version: 66.03
glider: 120
mission: 9
dive: 334
start: 1 1 109 6 53 32
data:
$ID,120
$MISSION,9
$DIVE,334
$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,300
$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,-24713.344
$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,19
$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
$GPS1,064636,5000.314,-14443.470,38,0.9,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-75.3
$GPS2,065237,5000.330,-14443.432,9,0.9,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.096,0.149
$KALMAN_X,21205.7,107.1,85.1,-13928.8,-459.8
$KALMAN_Y,247674.5,-435.8,-346.5,-256543.6,491.4
$MHEAD_RNG_PITCHd_Wd,308.7,15975,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.77,0.000,2,0.000,0.000,139,2405,1934
$GC,39,-0.67,-117.3,3.9,-0.0,1,122,14.35,0.00,-60.90,0.000,6,0.291,0.000,3095,2406,3356
$GC,441,-0.47,-117.3,43.0,-13.9,39,443,0.25,0.00,0.00,0.000,6,0.166,0.000,3166,2406,3358
$GC,761,-0.51,-117.3,67.4,-8.0,69,765,0.00,2.42,0.00,0.000,4,0.000,0.069,3166,982,3359
$GC,794,-0.57,-117.3,70.1,-7.8,71,800,0.00,2.30,0.00,0.000,6,0.000,0.062,3166,2401,3358
$GC,1124,-0.62,-117.3,94.6,-7.1,94,1126,0.15,0.00,0.00,0.000,6,0.079,0.000,3106,2401,3358
$GC,1433,-0.62,-117.3,121.6,-8.2,109,1437,0.00,2.38,0.00,0.000,4,0.000,0.067,3106,988,3358
$GC,1478,-0.58,-117.3,125.5,-8.9,111,1482,0.00,2.30,0.00,0.000,6,0.000,0.061,3106,2409,3358
$GC,1810,-0.51,-117.3,152.9,-8.0,127,1814,0.15,2.38,0.00,0.000,4,0.149,0.068,3153,989,3359
$GC,1848,-0.60,-117.3,155.6,-6.3,128,1852,0.00,2.30,0.00,0.000,6,0.000,0.061,3153,2401,3359
$GC,2172,-0.87,-117.3,177.0,-6.7,139,2177,0.32,2.33,0.00,0.000,4,0.086,0.077,3033,3807,3359
$GC,2392,-0.63,-117.3,198.7,-10.0,145,2397,0.28,2.25,0.00,0.000,6,0.156,0.056,3109,2393,3359
$GC,2705,-0.63,-117.3,218.9,-6.3,155,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2393,3359
$GC,3011,-0.63,-117.3,239.2,-6.6,165,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2393,3359
$GC,3317,-0.63,-117.3,259.0,-6.5,175,3321,0.00,2.30,0.00,0.000,4,0.000,0.071,3110,994,3359
$GC,3361,-0.63,-117.3,262.0,-6.8,176,3365,0.00,2.33,0.00,0.000,6,0.000,0.063,3110,2410,3359
$GC,3685,-0.63,-117.3,282.6,-6.4,187,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2410,3359
$GC,4021,-0.63,-117.3,303.8,-6.2,197,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2410,3359
$GC,4324,-0.63,-117.3,321.8,-5.9,202,4328,0.00,2.38,0.00,0.000,4,0.000,0.071,3109,995,3359
$GC,4356,-0.63,-117.3,323.7,-6.4,202,4360,0.00,2.30,0.00,0.000,6,0.000,0.063,3110,2413,3358
$GC,4688,-0.63,-117.3,341.8,-5.4,208,4692,0.00,2.38,0.00,0.000,4,0.000,0.071,3110,993,3358
$GC,4721,-0.63,-117.3,343.7,-5.6,208,4725,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2401,3358
$GC,5048,-0.63,-117.3,361.5,-5.4,214,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3358
$GC,5351,-0.63,-117.3,379.6,-6.0,219,5355,0.00,2.38,0.00,0.000,4,0.000,0.071,3110,990,3358
$GC,5395,-0.63,-117.3,382.7,-7.0,219,5399,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2406,3358
$GC,5716,-0.63,-117.3,403.3,-6.5,225,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3358
$GC,6019,-0.63,-117.3,422.7,-6.4,230,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3358
$GC,6322,-0.63,-117.3,441.9,-6.3,235,6326,0.00,2.38,0.00,0.000,4,0.000,0.071,3110,994,3357
$GC,6349,-0.63,-117.3,443.8,-7.3,235,6353,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2407,3357
$GC,6682,-0.67,-117.3,465.1,-6.4,241,6686,0.00,2.33,0.00,0.000,4,0.000,0.072,3110,993,3357
$GC,6708,-0.67,-117.3,467.1,-6.8,241,6713,0.00,2.33,0.00,0.000,6,0.000,0.064,3110,2433,3357
