version: 66.03
glider: 120
mission: 9
dive: 740
start: 6 3 109 18 37 36
data:
$ID,120
$MISSION,9
$DIVE,740
$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,-33514.484
$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,17
$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
$GPS1,182624,5012.403,-14444.101,38,1.5,38,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.3
$GPS2,183638,5012.434,-14444.162,13,1.5,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132,0.119
$KALMAN_X,-162049.3,114.7,-5.5,197986.8,-1863.9
$KALMAN_Y,140125.0,-11.6,-32.9,-123500.3,-1588.6
$MHEAD_RNG_PITCHd_Wd,29.3,23215,-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,29,-0.67,-117.3,0.0,0.0,0,70,0.00,0.00,-39.60,0.000,2,0.000,0.000,144,2394,2794
$GC,75,-0.67,-117.3,3.8,-7.4,4,109,16.08,2.78,-10.18,0.000,4,0.275,0.086,3084,3809,3357
$GC,269,-0.48,-117.3,33.3,-11.4,21,274,0.30,2.55,0.00,0.000,6,0.140,0.049,3160,2399,3359
$GC,599,-0.52,-117.3,57.3,-7.1,51,603,0.00,2.67,0.00,0.000,4,0.000,0.064,3160,985,3360
$GC,663,-0.60,-117.3,62.3,-7.2,56,667,0.00,2.65,0.00,0.000,6,0.000,0.056,3155,2400,3360
$GC,998,-0.60,-117.3,87.0,-7.5,83,1003,0.00,2.65,0.00,0.000,4,0.000,0.076,3155,3816,3360
$GC,1027,-0.66,-117.3,89.6,-8.1,84,1032,0.15,2.50,0.00,0.000,6,0.068,0.048,3101,2398,3360
$GC,1345,-0.60,-117.3,117.8,-8.6,99,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3360
$GC,1654,-0.60,-117.3,141.3,-6.4,114,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3360
$GC,1982,-0.60,-117.3,162.6,-6.5,127,1986,0.00,2.67,0.00,0.000,4,0.000,0.074,3101,3809,3361
$GC,2015,-0.60,-117.3,165.0,-6.7,128,2020,0.00,2.47,0.00,0.000,6,0.000,0.048,3101,2397,3360
$GC,2348,-0.60,-117.3,186.3,-6.5,139,2352,0.00,2.60,0.00,0.000,4,0.000,0.064,3103,991,3361
$GC,2382,-0.60,-117.3,188.7,-6.7,140,2386,0.00,2.58,0.00,0.000,6,0.000,0.056,3103,2403,3361
$GC,2713,-0.60,-117.3,209.4,-6.4,151,2717,0.00,2.65,0.00,0.000,4,0.000,0.064,3103,983,3361
$GC,2748,-0.64,-117.3,211.9,-6.9,152,2752,0.00,2.60,0.00,0.000,6,0.000,0.056,3103,2409,3361
$GC,3079,-0.64,-117.3,234.3,-6.9,163,3083,0.00,2.60,0.00,0.000,4,0.000,0.076,3101,3815,3360
$GC,3109,-0.64,-117.3,236.4,-7.1,164,3113,0.00,2.47,0.00,0.000,6,0.000,0.050,3101,2399,3361
$GC,3446,-0.64,-117.3,257.5,-6.0,175,3450,0.00,2.60,0.00,0.000,4,0.000,0.065,3101,988,3361
$GC,3480,-0.68,-117.3,259.7,-6.2,176,3485,0.00,2.58,0.00,0.000,6,0.000,0.057,3101,2401,3360
$GC,3812,-0.68,-117.3,280.8,-6.5,187,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3360
$GC,4118,-0.68,-117.3,301.1,-6.7,197,4123,0.00,2.62,0.00,0.000,4,0.000,0.077,3100,3815,3360
$GC,4153,-0.68,-117.3,303.7,-7.4,197,4157,0.00,2.47,0.00,0.000,6,0.000,0.050,3100,2397,3360
$GC,4480,-0.68,-117.3,325.9,-6.9,203,4485,0.00,2.60,0.00,0.000,4,0.000,0.067,3100,994,3360
$GC,4515,-0.73,-117.3,328.4,-6.6,203,4519,0.00,2.58,0.00,0.000,6,0.000,0.057,3100,2406,3360
$GC,4844,-0.73,-117.3,349.2,-6.2,209,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3360
$GC,5145,-0.73,-117.3,366.9,-5.8,214,5150,0.00,2.65,0.00,0.000,4,0.000,0.066,3100,989,3359
$GC,5180,-0.78,-117.3,368.9,-5.9,214,5185,0.12,2.60,0.00,0.000,6,0.085,0.058,3058,2411,3359
$GC,5508,-0.72,-117.3,393.2,-7.6,220,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2409,3359
$GC,5813,-0.66,-117.3,416.8,-7.8,225,5818,0.15,2.65,0.00,0.000,4,0.098,0.077,3099,3810,3359
$GC,5842,-0.66,-117.3,419.3,-8.2,225,5846,0.00,2.47,0.00,0.000,6,0.000,0.051,3099,2396,3358
$GC,6175,-0.66,-117.3,442.9,-7.1,231,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3359
