version: 66.03
glider: 120
mission: 9
dive: 574
start: 4 2 109 1 54 44
data:
$ID,120
$MISSION,9
$DIVE,574
$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,-30027.914
$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,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
$GPS1,014707,5018.626,-14428.225,38,1.4,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-69.8
$GPS2,015349,5018.592,-14428.262,10,1.4,15,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.178
$KALMAN_X,-73203.1,-47.9,-87.9,128298.6,-680.2
$KALMAN_Y,126853.0,392.7,550.8,-99840.7,-1967.3
$MHEAD_RNG_PITCHd_Wd,158.8,45563,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-20.33,0.000,2,0.000,0.000,136,2403,2133
$GC,52,-0.67,-117.3,3.1,-4.1,2,120,13.90,2.42,-47.28,0.000,4,0.283,0.097,3094,3803,3355
$GC,335,-0.49,-117.3,27.9,-9.5,27,342,0.22,2.22,0.00,0.000,6,0.149,0.055,3158,2398,3357
$GC,664,-0.49,-117.3,51.1,-7.8,58,670,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2398,3358
$GC,990,-0.53,-117.3,76.5,-8.4,89,995,0.00,2.38,0.00,0.000,4,0.000,0.071,3158,984,3357
$GC,1025,-0.58,-117.3,79.3,-7.9,91,1032,0.00,2.35,0.00,0.000,6,0.000,0.062,3155,2403,3357
$GC,1354,-0.58,-117.3,105.5,-7.7,108,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3357
$GC,1662,-0.62,-117.3,125.6,-6.3,123,1667,0.12,2.40,0.00,0.000,4,0.084,0.068,3105,987,3357
$GC,1685,-0.62,-117.3,127.3,-7.5,124,1689,0.00,2.35,0.00,0.000,6,0.000,0.060,3105,2404,3357
$GC,2006,-0.62,-117.3,151.6,-7.8,140,2011,0.00,2.38,0.00,0.000,4,0.000,0.081,3101,3814,3357
$GC,2070,-0.62,-117.3,156.6,-8.1,142,2074,0.00,2.28,0.00,0.000,6,0.000,0.054,3101,2391,3357
$GC,2406,-0.62,-117.3,182.1,-7.7,153,2410,0.00,2.35,0.00,0.000,4,0.000,0.070,3101,989,3357
$GC,2439,-0.62,-117.3,184.7,-7.5,154,2443,0.00,2.35,0.00,0.000,6,0.000,0.060,3101,2407,3357
$GC,2769,-0.62,-117.3,210.7,-8.0,165,2773,0.00,2.38,0.00,0.000,4,0.000,0.080,3100,3815,3358
$GC,2799,-0.62,-117.3,212.9,-7.9,166,2803,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2392,3358
$GC,3134,-0.62,-117.3,235.1,-6.4,177,3139,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,992,3358
$GC,3185,-0.62,-117.3,238.7,-6.9,178,3189,0.00,2.35,0.00,0.000,6,0.000,0.061,3100,2405,3357
$GC,3499,-0.62,-117.3,262.1,-7.7,188,3502,0.00,2.40,0.00,0.000,4,0.000,0.069,3100,985,3358
$GC,3539,-0.62,-117.3,265.3,-7.8,189,3543,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2411,3357
$GC,3869,-0.62,-117.3,289.2,-6.9,200,3872,0.00,2.35,0.00,0.000,4,0.000,0.081,3100,3815,3357
$GC,3908,-0.62,-117.3,291.8,-6.3,201,3912,0.00,2.25,0.00,0.000,6,0.000,0.053,3100,2401,3357
$GC,4237,-0.62,-117.3,312.0,-6.1,209,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,4540,-0.62,-117.3,331.0,-6.3,214,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,4843,-0.62,-117.3,351.7,-6.8,219,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3358
$GC,5146,-0.62,-117.3,370.9,-6.2,224,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,5449,-0.62,-117.3,386.9,-5.2,229,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3358
$GC,5753,-0.62,-117.3,403.6,-5.6,234,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3357
$GC,6055,-0.62,-117.3,421.5,-5.9,239,6060,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,996,3358
$GC,6084,-0.66,-117.3,423.3,-6.5,239,6088,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2401,3357
$GC,6423,-0.66,-117.3,442.9,-5.8,245,6427,0.00,2.40,0.00,0.000,4,0.000,0.081,3100,3816,3357
