version: 66.03
glider: 120
mission: 9
dive: 434
start: 2 8 109 1 6 3
data:
$ID,120
$MISSION,9
$DIVE,434
$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,275
$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,-26980.838
$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,19
$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
$GPS1,005836,4958.430,-14513.621,116,0.9,116,18.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.97
$_SM_ANGLEo,-70.6
$GPS2,010508,4958.423,-14513.598,13,0.9,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.177
$KALMAN_X,-4617.9,-197.2,-38.6,5917.6,435.7
$KALMAN_Y,41065.7,-194.3,-211.4,-50014.7,2481.7
$MHEAD_RNG_PITCHd_Wd,156.3,8405,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.35,0.000,2,0.000,0.000,134,2409,1961
$GC,41,-0.67,-117.3,3.9,-0.0,1,117,14.35,2.58,-55.35,0.000,4,0.288,0.094,3095,3813,3356
$GC,325,-0.52,-117.3,31.5,-11.5,26,332,0.20,2.40,0.00,0.000,6,0.156,0.054,3151,2392,3358
$GC,653,-0.52,-117.3,59.4,-6.4,57,657,0.00,2.45,0.00,0.000,4,0.000,0.071,3151,991,3358
$GC,692,-0.52,-117.3,62.3,-6.4,60,696,0.00,2.33,0.00,0.000,6,0.000,0.063,3151,2402,3358
$GC,1017,-0.52,-117.3,83.2,-6.8,88,1021,0.00,2.38,0.00,0.000,4,0.000,0.081,3151,3814,3358
$GC,1044,-0.52,-117.3,85.7,-8.7,89,1048,0.00,2.33,0.00,0.000,6,0.000,0.052,3151,2397,3358
$GC,1360,-0.56,-117.3,109.1,-7.1,104,1364,0.00,2.42,0.00,0.000,4,0.000,0.068,3151,995,3358
$GC,1431,-0.64,-117.3,114.1,-7.0,107,1436,0.12,2.30,0.00,0.000,6,0.085,0.061,3105,2401,3358
$GC,1758,-0.64,-117.3,139.7,-7.7,123,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2401,3358
$GC,2086,-0.64,-117.3,164.2,-7.0,136,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2401,3358
$GC,2393,-0.64,-117.3,184.7,-6.2,146,2397,0.00,2.38,0.00,0.000,4,0.000,0.079,3102,3813,3358
$GC,2448,-0.64,-117.3,188.4,-6.6,147,2454,0.00,2.33,0.00,0.000,6,0.000,0.053,3102,2396,3358
$GC,2761,-0.64,-117.3,207.3,-5.7,158,2765,0.00,2.45,0.00,0.000,4,0.000,0.070,3106,985,3358
$GC,2805,-0.68,-117.3,209.9,-6.1,159,2810,0.00,2.33,0.00,0.000,6,0.000,0.061,3106,2407,3358
$GC,3130,-0.68,-117.3,227.2,-5.2,170,3134,0.00,2.35,0.00,0.000,4,0.000,0.081,3107,3811,3358
$GC,3165,-0.68,-117.3,229.1,-5.7,171,3168,0.00,2.33,0.00,0.000,6,0.000,0.054,3106,2399,3358
$GC,3506,-0.68,-117.3,248.7,-5.8,182,3509,0.00,2.42,0.00,0.000,4,0.000,0.069,3106,986,3358
$GC,3534,-0.73,-117.3,250.3,-6.1,182,3541,0.00,2.35,0.00,0.000,6,0.000,0.061,3106,2408,3358
$GC,3847,-0.73,-117.3,269.4,-6.3,193,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3358
$GC,4153,-0.73,-117.3,290.2,-6.8,203,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3358
$GC,4488,-0.73,-117.3,312.0,-6.4,211,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3358
$GC,4792,-0.73,-117.3,330.3,-6.0,216,4796,0.00,2.47,0.00,0.000,4,0.000,0.069,3106,989,3358
$GC,4825,-0.80,-117.3,332.5,-6.4,216,4830,0.15,2.33,0.00,0.000,6,0.087,0.062,3051,2410,3358
$GC,5152,-0.70,-117.3,358.2,-8.0,222,5156,0.12,2.38,0.00,0.000,4,0.106,0.081,3085,3805,3358
$GC,5185,-0.70,-117.3,360.9,-7.8,222,5189,0.00,2.28,0.00,0.000,6,0.000,0.054,3085,2396,3358
$GC,5511,-0.70,-117.3,385.3,-7.5,228,5515,0.00,2.42,0.00,0.000,4,0.000,0.081,3085,3805,3357
$GC,5539,-0.70,-117.3,387.5,-8.0,228,5543,0.00,2.30,0.00,0.000,6,0.000,0.054,3085,2395,3358
$GC,5872,-0.70,-117.3,411.2,-7.0,234,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3358
$GC,6175,-0.70,-117.3,431.4,-6.6,239,6179,0.00,2.45,0.00,0.000,4,0.000,0.071,3085,985,3358
$GC,6237,-0.70,-117.3,435.9,-7.4,240,6241,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2398,3358
