version: 66.03
glider: 120
mission: 9
dive: 448
start: 2 13 109 7 35 44
data:
$ID,120
$MISSION,9
$DIVE,448
$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,-27357.598
$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,24
$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
$GPS1,072831,5020.620,-14429.306,47,1.7,47,18.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,4.03
$_SM_ANGLEo,-76.0
$GPS2,073449,5020.591,-14429.290,11,1.5,11,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.032,-0.173
$KALMAN_X,-15242.9,278.9,181.7,68513.6,-1345.2
$KALMAN_Y,39437.1,-289.0,-131.5,-7322.6,-257.1
$MHEAD_RNG_PITCHd_Wd,151.0,49230,-12.2,-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,-114.8,0.0,0.0,0,37,0.00,0.00,-10.93,0.000,2,0.000,0.000,139,2407,2030
$GC,41,-0.67,-117.3,4.1,-0.0,1,116,13.93,2.53,-51.12,0.000,4,0.281,0.092,3085,3811,3356
$GC,156,-0.45,-117.3,11.2,-10.3,11,163,0.30,2.30,0.00,0.000,6,0.156,0.054,3169,2387,3357
$GC,486,-0.52,-117.3,35.2,-6.5,42,492,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2387,3357
$GC,812,-0.60,-117.3,56.4,-6.3,73,816,0.15,2.35,0.00,0.000,4,0.077,0.068,3104,988,3358
$GC,856,-0.55,-117.3,60.3,-9.1,76,863,0.12,2.28,0.00,0.000,6,0.142,0.061,3138,2397,3357
$GC,1193,-0.55,-117.3,86.2,-8.8,105,1197,0.00,2.38,0.00,0.000,4,0.000,0.067,3138,983,3358
$GC,1214,-0.55,-117.3,88.1,-7.5,106,1218,0.00,2.30,0.00,0.000,6,0.000,0.060,3138,2401,3358
$GC,1536,-0.55,-117.3,111.7,-6.9,122,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2401,3358
$GC,1844,-0.55,-117.3,131.2,-5.7,137,1848,0.00,2.35,0.00,0.000,4,0.000,0.068,3138,992,3358
$GC,1913,-0.63,-117.3,135.2,-6.1,140,1917,0.00,2.33,0.00,0.000,6,0.000,0.061,3138,2412,3357
$GC,2236,-0.70,-117.3,156.5,-6.9,154,2241,0.15,2.38,0.00,0.000,4,0.081,0.067,3073,993,3358
$GC,2258,-0.70,-117.3,158.3,-7.5,154,2264,0.00,2.28,0.00,0.000,6,0.000,0.060,3073,2401,3358
$GC,2571,-0.58,-117.3,185.5,-8.7,165,2573,0.20,0.00,0.00,0.000,6,0.154,0.000,3128,2401,3358
$GC,2878,-0.63,-117.3,204.3,-5.7,175,2882,0.00,2.35,0.00,0.000,4,0.000,0.068,3129,989,3358
$GC,2913,-0.69,-117.3,206.3,-5.8,176,2917,0.00,2.33,0.00,0.000,6,0.000,0.061,3128,2412,3358
$GC,3254,-0.93,-117.3,227.1,-6.5,187,3259,0.30,2.33,0.00,0.000,4,0.083,0.077,3013,3811,3358
$GC,3462,-0.65,-117.3,249.2,-10.9,193,3467,0.32,2.25,0.00,0.000,6,0.163,0.054,3102,2399,3358
$GC,3786,-0.65,-117.3,271.3,-6.7,204,3790,0.00,2.35,0.00,0.000,4,0.000,0.069,3103,988,3358
$GC,3831,-0.65,-117.3,274.4,-6.9,205,3834,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2410,3358
$GC,4155,-0.65,-117.3,295.7,-6.5,216,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3358
$GC,4489,-0.65,-117.3,317.1,-6.3,223,4493,0.00,2.38,0.00,0.000,4,0.000,0.069,3100,990,3358
$GC,4533,-0.65,-117.3,320.2,-6.8,223,4537,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2404,3358
$GC,4849,-0.65,-117.3,341.0,-6.7,229,4853,0.00,2.35,0.00,0.000,4,0.000,0.069,3100,989,3357
$GC,4887,-0.65,-117.3,343.7,-7.3,229,4891,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2400,3358
$GC,5208,-0.65,-117.3,363.9,-6.2,235,5212,0.00,2.33,0.00,0.000,4,0.000,0.070,3100,992,3358
$GC,5253,-0.65,-117.3,366.9,-6.5,235,5257,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2407,3357
$GC,5569,-0.65,-117.3,387.5,-6.6,241,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3357
$GC,5871,-0.65,-117.3,408.0,-6.7,246,5875,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,993,3358
$GC,5910,-0.65,-117.3,410.9,-7.3,246,5914,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2408,3357
