,392,15534,0.00,2.65,0.00,0.000,4,0.000,0.071,3084,985,3355
$GC,15564,-0.71,-117.3,986.6,-5.7,392,15568,0.00,2.50,0.00,0.000,6,0.000,0.062,3085,2410,3355
$STATE,15645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15645,begin apogee
$GC,15654,-0.22,0.0,991.2,5.5,394,15768,0.55,0.00,109.80,1.504,6,0.131,0.000,3246,2198,2876
$STATE,15769,end apogee,CONTROL_FINISHED_OK
$STATE,15769,begin climb
$GC,15774,0.67,117.3,995.8,0.0,396,15902,0.93,2.95,119.03,1.451,4,0.081,0.074,3533,795,2397
$GC,16022,0.34,117.3,988.9,7.0,400,16028,0.45,2.65,0.00,0.000,6,0.170,0.058,3433,2199,2394
$GC,16391,0.29,119.8,970.1,4.9,406,16392,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2198,2393
$GC,16693,0.24,119.8,954.9,5.0,411,16698,0.15,2.42,0.00,0.000,4,0.183,0.077,3388,3622,2392
$GC,16727,0.24,119.8,953.0,5.5,411,16731,0.00,2.33,0.00,0.000,6,0.000,0.059,3394,2200,2392
$GC,17056,0.34,155.1,940.0,4.0,417,17092,0.10,0.00,34.00,1.448,6,0.088,0.000,3437,2201,2243
$GC,17359,0.34,155.1,922.9,5.8,422,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2241
$GC,17660,0.34,155.1,905.4,5.7,427,17664,0.00,2.47,0.00,0.000,4,0.000,0.077,3437,789,2240
$GC,17711,0.34,155.1,902.5,6.0,427,17716,0.00,2.38,0.00,0.000,6,0.000,0.058,3437,2214,2240
$GC,18023,0.34,155.1,885.4,5.5,432,18025,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2213,2239
$GC,18325,0.34,155.1,869.1,5.3,437,18329,0.00,2.53,0.00,0.000,4,0.000,0.077,3437,783,2239
$GC,18365,0.36,164.1,866.9,4.7,437,18380,0.00,2.38,9.12,1.282,6,0.000,0.058,3437,2201,2206
$GC,18693,0.36,164.1,849.6,5.3,443,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2205
$GC,18997,0.36,164.1,833.3,5.4,448,18998,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2205
$GC,19298,0.36,164.1,816.4,5.6,453,19302,0.00,2.50,0.00,0.000,4,0.000,0.075,3437,790,2205
$GC,19332,0.36,164.1,814.5,5.4,453,19336,0.00,2.40,0.00,0.000,6,0.000,0.058,3437,2210,2205
$GC,19659,0.36,164.1,795.9,5.7,459,19660,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2205
$GC,19963,0.36,164.1,777.8,6.0,464,19964,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2205
$GC,20266,0.36,164.1,759.0,6.3,469,20267,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2205
$GC,20569,0.36,164.1,738.7,6.7,474,20573,0.00,2.55,0.00,0.000,4,0.000,0.076,3437,789,2205
$GC,20619,0.36,164.1,735.1,6.2,474,20623,0.00,2.42,0.00,0.000,6,0.000,0.059,3437,2207,2205
$GC,20931,0.36,164.1,713.8,7.0,479,20932,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2205,2205
$GC,21233,0.36,164.1,693.0,6.9,484,21234,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2205,2204
$GC,21536,0.36,164.1,674.0,6.2,489,21540,0.00,2.55,0.00,0.000,4,0.000,0.075,3437,788,2205
$GC,21575,0.36,164.1,671.5,6.4,489,21579,0.00,2.42,0.00,0.000,6,0.000,0.059,3437,2209,2205
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$STATE,33129,end climb,SURFACE_DEPTH_REACHED
$STATE,33129,begin surface coast
$FINISH,0.5,1.023686
$STATE,33336,end surface coast,CONTROL_FINISHED_OK
$STATE,33336,begin surface
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$XPDR_PINGS,1037
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$10V_AH,10.3,94.498
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$DEVICE_SECS,27.800,204.825,358.300,15.100,0.000,23.669,27.054,176.344,259.250,0.000,0.000,12.698,1836.124,28091.637,549.108,2358.197,938.395,33.375,1694.331,0.000,2333.650,0.000,0.465
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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,50574,886
$CAP_FILE_SIZE,180179,0
$CFSIZE,260165632,204484608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180509,221001,5016.315,-14438.162,159,1.2,159,18.6