version: 66.03
glider: 120
mission: 9
dive: 119
start: 10 11 108 13 38 16
data:
$ID,120
$MISSION,9
$DIVE,119
$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,-20141.625
$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,18
$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
$GPS1,133201,5014.130,-14427.132,58,1.0,58,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.65
$_SM_ANGLEo,-73.4
$GPS2,133721,5014.168,-14427.082,13,1.3,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.039,-0.173
$KALMAN_X,38041.3,178.3,1.7,-11329.6,913.7
$KALMAN_Y,87673.2,137.7,167.8,-72026.8,-381.2
$MHEAD_RNG_PITCHd_Wd,174.1,37474,-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,18,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-11.98,0.000,2,0.000,0.000,148,2410,1910
$GC,36,-0.67,-117.3,4.9,-0.0,1,120,13.73,2.40,-64.18,0.000,4,0.288,0.092,3085,3810,3357
$GC,165,-0.30,-117.3,12.7,-16.1,13,172,0.47,2.28,0.00,0.000,6,0.173,0.054,3218,2392,3358
$GC,492,-0.40,-117.3,34.6,-6.3,44,496,0.00,2.30,0.00,0.000,4,0.000,0.067,3218,985,3360
$GC,531,-0.52,-117.3,37.4,-6.7,47,536,0.22,2.30,0.00,0.000,6,0.078,0.059,3136,2405,3360
$GC,855,-0.45,-117.3,66.5,-8.4,77,860,0.12,2.33,0.00,0.000,4,0.159,0.077,3167,3816,3361
$GC,894,-0.50,-117.3,69.7,-8.0,80,899,0.00,2.25,0.00,0.000,6,0.000,0.051,3167,2389,3361
$GC,1213,-0.50,-117.3,90.9,-6.4,102,1217,0.00,2.25,0.00,0.000,4,0.000,0.065,3167,994,3362
$GC,1240,-0.50,-117.3,92.7,-6.5,103,1244,0.00,2.30,0.00,0.000,6,0.000,0.058,3167,2402,3362
$GC,1561,-0.50,-117.3,113.7,-7.0,119,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2402,3363
$GC,1871,-0.54,-117.3,134.0,-6.3,134,1875,0.00,2.30,0.00,0.000,4,0.000,0.067,3167,991,3362
$GC,1897,-0.59,-117.3,135.9,-6.7,135,1902,0.12,2.30,0.00,0.000,6,0.087,0.059,3118,2405,3362
$GC,2218,-0.54,-117.3,160.8,-8.0,149,2222,0.00,2.30,0.00,0.000,4,0.000,0.067,3118,992,3362
$GC,2255,-0.49,-117.3,164.3,-9.5,150,2260,0.10,2.30,0.00,0.000,6,0.152,0.061,3156,2399,3362
$GC,2585,-0.56,-117.3,184.9,-5.7,161,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2399,3362
$GC,2891,-0.64,-117.3,202.9,-6.2,171,2893,0.15,0.00,0.00,0.000,6,0.082,0.000,3099,2399,3362
$GC,3197,-0.59,-117.3,225.1,-6.9,181,3201,0.00,2.30,0.00,0.000,4,0.000,0.070,3099,988,3362
$GC,3240,-0.50,-117.3,228.5,-7.3,182,3245,0.20,2.28,0.00,0.000,6,0.163,0.062,3153,2402,3362
$GC,3564,-0.58,-117.3,245.3,-5.2,193,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2401,3362
$GC,3870,-0.66,-117.3,261.8,-5.5,203,3875,0.15,2.30,0.00,0.000,4,0.084,0.070,3091,991,3360
$GC,3898,-0.60,-117.3,263.8,-7.4,204,3903,0.12,2.28,0.00,0.000,6,0.168,0.062,3123,2406,3360
$GC,4232,-0.60,-117.3,286.8,-6.7,215,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2406,3360
$GC,4567,-0.60,-117.3,308.5,-6.5,224,4571,0.00,2.30,0.00,0.000,4,0.000,0.072,3123,996,3360
$GC,4599,-0.60,-117.3,310.7,-6.7,224,4604,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2404,3360
