version: 66.03
glider: 120
mission: 9
dive: 670
start: 5 8 109 10 5 6
data:
$ID,120
$MISSION,9
$DIVE,670
$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,-31952.24
$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,21
$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
$GPS1,095736,5005.188,-14448.417,76,1.0,76,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-76.3
$GPS2,100408,5005.156,-14448.408,14,1.1,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.077,0.160
$KALMAN_X,-126576.3,-55.5,-123.1,157764.0,245.7
$KALMAN_Y,142701.4,7.8,364.2,-139972.1,-2177.0
$MHEAD_RNG_PITCHd_Wd,315.7,5260,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-29.95,0.000,2,0.000,0.000,135,2409,2498
$GC,63,-0.67,-117.3,3.1,-6.0,3,107,14.10,2.62,-21.62,0.000,4,0.266,0.079,3093,991,3356
$GC,267,-0.50,-117.3,25.6,-10.8,21,272,0.22,2.40,0.00,0.000,6,0.147,0.062,3154,2409,3358
$GC,593,-0.50,-117.3,49.5,-7.2,51,594,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2409,3358
$GC,912,-0.50,-117.3,71.5,-6.6,81,913,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2408,3358
$GC,1225,-0.50,-117.3,93.8,-6.9,102,1229,0.00,2.53,0.00,0.000,4,0.000,0.067,3153,979,3358
$GC,1277,-0.55,-117.3,97.6,-7.5,104,1281,0.00,2.42,0.00,0.000,6,0.000,0.059,3154,2406,3358
$GC,1594,-0.59,-117.3,117.9,-6.1,119,1598,0.00,2.53,0.00,0.000,4,0.000,0.081,3154,3812,3359
$GC,1636,-0.70,-117.3,120.5,-5.8,121,1641,0.20,2.40,0.00,0.000,6,0.071,0.051,3082,2387,3359
$GC,1965,-0.63,-117.3,147.4,-8.3,137,1969,0.00,2.47,0.00,0.000,4,0.000,0.067,3083,993,3358
$GC,2016,-0.58,-117.3,151.8,-7.7,139,2021,0.17,2.40,0.00,0.000,6,0.126,0.059,3128,2406,3359
$GC,2331,-0.62,-117.3,172.1,-6.6,149,2335,0.00,2.45,0.00,0.000,4,0.000,0.078,3126,3814,3359
$GC,2382,-0.71,-117.3,175.8,-7.0,150,2387,0.12,2.30,0.00,0.000,6,0.077,0.052,3079,2399,3359
$GC,2696,-0.71,-117.3,199.8,-7.5,160,2700,0.00,2.42,0.00,0.000,4,0.000,0.067,3079,993,3359
$GC,2760,-0.71,-117.3,204.7,-7.9,162,2764,0.00,2.40,0.00,0.000,6,0.000,0.059,3079,2405,3359
$GC,3103,-0.64,-117.3,228.9,-6.8,173,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2404,3359
$GC,3409,-0.58,-117.3,251.2,-7.5,183,3414,0.15,2.50,0.00,0.000,4,0.131,0.078,3124,3808,3359
$GC,3446,-0.66,-117.3,253.6,-6.5,184,3450,0.00,2.33,0.00,0.000,6,0.000,0.051,3125,2393,3359
$GC,3777,-0.92,-117.3,277.8,-7.6,195,3782,0.28,2.50,0.00,0.000,4,0.082,0.077,3022,3808,3359
$GC,3968,-0.68,-117.3,298.1,-12.0,200,3976,0.28,2.33,0.00,0.000,6,0.148,0.054,3093,2390,3359
$GC,4310,-0.68,-117.3,324.6,-7.6,207,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2391,3359
$GC,4613,-0.68,-117.3,346.2,-7.1,212,4617,0.00,2.58,0.00,0.000,4,0.000,0.067,3092,990,3359
$GC,4646,-0.68,-117.3,348.9,-7.7,212,4651,0.00,2.42,0.00,0.000,6,0.000,0.061,3093,2403,3359
$GC,4975,-0.68,-117.3,372.0,-7.0,218,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3359
$GC,5277,-0.68,-117.3,392.9,-6.8,223,5282,0.00,2.55,0.00,0.000,4,0.000,0.067,3093,994,3359
$GC,5334,-0.68,-117.3,397.0,-7.1,223,5340,0.00,2.42,0.00,0.000,6,0.000,0.061,3093,2411,3359
$GC,5645,-0.68,-117.3,417.2,-6.6,229,5649,0.00,2.53,0.00,0.000,4,0.000,0.068,3093,986,3358
$GC,5674,-0.68,-117.3,419.3,-6.8,229,5678,0.00,2.42,0.00,0.000,6,0.000,0.061,3093,2410,3358
$GC,6007,-0.68,-117.3,441.7,-6.8,235,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2409,3358
$GC,6309,-0.68,-117.3,462.5,-6.9,240,6314,0.00,2.53,0.00,0.000,4,0.000,0.068,3093,996,3358
$GC,6349,-0.68,-117.3,465.6,-8.1,240,6353,0.00,2.42,0.00,0.000,6,0.000,0.061,3093,2399,3358
