version: 66.03
glider: 120
mission: 9
dive: 303
start: 12 20 108 12 58 48
data:
$ID,120
$MISSION,9
$DIVE,303
$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,-24001.219
$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
$GPS1,125156,5015.339,-14513.581,55,1.3,55,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.63
$_SM_ANGLEo,-76.4
$GPS2,125753,5015.376,-14513.542,12,2.5,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.017,-0.177
$KALMAN_X,30096.5,-126.2,-132.1,-58131.9,999.5
$KALMAN_Y,232691.2,376.2,98.3,-214980.4,556.1
$MHEAD_RNG_PITCHd_Wd,167.1,39613,-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,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.20,0.000,2,0.000,0.000,141,2409,1916
$GC,38,-0.67,-117.3,3.6,-0.0,1,120,14.23,0.00,-60.85,0.000,6,0.289,0.000,3093,2410,3355
$GC,439,-0.46,-117.3,40.6,-11.1,39,444,0.22,2.45,0.00,0.000,4,0.163,0.068,3162,986,3356
$GC,478,-0.46,-117.3,44.1,-8.4,42,482,0.00,2.33,0.00,0.000,6,0.000,0.062,3162,2406,3356
$GC,805,-0.46,-117.3,67.9,-8.1,72,806,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2406,3357
$GC,1117,-0.46,-117.3,91.2,-7.9,95,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2406,3357
$GC,1427,-0.52,-117.3,112.6,-6.5,110,1431,0.00,2.35,0.00,0.000,4,0.000,0.080,3155,3806,3357
$GC,1477,-0.62,-117.3,116.2,-7.0,112,1482,0.12,2.33,0.00,0.000,6,0.083,0.053,3105,2391,3357
$GC,1793,-0.62,-117.3,142.2,-8.1,127,1797,0.00,2.45,0.00,0.000,4,0.000,0.077,3103,3814,3358
$GC,1834,-0.57,-117.3,145.6,-9.0,129,1838,0.00,2.35,0.00,0.000,6,0.000,0.053,3104,2394,3358
$GC,2169,-0.57,-117.3,172.7,-7.7,141,2173,0.00,2.40,0.00,0.000,4,0.000,0.068,3103,990,3358
$GC,2241,-0.57,-117.3,178.0,-7.1,143,2245,0.10,2.30,0.00,0.000,6,0.136,0.061,3129,2410,3358
$GC,2565,-0.61,-117.3,196.8,-6.0,154,2568,0.00,2.33,0.00,0.000,4,0.000,0.081,3126,3809,3358
$GC,2592,-0.66,-117.3,198.6,-6.6,154,2599,0.00,2.35,0.00,0.000,6,0.000,0.054,3126,2397,3358
$GC,2905,-0.86,-117.3,220.6,-7.4,165,2910,0.22,2.45,0.00,0.000,4,0.084,0.077,3035,3818,3358
$GC,3117,-0.64,-117.3,243.1,-10.7,171,3122,0.25,2.35,0.00,0.000,6,0.156,0.055,3104,2401,3358
$GC,3435,-0.64,-117.3,267.3,-7.2,182,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2401,3357
$GC,3741,-0.64,-117.3,288.2,-6.8,192,3745,0.00,2.42,0.00,0.000,4,0.000,0.071,3104,991,3358
$GC,3780,-0.64,-117.3,291.0,-7.6,193,3784,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2410,3358
$GC,4107,-0.64,-117.3,312.5,-6.5,201,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3357
$GC,4410,-0.64,-117.3,331.6,-6.3,206,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3357
$GC,4714,-0.64,-117.3,349.1,-5.7,211,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3357
$GC,5017,-0.64,-117.3,366.8,-5.9,216,5021,0.00,2.45,0.00,0.000,4,0.000,0.071,3100,990,3357
$GC,5072,-0.64,-117.3,370.3,-5.9,216,5078,0.00,2.38,0.00,0.000,6,0.000,0.064,3100,2403,3356
$GC,5382,-0.64,-117.3,390.0,-6.4,222,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3356
$GC,5685,-0.64,-117.3,411.8,-7.3,227,5689,0.00,2.45,0.00,0.000,4,0.000,0.071,3100,985,3356
$GC,5729,-0.64,-117.3,415.3,-7.5,227,5733,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2400,3356
$GC,6043,-0.64,-117.3,437.6,-7.1,233,6047,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,993,3356
$GC,6072,-0.64,-117.3,439.6,-7.0,233,6076,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2408,3355
$GC,6404,-0.64,-117.3,461.4,-6.5,239,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3355
$GC,6707,-0.64,-117.3,479.8,-6.0,244,6711,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,986,3355
