version: 66.03
glider: 120
mission: 9
dive: 256
start: 12 2 108 16 54 52
data:
$ID,120
$MISSION,9
$DIVE,256
$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,-23021.891
$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,17
$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
$GPS1,164807,5013.243,-14500.358,82,1.0,82,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-76.6
$GPS2,165357,5013.259,-14500.500,13,1.4,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.110,0.140
$KALMAN_X,33671.2,-93.8,-109.8,-46272.4,-642.2
$KALMAN_Y,194065.6,77.9,-10.7,-179855.2,-276.7
$MHEAD_RNG_PITCHd_Wd,303.4,19720,-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,-11.93,0.000,2,0.000,0.000,136,2404,1947
$GC,38,-0.67,-117.3,3.0,-0.0,1,114,14.23,2.50,-53.58,0.000,4,0.292,0.091,3093,3816,3354
$GC,265,-0.42,-117.3,22.2,-13.1,21,272,0.30,2.33,0.00,0.000,6,0.164,0.055,3177,2398,3356
$GC,593,-0.47,-117.3,46.8,-6.9,52,599,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2398,3356
$GC,918,-0.52,-117.3,69.9,-7.3,83,922,0.00,2.38,0.00,0.000,4,0.000,0.069,3178,986,3357
$GC,951,-0.60,-117.3,72.4,-7.1,85,958,0.17,2.33,0.00,0.000,6,0.080,0.061,3114,2416,3357
$GC,1279,-0.55,-117.3,99.6,-8.2,106,1283,0.00,2.35,0.00,0.000,4,0.000,0.077,3113,3814,3357
$GC,1425,-0.48,-117.3,112.8,-8.6,112,1432,0.17,2.30,0.00,0.000,6,0.131,0.054,3162,2387,3358
$GC,1741,-0.52,-117.3,132.1,-5.8,128,1745,0.00,2.35,0.00,0.000,4,0.000,0.068,3162,985,3358
$GC,1796,-0.59,-117.3,135.7,-6.4,130,1803,0.08,2.35,0.00,0.000,6,0.070,0.061,3122,2404,3358
$GC,2121,-0.82,-117.3,158.7,-7.8,145,2126,0.17,2.38,0.00,0.000,4,0.102,0.067,3053,989,3358
$GC,2238,-0.60,-117.3,171.1,-11.0,148,2243,0.25,2.30,0.00,0.000,6,0.165,0.064,3122,2399,3358
$GC,2551,-0.60,-117.3,195.0,-7.2,158,2555,0.00,2.42,0.00,0.000,4,0.000,0.081,3122,3808,3358
$GC,2588,-0.60,-117.3,197.8,-7.2,159,2593,0.00,2.28,0.00,0.000,6,0.000,0.054,3122,2400,3358
$GC,2918,-0.60,-117.3,218.4,-6.2,170,2922,0.00,2.35,0.00,0.000,4,0.000,0.070,3122,991,3358
$GC,2950,-0.60,-117.3,220.7,-6.7,171,2954,0.00,2.30,0.00,0.000,6,0.000,0.062,3122,2405,3357
$GC,3286,-0.60,-117.3,241.5,-6.4,182,3290,0.00,2.40,0.00,0.000,4,0.000,0.070,3123,984,3357
$GC,3341,-0.60,-117.3,245.3,-6.9,183,3348,0.00,2.38,0.00,0.000,6,0.000,0.063,3122,2398,3358
$GC,3653,-0.60,-117.3,265.5,-6.3,194,3658,0.00,2.38,0.00,0.000,4,0.000,0.081,3123,3811,3357
$GC,3692,-0.64,-117.3,267.8,-6.8,195,3696,0.00,2.28,0.00,0.000,6,0.000,0.055,3122,2398,3357
$GC,4016,-0.64,-117.3,285.8,-5.5,206,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3356
$GC,4322,-0.64,-117.3,303.9,-6.1,215,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2398,3356
$GC,4624,-0.64,-117.3,323.5,-6.5,220,4628,0.00,2.38,0.00,0.000,4,0.000,0.072,3122,992,3356
$GC,4652,-0.64,-117.3,325.3,-6.7,220,4656,0.00,2.30,0.00,0.000,6,0.000,0.063,3122,2403,3356
$GC,4983,-0.68,-117.3,344.9,-5.8,226,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2403,3356
$GC,5286,-0.73,-117.3,361.0,-5.2,231,5291,0.12,2.38,0.00,0.000,4,0.087,0.071,3075,991,3355
$GC,5319,-0.66,-117.3,363.1,-6.9,231,5323,0.00,2.30,0.00,0.000,6,0.000,0.064,3075,2406,3355
$GC,5645,-0.55,-117.3,385.3,-6.9,237,5647,0.22,0.00,0.00,0.000,6,0.156,0.000,3139,2406,3355
$GC,5948,-0.71,-117.3,399.6,-4.7,242,5953,0.15,2.42,0.00,0.000,4,0.089,0.071,3081,983,3355
$GC,6026,-0.71,-117.3,404.6,-6.7,243,6030,0.00,2.38,0.00,0.000,6,0.000,0.064,3081,2401,3355
$GC,6375,-0.85,-117.3,428.0,-6.8,249,6379,0.12,2.40,0.00,0.000,4,0.094,0.071,3039,983,3354
$GC,6599,-0.67,-117.3,447.6,-9.2,252,6604,0.22,2.33,0.00,0.000,6,0.167,0.065,3101,2400,3354
