version: 66.03
glider: 120
mission: 9
dive: 469
start: 2 21 109 6 39 50
data:
$ID,120
$MISSION,9
$DIVE,469
$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,-27745.17
$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,18
$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
$GPS1,063207,5015.653,-14511.265,41,1.9,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-60.6
$GPS2,063854,5015.619,-14511.370,38,1.9,54,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.001,-0.178
$KALMAN_X,-10727.6,57.1,-203.7,14575.9,-25.6
$KALMAN_Y,64115.8,95.2,-0.3,-41735.6,2484.8
$MHEAD_RNG_PITCHd_Wd,161.9,40024,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.02,0.000,2,0.000,0.000,136,2413,1664
$GC,41,-0.67,-117.3,3.7,-0.0,1,137,13.12,2.50,-72.07,0.000,4,0.261,0.094,3098,3810,3356
$GC,367,-0.50,-117.3,30.4,-12.7,30,374,0.20,2.28,0.00,0.000,6,0.150,0.056,3153,2389,3357
$GC,696,-0.50,-117.3,48.3,-3.7,61,701,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2389,3357
$GC,1023,-0.50,-117.3,67.9,-6.4,92,1027,0.00,2.45,0.00,0.000,4,0.000,0.082,3152,3816,3357
$GC,1064,-0.56,-117.3,70.8,-7.6,95,1068,0.00,2.28,0.00,0.000,6,0.000,0.054,3153,2395,3357
$GC,1399,-0.60,-117.3,95.3,-6.3,116,1403,0.00,2.33,0.00,0.000,4,0.000,0.070,3153,994,3357
$GC,1444,-0.66,-117.3,98.2,-6.5,118,1449,0.15,2.30,0.00,0.000,6,0.081,0.062,3098,2403,3357
$GC,1766,-0.66,-117.3,121.2,-7.7,134,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,2075,-0.66,-117.3,145.9,-7.8,149,2079,0.00,2.35,0.00,0.000,4,0.000,0.069,3098,996,3358
$GC,2130,-0.66,-117.3,150.6,-7.7,151,2137,0.00,2.30,0.00,0.000,6,0.000,0.062,3098,2400,3358
$GC,2444,-0.66,-117.3,174.1,-7.4,162,2448,0.00,2.38,0.00,0.000,4,0.000,0.081,3098,3818,3358
$GC,2506,-0.66,-117.3,178.9,-7.3,164,2510,0.00,2.28,0.00,0.000,6,0.000,0.055,3098,2389,3358
$GC,2842,-0.66,-117.3,202.5,-7.0,175,2846,0.00,2.40,0.00,0.000,4,0.000,0.081,3098,3813,3358
$GC,2886,-0.66,-117.3,206.0,-7.6,176,2890,0.00,2.25,0.00,0.000,6,0.000,0.054,3098,2395,3358
$GC,3205,-0.66,-117.3,229.5,-7.5,187,3209,0.00,2.40,0.00,0.000,4,0.000,0.081,3098,3812,3358
$GC,3238,-0.66,-117.3,232.2,-7.7,188,3242,0.00,2.25,0.00,0.000,6,0.000,0.054,3098,2394,3358
$GC,3568,-0.66,-117.3,253.7,-6.4,199,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3358
$GC,3874,-0.66,-117.3,272.4,-5.9,209,3878,0.00,2.42,0.00,0.000,4,0.000,0.081,3098,3808,3358
$GC,3906,-0.66,-117.3,274.5,-6.5,210,3910,0.00,2.25,0.00,0.000,6,0.000,0.055,3098,2394,3357
$GC,4236,-0.66,-117.3,294.5,-6.1,221,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,4571,-0.66,-117.3,315.8,-6.4,228,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,4874,-0.66,-117.3,333.7,-5.9,233,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,5177,-0.66,-117.3,350.9,-5.6,238,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3357
$GC,5480,-0.66,-117.3,367.9,-5.6,243,5484,0.00,2.45,0.00,0.000,4,0.000,0.082,3098,3813,3357
$GC,5524,-0.66,-117.3,370.6,-6.1,243,5528,0.00,2.25,0.00,0.000,6,0.000,0.056,3098,2403,3357
$GC,5839,-0.66,-117.3,387.8,-5.5,249,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3357
$GC,6142,-0.66,-117.3,405.4,-5.9,254,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3357
$GC,6445,-0.66,-117.3,424.9,-6.5,259,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3356
$GC,6748,-0.66,-117.3,446.3,-7.1,264,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3356
$GC,7052,-0.66,-117.3,466.8,-6.7,269,7056,0.00,2.42,0.00,0.000,4,0.000,0.083,3098,3815,3356
$GC,7091,-0.66,-117.3,469.4,-7.4,269,7095,0.00,2.28,0.00,0.000,6,0.000,0.057,3098,2390,3356
