version: 66.03
glider: 120
mission: 9
dive: 603
start: 4 13 109 1 52 57
data:
$ID,120
$MISSION,9
$DIVE,603
$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,-30601.764
$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,22
$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
$GPS1,014530,4957.713,-14504.165,65,1.3,70,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-71.3
$GPS2,015201,4957.667,-14504.208,17,1.5,21,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.148,0.098
$KALMAN_X,-86083.4,133.4,-356.3,98528.3,-1772.4
$KALMAN_Y,148209.6,85.4,-559.6,-158485.0,849.0
$MHEAD_RNG_PITCHd_Wd,38.2,24133,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,49,0.00,0.00,-20.60,0.000,2,0.000,0.000,136,2410,2226
$GC,53,-0.67,-117.3,3.2,-5.2,2,108,13.82,2.42,-34.90,0.000,4,0.280,0.082,3093,987,3355
$GC,302,-0.52,-117.3,24.8,-8.6,24,307,0.20,2.35,0.00,0.000,6,0.150,0.063,3149,2397,3358
$GC,633,-0.52,-117.3,49.0,-7.8,54,638,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2396,3357
$GC,959,-0.52,-117.3,71.8,-7.9,85,963,0.00,2.40,0.00,0.000,4,0.000,0.069,3150,983,3357
$GC,988,-0.52,-117.3,73.8,-6.9,87,992,0.00,2.35,0.00,0.000,6,0.000,0.061,3149,2400,3357
$GC,1324,-0.52,-117.3,96.1,-6.9,108,1328,0.00,2.40,0.00,0.000,4,0.000,0.081,3142,3812,3358
$GC,1352,-0.52,-117.3,98.2,-7.2,109,1356,0.00,2.28,0.00,0.000,6,0.000,0.052,3142,2391,3357
$GC,1669,-0.52,-117.3,118.6,-6.3,124,1673,0.00,2.35,0.00,0.000,4,0.000,0.068,3142,993,3357
$GC,1733,-0.56,-117.3,122.4,-6.1,127,1737,0.00,2.38,0.00,0.000,6,0.000,0.061,3142,2410,3357
$GC,2062,-0.61,-117.3,141.2,-5.9,143,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2409,3357
$GC,2390,-0.87,-117.3,165.8,-8.2,156,2395,0.28,2.42,0.00,0.000,4,0.083,0.067,3039,991,3358
$GC,2641,-0.68,-117.3,193.1,-11.1,163,2646,0.20,2.38,0.00,0.000,6,0.155,0.062,3093,2406,3358
$GC,2961,-0.63,-117.3,219.2,-7.8,174,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3358
$GC,3267,-0.58,-117.3,242.4,-7.5,184,3269,0.12,0.00,0.00,0.000,6,0.164,0.000,3128,2406,3358
$GC,3573,-0.64,-117.3,260.5,-5.7,194,3577,0.00,2.42,0.00,0.000,4,0.000,0.068,3128,984,3358
$GC,3613,-0.71,-117.3,262.8,-5.8,195,3618,0.12,2.38,0.00,0.000,6,0.084,0.061,3082,2405,3358
$GC,3944,-0.71,-117.3,283.9,-6.6,206,3948,0.00,2.40,0.00,0.000,4,0.000,0.080,3082,3813,3358
$GC,3972,-0.71,-117.3,286.1,-7.7,206,3978,0.00,2.30,0.00,0.000,6,0.000,0.054,3082,2376,3358
$GC,4316,-0.71,-117.3,311.5,-7.5,216,4321,0.00,2.35,0.00,0.000,4,0.000,0.070,3082,985,3358
$GC,4345,-0.71,-117.3,314.0,-8.4,216,4349,0.00,2.35,0.00,0.000,6,0.000,0.061,3082,2401,3358
$GC,4684,-0.71,-117.3,341.4,-8.1,222,4688,0.00,2.40,0.00,0.000,4,0.000,0.069,3082,994,3358
$GC,4720,-0.71,-117.3,344.5,-7.9,222,4724,0.00,2.38,0.00,0.000,6,0.000,0.061,3082,2407,3358
$GC,5047,-0.71,-117.3,371.0,-8.1,228,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2407,3358
