version: 66.03
glider: 120
mission: 9
dive: 358
start: 1 10 109 8 55 0
data:
$ID,120
$MISSION,9
$DIVE,358
$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,-25285.645
$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,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
$GPS1,084457,5006.847,-14450.134,32,4.3,51,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-74.1
$GPS2,085406,5006.861,-14450.205,14,1.8,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.102
$KALMAN_X,18505.8,178.6,-30.7,-19235.3,-1816.7
$KALMAN_Y,262607.4,-148.1,-42.6,-259983.9,248.2
$MHEAD_RNG_PITCHd_Wd,36.6,35582,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-9.62,0.000,2,0.000,0.000,133,2401,1878
$GC,39,-0.67,-117.3,3.7,-0.0,1,120,14.02,2.42,-60.30,0.000,4,0.282,0.094,3096,3812,3355
$GC,226,-0.52,-117.3,19.7,-10.2,17,233,0.17,2.28,0.00,0.000,6,0.157,0.055,3144,2398,3357
$GC,553,-0.52,-117.3,47.7,-9.6,48,557,0.00,2.35,0.00,0.000,4,0.000,0.071,3144,987,3357
$GC,575,-0.52,-117.3,49.5,-6.9,49,582,0.00,2.30,0.00,0.000,6,0.000,0.062,3141,2402,3358
$GC,902,-0.52,-117.3,74.9,-7.3,80,903,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2402,3358
$GC,1221,-0.52,-117.3,100.8,-8.0,99,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2402,3358
$GC,1531,-0.52,-117.3,123.2,-7.0,114,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2402,3358
$GC,1841,-0.57,-117.3,142.6,-5.6,129,1845,0.00,2.38,0.00,0.000,4,0.000,0.081,3141,3807,3358
$GC,1862,-0.64,-117.3,143.9,-5.5,130,1866,0.00,2.28,0.00,0.000,6,0.000,0.053,3141,2394,3358
$GC,2192,-0.71,-117.3,163.7,-6.3,143,2197,0.15,2.35,0.00,0.000,4,0.084,0.068,3077,994,3358
$GC,2265,-0.60,-117.3,170.0,-8.7,145,2269,0.17,2.28,0.00,0.000,6,0.143,0.061,3125,2401,3358
$GC,2588,-0.60,-117.3,191.3,-6.7,156,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3359
$GC,2894,-0.60,-117.3,211.0,-6.4,166,2898,0.00,2.35,0.00,0.000,4,0.000,0.069,3125,983,3358
$GC,2927,-0.65,-117.3,213.2,-6.8,167,2931,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2403,3358
$GC,3257,-0.69,-117.3,234.7,-6.8,178,3261,0.00,2.33,0.00,0.000,4,0.000,0.081,3125,3808,3358
$GC,3301,-0.78,-117.3,237.9,-7.6,179,3306,0.17,2.22,0.00,0.000,6,0.079,0.054,3061,2398,3358
$GC,3620,-0.69,-117.3,264.4,-8.2,190,3624,0.12,2.33,0.00,0.000,4,0.099,0.070,3097,990,3358
$GC,3669,-0.69,-117.3,268.5,-8.0,191,3673,0.00,2.30,0.00,0.000,6,0.000,0.063,3097,2407,3358
$GC,3987,-0.69,-117.3,289.5,-6.4,202,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2407,3358
$GC,4292,-0.69,-117.3,309.8,-6.7,210,4296,0.00,2.33,0.00,0.000,4,0.000,0.071,3097,990,3358
$GC,4319,-0.69,-117.3,311.7,-7.1,210,4323,0.00,2.30,0.00,0.000,6,0.000,0.063,3097,2413,3358
$GC,4651,-0.69,-117.3,334.2,-6.8,216,4655,0.00,2.33,0.00,0.000,4,0.000,0.083,3097,3809,3358
$GC,4689,-0.69,-117.3,336.9,-7.0,216,4693,0.00,2.25,0.00,0.000,6,0.000,0.055,3097,2390,3358
$GC,5016,-0.69,-117.3,357.7,-6.4,222,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,5319,-0.69,-117.3,377.6,-6.6,227,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,5622,-0.69,-117.3,397.1,-6.4,232,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3357
$GC,5925,-0.69,-117.3,415.5,-6.0,237,5929,0.00,2.40,0.00,0.000,4,0.000,0.082,3097,3811,3357
$GC,5951,-0.69,-117.3,417.3,-6.6,237,5955,0.00,2.25,0.00,0.000,6,0.000,0.055,3097,2395,3357
$GC,6290,-0.69,-117.3,436.5,-5.7,243,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,6592,-0.69,-117.3,453.6,-5.6,248,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,6896,-0.69,-117.3,470.0,-5.5,253,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,7199,-0.69,-117.3,487.0,-5.7,258,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3357
