version: 66.03
glider: 120
mission: 9
dive: 419
start: 2 2 109 9 10 13
data:
$ID,120
$MISSION,9
$DIVE,419
$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,-26633.926
$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
$GPS1,090237,5003.261,-14447.587,60,1.1,60,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-72.8
$GPS2,090919,5003.330,-14447.674,11,1.5,22,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.092,0.152
$KALMAN_X,-6958.6,-223.5,-55.6,39119.9,449.6
$KALMAN_Y,22321.5,-250.4,-316.5,-22028.4,448.8
$MHEAD_RNG_PITCHd_Wd,310.3,8631,-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,24,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-10.85,0.000,2,0.000,0.000,136,2414,2020
$GC,40,-0.67,-117.3,3.9,-0.0,1,115,14.02,2.45,-54.47,0.000,4,0.283,0.093,3096,3813,3354
$GC,364,-0.52,-117.3,31.3,-9.3,30,369,0.17,2.38,0.00,0.000,6,0.153,0.054,3146,2400,3356
$GC,691,-0.52,-117.3,54.4,-8.2,60,695,0.00,2.40,0.00,0.000,4,0.000,0.068,3145,987,3357
$GC,730,-0.52,-117.3,57.6,-7.9,63,736,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2402,3356
$GC,1055,-0.52,-117.3,81.8,-7.6,93,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2402,3356
$GC,1364,-0.52,-117.3,105.2,-7.1,108,1368,0.00,2.42,0.00,0.000,4,0.000,0.080,3141,3817,3356
$GC,1442,-0.59,-117.3,110.6,-6.5,111,1448,0.00,2.33,0.00,0.000,6,0.000,0.052,3142,2395,3356
$GC,1759,-0.59,-117.3,129.2,-5.8,127,1763,0.00,2.38,0.00,0.000,4,0.000,0.067,3141,996,3356
$GC,1809,-0.66,-117.3,132.5,-6.3,129,1813,0.12,2.30,0.00,0.000,6,0.084,0.061,3093,2411,3357
$GC,2124,-0.66,-117.3,154.6,-6.7,143,2128,0.00,2.42,0.00,0.000,4,0.000,0.067,3093,996,3357
$GC,2185,-0.66,-117.3,159.2,-7.0,144,2191,0.00,2.30,0.00,0.000,6,0.000,0.061,3093,2397,3357
$GC,2498,-0.62,-117.3,181.2,-7.0,155,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3357
$GC,2804,-0.62,-117.3,201.2,-6.4,165,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2397,3357
$GC,3111,-0.62,-117.3,222.8,-7.2,175,3115,0.00,2.40,0.00,0.000,4,0.000,0.067,3093,996,3357
$GC,3138,-0.62,-117.3,224.8,-6.9,175,3145,0.00,2.30,0.00,0.000,6,0.000,0.061,3092,2413,3357
$GC,3451,-0.62,-117.3,246.2,-6.8,186,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2413,3357
$GC,3757,-0.62,-117.3,268.3,-7.3,196,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2413,3357
$GC,4064,-0.62,-117.3,291.6,-7.4,206,4068,0.00,2.42,0.00,0.000,4,0.000,0.068,3092,996,3357
$GC,4098,-0.62,-117.3,294.0,-6.8,207,4102,0.00,2.30,0.00,0.000,6,0.000,0.061,3092,2398,3357
$GC,4436,-0.62,-117.3,317.4,-6.8,214,4440,0.00,2.40,0.00,0.000,4,0.000,0.080,3086,3817,3357
$GC,4508,-0.62,-117.3,322.9,-8.3,215,4513,0.12,2.35,0.00,0.000,6,0.111,0.053,3121,2387,3357
$GC,4863,-0.66,-117.3,346.2,-6.6,221,4867,0.00,2.45,0.00,0.000,4,0.000,0.081,3121,3810,3356
$GC,4897,-0.75,-117.3,348.6,-7.2,221,4902,0.15,2.28,0.00,0.000,6,0.078,0.053,3065,2402,3356
$GC,5224,-0.70,-117.3,373.2,-7.5,227,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2402,3356
$GC,5526,-0.70,-117.3,393.5,-6.6,232,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2402,3356
$GC,5830,-0.66,-117.3,413.9,-6.7,237,5835,0.12,2.47,0.00,0.000,4,0.100,0.080,3099,3811,3356
$GC,5868,-0.66,-117.3,416.7,-7.2,237,5873,0.00,2.35,0.00,0.000,6,0.000,0.053,3099,2401,3356
$GC,6190,-0.66,-117.3,438.1,-6.7,243,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3356
$GC,6492,-0.66,-117.3,457.8,-6.5,248,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3356
$GC,6795,-0.66,-117.3,476.8,-6.3,253,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3355
