version: 66.03
glider: 120
mission: 9
dive: 377
start: 1 17 109 13 55 14
data:
$ID,120
$MISSION,9
$DIVE,377
$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,-25634.342
$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,19
$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
$GPS1,134824,5000.763,-14445.097,41,0.9,58,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-71.9
$GPS2,135419,5000.787,-14445.151,11,2.0,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.090,0.153
$KALMAN_X,16279.9,152.6,-50.4,-10948.7,-926.4
$KALMAN_Y,279067.5,-254.5,-315.8,-287299.1,2145.0
$MHEAD_RNG_PITCHd_Wd,311.0,14192,-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,-11.15,0.000,2,0.000,0.000,147,2408,1911
$GC,40,-0.67,-117.3,3.6,-0.0,1,125,14.00,2.45,-61.75,0.000,4,0.285,0.093,3086,3805,3356
$GC,329,-0.47,-117.3,29.9,-11.7,27,334,0.28,2.33,0.00,0.000,6,0.157,0.055,3163,2390,3358
$GC,654,-0.51,-117.3,53.2,-7.0,57,658,0.00,2.35,0.00,0.000,4,0.000,0.069,3163,989,3358
$GC,695,-0.57,-117.3,56.1,-7.3,60,699,0.00,2.30,0.00,0.000,6,0.000,0.060,3163,2402,3358
$GC,1024,-0.62,-117.3,77.3,-6.6,90,1030,0.15,0.00,0.00,0.000,6,0.081,0.000,3098,2402,3358
$GC,1352,-0.56,-117.3,106.3,-8.4,108,1356,0.12,2.33,0.00,0.000,4,0.108,0.077,3125,3808,3358
$GC,1385,-0.56,-117.3,108.7,-7.2,109,1392,0.00,2.28,0.00,0.000,6,0.000,0.053,3125,2404,3358
$GC,1701,-0.56,-117.3,131.6,-7.9,125,1705,0.00,2.38,0.00,0.000,4,0.000,0.068,3125,985,3358
$GC,1773,-0.56,-117.3,137.9,-8.3,128,1777,0.00,2.30,0.00,0.000,6,0.000,0.061,3125,2407,3358
$GC,2087,-0.56,-117.3,158.8,-6.2,141,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2407,3359
$GC,2394,-0.56,-117.3,177.5,-6.1,151,2398,0.00,2.38,0.00,0.000,4,0.000,0.068,3125,992,3359
$GC,2444,-0.61,-117.3,181.0,-7.1,152,2448,0.00,2.30,0.00,0.000,6,0.000,0.061,3125,2400,3358
$GC,2762,-0.65,-117.3,201.5,-6.3,163,2766,0.00,2.33,0.00,0.000,4,0.000,0.079,3125,3815,3358
$GC,2791,-0.70,-117.3,203.5,-7.1,163,2798,0.10,2.28,0.00,0.000,6,0.089,0.053,3086,2393,3359
$GC,3103,-0.70,-117.3,226.8,-7.4,174,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2394,3358
$GC,3410,-0.70,-117.3,246.8,-6.4,184,3414,0.00,2.33,0.00,0.000,4,0.000,0.070,3086,995,3359
$GC,3448,-0.70,-117.3,249.6,-7.2,185,3452,0.00,2.28,0.00,0.000,6,0.000,0.061,3086,2399,3359
$GC,3773,-0.70,-117.3,272.5,-7.2,196,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3359
$GC,4078,-0.70,-117.3,294.7,-7.1,206,4082,0.00,2.38,0.00,0.000,4,0.000,0.081,3086,3813,3358
$GC,4112,-0.65,-117.3,297.2,-7.6,207,4116,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2399,3358
$GC,4470,-0.65,-117.3,322.4,-7.2,214,4474,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,988,3358
$GC,4525,-0.65,-117.3,326.7,-7.3,214,4531,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2408,3358
$GC,4835,-0.65,-117.3,349.9,-7.5,220,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3358
$GC,5138,-0.65,-117.3,372.1,-7.3,225,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3358
$GC,5441,-0.65,-117.3,393.5,-7.0,230,5446,0.00,2.35,0.00,0.000,4,0.000,0.081,3086,3812,3358
$GC,5474,-0.65,-117.3,395.9,-7.2,230,5478,0.00,2.28,0.00,0.000,6,0.000,0.055,3086,2393,3358
$GC,5801,-0.65,-117.3,416.1,-6.1,236,5805,0.00,2.30,0.00,0.000,4,0.000,0.071,3086,995,3358
$GC,5833,-0.65,-117.3,418.1,-5.9,236,5837,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2412,3358
$GC,6161,-0.65,-117.3,436.1,-5.4,242,6165,0.00,2.38,0.00,0.000,4,0.000,0.071,3086,991,3358
$GC,6223,-0.65,-117.3,439.5,-5.5,243,6228,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2398,3357