$GC,7502,-0.69,-117.3,504.3,-5.7,263,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3356
$GC,7805,-0.69,-117.3,522.3,-5.9,268,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3356
$GC,8108,-0.69,-117.3,541.0,-6.2,273,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2395,3356
$GC,8411,-0.69,-117.3,558.8,-5.8,278,8415,0.00,2.30,0.00,0.000,4,0.000,0.074,3097,992,3355
$GC,8437,-0.69,-117.3,560.6,-6.6,278,8441,0.00,2.30,0.00,0.000,6,0.000,0.064,3097,2403,3355
$GC,8776,-0.69,-117.3,580.4,-5.9,284,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3356
$GC,9079,-0.69,-117.3,598.2,-5.9,289,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3355
$GC,9381,-0.69,-117.3,616.1,-5.9,294,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3355
$GC,9685,-0.69,-117.3,633.7,-5.8,299,9689,0.00,2.35,0.00,0.000,4,0.000,0.073,3097,985,3355
$GC,9712,-0.69,-117.3,635.5,-6.2,299,9716,0.00,2.33,0.00,0.000,6,0.000,0.065,3097,2409,3355
$GC,10050,-0.69,-117.3,655.4,-5.9,305,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3355
$GC,10353,-0.69,-117.3,673.7,-6.1,310,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3355
$GC,10656,-0.69,-117.3,690.4,-5.5,315,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3355
$GC,10960,-0.69,-117.3,705.2,-4.8,320,10964,0.00,2.35,0.00,0.000,4,0.000,0.074,3097,992,3354
$GC,10993,-0.69,-117.3,706.9,-5.0,320,10997,0.00,2.30,0.00,0.000,6,0.000,0.065,3097,2402,3354
$GC,11319,-0.69,-117.3,721.8,-4.5,326,11323,0.00,2.35,0.00,0.000,4,0.000,0.084,3097,3807,3354
$GC,11347,-0.74,-117.3,723.0,-4.8,326,11351,0.00,2.25,0.00,0.000,6,0.000,0.057,3097,2392,3354
$GC,11680,-0.94,-117.3,742.2,-6.1,332,11684,0.22,2.40,0.00,0.000,4,0.087,0.082,3008,3811,3353
$GC,11887,-0.72,-117.3,761.2,-9.8,335,11891,0.28,2.25,0.00,0.000,6,0.162,0.058,3083,2400,3353
$GC,12242,-0.72,-117.3,785.5,-6.8,341,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3354
$GC,12544,-0.72,-117.3,805.4,-6.5,346,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3353
$GC,12847,-0.72,-117.3,823.8,-6.0,351,12851,0.00,2.33,0.00,0.000,4,0.000,0.074,3083,987,3353
$GC,12886,-0.72,-117.3,826.3,-6.3,351,12890,0.00,2.33,0.00,0.000,6,0.000,0.065,3083,2409,3354
$GC,13208,-0.72,-117.3,844.4,-5.6,357,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2409,3354
$GC,13510,-0.72,-117.3,861.5,-5.6,362,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2409,3353
$GC,13813,-0.72,-117.3,879.2,-5.9,367,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2409,3353
$GC,14116,-0.72,-117.3,896.9,-5.9,372,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2409,3353
$GC,14419,-0.72,-117.3,914.4,-5.8,377,14423,0.00,2.35,0.00,0.000,4,0.000,0.075,3083,994,3353
$GC,14447,-0.72,-117.3,916.3,-7.3,377,14452,0.00,2.30,0.00,0.000,6,0.000,0.067,3083,2398,3353
$GC,14779,-0.72,-117.3,935.6,-5.8,383,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3353
$GC,15082,-0.72,-117.3,951.9,-5.3,388,15083,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3353
$GC,15386,-0.72,-117.3,968.2,-5.4,393,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3353
$GC,15688,-0.72,-117.3,984.6,-5.4,398,15690,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2398,3353
$STATE,15807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15807,begin apogee
$GC,15814,-0.22,0.0,991.4,5.5,400,15929,0.52,0.00,108.00,1.490,6,0.140,0.000,3244,2200,2876
$STATE,15930,end apogee,CONTROL_FINISHED_OK
$STATE,15930,begin climb
$GC,15933,0.67,117.3,995.6,0.0,402,16056,0.88,2.67,112.60,1.436,4,0.093,0.077,3533,794,2396
