version: 66.03
glider: 120
mission: 9
dive: 72
start: 9 23 108 15 31 59
data:
$ID,120
$MISSION,9
$DIVE,72
$D_SURF,6
$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,-19060.381
$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,22
$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
$GPS1,152555,5011.890,-14440.603,53,1.4,71,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.58
$_SM_ANGLEo,-68.8
$GPS2,153103,5011.876,-14440.677,15,1.5,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,0.105
$KALMAN_X,29126.2,316.1,-28.6,-18672.8,-1635.0
$KALMAN_Y,55042.8,-80.3,-225.0,-43014.4,1115.3
$MHEAD_RNG_PITCHd_Wd,35.0,21219,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,32,0.00,0.00,-12.02,0.000,2,0.000,0.000,148,2409,1920
$GC,34,-0.67,-117.3,4.9,-0.0,1,113,13.40,0.00,-60.70,0.000,6,0.288,0.000,3092,2409,3356
$GC,431,-0.43,-117.3,52.5,-12.0,39,435,0.25,2.33,0.00,0.000,4,0.167,0.080,3168,3807,3360
$GC,480,-0.43,-117.3,57.1,-8.1,43,484,0.00,2.25,0.00,0.000,6,0.000,0.054,3168,2392,3360
$GC,813,-0.43,-117.3,83.7,-7.6,72,817,0.00,2.28,0.00,0.000,4,0.000,0.069,3168,990,3362
$GC,839,-0.43,-117.3,85.8,-7.7,73,844,0.00,2.30,0.00,0.000,6,0.000,0.059,3168,2397,3362
$GC,1161,-0.43,-117.3,107.8,-7.7,89,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2397,3362
$GC,1470,-0.43,-117.3,130.3,-6.2,104,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2397,3362
$GC,1780,-0.51,-117.3,147.4,-6.2,119,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2397,3362
$GC,2097,-0.60,-117.3,164.8,-4.9,130,2099,0.12,0.00,0.00,0.000,6,0.088,0.000,3120,2398,3362
$GC,2403,-0.60,-117.3,185.5,-7.4,140,2407,0.00,2.30,0.00,0.000,4,0.000,0.071,3120,988,3362
$GC,2434,-0.60,-117.3,188.2,-8.4,141,2439,0.00,2.30,0.00,0.000,6,0.000,0.062,3120,2402,3362
$GC,2770,-0.60,-117.3,212.2,-6.8,152,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2402,3361
$GC,3076,-0.60,-117.3,233.9,-7.3,162,3080,0.00,2.30,0.00,0.000,4,0.000,0.073,3120,988,3361
$GC,3107,-0.60,-117.3,236.4,-7.7,163,3112,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2398,3361
$GC,3442,-0.60,-117.3,258.2,-5.9,174,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2399,3360
$GC,3749,-0.60,-117.3,275.4,-6.0,184,3752,0.00,2.28,0.00,0.000,4,0.000,0.074,3120,995,3360
$GC,3786,-0.60,-117.3,278.1,-6.8,185,3791,0.00,2.28,0.00,0.000,6,0.000,0.064,3119,2400,3360
$GC,4116,-0.60,-117.3,301.4,-7.3,196,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2400,3360
$GC,4419,-0.60,-117.3,323.0,-7.1,201,4422,0.00,2.30,0.00,0.000,4,0.000,0.074,3119,987,3359
$GC,4461,-0.60,-117.3,326.0,-6.9,201,4467,0.00,2.30,0.00,0.000,6,0.000,0.065,3119,2396,3359
$GC,4788,-0.60,-117.3,347.8,-6.7,207,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2396,3359
$GC,5091,-0.60,-117.3,368.1,-6.7,212,5095,0.00,2.30,0.00,0.000,4,0.000,0.075,3119,985,3358
$GC,5150,-0.60,-117.3,372.4,-7.5,212,5158,0.00,2.30,0.00,0.000,6,0.000,0.065,3119,2396,3358
$GC,5460,-0.60,-117.3,394.4,-7.2,218,5464,0.00,2.28,0.00,0.000,4,0.000,0.074,3119,994,3357
$GC,5480,-0.60,-117.3,395.9,-7.0,218,5485,0.00,2.28,0.00,0.000,6,0.000,0.064,3119,2396,3357
$GC,5823,-0.60,-117.3,420.0,-7.0,224,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2396,3357
$GC,6126,-0.60,-117.3,439.6,-6.5,229,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2396,3357
$GC,6430,-0.60,-117.3,458.7,-6.3,234,6434,0.00,2.30,0.00,0.000,4,0.000,0.075,3119,989,3356
$GC,6473,-0.60,-117.3,461.5,-6.9,234,6477,0.00,2.30,0.00,0.000,6,0.000,0.064,3119,2403,3356
