version: 66.03
glider: 120
mission: 9
dive: 674
start: 5 9 109 21 52 50
data:
$ID,120
$MISSION,9
$DIVE,674
$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,-32036.553
$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
$GPS1,214207,5015.762,-14501.901,29,1.7,29,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-76.7
$GPS2,215155,5015.740,-14501.920,11,1.8,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.101,0.146
$KALMAN_X,-127686.2,325.0,156.0,142135.0,-913.9
$KALMAN_Y,139526.4,144.4,-5.3,-116961.9,-1765.7
$MHEAD_RNG_PITCHd_Wd,306.9,15347,-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,-39.92,0.000,2,0.000,0.000,136,2410,2785
$GC,74,-0.67,-117.3,4.2,-7.8,4,107,14.57,2.45,-11.00,0.000,4,0.271,0.094,3085,3803,3358
$GC,148,-0.47,-117.3,18.1,-11.3,10,155,0.28,2.28,0.00,0.000,6,0.146,0.053,3159,2392,3360
$GC,479,-0.47,-117.3,41.6,-7.0,41,483,0.00,2.42,0.00,0.000,4,0.000,0.068,3159,992,3360
$GC,510,-0.51,-117.3,44.0,-7.0,43,514,0.00,2.38,0.00,0.000,6,0.000,0.058,3155,2397,3360
$GC,839,-0.51,-117.3,67.1,-7.0,73,843,0.00,2.42,0.00,0.000,4,0.000,0.079,3156,3816,3360
$GC,876,-0.58,-117.3,69.7,-6.7,76,880,0.00,2.30,0.00,0.000,6,0.000,0.051,3155,2400,3360
$GC,1197,-0.63,-117.3,90.5,-6.2,98,1202,0.12,2.42,0.00,0.000,4,0.082,0.066,3105,993,3360
$GC,1240,-0.59,-117.3,93.7,-7.9,100,1244,0.00,2.40,0.00,0.000,6,0.000,0.058,3105,2408,3360
$GC,1570,-0.51,-117.3,119.9,-7.9,116,1575,0.15,2.45,0.00,0.000,4,0.130,0.076,3141,3816,3360
$GC,1611,-0.57,-117.3,122.9,-6.9,118,1615,0.00,2.33,0.00,0.000,6,0.000,0.051,3142,2391,3361
$GC,1946,-0.82,-117.3,144.9,-6.8,134,1950,0.22,2.47,0.00,0.000,4,0.083,0.075,3057,3810,3361
$GC,2047,-0.67,-117.3,153.6,-9.1,138,2052,0.15,2.30,0.00,0.000,6,0.119,0.052,3095,2397,3360
$GC,2378,-0.60,-117.3,180.1,-8.2,149,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3360
$GC,2685,-0.55,-117.3,203.8,-7.6,159,2687,0.15,0.00,0.00,0.000,6,0.157,0.000,3136,2398,3361
$GC,2990,-0.63,-117.3,222.3,-5.9,169,2994,0.00,2.50,0.00,0.000,4,0.000,0.067,3136,984,3361
$GC,3020,-0.71,-117.3,224.1,-6.0,170,3025,0.15,2.42,0.00,0.000,6,0.074,0.058,3085,2409,3360
$GC,3357,-0.71,-117.3,246.9,-6.8,181,3361,0.00,2.55,0.00,0.000,4,0.000,0.075,3085,3805,3360
$GC,3420,-0.71,-117.3,251.7,-7.8,183,3424,0.00,2.40,0.00,0.000,6,0.000,0.051,3085,2402,3361
$GC,3756,-0.71,-117.3,275.8,-7.3,194,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2404,3361
$GC,4063,-0.71,-117.3,297.6,-7.0,204,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3361
$GC,4365,-0.71,-117.3,318.6,-6.9,210,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2403,3360
$GC,4669,-0.71,-117.3,338.8,-6.7,215,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3360
$GC,4972,-0.71,-117.3,357.0,-5.9,220,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2404,3360
$GC,5275,-0.71,-117.3,375.7,-6.2,225,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2404,3360
$GC,5579,-0.71,-117.3,394.5,-6.2,230,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3360
$GC,5881,-0.71,-117.3,412.5,-5.9,235,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3360
$GC,6184,-0.71,-117.3,429.3,-5.5,240,6188,0.00,2.67,0.00,0.000,4,0.000,0.067,3085,989,3359
$GC,6218,-0.71,-117.3,431.3,-6.3,240,6222,0.00,2.42,0.00,0.000,6,0.000,0.059,3085,2399,3359
$GC,6546,-0.71,-117.3,450.1,-5.8,246,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3359
$GC,6848,-0.71,-117.3,469.5,-6.5,251,6852,0.00,2.53,0.00,0.000,4,0.000,0.081,3084,3809,3359
$GC,6882,-0.71,-117.3,471.9,-7.0,251,6887,0.00,2.45,0.00,0.000,6,0.000,0.051,3084,2394,3359