$GC,6671,-0.68,-117.3,489.0,-7.4,246,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3358
$GC,6974,-0.68,-117.3,512.0,-7.7,251,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3358
$GC,7277,-0.68,-117.3,534.1,-7.2,256,7281,0.00,2.55,0.00,0.000,4,0.000,0.068,3093,993,3358
$GC,7312,-0.68,-117.3,536.7,-7.4,256,7316,0.00,2.42,0.00,0.000,6,0.000,0.061,3093,2403,3358
$GC,7640,-0.68,-117.3,558.2,-6.5,262,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3358
$GC,7942,-0.68,-117.3,577.2,-6.3,267,7946,0.00,2.53,0.00,0.000,4,0.000,0.081,3093,3815,3357
$GC,7976,-0.68,-117.3,579.4,-6.1,267,7981,0.00,2.35,0.00,0.000,6,0.000,0.054,3093,2396,3357
$GC,8304,-0.68,-117.3,599.5,-6.2,273,8308,0.00,2.50,0.00,0.000,4,0.000,0.071,3093,984,3357
$GC,8333,-0.68,-117.3,601.3,-6.8,273,8337,0.00,2.45,0.00,0.000,6,0.000,0.061,3093,2408,3357
$GC,8665,-0.68,-117.3,620.9,-5.9,279,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2407,3357
$GC,8969,-0.68,-117.3,639.3,-6.1,284,8973,0.00,2.53,0.00,0.000,4,0.000,0.070,3093,991,3357
$GC,9008,-0.68,-117.3,642.1,-6.6,284,9012,0.00,2.45,0.00,0.000,6,0.000,0.061,3093,2410,3357
$GC,9331,-0.68,-117.3,661.4,-6.0,290,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3357
$GC,9634,-0.68,-117.3,679.3,-5.9,295,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3357
$GC,9936,-0.68,-117.3,696.6,-5.7,300,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3357
$GC,10239,-0.68,-117.3,714.8,-6.0,305,10244,0.00,2.58,0.00,0.000,4,0.000,0.070,3093,988,3356
$GC,10268,-0.68,-117.3,716.7,-7.5,305,10272,0.00,2.45,0.00,0.000,6,0.000,0.061,3093,2404,3356
$GC,10601,-0.68,-117.3,737.6,-6.2,311,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3356
$GC,10904,-0.68,-117.3,756.5,-6.3,316,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3356
$GC,11207,-0.68,-117.3,773.6,-5.6,321,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3356
$GC,11510,-0.68,-117.3,790.1,-5.4,326,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3356
$GC,11814,-0.68,-117.3,806.5,-5.4,331,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3356
$GC,12116,-0.68,-117.3,824.1,-5.9,336,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2403,3356
$GC,12420,-0.72,-117.3,842.7,-6.2,341,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3355
$GC,12723,-0.76,-117.3,861.1,-6.1,346,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2403,3355
$GC,13026,-0.81,-117.3,878.5,-5.7,351,13028,0.12,0.00,0.00,0.000,6,0.082,0.000,3046,2403,3355
$GC,13329,-0.81,-117.3,896.7,-6.1,356,13330,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2403,3355
$GC,13631,-0.81,-117.3,913.2,-5.4,361,13636,0.00,2.67,0.00,0.000,4,0.000,0.071,3046,991,3355
$GC,13660,-0.77,-117.3,914.9,-5.8,361,13665,0.00,2.45,0.00,0.000,6,0.000,0.062,3046,2403,3355
$GC,13995,-0.70,-117.3,932.6,-5.3,367,13997,0.15,0.00,0.00,0.000,6,0.134,0.000,3086,2403,3355
$GC,14297,-0.70,-117.3,946.2,-4.5,372,14299,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,14600,-0.70,-117.3,961.2,-5.0,377,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,14903,-0.70,-117.3,977.8,-5.5,382,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2402,3355
$STATE,15142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15142,begin apogee
$GC,15151,-0.22,0.0,991.6,5.7,386,15264,0.52,0.00,108.35,1.490,6,0.130,0.000,3241,2193,2876
$STATE,15265,end apogee,CONTROL_FINISHED_OK
$STATE,15265,begin climb
$GC,15269,0.67,117.3,996.6,0.0,388,15393,0.90,2.95,116.10,1.441,4,0.084,0.075,3529,3606,2396
$GC,15431,0.21,117.3,996.3,6.1,390,15437,0.65,2.72,0.00,0.000,6,0.180,0.060,3392,2199,2394
