version: 66.03
glider: 120
mission: 9
dive: 376
start: 1 17 109 4 33 14
data:
$ID,120
$MISSION,9
$DIVE,376
$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,300
$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,-25620.74
$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,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
$GPS1,042555,4957.995,-14440.336,47,1.7,47,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-68.7
$GPS2,043219,4958.051,-14440.341,8,1.6,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.135,0.116
$KALMAN_X,16855.1,-90.4,1.6,-5615.4,-75.4
$KALMAN_Y,279099.9,-353.8,-609.4,-292016.2,3000.8
$MHEAD_RNG_PITCHd_Wd,292.0,21534,-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,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.15,0.000,2,0.000,0.000,138,2406,1922
$GC,40,-0.67,-117.3,4.0,-0.0,1,125,14.07,2.50,-60.53,0.000,4,0.285,0.081,3094,990,3357
$GC,377,-0.49,-117.3,35.1,-10.1,31,384,0.22,2.30,0.00,0.000,6,0.154,0.063,3158,2401,3358
$GC,706,-0.49,-117.3,58.7,-7.1,62,710,0.00,2.38,0.00,0.000,4,0.000,0.068,3159,983,3358
$GC,761,-0.54,-117.3,63.2,-7.6,66,767,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2408,3358
$GC,1095,-0.54,-117.3,86.4,-7.0,94,1098,0.00,2.38,0.00,0.000,4,0.000,0.068,3155,984,3358
$GC,1128,-0.54,-117.3,89.0,-7.9,95,1132,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2406,3358
$GC,1449,-0.58,-117.3,109.8,-6.1,111,1453,0.00,2.38,0.00,0.000,4,0.000,0.067,3155,984,3359
$GC,1495,-0.66,-117.3,112.6,-6.7,113,1500,0.15,2.33,0.00,0.000,6,0.081,0.061,3098,2410,3359
$GC,1822,-0.66,-117.3,137.6,-7.6,129,1826,0.00,2.33,0.00,0.000,4,0.000,0.079,3098,3815,3359
$GC,1866,-0.59,-117.3,141.4,-8.4,131,1870,0.00,2.25,0.00,0.000,6,0.000,0.053,3098,2390,3359
$GC,2195,-0.59,-117.3,167.2,-7.8,144,2199,0.00,2.30,0.00,0.000,4,0.000,0.069,3098,987,3359
$GC,2234,-0.59,-117.3,170.2,-7.9,145,2238,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2412,3359
$GC,2564,-0.59,-117.3,192.8,-7.0,156,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2412,3359
$GC,2870,-0.59,-117.3,213.5,-6.8,166,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2412,3359
$GC,3176,-0.59,-117.3,235.7,-7.2,176,3180,0.00,2.40,0.00,0.000,4,0.000,0.068,3098,996,3359
$GC,3237,-0.59,-117.3,240.1,-7.5,177,3243,0.00,2.33,0.00,0.000,6,0.000,0.061,3098,2399,3359
$GC,3549,-0.59,-117.3,262.2,-7.1,188,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3359
$GC,3856,-0.59,-117.3,283.7,-7.1,198,3860,0.00,2.38,0.00,0.000,4,0.000,0.069,3098,988,3359
$GC,3933,-0.59,-117.3,289.6,-7.3,200,3937,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2408,3359
$GC,4293,-0.59,-117.3,314.8,-7.0,209,4298,0.00,2.40,0.00,0.000,4,0.000,0.070,3098,987,3359
$GC,4327,-0.59,-117.3,317.5,-7.9,209,4331,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2412,3359
$GC,4659,-0.59,-117.3,339.1,-6.4,215,4663,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,988,3359
$GC,4721,-0.59,-117.3,342.8,-5.7,216,4725,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2405,3359
$GC,5087,-0.59,-117.3,364.2,-5.8,222,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3358
$GC,5391,-0.59,-117.3,382.8,-6.2,227,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3358
$GC,5693,-0.59,-117.3,402.5,-6.5,232,5698,0.00,2.38,0.00,0.000,4,0.000,0.070,3098,996,3358
$GC,5721,-0.59,-117.3,404.5,-7.2,232,5725,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2412,3358
$GC,6059,-0.59,-117.3,425.6,-6.2,238,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2411,3358
$GC,6362,-0.59,-117.3,441.6,-5.1,243,6366,0.00,2.40,0.00,0.000,4,0.000,0.070,3098,992,3357
