version: 66.03
glider: 120
mission: 9
dive: 622
start: 4 20 109 7 54 23
data:
$ID,120
$MISSION,9
$DIVE,622
$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,-30963.984
$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,24
$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
$GPS1,074631,4952.920,-14430.889,37,1.6,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-75.9
$GPS2,075325,4952.893,-14430.936,13,1.6,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.136
$KALMAN_X,-99069.2,78.2,-209.1,150988.9,-701.1
$KALMAN_Y,143188.7,-282.6,95.2,-162592.0,594.3
$MHEAD_RNG_PITCHd_Wd,301.3,35973,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.45,0.000,2,0.000,0.000,133,2404,2339
$GC,63,-0.67,-117.3,3.0,-5.1,3,118,13.68,2.47,-32.38,0.000,4,0.278,0.082,3095,994,3357
$GC,255,-0.52,-117.3,21.4,-10.4,20,260,0.17,2.35,0.00,0.000,6,0.153,0.063,3143,2399,3358
$GC,585,-0.52,-117.3,47.2,-7.5,50,589,0.00,2.40,0.00,0.000,4,0.000,0.080,3135,3809,3358
$GC,620,-0.52,-117.3,50.3,-8.1,53,624,0.00,2.28,0.00,0.000,6,0.000,0.053,3134,2398,3358
$GC,946,-0.52,-117.3,78.3,-9.2,83,950,0.00,2.38,0.00,0.000,4,0.000,0.069,3134,986,3358
$GC,973,-0.52,-117.3,80.4,-9.0,85,977,0.00,2.38,0.00,0.000,6,0.000,0.061,3135,2409,3358
$GC,1300,-0.52,-117.3,107.3,-7.8,101,1305,0.00,2.40,0.00,0.000,4,0.000,0.079,3134,3811,3358
$GC,1334,-0.52,-117.3,110.1,-7.6,102,1341,0.00,2.28,0.00,0.000,6,0.000,0.053,3134,2395,3358
$GC,1652,-0.52,-117.3,130.0,-6.5,118,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2395,3358
$GC,1961,-0.57,-117.3,149.5,-6.0,133,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3358
$GC,2288,-0.64,-117.3,170.0,-6.4,144,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2396,3358
$GC,2594,-0.71,-117.3,189.0,-5.9,154,2596,0.12,0.00,0.00,0.000,6,0.081,0.000,3084,2395,3359
$GC,2900,-0.71,-117.3,210.4,-7.3,164,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2395,3359
$GC,3206,-0.71,-117.3,232.9,-7.5,174,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2396,3358
$GC,3512,-0.71,-117.3,256.4,-7.7,184,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2396,3359
$GC,3819,-0.71,-117.3,279.4,-7.5,194,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2395,3358
$GC,4124,-0.71,-117.3,301.9,-7.2,204,4128,0.00,2.50,0.00,0.000,4,0.000,0.079,3084,3809,3359
$GC,4153,-0.71,-117.3,304.1,-7.8,204,4157,0.00,2.33,0.00,0.000,6,0.000,0.054,3084,2396,3358
$GC,4491,-0.71,-117.3,325.9,-6.3,210,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2396,3359
$GC,4795,-0.71,-117.3,343.8,-5.9,215,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2396,3358
$GC,5097,-0.71,-117.3,363.0,-6.4,220,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3358
$GC,5400,-0.71,-117.3,383.5,-6.8,225,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3358
$GC,5704,-0.71,-117.3,403.2,-6.5,230,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3358
$GC,6007,-0.71,-117.3,425.4,-7.4,235,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3358
$GC,6310,-0.71,-117.3,446.9,-7.1,240,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2397,3358
$GC,6614,-0.71,-117.3,466.7,-6.5,245,6618,0.00,2.42,0.00,0.000,4,0.000,0.070,3084,992,3358
$GC,6659,-0.71,-117.3,469.8,-7.1,245,6663,0.00,2.38,0.00,0.000,6,0.000,0.061,3084,2398,3358
$GC,6975,-0.71,-117.3,489.2,-6.1,251,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2398,3358
$GC,7278,-0.71,-117.3,506.1,-5.6,256,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2398,3358
$GC,7582,-0.71,-117.3,523.5,-5.8,261,7586,0.00,2.47,0.00,0.000,4,0.000,0.081,3083,3817,3357
$GC,7615,-0.71,-117.3,525.8,-6.3,261,7619,0.00,2.33,0.00,0.000,6,0.000,0.054,3083,2392,3357
$GC,7942,-0.71,-117.3,547.0,-6.6,267,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2393,3357
$GC,8245,-0.71,-117.3,569.1,-7.4,272,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2393,3357
