version: 66.03
glider: 120
mission: 9
dive: 673
start: 5 9 109 12 58 10
data:
$ID,120
$MISSION,9
$DIVE,673
$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,-32018.949
$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,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
$GPS1,125024,5013.321,-14459.044,27,1.3,44,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.0
$GPS2,125713,5013.304,-14459.056,28,1.4,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.108,0.141
$KALMAN_X,-128046.6,-88.2,7.8,146481.4,-520.8
$KALMAN_Y,140794.9,-112.8,61.1,-122555.8,-1136.9
$MHEAD_RNG_PITCHd_Wd,304.2,20870,-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,-117.3,0.0,0.0,0,69,0.00,0.00,-40.12,0.000,2,0.000,0.000,138,2405,2715
$GC,74,-0.67,-117.3,3.9,-7.9,4,108,14.60,2.45,-13.05,0.000,4,0.274,0.092,3096,3815,3356
$GC,148,-0.52,-117.3,16.4,-10.7,10,155,0.17,2.30,0.00,0.000,6,0.152,0.054,3143,2395,3357
$GC,479,-0.52,-117.3,42.1,-7.9,41,483,0.00,2.42,0.00,0.000,4,0.000,0.068,3143,990,3357
$GC,531,-0.52,-117.3,46.7,-8.0,45,536,0.00,2.40,0.00,0.000,6,0.000,0.059,3141,2408,3357
$GC,861,-0.52,-117.3,72.6,-8.2,75,865,0.00,2.47,0.00,0.000,4,0.000,0.067,3141,985,3357
$GC,902,-0.52,-117.3,76.3,-8.3,78,906,0.00,2.40,0.00,0.000,6,0.000,0.059,3141,2400,3357
$GC,1221,-0.52,-117.3,101.7,-7.5,95,1225,0.00,2.45,0.00,0.000,4,0.000,0.067,3141,979,3358
$GC,1245,-0.52,-117.3,103.6,-7.8,96,1249,0.00,2.42,0.00,0.000,6,0.000,0.058,3141,2409,3358
$GC,1573,-0.52,-117.3,127.9,-7.6,112,1578,0.00,2.42,0.00,0.000,4,0.000,0.079,3141,3809,3358
$GC,1643,-0.62,-117.3,132.9,-7.0,115,1647,0.00,2.30,0.00,0.000,6,0.000,0.051,3141,2393,3358
$GC,1985,-0.68,-117.3,154.5,-5.7,131,1990,0.12,2.42,0.00,0.000,4,0.082,0.066,3091,991,3358
$GC,2031,-0.68,-117.3,157.7,-7.0,132,2035,0.00,2.40,0.00,0.000,6,0.000,0.058,3091,2407,3358
$GC,2357,-0.63,-117.3,182.5,-7.9,143,2361,0.00,2.47,0.00,0.000,4,0.000,0.077,3091,3816,3358
$GC,2396,-0.63,-117.3,185.9,-8.7,144,2400,0.00,2.33,0.00,0.000,6,0.000,0.051,3091,2393,3358
$GC,2720,-0.63,-117.3,211.8,-8.0,155,2725,0.00,2.42,0.00,0.000,4,0.000,0.067,3091,992,3358
$GC,2767,-0.63,-117.3,215.4,-8.2,156,2771,0.00,2.40,0.00,0.000,6,0.000,0.058,3091,2404,3358
$GC,3086,-0.63,-117.3,238.2,-7.0,167,3090,0.00,2.47,0.00,0.000,4,0.000,0.077,3091,3807,3358
$GC,3109,-0.63,-117.3,240.1,-7.5,167,3115,0.00,2.33,0.00,0.000,6,0.000,0.051,3091,2393,3358
$GC,3423,-0.63,-117.3,263.4,-7.6,178,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3358
$GC,3729,-0.63,-117.3,285.1,-6.7,188,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3358
$GC,4065,-0.63,-117.3,305.1,-5.7,198,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3358
$GC,4368,-0.63,-117.3,323.1,-6.0,203,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3358
$GC,4671,-0.63,-117.3,341.0,-5.9,208,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3358
$GC,4975,-0.63,-117.3,359.2,-6.0,213,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2394,3358
$GC,5277,-0.63,-117.3,377.3,-6.0,218,5282,0.00,2.65,0.00,0.000,4,0.000,0.078,3091,3806,3357
$GC,5311,-0.63,-117.3,379.5,-6.4,218,5316,0.00,2.40,0.00,0.000,6,0.000,0.052,3091,2401,3357
$GC,5639,-0.63,-117.3,400.3,-6.5,224,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2402,3357
$GC,5943,-0.63,-117.3,422.4,-7.4,229,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3357
$GC,6245,-0.63,-117.3,444.5,-7.2,234,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3357
$GC,6548,-0.63,-117.3,466.4,-7.2,239,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3357
