version: 66.03
glider: 120
mission: 9
dive: 99
start: 10 3 108 23 16 40
data:
$ID,120
$MISSION,9
$DIVE,99
$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,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,-19655.953
$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
$GPS1,231038,5010.534,-14513.948,79,1.1,79,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.18
$_SM_ANGLEo,-79.6
$GPS2,231545,5010.504,-14513.941,15,1.3,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.174
$KALMAN_X,45350.8,-53.9,-153.1,-73915.3,1799.0
$KALMAN_Y,76769.2,-198.9,-81.8,-67313.7,3259.8
$MHEAD_RNG_PITCHd_Wd,174.0,30638,-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,-12.18,0.000,2,0.000,0.000,145,2411,1958
$GC,35,-0.67,-117.3,5.0,-0.0,1,111,13.62,2.40,-51.90,0.000,4,0.291,0.100,3085,3812,3356
$GC,156,-0.24,-117.3,15.4,-17.1,12,162,0.55,2.28,0.00,0.000,6,0.175,0.055,3239,2396,3357
$GC,481,-0.38,-117.3,37.4,-6.3,42,486,0.15,2.30,0.00,0.000,4,0.080,0.066,3178,985,3359
$GC,519,-0.38,-117.3,40.4,-8.6,45,524,0.00,2.30,0.00,0.000,6,0.000,0.058,3178,2412,3359
$GC,846,-0.45,-117.3,62.2,-5.9,75,850,0.00,2.30,0.00,0.000,4,0.000,0.074,3178,3820,3360
$GC,885,-0.55,-117.3,64.8,-6.4,78,890,0.12,2.25,0.00,0.000,6,0.084,0.050,3128,2386,3360
$GC,1216,-0.44,-117.3,93.7,-9.2,102,1221,0.15,2.25,0.00,0.000,4,0.156,0.064,3174,989,3362
$GC,1259,-0.48,-117.3,97.6,-8.0,104,1264,0.00,2.30,0.00,0.000,6,0.000,0.058,3174,2422,3362
$GC,1586,-0.53,-117.3,120.2,-6.4,120,1590,0.00,2.33,0.00,0.000,4,0.000,0.066,3174,988,3362
$GC,1626,-0.60,-117.3,122.7,-6.6,122,1631,0.15,2.28,0.00,0.000,6,0.079,0.059,3118,2405,3362
$GC,1952,-0.53,-117.3,148.2,-6.9,138,1956,0.00,2.30,0.00,0.000,4,0.000,0.077,3113,3812,3362
$GC,1995,-0.46,-117.3,151.4,-7.0,140,2000,0.17,2.22,0.00,0.000,6,0.155,0.054,3161,2396,3361
$GC,2319,-0.54,-117.3,167.3,-5.0,151,2323,0.00,2.28,0.00,0.000,4,0.000,0.069,3161,987,3362
$GC,2356,-0.63,-117.3,169.4,-5.6,152,2361,0.10,2.30,0.00,0.000,6,0.071,0.061,3102,2405,3361
$GC,2685,-0.54,-117.3,191.5,-6.7,163,2690,0.15,2.30,0.00,0.000,4,0.156,0.077,3141,3815,3362
$GC,2723,-0.59,-117.3,193.8,-5.5,164,2727,0.00,2.22,0.00,0.000,6,0.000,0.054,3141,2402,3361
$GC,3052,-0.59,-117.3,212.0,-5.8,175,3056,0.00,2.28,0.00,0.000,4,0.000,0.070,3141,991,3361
$GC,3072,-0.59,-117.3,213.4,-6.3,175,3079,0.00,2.28,0.00,0.000,6,0.000,0.061,3141,2394,3361
$GC,3385,-0.59,-117.3,232.1,-6.0,186,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3360
$GC,3691,-0.59,-117.3,250.7,-6.0,196,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3359
$GC,3997,-0.59,-117.3,269.3,-6.1,206,4001,0.00,2.30,0.00,0.000,4,0.000,0.073,3141,988,3359
$GC,4025,-0.63,-117.3,271.0,-6.7,207,4029,0.00,2.28,0.00,0.000,6,0.000,0.063,3141,2401,3359
$GC,4359,-0.67,-117.3,292.4,-6.6,218,4361,0.12,0.00,0.00,0.000,6,0.091,0.000,3091,2401,3358
$GC,4663,-0.61,-117.3,316.9,-8.1,225,4668,0.00,2.30,0.00,0.000,4,0.000,0.072,3091,992,3358
$GC,4707,-0.52,-117.3,320.9,-9.3,225,4712,0.15,2.28,0.00,0.000,6,0.160,0.063,3145,2392,3358
$GC,5027,-0.58,-117.3,340.8,-6.1,231,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2392,3357
$GC,5330,-0.65,-117.3,357.5,-5.5,236,5332,0.12,0.00,0.00,0.000,6,0.090,0.000,3098,2392,3356
$GC,5633,-0.65,-117.3,376.7,-6.4,241,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3356
$GC,5936,-0.65,-117.3,396.0,-6.4,246,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3356
$GC,6239,-0.65,-117.3,415.2,-6.3,251,6243,0.00,2.33,0.00,0.000,4,0.000,0.081,3098,3817,3356