$GC,8549,-0.71,-117.3,590.9,-7.1,277,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2393,3357
$GC,8851,-0.71,-117.3,610.9,-6.5,282,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2393,3357
$GC,9154,-0.71,-117.3,628.3,-5.7,287,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2393,3357
$GC,9458,-0.71,-117.3,644.9,-5.5,292,9462,0.00,2.55,0.00,0.000,4,0.000,0.081,3084,3811,3357
$GC,9503,-0.71,-117.3,647.6,-5.7,292,9507,0.00,2.35,0.00,0.000,6,0.000,0.054,3083,2393,3357
$GC,9820,-0.71,-117.3,663.8,-5.1,298,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2394,3357
$GC,10122,-0.71,-117.3,680.1,-5.4,303,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2394,3357
$GC,10425,-0.71,-117.3,697.0,-5.6,308,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2394,3357
$GC,10728,-0.71,-117.3,716.1,-6.5,313,10733,0.00,2.45,0.00,0.000,4,0.000,0.072,3084,985,3356
$GC,10758,-0.76,-117.3,718.2,-7.4,313,10762,0.00,2.40,0.00,0.000,6,0.000,0.062,3083,2405,3356
$GC,11097,-0.76,-117.3,741.3,-6.8,319,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3356
$GC,11400,-0.76,-117.3,761.1,-6.5,324,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2404,3356
$GC,11703,-0.76,-117.3,780.3,-6.3,329,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3356
$GC,12006,-0.76,-117.3,800.2,-6.6,334,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2405,3356
$GC,12310,-0.76,-117.3,819.8,-6.4,339,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3355
$GC,12612,-0.76,-117.3,839.9,-6.6,344,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3355
$GC,12915,-0.76,-117.3,860.5,-6.9,349,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3356
$GC,13218,-0.76,-117.3,881.6,-7.0,354,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3355
$GC,13522,-0.76,-117.3,904.0,-7.4,359,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2405,3355
$GC,13825,-0.76,-117.3,926.1,-7.3,364,13829,0.00,2.47,0.00,0.000,4,0.000,0.072,3084,995,3354
$GC,13860,-0.83,-117.3,928.8,-6.9,364,13864,0.00,2.40,0.00,0.000,6,0.000,0.063,3084,2406,3355
$GC,14188,-1.04,-117.3,954.6,-8.0,370,14193,0.28,2.50,0.00,0.000,4,0.081,0.081,2977,3815,3354
$GC,14200,-1.18,-117.3,955.6,-7.9,370,14205,0.12,2.33,0.00,0.000,6,0.077,0.056,2924,2402,3354
$STATE,14485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14485,begin apogee
$GC,14494,-0.22,0.0,994.7,13.9,375,14608,1.17,0.00,108.05,1.492,6,0.173,0.000,3239,2190,2875
$STATE,14609,end apogee,CONTROL_FINISHED_OK
$STATE,14609,begin climb
$GC,14613,0.67,117.3,1000.5,0.0,377,14737,0.88,2.75,114.40,1.442,4,0.083,0.077,3534,795,2396
$GC,14994,0.33,117.3,983.9,7.9,382,14999,0.40,2.35,0.00,0.000,6,0.177,0.061,3426,2217,2393
$GC,15311,0.33,117.3,965.5,5.6,388,15315,0.00,2.42,0.00,0.000,4,0.000,0.077,3435,779,2393
$GC,15429,0.29,117.3,958.1,6.6,389,15433,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2197,2393
$GC,15746,0.23,117.3,938.1,6.4,395,15748,0.15,0.00,0.00,0.000,6,0.170,0.000,3397,2199,2392
$GC,16049,0.30,117.3,920.9,5.6,400,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2199,2392
$GC,16351,0.36,117.3,904.9,5.2,405,16356,0.12,2.42,0.00,0.000,4,0.081,0.077,3450,786,2392
$GC,16396,0.28,117.3,902.1,5.6,405,16401,0.15,2.35,0.00,0.000,6,0.156,0.061,3412,2209,2392
$GC,16713,0.29,120.5,886.6,4.9,411,16714,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2208,2392
$GC,17015,0.30,132.5,872.6,4.7,416,17033,0.00,0.00,14.02,1.335,6,0.000,0.000,3412,2208,2335
$GC,17386,0.36,150.6,855.8,4.5,422,17406,0.00,0.00,17.45,1.353,6,0.000,0.000,3412,2208,2261
$GC,17753,0.42,158.9,838.4,4.8,428,17764,0.12,0.00,8.98,1.239,6,0.080,0.000,3464,2208,2228
$GC,18055,0.34,158.9,818.6,6.6,433,18056,0.12,0.00,0.00,0.000,6,0.146,0.000,3431,2208,2226
$GC,18357,0.34,158.9,801.3,5.7,438,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2208,2226
