version: 66.03
glider: 120
mission: 9
dive: 707
start: 5 22 109 5 25 42
data:
$ID,120
$MISSION,9
$DIVE,707
$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,-32713.031
$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,20
$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
$GPS1,051737,5002.671,-14425.586,41,1.7,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.2
$GPS2,052444,5002.676,-14425.572,13,1.9,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,-0.178
$KALMAN_X,-151417.4,208.9,126.4,209231.9,-1329.4
$KALMAN_Y,149360.8,-36.3,200.9,-151014.4,1734.9
$MHEAD_RNG_PITCHd_Wd,164.2,16832,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-40.28,0.000,2,0.000,0.000,141,2406,2767
$GC,75,-0.67,-117.3,3.9,-7.2,4,108,13.98,2.47,-11.55,0.000,4,0.275,0.093,3094,3804,3357
$GC,242,-0.51,-117.3,27.1,-10.0,18,249,0.20,2.30,0.00,0.000,6,0.152,0.053,3149,2393,3359
$GC,572,-0.51,-117.3,51.4,-7.1,49,577,0.00,2.53,0.00,0.000,4,0.000,0.066,3149,984,3359
$GC,636,-0.51,-117.3,56.5,-7.5,54,640,0.00,2.45,0.00,0.000,6,0.000,0.058,3149,2409,3359
$GC,962,-0.51,-117.3,79.1,-7.0,84,964,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2408,3360
$GC,1273,-0.51,-117.3,100.9,-7.1,100,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2408,3360
$GC,1582,-0.51,-117.3,122.1,-6.6,115,1586,0.00,2.50,0.00,0.000,4,0.000,0.078,3149,3807,3360
$GC,1627,-0.59,-117.3,125.5,-7.4,117,1631,0.00,2.35,0.00,0.000,6,0.000,0.050,3149,2398,3360
$GC,1951,-0.74,-117.3,146.3,-6.5,133,1956,0.20,2.60,0.00,0.000,4,0.078,0.065,3079,987,3360
$GC,1980,-0.82,-117.3,148.8,-8.7,134,1984,0.00,2.45,0.00,0.000,6,0.000,0.058,3079,2408,3360
$GC,2315,-0.96,-117.3,174.9,-7.8,145,2320,0.20,2.53,0.00,0.000,4,0.079,0.074,3000,3813,3360
$GC,2576,-0.62,-117.3,207.1,-12.7,152,2583,0.43,2.40,0.00,0.000,6,0.155,0.052,3111,2396,3360
$GC,2890,-0.62,-117.3,229.5,-6.9,163,2894,0.00,2.53,0.00,0.000,4,0.000,0.077,3111,3813,3360
$GC,2927,-0.62,-117.3,232.0,-6.7,164,2931,0.00,2.38,0.00,0.000,6,0.000,0.051,3111,2391,3360
$GC,3257,-0.62,-117.3,255.0,-6.9,175,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2392,3360
$GC,3563,-0.62,-117.3,275.1,-6.4,185,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2393,3360
$GC,3870,-0.62,-117.3,294.2,-6.2,195,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2392,3360
$GC,4174,-0.62,-117.3,312.1,-5.8,202,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2392,3360
$GC,4477,-0.62,-117.3,329.4,-5.7,207,4482,0.00,2.60,0.00,0.000,4,0.000,0.067,3110,984,3360
$GC,4518,-0.66,-117.3,331.9,-6.4,207,4522,0.00,2.47,0.00,0.000,6,0.000,0.059,3111,2407,3359
$GC,4840,-0.66,-117.3,349.8,-5.6,213,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2406,3360
$GC,5142,-0.66,-117.3,367.1,-5.7,218,5147,0.00,2.55,0.00,0.000,4,0.000,0.080,3111,3809,3359
$GC,5177,-0.71,-117.3,369.2,-6.4,218,5181,0.00,2.40,0.00,0.000,6,0.000,0.052,3111,2394,3359
$GC,5505,-0.93,-117.3,392.7,-7.5,224,5510,0.25,2.60,0.00,0.000,4,0.080,0.076,3017,3807,3359
$GC,5721,-0.71,-117.3,415.7,-11.4,227,5726,0.28,2.45,0.00,0.000,6,0.149,0.053,3087,2392,3359
$GC,6071,-0.71,-117.3,442.8,-7.5,233,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2394,3359
$GC,6375,-0.71,-117.3,463.5,-6.8,238,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2394,3358
$GC,6677,-0.71,-117.3,482.8,-6.3,243,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2394,3359
$GC,6980,-0.71,-117.3,501.2,-6.1,248,6985,0.00,2.67,0.00,0.000,4,0.000,0.078,3085,3805,3358