$GC,6266,-0.65,-117.3,417.2,-7.4,251,6270,0.00,2.28,0.00,0.000,6,0.000,0.058,3098,2402,3356
$GC,6604,-0.61,-117.3,439.9,-6.8,257,6608,0.00,2.28,0.00,0.000,4,0.000,0.074,3098,991,3356
$GC,6652,-0.61,-117.3,443.4,-7.0,257,6657,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2407,3355
$GC,6968,-0.55,-117.3,464.5,-6.6,263,6970,0.15,0.00,0.00,0.000,6,0.166,0.000,3137,2408,3355
$GC,7272,-0.61,-117.3,479.2,-4.7,268,7276,0.00,2.33,0.00,0.000,4,0.000,0.074,3137,988,3355
$GC,7310,-0.68,-117.3,481.4,-5.7,268,7314,0.08,2.30,0.00,0.000,6,0.078,0.064,3088,2400,3355
$GC,7636,-0.63,-117.3,502.6,-6.7,274,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3354
$GC,7940,-0.59,-117.3,523.5,-6.9,279,7945,0.15,2.30,0.00,0.000,4,0.135,0.073,3135,991,3354
$GC,7965,-0.59,-117.3,525.4,-6.7,279,7971,0.00,2.30,0.00,0.000,6,0.000,0.064,3135,2399,3354
$GC,8304,-0.66,-117.3,543.9,-5.5,285,8308,0.00,2.30,0.00,0.000,4,0.000,0.074,3135,988,3354
$GC,8336,-0.72,-117.3,545.9,-5.5,285,8341,0.12,2.30,0.00,0.000,6,0.076,0.065,3082,2399,3354
$GC,8668,-0.67,-117.3,568.5,-6.9,291,8672,0.00,2.30,0.00,0.000,4,0.000,0.082,3082,3812,3354
$GC,8717,-0.58,-117.3,572.1,-7.6,291,8722,0.12,2.28,0.00,0.000,6,0.156,0.060,3131,2393,3354
$GC,9032,-0.63,-117.3,589.2,-5.4,297,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2393,3354
$GC,9335,-0.69,-117.3,606.5,-5.7,302,9339,0.12,2.28,0.00,0.000,4,0.089,0.074,3084,995,3353
$GC,9372,-0.62,-117.3,609.3,-7.7,302,9377,0.08,2.28,0.00,0.000,6,0.165,0.064,3107,2396,3353
$GC,9698,-0.62,-117.3,632.2,-7.0,308,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2396,3353
$GC,10001,-0.62,-117.3,653.2,-6.9,313,10005,0.00,2.30,0.00,0.000,4,0.000,0.074,3108,988,3353
$GC,10038,-0.62,-117.3,656.0,-7.0,313,10043,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2399,3353
$GC,10365,-0.62,-117.3,677.0,-6.5,319,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,3353
$GC,10668,-0.62,-117.3,696.8,-6.6,324,10672,0.00,2.30,0.00,0.000,4,0.000,0.074,3107,995,3352
$GC,10694,-0.62,-117.3,698.7,-7.6,324,10698,0.00,2.30,0.00,0.000,6,0.000,0.064,3107,2403,3352
$GC,11031,-0.62,-117.3,721.8,-6.9,330,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3352
$GC,11336,-0.62,-117.3,743.5,-7.3,335,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,3352
$GC,11637,-0.62,-117.3,763.7,-6.6,340,11642,0.00,2.33,0.00,0.000,4,0.000,0.075,3108,987,3351
$GC,11675,-0.62,-117.3,766.3,-6.8,340,11680,0.00,2.33,0.00,0.000,6,0.000,0.067,3108,2403,3351
$GC,12001,-0.62,-117.3,784.8,-5.6,346,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3351
$GC,12305,-0.62,-117.3,801.4,-5.4,351,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2404,3351
$GC,12608,-0.62,-117.3,817.7,-5.4,356,12612,0.00,2.30,0.00,0.000,4,0.000,0.076,3107,995,3351
$GC,12651,-0.62,-117.3,820.4,-6.8,356,12655,0.00,2.30,0.00,0.000,6,0.000,0.066,3107,2404,3351
$GC,12972,-0.62,-117.3,838.6,-5.7,362,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3351
$GC,13276,-0.62,-117.3,857.4,-6.2,367,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3351
$GC,13578,-0.62,-117.3,876.6,-6.3,372,13582,0.00,2.30,0.00,0.000,4,0.000,0.076,3108,995,3350
$GC,13604,-0.62,-117.3,878.3,-7.3,372,13608,0.00,2.30,0.00,0.000,6,0.000,0.067,3107,2399,3350
$GC,13941,-0.62,-117.3,899.4,-6.2,378,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,3351
$GC,14244,-0.62,-117.3,917.4,-5.9,383,14246,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,3350
$GC,14548,-0.62,-117.3,933.9,-5.4,388,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,3350