$GC,6389,-0.59,-117.3,443.2,-5.8,243,6394,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2409,3357
$GC,6722,-0.59,-117.3,460.2,-5.2,249,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,7025,-0.59,-117.3,477.1,-5.6,254,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3357
$GC,7329,-0.59,-117.3,495.2,-6.0,259,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,7631,-0.59,-117.3,515.4,-6.7,264,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,7934,-0.59,-117.3,535.3,-6.5,269,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3357
$GC,8237,-0.59,-117.3,554.7,-6.4,274,8242,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,989,3356
$GC,8271,-0.65,-117.3,557.0,-7.0,274,8275,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2406,3357
$GC,8604,-0.65,-117.3,578.2,-6.3,280,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3357
$GC,8906,-0.65,-117.3,597.9,-6.5,285,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3356
$GC,9209,-0.69,-117.3,617.5,-6.4,290,9214,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,997,3356
$GC,9243,-0.75,-117.3,619.7,-6.5,290,9247,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2410,3356
$GC,9570,-0.80,-117.3,638.9,-5.8,296,9575,0.12,2.35,0.00,0.000,4,0.094,0.081,3049,3819,3356
$GC,9597,-0.73,-117.3,640.9,-7.7,296,9602,0.12,2.28,0.00,0.000,6,0.119,0.057,3082,2391,3355
$GC,9929,-0.73,-117.3,662.9,-6.7,302,9933,0.00,2.35,0.00,0.000,4,0.000,0.072,3082,995,3356
$GC,9956,-0.73,-117.3,664.8,-6.9,302,9960,0.00,2.30,0.00,0.000,6,0.000,0.064,3082,2407,3355
$GC,10288,-0.73,-117.3,687.2,-6.8,308,10292,0.00,2.35,0.00,0.000,4,0.000,0.072,3082,991,3355
$GC,10327,-0.73,-117.3,690.1,-7.7,308,10331,0.00,2.30,0.00,0.000,6,0.000,0.064,3082,2401,3355
$GC,10647,-0.73,-117.3,710.0,-6.2,314,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3355
$GC,10951,-0.73,-117.3,727.7,-5.8,319,10955,0.00,2.35,0.00,0.000,4,0.000,0.072,3082,985,3355
$GC,10989,-0.73,-117.3,730.0,-5.9,319,10993,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2407,3355
$GC,11310,-0.73,-117.3,747.6,-5.4,325,11314,0.00,2.35,0.00,0.000,4,0.000,0.073,3082,988,3355
$GC,11337,-0.73,-117.3,749.1,-6.0,325,11341,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2410,3355
$GC,11670,-0.73,-117.3,767.4,-5.5,331,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2410,3354
$GC,11972,-0.73,-117.3,785.4,-6.0,336,11976,0.00,2.38,0.00,0.000,4,0.000,0.073,3082,985,3355
$GC,12021,-0.73,-117.3,788.6,-6.8,336,12025,0.00,2.33,0.00,0.000,6,0.000,0.065,3082,2402,3355
$GC,12332,-0.73,-117.3,807.6,-6.2,341,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3355
$GC,12634,-0.73,-117.3,826.3,-6.1,346,12638,0.00,2.35,0.00,0.000,4,0.000,0.072,3082,991,3354
$GC,12661,-0.73,-117.3,828.1,-6.3,346,12665,0.00,2.30,0.00,0.000,6,0.000,0.064,3082,2399,3354
$GC,12993,-0.73,-117.3,846.8,-5.7,352,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,13296,-0.73,-117.3,864.0,-5.7,357,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,13599,-0.73,-117.3,882.1,-6.0,362,13603,0.00,2.35,0.00,0.000,4,0.000,0.072,3082,992,3354
$GC,13638,-0.73,-117.3,884.5,-6.3,362,13642,0.00,2.30,0.00,0.000,6,0.000,0.065,3082,2399,3353
$GC,13959,-0.73,-117.3,903.4,-5.9,368,13963,0.00,2.38,0.00,0.000,4,0.000,0.084,3082,3814,3354
$GC,13985,-0.73,-117.3,904.9,-6.0,368,13990,0.00,2.28,0.00,0.000,6,0.000,0.058,3082,2395,3353
$GC,14319,-0.73,-117.3,924.4,-5.9,374,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2395,3354
$GC,14621,-0.73,-117.3,941.2,-5.6,379,14625,0.00,2.33,0.00,0.000,4,0.000,0.075,3082,985,3353