$GC,7099,-0.66,-117.3,495.8,-6.2,258,7103,0.00,2.47,0.00,0.000,4,0.000,0.070,3099,986,3355
$GC,7143,-0.66,-117.3,498.7,-7.0,258,7147,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2405,3355
$GC,7459,-0.66,-117.3,517.7,-6.0,264,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,7761,-0.66,-117.3,534.7,-5.6,269,7765,0.00,2.47,0.00,0.000,4,0.000,0.070,3099,992,3355
$GC,7794,-0.66,-117.3,536.9,-6.3,269,7798,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2407,3354
$GC,8120,-0.66,-117.3,554.8,-5.5,275,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3355
$GC,8424,-0.66,-117.3,572.6,-6.0,280,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,8727,-0.66,-117.3,591.7,-6.4,285,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,9030,-0.66,-117.3,611.3,-6.4,290,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,9333,-0.66,-117.3,631.1,-6.6,295,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,9636,-0.66,-117.3,649.9,-6.1,300,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,9939,-0.66,-117.3,666.0,-5.2,305,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3354
$GC,10242,-0.66,-117.3,681.3,-5.1,310,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3353
$GC,10545,-0.66,-117.3,697.2,-5.3,315,10549,0.00,2.47,0.00,0.000,4,0.000,0.071,3099,985,3354
$GC,10573,-0.66,-117.3,699.0,-6.4,315,10577,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2400,3353
$GC,10912,-0.66,-117.3,716.4,-5.2,321,10916,0.00,2.40,0.00,0.000,4,0.000,0.084,3099,3807,3353
$GC,10940,-0.72,-117.3,718.0,-5.8,321,10943,0.00,2.25,0.00,0.000,6,0.000,0.056,3099,2399,3353
$GC,11278,-0.92,-117.3,738.8,-6.5,327,11283,0.20,2.42,0.00,0.000,4,0.089,0.081,3019,3808,3353
$GC,11524,-0.75,-117.3,759.7,-9.2,330,11530,0.20,2.33,0.00,0.000,6,0.155,0.057,3073,2395,3353
$GC,11840,-0.75,-117.3,781.5,-6.8,336,11844,0.00,2.38,0.00,0.000,4,0.000,0.073,3073,984,3353
$GC,11879,-0.75,-117.3,784.2,-7.6,336,11883,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2403,3353
$GC,12200,-0.75,-117.3,804.7,-6.4,342,12204,0.00,2.38,0.00,0.000,4,0.000,0.084,3073,3811,3352
$GC,12239,-0.75,-117.3,807.3,-6.5,342,12243,0.00,2.28,0.00,0.000,6,0.000,0.057,3073,2388,3352
$GC,12559,-0.75,-117.3,826.9,-6.1,348,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2387,3352
$GC,12863,-0.75,-117.3,845.6,-6.2,353,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2388,3352
$GC,13165,-0.75,-117.3,864.5,-6.2,358,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2388,3352
$GC,13469,-0.75,-117.3,882.6,-6.0,363,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2388,3352
$GC,13771,-0.75,-117.3,901.4,-6.2,368,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2388,3352
$GC,14075,-0.75,-117.3,922.0,-6.9,373,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2388,3351
$GC,14379,-0.75,-117.3,943.1,-6.9,378,14383,0.00,2.47,0.00,0.000,4,0.000,0.085,3072,3811,3351
$GC,14413,-0.75,-117.3,945.6,-7.5,378,14417,0.00,2.30,0.00,0.000,6,0.000,0.058,3073,2398,3351
$GC,14740,-0.75,-117.3,967.2,-6.6,384,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3351
$GC,15043,-0.75,-117.3,985.4,-6.0,389,15047,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,993,3351
$GC,15082,-0.75,-117.3,987.7,-6.5,389,15086,0.00,2.33,0.00,0.000,6,0.000,0.065,3072,2404,3351
$STATE,15157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15157,begin apogee
$GC,15164,-0.22,0.0,992.1,5.6,391,15280,0.57,0.00,107.88,1.490,6,0.140,0.000,3247,2198,2876
$STATE,15280,end apogee,CONTROL_FINISHED_OK
$STATE,15281,begin climb
$GC,15283,0.67,117.3,995.6,0.0,393,15407,0.85,2.70,112.82,1.438,4,0.092,0.076,3534,798,2396