$GC,6793,-0.60,-117.3,480.9,-6.1,240,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2404,3356
$GC,7097,-0.60,-117.3,498.3,-5.7,245,7101,0.00,2.30,0.00,0.000,4,0.000,0.076,3119,990,3356
$GC,7128,-0.60,-117.3,500.1,-5.7,245,7133,0.00,2.30,0.00,0.000,6,0.000,0.066,3119,2399,3356
$GC,7461,-0.60,-117.3,518.5,-5.5,251,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2399,3356
$GC,7763,-0.60,-117.3,535.7,-5.7,256,7767,0.00,2.30,0.00,0.000,4,0.000,0.075,3119,991,3356
$GC,7806,-0.60,-117.3,538.3,-6.2,256,7811,0.00,2.30,0.00,0.000,6,0.000,0.065,3119,2403,3355
$GC,8127,-0.60,-117.3,556.0,-5.5,262,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2404,3355
$GC,8431,-0.60,-117.3,573.3,-5.8,267,8435,0.00,2.30,0.00,0.000,4,0.000,0.076,3119,995,3355
$GC,8457,-0.60,-117.3,575.0,-6.5,267,8462,0.00,2.30,0.00,0.000,6,0.000,0.066,3119,2405,3355
$GC,8795,-0.60,-117.3,595.8,-6.2,273,8799,0.00,2.30,0.00,0.000,4,0.000,0.074,3119,992,3354
$GC,8838,-0.60,-117.3,598.8,-7.1,273,8842,0.00,2.30,0.00,0.000,6,0.000,0.065,3119,2406,3355
$GC,9159,-0.60,-117.3,617.8,-6.0,279,9163,0.00,2.30,0.00,0.000,4,0.000,0.077,3119,991,3354
$GC,9190,-0.60,-117.3,619.8,-6.6,279,9195,0.00,2.30,0.00,0.000,6,0.000,0.066,3119,2400,3354
$GC,9528,-0.60,-117.3,638.1,-5.3,285,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3354
$GC,9831,-0.60,-117.3,653.9,-5.2,290,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3354
$GC,10134,-0.60,-117.3,669.7,-5.3,295,10138,0.00,2.30,0.00,0.000,4,0.000,0.077,3119,994,3354
$GC,10172,-0.64,-117.3,671.9,-5.8,295,10177,0.00,2.30,0.00,0.000,6,0.000,0.077,3119,2400,3354
$GC,10498,-0.64,-117.3,688.4,-5.1,301,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3353
$GC,10801,-0.64,-117.3,703.8,-5.1,306,10805,0.00,2.30,0.00,0.000,4,0.000,0.077,3119,989,3353
$GC,10828,-0.68,-117.3,705.2,-5.7,306,10832,0.00,2.30,0.00,0.000,6,0.000,0.067,3119,2401,3353
$GC,11166,-0.72,-117.3,722.4,-5.1,312,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2402,3353
$GC,11468,-0.72,-117.3,737.9,-5.1,317,11470,0.10,0.00,0.00,0.000,6,0.100,0.000,3082,2402,3353
$GC,11771,-0.72,-117.3,754.0,-5.2,322,11775,0.00,2.30,0.00,0.000,4,0.000,0.077,3083,993,3353
$GC,11815,-0.68,-117.3,756.4,-5.5,322,11819,0.00,2.28,0.00,0.000,6,0.000,0.067,3082,2410,3353
$GC,12136,-0.61,-117.3,773.3,-5.3,328,12141,0.12,2.33,0.00,0.000,4,0.166,0.077,3120,989,3353
$GC,12173,-0.66,-117.3,775.1,-4.6,328,12178,0.00,2.28,0.00,0.000,6,0.000,0.067,3119,2403,3353
$GC,12501,-0.70,-117.3,787.7,-3.9,334,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2403,3353
$GC,12803,-0.75,-117.3,800.1,-4.2,339,12808,0.15,2.33,0.00,0.000,4,0.088,0.077,3058,986,3352
$GC,12840,-0.61,-117.3,802.5,-6.4,339,12846,0.17,2.30,0.00,0.000,6,0.166,0.069,3112,2395,3352
$GC,13167,-0.61,-117.3,819.2,-5.2,345,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2395,3352
$GC,13470,-0.61,-117.3,836.9,-5.9,350,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2395,3352
$GC,13773,-0.61,-117.3,856.7,-6.5,355,13777,0.00,2.30,0.00,0.000,4,0.000,0.079,3112,991,3352
$GC,13804,-0.61,-117.3,859.1,-6.9,355,13809,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2400,3352
$GC,14137,-0.61,-117.3,879.1,-5.9,361,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3352
$GC,14439,-0.61,-117.3,896.2,-5.6,366,14441,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3352
$GC,14743,-0.61,-117.3,912.1,-5.2,371,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3352
$GC,15046,-0.61,-117.3,927.5,-5.1,376,15050,0.00,2.30,0.00,0.000,4,0.000,0.079,3112,994,3352
