version: 66.03
glider: 120
mission: 9
dive: 612
start: 4 16 109 11 57 35
data:
$ID,120
$MISSION,9
$DIVE,612
$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,-30767.326
$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,22
$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
$GPS1,115006,5016.334,-14435.516,84,1.3,84,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-76.5
$GPS2,115637,5016.340,-14435.516,11,1.5,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.125,0.127
$KALMAN_X,-99500.8,-81.0,106.6,145807.7,-1642.0
$KALMAN_Y,141250.2,97.1,53.3,-117587.3,-796.0
$MHEAD_RNG_PITCHd_Wd,26.0,10948,-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,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-30.00,0.000,2,0.000,0.000,134,2414,2467
$GC,62,-0.67,-117.3,3.2,-5.1,3,107,13.82,2.38,-24.45,0.000,4,0.278,0.094,3094,3807,3355
$GC,360,-0.53,-117.3,34.0,-11.3,29,367,0.17,2.30,0.00,0.000,6,0.152,0.054,3143,2376,3357
$GC,689,-0.53,-117.3,59.5,-7.2,60,695,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2377,3357
$GC,1025,-0.53,-117.3,83.3,-7.0,90,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2377,3357
$GC,1334,-0.53,-117.3,105.3,-7.0,105,1338,0.00,2.40,0.00,0.000,4,0.000,0.070,3143,992,3357
$GC,1386,-0.53,-117.3,109.1,-7.0,107,1390,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2398,3357
$GC,1702,-0.53,-117.3,130.8,-6.8,122,1707,0.00,2.42,0.00,0.000,4,0.000,0.081,3141,3809,3357
$GC,1748,-0.53,-117.3,134.1,-7.7,124,1752,0.00,2.30,0.00,0.000,6,0.000,0.052,3141,2392,3357
$GC,2081,-0.59,-117.3,157.7,-7.2,139,2085,0.00,2.42,0.00,0.000,4,0.000,0.070,3141,980,3357
$GC,2132,-0.67,-117.3,161.7,-7.5,140,2137,0.12,2.40,0.00,0.000,6,0.080,0.060,3093,2401,3357
$GC,2446,-0.67,-117.3,183.3,-6.4,150,2450,0.00,2.42,0.00,0.000,4,0.000,0.080,3093,3817,3357
$GC,2536,-0.67,-117.3,190.3,-7.9,152,2543,0.00,2.30,0.00,0.000,6,0.000,0.054,3093,2391,3357
$GC,2850,-0.67,-117.3,210.9,-6.4,163,2854,0.00,2.38,0.00,0.000,4,0.000,0.070,3093,988,3357
$GC,2901,-0.67,-117.3,214.3,-6.8,164,2905,0.00,2.38,0.00,0.000,6,0.000,0.060,3093,2399,3357
$GC,3221,-0.67,-117.3,235.9,-7.0,175,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3357
$GC,3526,-0.67,-117.3,258.0,-7.2,185,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3357
$GC,3832,-0.67,-117.3,279.9,-7.1,195,3836,0.00,2.42,0.00,0.000,4,0.000,0.069,3094,986,3357
$GC,3872,-0.67,-117.3,283.0,-7.7,196,3876,0.00,2.40,0.00,0.000,6,0.000,0.061,3093,2404,3357
$GC,4196,-0.67,-117.3,305.5,-6.7,206,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2404,3357
$GC,4499,-0.67,-117.3,325.7,-6.7,211,4503,0.00,2.45,0.00,0.000,4,0.000,0.069,3093,989,3357
$GC,4543,-0.67,-117.3,328.8,-6.8,211,4547,0.00,2.40,0.00,0.000,6,0.000,0.060,3093,2409,3357
$GC,4860,-0.67,-117.3,351.4,-7.2,217,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3358
$GC,5163,-0.67,-117.3,371.5,-6.6,222,5167,0.00,2.45,0.00,0.000,4,0.000,0.069,3093,992,3357
$GC,5190,-0.67,-117.3,373.3,-6.1,222,5194,0.00,2.40,0.00,0.000,6,0.000,0.061,3093,2407,3357
$GC,5529,-0.67,-117.3,393.8,-6.0,228,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3357
$GC,5832,-0.67,-117.3,410.3,-5.5,233,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3357
$GC,6136,-0.67,-117.3,426.3,-5.3,238,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3357
$GC,6439,-0.67,-117.3,443.2,-5.6,243,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3357
$GC,6741,-0.67,-117.3,461.1,-5.9,248,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3357
$GC,7044,-0.67,-117.3,479.3,-6.0,253,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3357
