version: 66.03
glider: 120
mission: 9
dive: 93
start: 10 1 108 16 42 26
data:
$ID,120
$MISSION,9
$DIVE,93
$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,-19543.521
$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,20
$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
$GPS1,162937,5016.692,-14506.092,66,1.5,66,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.97
$_SM_ANGLEo,-73.7
$GPS2,164132,5016.682,-14505.953,16,1.7,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.133,0.118
$KALMAN_X,39600.6,-102.2,-1.1,-58776.1,1324.7
$KALMAN_Y,68864.9,-46.0,23.6,-48226.4,-253.3
$MHEAD_RNG_PITCHd_Wd,293.2,10694,-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,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.55,0.000,2,0.000,0.000,138,2405,1982
$GC,35,-0.67,-117.3,5.1,-0.0,1,103,13.57,2.38,-48.42,0.000,4,0.288,0.102,3086,3807,3356
$GC,147,-0.27,-117.3,15.9,-17.8,11,155,0.43,2.30,0.00,0.000,6,0.166,0.055,3224,2396,3358
$GC,475,-0.43,-117.3,38.7,-6.2,42,479,0.15,2.28,0.00,0.000,4,0.082,0.066,3167,991,3360
$GC,536,-0.60,-117.3,43.4,-6.8,47,541,0.12,2.28,0.00,0.000,6,0.087,0.058,3120,2406,3360
$GC,863,-0.71,-117.3,68.6,-8.2,77,867,0.00,2.28,0.00,0.000,4,0.000,0.073,3113,3807,3362
$GC,1038,-0.56,-117.3,85.7,-10.4,90,1042,0.00,2.22,0.00,0.000,6,0.000,0.052,3113,2396,3362
$GC,1364,-0.42,-117.3,117.9,-8.9,106,1369,0.20,2.28,0.00,0.000,4,0.160,0.066,3175,985,3362
$GC,1390,-0.42,-117.3,119.9,-7.2,107,1395,0.00,2.30,0.00,0.000,6,0.000,0.058,3175,2401,3362
$GC,1712,-0.52,-117.3,139.0,-5.8,123,1716,0.00,2.28,0.00,0.000,4,0.000,0.067,3175,992,3362
$GC,1744,-0.62,-117.3,141.2,-6.8,124,1752,0.15,2.28,0.00,0.000,6,0.068,0.058,3111,2403,3362
$GC,2058,-0.56,-117.3,164.7,-7.1,137,2062,0.00,2.28,0.00,0.000,4,0.000,0.077,3111,3809,3361
$GC,2095,-0.49,-117.3,167.7,-7.5,138,2100,0.12,2.25,0.00,0.000,6,0.153,0.054,3150,2394,3362
$GC,2425,-0.54,-117.3,186.4,-5.7,149,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2394,3362
$GC,2731,-0.59,-117.3,204.7,-6.0,159,2735,0.00,2.35,0.00,0.000,4,0.000,0.080,3150,3819,3360
$GC,2820,-0.68,-117.3,210.4,-6.9,161,2828,0.12,2.28,0.00,0.000,6,0.071,0.056,3094,2399,3360
$GC,3133,-0.58,-117.3,235.2,-8.3,172,3137,0.12,2.33,0.00,0.000,4,0.159,0.079,3125,3806,3360
$GC,3261,-0.58,-117.3,244.4,-6.6,176,3265,0.00,2.22,0.00,0.000,6,0.000,0.058,3125,2399,3359
$GC,3595,-0.58,-117.3,266.1,-6.5,187,3599,0.00,2.28,0.00,0.000,4,0.000,0.071,3125,988,3359
$GC,3677,-0.58,-117.3,272.1,-7.1,189,3681,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2402,3359
$GC,3995,-0.58,-117.3,294.1,-7.1,200,3999,0.00,2.30,0.00,0.000,4,0.000,0.072,3125,992,3358
$GC,4044,-0.58,-117.3,297.8,-8.1,201,4049,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2405,3358
$GC,4390,-0.58,-117.3,322.4,-7.1,208,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3357
$GC,4693,-0.58,-117.3,343.7,-7.0,213,4697,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,993,3356
$GC,4725,-0.58,-117.3,346.1,-7.1,213,4730,0.00,2.28,0.00,0.000,6,0.000,0.063,3125,2397,3356
$GC,5057,-0.58,-117.3,365.9,-5.9,219,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3356
$GC,5360,-0.58,-117.3,382.9,-5.6,224,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3356
$GC,5663,-0.58,-117.3,401.6,-6.2,229,5667,0.00,2.30,0.00,0.000,4,0.000,0.073,3125,985,3355
$GC,5712,-0.58,-117.3,405.0,-6.9,229,5717,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2396,3355
$GC,6027,-0.58,-117.3,423.0,-5.6,235,6031,0.00,2.30,0.00,0.000,4,0.000,0.073,3125,983,3354