$GC,15458,0.33,117.3,992.1,7.4,395,15463,0.43,2.45,0.00,0.000,6,0.173,0.061,3426,2210,2394
$GC,15773,0.33,117.3,975.0,5.3,401,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2210,2393
$GC,16076,0.33,118.2,959.7,5.0,406,16081,0.00,2.42,0.00,0.000,4,0.000,0.079,3426,785,2393
$GC,16127,0.36,146.0,957.4,4.2,406,16158,0.00,2.30,26.33,1.412,6,0.000,0.062,3426,2200,2280
$GC,16502,0.36,146.0,938.3,5.1,413,16506,0.00,2.35,0.00,0.000,4,0.000,0.080,3427,3613,2277
$GC,16548,0.31,146.0,935.6,6.3,413,16552,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2190,2278
$GC,16863,0.31,146.0,919.2,5.2,419,16865,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2277
$GC,17166,0.31,146.0,903.5,5.1,424,17167,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2277
$GC,17469,0.31,146.0,887.8,5.2,429,17470,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2277
$GC,17773,0.31,146.0,871.7,5.3,434,17774,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2276
$GC,18076,0.31,146.0,856.1,5.2,439,18077,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2276
$GC,18378,0.31,146.0,840.5,5.1,444,18383,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,786,2276
$GC,18417,0.31,146.0,838.5,5.7,444,18421,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2200,2276
$GC,18738,0.31,146.0,821.8,5.2,450,18739,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2276
$GC,19042,0.31,146.0,805.8,5.3,455,19043,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2276
$GC,19345,0.31,146.0,789.3,5.5,460,19346,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2276
$GC,19647,0.31,146.0,773.0,5.3,465,19652,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,792,2276
$GC,19692,0.32,158.7,770.6,4.6,465,19710,0.00,2.30,11.95,1.273,6,0.000,0.062,3436,2206,2229
$GC,20013,0.32,158.7,752.8,5.6,471,20017,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,790,2228
$GC,20075,0.32,158.7,749.4,5.4,472,20079,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2212,2228
$GC,20440,0.32,158.7,728.5,5.7,478,20441,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2227
$GC,20743,0.32,158.7,711.0,5.7,483,20744,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2228
$GC,21047,0.32,158.7,693.5,5.8,488,21051,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3616,2228
$GC,21081,0.32,158.7,691.2,6.2,488,21085,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2195,2227
$GC,21408,0.32,158.7,673.6,5.3,494,21409,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2227
$GC,21711,0.32,158.7,657.7,5.2,499,21715,0.00,2.38,0.00,0.000,4,0.000,0.078,3436,790,2228
$GC,21761,0.35,179.9,655.0,4.4,499,21786,0.00,2.30,19.88,1.249,6,0.000,0.062,3436,2206,2142
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$STATE,32538,end climb,SURFACE_DEPTH_REACHED
$STATE,32538,begin surface coast
$FINISH,2.6,1.025533
$STATE,32698,end surface coast,CONTROL_FINISHED_OK
$STATE,32698,begin surface
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$HUMID,2101
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$TCM_TEMP,15.80
$XPDR_PINGS,1017
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$10V_AH,10.5,56.161
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$DEVICE_SECS,28.300,218.700,369.550,0.000,0.000,33.065,25.771,193.092,254.250,0.000,0.000,22.994,1820.085,27571.104,527.159,2515.216,733.889,33.369,1770.241,0.000,2472.023,0.000,0.466
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$DATA_FILE_SIZE,50606,846
$CAP_FILE_SIZE,187338,0
$CFSIZE,260165632,226091008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020209,181737,5006.606,-14450.304,29,1.4,29,18.5