version: 66.03
glider: 120
mission: 9
dive: 355
start: 1 9 109 5 14 1
data:
$ID,120
$MISSION,9
$DIVE,355
$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,-25228.746
$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,23
$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
$GPS1,050600,4959.267,-14500.040,98,1.2,103,18.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-68.3
$GPS2,051307,4959.294,-14500.017,15,1.2,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.102
$KALMAN_X,21808.8,151.5,69.4,-34262.2,-1387.6
$KALMAN_Y,263805.8,-270.6,-326.4,-274782.4,2098.0
$MHEAD_RNG_PITCHd_Wd,36.5,18681,-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,-11.70,0.000,2,0.000,0.000,134,2412,1941
$GC,39,-0.67,-117.3,4.1,-0.0,1,115,13.95,2.40,-54.70,0.000,4,0.281,0.094,3093,3805,3355
$GC,368,-0.51,-117.3,31.9,-11.3,30,375,0.20,2.30,0.00,0.000,6,0.156,0.056,3150,2391,3357
$GC,695,-0.51,-117.3,55.5,-6.9,61,699,0.00,2.42,0.00,0.000,4,0.000,0.081,3150,3817,3357
$GC,716,-0.51,-117.3,57.0,-5.8,62,723,0.00,2.28,0.00,0.000,6,0.000,0.054,3149,2393,3357
$GC,1042,-0.51,-117.3,80.0,-8.0,93,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2393,3357
$GC,1361,-0.51,-117.3,105.0,-7.9,109,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2393,3357
$GC,1671,-0.56,-117.3,125.2,-6.0,124,1675,0.00,2.40,0.00,0.000,4,0.000,0.080,3150,3805,3357
$GC,1710,-0.66,-117.3,127.7,-5.7,125,1717,0.15,2.28,0.00,0.000,6,0.081,0.053,3095,2397,3357
$GC,2036,-0.66,-117.3,152.5,-7.9,141,2040,0.00,2.38,0.00,0.000,4,0.000,0.069,3095,988,3357
$GC,2080,-0.66,-117.3,155.9,-7.4,142,2085,0.00,2.28,0.00,0.000,6,0.000,0.060,3095,2397,3357
$GC,2405,-0.61,-117.3,180.0,-7.6,153,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3357
$GC,2710,-0.61,-117.3,203.3,-7.5,163,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3357
$GC,3017,-0.61,-117.3,223.9,-6.4,173,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3358
$GC,3323,-0.61,-117.3,243.7,-6.6,183,3327,0.00,2.35,0.00,0.000,4,0.000,0.081,3095,3816,3357
$GC,3379,-0.61,-117.3,247.7,-7.2,184,3383,0.00,2.28,0.00,0.000,6,0.000,0.054,3095,2401,3357
$GC,3691,-0.61,-117.3,268.7,-6.6,194,3695,0.00,2.40,0.00,0.000,4,0.000,0.080,3095,3808,3357
$GC,3735,-0.61,-117.3,271.9,-7.0,195,3739,0.00,2.30,0.00,0.000,6,0.000,0.054,3095,2388,3357
$GC,4054,-0.61,-117.3,291.8,-6.2,206,4058,0.00,2.38,0.00,0.000,4,0.000,0.070,3095,994,3357
$GC,4083,-0.61,-117.3,293.5,-6.4,207,4087,0.00,2.30,0.00,0.000,6,0.000,0.062,3095,2409,3357
$GC,4445,-0.61,-117.3,314.7,-5.8,215,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3357
$GC,4749,-0.61,-117.3,335.6,-7.0,220,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3357
$GC,5053,-0.61,-117.3,357.3,-7.1,225,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3357
$GC,5355,-0.61,-117.3,379.0,-7.2,230,5359,0.00,2.33,0.00,0.000,4,0.000,0.082,3095,3807,3357
$GC,5399,-0.61,-117.3,382.4,-7.8,230,5403,0.00,2.28,0.00,0.000,6,0.000,0.056,3094,2389,3357
$GC,5720,-0.61,-117.3,405.9,-7.2,236,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3357
$GC,6023,-0.61,-117.3,427.1,-7.0,241,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,6326,-0.61,-117.3,448.3,-6.9,246,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,6629,-0.61,-117.3,469.0,-6.8,251,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,6932,-0.61,-117.3,489.3,-6.7,256,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,7236,-0.61,-117.3,509.6,-6.7,261,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,7538,-0.61,-117.3,529.9,-6.7,266,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,7842,-0.61,-117.3,549.0,-6.3,271,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3356