$GC,6609,-0.70,-117.3,461.3,-6.8,246,6613,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,989,3358
$GC,6653,-0.70,-117.3,464.5,-6.8,246,6657,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2411,3357
$GC,6969,-0.70,-117.3,485.1,-6.5,252,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2410,3357
$GC,7271,-0.70,-117.3,506.4,-7.1,257,7275,0.00,2.42,0.00,0.000,4,0.000,0.071,3085,988,3357
$GC,7321,-0.70,-117.3,510.4,-7.9,257,7325,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2402,3357
$GC,7631,-0.70,-117.3,533.3,-7.4,262,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3357
$GC,7935,-0.70,-117.3,554.8,-7.1,267,7939,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,988,3357
$GC,7979,-0.70,-117.3,558.1,-7.7,267,7983,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2400,3356
$GC,8294,-0.70,-117.3,579.5,-6.7,273,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3357
$GC,8597,-0.70,-117.3,599.5,-6.6,278,8601,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,994,3356
$GC,8630,-0.70,-117.3,601.9,-6.7,278,8634,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2400,3356
$GC,8956,-0.70,-117.3,623.7,-6.7,284,8960,0.00,2.38,0.00,0.000,4,0.000,0.083,3085,3816,3356
$GC,8994,-0.70,-117.3,626.5,-7.0,284,8998,0.00,2.25,0.00,0.000,6,0.000,0.055,3085,2400,3356
$GC,9315,-0.70,-117.3,647.9,-6.7,290,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,9619,-0.70,-117.3,667.6,-6.5,295,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,9922,-0.70,-117.3,685.6,-5.9,300,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,10225,-0.70,-117.3,702.9,-5.7,305,10229,0.00,2.47,0.00,0.000,4,0.000,0.071,3085,986,3356
$GC,10258,-0.70,-117.3,705.1,-7.1,305,10262,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2401,3355
$GC,10585,-0.70,-117.3,725.8,-6.4,311,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,10887,-0.70,-117.3,744.3,-6.1,316,10892,0.00,2.45,0.00,0.000,4,0.000,0.071,3085,992,3355
$GC,10915,-0.70,-117.3,746.1,-7.1,316,10919,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2403,3355
$GC,11247,-0.70,-117.3,765.3,-5.8,322,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3356
$GC,11550,-0.70,-117.3,782.0,-5.5,327,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,11853,-0.70,-117.3,797.3,-5.0,332,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,12156,-0.70,-117.3,811.5,-4.6,337,12160,0.00,2.45,0.00,0.000,4,0.000,0.072,3085,988,3355
$GC,12195,-0.70,-117.3,813.7,-5.6,337,12199,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2402,3355
$GC,12516,-0.70,-117.3,829.6,-5.0,343,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3355
$GC,12819,-0.70,-117.3,845.8,-5.5,348,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3355
$GC,13122,-0.70,-117.3,863.9,-6.1,353,13126,0.00,2.42,0.00,0.000,4,0.000,0.072,3085,989,3354
$GC,13149,-0.70,-117.3,865.7,-6.4,353,13153,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2404,3354
$GC,13488,-0.70,-117.3,886.4,-6.2,359,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,13790,-0.70,-117.3,905.5,-6.3,364,13791,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14093,-0.70,-117.3,925.1,-6.4,369,14097,0.00,2.42,0.00,0.000,4,0.000,0.084,3085,3807,3354
$GC,14125,-0.70,-117.3,927.5,-6.7,369,14130,0.00,2.35,0.00,0.000,6,0.000,0.057,3085,2391,3354
$GC,14453,-0.86,-117.3,951.7,-7.7,375,14458,0.15,2.45,0.00,0.000,4,0.092,0.073,3026,990,3354
$GC,14481,-0.86,-117.3,954.1,-8.6,375,14485,0.00,2.33,0.00,0.000,6,0.000,0.064,3025,2403,3354
$GC,14813,-0.91,-117.3,981.8,-8.4,381,14817,0.00,2.45,0.00,0.000,4,0.000,0.073,3026,991,3354