$GC,6231,-0.65,-117.3,433.8,-7.1,252,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,6534,-0.65,-117.3,455.0,-7.0,257,6538,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,993,3357
$GC,6567,-0.65,-117.3,457.5,-6.9,257,6571,0.00,2.30,0.00,0.000,6,0.000,0.062,3100,2406,3357
$GC,6894,-0.65,-117.3,479.8,-6.8,263,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3356
$GC,7197,-0.65,-117.3,500.4,-6.8,268,7201,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,990,3356
$GC,7281,-0.65,-117.3,506.4,-7.1,269,7285,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2400,3356
$GC,7624,-0.65,-117.3,529.4,-6.7,275,7628,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,983,3356
$GC,7651,-0.65,-117.3,531.3,-7.1,275,7655,0.00,2.33,0.00,0.000,6,0.000,0.062,3100,2410,3356
$GC,7983,-0.65,-117.3,552.1,-6.1,281,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,8286,-0.65,-117.3,569.6,-5.7,286,8290,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,992,3356
$GC,8324,-0.70,-117.3,571.9,-6.5,286,8329,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2401,3356
$GC,8646,-0.70,-117.3,590.1,-5.7,292,8650,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,989,3356
$GC,8674,-0.70,-117.3,591.8,-5.7,292,8678,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2399,3356
$GC,9006,-0.70,-117.3,610.4,-5.5,298,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3356
$GC,9309,-0.70,-117.3,626.8,-5.4,303,9313,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,988,3355
$GC,9342,-0.75,-117.3,628.8,-6.0,303,9346,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2410,3355
$GC,9670,-0.75,-117.3,647.3,-5.8,309,9674,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,993,3355
$GC,9698,-0.79,-117.3,649.1,-5.6,309,9702,0.12,2.30,0.00,0.000,6,0.090,0.063,3053,2399,3355
$GC,10029,-0.79,-117.3,670.8,-6.6,315,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2399,3355
$GC,10332,-0.79,-117.3,689.9,-6.3,320,10336,0.00,2.35,0.00,0.000,4,0.000,0.071,3053,988,3355
$GC,10367,-0.74,-117.3,692.1,-6.7,320,10371,0.00,2.33,0.00,0.000,6,0.000,0.062,3053,2411,3355
$GC,10694,-0.67,-117.3,713.4,-6.5,326,10696,0.17,0.00,0.00,0.000,6,0.150,0.000,3102,2411,3355
$GC,10997,-0.72,-117.3,728.7,-5.0,331,11001,0.00,2.38,0.00,0.000,4,0.000,0.072,3102,988,3354
$GC,11037,-0.79,-117.3,730.9,-5.6,331,11042,0.12,2.33,0.00,0.000,6,0.091,0.063,3054,2409,3354
$GC,11358,-0.79,-117.3,748.8,-5.6,337,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2410,3354
$GC,11661,-0.79,-117.3,765.6,-5.6,342,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2410,3354
$GC,11964,-0.79,-117.3,783.7,-5.9,347,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2410,3354
$GC,12268,-0.79,-117.3,802.2,-6.1,352,12272,0.00,2.40,0.00,0.000,4,0.000,0.073,3055,992,3354
$GC,12300,-0.79,-117.3,804.3,-6.6,352,12305,0.00,2.33,0.00,0.000,6,0.000,0.064,3054,2412,3354
$GC,12628,-0.74,-117.3,825.4,-6.4,358,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2411,3354
$GC,12931,-0.69,-117.3,845.2,-6.5,363,12932,0.15,0.00,0.00,0.000,6,0.151,0.000,3095,2411,3354
$GC,13235,-0.74,-117.3,860.9,-5.2,368,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3354
$GC,13538,-0.80,-117.3,876.2,-5.0,373,13542,0.12,2.40,0.00,0.000,4,0.091,0.072,3051,994,3353
$GC,13565,-0.80,-117.3,878.0,-7.1,373,13569,0.00,2.30,0.00,0.000,6,0.000,0.064,3051,2398,3353
$GC,13897,-0.76,-117.3,897.8,-6.0,379,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2398,3354
$GC,14200,-0.76,-117.3,915.4,-5.8,384,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2398,3353
$GC,14503,-0.72,-117.3,933.4,-5.9,389,14505,0.12,0.00,0.00,0.000,6,0.150,0.000,3086,2398,3353