$GC,5351,-0.71,-117.3,395.8,-8.2,233,5355,0.00,2.40,0.00,0.000,4,0.000,0.081,3082,3810,3358
$GC,5378,-0.71,-117.3,398.3,-8.9,233,5382,0.00,2.28,0.00,0.000,6,0.000,0.054,3082,2399,3358
$GC,5711,-0.71,-117.3,423.6,-7.5,239,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3358
$GC,6014,-0.71,-117.3,444.1,-6.8,244,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3358
$GC,6319,-0.71,-117.3,462.7,-6.1,249,6323,0.00,2.40,0.00,0.000,4,0.000,0.071,3082,993,3357
$GC,6358,-0.71,-117.3,465.3,-6.2,249,6362,0.00,2.38,0.00,0.000,6,0.000,0.062,3082,2405,3357
$GC,6680,-0.71,-117.3,484.9,-6.2,255,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,6983,-0.71,-117.3,504.8,-6.7,260,6987,0.00,2.42,0.00,0.000,4,0.000,0.070,3082,993,3357
$GC,7017,-0.71,-117.3,507.2,-6.4,260,7021,0.00,2.38,0.00,0.000,6,0.000,0.061,3082,2406,3357
$GC,7344,-0.71,-117.3,530.2,-7.1,266,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2406,3357
$GC,7647,-0.71,-117.3,553.3,-7.7,271,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2405,3357
$GC,7950,-0.71,-117.3,575.7,-7.3,276,7954,0.00,2.45,0.00,0.000,4,0.000,0.070,3082,985,3357
$GC,7995,-0.71,-117.3,579.2,-7.0,276,8000,0.00,2.40,0.00,0.000,6,0.000,0.062,3082,2411,3357
$GC,8312,-0.71,-117.3,600.8,-6.8,282,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2410,3357
$GC,8614,-0.71,-117.3,621.4,-6.8,287,8619,0.00,2.45,0.00,0.000,4,0.000,0.071,3082,989,3357
$GC,8648,-0.71,-117.3,624.0,-7.3,287,8652,0.00,2.38,0.00,0.000,6,0.000,0.061,3082,2400,3357
$GC,8975,-0.71,-117.3,646.4,-6.9,293,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3357
$GC,9279,-0.71,-117.3,666.0,-6.5,298,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3357
$GC,9582,-0.71,-117.3,686.6,-6.9,303,9586,0.00,2.45,0.00,0.000,4,0.000,0.071,3082,987,3356
$GC,9626,-0.71,-117.3,690.1,-7.6,303,9631,0.00,2.40,0.00,0.000,6,0.000,0.061,3082,2411,3356
$GC,9943,-0.71,-117.3,711.6,-6.7,309,9947,0.00,2.42,0.00,0.000,4,0.000,0.082,3082,3815,3356
$GC,9983,-0.71,-117.3,714.4,-7.1,309,9987,0.00,2.30,0.00,0.000,6,0.000,0.054,3082,2397,3356
$GC,10305,-0.71,-117.3,734.2,-6.1,315,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2398,3356
$GC,10607,-0.71,-117.3,752.1,-5.9,320,10612,0.00,2.40,0.00,0.000,4,0.000,0.071,3082,994,3356
$GC,10641,-0.71,-117.3,754.3,-6.8,320,10645,0.00,2.38,0.00,0.000,6,0.000,0.062,3082,2401,3356
$GC,10969,-0.71,-117.3,772.8,-5.6,326,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3356
$GC,11272,-0.71,-117.3,788.5,-5.1,331,11276,0.00,2.45,0.00,0.000,4,0.000,0.071,3082,988,3355
$GC,11300,-0.71,-117.3,789.9,-5.9,331,11304,0.00,2.40,0.00,0.000,6,0.000,0.063,3082,2406,3355
$GC,11632,-0.71,-117.3,806.5,-5.0,337,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2405,3355
$GC,11937,-0.71,-117.3,823.6,-5.8,342,11941,0.00,2.42,0.00,0.000,4,0.000,0.082,3082,3809,3355
$GC,11965,-0.71,-117.3,825.4,-6.7,342,11969,0.00,2.30,0.00,0.000,6,0.000,0.055,3082,2391,3355