$GC,6478,-0.66,-117.3,463.5,-6.7,236,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3358
$GC,6783,-0.66,-117.3,482.6,-6.2,241,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3358
$GC,7084,-0.66,-117.3,501.3,-6.2,246,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3358
$GC,7387,-0.66,-117.3,520.0,-6.1,251,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3358
$GC,7691,-0.73,-117.3,538.6,-6.1,256,7696,0.00,2.60,0.00,0.000,4,0.000,0.067,3099,993,3357
$GC,7744,-0.91,-117.3,542.3,-7.3,256,7749,0.25,2.58,0.00,0.000,6,0.076,0.058,3016,2402,3358
$GC,8055,-0.91,-117.3,568.3,-8.5,261,8060,0.00,2.62,0.00,0.000,4,0.000,0.079,3016,3808,3357
$GC,8141,-0.76,-117.3,575.8,-9.0,262,8146,0.20,2.47,0.00,0.000,6,0.140,0.051,3065,2391,3357
$GC,8487,-0.86,-117.3,601.5,-7.5,268,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2392,3358
$GC,8791,-0.95,-117.3,624.1,-7.4,273,8796,0.15,2.67,0.00,0.000,4,0.074,0.077,3006,3811,3357
$GC,8803,-1.01,-117.3,625.2,-7.4,273,8807,0.00,2.47,0.00,0.000,6,0.000,0.051,3006,2397,3356
$GC,9155,-0.81,-117.3,654.7,-8.6,279,9160,0.15,2.62,0.00,0.000,4,0.153,0.066,3053,986,3357
$GC,9305,-0.72,-117.3,666.8,-8.1,281,9310,0.12,2.60,0.00,0.000,6,0.160,0.061,3082,2403,3357
$GC,9655,-0.88,-117.3,691.4,-7.0,287,9660,0.15,2.62,0.00,0.000,4,0.077,0.077,3025,3810,3356
$GC,9760,-0.71,-117.3,699.6,-8.2,288,9765,0.22,2.47,0.00,0.000,6,0.138,0.053,3081,2397,3356
$GC,10088,-0.71,-117.3,720.6,-6.2,294,10092,0.00,2.60,0.00,0.000,4,0.000,0.067,3082,990,3356
$GC,10168,-0.71,-117.3,725.6,-6.5,295,10172,0.00,2.58,0.00,0.000,6,0.000,0.061,3081,2400,3356
$GC,10518,-0.87,-117.3,748.1,-6.4,301,10523,0.15,2.62,0.00,0.000,4,0.080,0.077,3025,3808,3356
$GC,10638,-0.73,-117.3,757.1,-7.6,302,10643,0.20,2.47,0.00,0.000,6,0.128,0.053,3075,2392,3356
$GC,10949,-0.73,-117.3,775.9,-5.9,307,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2393,3356
$GC,11252,-0.73,-117.3,794.0,-6.0,312,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2393,3356
$GC,11555,-0.73,-117.3,813.3,-6.5,317,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2393,3355
$GC,11858,-0.73,-117.3,833.8,-6.8,322,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2393,3356
$GC,12162,-0.73,-117.3,854.0,-6.6,327,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2393,3356
$GC,12464,-0.73,-117.3,873.3,-6.4,332,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2393,3355
$GC,12767,-0.73,-117.3,892.6,-6.4,337,12772,0.00,2.70,0.00,0.000,4,0.000,0.081,3073,3808,3354
$GC,12807,-0.73,-117.3,895.4,-7.6,337,12812,0.00,2.47,0.00,0.000,6,0.000,0.053,3072,2401,3354
$GC,13131,-0.73,-117.3,915.7,-6.3,343,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,13433,-0.73,-117.3,934.6,-6.2,348,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,13736,-0.73,-117.3,952.3,-5.8,353,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3354
$GC,14039,-0.73,-117.3,969.1,-5.5,358,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3354
$GC,14342,-0.73,-117.3,986.7,-5.9,363,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3354
$STATE,14398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14399,begin apogee
$GC,14409,-0.22,0.0,990.3,5.9,364,14534,0.60,0.00,122.35,1.470,6,0.128,0.000,3240,2190,2876
$STATE,14535,end apogee,CONTROL_FINISHED_OK
$STATE,14535,begin climb
$GC,14539,0.67,117.3,995.6,0.0,366,14677,1.00,3.00,127.88,1.422,4,0.076,0.074,3535,795,2397
$GC,14735,0.31,117.3,996.1,6.3,369,14741,0.50,2.78,0.00,0.000,6,0.175,0.057,3424,2200,2395
$GC,15075,0.35,154.3,982.4,3.9,375,15117,0.00,0.00,40.55,1.391,6,0.000,0.000,3424,2199,2248