$GC,7210,-0.71,-117.3,494.5,-7.0,257,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2395,3359
$GC,7514,-0.71,-117.3,515.8,-7.0,262,7518,0.00,2.65,0.00,0.000,4,0.000,0.078,3084,3805,3359
$GC,7577,-0.71,-117.3,520.3,-7.3,263,7581,0.00,2.42,0.00,0.000,6,0.000,0.052,3084,2388,3359
$GC,7944,-0.71,-117.3,543.9,-6.3,269,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2390,3358
$GC,8246,-0.71,-117.3,562.3,-6.1,274,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2389,3358
$GC,8550,-0.71,-117.3,579.5,-5.7,279,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2389,3358
$GC,8853,-0.71,-117.3,595.5,-5.2,284,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2390,3358
$GC,9156,-0.71,-117.3,610.4,-5.0,289,9160,0.00,2.65,0.00,0.000,4,0.000,0.078,3084,3806,3358
$GC,9184,-0.71,-117.3,612.0,-5.6,289,9188,0.00,2.40,0.00,0.000,6,0.000,0.052,3084,2391,3358
$GC,9517,-0.71,-117.3,629.3,-5.3,295,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2392,3358
$GC,9820,-0.71,-117.3,645.9,-5.5,300,9824,0.00,2.60,0.00,0.000,4,0.000,0.080,3085,3813,3358
$GC,9847,-0.71,-117.3,647.6,-6.0,300,9852,0.00,2.38,0.00,0.000,6,0.000,0.053,3084,2390,3358
$GC,10181,-0.71,-117.3,665.2,-5.3,306,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2390,3358
$GC,10484,-0.71,-117.3,682.3,-5.7,311,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2391,3358
$GC,10788,-0.71,-117.3,699.8,-5.8,316,10792,0.00,2.70,0.00,0.000,4,0.000,0.079,3084,3805,3357
$GC,10833,-0.71,-117.3,702.8,-6.8,316,10837,0.00,2.42,0.00,0.000,6,0.000,0.053,3084,2399,3357
$GC,11149,-0.87,-117.3,722.3,-6.4,322,11154,0.15,2.55,0.00,0.000,4,0.091,0.069,3026,986,3357
$GC,11286,-0.73,-117.3,732.4,-8.0,324,11291,0.20,2.45,0.00,0.000,6,0.138,0.062,3077,2404,3357
$GC,11653,-0.73,-117.3,755.1,-5.9,330,11657,0.00,2.47,0.00,0.000,4,0.000,0.081,3073,3808,3357
$GC,11710,-0.73,-117.3,758.7,-7.0,330,11716,0.00,2.33,0.00,0.000,6,0.000,0.054,3073,2395,3357
$GC,12021,-0.73,-117.3,777.2,-6.0,336,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2396,3357
$GC,12324,-0.73,-117.3,795.3,-6.0,341,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2396,3357
$GC,12627,-0.73,-117.3,814.5,-6.4,346,12631,0.00,2.60,0.00,0.000,4,0.000,0.081,3073,3815,3356
$GC,12660,-0.73,-117.3,816.8,-6.4,346,12665,0.00,2.38,0.00,0.000,6,0.000,0.054,3073,2401,3356
$GC,12989,-0.73,-117.3,838.3,-6.6,352,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3356
$GC,13292,-0.79,-117.3,859.1,-6.9,357,13296,0.00,2.53,0.00,0.000,4,0.000,0.070,3073,988,3356
$GC,13371,-0.85,-117.3,865.0,-7.3,358,13375,0.00,2.45,0.00,0.000,6,0.000,0.062,3072,2407,3356
$GC,13722,-1.00,-117.3,891.2,-7.6,364,13727,0.20,2.53,0.00,0.000,4,0.083,0.069,2999,987,3356
$GC,13779,-0.79,-117.3,896.5,-9.3,364,13786,0.22,2.45,0.00,0.000,6,0.160,0.063,3053,2405,3356
$GC,14091,-0.72,-117.3,920.1,-7.6,370,14092,0.12,0.00,0.00,0.000,6,0.172,0.000,3085,2404,3356
$GC,14394,-0.72,-117.3,938.9,-6.2,375,14398,0.00,2.50,0.00,0.000,4,0.000,0.070,3086,990,3356
$GC,14422,-0.76,-117.3,940.7,-6.6,375,14426,0.00,2.45,0.00,0.000,6,0.000,0.062,3086,2404,3356
$GC,14755,-0.96,-117.3,963.5,-7.0,381,14760,0.20,2.53,0.00,0.000,4,0.082,0.069,3012,987,3355
$GC,14884,-0.80,-117.3,973.7,-8.3,382,14891,0.17,2.45,0.00,0.000,6,0.148,0.062,3055,2405,3355
$STATE,15130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15130,begin apogee
$GC,15139,-0.22,0.0,992.1,7.2,387,15253,0.65,0.00,108.55,1.493,6,0.140,0.000,3240,2188,2876
$STATE,15254,end apogee,CONTROL_FINISHED_OK
