version: 66.03
glider: 120
mission: 9
dive: 286
start: 12 14 108 2 32 16
data:
$ID,120
$MISSION,9
$DIVE,286
$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,-23668.529
$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,18
$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
$GPS1,022538,5005.303,-14427.552,42,1.9,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-74.8
$GPS2,023121,5005.281,-14427.530,15,2.0,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.176
$KALMAN_X,26544.6,-135.5,-7.8,-39.1,298.0
$KALMAN_Y,220696.3,-87.7,-278.4,-220832.5,2254.5
$MHEAD_RNG_PITCHd_Wd,168.9,21051,-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,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.43,0.000,2,0.000,0.000,136,2401,1935
$GC,38,-0.67,-117.3,3.7,-0.0,1,114,13.80,2.55,-52.22,0.000,4,0.282,0.094,3095,3812,3357
$GC,366,-0.49,-117.3,36.4,-11.6,30,373,0.22,2.33,0.00,0.000,6,0.156,0.054,3159,2397,3359
$GC,694,-0.49,-117.3,59.7,-5.7,61,698,0.00,2.47,0.00,0.000,4,0.000,0.079,3155,3811,3359
$GC,726,-0.49,-117.3,62.7,-9.3,63,732,0.00,2.35,0.00,0.000,6,0.000,0.053,3155,2401,3359
$GC,1058,-0.49,-117.3,89.0,-7.0,89,1062,0.00,2.45,0.00,0.000,4,0.000,0.078,3155,3809,3359
$GC,1121,-0.55,-117.3,93.6,-7.6,92,1125,0.00,2.33,0.00,0.000,6,0.000,0.052,3155,2389,3359
$GC,1447,-0.55,-117.3,116.8,-7.3,108,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2389,3360
$GC,1757,-0.61,-117.3,138.1,-6.7,123,1762,0.10,2.45,0.00,0.000,4,0.092,0.077,3114,3811,3360
$GC,1879,-0.61,-117.3,147.8,-7.8,128,1886,0.00,2.33,0.00,0.000,6,0.000,0.054,3114,2405,3360
$GC,2202,-0.61,-117.3,168.5,-6.2,140,2207,0.00,2.38,0.00,0.000,4,0.000,0.068,3114,994,3360
$GC,2286,-0.61,-117.3,174.5,-7.3,142,2290,0.00,2.30,0.00,0.000,6,0.000,0.061,3114,2410,3360
$GC,2598,-0.61,-117.3,195.6,-6.9,152,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2410,3360
$GC,2905,-0.61,-117.3,216.3,-6.6,162,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2410,3360
$GC,3211,-0.61,-117.3,235.8,-6.1,172,3215,0.00,2.38,0.00,0.000,4,0.000,0.081,3114,3811,3360
$GC,3249,-0.61,-117.3,238.3,-6.7,173,3253,0.00,2.33,0.00,0.000,6,0.000,0.054,3113,2390,3360
$GC,3579,-0.61,-117.3,258.0,-6.0,184,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3359
$GC,3885,-0.61,-117.3,276.6,-6.1,194,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2390,3359
$GC,4192,-0.61,-117.3,295.0,-6.0,204,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2390,3359
$GC,4526,-0.61,-117.3,312.9,-5.3,211,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3359
$GC,4829,-0.61,-117.3,329.6,-5.5,216,4833,0.00,2.47,0.00,0.000,4,0.000,0.081,3114,3807,3359
$GC,4855,-0.61,-117.3,331.1,-6.1,216,4859,0.00,2.33,0.00,0.000,6,0.000,0.055,3114,2391,3359
$GC,5193,-0.61,-117.3,349.6,-5.5,222,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3358
$GC,5496,-0.61,-117.3,366.7,-5.7,227,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3358
$GC,5799,-0.61,-117.3,384.6,-5.9,232,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3358
$GC,6103,-0.65,-117.3,403.6,-6.3,237,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2391,3358
$GC,6406,-0.70,-117.3,422.1,-6.0,242,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2391,3358
$GC,6709,-0.75,-117.3,440.7,-6.1,247,6711,0.12,0.00,0.00,0.000,6,0.094,0.000,3065,2391,3357
$GC,7012,-0.70,-117.3,464.2,-7.9,252,7016,0.00,2.47,0.00,0.000,4,0.000,0.081,3065,3807,3357
$GC,7039,-0.61,-117.3,466.3,-7.7,252,7044,0.17,2.33,0.00,0.000,6,0.127,0.056,3114,2397,3357
$GC,7370,-0.61,-117.3,487.9,-6.4,258,7375,0.00,2.40,0.00,0.000,4,0.000,0.071,3114,993,3357