$GC,14887,-0.81,-117.3,987.9,-7.8,382,14892,0.12,2.35,0.00,0.000,6,0.160,0.065,3057,2406,3354
$STATE,14917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14917,begin apogee
$GC,14924,-0.22,0.0,990.4,6.7,382,15035,0.57,0.00,108.57,1.486,6,0.149,0.000,3236,2193,2876
$STATE,15036,end apogee,CONTROL_FINISHED_OK
$STATE,15036,begin climb
$GC,15039,0.67,117.3,994.4,0.0,384,15163,0.90,2.67,113.43,1.437,4,0.093,0.077,3534,796,2397
$GC,15232,0.33,117.3,992.9,7.0,387,15237,0.43,2.45,0.00,0.000,6,0.178,0.061,3426,2200,2395
$GC,15598,0.33,117.3,974.5,5.0,393,15599,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2200,2394
$GC,15901,0.33,117.3,958.5,5.4,398,15905,0.00,2.35,0.00,0.000,4,0.000,0.080,3426,3619,2393
$GC,15935,0.24,117.3,956.4,6.1,398,15940,0.15,2.30,0.00,0.000,6,0.173,0.062,3398,2193,2393
$GC,16261,0.30,117.3,939.3,5.3,404,16262,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2193,2393
$GC,16565,0.36,117.3,922.9,5.4,409,16569,0.10,2.42,0.00,0.000,4,0.094,0.081,3439,3618,2392
$GC,16609,0.21,117.3,919.8,6.1,409,16614,0.22,2.35,0.00,0.000,6,0.168,0.063,3390,2193,2393
$GC,16925,0.29,117.3,903.3,5.2,415,16926,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2193,2392
$GC,17228,0.40,134.0,889.3,4.5,420,17250,0.15,2.47,15.65,1.366,4,0.081,0.080,3456,3610,2329
$GC,17295,0.22,134.0,885.1,6.4,421,17301,0.28,2.40,0.00,0.000,6,0.168,0.062,3389,2202,2328
$GC,17656,0.38,173.5,870.6,3.9,427,17695,0.15,0.00,36.53,1.401,6,0.085,0.000,3449,2202,2168
$GC,17959,0.38,173.5,854.3,5.5,432,17963,0.00,2.53,0.00,0.000,4,0.000,0.077,3449,788,2164
$GC,17992,0.38,173.5,852.3,7.0,432,17996,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2205,2164
$GC,18318,0.38,173.5,834.9,5.4,438,18319,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2205,2163
$GC,18621,0.38,173.5,818.2,5.5,443,18625,0.00,2.35,0.00,0.000,4,0.000,0.083,3449,3610,2163
$GC,18672,0.28,173.5,814.9,7.0,443,18677,0.15,2.38,0.00,0.000,6,0.176,0.063,3412,2191,2163
$GC,18983,0.38,179.9,800.0,4.8,448,18996,0.00,2.50,6.50,1.137,4,0.000,0.077,3421,785,2143
$GC,19032,0.49,196.2,797.4,4.5,448,19054,0.15,2.30,16.40,1.308,6,0.085,0.061,3478,2201,2076
$GC,19418,0.41,196.2,769.9,7.3,455,19422,0.00,2.47,0.00,0.000,4,0.000,0.077,3478,790,2073
$GC,19457,0.35,196.2,766.6,7.4,455,19462,0.17,2.30,0.00,0.000,6,0.144,0.062,3430,2202,2073
$GC,19778,0.41,196.2,747.6,5.9,461,19782,0.00,2.38,0.00,0.000,4,0.000,0.080,3430,3609,2073
$GC,19828,0.41,196.2,744.2,7.0,461,19832,0.00,2.35,0.00,0.000,6,0.000,0.062,3436,2193,2072
$GC,20140,0.46,196.2,726.1,5.8,466,20141,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2193,2072
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$STATE,31806,end climb,SURFACE_DEPTH_REACHED
$STATE,31806,begin surface coast
$FINISH,2.7,1.020980
$STATE,31943,end surface coast,CONTROL_FINISHED_OK
$STATE,31944,begin surface
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$IRIDIUM_FIX,4946.36,-14509.81,040598,151515
$TT8_MAMPS,0.026078
$HUMID,2107
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$TCM_TEMP,15.70
$XPDR_PINGS,990
$24V_AH,21.4,85.179
$10V_AH,10.5,58.212
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$DEVICE_SECS,30.475,234.400,387.500,0.000,0.000,31.392,24.688,188.696,247.500,0.000,0.000,13.775,1792.882,26887.043,546.910,2423.584,755.413,33.373,1770.356,0.000,2394.382,0.000,0.465
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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,47526,823
$CAP_FILE_SIZE,190530,0
$CFSIZE,260165632,224919552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080209,100127,4955.207,-14512.199,42,2.3,61,18.4