version: 66.03
glider: 120
mission: 9
dive: 43
start: 9 12 108 17 29 17
data:
$ID,120
$MISSION,9
$DIVE,43
$D_SURF,2
$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,300
$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,-18530.213
$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,19
$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
$GPS1,172307,4953.310,-14430.506,42,1.0,53,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-76.7
$GPS2,172823,4953.333,-14430.543,12,2.9,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149,0.096
$KALMAN_X,19906.7,101.7,45.3,2736.9,-459.1
$KALMAN_Y,36930.4,-153.0,-181.8,-59206.8,3096.5
$MHEAD_RNG_PITCHd_Wd,284.4,35678,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,43,0.00,0.00,-22.67,0.000,2,0.000,0.000,148,2403,2085
$GC,45,-0.67,-117.3,3.0,-3.8,2,110,13.50,2.40,-42.65,0.000,4,0.293,0.091,3096,991,3357
$GC,346,-0.34,-117.3,42.2,-15.6,29,351,0.38,2.33,0.00,0.000,6,0.168,0.066,3204,2409,3359
$GC,670,-0.67,-117.3,63.1,-7.4,59,675,0.28,2.33,0.00,0.000,4,0.084,0.067,3102,977,3361
$GC,742,-0.50,-117.3,69.9,-10.0,65,747,0.17,2.30,0.00,0.000,6,0.171,0.062,3147,2402,3361
$GC,1060,-0.44,-117.3,97.7,-8.0,85,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2402,3362
$GC,1370,-0.40,-117.3,118.2,-6.6,100,1371,0.15,0.00,0.00,0.000,6,0.167,0.000,3189,2403,3362
$GC,1679,-0.75,-117.3,139.6,-8.5,115,1684,0.30,2.33,0.00,0.000,4,0.089,0.071,3081,978,3362
$GC,1710,-0.75,-117.3,142.9,-10.3,116,1718,0.00,2.33,0.00,0.000,6,0.000,0.063,3081,2402,3362
$GC,2045,-0.57,-117.3,174.6,-8.5,129,2047,0.17,0.00,0.00,0.000,6,0.173,0.000,3129,2402,3362
$GC,2351,-0.57,-117.3,192.8,-6.3,139,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3362
$GC,2657,-0.57,-117.3,214.9,-7.2,149,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3361
$GC,2963,-0.57,-117.3,236.1,-6.8,159,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3361
$GC,3269,-0.57,-117.3,254.6,-5.9,169,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3361
$GC,3576,-0.57,-117.3,272.8,-5.8,179,3580,0.00,2.30,0.00,0.000,4,0.000,0.076,3129,989,3360
$GC,3613,-0.57,-117.3,275.2,-6.6,180,3618,0.00,2.30,0.00,0.000,6,0.000,0.066,3129,2400,3360
$GC,3942,-0.57,-117.3,294.8,-6.1,191,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2400,3360
$GC,4277,-0.57,-117.3,315.9,-6.4,198,4281,0.00,2.30,0.00,0.000,4,0.000,0.077,3129,988,3359
$GC,4309,-0.57,-117.3,318.1,-6.9,198,4313,0.00,2.30,0.00,0.000,6,0.000,0.067,3129,2398,3359
$GC,4641,-0.57,-117.3,339.3,-6.4,204,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2398,3359
$GC,4944,-0.57,-117.3,358.1,-6.2,209,4947,0.00,2.30,0.00,0.000,4,0.000,0.077,3129,988,3358
$GC,4975,-0.57,-117.3,360.3,-7.2,209,4980,0.00,2.30,0.00,0.000,6,0.000,0.066,3129,2400,3358
$GC,5313,-0.57,-117.3,382.3,-6.5,215,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2400,3358
$GC,5616,-0.57,-117.3,403.4,-7.0,220,5620,0.00,2.30,0.00,0.000,4,0.000,0.077,3129,987,3357
$GC,5647,-0.57,-117.3,405.6,-6.6,220,5652,0.00,2.30,0.00,0.000,6,0.000,0.067,3129,2397,3357
$GC,5979,-0.57,-117.3,424.9,-5.7,226,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2398,3357
$GC,6282,-0.57,-117.3,441.3,-5.4,231,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3356
$GC,6586,-0.57,-117.3,458.6,-5.7,236,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2398,3356
$GC,6889,-0.57,-117.3,476.6,-5.9,241,6893,0.00,2.33,0.00,0.000,4,0.000,0.078,3129,978,3355
$GC,6914,-0.57,-117.3,478.4,-6.9,241,6919,0.00,2.33,0.00,0.000,6,0.000,0.067,3129,2406,3355
$GC,7252,-0.57,-117.3,497.9,-5.8,247,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2406,3355