$GC,7398,-0.66,-117.3,489.8,-6.7,258,7402,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2407,3357
$GC,7731,-0.70,-117.3,511.4,-6.5,264,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3357
$GC,8034,-0.74,-117.3,531.3,-6.6,269,8036,0.12,0.00,0.00,0.000,6,0.092,0.000,3063,2407,3356
$GC,8336,-0.69,-117.3,553.8,-7.5,274,8338,0.10,0.00,0.00,0.000,6,0.102,0.000,3091,2407,3356
$GC,8639,-0.69,-117.3,574.0,-6.6,279,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2407,3356
$GC,8942,-0.69,-117.3,592.6,-6.1,284,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2407,3356
$GC,9245,-0.69,-117.3,608.6,-5.2,289,9249,0.00,2.45,0.00,0.000,4,0.000,0.072,3092,987,3356
$GC,9278,-0.69,-117.3,610.6,-6.2,289,9282,0.00,2.33,0.00,0.000,6,0.000,0.065,3091,2399,3356
$GC,9604,-0.69,-117.3,627.1,-5.1,295,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3356
$GC,9907,-0.69,-117.3,643.7,-5.5,300,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3356
$GC,10211,-0.69,-117.3,660.5,-5.6,305,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3356
$GC,10514,-0.69,-117.3,678.4,-6.0,310,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3356
$GC,10817,-0.69,-117.3,696.6,-6.1,315,10821,0.00,2.42,0.00,0.000,4,0.000,0.072,3091,993,3355
$GC,10843,-0.69,-117.3,698.3,-6.7,315,10847,0.00,2.33,0.00,0.000,6,0.000,0.066,3091,2410,3355
$GC,11181,-0.69,-117.3,720.7,-6.8,321,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2409,3355
$GC,11485,-0.69,-117.3,742.1,-7.0,326,11489,0.00,2.42,0.00,0.000,4,0.000,0.073,3092,993,3355
$GC,11523,-0.69,-117.3,745.1,-7.8,326,11527,0.00,2.35,0.00,0.000,6,0.000,0.067,3091,2404,3355
$GC,11844,-0.69,-117.3,767.3,-6.9,332,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3355
$GC,12146,-0.69,-117.3,787.8,-6.7,337,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3355
$GC,12449,-0.69,-117.3,805.9,-5.9,342,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3355
$GC,12753,-0.69,-117.3,822.9,-5.5,347,12757,0.00,2.42,0.00,0.000,4,0.000,0.073,3091,990,3354
$GC,12786,-0.69,-117.3,824.9,-5.5,347,12790,0.00,2.38,0.00,0.000,6,0.000,0.067,3091,2398,3354
$GC,13118,-0.69,-117.3,842.0,-5.2,353,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3354
$GC,13421,-0.69,-117.3,857.4,-5.0,358,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3354
$GC,13725,-0.69,-117.3,873.4,-5.3,363,13726,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3354
$GC,14028,-0.69,-117.3,889.9,-5.5,368,14029,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3354
$GC,14331,-0.69,-117.3,907.6,-5.8,373,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3353
$GC,14634,-0.69,-117.3,925.1,-5.7,378,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3353
$GC,14937,-0.69,-117.3,943.2,-6.0,383,14938,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2399,3353
$GC,15240,-0.69,-117.3,961.2,-6.0,388,15244,0.00,2.40,0.00,0.000,4,0.000,0.086,3091,3811,3353
$GC,15278,-0.74,-117.3,963.7,-6.5,388,15282,0.00,2.33,0.00,0.000,6,0.000,0.059,3091,2396,3353
$GC,15599,-0.91,-117.3,985.7,-7.1,394,15604,0.17,2.40,0.00,0.000,4,0.091,0.074,3025,993,3353
$GC,15610,-1.05,-117.3,986.5,-7.1,394,15615,0.15,2.33,0.00,0.000,6,0.082,0.066,2966,2411,3353
$STATE,15645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15645,begin apogee
$GC,15651,-0.22,0.0,990.0,9.6,394,15760,0.95,0.00,105.85,1.495,6,0.174,0.000,3236,2201,2876
$STATE,15761,end apogee,CONTROL_FINISHED_OK
$STATE,15761,begin climb
$GC,15763,0.67,117.3,992.9,0.0,396,15881,0.90,2.70,110.35,1.438,4,0.095,0.078,3528,3607,2396