$GC,7412,-0.84,-117.3,491.0,-7.0,275,7417,0.15,2.33,0.00,0.000,4,0.094,0.072,3041,988,3356
$GC,7536,-0.70,-117.3,500.7,-7.9,276,7543,0.17,2.33,0.00,0.000,6,0.156,0.064,3088,2408,3356
$GC,7846,-0.70,-117.3,520.5,-6.4,282,7850,0.00,2.35,0.00,0.000,4,0.000,0.083,3085,3806,3356
$GC,7909,-0.70,-117.3,524.6,-6.8,283,7914,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2390,3356
$GC,8276,-0.70,-117.3,546.9,-6.0,289,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,8578,-0.70,-117.3,564.9,-5.9,294,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,8882,-0.70,-117.3,583.6,-6.2,299,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3355
$GC,9185,-0.70,-117.3,602.0,-6.1,304,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,9488,-0.70,-117.3,621.3,-6.4,309,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,9792,-0.70,-117.3,641.2,-6.6,314,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3356
$GC,10095,-0.70,-117.3,660.2,-6.2,319,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3355
$GC,10397,-0.70,-117.3,679.2,-6.3,324,10401,0.00,2.42,0.00,0.000,4,0.000,0.084,3085,3806,3355
$GC,10435,-0.70,-117.3,681.7,-6.5,324,10439,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2389,3355
$GC,10757,-0.70,-117.3,701.3,-6.1,330,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2389,3355
$GC,11060,-0.70,-117.3,719.9,-6.2,335,11064,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3811,3355
$GC,11082,-0.70,-117.3,721.3,-6.0,335,11086,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2393,3355
$GC,11420,-0.70,-117.3,741.4,-5.9,341,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3355
$GC,11723,-0.70,-117.3,758.9,-5.7,346,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3355
$GC,12027,-0.70,-117.3,775.9,-5.6,351,12031,0.00,2.42,0.00,0.000,4,0.000,0.085,3085,3806,3355
$GC,12077,-0.75,-117.3,778.7,-5.5,351,12081,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2390,3355
$GC,12387,-0.75,-117.3,796.0,-5.5,356,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2390,3354
$GC,12690,-0.75,-117.3,812.2,-5.4,361,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2390,3354
$GC,12993,-0.75,-117.3,828.5,-5.4,366,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3354
$GC,13296,-0.75,-117.3,845.3,-5.6,371,13300,0.00,2.42,0.00,0.000,4,0.000,0.085,3085,3806,3354
$GC,13329,-0.75,-117.3,847.3,-5.8,371,13333,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2392,3354
$GC,13655,-0.75,-117.3,866.0,-5.7,377,13659,0.00,2.33,0.00,0.000,4,0.000,0.075,3085,990,3354
$GC,13684,-0.75,-117.3,867.8,-5.6,377,13688,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2405,3354
$GC,14016,-0.75,-117.3,887.5,-6.0,383,14020,0.00,2.38,0.00,0.000,4,0.000,0.084,3085,3805,3354
$GC,14061,-0.81,-117.3,890.3,-5.9,383,14065,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2393,3354
$GC,14377,-0.81,-117.3,909.0,-6.0,389,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2393,3354
$GC,14679,-0.81,-117.3,928.3,-6.5,394,14683,0.00,2.42,0.00,0.000,4,0.000,0.085,3085,3806,3353
$GC,14707,-0.85,-117.3,930.3,-7.0,394,14711,0.12,2.28,0.00,0.000,6,0.088,0.058,3038,2394,3353
$GC,15039,-0.81,-117.3,955.3,-7.6,400,15043,0.00,2.42,0.00,0.000,4,0.000,0.084,3038,3806,3353
$GC,15067,-0.72,-117.3,957.5,-7.5,400,15072,0.15,2.28,0.00,0.000,6,0.117,0.059,3079,2393,3353
$GC,15399,-0.72,-117.3,979.2,-6.4,406,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2393,3353
$STATE,15578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15578,begin apogee
$GC,15585,-0.22,0.0,991.0,6.5,409,15701,0.55,0.00,109.05,1.483,6,0.141,0.000,3246,2197,2875