$GC,14806,-0.72,-117.3,948.7,-5.0,394,14807,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3353
$GC,15109,-0.72,-117.3,964.8,-5.3,399,15113,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,988,3353
$GC,15142,-0.72,-117.3,966.9,-5.6,399,15146,0.00,2.35,0.00,0.000,6,0.000,0.065,3086,2409,3353
$GC,15468,-0.72,-117.3,985.7,-5.8,405,15469,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2408,3353
$STATE,15587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15587,begin apogee
$GC,15594,-0.22,0.0,992.7,5.9,407,15709,0.52,0.00,108.97,1.486,6,0.144,0.000,3243,2199,2876
$STATE,15710,end apogee,CONTROL_FINISHED_OK
$STATE,15710,begin climb
$GC,15714,0.67,117.3,997.4,0.0,409,15836,0.88,0.00,113.90,1.434,6,0.096,0.000,3526,2199,2396
$GC,16142,0.38,117.3,977.8,7.2,416,16144,0.30,0.00,0.00,0.000,6,0.172,0.000,3445,2198,2394
$GC,16443,0.31,117.3,961.5,5.3,421,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2198,2394
$GC,16747,0.24,117.3,945.2,5.4,426,16752,0.15,2.40,0.00,0.000,4,0.179,0.077,3408,790,2393
$GC,16786,0.33,132.1,943.1,4.6,426,16809,0.00,2.30,14.05,1.355,6,0.000,0.062,3408,2204,2336
$GC,17112,0.39,132.1,926.7,5.1,432,17114,0.10,0.00,0.00,0.000,6,0.094,0.000,3450,2204,2336
$GC,17415,0.33,132.1,908.6,6.0,437,17419,0.00,2.35,0.00,0.000,4,0.000,0.081,3450,3617,2335
$GC,17449,0.19,132.1,906.1,7.4,437,17454,0.25,2.33,0.00,0.000,6,0.175,0.064,3385,2198,2335
$GC,17776,0.35,156.2,891.7,4.3,443,17801,0.15,0.00,22.85,1.392,6,0.085,0.000,3443,2197,2238
$GC,18079,0.35,156.2,874.4,5.9,448,18080,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2197,2237
$GC,18381,0.35,156.2,857.6,5.5,453,18382,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2198,2236
$GC,18684,0.35,156.2,841.4,5.3,458,18686,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2197,2236
$GC,18988,0.35,156.2,825.2,5.4,463,18989,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2197,2236
$GC,19291,0.35,156.2,807.8,5.8,468,19295,0.00,2.45,0.00,0.000,4,0.000,0.081,3443,3611,2236
$GC,19331,0.27,156.2,805.1,6.4,468,19335,0.17,2.33,0.00,0.000,6,0.167,0.063,3403,2198,2236
$GC,19652,0.38,156.3,788.8,5.0,474,19656,0.12,2.42,0.00,0.000,4,0.087,0.077,3451,781,2236
$GC,19690,0.38,156.3,786.5,6.4,474,19694,0.00,2.33,0.00,0.000,6,0.000,0.063,3451,2213,2235
$GC,20011,0.38,156.3,766.4,6.3,480,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2212,2236
$GC,20314,0.38,156.3,747.4,6.3,485,20318,0.00,2.35,0.00,0.000,4,0.000,0.082,3451,3616,2236
$GC,20353,0.28,156.3,744.7,7.2,485,20358,0.15,2.33,0.00,0.000,6,0.170,0.064,3413,2191,2235
$GC,20675,0.36,156.3,727.6,5.3,491,20679,0.00,2.38,0.00,0.000,4,0.000,0.077,3422,782,2235
$GC,20738,0.44,156.3,724.1,5.2,492,20743,0.12,2.33,0.00,0.000,6,0.093,0.061,3473,2211,2236
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$STATE,33207,end climb,SURFACE_DEPTH_REACHED
$STATE,33207,begin surface coast
$FINISH,2.8,1.025635
$STATE,33293,end surface coast,CONTROL_FINISHED_OK
$STATE,33293,begin surface
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$10V_AH,10.5,60.124
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$DEVICE_SECS,30.100,221.650,355.875,10.100,0.000,23.021,27.390,180.576,260.000,0.000,0.000,11.997,1872.196,28045.473,540.631,2470.366,768.917,33.373,1775.144,0.000,2449.193,0.000,0.465
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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,50522,875
$CAP_FILE_SIZE,194379,0
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130209,165237,5017.497,-14427.309,46,1.2,46,18.7