$GC,7348,-0.67,-117.3,498.1,-6.3,258,7352,0.00,2.45,0.00,0.000,4,0.000,0.071,3093,992,3357
$GC,7376,-0.67,-117.3,500.0,-6.7,258,7380,0.00,2.38,0.00,0.000,6,0.000,0.061,3093,2401,3357
$GC,7710,-0.67,-117.3,520.3,-6.2,264,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3357
$GC,8012,-0.67,-117.3,538.9,-6.1,269,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3357
$GC,8315,-0.67,-117.3,557.3,-6.0,274,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3357
$GC,8620,-0.67,-117.3,575.2,-5.9,279,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3357
$GC,8922,-0.67,-117.3,593.6,-6.1,284,8926,0.00,2.47,0.00,0.000,4,0.000,0.071,3093,981,3357
$GC,8950,-0.71,-117.3,595.5,-6.6,284,8955,0.00,2.42,0.00,0.000,6,0.000,0.062,3093,2408,3356
$GC,9283,-0.71,-117.3,615.7,-6.1,290,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2407,3357
$GC,9587,-0.71,-117.3,634.7,-6.3,295,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2407,3356
$GC,9890,-0.71,-117.3,653.1,-6.0,300,9894,0.00,2.47,0.00,0.000,4,0.000,0.071,3093,988,3355
$GC,9918,-0.76,-117.3,654.9,-6.8,300,9922,0.00,2.40,0.00,0.000,6,0.000,0.062,3093,2402,3356
$GC,10251,-0.80,-117.3,673.6,-5.6,306,10256,0.10,2.45,0.00,0.000,4,0.094,0.081,3052,3807,3356
$GC,10280,-0.74,-117.3,675.5,-7.0,306,10284,0.00,2.30,0.00,0.000,6,0.000,0.055,3052,2392,3356
$GC,10619,-0.70,-117.3,696.4,-6.1,312,10624,0.12,2.50,0.00,0.000,4,0.101,0.081,3085,3817,3356
$GC,10731,-0.74,-117.3,703.1,-5.7,313,10736,0.00,2.33,0.00,0.000,6,0.000,0.056,3085,2393,3355
$GC,11049,-0.74,-117.3,720.1,-5.4,319,11053,0.00,2.42,0.00,0.000,4,0.000,0.072,3085,992,3356
$GC,11076,-0.74,-117.3,721.8,-6.1,319,11081,0.00,2.40,0.00,0.000,6,0.000,0.063,3085,2401,3356
$GC,11409,-0.74,-117.3,741.0,-5.8,325,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,11712,-0.74,-117.3,758.8,-5.9,330,11714,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,12017,-0.74,-117.3,778.0,-6.4,335,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,12319,-0.74,-117.3,796.0,-5.8,340,12323,0.00,2.47,0.00,0.000,4,0.000,0.072,3085,991,3355
$GC,12352,-0.74,-117.3,798.0,-5.6,340,12357,0.00,2.42,0.00,0.000,6,0.000,0.064,3085,2408,3355
$GC,12680,-0.74,-117.3,815.9,-5.5,346,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3355
$GC,12984,-0.74,-117.3,833.0,-5.7,351,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3355
$GC,13286,-0.74,-117.3,850.7,-5.9,356,13290,0.00,2.50,0.00,0.000,4,0.000,0.073,3085,983,3355
$GC,13326,-0.74,-117.3,853.4,-6.3,356,13330,0.00,2.42,0.00,0.000,6,0.000,0.064,3085,2402,3355
$GC,13648,-0.74,-117.3,872.3,-5.9,362,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,13951,-0.74,-117.3,889.5,-5.7,367,13952,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,14253,-0.74,-117.3,906.4,-5.6,372,14258,0.00,2.47,0.00,0.000,4,0.000,0.073,3085,992,3354
$GC,14282,-0.74,-117.3,908.3,-6.2,372,14286,0.00,2.42,0.00,0.000,6,0.000,0.064,3085,2403,3354
$GC,14614,-0.74,-117.3,928.2,-6.1,378,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14918,-0.74,-117.3,946.8,-6.1,383,14919,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,15220,-0.74,-117.3,964.8,-6.0,388,15224,0.00,2.47,0.00,0.000,4,0.000,0.072,3085,993,3354
$GC,15253,-0.74,-117.3,967.1,-7.4,388,15258,0.00,2.42,0.00,0.000,6,0.000,0.064,3085,2405,3354
$GC,15581,-0.74,-117.3,985.7,-5.6,394,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$STATE,15698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15699,begin apogee
$GC,15708,-0.22,0.0,992.2,5.5,396,15821,0.52,0.00,108.10,1.492,6,0.135,0.000,3243,2188,2875
$STATE,15822,end apogee,CONTROL_FINISHED_OK
$STATE,15822,begin climb
$GC,15826,0.67,117.3,996.3,0.0,398,15948,0.88,0.00,113.97,1.440,6,0.086,0.000,3532,2188,2396
