version: 66.03
glider: 120
mission: 9
dive: 459
start: 2 17 109 13 53 3
data:
$ID,120
$MISSION,9
$DIVE,459
$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,-27538.508
$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,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
$GPS1,134537,4958.493,-14441.155,61,1.2,61,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-76.1
$GPS2,135208,4958.534,-14441.171,12,1.3,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.126,0.125
$KALMAN_X,-10411.1,-131.4,-75.3,50233.3,-17.6
$KALMAN_Y,54938.3,-40.7,-283.0,-63755.8,2242.6
$MHEAD_RNG_PITCHd_Wd,296.3,20235,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.00,0.000,2,0.000,0.000,136,2402,2018
$GC,41,-0.67,-117.3,3.8,-0.0,1,119,14.05,2.50,-57.47,0.000,4,0.285,0.081,3095,988,3355
$GC,318,-0.52,-117.3,26.1,-11.5,26,323,0.17,2.33,0.00,0.000,6,0.163,0.064,3143,2399,3357
$GC,643,-0.52,-117.3,51.8,-8.0,56,644,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2398,3357
$GC,962,-0.52,-117.3,77.2,-8.3,86,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2398,3358
$GC,1273,-0.52,-117.3,101.6,-7.7,103,1277,0.00,2.42,0.00,0.000,4,0.000,0.081,3134,3810,3358
$GC,1306,-0.52,-117.3,104.6,-8.6,104,1312,0.00,2.30,0.00,0.000,6,0.000,0.052,3135,2396,3358
$GC,1622,-0.52,-117.3,129.9,-7.5,120,1626,0.00,2.40,0.00,0.000,4,0.000,0.068,3134,987,3358
$GC,1662,-0.52,-117.3,132.9,-7.6,122,1666,0.00,2.30,0.00,0.000,6,0.000,0.061,3134,2406,3358
$GC,1984,-0.56,-117.3,152.3,-5.6,137,1988,0.00,2.35,0.00,0.000,4,0.000,0.081,3133,3805,3358
$GC,2029,-0.66,-117.3,155.2,-5.9,138,2033,0.00,2.28,0.00,0.000,6,0.000,0.052,3132,2399,3358
$GC,2354,-0.72,-117.3,173.1,-5.3,149,2359,0.15,2.40,0.00,0.000,4,0.081,0.067,3066,994,3358
$GC,2438,-0.61,-117.3,179.7,-8.1,151,2443,0.20,2.30,0.00,0.000,6,0.148,0.061,3120,2404,3358
$GC,2752,-0.61,-117.3,199.0,-6.0,161,2756,0.00,2.38,0.00,0.000,4,0.000,0.079,3113,3811,3358
$GC,2780,-0.61,-117.3,200.9,-6.6,161,2787,0.00,2.30,0.00,0.000,6,0.000,0.053,3113,2387,3358
$GC,3093,-0.61,-117.3,220.7,-6.4,172,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2388,3358
$GC,3399,-0.61,-117.3,241.0,-6.7,182,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2388,3358
$GC,3706,-0.61,-117.3,261.2,-6.6,192,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2388,3358
$GC,4012,-0.61,-117.3,280.7,-6.1,202,4016,0.00,2.50,0.00,0.000,4,0.000,0.080,3113,3806,3358
$GC,4042,-0.65,-117.3,282.6,-6.9,203,4046,0.00,2.33,0.00,0.000,6,0.000,0.054,3113,2392,3358
$GC,4408,-0.65,-117.3,303.6,-5.6,214,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2391,3358
$GC,4710,-0.65,-117.3,320.9,-5.7,219,4714,0.00,2.47,0.00,0.000,4,0.000,0.080,3112,3806,3358
$GC,4749,-0.70,-117.3,323.2,-6.2,219,4753,0.00,2.33,0.00,0.000,6,0.000,0.054,3113,2389,3357
$GC,5070,-0.75,-117.3,342.4,-6.0,225,5075,0.12,2.40,0.00,0.000,4,0.090,0.069,3065,987,3357
$GC,5109,-0.69,-117.3,345.5,-8.2,225,5113,0.00,2.33,0.00,0.000,6,0.000,0.062,3065,2411,3357
$GC,5430,-0.61,-117.3,372.1,-8.4,231,5435,0.17,2.40,0.00,0.000,4,0.146,0.081,3113,3815,3357
$GC,5464,-0.67,-117.3,374.6,-6.7,231,5468,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2395,3357
$GC,5791,-0.71,-117.3,394.5,-6.0,237,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3357
$GC,6095,-0.76,-117.3,412.1,-5.8,242,6096,0.12,0.00,0.00,0.000,6,0.090,0.000,3064,2395,3356
$GC,6397,-0.72,-117.3,432.7,-6.9,247,6402,0.00,2.38,0.00,0.000,4,0.000,0.071,3064,985,3356
$GC,6437,-0.66,-117.3,435.9,-8.1,247,6442,0.15,2.33,0.00,0.000,6,0.139,0.063,3104,2405,3356