$GC,7047,-0.72,-117.3,489.2,-6.5,247,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2433,3357
$GC,7350,-0.76,-117.3,508.9,-6.5,252,7355,0.12,2.38,0.00,0.000,4,0.090,0.071,3063,994,3357
$GC,7400,-0.71,-117.3,512.8,-7.8,252,7404,0.00,2.28,0.00,0.000,6,0.000,0.063,3063,2401,3357
$GC,7710,-0.64,-117.3,535.8,-7.4,257,7712,0.15,0.00,0.00,0.000,6,0.150,0.000,3106,2401,3357
$GC,8012,-0.64,-117.3,554.3,-6.2,262,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3357
$GC,8315,-0.64,-117.3,573.0,-6.2,267,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3357
$GC,8619,-0.64,-117.3,590.5,-5.7,272,8623,0.00,2.40,0.00,0.000,4,0.000,0.071,3106,992,3356
$GC,8652,-0.69,-117.3,592.6,-6.0,272,8656,0.00,2.30,0.00,0.000,6,0.000,0.064,3105,2403,3356
$GC,8985,-0.74,-117.3,609.9,-5.2,278,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3356
$GC,9288,-0.79,-117.3,624.7,-4.9,283,9293,0.12,2.40,0.00,0.000,4,0.087,0.071,3058,995,3356
$GC,9333,-0.73,-117.3,627.4,-6.7,283,9337,0.00,2.33,0.00,0.000,6,0.000,0.064,3058,2401,3356
$GC,9648,-0.65,-117.3,647.7,-6.5,289,9650,0.17,0.00,0.00,0.000,6,0.153,0.000,3106,2401,3356
$GC,9951,-0.70,-117.3,663.1,-5.0,294,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3356
$GC,10255,-0.75,-117.3,679.3,-5.4,299,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2401,3356
$GC,10557,-0.81,-117.3,695.1,-5.2,304,10562,0.15,2.38,0.00,0.000,4,0.086,0.081,3042,3811,3355
$GC,10584,-0.72,-117.3,697.0,-7.4,304,10589,0.15,2.28,0.00,0.000,6,0.130,0.057,3083,2395,3355
$GC,10916,-0.72,-117.3,717.2,-6.1,310,10920,0.00,2.38,0.00,0.000,4,0.000,0.072,3083,985,3355
$GC,10960,-0.72,-117.3,720.2,-6.5,310,10964,0.00,2.33,0.00,0.000,6,0.000,0.065,3083,2406,3355
$GC,11281,-0.72,-117.3,741.2,-6.6,316,11285,0.00,2.38,0.00,0.000,4,0.000,0.073,3083,990,3355
$GC,11330,-0.72,-117.3,744.8,-7.7,316,11334,0.00,2.33,0.00,0.000,6,0.000,0.065,3083,2404,3355
$GC,11646,-0.72,-117.3,766.1,-6.8,322,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3355
$GC,11949,-0.72,-117.3,786.6,-6.7,327,11953,0.00,2.40,0.00,0.000,4,0.000,0.073,3083,984,3355
$GC,11976,-0.72,-117.3,788.5,-7.0,327,11980,0.00,2.35,0.00,0.000,6,0.000,0.064,3083,2408,3354
$GC,12314,-0.72,-117.3,808.7,-5.9,333,12318,0.00,2.38,0.00,0.000,4,0.000,0.073,3083,986,3354
$GC,12352,-0.72,-117.3,811.1,-5.7,333,12357,0.00,2.30,0.00,0.000,6,0.000,0.065,3083,2399,3354
$GC,12673,-0.72,-117.3,829.6,-5.8,339,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3354
$GC,12976,-0.72,-117.3,846.8,-5.7,344,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3355
$GC,13280,-0.72,-117.3,863.7,-5.5,349,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3354
$GC,13583,-0.72,-117.3,880.3,-5.5,354,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3354
$GC,13885,-0.72,-117.3,896.9,-5.5,359,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3354
$GC,14189,-0.72,-117.3,913.7,-5.6,364,14193,0.00,2.40,0.00,0.000,4,0.000,0.073,3083,989,3353
$GC,14232,-0.72,-117.3,916.3,-5.8,364,14236,0.00,2.35,0.00,0.000,6,0.000,0.065,3083,2406,3353
$GC,14554,-0.72,-117.3,933.4,-5.4,370,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3353
$GC,14857,-0.72,-117.3,949.0,-5.1,375,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3353
$GC,15160,-0.72,-117.3,963.8,-4.9,380,15164,0.00,2.38,0.00,0.000,4,0.000,0.074,3083,991,3353
$GC,15198,-0.72,-117.3,965.8,-5.0,380,15202,0.00,2.30,0.00,0.000,6,0.000,0.066,3083,2398,3353
$GC,15519,-0.72,-117.3,981.2,-4.8,386,15523,0.00,2.35,0.00,0.000,4,0.000,0.074,3083,983,3353