$GC,8145,-0.61,-117.3,568.5,-6.4,276,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2389,3355
$GC,8448,-0.61,-117.3,587.3,-6.2,281,8452,0.00,2.40,0.00,0.000,4,0.000,0.072,3095,991,3355
$GC,8471,-0.61,-117.3,588.6,-6.1,281,8475,0.00,2.35,0.00,0.000,6,0.000,0.062,3095,2411,3355
$GC,8809,-0.61,-117.3,608.9,-5.9,287,8813,0.00,2.35,0.00,0.000,4,0.000,0.083,3095,3817,3355
$GC,8841,-0.61,-117.3,611.0,-6.6,287,8845,0.00,2.28,0.00,0.000,6,0.000,0.056,3095,2394,3354
$GC,9174,-0.61,-117.3,629.7,-5.6,293,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2394,3355
$GC,9477,-0.61,-117.3,646.1,-5.4,298,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2394,3355
$GC,9781,-0.61,-117.3,663.5,-5.7,303,9785,0.00,2.40,0.00,0.000,4,0.000,0.083,3095,3807,3355
$GC,9815,-0.61,-117.3,665.6,-6.6,303,9819,0.00,2.28,0.00,0.000,6,0.000,0.056,3095,2392,3354
$GC,10142,-0.79,-117.3,687.8,-7.1,309,10146,0.10,2.42,0.00,0.000,4,0.104,0.081,3060,3820,3354
$GC,10236,-0.79,-117.3,695.2,-8.0,310,10240,0.00,2.28,0.00,0.000,6,0.000,0.058,3059,2397,3354
$GC,10569,-0.93,-117.3,719.7,-7.5,316,10573,0.12,2.40,0.00,0.000,4,0.107,0.081,3015,3815,3354
$GC,10727,-0.74,-117.3,734.1,-9.5,318,10732,0.22,2.28,0.00,0.000,6,0.163,0.058,3075,2390,3354
$GC,11065,-0.74,-117.3,757.0,-6.5,324,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2390,3353
$GC,11367,-0.74,-117.3,776.3,-6.4,329,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2390,3353
$GC,11670,-0.74,-117.3,796.0,-6.5,334,11674,0.00,2.35,0.00,0.000,4,0.000,0.073,3075,991,3353
$GC,11714,-0.74,-117.3,799.0,-6.8,334,11718,0.00,2.33,0.00,0.000,6,0.000,0.065,3073,2411,3353
$GC,12030,-0.74,-117.3,818.7,-6.2,340,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2412,3353
$GC,12333,-0.74,-117.3,836.6,-5.8,345,12337,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,991,3353
$GC,12395,-0.74,-117.3,840.4,-6.5,346,12399,0.00,2.33,0.00,0.000,6,0.000,0.066,3073,2399,3353
$GC,12761,-0.74,-117.3,861.4,-5.8,352,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3353
$GC,13063,-0.74,-117.3,877.8,-5.4,357,13068,0.00,2.38,0.00,0.000,4,0.000,0.084,3073,3807,3353
$GC,13098,-0.74,-117.3,879.7,-5.6,357,13102,0.00,2.28,0.00,0.000,6,0.000,0.058,3072,2390,3353
$GC,13424,-0.74,-117.3,896.8,-5.2,363,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3353
$GC,13728,-0.74,-117.3,913.4,-5.5,368,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2390,3352
$GC,14030,-0.74,-117.3,930.5,-5.7,373,14034,0.00,2.45,0.00,0.000,4,0.000,0.084,3073,3807,3352
$GC,14063,-0.74,-117.3,932.5,-5.9,373,14067,0.00,2.30,0.00,0.000,6,0.000,0.058,3073,2392,3352
$GC,14395,-0.74,-117.3,951.2,-5.6,379,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3353
$GC,14699,-0.74,-117.3,968.1,-5.6,384,14700,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3352
$GC,15002,-0.74,-117.3,985.7,-5.8,389,15003,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3352
$STATE,15120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15120,begin apogee
$GC,15127,-0.22,0.0,993.0,5.9,391,15237,0.57,0.00,107.70,1.490,6,0.144,0.000,3246,2201,2876
$STATE,15238,end apogee,CONTROL_FINISHED_OK
$STATE,15238,begin climb
$GC,15241,0.67,117.3,995.1,0.0,392,15357,0.88,0.00,112.95,1.438,6,0.096,0.000,3527,2201,2397
$GC,15668,0.35,117.3,977.9,7.1,400,15670,0.35,0.00,0.00,0.000,6,0.167,0.000,3431,2201,2394
$GC,15972,0.36,125.6,963.3,4.8,405,15986,0.00,2.53,8.75,1.260,4,0.000,0.079,3440,789,2363
$GC,16015,0.32,125.6,960.9,5.1,405,16020,0.00,2.33,0.00,0.000,6,0.000,0.063,3440,2202,2362
$GC,16337,0.27,125.6,944.2,5.2,411,16342,0.12,2.38,0.00,0.000,4,0.166,0.079,3408,3621,2362
$GC,16399,0.27,125.6,940.9,5.1,412,16403,0.00,2.35,0.00,0.000,6,0.000,0.064,3408,2195,2362