$GC,6758,-0.66,-117.3,455.6,-6.1,253,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2404,3357
$GC,7061,-0.66,-117.3,473.8,-5.9,258,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2405,3356
$GC,7364,-0.66,-117.3,491.4,-5.8,263,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2405,3356
$GC,7667,-0.66,-117.3,509.8,-6.1,268,7671,0.00,2.42,0.00,0.000,4,0.000,0.071,3104,986,3356
$GC,7701,-0.66,-117.3,511.9,-6.7,268,7704,0.00,2.35,0.00,0.000,6,0.000,0.063,3101,2408,3356
$GC,8034,-0.66,-117.3,533.5,-6.6,274,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2407,3356
$GC,8336,-0.66,-117.3,551.7,-6.0,279,8340,0.00,2.42,0.00,0.000,4,0.000,0.071,3101,994,3356
$GC,8369,-0.71,-117.3,553.8,-6.4,279,8373,0.00,2.35,0.00,0.000,6,0.000,0.063,3101,2404,3355
$GC,8695,-0.71,-117.3,571.9,-5.5,285,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2404,3355
$GC,8999,-0.71,-117.3,588.7,-5.6,290,9003,0.00,2.40,0.00,0.000,4,0.000,0.070,3101,995,3355
$GC,9026,-0.71,-117.3,590.4,-6.0,290,9030,0.00,2.33,0.00,0.000,6,0.000,0.063,3101,2413,3355
$GC,9358,-0.71,-117.3,610.0,-6.1,296,9362,0.00,2.35,0.00,0.000,4,0.000,0.083,3101,3808,3355
$GC,9391,-0.77,-117.3,612.0,-5.9,296,9395,0.00,2.25,0.00,0.000,6,0.000,0.055,3101,2396,3355
$GC,9719,-0.81,-117.3,631.5,-5.9,302,9724,0.15,2.33,0.00,0.000,4,0.084,0.071,3037,992,3355
$GC,9752,-0.69,-117.3,634.1,-9.0,302,9757,0.20,2.33,0.00,0.000,6,0.156,0.063,3091,2412,3355
$GC,10079,-0.69,-117.3,653.4,-5.7,308,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2412,3355
$GC,10383,-0.69,-117.3,670.0,-5.5,313,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2412,3355
$GC,10685,-0.69,-117.3,687.5,-5.8,318,10689,0.00,2.38,0.00,0.000,4,0.000,0.073,3091,993,3355
$GC,10718,-0.69,-117.3,689.7,-7.1,318,10722,0.00,2.33,0.00,0.000,6,0.000,0.063,3091,2401,3355
$GC,11044,-0.69,-117.3,710.7,-6.5,324,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2401,3354
$GC,11348,-0.69,-117.3,730.8,-6.6,329,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2400,3355
$GC,11651,-0.69,-117.3,751.3,-6.8,334,11655,0.00,2.45,0.00,0.000,4,0.000,0.083,3091,3818,3354
$GC,11690,-0.74,-117.3,754.2,-7.0,334,11694,0.00,2.33,0.00,0.000,6,0.000,0.056,3091,2396,3354
$GC,12012,-0.74,-117.3,775.3,-6.6,340,12016,0.00,2.35,0.00,0.000,4,0.000,0.073,3091,986,3354
$GC,12040,-0.74,-117.3,777.2,-6.1,340,12044,0.00,2.33,0.00,0.000,6,0.000,0.064,3091,2402,3354
$GC,12378,-0.74,-117.3,797.0,-5.7,346,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3354
$GC,12681,-0.74,-117.3,814.1,-5.6,351,12685,0.00,2.42,0.00,0.000,4,0.000,0.072,3091,991,3354
$GC,12708,-0.74,-117.3,815.8,-7.0,351,12712,0.00,2.35,0.00,0.000,6,0.000,0.064,3091,2404,3354
$GC,13040,-0.74,-117.3,833.8,-5.5,357,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3354
$GC,13343,-0.74,-117.3,850.8,-5.6,362,13344,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3354
$GC,13646,-0.74,-117.3,867.9,-5.6,367,13650,0.00,2.42,0.00,0.000,4,0.000,0.072,3091,989,3353
$GC,13685,-0.74,-117.3,870.2,-6.0,367,13690,0.00,2.33,0.00,0.000,6,0.000,0.064,3091,2399,3353
$GC,14008,-0.74,-117.3,887.9,-5.5,373,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3353
$GC,14310,-0.74,-117.3,903.8,-5.2,378,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3353
$GC,14613,-0.78,-117.3,919.0,-5.1,383,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3353
$GC,14916,-0.78,-117.3,934.5,-5.1,388,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3353
$GC,15219,-0.82,-117.3,950.1,-5.1,393,15224,0.12,2.42,0.00,0.000,4,0.087,0.073,3041,995,3353