$STATE,15254,begin climb
$GC,15257,0.67,117.3,997.2,0.0,389,15382,0.90,2.80,116.43,1.443,4,0.085,0.072,3533,796,2396
$GC,15442,0.32,117.3,996.0,6.2,391,15447,0.47,2.67,0.00,0.000,6,0.162,0.058,3428,2206,2394
$GC,15753,0.27,118.5,980.6,5.0,396,15757,0.00,2.38,0.00,0.000,4,0.000,0.079,3428,3612,2392
$GC,15799,0.16,118.5,978.0,5.4,396,15804,0.25,2.33,0.00,0.000,6,0.168,0.061,3374,2191,2392
$GC,16122,0.32,136.3,963.5,4.5,402,16146,0.15,2.50,17.27,1.389,4,0.079,0.077,3438,778,2319
$GC,16193,0.27,136.3,959.3,6.2,403,16198,0.12,2.38,0.00,0.000,6,0.145,0.059,3409,2205,2318
$GC,16554,0.27,136.3,939.5,5.5,409,16556,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2204,2318
$GC,16858,0.31,137.6,924.4,5.0,414,16859,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2203,2317
$GC,17163,0.38,161.4,911.2,4.3,419,17192,0.00,2.53,23.40,1.411,4,0.000,0.077,3408,785,2216
$GC,17229,0.50,173.5,908.3,4.7,420,17249,0.20,2.38,12.23,1.314,6,0.074,0.058,3489,2203,2167
$GC,17600,0.35,173.5,881.0,7.5,426,17605,0.17,2.45,0.00,0.000,4,0.146,0.075,3447,789,2165
$GC,17674,0.35,173.5,876.2,6.8,427,17678,0.00,2.35,0.00,0.000,6,0.000,0.060,3447,2211,2165
$GC,18036,0.35,173.5,853.3,6.4,433,18040,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,780,2165
$GC,18105,0.35,173.5,848.9,6.4,434,18109,0.00,2.38,0.00,0.000,6,0.000,0.059,3449,2203,2165
$GC,18467,0.35,173.5,825.1,6.6,440,18468,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2164
$GC,18769,0.35,173.5,804.3,6.9,445,18773,0.00,2.47,0.00,0.000,4,0.000,0.077,3448,791,2164
$GC,18825,0.35,173.5,800.4,7.7,445,18831,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2206,2164
$GC,19137,0.35,173.5,780.2,6.5,451,19141,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,786,2164
$GC,19182,0.35,173.5,777.2,7.2,451,19186,0.00,2.40,0.00,0.000,6,0.000,0.059,3448,2207,2164
$GC,19498,0.35,173.5,757.7,6.2,457,19499,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2164
$GC,19801,0.35,173.5,739.5,6.0,462,19805,0.00,2.58,0.00,0.000,4,0.000,0.075,3449,792,2164
$GC,19865,0.35,173.5,735.8,5.5,463,19869,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2204,2164
$GC,20237,0.35,173.5,712.4,6.4,469,20238,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2164
$GC,20541,0.35,173.5,692.1,6.7,474,20545,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,788,2164
$GC,20598,0.35,173.5,688.1,7.7,474,20604,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2206,2164
$GC,20909,0.35,173.5,667.5,6.7,480,20913,0.00,2.53,0.00,0.000,4,0.000,0.075,3449,792,2164
$GC,20972,0.35,173.5,663.4,6.1,481,20977,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2203,2164
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$STATE,32139,end climb,SURFACE_DEPTH_REACHED
$STATE,32140,begin surface coast
$FINISH,0.6,1.014329
$STATE,32320,end surface coast,CONTROL_FINISHED_OK
$STATE,32320,begin surface
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$XPDR_PINGS,1085
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$10V_AH,10.4,91.308
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$DEVICE_SECS,31.475,280.725,371.700,0.000,0.000,50.141,129.224,169.522,271.250,0.000,0.000,16.972,1925.057,26640.275,561.227,2710.915,1085.665,33.381,1916.010,0.000,2669.046,0.000,0.465
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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,50673,855
$CAP_FILE_SIZE,206608,0
$CFSIZE,260165632,206274560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100509,065336,5018.709,-14505.182,50,1.7,55,18.5