$GC,6589,-0.65,-117.3,460.2,-5.8,249,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3357
$GC,6893,-0.65,-117.3,478.9,-6.3,254,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3357
$GC,7195,-0.65,-117.3,498.9,-6.6,259,7199,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,991,3356
$GC,7228,-0.65,-117.3,501.2,-6.5,259,7232,0.00,2.30,0.00,0.000,6,0.000,0.061,3086,2408,3357
$GC,7555,-0.65,-117.3,522.6,-6.5,265,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3357
$GC,7858,-0.65,-117.3,542.1,-6.4,270,7862,0.00,2.38,0.00,0.000,4,0.000,0.071,3086,989,3356
$GC,7902,-0.65,-117.3,545.1,-7.1,270,7906,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2405,3356
$GC,8216,-0.65,-117.3,564.1,-6.1,276,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,8520,-0.65,-117.3,583.5,-6.5,281,8524,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,990,3356
$GC,8564,-0.65,-117.3,586.4,-6.3,281,8568,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2409,3356
$GC,8880,-0.65,-117.3,605.3,-6.0,287,8884,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,987,3356
$GC,8912,-0.65,-117.3,607.4,-6.1,287,8917,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2401,3356
$GC,9239,-0.65,-117.3,626.4,-5.9,293,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,9543,-0.65,-117.3,643.3,-5.5,298,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,9845,-0.65,-117.3,659.4,-5.3,303,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,10148,-0.65,-117.3,676.0,-5.5,308,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,10451,-0.65,-117.3,693.3,-5.7,313,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,10755,-0.65,-117.3,709.3,-5.3,318,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,11058,-0.65,-117.3,725.7,-5.4,323,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11361,-0.65,-117.3,743.4,-5.9,328,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11664,-0.65,-117.3,761.7,-6.1,333,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11967,-0.65,-117.3,779.6,-5.8,338,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,12270,-0.65,-117.3,797.4,-5.8,343,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,12574,-0.65,-117.3,814.9,-5.7,348,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,12876,-0.65,-117.3,831.4,-5.4,353,12880,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,992,3353
$GC,12909,-0.69,-117.3,833.3,-5.5,353,12913,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2398,3354
$GC,13235,-0.75,-117.3,848.9,-4.8,359,13237,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3353
$GC,13539,-0.93,-117.3,865.9,-5.6,364,13544,0.17,2.40,0.00,0.000,4,0.097,0.082,3016,3817,3353
$GC,13617,-0.74,-117.3,871.3,-6.9,365,13622,0.22,2.28,0.00,0.000,6,0.166,0.058,3076,2390,3353
$GC,13965,-0.74,-117.3,889.5,-5.2,371,13969,0.00,2.38,0.00,0.000,4,0.000,0.074,3076,988,3353
$GC,14028,-0.74,-117.3,893.1,-6.7,372,14032,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2406,3353
$GC,14393,-0.74,-117.3,913.5,-5.7,378,14397,0.00,2.38,0.00,0.000,4,0.000,0.085,3073,3811,3353
$GC,14426,-0.74,-117.3,915.6,-6.6,378,14430,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2400,3353
$GC,14753,-0.74,-117.3,934.8,-6.0,384,14757,0.00,2.35,0.00,0.000,4,0.000,0.074,3073,992,3353
$GC,14797,-0.74,-117.3,937.8,-6.3,384,14802,0.00,2.33,0.00,0.000,6,0.000,0.065,3073,2412,3353
$GC,15113,-0.74,-117.3,957.3,-6.2,390,15117,0.00,2.35,0.00,0.000,4,0.000,0.085,3073,3805,3353
$GC,15140,-0.74,-117.3,959.1,-6.2,390,15144,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2389,3353
