version: 66.03
glider: 120
mission: 9
dive: 146
start: 10 21 108 19 8 3
data:
$ID,120
$MISSION,9
$DIVE,146
$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,-20732.531
$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,20
$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
$GPS1,184841,4952.731,-14512.459,79,1.9,81,18.4
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-70.3
$GPS2,190708,4952.947,-14512.263,11,1.5,17,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,0.070
$KALMAN_X,45771.5,-22.0,56.5,-72584.7,-743.7
$KALMAN_Y,114717.6,-121.3,-63.1,-137859.8,3320.6
$MHEAD_RNG_PITCHd_Wd,48.5,37033,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-12.20,0.000,2,0.000,0.000,134,2413,1970
$GC,38,-0.67,-117.3,3.9,-0.0,1,114,13.23,2.38,-56.17,0.000,4,0.271,0.090,3094,3807,3355
$GC,215,-0.28,-117.3,21.1,-11.7,17,221,0.45,2.28,0.00,0.000,6,0.150,0.055,3226,2397,3357
$GC,542,-0.58,-117.3,41.1,-7.1,47,547,0.25,2.30,0.00,0.000,4,0.088,0.066,3136,991,3358
$GC,565,-0.84,-117.3,42.9,-7.3,48,571,0.25,2.28,0.00,0.000,6,0.067,0.058,3039,2403,3358
$GC,899,-0.45,-117.3,90.0,-14.4,77,904,0.43,2.33,0.00,0.000,4,0.175,0.074,3154,3814,3360
$GC,1021,-0.45,-117.3,100.8,-8.1,82,1028,0.00,2.28,0.00,0.000,6,0.000,0.051,3154,2396,3360
$GC,1337,-0.45,-117.3,124.0,-7.4,98,1341,0.00,2.28,0.00,0.000,4,0.000,0.067,3154,990,3360
$GC,1364,-0.45,-117.3,126.2,-7.4,99,1368,0.00,2.30,0.00,0.000,6,0.000,0.058,3154,2400,3360
$GC,1686,-0.50,-117.3,147.7,-6.3,115,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2400,3360
$GC,2003,-0.56,-117.3,168.5,-6.7,126,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2400,3360
$GC,2309,-0.63,-117.3,187.0,-5.7,136,2310,0.12,0.00,0.00,0.000,6,0.087,0.000,3102,2400,3359
$GC,2614,-0.63,-117.3,208.9,-7.5,146,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3358
$GC,2921,-0.63,-117.3,233.9,-8.3,156,2925,0.00,2.33,0.00,0.000,4,0.000,0.071,3102,985,3357
$GC,2949,-0.58,-117.3,236.5,-9.0,157,2953,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2402,3357
$GC,3283,-0.49,-117.3,264.2,-7.8,168,3285,0.20,0.00,0.00,0.000,6,0.160,0.000,3155,2403,3357
$GC,3589,-0.58,-117.3,281.2,-5.4,178,3593,0.00,2.33,0.00,0.000,4,0.000,0.071,3156,986,3356
$GC,3618,-0.68,-117.3,282.8,-5.7,179,3623,0.17,2.30,0.00,0.000,6,0.083,0.063,3092,2407,3355
$GC,3981,-0.59,-117.3,310.5,-7.8,189,3986,0.12,2.33,0.00,0.000,4,0.156,0.080,3115,3818,3355
$GC,4013,-0.59,-117.3,312.9,-7.5,189,4017,0.00,2.28,0.00,0.000,6,0.000,0.057,3115,2399,3355
$GC,4345,-0.59,-117.3,335.1,-6.6,195,4349,0.00,2.30,0.00,0.000,4,0.000,0.072,3115,983,3355
$GC,4377,-0.59,-117.3,337.3,-6.5,195,4381,0.00,2.33,0.00,0.000,6,0.000,0.063,3115,2401,3354
$GC,4709,-0.59,-117.3,359.3,-6.7,201,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2401,3354
$GC,5012,-0.59,-117.3,380.0,-6.9,206,5016,0.00,2.33,0.00,0.000,4,0.000,0.073,3115,984,3353
$GC,5055,-0.59,-117.3,383.2,-7.1,206,5060,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2403,3353
$GC,5376,-0.59,-117.3,404.9,-6.7,212,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2403,3353
$GC,5679,-0.59,-117.3,423.2,-5.9,217,5683,0.00,2.33,0.00,0.000,4,0.000,0.082,3114,3815,3352
$GC,5705,-0.59,-117.3,424.7,-5.8,217,5709,0.00,2.28,0.00,0.000,6,0.000,0.058,3114,2404,3352
$GC,6043,-0.59,-117.3,442.7,-5.3,223,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2404,3352
$GC,6346,-0.59,-117.3,458.4,-5.2,228,6350,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,990,3352
$GC,6383,-0.59,-117.3,460.4,-5.1,228,6388,0.00,2.30,0.00,0.000,6,0.000,0.064,3115,2394,3352
$GC,6710,-0.59,-117.3,477.4,-5.2,234,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2395,3351
