version: 66.03
glider: 120
mission: 9
dive: 397
start: 1 25 109 1 1 40
data:
$ID,120
$MISSION,9
$DIVE,397
$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,-26044.189
$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,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
$GPS1,005501,4957.336,-14503.874,50,1.5,50,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.16
$_SM_ANGLEo,-77.1
$GPS2,010043,4957.341,-14503.808,11,1.6,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.102
$KALMAN_X,-3313.7,-180.4,-193.7,16387.2,-674.0
$KALMAN_Y,6194.5,-358.7,-241.6,-16946.1,2227.1
$MHEAD_RNG_PITCHd_Wd,36.7,24289,-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,-11.10,0.000,2,0.000,0.000,136,2406,2030
$GC,40,-0.67,-117.3,4.2,-0.0,1,115,13.98,2.47,-51.50,0.000,4,0.281,0.093,3084,3805,3356
$GC,175,-0.45,-117.3,13.8,-11.3,13,180,0.30,2.33,0.00,0.000,6,0.155,0.055,3169,2400,3357
$GC,503,-0.51,-117.3,38.0,-7.3,43,507,0.00,2.40,0.00,0.000,4,0.000,0.070,3169,988,3358
$GC,532,-0.58,-117.3,40.4,-7.6,45,536,0.12,2.30,0.00,0.000,6,0.086,0.061,3123,2404,3358
$GC,859,-0.58,-117.3,66.8,-7.8,75,860,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3358
$GC,1182,-0.58,-117.3,91.2,-7.4,99,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3358
$GC,1491,-0.58,-117.3,113.9,-7.3,114,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3358
$GC,1800,-0.58,-117.3,133.9,-6.3,129,1804,0.00,2.40,0.00,0.000,4,0.000,0.068,3122,993,3359
$GC,1851,-0.62,-117.3,137.2,-6.9,131,1855,0.00,2.33,0.00,0.000,6,0.000,0.061,3123,2404,3359
$GC,2167,-0.62,-117.3,157.8,-6.4,144,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3359
$GC,2473,-0.67,-117.3,174.9,-5.3,154,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2405,3359
$GC,2779,-0.73,-117.3,191.4,-5.7,164,2784,0.12,2.38,0.00,0.000,4,0.089,0.068,3078,986,3359
$GC,2801,-0.73,-117.3,193.0,-6.6,164,2807,0.00,2.30,0.00,0.000,6,0.000,0.061,3079,2412,3359
$GC,3114,-0.66,-117.3,216.4,-7.5,175,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2412,3358
$GC,3420,-0.59,-117.3,238.9,-7.5,185,3422,0.15,0.00,0.00,0.000,6,0.146,0.000,3122,2412,3359
$GC,3727,-0.64,-117.3,257.7,-6.1,195,3731,0.00,2.42,0.00,0.000,4,0.000,0.070,3122,992,3359
$GC,3765,-0.69,-117.3,260.4,-6.7,196,3769,0.00,2.30,0.00,0.000,6,0.000,0.062,3122,2404,3359
$GC,4090,-0.74,-117.3,280.5,-6.4,207,4092,0.15,0.00,0.00,0.000,6,0.083,0.000,3063,2404,3359
$GC,4426,-0.68,-117.3,307.3,-8.0,217,4428,0.12,0.00,0.00,0.000,6,0.102,0.000,3099,2403,3359
$GC,4729,-0.68,-117.3,329.0,-7.1,222,4733,0.00,2.42,0.00,0.000,4,0.000,0.070,3099,990,3359
$GC,4762,-0.68,-117.3,331.6,-8.3,222,4766,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2399,3359
$GC,5089,-0.68,-117.3,355.6,-7.3,228,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3359
$GC,5391,-0.68,-117.3,378.3,-7.5,233,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,5695,-0.68,-117.3,398.6,-6.6,238,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,5997,-0.68,-117.3,416.3,-5.7,243,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,6301,-0.68,-117.3,433.4,-5.6,248,6305,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,994,3358
$GC,6340,-0.68,-117.3,435.7,-5.9,248,6344,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2410,3358
$GC,6661,-0.68,-117.3,454.2,-5.8,254,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3358
$GC,6964,-0.68,-117.3,471.1,-5.5,259,6968,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,992,3357
$GC,7013,-0.68,-117.3,474.0,-5.2,259,7018,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2404,3357