$GC,7009,-0.71,-117.3,503.3,-6.9,248,7013,0.00,2.42,0.00,0.000,6,0.000,0.052,3085,2402,3358
$GC,7342,-0.71,-117.3,523.7,-6.2,254,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3358
$GC,7645,-0.71,-117.3,542.2,-6.1,259,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3358
$GC,7948,-0.71,-117.3,561.2,-6.3,264,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3358
$GC,8251,-0.71,-117.3,579.8,-6.0,269,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3357
$GC,8554,-0.71,-117.3,597.9,-6.0,274,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3358
$GC,8858,-0.71,-117.3,615.3,-5.7,279,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3358
$GC,9160,-0.71,-117.3,632.6,-5.6,284,9164,0.00,2.67,0.00,0.000,4,0.000,0.080,3085,3805,3357
$GC,9188,-0.71,-117.3,634.3,-5.6,284,9192,0.00,2.45,0.00,0.000,6,0.000,0.053,3085,2395,3357
$GC,9521,-0.71,-117.3,654.1,-6.0,290,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3357
$GC,9824,-0.71,-117.3,673.4,-6.4,295,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3357
$GC,10128,-0.71,-117.3,693.8,-6.8,300,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3357
$GC,10430,-0.71,-117.3,715.5,-7.1,305,10435,0.00,2.67,0.00,0.000,4,0.000,0.080,3085,3808,3356
$GC,10470,-0.71,-117.3,718.5,-8.0,305,10474,0.00,2.45,0.00,0.000,6,0.000,0.053,3085,2399,3357
$GC,10792,-0.71,-117.3,739.3,-6.4,311,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,11096,-0.71,-117.3,757.0,-5.8,316,11100,0.00,2.58,0.00,0.000,4,0.000,0.069,3085,985,3356
$GC,11129,-0.71,-117.3,759.2,-6.7,316,11134,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2397,3356
$GC,11457,-0.71,-117.3,777.7,-5.6,322,11461,0.00,2.55,0.00,0.000,4,0.000,0.081,3085,3814,3356
$GC,11485,-0.71,-117.3,779.3,-5.6,322,11489,0.00,2.40,0.00,0.000,6,0.000,0.054,3085,2397,3356
$GC,11819,-0.71,-117.3,797.5,-5.5,328,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,12123,-0.71,-117.3,813.1,-5.2,333,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,12424,-0.71,-117.3,827.4,-4.7,338,12426,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,12728,-0.71,-117.3,841.5,-4.7,343,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,13031,-0.71,-117.3,857.5,-5.3,348,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,13333,-0.71,-117.3,875.4,-5.9,353,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,13636,-0.71,-117.3,894.5,-6.3,358,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,13940,-0.71,-117.3,912.7,-6.0,363,13944,0.00,2.67,0.00,0.000,4,0.000,0.070,3085,984,3355
$GC,13968,-0.71,-117.3,914.6,-7.2,363,13972,0.00,2.50,0.00,0.000,6,0.000,0.062,3085,2405,3354
$GC,14302,-0.71,-117.3,933.1,-5.5,369,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,14604,-0.71,-117.3,948.8,-5.1,374,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,14907,-0.71,-117.3,963.2,-4.7,379,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,15211,-0.71,-117.3,977.4,-4.7,384,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$STATE,15509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15509,begin apogee
$GC,15519,-0.22,0.0,992.6,5.0,389,15632,0.55,0.00,109.35,1.501,6,0.131,0.000,3247,2192,2876
$STATE,15633,end apogee,CONTROL_FINISHED_OK
$STATE,15633,begin climb
$GC,15637,0.67,117.3,997.1,0.0,391,15764,0.90,2.97,118.07,1.450,4,0.082,0.074,3533,799,2397
$GC,15814,0.32,117.3,996.2,5.8,393,15820,0.50,2.72,0.00,0.000,6,0.166,0.058,3423,2201,2395
$GC,16131,0.36,151.5,983.1,4.0,399,16167,0.00,0.00,33.62,1.420,6,0.000,0.000,3423,2199,2258
