version: 66.03
glider: 120
mission: 9
dive: 131
start: 10 16 108 3 21 29
data:
$ID,120
$MISSION,9
$DIVE,131
$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,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,-20377.316
$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
$GPS1,030931,5006.665,-14450.837,39,1.5,39,18.5
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,4.14
$_SM_ANGLEo,-76.4
$GPS2,032033,5006.697,-14450.778,17,1.4,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.113,0.137
$KALMAN_X,39165.7,-29.7,-214.3,-40171.7,34.7
$KALMAN_Y,95372.7,176.0,4.6,-93426.0,-744.1
$MHEAD_RNG_PITCHd_Wd,302.0,36444,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-12.60,0.000,2,0.000,0.000,148,2414,1742
$GC,37,-0.67,-117.3,4.2,-0.0,1,127,13.10,2.38,-71.65,0.000,4,0.272,0.079,3094,989,3354
$GC,229,-0.35,-117.3,19.5,-14.8,18,234,0.38,2.33,0.00,0.000,6,0.167,0.062,3199,2409,3356
$GC,555,-0.35,-117.3,45.5,-7.2,48,557,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2410,3357
$GC,872,-0.68,-117.3,66.7,-7.2,78,877,0.28,2.33,0.00,0.000,4,0.088,0.064,3100,986,3358
$GC,983,-0.48,-117.3,77.1,-9.6,87,990,0.17,2.30,0.00,0.000,6,0.157,0.059,3154,2394,3359
$GC,1309,-0.48,-117.3,100.6,-7.1,105,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2394,3360
$GC,1619,-0.48,-117.3,122.9,-7.0,120,1623,0.00,2.30,0.00,0.000,4,0.000,0.066,3154,983,3359
$GC,1690,-0.48,-117.3,128.3,-7.4,123,1694,0.00,2.33,0.00,0.000,6,0.000,0.058,3154,2406,3360
$GC,2011,-0.48,-117.3,148.8,-6.2,139,2015,0.00,2.28,0.00,0.000,4,0.000,0.078,3154,3807,3360
$GC,2066,-0.57,-117.3,152.4,-6.5,141,2074,0.00,2.25,0.00,0.000,6,0.000,0.053,3154,2396,3360
$GC,2379,-0.64,-117.3,171.7,-6.0,152,2381,0.12,0.00,0.00,0.000,6,0.087,0.000,3105,2396,3358
$GC,2685,-0.64,-117.3,192.7,-7.1,162,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2396,3358
$GC,2991,-0.64,-117.3,215.0,-7.1,172,2995,0.00,2.28,0.00,0.000,4,0.000,0.071,3104,991,3358
$GC,3028,-0.57,-117.3,218.1,-7.5,173,3033,0.00,2.28,0.00,0.000,6,0.000,0.061,3102,2406,3358
$GC,3358,-0.49,-117.3,241.5,-6.9,184,3360,0.20,0.00,0.00,0.000,6,0.157,0.000,3158,2406,3357
$GC,3664,-0.77,-117.3,259.7,-6.9,194,3669,0.25,2.33,0.00,0.000,4,0.088,0.070,3067,985,3356
$GC,3753,-0.58,-117.3,267.4,-9.2,196,3760,0.17,2.30,0.00,0.000,6,0.166,0.064,3122,2395,3356
$GC,4065,-0.58,-117.3,288.5,-6.3,207,4069,0.00,2.33,0.00,0.000,4,0.000,0.081,3122,3816,3356
$GC,4113,-0.58,-117.3,291.7,-6.7,208,4118,0.00,2.28,0.00,0.000,6,0.000,0.056,3122,2398,3355
$GC,4460,-0.58,-117.3,312.5,-6.1,217,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3355
$GC,4764,-0.58,-117.3,330.8,-6.1,222,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3355
$GC,5066,-0.58,-117.3,349.2,-6.1,227,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3354
$GC,5370,-0.58,-117.3,367.6,-6.0,232,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3354
$GC,5674,-0.58,-117.3,385.8,-5.9,237,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3354
$GC,5976,-0.58,-117.3,402.5,-5.5,242,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3353
$GC,6279,-0.58,-117.3,419.8,-5.7,247,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3353
$GC,6583,-0.58,-117.3,438.9,-6.4,252,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3353
$GC,6885,-0.58,-117.3,459.4,-6.8,257,6889,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,988,3352
$GC,6911,-0.58,-117.3,461.3,-6.9,257,6915,0.00,2.33,0.00,0.000,6,0.000,0.065,3122,2401,3352
$GC,7249,-0.58,-117.3,484.2,-6.7,263,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3352
$GC,7552,-0.58,-117.3,502.8,-6.1,268,7556,0.00,2.33,0.00,0.000,4,0.000,0.073,3122,984,3351