$GC,15248,-0.78,-117.3,951.8,-6.2,393,15252,0.00,2.33,0.00,0.000,6,0.000,0.064,3041,2407,3353
$GC,15580,-0.70,-117.3,974.0,-6.7,399,15582,0.17,0.00,0.00,0.000,6,0.148,0.000,3090,2407,3352
$STATE,15880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15880,begin apogee
$GC,15888,-0.22,0.0,990.6,5.5,404,16003,0.50,0.00,108.60,1.487,6,0.140,0.000,3243,2197,2875
$STATE,16004,end apogee,CONTROL_FINISHED_OK
$STATE,16004,begin climb
$GC,16007,0.67,117.3,995.5,0.0,406,16124,0.88,0.00,113.38,1.437,6,0.089,0.000,3532,2197,2397
$GC,16431,0.35,117.3,977.0,7.0,412,16436,0.32,2.45,0.00,0.000,4,0.163,0.077,3444,780,2394
$GC,16477,0.32,128.9,974.3,4.7,412,16494,0.00,2.35,11.57,1.305,6,0.000,0.063,3444,2211,2350
$GC,16798,0.26,128.9,957.1,5.5,418,16799,0.15,0.00,0.00,0.000,6,0.157,0.000,3404,2211,2348
$GC,17100,0.31,128.9,942.0,5.0,423,17104,0.00,2.35,0.00,0.000,4,0.000,0.081,3402,3621,2348
$GC,17140,0.31,128.9,939.7,5.5,423,17144,0.00,2.30,0.00,0.000,6,0.000,0.063,3408,2196,2348
$GC,17462,0.36,128.9,922.7,5.3,429,17463,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2348
$GC,17764,0.40,128.9,906.8,5.3,434,17766,0.12,0.00,0.00,0.000,6,0.084,0.000,3462,2196,2348
$GC,18067,0.30,128.9,887.6,6.4,439,18069,0.17,0.00,0.00,0.000,6,0.143,0.000,3413,2196,2347
$GC,18370,0.30,128.9,871.9,5.1,444,18371,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2196,2347
$GC,18673,0.31,135.6,857.1,4.8,449,18682,0.00,0.00,7.35,1.200,6,0.000,0.000,3413,2196,2323
$GC,18977,0.38,154.5,843.4,4.5,454,18997,0.00,0.00,18.12,1.351,6,0.000,0.000,3413,2196,2246
$GC,19342,0.47,176.2,827.3,4.4,460,19369,0.15,2.50,21.08,1.348,4,0.078,0.081,3481,3607,2156
$GC,19405,0.27,176.2,823.1,8.0,461,19410,0.30,2.38,0.00,0.000,6,0.165,0.064,3407,2199,2154
$GC,19772,0.39,180.2,805.1,4.9,467,19782,0.10,2.40,4.70,0.977,4,0.097,0.081,3447,791,2141
$GC,19827,0.39,180.2,801.8,6.1,467,19834,0.00,2.33,0.00,0.000,6,0.000,0.063,3448,2200,2141
$GC,20137,0.39,180.2,783.5,5.9,473,20141,0.00,2.35,0.00,0.000,4,0.000,0.082,3447,3611,2141
$GC,20170,0.33,180.2,781.2,6.6,473,20174,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2189,2140
$GC,20497,0.33,180.2,760.6,6.2,479,20501,0.00,2.33,0.00,0.000,4,0.000,0.081,3449,791,2141
$GC,20541,0.33,180.2,757.8,6.2,479,20545,0.00,2.30,0.00,0.000,6,0.000,0.061,3449,2210,2140
$GC,20857,0.33,180.2,739.1,5.9,485,20858,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2140
$GC,21160,0.33,180.2,721.7,5.7,490,21162,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2140
$GC,21463,0.33,180.2,704.9,5.5,495,21464,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2140
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$STATE,33012,end climb,SURFACE_DEPTH_REACHED
$STATE,33012,begin surface coast
$FINISH,2.7,1.012857
$STATE,33139,end surface coast,CONTROL_FINISHED_OK
$STATE,33140,begin surface
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$XPDR_PINGS,1008
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$10V_AH,10.5,61.652
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$DEVICE_SECS,29.425,209.100,364.975,7.075,0.000,30.778,29.911,179.138,252.000,0.000,0.000,12.597,1832.936,28038.207,524.978,2386.366,768.956,33.375,1715.833,0.000,2361.708,0.000,0.465
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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,50625,865
$CAP_FILE_SIZE,188352,0
$CFSIZE,260165632,222965760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
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