$GC,7013,-0.59,-117.3,493.0,-5.2,239,7017,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,983,3351
$GC,7040,-0.59,-117.3,494.6,-5.8,239,7044,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2397,3351
$GC,7377,-0.59,-117.3,513.1,-5.6,245,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3351
$GC,7681,-0.59,-117.3,531.8,-6.2,250,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3350
$GC,7984,-0.59,-117.3,550.2,-6.1,255,7988,0.00,2.33,0.00,0.000,4,0.000,0.073,3114,991,3350
$GC,8010,-0.59,-117.3,551.9,-6.3,255,8015,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2411,3350
$GC,8348,-0.59,-117.3,573.3,-6.4,261,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2410,3350
$GC,8651,-0.59,-117.3,590.8,-5.7,266,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2411,3350
$GC,8956,-0.59,-117.3,605.5,-4.8,271,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2411,3350
$GC,9258,-0.59,-117.3,618.9,-4.4,276,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2411,3349
$GC,9560,-0.59,-117.3,633.3,-4.8,281,9564,0.00,2.35,0.00,0.000,4,0.000,0.074,3114,989,3349
$GC,9604,-0.59,-117.3,635.5,-4.7,281,9608,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2419,3349
$GC,9925,-0.59,-117.3,652.5,-5.4,287,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2419,3349
$GC,10228,-0.59,-117.3,670.8,-6.2,292,10232,0.00,2.38,0.00,0.000,4,0.000,0.074,3114,983,3349
$GC,10259,-0.59,-117.3,673.1,-7.4,292,10264,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2395,3348
$GC,10592,-0.59,-117.3,694.2,-6.3,298,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2395,3348
$GC,10895,-0.59,-117.3,711.2,-5.5,303,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2395,3348
$GC,11198,-0.59,-117.3,726.5,-5.0,308,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2395,3348
$GC,11501,-0.59,-117.3,740.9,-4.7,313,11505,0.00,2.35,0.00,0.000,4,0.000,0.075,3114,983,3348
$GC,11540,-0.65,-117.3,742.9,-4.9,313,11544,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2407,3348
$GC,11865,-0.65,-117.3,759.0,-5.0,319,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2407,3348
$GC,12169,-0.65,-117.3,774.2,-5.0,324,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2407,3348
$GC,12471,-0.69,-117.3,789.5,-5.0,329,12475,0.00,2.35,0.00,0.000,4,0.000,0.075,3114,986,3347
$GC,12504,-0.75,-117.3,791.3,-5.4,329,12509,0.12,2.30,0.00,0.000,6,0.093,0.066,3069,2402,3346
$GC,12836,-0.70,-117.3,809.5,-5.5,335,12840,0.00,2.33,0.00,0.000,4,0.000,0.083,3069,3809,3347
$GC,12880,-0.61,-117.3,812.2,-6.2,335,12885,0.17,2.28,0.00,0.000,6,0.138,0.060,3117,2384,3347
$GC,13201,-0.65,-117.3,825.4,-4.0,341,13205,0.00,2.30,0.00,0.000,4,0.000,0.075,3117,989,3347
$GC,13234,-0.71,-117.3,826.9,-3.9,341,13238,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2405,3347
$GC,13560,-0.75,-117.3,839.8,-3.9,347,13562,0.12,0.00,0.00,0.000,6,0.093,0.000,3065,2406,3346
$GC,13862,-0.70,-117.3,855.0,-5.1,352,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2405,3346
$GC,14166,-0.66,-117.3,871.5,-5.4,357,14170,0.12,2.35,0.00,0.000,4,0.117,0.075,3105,996,3346
$GC,14198,-0.66,-117.3,873.4,-4.6,357,14202,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2404,3346
$GC,14529,-0.66,-117.3,890.8,-5.3,363,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3346
$GC,14833,-0.66,-117.3,907.2,-5.4,368,14834,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3346
$GC,15135,-0.66,-117.3,923.1,-5.3,373,15139,0.00,2.35,0.00,0.000,4,0.000,0.076,3100,990,3346
$GC,15168,-0.66,-117.3,925.0,-5.4,373,15172,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2397,3346