$GC,15767,0.33,154.8,983.0,3.9,396,15806,0.00,2.58,33.90,1.423,4,0.000,0.077,3394,789,2244
$GC,15853,0.48,174.6,979.0,4.4,397,15878,0.22,2.38,19.08,1.368,6,0.071,0.059,3479,2210,2164
$GC,16202,0.37,174.6,953.3,7.6,403,16206,0.15,2.35,0.00,0.000,4,0.148,0.077,3434,3611,2160
$GC,16230,0.30,174.6,951.0,7.6,403,16234,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2182,2159
$GC,16563,0.30,174.6,929.9,6.3,409,16567,0.00,2.38,0.00,0.000,4,0.000,0.077,3436,779,2159
$GC,16609,0.30,174.6,926.8,5.5,409,16613,0.00,2.35,0.00,0.000,6,0.000,0.059,3436,2205,2159
$GC,16925,0.30,174.6,906.2,6.7,415,16929,0.00,2.38,0.00,0.000,4,0.000,0.077,3436,3609,2159
$GC,16965,0.23,174.6,903.2,7.4,415,16970,0.17,2.33,0.00,0.000,6,0.172,0.061,3394,2202,2158
$GC,17288,0.37,174.6,884.2,5.9,421,17293,0.12,2.50,0.00,0.000,4,0.081,0.076,3439,777,2158
$GC,17327,0.37,174.6,881.2,7.7,421,17331,0.00,2.38,0.00,0.000,6,0.000,0.059,3439,2207,2159
$GC,17649,0.41,174.6,858.7,7.1,427,17650,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2206,2158
$GC,17951,0.41,174.6,837.6,6.9,432,17953,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2206,2158
$GC,18256,0.45,174.6,818.0,6.4,437,18257,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2206,2157
$GC,18558,0.49,174.6,800.2,5.8,442,18560,0.10,0.00,0.00,0.000,6,0.106,0.000,3483,2206,2157
$GC,18861,0.37,174.6,778.2,7.3,447,18863,0.17,0.00,0.00,0.000,6,0.143,0.000,3437,2207,2157
$GC,19164,0.37,174.6,761.5,5.4,452,19168,0.00,2.65,0.00,0.000,4,0.000,0.075,3437,789,2157
$GC,19204,0.37,174.6,759.3,5.4,452,19208,0.00,2.38,0.00,0.000,6,0.000,0.059,3437,2200,2157
$GC,19526,0.37,174.6,742.5,5.2,458,19527,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2157
$GC,19829,0.37,174.6,727.4,5.0,463,19830,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2157
$GC,20132,0.38,182.6,712.9,4.8,468,20141,0.00,0.00,7.80,1.153,6,0.000,0.000,3437,2199,2131
$GC,20436,0.38,182.6,696.5,5.5,473,20437,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2130
$GC,20738,0.38,182.6,678.8,5.9,478,20739,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2130
$GC,21041,0.38,182.6,660.0,6.2,483,21042,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2199,2130
$GC,21345,0.42,182.6,640.7,6.5,488,21349,0.00,2.47,0.00,0.000,4,0.000,0.078,3437,3606,2130
$GC,21373,0.42,182.6,638.4,6.9,488,21377,0.00,2.38,0.00,0.000,6,0.000,0.060,3437,2199,2130
$GC,21713,0.46,182.6,615.6,6.8,494,21717,0.00,2.58,0.00,0.000,4,0.000,0.076,3437,783,2131
$GC,21753,0.53,182.6,612.7,7.1,494,21758,0.17,2.40,0.00,0.000,6,0.077,0.058,3505,2208,2131
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$STATE,30864,end climb,SURFACE_DEPTH_REACHED
$STATE,30865,begin surface coast
$FINISH,0.7,1.014251
$STATE,31014,end surface coast,CONTROL_FINISHED_OK
$STATE,31015,begin surface
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$HUMID,2153
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$TCM_TEMP,15.60
$XPDR_PINGS,953
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$10V_AH,10.3,90.740
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$DEVICE_SECS,29.675,192.500,347.575,18.200,0.000,24.101,30.620,165.004,238.250,0.000,0.000,14.735,1711.429,26183.051,501.927,2177.377,868.139,33.378,1582.000,0.000,2150.930,0.000,0.466
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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,47441,815
$CAP_FILE_SIZE,171021,0
$CFSIZE,260165632,206630912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080509,184437,5008.081,-14450.878,69,0.9,69,18.5