$GC,14654,-0.73,-117.3,943.1,-5.3,379,14658,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2406,3353
$GC,14981,-0.73,-117.3,962.5,-5.9,385,14982,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2406,3354
$GC,15283,-0.73,-117.3,980.5,-6.0,390,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2405,3353
$STATE,15462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15463,begin apogee
$GC,15469,-0.22,0.0,991.1,5.9,393,15585,0.52,0.00,108.38,1.490,6,0.146,0.000,3241,2196,2876
$STATE,15585,end apogee,CONTROL_FINISHED_OK
$STATE,15586,begin climb
$GC,15588,0.67,117.3,995.9,0.0,395,15712,0.88,2.75,113.00,1.435,4,0.096,0.076,3534,790,2396
$GC,15740,0.31,117.3,995.7,5.5,397,15746,0.45,2.50,0.00,0.000,6,0.177,0.061,3421,2200,2395
$GC,16078,0.34,142.8,981.2,4.3,403,16104,0.00,0.00,23.73,1.399,6,0.000,0.000,3421,2200,2294
$GC,16382,0.34,142.8,966.0,5.1,408,16386,0.00,2.35,0.00,0.000,4,0.000,0.080,3421,3610,2292
$GC,16437,0.29,142.8,962.5,6.1,408,16444,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2201,2292
$GC,16747,0.29,142.8,945.7,5.4,414,16748,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2291
$GC,17050,0.29,142.8,929.6,5.3,419,17051,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2291
$GC,17353,0.29,142.8,914.1,5.1,424,17357,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,3620,2291
$GC,17409,0.25,142.8,911.0,5.5,424,17416,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2191,2291
$GC,17719,0.26,155.2,896.4,4.6,430,17738,0.00,2.45,12.12,1.337,4,0.000,0.080,3421,3613,2243
$GC,17778,0.26,155.2,893.0,5.8,430,17784,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2197,2243
$GC,18089,0.27,160.4,878.1,4.9,436,18097,0.00,0.00,6.47,1.163,6,0.000,0.000,3421,2197,2222
$GC,18392,0.32,160.4,862.5,5.2,441,18393,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2221
$GC,18694,0.36,160.4,845.5,5.7,446,18698,0.00,2.42,0.00,0.000,4,0.000,0.080,3421,3619,2221
$GC,18728,0.36,160.4,843.2,6.6,446,18732,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2199,2221
$GC,19054,0.40,160.4,823.1,6.2,452,19058,0.00,2.38,0.00,0.000,4,0.000,0.079,3421,791,2221
$GC,19082,0.47,160.4,821.2,6.8,452,19087,0.15,2.28,0.00,0.000,6,0.091,0.061,3478,2202,2221
$GC,19415,0.37,160.4,795.6,7.8,458,19420,0.15,2.35,0.00,0.000,4,0.149,0.079,3428,3620,2221
$GC,19453,0.37,160.4,792.6,7.8,458,19457,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2194,2221
$GC,19774,0.37,160.4,772.9,6.1,464,19775,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2221
$GC,20076,0.37,160.4,756.1,5.5,469,20078,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2220
$GC,20380,0.37,160.4,740.0,5.3,474,20384,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,786,2221
$GC,20413,0.39,179.2,738.2,4.5,474,20440,0.00,2.30,17.98,1.296,6,0.000,0.062,3436,2207,2144
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$STATE,33025,end climb,SURFACE_DEPTH_REACHED
$STATE,33025,begin surface coast
$FINISH,2.8,1.014342
$STATE,33161,end surface coast,CONTROL_FINISHED_OK
$STATE,33161,begin surface
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$TCM_TEMP,14.50
$XPDR_PINGS,1002
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$10V_AH,10.5,50.319
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$DEVICE_SECS,27.925,216.800,360.375,29.375,0.000,29.349,27.408,181.737,250.500,0.000,0.000,15.637,1832.655,28092.049,577.209,2386.049,698.933,33.380,1768.525,0.000,2357.619,0.000,0.466
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$DATA_FILE_SIZE,50676,872
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