$GC,15378,0.37,164.4,968.5,4.7,380,15397,0.00,2.92,12.38,1.283,4,0.000,0.072,3427,795,2205
$GC,15429,0.40,196.2,966.0,4.1,380,15471,0.00,2.78,36.10,1.374,6,0.000,0.056,3427,2203,2076
$GC,15810,0.45,196.2,946.7,5.0,387,15816,0.12,2.83,0.00,0.000,4,0.076,0.074,3466,3616,2072
$GC,15845,0.31,196.2,944.2,7.1,387,15851,0.25,2.72,0.00,0.000,6,0.152,0.057,3421,2206,2071
$GC,16175,0.37,196.2,927.3,5.1,393,16179,0.00,2.85,0.00,0.000,4,0.000,0.073,3421,784,2071
$GC,16214,0.46,196.2,925.1,5.0,393,16220,0.15,2.78,0.00,0.000,6,0.073,0.056,3473,2209,2071
$GC,16537,0.38,196.2,903.7,6.8,399,16539,0.12,0.00,0.00,0.000,6,0.130,0.000,3445,2208,2070
$GC,16841,0.38,196.2,884.9,6.1,404,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2208,2070
$GC,17143,0.38,196.2,865.8,6.3,409,17144,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2208,2070
$GC,17446,0.38,196.2,845.5,6.7,414,17450,0.00,2.83,0.00,0.000,4,0.000,0.073,3449,787,2070
$GC,17498,0.38,196.2,841.9,7.8,414,17503,0.00,2.72,0.00,0.000,6,0.000,0.057,3449,2207,2070
$GC,17810,0.38,196.2,820.4,6.9,419,17811,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2070
$GC,18112,0.38,196.2,799.5,6.9,424,18113,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2069
$GC,18415,0.38,196.2,778.8,6.8,429,18416,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2069
$GC,18719,0.38,196.2,760.0,6.1,434,18723,0.00,2.80,0.00,0.000,4,0.000,0.074,3449,787,2069
$GC,18758,0.38,196.2,757.8,5.1,434,18763,0.00,2.70,0.00,0.000,6,0.000,0.058,3449,2207,2069
$GC,19082,0.38,196.2,739.2,5.7,440,19083,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2069
$GC,19384,0.38,196.2,721.1,6.0,445,19388,0.00,2.80,0.00,0.000,4,0.000,0.074,3449,788,2069
$GC,19440,0.38,196.2,717.6,6.4,445,19446,0.00,2.67,0.00,0.000,6,0.000,0.057,3449,2200,2069
$GC,19751,0.38,196.2,699.2,6.0,451,19752,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2069
$GC,20055,0.38,196.2,682.2,5.6,456,20056,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2069
$GC,20357,0.38,196.2,664.4,5.9,461,20358,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2069
$GC,20660,0.38,196.2,646.4,5.9,466,20661,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2069
$GC,20964,0.38,196.2,628.4,5.9,471,20965,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2069
$GC,21267,0.38,196.2,609.8,6.2,476,21268,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2199,2068
$GC,21569,0.38,196.2,590.7,6.2,481,21574,0.00,2.70,0.00,0.000,4,0.000,0.076,3449,3611,2069
$GC,21604,0.38,196.2,588.3,6.3,481,21608,0.00,2.60,0.00,0.000,6,0.000,0.058,3449,2195,2068
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$STATE,31821,end climb,SURFACE_DEPTH_REACHED
$STATE,31822,begin surface coast
$FINISH,5.9,1.025314
$STATE,31834,end surface coast,CONTROL_FINISHED_OK
$STATE,31834,begin surface
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$TT8_MAMPS,0.026845
$HUMID,2160
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$TCM_TEMP,18.10
$XPDR_PINGS,956
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$10V_AH,10.2,100.430
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$DEVICE_SECS,33.000,223.475,420.700,6.125,0.000,54.898,61.130,256.004,239.000,0.000,0.000,13.358,1757.881,26694.240,603.996,2303.894,1117.616,33.384,1742.386,0.000,2292.306,0.000,0.465
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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,47536,829
$CAP_FILE_SIZE,180708,0
$CFSIZE,260165632,201146368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040609,033106,5014.745,-14440.584,88,1.0,93,18.6