$GC,16435,0.37,158.0,968.9,4.8,404,16444,0.00,0.00,7.47,1.209,6,0.000,0.000,3423,2199,2231
$GC,16739,0.37,162.4,954.1,4.9,409,16746,0.00,0.00,5.62,1.118,6,0.000,0.000,3423,2199,2212
$GC,17041,0.37,162.4,938.0,5.3,414,17042,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2212
$GC,17343,0.37,162.4,921.5,5.5,419,17348,0.00,2.50,0.00,0.000,4,0.000,0.077,3423,790,2212
$GC,17372,0.37,162.4,919.9,5.3,419,17376,0.00,2.40,0.00,0.000,6,0.000,0.059,3423,2214,2212
$GC,17706,0.37,162.4,902.2,5.4,425,17707,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2213,2211
$GC,18008,0.37,162.4,885.7,5.5,430,18012,0.00,2.55,0.00,0.000,4,0.000,0.077,3423,779,2211
$GC,18048,0.43,162.4,883.5,6.0,430,18052,0.00,2.42,0.00,0.000,6,0.000,0.058,3423,2207,2212
$GC,18369,0.43,162.4,865.9,5.5,436,18370,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2205,2211
$GC,18673,0.43,162.4,849.0,5.6,441,18678,0.00,2.55,0.00,0.000,4,0.000,0.077,3423,779,2211
$GC,18704,0.49,164.2,847.3,4.9,441,18709,0.15,2.42,0.00,0.000,6,0.081,0.058,3483,2198,2211
$GC,19038,0.36,164.2,822.1,7.8,447,19040,0.17,0.00,0.00,0.000,6,0.148,0.000,3436,2198,2211
$GC,19341,0.36,164.2,803.0,6.2,452,19343,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2210
$GC,19644,0.36,164.2,784.5,6.0,457,19645,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2210
$GC,19947,0.36,164.2,766.9,5.7,462,19948,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2210
$GC,20250,0.36,164.2,750.0,5.6,467,20254,0.00,2.55,0.00,0.000,4,0.000,0.077,3436,792,2210
$GC,20289,0.36,164.2,747.8,5.1,467,20293,0.00,2.45,0.00,0.000,6,0.000,0.059,3436,2213,2210
$GC,20612,0.36,167.3,732.0,4.9,473,20620,0.00,0.00,5.97,1.081,6,0.000,0.000,3436,2212,2193
$GC,20914,0.37,169.7,717.2,4.9,478,20923,0.00,2.40,3.95,0.864,4,0.000,0.079,3436,3606,2184
$GC,20954,0.32,169.7,714.9,5.2,478,20958,0.00,2.38,0.00,0.000,6,0.000,0.061,3436,2202,2184
$GC,21282,0.32,169.7,698.3,5.1,484,21286,0.00,2.65,0.00,0.000,4,0.000,0.076,3436,778,2184
$GC,21327,0.32,169.7,695.9,5.4,484,21331,0.00,2.45,0.00,0.000,6,0.000,0.058,3436,2202,2184
$GC,21643,0.32,169.7,679.9,5.1,490,21644,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2184
$GC,21946,0.32,169.7,664.5,5.0,495,21950,0.00,2.58,0.00,0.000,4,0.000,0.076,3436,787,2184
$GC,21987,0.37,169.7,662.4,5.1,495,21991,0.00,2.45,0.00,0.000,6,0.000,0.059,3436,2200,2184
$GC,22309,0.37,169.7,645.9,5.1,501,22310,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2183
$GC,22612,0.37,171.9,630.8,4.9,506,22618,0.00,0.00,3.85,0.817,6,0.000,0.000,3436,2198,2175
$GC,22915,0.37,171.9,615.8,5.0,511,22919,0.00,2.60,0.00,0.000,4,0.000,0.074,3436,788,2175
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$STATE,33471,end climb,SURFACE_DEPTH_REACHED
$STATE,33471,begin surface coast
$FINISH,0.7,1.025462
$STATE,33600,end surface coast,CONTROL_FINISHED_OK
$STATE,33600,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2155
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$TCM_TEMP,15.70
$XPDR_PINGS,1020
$24V_AH,20.7,137.569
$10V_AH,10.2,95.858
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$DEVICE_SECS,29.225,195.825,391.925,0.000,0.000,23.531,39.744,188.059,255.000,0.000,0.000,13.353,1824.515,28385.748,545.522,2387.423,953.506,33.383,1709.496,0.000,2356.606,0.000,0.465
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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,50784,864
$CAP_FILE_SIZE,182120,0
$CFSIZE,260165632,203718656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220509,144836,4959.401,-14426.147,43,2.0,48,18.6