$GC,15557,-0.72,-117.3,983.3,-5.3,386,15561,0.00,2.33,0.00,0.000,6,0.000,0.067,3083,2401,3353
$STATE,15699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15699,begin apogee
$GC,15705,-0.22,0.0,990.4,5.0,389,15816,0.52,0.00,107.78,1.492,6,0.146,0.000,3242,2200,2876
$STATE,15817,end apogee,CONTROL_FINISHED_OK
$STATE,15817,begin climb
$GC,15819,0.67,117.3,992.1,0.0,390,15943,0.88,2.70,112.32,1.437,4,0.094,0.075,3533,795,2396
$GC,15999,0.33,117.3,989.8,7.1,392,16005,0.43,2.45,0.00,0.000,6,0.177,0.061,3426,2202,2395
$GC,16309,0.33,117.3,973.0,5.3,397,16310,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2202,2393
$GC,16612,0.33,117.3,957.3,5.2,402,16616,0.00,2.38,0.00,0.000,4,0.000,0.079,3425,791,2393
$GC,16667,0.33,117.3,954.4,6.0,402,16674,0.00,2.33,0.00,0.000,6,0.000,0.063,3426,2195,2393
$GC,16977,0.33,122.8,939.4,4.8,408,16988,0.00,2.35,6.10,1.151,4,0.000,0.080,3426,3610,2374
$GC,17042,0.24,130.5,936.1,4.8,409,17056,0.15,2.30,8.68,1.262,6,0.175,0.063,3399,2194,2342
$GC,17412,0.35,165.3,921.0,4.0,415,17451,0.00,2.45,31.65,1.420,4,0.000,0.079,3408,793,2202
$GC,17480,0.45,178.1,918.1,4.6,416,17500,0.17,2.35,13.27,1.316,6,0.084,0.062,3473,2208,2149
$GC,17844,0.35,178.1,893.8,6.8,422,17846,0.15,0.00,0.00,0.000,6,0.149,0.000,3432,2208,2146
$GC,18147,0.35,178.1,876.7,5.6,427,18148,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2208,2146
$GC,18450,0.35,178.1,859.0,5.8,432,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2208,2145
$GC,18754,0.35,178.1,839.6,6.4,437,18758,0.00,2.33,0.00,0.000,4,0.000,0.081,3432,3609,2145
$GC,18781,0.35,178.1,837.6,6.9,437,18785,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2191,2145
$GC,19118,0.35,178.1,814.4,7.0,443,19122,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,790,2145
$GC,19145,0.35,178.1,812.3,7.5,443,19149,0.00,2.28,0.00,0.000,6,0.000,0.063,3436,2210,2145
$GC,19484,0.35,178.1,787.9,7.3,449,19488,0.00,2.38,0.00,0.000,4,0.000,0.080,3435,786,2145
$GC,19518,0.35,178.1,785.3,7.0,449,19522,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2209,2145
$GC,19844,0.35,178.1,762.2,7.0,455,19848,0.00,2.33,0.00,0.000,4,0.000,0.082,3435,3614,2145
$GC,19900,0.35,178.1,757.8,7.5,455,19906,0.00,2.28,0.00,0.000,6,0.000,0.065,3436,2199,2145
$GC,20209,0.35,178.1,737.6,6.6,461,20213,0.00,2.33,0.00,0.000,4,0.000,0.079,3436,791,2145
$GC,20237,0.40,178.1,735.8,6.0,461,20241,0.00,2.28,0.00,0.000,6,0.000,0.063,3435,2210,2145
$GC,20574,0.40,178.1,715.4,6.0,467,20575,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2145
$GC,20877,0.40,178.1,698.9,5.4,472,20879,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2210,2145
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$STATE,32545,end climb,SURFACE_DEPTH_REACHED
$STATE,32545,begin surface coast
$FINISH,3.0,1.025571
$STATE,32600,end surface coast,CONTROL_FINISHED_OK
$STATE,32600,begin surface
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$HUMID,2097
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$TCM_TEMP,14.60
$XPDR_PINGS,993
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$10V_AH,10.6,44.654
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$DEVICE_SECS,29.950,212.100,407.925,0.000,0.000,26.035,30.807,169.273,248.250,0.000,0.000,15.785,1787.178,27673.018,574.483,2349.597,646.708,33.379,1754.290,0.000,2319.134,0.000,0.465
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$DATA_FILE_SIZE,47408,830
$CAP_FILE_SIZE,186241,0
$CFSIZE,260165632,232652800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010109,155930,5003.561,-14446.812,37,0.9,42,18.5