$GC,6054,-0.58,-117.3,424.4,-5.8,235,6058,0.00,2.30,0.00,0.000,6,0.000,0.063,3125,2399,3354
$GC,6392,-0.58,-117.3,440.3,-4.6,241,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3354
$GC,6694,-0.58,-117.3,455.5,-5.2,246,6698,0.00,2.30,0.00,0.000,4,0.000,0.073,3125,988,3354
$GC,6720,-0.58,-117.3,457.3,-6.7,246,6725,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2401,3354
$GC,7059,-0.58,-117.3,477.1,-6.0,252,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3353
$GC,7362,-0.58,-117.3,496.3,-6.4,257,7366,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,985,3353
$GC,7399,-0.58,-117.3,498.8,-6.6,257,7404,0.00,2.30,0.00,0.000,6,0.000,0.065,3125,2401,3353
$GC,7726,-0.58,-117.3,517.7,-5.7,263,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3353
$GC,8029,-0.58,-117.3,533.8,-5.2,268,8033,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,992,3352
$GC,8071,-0.58,-117.3,536.4,-6.3,268,8076,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2405,3352
$GC,8392,-0.58,-117.3,554.5,-5.7,274,8396,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,992,3352
$GC,8413,-0.58,-117.3,555.8,-6.5,274,8418,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2406,3352
$GC,8756,-0.58,-117.3,575.5,-5.8,280,8760,0.00,2.33,0.00,0.000,4,0.000,0.074,3125,985,3352
$GC,8783,-0.58,-117.3,577.2,-6.2,280,8787,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2397,3352
$GC,9120,-0.58,-117.3,596.3,-5.7,286,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3352
$GC,9424,-0.62,-117.3,613.4,-5.6,291,9428,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,991,3352
$GC,9455,-0.62,-117.3,615.5,-6.2,291,9460,0.00,2.28,0.00,0.000,6,0.000,0.064,3125,2394,3351
$GC,9788,-0.67,-117.3,635.3,-6.1,297,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3351
$GC,10091,-0.71,-117.3,654.5,-6.4,302,10096,0.12,2.30,0.00,0.000,4,0.092,0.075,3077,991,3351
$GC,10123,-0.65,-117.3,657.0,-8.1,302,10128,0.12,2.28,0.00,0.000,6,0.167,0.065,3108,2403,3350
$GC,10454,-0.65,-117.3,679.1,-6.6,308,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3351
$GC,10759,-0.65,-117.3,697.7,-6.1,313,10763,0.00,2.33,0.00,0.000,4,0.000,0.074,3109,986,3350
$GC,10784,-0.65,-117.3,699.4,-6.3,313,10789,0.00,2.30,0.00,0.000,6,0.000,0.065,3108,2399,3350
$GC,11123,-0.65,-117.3,718.4,-5.6,319,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3350
$GC,11426,-0.65,-117.3,735.1,-5.4,324,11430,0.00,2.30,0.00,0.000,4,0.000,0.075,3109,993,3350
$GC,11469,-0.65,-117.3,737.7,-6.0,324,11473,0.00,2.30,0.00,0.000,6,0.000,0.065,3108,2401,3350
$GC,11790,-0.65,-117.3,755.8,-5.7,330,11794,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,991,3350
$GC,11816,-0.65,-117.3,757.4,-6.5,330,11820,0.00,2.30,0.00,0.000,6,0.000,0.067,3108,2399,3349
$GC,12153,-0.65,-117.3,777.5,-6.0,336,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3349
$GC,12457,-0.65,-117.3,796.5,-6.3,341,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2399,3350
$GC,12760,-0.65,-117.3,816.0,-6.4,346,12764,0.00,2.30,0.00,0.000,4,0.000,0.075,3109,993,3349
$GC,12821,-0.65,-117.3,820.1,-6.5,347,12825,0.00,2.28,0.00,0.000,6,0.000,0.066,3109,2404,3349
$GC,13186,-0.65,-117.3,843.8,-6.5,353,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3349
$GC,13489,-0.65,-117.3,863.5,-6.5,358,13493,0.00,2.33,0.00,0.000,4,0.000,0.077,3108,989,3349
$GC,13520,-0.65,-117.3,865.6,-6.9,358,13525,0.00,2.30,0.00,0.000,6,0.000,0.066,3109,2400,3348
$GC,13852,-0.65,-117.3,885.3,-5.9,364,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3349