$GC,7556,-0.57,-117.3,515.2,-5.7,252,7560,0.00,2.33,0.00,0.000,4,0.000,0.079,3129,984,3355
$GC,7593,-0.61,-117.3,517.5,-6.0,252,7598,0.00,2.30,0.00,0.000,6,0.000,0.067,3129,2399,3355
$GC,7920,-0.66,-117.3,535.9,-5.6,258,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2399,3355
$GC,8223,-0.70,-117.3,551.7,-5.1,263,8225,0.12,0.00,0.00,0.000,6,0.093,0.000,3081,2399,3354
$GC,8526,-0.66,-117.3,569.9,-6.1,268,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2399,3354
$GC,8829,-0.66,-117.3,589.2,-6.3,273,8832,0.00,2.30,0.00,0.000,4,0.000,0.086,3080,3812,3354
$GC,8861,-0.56,-117.3,591.6,-7.6,273,8866,0.15,2.28,0.00,0.000,6,0.149,0.064,3129,2396,3353
$GC,9198,-0.62,-117.3,610.5,-5.6,279,9202,0.00,2.28,0.00,0.000,4,0.000,0.080,3129,993,3354
$GC,9225,-0.68,-117.3,612.3,-6.7,279,9229,0.00,2.30,0.00,0.000,6,0.000,0.067,3129,2404,3354
$GC,9563,-0.74,-117.3,631.8,-5.8,285,9565,0.15,0.00,0.00,0.000,6,0.090,0.000,3073,2404,3353
$GC,9866,-0.69,-117.3,654.1,-7.4,290,9870,0.00,2.30,0.00,0.000,4,0.000,0.085,3072,3815,3354
$GC,9897,-0.57,-117.3,656.6,-8.4,290,9902,0.15,2.28,0.00,0.000,6,0.149,0.064,3122,2400,3354
$GC,10229,-0.57,-117.3,677.1,-6.1,296,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3353
$GC,10533,-0.61,-117.3,695.0,-5.9,301,10537,0.00,2.30,0.00,0.000,4,0.000,0.079,3122,982,3353
$GC,10559,-0.66,-117.3,696.7,-6.5,301,10563,0.00,2.30,0.00,0.000,6,0.000,0.067,3122,2395,3353
$GC,10897,-0.71,-117.3,715.7,-5.6,307,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2395,3353
$GC,11200,-0.76,-117.3,732.8,-5.6,312,11202,0.15,0.00,0.00,0.000,6,0.089,0.000,3065,2395,3353
$GC,11503,-0.65,-117.3,755.0,-7.4,317,11505,0.15,0.00,0.00,0.000,6,0.170,0.000,3104,2395,3352
$GC,11806,-0.65,-117.3,773.9,-6.2,322,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2395,3352
$GC,12109,-0.65,-117.3,791.2,-5.7,327,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2396,3352
$GC,12412,-0.65,-117.3,807.0,-5.1,332,12416,0.00,2.33,0.00,0.000,4,0.000,0.087,3100,3817,3352
$GC,12449,-0.65,-117.3,809.1,-5.6,332,12454,0.00,2.28,0.00,0.000,6,0.000,0.064,3100,2403,3352
$GC,12781,-0.65,-117.3,826.5,-5.3,338,12785,0.00,2.30,0.00,0.000,4,0.000,0.080,3100,985,3352
$GC,12807,-0.65,-117.3,828.0,-5.8,338,12812,0.00,2.30,0.00,0.000,6,0.000,0.069,3100,2394,3352
$GC,13145,-0.65,-117.3,845.1,-5.1,344,13149,0.00,2.33,0.00,0.000,4,0.000,0.089,3100,3812,3352
$GC,13188,-0.65,-117.3,847.3,-5.4,344,13193,0.00,2.28,0.00,0.000,6,0.000,0.066,3100,2402,3352
$GC,13510,-0.65,-117.3,860.7,-4.1,350,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$GC,13813,-0.65,-117.3,873.2,-4.2,355,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$GC,14116,-0.65,-117.3,887.3,-4.7,360,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$GC,14419,-0.65,-117.3,902.7,-5.1,365,14423,0.00,2.35,0.00,0.000,4,0.000,0.090,3100,3816,3351
$GC,14450,-0.65,-117.3,904.5,-5.4,365,14455,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2394,3351
$GC,14782,-0.65,-117.3,921.8,-5.2,371,14786,0.00,2.35,0.00,0.000,4,0.000,0.089,3100,3810,3351
$GC,14825,-0.65,-117.3,924.2,-5.6,371,14830,0.00,2.28,0.00,0.000,6,0.000,0.067,3100,2404,3351
$GC,15152,-0.65,-117.3,941.7,-5.4,377,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,15455,-0.65,-117.3,958.3,-5.5,382,15459,0.00,2.33,0.00,0.000,4,0.000,0.088,3100,3816,3351
$GC,15486,-0.65,-117.3,960.1,-5.9,382,15491,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2397,3351
$GC,15824,-0.65,-117.3,977.9,-5.2,388,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3351
$STATE,16066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16066,begin apogee
$GC,16070,-0.22,0.0,990.1,5.0,392,16172,0.47,0.00,99.75,1.503,6,0.156,0.000,3244,2201,2876