$GC,6936,-0.67,-117.3,470.1,-6.6,258,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3354
$GC,7239,-0.67,-117.3,491.0,-7.0,263,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3354
$GC,7542,-0.67,-117.3,513.4,-7.4,268,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3354
$GC,7845,-0.67,-117.3,536.4,-7.6,273,7849,0.00,2.40,0.00,0.000,4,0.000,0.072,3102,994,3354
$GC,7872,-0.67,-117.3,538.5,-8.3,273,7876,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2401,3354
$GC,8210,-0.67,-117.3,562.8,-7.1,279,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3354
$GC,8513,-0.67,-117.3,583.3,-6.7,284,8517,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,990,3353
$GC,8557,-0.67,-117.3,586.3,-7.0,284,8561,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2401,3353
$GC,8871,-0.67,-117.3,605.9,-6.2,290,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,9174,-0.67,-117.3,624.2,-6.0,295,9179,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,988,3353
$GC,9207,-0.67,-117.3,626.3,-6.4,295,9211,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2399,3353
$GC,9540,-0.67,-117.3,646.8,-6.2,301,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3353
$GC,9843,-0.67,-117.3,663.8,-5.5,306,9847,0.00,2.38,0.00,0.000,4,0.000,0.073,3100,991,3352
$GC,9882,-0.67,-117.3,666.0,-5.1,306,9886,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2412,3353
$GC,10203,-0.67,-117.3,682.7,-5.2,312,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3353
$GC,10506,-0.67,-117.3,698.5,-5.2,317,10510,0.00,2.38,0.00,0.000,4,0.000,0.074,3099,989,3352
$GC,10549,-0.67,-117.3,700.9,-6.1,317,10553,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2409,3352
$GC,10870,-0.67,-117.3,717.7,-5.3,323,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3352
$GC,11173,-0.67,-117.3,733.9,-5.3,328,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3352
$GC,11477,-0.67,-117.3,750.2,-5.4,333,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3352
$GC,11780,-0.67,-117.3,767.2,-5.6,338,11784,0.00,2.42,0.00,0.000,4,0.000,0.074,3100,988,3352
$GC,11823,-0.67,-117.3,769.9,-6.0,338,11827,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2398,3352
$GC,12144,-0.67,-117.3,789.0,-6.0,344,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3352
$GC,12447,-0.67,-117.3,808.1,-6.3,349,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3352
$GC,12751,-0.67,-117.3,827.1,-6.3,354,12755,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,983,3351
$GC,12777,-0.67,-117.3,829.0,-6.5,354,12782,0.00,2.35,0.00,0.000,6,0.000,0.065,3100,2397,3351
$GC,13116,-0.67,-117.3,849.3,-5.9,360,13117,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3351
$GC,13418,-0.67,-117.3,866.6,-5.7,365,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3351
$GC,13722,-0.67,-117.3,883.0,-5.4,370,13726,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,992,3351
$GC,13754,-0.71,-117.3,884.8,-6.1,370,13758,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2401,3351
$GC,14081,-0.89,-117.3,905.3,-6.5,376,14086,0.17,2.40,0.00,0.000,4,0.094,0.073,3036,992,3350
$GC,14248,-0.75,-117.3,917.9,-7.1,378,14253,0.15,2.33,0.00,0.000,6,0.168,0.066,3073,2406,3350
$GC,14575,-0.71,-117.3,939.0,-6.5,384,14576,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3350
$GC,14877,-0.66,-117.3,959.2,-6.7,389,14879,0.10,0.00,0.00,0.000,6,0.187,0.000,3098,2406,3350
$GC,15180,-0.66,-117.3,977.5,-6.0,394,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3350
$STATE,15420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15420,begin apogee
$GC,15426,-0.22,0.0,991.8,5.9,398,15534,0.47,0.00,104.72,1.498,6,0.146,0.000,3242,2198,2876