$GC,12304,-0.71,-117.3,845.5,-5.9,348,12308,0.00,2.40,0.00,0.000,4,0.000,0.072,3081,993,3355
$GC,12340,-0.75,-117.3,847.7,-6.0,348,12344,0.00,2.38,0.00,0.000,6,0.000,0.062,3082,2399,3355
$GC,12668,-0.75,-117.3,867.5,-6.0,354,12672,0.00,2.45,0.00,0.000,4,0.000,0.082,3082,3817,3355
$GC,12713,-0.75,-117.3,870.5,-5.9,354,12717,0.00,2.30,0.00,0.000,6,0.000,0.055,3082,2402,3355
$GC,13029,-0.93,-117.3,892.5,-7.1,360,13034,0.15,2.45,0.00,0.000,4,0.093,0.081,3021,3812,3355
$GC,13192,-0.78,-117.3,905.9,-7.6,362,13197,0.15,2.30,0.00,0.000,6,0.120,0.056,3060,2396,3354
$GC,13525,-0.73,-117.3,928.3,-6.7,368,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2397,3354
$GC,13830,-0.67,-117.3,949.0,-6.9,373,13835,0.15,2.45,0.00,0.000,4,0.170,0.072,3107,991,3354
$GC,13875,-0.78,-117.3,951.9,-5.4,373,13880,0.15,2.40,0.00,0.000,6,0.083,0.063,3058,2410,3354
$GC,14191,-0.78,-117.3,970.5,-5.9,379,14195,0.00,2.42,0.00,0.000,4,0.000,0.083,3058,3811,3354
$GC,14236,-0.78,-117.3,973.4,-6.5,379,14240,0.00,2.30,0.00,0.000,6,0.000,0.057,3058,2402,3354
$STATE,14549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14549,begin apogee
$GC,14558,-0.22,0.0,991.4,5.7,385,14671,0.62,0.00,107.55,1.496,6,0.135,0.000,3245,2186,2876
$STATE,14672,end apogee,CONTROL_FINISHED_OK
$STATE,14672,begin climb
$GC,14675,0.67,117.3,995.0,0.0,387,14799,0.88,2.75,113.72,1.436,4,0.092,0.077,3532,798,2397
$GC,14822,0.32,117.3,993.8,5.6,389,14828,0.45,2.58,0.00,0.000,6,0.174,0.058,3424,2197,2396
$GC,15167,0.32,117.3,974.1,5.8,395,15171,0.00,2.35,0.00,0.000,4,0.000,0.079,3424,3611,2393
$GC,15241,0.22,117.3,969.3,6.2,396,15245,0.17,2.28,0.00,0.000,6,0.172,0.061,3387,2199,2393
$GC,15596,0.30,118.2,951.5,5.0,402,15597,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2200,2393
$GC,15900,0.40,129.1,937.1,4.7,407,15914,0.15,0.00,11.48,1.332,6,0.076,0.000,3456,2199,2349
$GC,16272,0.30,129.1,915.7,5.7,413,16277,0.15,2.40,0.00,0.000,4,0.145,0.075,3419,784,2348
$GC,16323,0.30,129.1,913.0,5.3,413,16327,0.00,2.35,0.00,0.000,6,0.000,0.061,3419,2213,2348
$GC,16633,0.34,159.9,900.1,4.1,418,16668,0.00,2.42,28.23,1.411,4,0.000,0.081,3419,3606,2223
$GC,16710,0.37,183.2,896.6,4.3,419,16739,0.00,2.30,22.35,1.370,6,0.000,0.061,3420,2195,2129
$GC,17069,0.47,209.1,881.0,4.3,425,17096,0.15,0.00,24.48,1.379,6,0.084,0.000,3481,2195,2023
$GC,17371,0.41,209.1,861.4,6.6,430,17373,0.12,0.00,0.00,0.000,6,0.127,0.000,3445,2195,2019
$GC,17674,0.41,209.1,843.2,6.0,435,17675,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2195,2019
$GC,17976,0.41,209.1,823.8,6.4,440,17978,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2195,2018
$GC,18280,0.41,209.1,803.5,6.7,445,18281,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2196,2018
$GC,18583,0.41,209.1,783.8,6.4,450,18584,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2196,2017