$STATE,16173,end apogee,CONTROL_FINISHED_OK
$STATE,16173,begin climb
$GC,16174,0.67,117.3,991.4,0.0,393,16281,0.88,0.00,103.18,1.447,6,0.106,0.000,3528,2201,2397
$GC,16539,0.30,117.3,970.0,8.8,399,16544,0.38,2.42,0.00,0.000,4,0.186,0.081,3433,789,2394
$GC,16649,0.22,117.3,962.8,5.7,400,16654,0.10,2.40,0.00,0.000,6,0.168,0.067,3395,2200,2393
$GC,16970,0.25,136.0,948.3,4.5,406,16993,0.00,2.47,16.58,1.377,4,0.000,0.083,3395,3613,2321
$GC,17034,0.25,136.0,945.2,5.5,407,17038,0.00,2.38,0.00,0.000,6,0.000,0.070,3395,2202,2320
$GC,17398,0.31,154.0,928.6,4.5,413,17417,0.00,0.00,16.58,1.380,6,0.000,0.000,3395,2202,2248
$GC,17701,0.40,169.2,914.9,4.6,418,17720,0.15,0.00,14.35,1.357,6,0.095,0.000,3455,2202,2186
$GC,18069,0.31,169.2,890.9,6.5,424,18074,0.15,2.38,0.00,0.000,4,0.162,0.084,3411,3608,2184
$GC,18106,0.31,169.2,888.4,6.3,424,18111,0.00,2.38,0.00,0.000,6,0.000,0.071,3411,2195,2184
$GC,18433,0.35,169.2,870.8,5.4,430,18437,0.00,2.35,0.00,0.000,4,0.000,0.086,3413,790,2183
$GC,18476,0.40,169.2,868.3,6.1,430,18481,0.08,2.35,0.00,0.000,6,0.082,0.066,3450,2207,2184
$GC,18797,0.34,169.2,846.5,7.0,436,18798,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2207,2184
$GC,19100,0.27,169.2,823.7,7.5,441,19104,0.15,2.38,0.00,0.000,4,0.166,0.084,3408,791,2183
$GC,19137,0.35,169.2,821.2,6.4,441,19141,0.00,2.33,0.00,0.000,6,0.000,0.067,3408,2201,2183
$GC,19464,0.40,169.2,801.3,6.1,447,19465,0.12,0.00,0.00,0.000,6,0.099,0.000,3454,2201,2183
$GC,19767,0.33,169.2,780.1,7.1,452,19768,0.12,0.00,0.00,0.000,6,0.158,0.000,3422,2201,2183
$GC,20069,0.33,169.2,762.3,5.8,457,20070,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2183
$GC,20372,0.33,169.2,745.2,5.7,462,20376,0.00,2.35,0.00,0.000,4,0.000,0.086,3422,789,2183
$GC,20404,0.37,169.2,743.3,5.4,462,20409,0.00,2.30,0.00,0.000,6,0.000,0.067,3422,2199,2183
$GC,20742,0.37,169.2,722.9,6.1,468,20743,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2183
$GC,21045,0.37,169.2,703.7,6.4,473,21046,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2198,2183
$GC,21348,0.37,169.2,684.4,6.3,478,21352,0.00,2.33,0.00,0.000,4,0.000,0.085,3423,3616,2183
$GC,21379,0.33,169.2,682.0,6.6,478,21384,0.00,2.33,0.00,0.000,6,0.000,0.070,3423,2197,2183
$GC,21711,0.33,169.2,661.7,6.1,484,21712,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2183
$GC,22014,0.33,169.2,643.8,5.9,489,22015,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2182
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$GC,28000,0.58,220.8,287.2,4.7,591,28015,0.17,2.30,9.10,0.976,6,0.087,0.064,3507,2196,1975
$GC,28333,0.47,220.8,259.3,8.6,602,28338,0.15,2.35,0.00,0.000,4,0.166,0.083,3463,789,1973
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$GC,29037,0.47,220.8,208.2,5.9,625,29042,0.00,2.33,0.00,0.000,6,0.000,0.065,3463,2202,1973
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$STATE,32497,end climb,SURFACE_DEPTH_REACHED
$STATE,32497,begin surface coast
$FINISH,1.7,1.024594
$STATE,32520,end surface coast,CONTROL_FINISHED_OK
$STATE,32520,begin surface
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$TCM_TEMP,15.60
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$10V_AH,10.6,6.014
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$DEVICE_SECS,29.450,168.225,372.050,0.000,0.000,27.635,28.826,149.782,237.250,0.000,0.000,32.444,1758.184,27975.250,537.537,2267.826,370.392,33.370,1623.082,0.000,2230.183,0.000,0.465
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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,47625,840
$CAP_FILE_SIZE,174842,0
$CFSIZE,260165632,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130908,023338,4955.484,-14435.348,31,1.2,31,18.5