$GC,7584,-0.58,-117.3,504.8,-6.3,268,7588,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2392,3351
$GC,7916,-0.58,-117.3,522.7,-5.3,274,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2392,3351
$GC,8219,-0.58,-117.3,538.2,-5.1,279,8223,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,994,3350
$GC,8245,-0.58,-117.3,539.7,-5.8,279,8249,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2396,3350
$GC,8583,-0.58,-117.3,557.3,-5.1,285,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2396,3350
$GC,8888,-0.58,-117.3,571.6,-4.7,290,8892,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,995,3350
$GC,8931,-0.58,-117.3,574.0,-5.4,290,8935,0.00,2.28,0.00,0.000,6,0.000,0.065,3122,2402,3350
$GC,9252,-0.58,-117.3,589.9,-4.9,296,9256,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,995,3350
$GC,9279,-0.62,-117.3,591.3,-5.5,296,9283,0.00,2.30,0.00,0.000,6,0.000,0.065,3122,2399,3350
$GC,9617,-0.66,-117.3,608.7,-5.2,302,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3350
$GC,9921,-0.70,-117.3,625.2,-5.5,307,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3349
$GC,10223,-0.75,-117.3,641.6,-5.4,312,10225,0.15,0.00,0.00,0.000,6,0.088,0.000,3067,2399,3349
$GC,10526,-0.68,-117.3,661.1,-6.5,317,10531,0.10,2.35,0.00,0.000,4,0.110,0.083,3086,3813,3349
$GC,10575,-0.62,-117.3,664.4,-6.9,317,10580,0.12,2.25,0.00,0.000,6,0.170,0.060,3117,2400,3349
$GC,10890,-0.62,-117.3,681.1,-5.3,323,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2400,3349
$GC,11193,-0.62,-117.3,695.2,-4.6,328,11197,0.00,2.30,0.00,0.000,4,0.000,0.075,3118,995,3349
$GC,11231,-0.62,-117.3,697.2,-5.6,328,11236,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2398,3348
$GC,11558,-0.62,-117.3,712.3,-4.7,334,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3348
$GC,11861,-0.62,-117.3,726.8,-4.8,339,11865,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,985,3348
$GC,11888,-0.62,-117.3,728.3,-5.9,339,11892,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2399,3348
$GC,12225,-0.62,-117.3,745.0,-5.0,345,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3348
$GC,12529,-0.62,-117.3,761.1,-5.3,350,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3348
$GC,12832,-0.62,-117.3,777.2,-5.3,355,12836,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,989,3348
$GC,12863,-0.62,-117.3,779.1,-5.8,355,12868,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2402,3348
$GC,13196,-0.62,-117.3,796.8,-5.3,361,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3348
$GC,13499,-0.62,-117.3,812.5,-5.2,366,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3348
$GC,13802,-0.62,-117.3,828.6,-5.3,371,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3347
$GC,14105,-0.62,-117.3,846.2,-5.9,376,14109,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,990,3347
$GC,14145,-0.66,-117.3,848.6,-6.7,376,14149,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2412,3347
$GC,14466,-0.71,-117.3,868.8,-6.3,382,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3347
$GC,14768,-0.75,-117.3,887.8,-6.3,387,14770,0.12,0.00,0.00,0.000,6,0.095,0.000,3065,2412,3346
$GC,15071,-0.71,-117.3,909.2,-7.1,392,15075,0.00,2.35,0.00,0.000,4,0.000,0.076,3065,985,3346
$GC,15103,-0.63,-117.3,911.6,-7.1,392,15108,0.17,2.30,0.00,0.000,6,0.167,0.067,3111,2401,3346
$GC,15435,-0.67,-117.3,931.0,-5.7,398,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3347
$GC,15739,-0.71,-117.3,947.3,-5.3,403,15740,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2401,3346
$GC,16041,-0.75,-117.3,962.5,-5.0,408,16043,0.12,0.00,0.00,0.000,6,0.093,0.000,3065,2401,3346