$GC,6734,-0.64,-117.3,481.6,-7.0,244,6738,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2412,3355
$GC,7071,-0.64,-117.3,500.8,-5.6,250,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3355
$GC,7375,-0.64,-117.3,516.2,-5.0,255,7379,0.00,2.42,0.00,0.000,4,0.000,0.072,3100,984,3355
$GC,7396,-0.64,-117.3,517.5,-5.5,255,7400,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2406,3355
$GC,7733,-0.64,-117.3,533.7,-4.9,261,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,8036,-0.64,-117.3,550.8,-5.8,266,8040,0.00,2.45,0.00,0.000,4,0.000,0.071,3100,987,3355
$GC,8063,-0.64,-117.3,552.7,-7.3,266,8067,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2396,3354
$GC,8402,-0.64,-117.3,574.8,-6.6,272,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,8704,-0.64,-117.3,594.7,-6.6,277,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3354
$GC,9007,-0.64,-117.3,613.9,-6.4,282,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3354
$GC,9311,-0.64,-117.3,632.5,-6.1,287,9315,0.00,2.38,0.00,0.000,4,0.000,0.073,3100,993,3354
$GC,9355,-0.64,-117.3,635.3,-6.7,287,9359,0.00,2.30,0.00,0.000,6,0.000,0.065,3100,2403,3354
$GC,9672,-0.64,-117.3,653.8,-5.9,293,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,9973,-0.64,-117.3,671.6,-5.9,298,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3354
$GC,10276,-0.64,-117.3,689.3,-5.9,303,10280,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,991,3353
$GC,10310,-0.68,-117.3,691.5,-6.2,303,10314,0.00,2.30,0.00,0.000,6,0.000,0.065,3099,2402,3353
$GC,10636,-0.68,-117.3,710.8,-5.9,309,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3353
$GC,10939,-0.68,-117.3,728.0,-5.7,314,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,11242,-0.68,-117.3,745.2,-5.7,319,11246,0.00,2.35,0.00,0.000,4,0.000,0.074,3100,993,3353
$GC,11270,-0.73,-117.3,746.9,-6.5,319,11274,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2408,3353
$GC,11608,-0.73,-117.3,766.0,-5.7,325,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3353
$GC,11911,-0.73,-117.3,781.9,-5.2,330,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3353
$GC,12214,-0.77,-117.3,797.1,-5.0,335,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3353
$GC,12518,-0.81,-117.3,812.5,-5.1,340,12523,0.12,2.45,0.00,0.000,4,0.093,0.073,3053,987,3352
$GC,12552,-0.76,-117.3,814.5,-6.2,340,12556,0.00,2.33,0.00,0.000,6,0.000,0.064,3053,2410,3353
$GC,12879,-0.69,-117.3,836.2,-6.6,346,12881,0.15,0.00,0.00,0.000,6,0.156,0.000,3094,2410,3352
$GC,13182,-0.69,-117.3,852.8,-5.4,351,13186,0.00,2.35,0.00,0.000,4,0.000,0.085,3095,3806,3352
$GC,13210,-0.74,-117.3,854.3,-6.0,351,13214,0.00,2.30,0.00,0.000,6,0.000,0.058,3095,2395,3352
$GC,13542,-0.93,-117.3,875.6,-6.7,357,13546,0.20,2.47,0.00,0.000,4,0.090,0.081,3017,3806,3352
$GC,13765,-0.75,-117.3,895.2,-8.3,360,13770,0.20,2.38,0.00,0.000,6,0.163,0.058,3070,2393,3352
$GC,14108,-0.75,-117.3,919.2,-6.9,366,14112,0.00,2.45,0.00,0.000,4,0.000,0.074,3070,986,3352
$GC,14135,-0.75,-117.3,921.1,-6.5,366,14140,0.00,2.38,0.00,0.000,6,0.000,0.067,3070,2403,3352
$GC,14474,-0.75,-117.3,942.5,-6.3,372,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2403,3352
$GC,14776,-0.75,-117.3,960.3,-5.9,377,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2403,3352
$GC,15079,-0.75,-117.3,977.6,-5.7,382,15083,0.00,2.47,0.00,0.000,4,0.000,0.074,3070,990,3351
$GC,15112,-0.75,-117.3,979.7,-6.0,382,15116,0.00,2.38,0.00,0.000,6,0.000,0.067,3070,2413,3351
$STATE,15321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15321,begin apogee