$GC,7324,-0.68,-117.3,489.6,-5.0,264,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3357
$GC,7627,-0.68,-117.3,504.5,-4.9,269,7631,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,991,3357
$GC,7666,-0.68,-117.3,506.6,-5.0,269,7670,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2406,3357
$GC,7986,-0.68,-117.3,523.5,-5.4,275,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3357
$GC,8290,-0.68,-117.3,541.0,-5.9,280,8294,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,992,3357
$GC,8322,-0.68,-117.3,543.2,-6.3,280,8327,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2402,3357
$GC,8649,-0.68,-117.3,563.3,-6.2,286,8653,0.00,2.35,0.00,0.000,4,0.000,0.084,3099,3804,3357
$GC,8682,-0.72,-117.3,565.6,-6.8,286,8686,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2388,3357
$GC,9009,-0.76,-117.3,584.9,-5.8,292,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2388,3357
$GC,9311,-0.76,-117.3,600.8,-5.2,297,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2387,3357
$GC,9614,-0.76,-117.3,616.6,-5.3,302,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2387,3357
$GC,9917,-0.76,-117.3,632.0,-5.0,307,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2388,3357
$GC,10220,-0.76,-117.3,648.4,-5.4,312,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2388,3357
$GC,10524,-0.76,-117.3,665.5,-5.6,317,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2388,3357
$GC,10827,-0.81,-117.3,684.2,-6.2,322,10829,0.12,0.00,0.00,0.000,6,0.091,0.000,3050,2388,3356
$GC,11130,-0.76,-117.3,707.0,-7.6,327,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2388,3356
$GC,11433,-0.72,-117.3,729.7,-7.5,332,11435,0.12,0.00,0.00,0.000,6,0.108,0.000,3085,2388,3356
$GC,11736,-0.72,-117.3,751.1,-7.0,337,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2388,3356
$GC,12039,-0.72,-117.3,771.7,-6.8,342,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2387,3356
$GC,12342,-0.72,-117.3,790.0,-5.9,347,12343,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2387,3356
$GC,12645,-0.72,-117.3,806.2,-5.3,352,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2387,3356
$GC,12949,-0.72,-117.3,821.6,-5.0,357,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2387,3356
$GC,13252,-0.72,-117.3,836.3,-4.8,362,13256,0.00,2.42,0.00,0.000,4,0.000,0.074,3085,984,3355
$GC,13290,-0.72,-117.3,838.4,-5.1,362,13294,0.00,2.33,0.00,0.000,6,0.000,0.065,3085,2402,3355
$GC,13612,-0.72,-117.3,853.9,-4.9,368,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,13915,-0.72,-117.3,870.1,-5.4,373,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3355
$GC,14217,-0.72,-117.3,887.4,-5.7,378,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3355
$GC,14521,-0.72,-117.3,906.0,-6.1,383,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,14823,-0.72,-117.3,925.2,-6.4,388,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3355
$GC,15126,-0.72,-117.3,944.6,-6.4,393,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3355
$GC,15430,-0.72,-117.3,963.8,-6.3,398,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,15733,-0.72,-117.3,980.6,-5.5,403,15737,0.00,2.45,0.00,0.000,4,0.000,0.074,3085,985,3354
$GC,15760,-0.72,-117.3,982.2,-5.0,403,15764,0.00,2.35,0.00,0.000,6,0.000,0.067,3086,2407,3354
$STATE,15968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15968,begin apogee
$GC,15975,-0.22,0.0,992.5,4.9,407,16091,0.52,0.00,109.40,1.484,6,0.139,0.000,3246,2201,2875
$STATE,16091,end apogee,CONTROL_FINISHED_OK
$STATE,16091,begin climb
$GC,16095,0.67,117.3,996.1,0.0,409,16219,0.85,2.75,113.45,1.434,4,0.090,0.077,3533,790,2396
$GC,16252,0.32,117.3,993.8,7.4,411,16258,0.45,2.50,0.00,0.000,6,0.177,0.061,3420,2203,2395