$GC,15472,-0.74,-117.3,979.5,-6.2,396,15476,0.00,2.30,0.00,0.000,4,0.000,0.074,3073,992,3353
$GC,15505,-0.74,-117.3,981.7,-6.6,396,15510,0.00,2.30,0.00,0.000,6,0.000,0.064,3073,2399,3353
$STATE,15647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15647,begin apogee
$GC,15654,-0.22,0.0,990.6,6.3,399,15769,0.57,0.00,108.07,1.492,6,0.148,0.000,3244,2200,2876
$STATE,15770,end apogee,CONTROL_FINISHED_OK
$STATE,15770,begin climb
$GC,15773,0.67,117.3,995.0,0.0,401,15894,0.90,2.65,113.45,1.437,4,0.098,0.078,3533,792,2396
$GC,15911,0.32,131.5,995.3,4.6,403,15932,0.45,2.53,15.12,1.307,6,0.179,0.060,3422,2205,2339
$GC,16254,0.32,131.5,977.4,5.3,409,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2205,2336
$GC,16557,0.32,131.5,960.7,5.6,414,16561,0.00,2.38,0.00,0.000,4,0.000,0.079,3422,792,2336
$GC,16623,0.32,131.5,957.0,5.2,415,16627,0.00,2.30,0.00,0.000,6,0.000,0.062,3422,2206,2336
$GC,16983,0.32,131.5,937.7,5.4,421,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2206,2336
$GC,17286,0.32,131.5,921.7,5.2,426,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2206,2336
$GC,17589,0.33,135.6,906.8,4.9,431,17598,0.00,2.40,4.93,1.043,4,0.000,0.079,3422,786,2323
$GC,17649,0.35,158.0,903.7,4.4,431,17675,0.00,2.33,21.48,1.390,6,0.000,0.064,3422,2221,2231
$GC,18020,0.39,158.0,884.2,5.3,438,18022,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2221,2229
$GC,18323,0.44,158.0,868.6,5.2,443,18327,0.10,2.42,0.00,0.000,4,0.099,0.078,3461,792,2229
$GC,18372,0.38,158.0,865.4,6.8,443,18377,0.00,2.30,0.00,0.000,6,0.000,0.064,3462,2203,2229
$GC,18683,0.31,158.0,844.8,6.8,448,18685,0.15,0.00,0.00,0.000,6,0.146,0.000,3420,2203,2229
$GC,18985,0.35,158.0,826.4,6.1,453,18987,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2203,2228
$GC,19288,0.40,158.0,807.7,6.1,458,19293,0.00,2.42,0.00,0.000,4,0.000,0.079,3421,790,2228
$GC,19352,0.47,158.0,803.9,6.5,459,19357,0.15,2.30,0.00,0.000,6,0.089,0.063,3478,2201,2229
$GC,19718,0.36,158.0,777.4,7.2,465,19723,0.15,2.40,0.00,0.000,4,0.153,0.077,3436,782,2228
$GC,19756,0.36,158.0,774.8,5.4,465,19760,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2206,2228
$GC,20078,0.36,158.0,755.6,6.0,471,20079,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2228
$GC,20380,0.36,158.0,737.5,6.0,476,20384,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,787,2228
$GC,20418,0.36,158.0,735.1,6.1,476,20422,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2198,2228
$GC,20739,0.36,158.0,716.6,5.7,482,20740,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2228
$GC,21043,0.36,158.0,699.3,5.7,487,21044,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2228
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$STATE,33221,end climb,SURFACE_DEPTH_REACHED
$STATE,33221,begin surface coast
$FINISH,4.7,1.025553
$STATE,33248,end surface coast,CONTROL_FINISHED_OK
$STATE,33248,begin surface
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$HUMID,2078
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$TCM_TEMP,17.90
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$10V_AH,10.5,50.459
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$DEVICE_SECS,29.900,235.450,350.200,42.025,0.000,24.754,28.199,164.611,261.000,0.000,0.000,12.970,1866.089,27992.859,592.757,2524.615,685.669,33.380,1847.835,0.000,2495.756,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50629,850
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$CFSIZE,260165632,229318656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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