$STATE,15702,end apogee,CONTROL_FINISHED_OK
$STATE,15702,begin climb
$GC,15705,0.67,117.3,996.3,0.0,411,15829,0.85,2.67,113.53,1.434,4,0.092,0.077,3533,793,2397
$GC,15852,0.33,121.4,997.0,4.9,413,15863,0.43,2.50,5.43,1.017,6,0.176,0.061,3428,2196,2381
$GC,16197,0.36,145.4,982.0,4.3,419,16226,0.00,2.45,22.83,1.392,4,0.000,0.081,3428,3605,2283
$GC,16267,0.29,153.9,978.2,4.8,420,16282,0.00,2.30,9.32,1.246,6,0.000,0.063,3436,2194,2248
$GC,16633,0.29,153.9,957.9,5.7,426,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2246
$GC,16935,0.29,153.9,940.4,5.8,431,16937,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2246
$GC,17239,0.29,153.9,922.7,5.8,436,17240,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2245
$GC,17542,0.29,153.9,905.5,5.7,441,17543,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2245
$GC,17845,0.29,153.9,888.7,5.5,446,17846,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2245
$GC,18148,0.29,153.9,870.6,6.0,451,18150,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2245
$GC,18451,0.29,153.9,852.6,5.9,456,18452,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2194,2245
$GC,18754,0.29,153.9,836.2,5.4,461,18758,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,787,2245
$GC,18804,0.30,162.2,833.6,4.8,461,18818,0.00,2.30,8.62,1.234,6,0.000,0.064,3436,2200,2213
$GC,19187,0.31,168.8,814.9,4.8,468,19196,0.00,0.00,7.65,1.190,6,0.000,0.000,3436,2201,2187
$GC,19490,0.31,170.6,799.8,5.0,473,19494,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3622,2186
$GC,19553,0.27,170.6,796.2,5.4,474,19557,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2200,2186
$GC,19919,0.27,170.6,777.5,5.2,480,19920,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2186
$GC,20222,0.27,170.6,760.8,5.5,485,20223,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2186
$GC,20525,0.27,170.6,743.8,5.6,490,20529,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,780,2185
$GC,20570,0.27,170.6,741.2,5.5,490,20574,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2208,2186
$GC,20886,0.27,170.6,724.1,5.4,496,20887,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2185
$GC,21188,0.27,170.6,706.7,5.8,501,21192,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,784,2185
$GC,21221,0.32,170.6,704.6,5.7,501,21225,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2211,2186
$GC,21547,0.32,170.6,684.0,6.3,507,21548,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2210,2185
$GC,21851,0.32,170.6,664.0,6.6,512,21852,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2185
$GC,22154,0.32,170.6,644.0,6.6,517,22158,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,787,2185
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$STATE,33314,end climb,SURFACE_DEPTH_REACHED
$STATE,33315,begin surface coast
$FINISH,2.6,1.025625
$STATE,33389,end surface coast,CONTROL_FINISHED_OK
$STATE,33389,begin surface
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$HUMID,2106
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$TCM_TEMP,15.60
$XPDR_PINGS,1007
$24V_AH,20.9,91.907
$10V_AH,10.4,62.993
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$DEVICE_SECS,28.025,202.825,453.400,0.000,0.000,26.383,36.388,157.425,251.750,0.000,0.000,54.301,1838.991,28230.832,596.527,2455.191,745.011,33.370,1811.499,0.000,2384.656,0.000,0.465
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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,50670,885
$CAP_FILE_SIZE,186129,0
$CFSIZE,260165632,222203904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210209,155900,5012.994,-14511.477,37,1.1,42,18.5