$GC,16585,0.32,117.3,976.1,5.3,417,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2203,2393
$GC,16888,0.32,117.3,960.0,5.3,422,16889,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2203,2393
$GC,17191,0.32,117.6,944.9,5.0,427,17195,0.00,2.42,0.00,0.000,4,0.000,0.079,3421,787,2393
$GC,17229,0.32,117.6,943.0,5.4,427,17233,0.00,2.33,0.00,0.000,6,0.000,0.063,3421,2211,2392
$GC,17550,0.33,128.2,928.1,4.7,433,17566,0.00,2.35,10.77,1.319,4,0.000,0.081,3421,3613,2352
$GC,17605,0.25,128.2,925.2,5.6,433,17611,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2198,2352
$GC,17915,0.27,139.5,910.8,4.7,439,17929,0.00,0.00,11.52,1.322,6,0.000,0.000,3421,2198,2307
$GC,18218,0.27,139.6,895.6,5.0,444,18220,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2197,2306
$GC,18521,0.27,139.6,880.4,5.0,449,18523,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2306
$GC,18824,0.27,139.6,864.8,5.1,454,18825,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2306
$GC,19127,0.27,139.6,849.3,5.2,459,19129,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2306
$GC,19430,0.27,139.6,832.7,5.5,464,19434,0.00,2.40,0.00,0.000,4,0.000,0.080,3422,790,2306
$GC,19469,0.32,139.6,830.6,5.6,464,19473,0.00,2.30,0.00,0.000,6,0.000,0.063,3421,2203,2306
$GC,19790,0.32,139.6,813.9,5.2,470,19791,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2306
$GC,20093,0.33,149.3,799.3,4.7,475,20106,0.00,0.00,10.40,1.262,6,0.000,0.000,3421,2203,2266
$GC,20397,0.40,172.5,786.0,4.3,480,20421,0.00,0.00,22.15,1.330,6,0.000,0.000,3422,2203,2172
$GC,20701,0.49,195.9,773.1,4.3,485,20726,0.15,0.00,22.35,1.315,6,0.086,0.000,3481,2203,2077
$GC,21003,0.41,195.9,753.8,6.5,490,21008,0.12,2.42,0.00,0.000,4,0.140,0.080,3442,3609,2073
$GC,21037,0.41,195.9,751.5,5.9,490,21041,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2200,2073
$GC,21365,0.41,195.9,732.3,5.9,496,21369,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,783,2073
$GC,21404,0.41,195.9,729.8,5.6,496,21408,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2199,2073
$GC,21725,0.41,195.9,709.1,6.5,502,21726,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2072
$GC,22027,0.41,195.9,688.7,6.8,507,22029,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2072
$GC,22331,0.41,195.9,667.9,6.9,512,22335,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,784,2072
$GC,22364,0.41,195.9,665.6,6.0,512,22368,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2203,2073
$GC,22690,0.41,195.9,644.9,6.2,518,22691,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2072
$GC,22993,0.41,195.9,626.7,6.0,523,22997,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,780,2072
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$STATE,33180,end climb,SURFACE_DEPTH_REACHED
$STATE,33180,begin surface coast
$FINISH,3.0,1.011396
$STATE,33319,end surface coast,CONTROL_FINISHED_OK
$STATE,33319,begin surface
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$HUMID,2097
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$TCM_TEMP,17.70
$XPDR_PINGS,998
$24V_AH,21.4,78.045
$10V_AH,10.5,53.151
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$DEVICE_SECS,28.375,179.625,340.625,27.350,0.000,28.673,25.493,151.661,249.500,0.000,0.000,16.437,1810.775,28433.449,536.490,2262.976,662.706,33.354,1634.693,0.000,2242.142,0.000,0.465
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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,50747,882
$CAP_FILE_SIZE,176768,0
$CFSIZE,260165632,227807232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250109,101937,5000.074,-14459.488,68,1.2,68,18.5