$GC,14851,-0.62,-117.3,949.3,-5.0,393,14855,0.00,2.33,0.00,0.000,4,0.000,0.077,3108,988,3350
$GC,14890,-0.62,-117.3,951.3,-5.7,393,14894,0.00,2.30,0.00,0.000,6,0.000,0.067,3108,2409,3350
$GC,15210,-0.66,-117.3,966.7,-4.8,399,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,3350
$GC,15513,-0.66,-117.3,980.6,-4.6,404,15517,0.00,2.33,0.00,0.000,4,0.000,0.077,3107,996,3350
$GC,15550,-0.66,-117.3,982.8,-5.2,404,15555,0.00,2.30,0.00,0.000,6,0.000,0.068,3107,2394,3349
$STATE,15754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15754,begin apogee
$GC,15759,-0.22,0.0,992.2,4.7,408,15861,0.45,0.00,100.18,1.511,6,0.150,0.000,3246,2196,2876
$STATE,15862,end apogee,CONTROL_FINISHED_OK
$STATE,15862,begin climb
$GC,15864,0.67,117.3,993.6,0.0,409,15972,0.85,0.00,103.65,1.459,6,0.097,0.000,3525,2195,2397
$GC,16287,0.31,117.3,966.4,9.1,416,16289,0.40,0.00,0.00,0.000,6,0.186,0.000,3420,2195,2394
$GC,16590,0.26,117.3,948.5,5.8,421,16594,0.00,2.38,0.00,0.000,4,0.000,0.081,3424,792,2393
$GC,16644,0.20,117.3,945.6,5.6,421,16651,0.12,2.35,0.00,0.000,6,0.172,0.064,3388,2194,2393
$GC,16954,0.27,142.2,932.0,4.3,427,16978,0.00,0.00,21.85,1.411,6,0.000,0.000,3388,2194,2296
$GC,17257,0.37,160.1,918.3,4.5,432,17281,0.15,2.47,16.52,1.378,4,0.085,0.082,3450,3606,2223
$GC,17314,0.19,160.1,914.6,7.3,432,17322,0.20,2.38,0.00,0.000,6,0.177,0.067,3383,2205,2222
$GC,17625,0.34,192.8,901.6,4.1,438,17657,0.12,0.00,29.62,1.410,6,0.094,0.000,3425,2205,2089
$GC,17927,0.41,192.8,886.7,5.0,443,17931,0.00,2.40,0.00,0.000,4,0.000,0.084,3425,3616,2085
$GC,17959,0.41,192.8,884.7,6.5,443,17964,0.00,2.38,0.00,0.000,6,0.000,0.065,3425,2192,2084
$GC,18292,0.41,192.8,865.2,5.9,449,18293,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2192,2084
$GC,18594,0.41,192.8,847.7,5.8,454,18596,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2192,2084
$GC,18897,0.41,192.8,829.8,5.9,459,18899,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2192,2084
$GC,19202,0.41,192.8,811.7,6.0,464,19203,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2192,2084
$GC,19504,0.41,192.8,792.6,6.3,469,19505,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2192,2083
$GC,19807,0.41,192.8,772.2,6.7,474,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2192,2083
$GC,20110,0.41,192.8,752.3,6.6,479,20111,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2191,2083
$GC,20413,0.41,192.8,732.4,6.6,484,20417,0.00,2.38,0.00,0.000,4,0.000,0.083,3425,3615,2083
$GC,20450,0.41,192.8,729.6,7.4,484,20454,0.00,2.33,0.00,0.000,6,0.000,0.067,3425,2194,2083
$GC,20776,0.41,192.8,706.4,7.2,490,20780,0.00,2.33,0.00,0.000,4,0.000,0.081,3425,782,2083
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$STATE,31863,end climb,SURFACE_DEPTH_REACHED
$STATE,31863,begin surface coast
$FINISH,3.9,1.013376
$STATE,31961,end surface coast,CONTROL_FINISHED_OK
$STATE,31961,begin surface
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$XPDR_PINGS,960
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$10V_AH,10.7,13.236
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$DEVICE_SECS,29.325,203.925,355.925,4.800,0.000,24.961,30.990,146.826,240.000,0.000,0.000,16.238,1784.865,27306.502,543.150,2225.304,426.354,33.373,1652.524,0.000,2204.272,0.000,0.465
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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,47518,834
$CAP_FILE_SIZE,183442,0
$CFSIZE,260165632,251011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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