$GC,14155,-0.65,-117.3,902.6,-5.7,369,14159,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,994,3348
$GC,14198,-0.65,-117.3,905.1,-5.6,369,14203,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2401,3348
$GC,14519,-0.65,-117.3,922.5,-5.4,375,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3348
$GC,14824,-0.65,-117.3,939.1,-5.5,380,14828,0.00,2.30,0.00,0.000,4,0.000,0.077,3109,994,3348
$GC,14867,-0.69,-117.3,941.8,-5.9,380,14871,0.00,2.28,0.00,0.000,6,0.000,0.067,3108,2402,3348
$GC,15188,-0.73,-117.3,960.2,-5.9,386,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3348
$GC,15491,-0.77,-117.3,977.2,-5.6,391,15493,0.12,0.00,0.00,0.000,6,0.094,0.000,3063,2402,3348
$STATE,15731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15731,begin apogee
$GC,15736,-0.22,0.0,993.1,6.6,395,15838,0.60,0.00,99.60,1.511,6,0.150,0.000,3246,2200,2876
$STATE,15839,end apogee,CONTROL_FINISHED_OK
$STATE,15839,begin climb
$GC,15840,0.67,117.3,994.9,0.0,396,15948,0.90,0.00,103.53,1.462,6,0.100,0.000,3535,2200,2397
$GC,16281,0.28,117.3,968.7,8.9,404,16283,0.47,0.00,0.00,0.000,6,0.193,0.000,3410,2200,2394
$GC,16583,0.28,117.3,952.8,5.1,409,16584,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2200,2393
$GC,16886,0.28,117.3,937.3,5.1,414,16887,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2200,2393
$GC,17190,0.29,120.5,922.5,4.9,419,17194,0.00,2.38,0.00,0.000,4,0.000,0.082,3410,3614,2393
$GC,17233,0.19,120.5,920.0,5.7,419,17237,0.00,2.30,0.00,0.000,6,0.000,0.065,3410,2205,2393
$GC,17553,0.19,120.5,903.5,5.2,425,17554,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2393
$GC,17858,0.19,120.5,887.1,5.4,430,17859,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,18159,0.19,120.5,870.6,5.4,435,18161,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,18463,0.19,120.5,853.7,5.6,440,18464,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,18767,0.19,120.5,836.0,5.9,445,18768,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,19069,0.19,120.5,818.5,5.7,450,19070,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2204,2392
$GC,19372,0.19,120.5,801.0,5.8,455,19373,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,19676,0.19,120.5,783.8,5.7,460,19678,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,19978,0.19,120.5,767.9,5.1,465,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2392
$GC,20281,0.21,133.5,753.8,4.6,470,20297,0.00,0.00,13.95,1.311,6,0.000,0.000,3410,2205,2331
$GC,20585,0.23,151.0,740.1,4.5,475,20603,0.00,0.00,16.00,1.304,6,0.000,0.000,3410,2205,2260
$GC,20888,0.25,168.1,726.4,4.5,480,20906,0.00,0.00,15.82,1.289,6,0.000,0.000,3410,2205,2189
$GC,21257,0.31,168.1,707.8,5.2,486,21261,0.00,2.38,0.00,0.000,4,0.000,0.081,3410,3607,2188
$GC,21306,0.31,168.1,704.8,6.3,486,21311,0.00,2.35,0.00,0.000,6,0.000,0.065,3410,2194,2187
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$STATE,33927,end climb,SURFACE_DEPTH_REACHED
$STATE,33927,begin surface coast
$FINISH,3.9,1.024593
$STATE,33954,end surface coast,CONTROL_FINISHED_OK
$STATE,33955,begin surface
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$10V_AH,10.7,12.443
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$DEVICE_SECS,29.125,203.525,364.800,0.000,0.000,84.904,104.808,270.122,247.500,0.000,0.000,33.717,1879.025,29162.301,547.547,2465.978,685.601,33.376,1739.786,0.000,2412.170,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50613,883
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$CFSIZE,260165632,251478016
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