$GC,15499,-0.66,-117.3,942.7,-5.4,379,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3346
$GC,15803,-0.66,-117.3,958.5,-5.3,384,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3346
$GC,16106,-0.66,-117.3,974.5,-5.3,389,16110,0.00,2.33,0.00,0.000,4,0.000,0.077,3100,995,3345
$GC,16132,-0.66,-117.3,976.2,-6.2,389,16136,0.00,2.33,0.00,0.000,6,0.000,0.068,3100,2396,3345
$STATE,16407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16407,begin apogee
$GC,16412,-0.22,0.0,992.2,5.8,394,16515,0.47,0.00,100.43,1.504,6,0.148,0.000,3242,2197,2876
$STATE,16516,end apogee,CONTROL_FINISHED_OK
$STATE,16516,begin climb
$GC,16518,0.67,117.3,994.2,0.0,395,16629,0.88,0.00,105.85,1.449,6,0.099,0.000,3529,2197,2396
$GC,16946,0.31,117.3,970.8,8.5,402,16951,0.38,2.45,0.00,0.000,4,0.183,0.080,3424,3607,2393
$GC,16990,0.17,117.3,967.4,7.2,402,16995,0.20,2.38,0.00,0.000,6,0.180,0.065,3375,2200,2392
$GC,17311,0.28,132.7,952.9,4.6,408,17331,0.12,2.47,13.82,1.358,4,0.091,0.083,3421,3610,2335
$GC,17382,0.18,132.7,948.2,6.6,409,17387,0.17,2.38,0.00,0.000,6,0.172,0.065,3378,2192,2334
$GC,17742,0.28,132.7,930.0,5.1,415,17743,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2192,2333
$GC,18045,0.38,132.7,914.1,5.3,420,18047,0.20,0.00,0.00,0.000,6,0.084,0.000,3451,2192,2334
$GC,18348,0.26,132.7,892.2,7.3,425,18353,0.15,2.42,0.00,0.000,4,0.166,0.081,3402,3616,2333
$GC,18385,0.26,132.7,889.4,6.9,425,18390,0.00,2.35,0.00,0.000,6,0.000,0.064,3408,2200,2332
$GC,18712,0.26,132.7,868.4,6.4,431,18713,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2332
$GC,19015,0.26,132.7,848.9,6.4,436,19016,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2333
$GC,19320,0.26,132.7,830.3,6.1,441,19324,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,790,2333
$GC,19351,0.26,132.7,828.2,7.1,441,19356,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2196,2332
$GC,19684,0.26,132.7,810.3,5.4,447,19688,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,3617,2333
$GC,19733,0.20,132.7,807.4,6.0,447,19737,0.00,2.30,0.00,0.000,6,0.000,0.067,3408,2199,2332
$GC,20048,0.20,132.7,791.3,5.1,453,20049,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2199,2332
$GC,20351,0.21,137.8,776.5,4.9,458,20361,0.00,2.38,5.82,1.098,4,0.000,0.082,3408,3619,2313
$GC,20423,0.16,137.8,772.5,5.5,459,20427,0.15,2.33,0.00,0.000,6,0.179,0.066,3372,2189,2313
$GC,20777,0.33,168.8,757.9,4.1,465,20806,0.15,0.00,27.38,1.342,6,0.093,0.000,3424,2189,2187
$GC,21080,0.40,168.8,742.1,5.3,470,21081,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2189,2184
$GC,21383,0.46,168.8,726.7,5.1,475,21385,0.12,0.00,0.00,0.000,6,0.104,0.000,3475,2189,2184
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$STATE,33538,end climb,SURFACE_DEPTH_REACHED
$STATE,33538,begin surface coast
$FINISH,2.5,1.008700
$STATE,33657,end surface coast,CONTROL_FINISHED_OK
$STATE,33658,begin surface
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$HUMID,2128
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$TCM_TEMP,15.50
$XPDR_PINGS,940
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$10V_AH,10.7,19.451
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$DEVICE_SECS,29.625,201.400,381.600,0.000,0.000,137.208,203.114,406.606,235.000,0.000,0.000,17.056,1829.807,29100.998,544.640,2327.676,1038.563,33.378,1703.179,0.000,2312.880,0.000,0.466
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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,50717,859
$CAP_FILE_SIZE,194788,0
$CFSIZE,260165632,247324672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221008,043131,4954.858,-14508.037,38,1.9,38,18.4