$GC,16256,0.34,117.3,974.1,8.0,405,16261,0.32,2.42,0.00,0.000,4,0.159,0.077,3428,3614,2393
$GC,16307,0.24,117.3,970.4,6.3,405,16312,0.15,2.30,0.00,0.000,6,0.173,0.061,3399,2201,2393
$GC,16619,0.31,132.8,956.1,4.6,410,16638,0.00,2.45,14.50,1.357,4,0.000,0.077,3408,779,2334
$GC,16687,0.40,154.1,952.9,4.4,411,16714,0.12,2.35,20.60,1.380,6,0.086,0.060,3463,2210,2247
$GC,17053,0.31,154.1,928.8,6.7,417,17058,0.15,2.33,0.00,0.000,4,0.146,0.079,3415,3608,2245
$GC,17092,0.31,154.1,926.3,6.4,417,17096,0.00,2.28,0.00,0.000,6,0.000,0.062,3421,2193,2245
$GC,17420,0.31,159.7,910.4,4.8,423,17428,0.00,0.00,6.22,1.151,6,0.000,0.000,3421,2194,2225
$GC,17723,0.32,169.2,896.0,4.7,428,17735,0.00,0.00,10.25,1.292,6,0.000,0.000,3421,2194,2185
$GC,18026,0.38,174.0,881.4,4.9,433,18034,0.00,0.00,6.05,1.131,6,0.000,0.000,3421,2194,2166
$GC,18330,0.44,176.8,866.5,4.9,438,18337,0.12,0.00,4.25,0.942,6,0.088,0.000,3477,2194,2155
$GC,18632,0.34,176.8,846.2,6.8,443,18634,0.17,0.00,0.00,0.000,6,0.137,0.000,3427,2194,2154
$GC,18935,0.39,176.8,830.2,5.2,448,18936,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2194,2154
$GC,19238,0.43,176.8,813.5,5.5,453,19239,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2194,2154
$GC,19542,0.47,176.8,795.7,5.9,458,19544,0.12,0.00,0.00,0.000,6,0.083,0.000,3478,2194,2154
$GC,19844,0.37,176.8,772.3,7.8,463,19846,0.15,0.00,0.00,0.000,6,0.141,0.000,3436,2194,2154
$GC,20147,0.37,176.8,751.6,6.8,468,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2154
$GC,20450,0.37,176.8,731.6,6.5,473,20452,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2154
$GC,20754,0.37,176.8,713.4,6.0,478,20755,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2153
$GC,21056,0.37,176.8,696.9,5.4,483,21060,0.00,2.47,0.00,0.000,4,0.000,0.081,3436,3613,2154
$GC,21113,0.37,176.8,693.4,7.4,483,21119,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2191,2154
$GC,21423,0.37,176.8,676.0,5.7,489,21424,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2154
$GC,21726,0.37,176.8,657.1,6.3,494,21727,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2153
$GC,22030,0.37,176.8,638.1,6.2,499,22034,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,3607,2154
$GC,22087,0.37,176.8,634.1,6.5,499,22093,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2200,2154
$GC,22398,0.41,176.8,615.9,5.8,505,22402,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,784,2154
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$GC,27064,0.59,219.3,348.4,4.6,582,27084,0.20,2.47,14.52,1.039,4,0.074,0.078,3519,780,1981
$GC,27108,0.48,219.3,345.4,5.8,582,27113,0.17,2.38,0.00,0.000,6,0.144,0.059,3472,2212,1980
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$GC,28178,0.48,219.3,278.2,7.1,604,28184,0.00,2.30,0.00,0.000,6,0.000,0.060,3477,2197,1977
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$STATE,32921,end climb,SURFACE_DEPTH_REACHED
$STATE,32921,begin surface coast
$FINISH,0.9,1.002141
$STATE,33057,end surface coast,CONTROL_FINISHED_OK
$STATE,33057,begin surface
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$10V_AH,10.4,82.744
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$DEVICE_SECS,29.625,206.900,366.800,7.200,0.000,23.932,25.046,174.093,254.250,0.000,0.000,16.161,1821.162,27895.654,541.230,2348.195,864.280,33.383,1698.013,0.000,2319.118,0.000,0.465
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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,50665,865
$CAP_FILE_SIZE,183994,0
$CFSIZE,260165632,211124224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160409,211107,5018.232,-14432.100,81,1.1,81,18.6