$GC,16107,0.32,117.3,992.6,6.7,404,16112,0.43,2.47,0.00,0.000,6,0.178,0.062,3426,2203,2394
$GC,16422,0.32,117.3,976.3,5.2,410,16423,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2393
$GC,16725,0.32,117.3,960.7,5.1,415,16726,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2393
$GC,17029,0.32,117.6,945.6,5.0,420,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2204,2393
$GC,17332,0.32,117.6,930.2,5.1,425,17333,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2392
$GC,17635,0.34,129.1,915.8,4.7,430,17648,0.00,0.00,11.38,1.327,6,0.000,0.000,3426,2203,2349
$GC,17938,0.36,146.5,902.1,4.5,435,17957,0.00,0.00,17.12,1.374,6,0.000,0.000,3426,2203,2277
$GC,18241,0.38,159.3,888.1,4.6,440,18256,0.00,0.00,12.88,1.331,6,0.000,0.000,3426,2203,2226
$GC,18545,0.38,163.2,873.2,4.9,445,18552,0.00,0.00,5.20,1.055,6,0.000,0.000,3426,2203,2210
$GC,18847,0.38,163.2,856.3,5.6,450,18851,0.00,2.35,0.00,0.000,4,0.000,0.081,3426,3616,2209
$GC,18896,0.38,163.2,853.1,5.6,450,18900,0.00,2.30,0.00,0.000,6,0.000,0.065,3426,2203,2209
$GC,19212,0.38,163.2,835.3,5.6,456,19213,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2209
$GC,19515,0.38,163.2,818.6,5.5,461,19516,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2209
$GC,19818,0.38,163.2,802.4,5.3,466,19819,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2203,2209
$GC,20121,0.42,163.2,786.1,5.4,471,20126,0.00,2.38,0.00,0.000,4,0.000,0.081,3426,3620,2209
$GC,20160,0.42,163.2,783.6,5.9,471,20164,0.00,2.30,0.00,0.000,6,0.000,0.065,3426,2195,2209
$GC,20482,0.46,163.2,767.3,5.0,477,20484,0.12,0.00,0.00,0.000,6,0.091,0.000,3477,2195,2209
$GC,20785,0.36,163.2,746.6,6.9,482,20787,0.15,0.00,0.00,0.000,6,0.146,0.000,3436,2195,2209
$GC,21087,0.36,163.2,728.3,6.0,487,21091,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,3614,2209
$GC,21131,0.31,163.2,725.3,6.3,487,21135,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2190,2209
$GC,21447,0.31,163.2,706.2,6.0,493,21448,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2209
$GC,21750,0.31,163.2,687.8,6.1,498,21751,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2209
$GC,22053,0.31,163.2,669.2,6.1,503,22057,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,787,2209
$GC,22092,0.36,163.2,666.8,6.6,503,22096,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2210,2209
$GC,22413,0.36,163.2,648.7,5.7,509,22417,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3617,2209
$GC,22457,0.31,163.2,646.0,6.4,509,22461,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2192,2209
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$STATE,33159,end climb,SURFACE_DEPTH_REACHED
$STATE,33159,begin surface coast
$FINISH,2.9,1.014409
$STATE,33256,end surface coast,CONTROL_FINISHED_OK
$STATE,33256,begin surface
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$IRIDIUM_FIX,4949.70,-14451.14,060498,080851
$TT8_MAMPS,0.026845
$HUMID,2105
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$TCM_TEMP,15.70
$XPDR_PINGS,973
$24V_AH,21.6,70.750
$10V_AH,10.6,47.878
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$DEVICE_SECS,28.125,177.450,379.400,10.175,0.000,57.922,111.528,167.600,243.250,0.000,0.000,30.660,1764.531,28498.592,542.570,2264.699,758.130,33.378,1653.094,0.000,2224.152,0.000,0.465
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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,47626,846
$CAP_FILE_SIZE,176193,0
$CFSIZE,260165632,230834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100109,181107,5009.135,-14445.508,41,1.7,41,18.6