$GC,15072,-0.61,-117.3,929.1,-6.2,376,15076,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2400,3352
$GC,15416,-0.65,-117.3,946.7,-5.2,382,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3352
$GC,15719,-0.70,-117.3,962.8,-5.3,387,15720,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3352
$GC,16021,-0.70,-117.3,979.4,-5.5,392,16025,0.00,2.30,0.00,0.000,4,0.000,0.079,3112,992,3351
$GC,16054,-0.74,-117.3,981.3,-6.1,392,16058,0.08,2.30,0.00,0.000,6,0.079,0.068,3076,2399,3351
$STATE,16208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16208,begin apogee
$GC,16212,-0.22,0.0,991.2,6.4,395,16315,0.55,0.00,99.97,1.515,6,0.143,0.000,3247,2197,2876
$STATE,16316,end apogee,CONTROL_FINISHED_OK
$STATE,16316,begin climb
$GC,16317,0.67,117.3,993.3,0.0,396,16424,0.88,0.00,103.05,1.469,6,0.099,0.000,3528,2197,2397
$GC,16758,0.31,117.3,970.6,7.9,404,16760,0.40,0.00,0.00,0.000,6,0.183,0.000,3423,2196,2394
$GC,17061,0.26,118.8,955.0,5.0,409,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2394
$GC,17364,0.21,129.0,940.7,4.7,414,17377,0.15,0.00,11.07,1.335,6,0.179,0.000,3386,2197,2349
$GC,17667,0.32,165.7,928.6,4.0,419,17701,0.00,0.00,32.47,1.439,6,0.000,0.000,3386,2197,2199
$GC,17970,0.43,176.5,914.8,4.7,424,17986,0.17,2.42,10.70,1.314,4,0.089,0.083,3455,3609,2155
$GC,18052,0.27,176.5,908.3,7.9,425,18057,0.17,2.38,0.00,0.000,6,0.173,0.067,3403,2198,2154
$GC,18402,0.33,176.5,888.5,5.6,431,18403,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2198,2153
$GC,18705,0.40,176.5,870.9,5.8,436,18709,0.12,2.38,0.00,0.000,4,0.092,0.085,3449,3608,2153
$GC,18725,0.35,176.5,869.3,6.9,436,18729,0.00,2.33,0.00,0.000,6,0.000,0.068,3449,2203,2153
$GC,19069,0.28,176.5,843.0,7.8,442,19070,0.15,0.00,0.00,0.000,6,0.180,0.000,3413,2203,2153
$GC,19371,0.33,176.5,822.2,6.9,447,19375,0.00,2.35,0.00,0.000,4,0.000,0.084,3412,3612,2152
$GC,19426,0.33,176.5,817.8,8.3,447,19433,0.00,2.33,0.00,0.000,6,0.000,0.068,3419,2197,2153
$GC,19736,0.33,176.5,794.3,7.7,453,19737,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2197,2152
$GC,20038,0.33,176.5,771.0,7.7,458,20042,0.00,2.35,0.00,0.000,4,0.000,0.084,3419,3608,2152
$GC,20081,0.33,176.5,767.4,9.3,458,20087,0.00,2.30,0.00,0.000,6,0.000,0.068,3421,2206,2152
$GC,20408,0.33,176.5,743.5,7.3,464,20409,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2152
$GC,20711,0.33,176.5,723.5,6.5,469,20712,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2152
$GC,21014,0.33,176.5,706.9,5.4,474,21018,0.00,2.35,0.00,0.000,4,0.000,0.085,3421,3618,2152
$GC,21057,0.33,176.5,704.3,6.0,474,21062,0.00,2.33,0.00,0.000,6,0.000,0.067,3421,2199,2151
$GC,21384,0.33,178.0,688.2,5.0,480,21385,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2152
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$STATE,32859,end climb,SURFACE_DEPTH_REACHED
$STATE,32859,begin surface coast
$FINISH,3.7,1.024135
$STATE,32945,end surface coast,CONTROL_FINISHED_OK
$STATE,32945,begin surface
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$10V_AH,10.7,9.709
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$DEVICE_SECS,29.375,213.425,345.200,13.325,0.000,29.902,30.924,150.713,252.500,0.000,0.000,15.857,1819.391,28095.535,555.129,2390.995,423.491,33.369,1726.157,0.000,2372.006,0.000,0.465
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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,47581,844
$CAP_FILE_SIZE,187477,0
$CFSIZE,260165632,253112320
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