$GC,18886,0.41,209.1,765.3,6.1,455,18887,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2195,2017
$GC,19190,0.41,209.1,746.9,6.0,460,19194,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,781,2017
$GC,19229,0.41,209.1,744.5,5.8,460,19233,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2207,2017
$GC,19550,0.41,209.1,725.8,5.8,466,19551,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2206,2017
$GC,19853,0.41,209.1,707.4,6.1,471,19857,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3605,2017
$GC,19887,0.41,209.1,705.0,6.8,471,19891,0.00,2.33,0.00,0.000,6,0.000,0.062,3448,2188,2017
$GC,20214,0.41,209.1,683.3,6.7,477,20218,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,788,2017
$GC,20254,0.46,209.1,680.4,7.0,477,20258,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2207,2017
$GC,20576,0.46,209.1,657.5,7.3,483,20577,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2017
$GC,20878,0.46,209.1,635.4,7.2,488,20879,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2017
$GC,21182,0.46,209.1,613.5,7.2,493,21183,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2017
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$GC,22394,0.54,209.1,532.4,7.0,513,22399,0.12,2.40,0.00,0.000,4,0.089,0.080,3505,3609,2017
$GC,22458,0.34,209.1,526.5,10.1,514,22463,0.30,2.33,0.00,0.000,6,0.168,0.063,3426,2199,2017
$GC,22825,0.45,209.1,503.2,6.3,520,22830,0.12,2.42,0.00,0.000,4,0.081,0.077,3473,791,2017
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$GC,27476,0.60,222.7,219.5,4.6,616,27496,0.12,2.38,12.18,0.956,6,0.083,0.058,3515,2209,1967
$GC,27816,0.53,222.7,195.7,6.9,627,27817,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2209,1966
$GC,28122,0.46,222.7,175.9,6.4,637,28127,0.15,2.45,0.00,0.000,4,0.139,0.073,3476,783,1966
$GC,28190,0.51,222.7,172.2,5.4,639,28195,0.00,2.35,0.00,0.000,6,0.000,0.060,3476,2202,1966
$GC,28521,0.56,227.3,156.0,4.9,650,28532,0.00,2.42,5.57,0.790,4,0.000,0.075,3477,780,1949
$GC,28578,0.63,227.3,153.1,5.1,651,28585,0.12,2.35,0.00,0.000,6,0.085,0.059,3530,2211,1948
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$GC,29204,0.61,227.4,117.1,5.0,681,29206,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2210,1947
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$STATE,30944,end climb,SURFACE_DEPTH_REACHED
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$10V_AH,10.3,81.498
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$DEVICE_SECS,29.625,225.200,400.575,0.000,0.000,27.679,27.684,167.297,250.750,0.000,0.000,21.496,1790.606,26037.051,539.475,2424.719,849.611,33.380,1748.230,0.000,2393.452,0.000,0.466
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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,47450,830
$CAP_FILE_SIZE,184971,0
$CFSIZE,260165632,211816448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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