$GC,6851,-0.63,-117.3,488.2,-7.2,244,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3357
$GC,7154,-0.63,-117.3,509.7,-7.1,249,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3357
$GC,7459,-0.63,-117.3,528.9,-6.3,254,7463,0.00,2.60,0.00,0.000,4,0.000,0.068,3091,992,3357
$GC,7487,-0.67,-117.3,530.6,-5.9,254,7491,0.00,2.42,0.00,0.000,6,0.000,0.060,3091,2402,3357
$GC,7826,-0.67,-117.3,549.9,-5.7,260,7830,0.00,2.50,0.00,0.000,4,0.000,0.081,3091,3808,3356
$GC,7860,-0.67,-117.3,552.1,-6.7,260,7864,0.00,2.35,0.00,0.000,6,0.000,0.053,3091,2388,3356
$GC,8188,-0.67,-117.3,573.2,-6.5,266,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2389,3356
$GC,8490,-0.67,-117.3,593.4,-6.7,271,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2390,3356
$GC,8793,-0.67,-117.3,613.1,-6.4,276,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2390,3356
$GC,9097,-0.67,-117.3,632.1,-6.3,281,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2390,3356
$GC,9400,-0.67,-117.3,650.9,-6.2,286,9405,0.00,2.67,0.00,0.000,4,0.000,0.080,3091,3806,3356
$GC,9429,-0.72,-117.3,652.9,-7.2,286,9434,0.00,2.45,0.00,0.000,6,0.000,0.053,3091,2397,3356
$GC,9762,-0.91,-117.3,675.7,-7.1,292,9767,0.17,2.65,0.00,0.000,4,0.086,0.077,3021,3818,3355
$GC,9918,-0.75,-117.3,688.6,-9.0,294,9924,0.20,2.42,0.00,0.000,6,0.131,0.054,3071,2388,3355
$GC,10263,-0.71,-117.3,712.0,-6.7,300,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2389,3355
$GC,10567,-0.67,-117.3,731.1,-6.2,305,10571,0.10,2.58,0.00,0.000,4,0.177,0.069,3096,985,3355
$GC,10596,-0.67,-117.3,732.9,-5.8,305,10600,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2404,3355
$GC,10930,-0.71,-117.3,750.3,-5.2,311,10934,0.00,2.53,0.00,0.000,4,0.000,0.081,3097,3815,3355
$GC,10964,-0.78,-117.3,752.1,-6.2,311,10968,0.00,2.35,0.00,0.000,6,0.000,0.054,3097,2401,3355
$GC,11293,-1.00,-117.3,772.4,-6.4,317,11298,0.28,2.53,0.00,0.000,4,0.082,0.079,2996,3810,3354
$GC,11495,-0.74,-117.3,791.0,-10.0,320,11500,0.30,2.35,0.00,0.000,6,0.155,0.055,3070,2389,3354
$GC,11858,-0.74,-117.3,814.0,-6.2,326,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2390,3354
$GC,12160,-0.74,-117.3,833.4,-6.4,331,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2390,3354
$GC,12463,-0.74,-117.3,852.3,-6.2,336,12468,0.00,2.55,0.00,0.000,4,0.000,0.071,3070,995,3354
$GC,12514,-0.74,-117.3,855.6,-5.7,336,12519,0.00,2.42,0.00,0.000,6,0.000,0.063,3070,2399,3354
$GC,12826,-0.74,-117.3,874.2,-5.9,341,12827,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,13128,-0.74,-117.3,892.3,-5.9,346,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,13431,-0.74,-117.3,910.2,-5.9,351,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,13734,-0.74,-117.3,928.3,-6.0,356,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,14037,-0.74,-117.3,946.6,-6.0,361,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,14342,-0.74,-117.3,965.7,-6.4,366,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$GC,14645,-0.74,-117.3,986.0,-6.8,371,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2398,3354
$STATE,14702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14702,begin apogee
$GC,14711,-0.22,0.0,990.2,6.8,372,14823,0.60,0.00,108.15,1.492,6,0.133,0.000,3245,2194,2876
$STATE,14824,end apogee,CONTROL_FINISHED_OK
$STATE,14824,begin climb
$GC,14828,0.67,117.3,996.3,0.0,374,14952,0.90,0.00,116.47,1.442,6,0.084,0.000,3532,2194,2396
$GC,15260,0.34,117.3,981.6,6.3,381,15262,0.38,0.00,0.00,0.000,6,0.156,0.000,3433,2194,2393