$GC,16345,-0.71,-117.3,979.7,-5.8,413,16349,0.00,2.35,0.00,0.000,4,0.000,0.084,3064,3822,3346
$GC,16377,-0.63,-117.3,981.9,-6.7,413,16382,0.17,2.28,0.00,0.000,6,0.141,0.061,3113,2400,3346
$STATE,16586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16586,begin apogee
$GC,16591,-0.22,0.0,992.4,5.0,417,16693,0.43,0.00,100.00,1.508,6,0.150,0.000,3242,2203,2876
$STATE,16694,end apogee,CONTROL_FINISHED_OK
$STATE,16694,begin climb
$GC,16696,0.67,117.3,994.2,0.0,418,16808,0.88,2.65,104.78,1.450,4,0.098,0.079,3533,789,2397
$GC,16824,0.27,117.3,994.5,6.1,420,16830,0.52,2.53,0.00,0.000,6,0.197,0.061,3405,2203,2395
$GC,17178,0.27,117.3,975.9,5.3,426,17183,0.00,2.40,0.00,0.000,4,0.000,0.080,3402,3610,2393
$GC,17240,0.20,117.3,972.2,5.5,427,17245,0.00,2.35,0.00,0.000,6,0.000,0.064,3408,2203,2393
$GC,17605,0.20,117.3,953.4,5.1,433,17606,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2203,2392
$GC,17908,0.20,117.3,938.0,5.1,438,17913,0.00,2.40,0.00,0.000,4,0.000,0.083,3408,3618,2392
$GC,17941,0.10,117.3,936.1,6.1,438,17946,0.22,2.33,0.00,0.000,6,0.178,0.066,3350,2200,2392
$GC,18273,0.33,170.1,924.4,3.5,444,18321,0.22,0.00,45.20,1.447,6,0.090,0.000,3429,2199,2182
$GC,18576,0.33,170.1,906.3,6.3,449,18580,0.00,2.42,0.00,0.000,4,0.000,0.082,3429,3614,2178
$GC,18608,0.25,170.1,903.9,7.1,449,18613,0.15,2.38,0.00,0.000,6,0.176,0.066,3399,2172,2178
$GC,18940,0.32,170.1,885.8,5.5,455,18944,0.00,2.33,0.00,0.000,4,0.000,0.081,3408,781,2178
$GC,18979,0.39,170.1,883.5,6.0,455,18984,0.10,2.33,0.00,0.000,6,0.106,0.063,3445,2206,2178
$GC,19300,0.33,170.1,861.9,6.9,461,19301,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2205,2178
$GC,19602,0.27,170.1,840.6,7.0,466,19604,0.15,0.00,0.00,0.000,6,0.160,0.000,3406,2206,2178
$GC,19905,0.33,170.1,823.5,5.7,471,19906,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2206,2177
$GC,20209,0.39,170.1,806.9,5.4,476,20211,0.12,0.00,0.00,0.000,6,0.097,0.000,3451,2206,2178
$GC,20511,0.31,170.1,785.9,7.0,481,20516,0.12,2.38,0.00,0.000,4,0.166,0.078,3423,784,2177
$GC,20548,0.31,170.1,783.5,5.9,481,20553,0.00,2.33,0.00,0.000,6,0.000,0.064,3423,2196,2177
$GC,20875,0.31,170.1,763.5,6.1,487,20876,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2196,2177
$GC,21178,0.31,170.1,745.3,6.0,492,21180,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2177
$GC,21481,0.31,170.1,727.0,6.0,497,21482,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2196,2176
$GC,21785,0.31,170.1,709.5,5.8,502,21786,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2196,2176
$GC,22087,0.31,170.1,692.1,5.7,507,22089,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2196,2176
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$STATE,33509,end climb,SURFACE_DEPTH_REACHED
$STATE,33509,begin surface coast
$FINISH,3.2,1.017450
$STATE,33606,end surface coast,CONTROL_FINISHED_OK
$STATE,33607,begin surface
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$HUMID,2137
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$TCM_TEMP,17.10
$XPDR_PINGS,986
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$10V_AH,10.7,17.470
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$DEVICE_SECS,29.925,201.050,327.575,28.725,0.000,76.193,135.320,218.646,246.500,0.000,0.000,17.055,1866.517,28833.961,550.443,2377.671,683.839,33.380,1713.759,0.000,2351.218,0.000,0.466
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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,50612,879
$CAP_FILE_SIZE,192689,0
$CFSIZE,260165632,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161008,124401,5009.734,-14453.962,63,1.2,63,18.5