$STATE,15534,end apogee,CONTROL_FINISHED_OK
$STATE,15534,begin climb
$GC,15537,0.67,117.3,994.1,0.0,399,15654,0.88,2.70,110.22,1.440,4,0.090,0.078,3534,790,2395
$GC,15671,0.29,117.3,996.0,5.1,402,15676,0.47,2.55,0.00,0.000,6,0.185,0.062,3418,2201,2394
$GC,16025,0.29,117.3,977.0,5.5,408,16029,0.00,2.47,0.00,0.000,4,0.000,0.080,3415,3619,2393
$GC,16074,0.21,117.3,973.9,6.2,408,16079,0.15,2.40,0.00,0.000,6,0.181,0.063,3386,2201,2392
$GC,16384,0.29,117.3,958.3,5.1,413,16389,0.00,2.42,0.00,0.000,4,0.000,0.078,3395,787,2392
$GC,16434,0.36,117.3,955.5,5.2,413,16439,0.12,2.35,0.00,0.000,6,0.094,0.064,3444,2210,2392
$GC,16744,0.26,117.3,934.6,6.8,418,16746,0.15,0.00,0.00,0.000,6,0.155,0.000,3405,2210,2391
$GC,17047,0.26,117.3,916.4,5.9,423,17051,0.00,2.35,0.00,0.000,4,0.000,0.081,3402,3612,2392
$GC,17079,0.22,117.3,914.5,7.0,423,17083,0.00,2.33,0.00,0.000,6,0.000,0.063,3408,2188,2391
$GC,17405,0.22,117.3,896.5,5.5,429,17406,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2188,2392
$GC,17709,0.22,123.8,881.5,4.8,434,17717,0.00,0.00,6.35,1.161,6,0.000,0.000,3408,2188,2371
$GC,18012,0.25,142.9,868.0,4.5,439,18036,0.00,2.45,18.02,1.371,4,0.000,0.081,3408,788,2293
$GC,18060,0.33,161.4,865.8,4.5,439,18084,0.00,2.35,17.67,1.342,6,0.000,0.064,3408,2202,2218
$GC,18446,0.40,161.4,845.8,5.3,446,18448,0.12,0.00,0.00,0.000,6,0.094,0.000,3457,2202,2216
$GC,18749,0.33,161.4,825.6,6.8,451,18754,0.12,2.45,0.00,0.000,4,0.145,0.080,3425,786,2215
$GC,18782,0.38,161.4,823.4,5.7,451,18785,0.00,2.33,0.00,0.000,6,0.000,0.064,3425,2202,2216
$GC,19114,0.38,161.4,804.1,5.9,457,19115,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2202,2215
$GC,19417,0.38,161.4,786.3,5.9,462,19418,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2215
$GC,19720,0.38,161.4,768.9,5.7,467,19721,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2215
$GC,20023,0.38,161.4,751.6,5.7,472,20024,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2215
$GC,20326,0.38,161.4,733.0,6.2,477,20327,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2215
$GC,20629,0.38,161.4,714.0,6.3,482,20630,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2215
$GC,20932,0.38,161.4,695.0,6.2,487,20933,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2214
$GC,21235,0.38,161.4,677.7,5.6,492,21239,0.00,2.42,0.00,0.000,4,0.000,0.080,3425,791,2214
$GC,21269,0.45,180.6,675.9,4.4,492,21296,0.12,2.33,17.70,1.262,6,0.093,0.064,3475,2211,2138
$GC,21599,0.36,180.6,653.2,7.0,498,21601,0.15,0.00,0.00,0.000,6,0.151,0.000,3436,2211,2136
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$STATE,32862,end climb,SURFACE_DEPTH_REACHED
$STATE,32863,begin surface coast
$FINISH,2.1,1.023165
$STATE,32982,end surface coast,CONTROL_FINISHED_OK
$STATE,32982,begin surface
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$IRIDIUM_FIX,4953.05,-14456.63,260298,070749
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$HUMID,2122
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$TCM_TEMP,16.10
$XPDR_PINGS,1041
$24V_AH,22.0,51.522
$10V_AH,10.6,34.171
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$DEVICE_SECS,30.600,223.725,366.475,12.300,0.000,25.113,28.198,173.311,260.250,0.000,0.000,13.325,1865.475,27836.920,576.111,2483.882,595.158,33.385,1800.350,0.000,2465.348,0.000,0.465
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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,50710,865
$CAP_FILE_SIZE,193873,0
$CFSIZE,260165632,238710784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,020658,5016.097,-14503.666,55,4.0,74,18.5