$GC,16771,0.31,131.3,923.2,4.8,418,16784,0.00,2.38,6.60,1.181,4,0.000,0.080,3408,788,2339
$GC,16808,0.39,135.0,921.2,4.9,418,16819,0.10,2.30,5.32,1.073,6,0.094,0.063,3447,2203,2325
$GC,17135,0.33,135.0,901.1,6.3,424,17139,0.00,2.35,0.00,0.000,4,0.000,0.081,3448,3614,2324
$GC,17180,0.19,135.0,897.8,7.4,424,17185,0.25,2.33,0.00,0.000,6,0.173,0.065,3383,2187,2324
$GC,17495,0.32,135.0,881.5,5.2,430,17497,0.12,0.00,0.00,0.000,6,0.089,0.000,3428,2187,2324
$GC,17798,0.37,135.0,863.4,6.0,435,17799,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2187,2323
$GC,18101,0.41,135.0,846.3,5.6,440,18105,0.00,2.42,0.00,0.000,4,0.000,0.083,3428,3613,2324
$GC,18141,0.35,135.0,843.8,5.5,440,18145,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2194,2323
$GC,18462,0.35,135.0,826.3,5.4,446,18463,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2194,2323
$GC,18764,0.35,135.0,809.9,5.3,451,18765,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2194,2323
$GC,19068,0.35,139.5,794.8,4.9,456,19078,0.00,2.38,5.32,1.049,4,0.000,0.081,3435,785,2307
$GC,19145,0.35,139.5,790.8,5.4,457,19149,0.00,2.30,0.00,0.000,6,0.000,0.064,3435,2200,2307
$GC,19494,0.35,139.5,773.0,5.1,463,19495,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2307
$GC,19797,0.35,139.5,757.2,5.3,468,19798,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2306
$GC,20101,0.35,139.5,740.7,5.4,473,20102,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2306
$GC,20403,0.35,139.5,724.2,5.4,478,20407,0.00,2.35,0.00,0.000,4,0.000,0.082,3435,3613,2306
$GC,20436,0.28,139.5,722.1,6.5,478,20441,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2189,2306
$GC,20763,0.28,139.5,705.1,5.2,484,20764,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2189,2306
$GC,21066,0.28,139.5,689.7,5.0,489,21071,0.00,2.45,0.00,0.000,4,0.000,0.081,3435,3617,2306
$GC,21122,0.20,139.5,686.5,6.1,489,21129,0.20,2.33,0.00,0.000,6,0.176,0.064,3384,2201,2306
$GC,21432,0.43,182.2,674.7,3.8,495,21473,0.22,0.00,38.53,1.293,6,0.082,0.000,3464,2201,2132
$GC,21735,0.43,182.2,656.5,6.1,500,21739,0.00,2.42,0.00,0.000,4,0.000,0.079,3465,782,2129
$GC,21768,0.43,182.2,654.5,6.0,500,21772,0.00,2.33,0.00,0.000,6,0.000,0.063,3465,2203,2129
$GC,22100,0.43,182.2,635.6,5.6,506,22104,0.00,2.40,0.00,0.000,4,0.000,0.080,3465,784,2129
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$GC,27124,0.49,212.4,317.8,4.4,588,27149,0.15,2.40,19.27,1.039,4,0.084,0.078,3482,790,2009
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$GC,27799,0.49,212.4,279.5,5.7,604,27803,0.00,2.45,0.00,0.000,4,0.000,0.077,3483,785,2006
$GC,27843,0.50,224.8,276.9,4.6,605,27860,0.00,2.30,11.60,0.986,6,0.000,0.063,3483,2199,1959
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$STATE,32322,end climb,SURFACE_DEPTH_REACHED
$STATE,32322,begin surface coast
$FINISH,3.0,1.015319
$STATE,32398,end surface coast,CONTROL_FINISHED_OK
$STATE,32398,begin surface
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$HUMID,2090
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$TCM_TEMP,14.40
$XPDR_PINGS,1005
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$10V_AH,10.6,47.472
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$DEVICE_SECS,28.000,211.975,393.600,0.000,0.000,30.131,28.225,211.452,251.250,0.000,0.000,32.831,1795.732,27437.602,552.776,2402.498,706.846,33.383,1734.846,0.000,2356.622,0.000,0.465
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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,50679,845
$CAP_FILE_SIZE,181564,0
$CFSIZE,260165632,231055360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090109,141706,5001.172,-14456.278,64,0.8,69,18.5