$GC,6458,-0.66,-117.3,444.8,-5.5,245,6462,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2395,3357
$GC,6786,-0.66,-117.3,462.5,-5.4,251,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3357
$GC,7088,-0.66,-117.3,479.6,-5.7,256,7093,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,990,3357
$GC,7134,-0.72,-117.3,482.4,-6.4,256,7138,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2412,3357
$GC,7450,-0.92,-117.3,503.7,-7.0,262,7455,0.20,2.45,0.00,0.000,4,0.087,0.071,3026,987,3357
$GC,7692,-0.73,-117.3,525.4,-8.6,265,7696,0.20,2.38,0.00,0.000,6,0.154,0.064,3080,2401,3357
$GC,8013,-0.73,-117.3,546.1,-6.3,271,8017,0.00,2.40,0.00,0.000,4,0.000,0.082,3080,3812,3356
$GC,8053,-0.73,-117.3,548.8,-6.1,271,8057,0.00,2.28,0.00,0.000,6,0.000,0.054,3080,2393,3356
$GC,8374,-0.73,-117.3,569.5,-6.6,277,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2393,3356
$GC,8677,-0.73,-117.3,590.1,-6.8,282,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2394,3356
$GC,8981,-0.73,-117.3,610.2,-6.6,287,8986,0.00,2.40,0.00,0.000,4,0.000,0.072,3080,984,3356
$GC,9017,-0.73,-117.3,612.7,-7.5,287,9021,0.00,2.38,0.00,0.000,6,0.000,0.063,3080,2398,3356
$GC,9344,-0.73,-117.3,634.2,-6.6,293,9348,0.00,2.40,0.00,0.000,4,0.000,0.071,3080,994,3356
$GC,9372,-0.73,-117.3,636.3,-6.8,293,9376,0.00,2.38,0.00,0.000,6,0.000,0.063,3080,2405,3356
$GC,9711,-0.73,-117.3,659.2,-6.9,299,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3356
$GC,10013,-0.73,-117.3,681.2,-7.3,304,10017,0.00,2.42,0.00,0.000,4,0.000,0.071,3080,990,3355
$GC,10047,-0.73,-117.3,683.9,-7.6,304,10051,0.00,2.38,0.00,0.000,6,0.000,0.064,3080,2401,3356
$GC,10373,-0.73,-117.3,705.2,-6.4,310,10378,0.00,2.42,0.00,0.000,4,0.000,0.083,3080,3819,3355
$GC,10403,-0.73,-117.3,707.0,-6.6,310,10407,0.00,2.30,0.00,0.000,6,0.000,0.056,3080,2390,3355
$GC,10735,-0.73,-117.3,726.2,-5.8,316,10740,0.00,2.38,0.00,0.000,4,0.000,0.072,3080,989,3355
$GC,10758,-0.73,-117.3,727.8,-6.0,316,10762,0.00,2.38,0.00,0.000,6,0.000,0.063,3080,2403,3355
$GC,11097,-0.73,-117.3,748.2,-6.1,322,11101,0.00,2.42,0.00,0.000,4,0.000,0.072,3080,988,3355
$GC,11125,-0.73,-117.3,750.1,-6.5,322,11129,0.00,2.38,0.00,0.000,6,0.000,0.064,3080,2401,3355
$GC,11457,-0.73,-117.3,770.4,-6.2,328,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3356
$GC,11760,-0.73,-117.3,790.9,-6.9,333,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2401,3355
$GC,12064,-0.73,-117.3,811.8,-6.9,338,12069,0.00,2.42,0.00,0.000,4,0.000,0.072,3080,991,3355
$GC,12115,-0.73,-117.3,815.6,-6.7,338,12119,0.00,2.38,0.00,0.000,6,0.000,0.064,3080,2400,3355
$GC,12425,-0.73,-117.3,837.0,-6.9,343,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3355
$GC,12729,-0.73,-117.3,856.7,-6.4,348,12733,0.00,2.42,0.00,0.000,4,0.000,0.073,3080,992,3355
$GC,12774,-0.73,-117.3,859.8,-7.0,348,12778,0.00,2.38,0.00,0.000,6,0.000,0.064,3080,2400,3355
$GC,13090,-0.73,-117.3,879.4,-6.1,354,13094,0.00,2.42,0.00,0.000,4,0.000,0.084,3080,3814,3354
$GC,13118,-0.73,-117.3,881.2,-5.7,354,13122,0.00,2.28,0.00,0.000,6,0.000,0.057,3080,2396,3354
$GC,13456,-0.73,-117.3,901.4,-6.0,360,13461,0.00,2.40,0.00,0.000,4,0.000,0.074,3080,986,3354
$GC,13485,-0.73,-117.3,903.2,-6.9,360,13489,0.00,2.38,0.00,0.000,6,0.000,0.064,3080,2404,3354
$GC,13824,-0.73,-117.3,923.2,-5.9,366,13828,0.00,2.42,0.00,0.000,4,0.000,0.073,3080,994,3354
$GC,13868,-0.73,-117.3,926.2,-7.0,366,13873,0.00,2.38,0.00,0.000,6,0.000,0.064,3080,2401,3354