$GC,15327,-0.22,0.0,991.7,5.7,386,15437,0.57,0.00,106.88,1.495,6,0.145,0.000,3243,2195,2876
$STATE,15438,end apogee,CONTROL_FINISHED_OK
$STATE,15438,begin climb
$GC,15440,0.67,117.3,993.3,0.0,387,15561,0.88,2.78,112.03,1.437,4,0.091,0.077,3531,3601,2396
$GC,15583,0.21,117.3,993.9,6.0,390,15589,0.57,2.60,0.00,0.000,6,0.186,0.062,3393,2204,2395
$GC,15933,0.29,135.9,978.0,4.5,396,15958,0.00,2.53,17.67,1.375,4,0.000,0.080,3394,791,2321
$GC,15986,0.43,173.2,975.6,3.9,396,16027,0.20,2.35,34.85,1.409,6,0.079,0.063,3469,2200,2169
$GC,16362,0.34,173.2,947.5,7.7,403,16366,0.15,2.38,0.00,0.000,4,0.146,0.079,3423,3618,2165
$GC,16394,0.34,173.2,945.1,6.4,403,16398,0.00,2.38,0.00,0.000,6,0.000,0.064,3423,2183,2165
$GC,16726,0.39,173.2,926.5,5.6,409,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2183,2164
$GC,17030,0.43,173.2,909.8,5.6,414,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2184,2164
$GC,17333,0.47,173.2,891.9,5.9,419,17334,0.15,0.00,0.00,0.000,6,0.085,0.000,3483,2184,2164
$GC,17636,0.35,173.2,868.2,7.9,424,17641,0.15,2.45,0.00,0.000,4,0.150,0.081,3434,3615,2163
$GC,17674,0.28,173.2,865.1,7.7,424,17679,0.00,2.40,0.00,0.000,6,0.000,0.064,3436,2191,2164
$GC,17995,0.28,173.2,844.2,6.5,430,17996,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2163
$GC,18298,0.28,173.2,825.1,6.3,435,18302,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,3615,2163
$GC,18336,0.22,173.2,822.4,7.4,435,18341,0.17,2.40,0.00,0.000,6,0.172,0.064,3391,2201,2163
$GC,18657,0.38,177.0,806.8,4.9,441,18664,0.15,0.00,4.00,0.894,6,0.088,0.000,3446,2201,2154
$GC,18960,0.38,177.0,788.3,6.2,446,18961,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2201,2154
$GC,19263,0.42,177.0,768.7,6.5,451,19267,0.00,2.42,0.00,0.000,4,0.000,0.082,3447,3610,2153
$GC,19301,0.34,177.0,765.6,7.7,451,19306,0.00,2.40,0.00,0.000,6,0.000,0.064,3449,2197,2153
$GC,19622,0.34,177.0,742.1,7.4,457,19623,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2196,2153
$GC,19925,0.34,177.0,720.3,7.1,462,19926,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2196,2153
$GC,20228,0.34,177.0,699.8,6.7,467,20230,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2153
$GC,20531,0.34,177.0,681.2,6.0,472,20535,0.00,2.42,0.00,0.000,4,0.000,0.081,3449,3608,2153
$GC,20564,0.26,177.0,679.1,5.9,472,20569,0.17,2.38,0.00,0.000,6,0.163,0.063,3402,2198,2153
$GC,20890,0.42,206.0,665.2,4.2,478,20920,0.15,0.00,26.95,1.276,6,0.087,0.000,3460,2198,2036
$GC,21194,0.47,206.0,649.1,5.4,483,21198,0.00,2.47,0.00,0.000,4,0.000,0.078,3460,791,2032
$GC,21238,0.47,206.0,646.4,5.7,483,21242,0.00,2.33,0.00,0.000,6,0.000,0.064,3460,2206,2032
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$STATE,31412,end climb,SURFACE_DEPTH_REACHED
$STATE,31412,begin surface coast
$FINISH,2.6,1.025470
$STATE,31508,end surface coast,CONTROL_FINISHED_OK
$STATE,31508,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2109
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$TCM_TEMP,14.50
$XPDR_PINGS,971
$24V_AH,21.7,60.281
$10V_AH,10.6,40.484
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$DEVICE_SECS,30.075,215.875,366.550,14.300,0.000,27.892,27.480,160.155,242.750,0.000,0.000,31.912,1762.720,26651.299,566.396,2308.448,605.384,33.380,1703.858,0.000,2271.564,0.000,0.465
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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,47367,815
$CAP_FILE_SIZE,181899,0
$CFSIZE,260165632,235061248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201208,214538,5012.474,-14514.080,28,1.2,28,18.5