$GC,16135,0.25,117.3,975.6,8.4,400,16141,0.50,2.42,0.00,0.000,6,0.186,0.064,3403,2202,2393
$GC,16451,0.28,144.1,961.8,4.2,406,16480,0.00,2.50,24.15,1.405,4,0.000,0.081,3403,3611,2288
$GC,16532,0.28,144.1,957.7,5.8,407,16536,0.00,2.38,0.00,0.000,6,0.000,0.063,3408,2197,2287
$GC,16880,0.33,144.1,939.6,5.2,413,16881,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2198,2286
$GC,17184,0.38,144.1,924.1,5.2,418,17185,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2198,2286
$GC,17487,0.42,144.1,908.7,5.1,423,17492,0.12,2.42,0.00,0.000,4,0.089,0.082,3459,3608,2285
$GC,17525,0.23,144.1,906.1,6.9,423,17530,0.25,2.33,0.00,0.000,6,0.170,0.064,3395,2193,2285
$GC,17847,0.32,147.4,890.2,4.9,429,17856,0.00,2.38,4.47,0.992,4,0.000,0.081,3395,790,2275
$GC,17885,0.45,163.8,888.2,4.5,429,17906,0.20,2.30,15.95,1.364,6,0.084,0.064,3469,2205,2207
$GC,18210,0.35,163.8,865.8,7.1,434,18215,0.15,2.40,0.00,0.000,4,0.149,0.080,3423,3619,2206
$GC,18244,0.35,163.8,863.6,7.0,434,18248,0.00,2.38,0.00,0.000,6,0.000,0.064,3423,2196,2206
$GC,18570,0.35,163.8,844.8,5.7,440,18574,0.00,2.40,0.00,0.000,4,0.000,0.081,3423,792,2206
$GC,18614,0.41,163.8,842.3,5.1,440,18618,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2198,2206
$GC,18930,0.45,163.8,825.7,5.2,446,18931,0.12,0.00,0.00,0.000,6,0.092,0.000,3474,2198,2206
$GC,19232,0.35,163.8,804.9,6.9,451,19234,0.15,0.00,0.00,0.000,6,0.149,0.000,3433,2198,2205
$GC,19535,0.35,163.8,786.1,6.3,456,19536,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2199,2205
$GC,19838,0.35,163.8,766.8,6.4,461,19839,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2198,2205
$GC,20141,0.35,163.8,747.5,6.4,466,20145,0.00,2.42,0.00,0.000,4,0.000,0.078,3435,789,2205
$GC,20184,0.35,163.8,744.6,6.6,466,20189,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2213,2205
$GC,20505,0.35,163.8,724.8,6.1,472,20506,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2205
$GC,20808,0.35,163.8,707.0,5.9,477,20810,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2205
$GC,21112,0.35,163.8,689.5,5.8,482,21113,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2205
$GC,21415,0.35,163.8,671.7,5.8,487,21416,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2205
$GC,21718,0.35,163.8,654.3,5.8,492,21722,0.00,2.47,0.00,0.000,4,0.000,0.080,3436,782,2205
$GC,21750,0.35,163.8,652.4,5.4,492,21754,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2205,2205
$GC,22082,0.35,163.8,632.2,6.2,498,22083,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2205
$GC,22386,0.35,163.8,613.1,6.3,503,22387,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2205
$GC,22688,0.35,163.8,595.4,5.7,508,22689,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2205
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$STATE,32785,end climb,SURFACE_DEPTH_REACHED
$STATE,32785,begin surface coast
$FINISH,2.6,1.024568
$STATE,32881,end surface coast,CONTROL_FINISHED_OK
$STATE,32881,begin surface
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$HUMID,2099
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$10V_AH,10.6,38.221
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$DEVICE_SECS,29.350,172.125,357.750,23.200,0.000,31.473,28.470,153.766,243.750,0.000,0.000,16.526,1784.077,28066.385,523.179,2311.935,575.086,33.378,1649.380,0.000,2283.693,0.000,0.465
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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,50549,846
$CAP_FILE_SIZE,177272,0
$CFSIZE,260165632,236371968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141208,114237,5002.825,-14427.993,58,1.3,58,18.6