$GC,18662,0.34,158.9,784.3,5.6,443,18666,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,787,2226
$GC,18701,0.34,158.9,782.0,5.2,443,18705,0.00,2.35,0.00,0.000,6,0.000,0.060,3435,2203,2226
$GC,19023,0.34,158.9,765.1,5.2,449,19027,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,3613,2226
$GC,19074,0.28,158.9,762.0,6.3,449,19078,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2202,2226
$GC,19385,0.28,158.9,745.0,5.5,454,19389,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,780,2226
$GC,19441,0.28,158.9,741.6,5.4,454,19445,0.00,2.38,0.00,0.000,6,0.000,0.061,3436,2210,2226
$GC,19752,0.28,158.9,723.1,6.0,459,19753,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2226
$GC,20055,0.28,158.9,704.7,6.0,464,20059,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,789,2226
$GC,20091,0.28,158.9,702.6,6.1,464,20095,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2200,2226
$GC,20418,0.28,158.9,683.4,5.9,470,20419,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2226
$GC,20721,0.28,158.9,665.5,5.9,475,20725,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,791,2226
$GC,20760,0.28,158.9,663.3,5.2,475,20764,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2200,2226
$GC,21082,0.28,158.9,645.7,5.4,481,21086,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,3609,2226
$GC,21128,0.22,158.9,642.8,6.6,481,21133,0.17,2.33,0.00,0.000,6,0.168,0.061,3393,2196,2225
$GC,21444,0.42,193.6,630.2,4.0,487,21478,0.17,0.00,31.30,1.260,6,0.080,0.000,3460,2196,2086
$GC,21748,0.55,193.6,613.5,5.6,492,21753,0.10,2.40,0.00,0.000,4,0.114,0.079,3504,3612,2082
$GC,21788,0.30,193.6,610.4,7.4,492,21793,0.32,2.30,0.00,0.000,6,0.165,0.061,3415,2197,2082
$GC,22110,0.44,206.3,595.4,4.6,498,22130,0.12,2.45,12.45,1.170,4,0.080,0.077,3464,787,2034
$GC,22198,0.44,206.3,589.8,6.3,499,22203,0.00,2.33,0.00,0.000,6,0.000,0.060,3464,2205,2033
$GC,22543,0.44,206.3,567.8,6.4,505,22547,0.00,2.38,0.00,0.000,4,0.000,0.080,3464,3616,2031
$GC,22583,0.37,206.3,564.8,7.3,505,22587,0.00,2.33,0.00,0.000,6,0.000,0.062,3464,2189,2031
$GC,22904,0.37,206.3,543.0,6.8,511,22905,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2189,2032
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$GC,23638,0.46,219.2,501.3,4.6,523,23657,0.15,2.45,12.23,1.116,4,0.077,0.077,3477,792,1982
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$GC,24002,0.46,219.2,478.6,6.3,529,24003,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2199,1980
$GC,24306,0.46,219.2,458.9,6.5,534,24310,0.00,2.38,0.00,0.000,4,0.000,0.079,3477,3607,1980
$GC,24374,0.37,219.2,453.8,7.8,535,24379,0.15,2.30,0.00,0.000,6,0.162,0.061,3438,2195,1978
$GC,24736,0.47,220.8,435.7,5.0,541,24740,0.00,2.40,0.00,0.000,4,0.000,0.077,3438,788,1980
$GC,24766,0.63,246.9,434.2,4.3,541,24797,0.25,2.35,25.45,1.125,6,0.069,0.059,3538,2206,1869
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$STATE,31113,end climb,SURFACE_DEPTH_REACHED
$STATE,31113,begin surface coast
$FINISH,0.9,1.011100
$STATE,31213,end surface coast,CONTROL_FINISHED_OK
$STATE,31213,begin surface
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$IRIDIUM_FIX,4936.36,-14432.01,140798,222255
$TT8_MAMPS,0.026845
$HUMID,2133
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$TCM_TEMP,15.60
$XPDR_PINGS,955
$24V_AH,20.9,121.566
$10V_AH,10.4,84.150
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$DEVICE_SECS,30.275,186.875,353.200,15.625,0.000,28.156,31.556,185.935,238.750,0.000,0.000,13.978,1730.379,26283.328,519.696,2258.271,867.110,33.382,1631.910,0.000,2233.451,0.000,0.466
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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,47567,812
$CAP_FILE_SIZE,174017,0
$CFSIZE,260165632,210325504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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