$GC,14184,-0.73,-117.3,945.2,-6.0,372,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3355
$GC,14488,-0.73,-117.3,963.4,-6.0,377,14492,0.00,2.42,0.00,0.000,4,0.000,0.073,3080,991,3354
$GC,14539,-0.73,-117.3,966.9,-6.7,377,14543,0.00,2.40,0.00,0.000,6,0.000,0.064,3080,2413,3354
$GC,14850,-0.73,-117.3,985.0,-5.8,382,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2412,3354
$STATE,14967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14967,begin apogee
$GC,14976,-0.22,0.0,992.1,5.8,384,15090,0.52,0.00,108.25,1.492,6,0.133,0.000,3240,2198,2876
$STATE,15091,end apogee,CONTROL_FINISHED_OK
$STATE,15091,begin climb
$GC,15094,0.67,117.3,996.8,0.0,386,15218,0.88,2.75,114.53,1.437,4,0.087,0.077,3532,785,2396
$GC,15247,0.32,117.3,996.8,5.4,388,15252,0.43,2.58,0.00,0.000,6,0.170,0.059,3427,2201,2395
$GC,15586,0.35,141.3,982.0,4.3,394,15615,0.00,2.45,22.10,1.394,4,0.000,0.079,3427,3614,2300
$GC,15684,0.27,141.3,977.0,5.4,395,15688,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2197,2298
$GC,16017,0.28,147.7,961.1,4.8,401,16026,0.00,0.00,7.35,1.211,6,0.000,0.000,3436,2197,2273
$GC,16320,0.28,147.7,945.9,5.1,406,16321,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2273
$GC,16622,0.28,147.7,929.9,5.3,411,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2272
$GC,16926,0.28,147.7,912.5,5.7,416,16927,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2272
$GC,17229,0.28,147.7,894.4,6.0,421,17230,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2271
$GC,17532,0.28,147.7,875.8,6.1,426,17537,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3616,2271
$GC,17572,0.20,147.7,873.0,6.4,426,17577,0.20,2.30,0.00,0.000,6,0.169,0.064,3385,2199,2271
$GC,17894,0.36,163.4,858.1,4.5,432,17912,0.15,0.00,15.35,1.351,6,0.082,0.000,3443,2199,2209
$GC,18198,0.36,163.4,841.6,5.6,437,18202,0.00,2.40,0.00,0.000,4,0.000,0.082,3443,3618,2207
$GC,18232,0.28,163.4,839.3,6.7,437,18237,0.15,2.30,0.00,0.000,6,0.168,0.063,3411,2202,2207
$GC,18560,0.36,163.4,822.1,5.2,443,18561,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2203,2207
$GC,18862,0.44,163.4,806.2,5.2,448,18864,0.15,0.00,0.00,0.000,6,0.080,0.000,3474,2203,2207
$GC,19166,0.34,163.4,785.8,6.9,453,19168,0.15,0.00,0.00,0.000,6,0.137,0.000,3432,2203,2207
$GC,19468,0.34,163.4,767.8,5.9,458,19473,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,780,2207
$GC,19504,0.34,163.4,765.6,6.8,458,19508,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2207,2207
$GC,19832,0.34,163.4,744.9,6.4,464,19833,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2206
$GC,20134,0.34,163.4,726.0,6.2,469,20138,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3614,2206
$GC,20179,0.34,163.4,723.1,5.9,469,20183,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2187,2207
$GC,20494,0.34,163.4,705.4,5.6,475,20498,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,3614,2207
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$STATE,32068,end climb,SURFACE_DEPTH_REACHED
$STATE,32069,begin surface coast
$FINISH,1.7,1.015262
$STATE,32187,end surface coast,CONTROL_FINISHED_OK
$STATE,32187,begin surface
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$TCM_TEMP,15.40
$XPDR_PINGS,1010
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$10V_AH,10.4,77.509
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47447,835
$CAP_FILE_SIZE,190639,0
$CFSIZE,260165632,214065152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,105354,5015.202,-14428.383,25,1.2,42,18.6