$GC,15559,0.34,156.4,969.6,3.9,386,15600,0.00,2.60,34.90,1.431,4,0.000,0.076,3436,784,2238
$GC,15635,0.34,158.5,966.1,4.9,387,15639,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2200,2236
$GC,15986,0.34,158.5,946.8,5.7,393,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2235
$GC,16288,0.34,158.5,929.5,5.7,398,16289,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2235
$GC,16591,0.34,158.5,912.3,5.7,403,16596,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,791,2234
$GC,16632,0.34,158.5,910.0,5.5,403,16636,0.00,2.35,0.00,0.000,6,0.000,0.058,3436,2205,2234
$GC,16953,0.34,158.5,892.0,5.6,409,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2233
$GC,17257,0.34,158.5,875.2,5.5,414,17261,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,784,2233
$GC,17343,0.34,158.5,870.3,5.5,415,17348,0.00,2.38,0.00,0.000,6,0.000,0.060,3436,2198,2233
$GC,17688,0.34,158.5,851.3,5.5,421,17692,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,784,2233
$GC,17733,0.34,158.5,848.7,5.6,421,17737,0.00,2.38,0.00,0.000,6,0.000,0.058,3436,2200,2233
$GC,18049,0.34,158.5,832.0,5.2,427,18050,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2233
$GC,18353,0.34,158.5,816.5,5.1,432,18354,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2233
$GC,18655,0.34,158.5,800.7,5.3,437,18659,0.00,2.50,0.00,0.000,4,0.000,0.076,3436,780,2233
$GC,18695,0.36,170.6,798.5,4.7,437,18716,0.00,2.40,13.32,1.298,6,0.000,0.059,3436,2199,2179
$GC,19021,0.36,170.6,780.6,5.5,443,19022,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2177
$GC,19324,0.36,170.6,764.7,5.2,448,19328,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,791,2177
$GC,19364,0.36,170.6,762.6,5.2,448,19368,0.00,2.35,0.00,0.000,6,0.000,0.059,3436,2201,2177
$GC,19685,0.36,170.6,746.5,5.0,454,19687,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2177
$GC,19989,0.37,180.0,732.1,4.7,459,20003,0.00,2.47,9.52,1.214,4,0.000,0.077,3436,790,2142
$GC,20034,0.45,207.0,730.0,4.2,459,20064,0.00,2.38,25.48,1.303,6,0.000,0.059,3436,2207,2031
$GC,20416,0.51,208.7,711.2,5.0,466,20421,0.12,2.50,0.00,0.000,4,0.087,0.075,3489,789,2028
$GC,20462,0.42,208.7,708.2,6.9,466,20467,0.12,2.35,0.00,0.000,6,0.136,0.060,3458,2206,2028
$GC,20778,0.42,208.7,689.9,5.8,472,20782,0.00,2.45,0.00,0.000,4,0.000,0.077,3463,789,2027
$GC,20852,0.42,208.7,685.3,6.1,473,20856,0.00,2.35,0.00,0.000,6,0.000,0.059,3463,2199,2027
$GC,21209,0.42,208.7,663.2,6.3,479,21210,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2198,2027
$GC,21511,0.42,208.7,642.8,6.8,484,21516,0.00,2.55,0.00,0.000,4,0.000,0.075,3463,791,2027
$GC,21590,0.42,208.7,637.2,6.5,485,21594,0.00,2.35,0.00,0.000,6,0.000,0.058,3463,2198,2027
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$STATE,31154,end climb,SURFACE_DEPTH_REACHED
$STATE,31154,begin surface coast
$FINISH,0.6,1.012807
$STATE,31283,end surface coast,CONTROL_FINISHED_OK
$STATE,31283,begin surface
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$10V_AH,10.3,91.162
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$DEVICE_SECS,28.850,230.550,367.400,0.000,0.000,22.729,25.769,169.703,253.000,0.000,0.000,34.300,1767.778,26080.744,519.937,2499.425,892.985,33.381,1749.722,0.000,2443.897,0.000,0.465
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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,47368,805
$CAP_FILE_SIZE,183996,0
$CFSIZE,260165632,206381056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,214207,5015.762,-14501.901,29,1.7,29,18.5