$GC,4932,-0.60,-117.3,332.9,-6.8,230,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3359
$GC,5234,-0.60,-117.3,353.4,-6.8,235,5238,0.00,2.30,0.00,0.000,4,0.000,0.072,3123,996,3359
$GC,5266,-0.60,-117.3,355.7,-7.0,235,5271,0.00,2.28,0.00,0.000,6,0.000,0.063,3122,2395,3359
$GC,5598,-0.60,-117.3,376.2,-6.1,241,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2395,3359
$GC,5902,-0.60,-117.3,394.7,-6.1,246,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2395,3358
$GC,6205,-0.60,-117.3,413.6,-6.1,251,6209,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,992,3358
$GC,6236,-0.60,-117.3,415.8,-7.0,251,6241,0.00,2.30,0.00,0.000,6,0.000,0.063,3123,2404,3358
$GC,6569,-0.60,-117.3,435.7,-6.0,257,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2404,3358
$GC,6872,-0.60,-117.3,453.2,-5.8,262,6876,0.00,2.30,0.00,0.000,4,0.000,0.073,3123,995,3357
$GC,6909,-0.60,-117.3,455.6,-6.2,262,6914,0.00,2.28,0.00,0.000,6,0.000,0.064,3123,2394,3357
$GC,7235,-0.60,-117.3,474.6,-5.9,268,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2393,3357
$GC,7539,-0.60,-117.3,492.9,-6.0,273,7543,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,986,3356
$GC,7565,-0.60,-117.3,494.7,-6.5,273,7569,0.00,2.30,0.00,0.000,6,0.000,0.065,3123,2395,3356
$GC,7903,-0.60,-117.3,514.7,-6.0,279,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2395,3356
$GC,8206,-0.60,-117.3,532.4,-5.8,284,8210,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,994,3356
$GC,8243,-0.60,-117.3,534.6,-6.2,284,8248,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2399,3356
$GC,8570,-0.60,-117.3,552.0,-5.3,290,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2399,3355
$GC,8873,-0.60,-117.3,569.9,-6.0,295,8877,0.00,2.30,0.00,0.000,4,0.000,0.073,3123,996,3356
$GC,8904,-0.60,-117.3,572.0,-6.4,295,8909,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2402,3356
$GC,9236,-0.60,-117.3,592.7,-6.1,301,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3355
$GC,9541,-0.65,-117.3,609.4,-5.5,306,9545,0.00,2.30,0.00,0.000,4,0.000,0.074,3123,995,3355
$GC,9574,-0.69,-117.3,611.6,-6.1,306,9578,0.00,2.30,0.00,0.000,6,0.000,0.064,3123,2408,3355
$GC,9906,-0.74,-117.3,630.5,-5.8,312,9908,0.15,0.00,0.00,0.000,6,0.090,0.000,3068,2409,3354
$GC,10209,-0.67,-117.3,652.7,-7.4,317,10214,0.12,2.33,0.00,0.000,4,0.117,0.074,3105,991,3354
$GC,10235,-0.67,-117.3,654.7,-7.5,317,10239,0.00,2.28,0.00,0.000,6,0.000,0.065,3100,2400,3354
$GC,10572,-0.67,-117.3,678.5,-7.1,323,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3355
$GC,10876,-0.67,-117.3,702.3,-7.9,328,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3354
$GC,11179,-0.67,-117.3,727.9,-8.4,333,11183,0.00,2.33,0.00,0.000,4,0.000,0.074,3100,988,3355
$GC,11233,-0.67,-117.3,732.6,-8.3,333,11240,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2402,3354
$GC,11542,-0.67,-117.3,757.5,-8.0,339,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3354
$GC,11845,-0.67,-117.3,780.0,-7.3,344,11849,0.00,2.30,0.00,0.000,4,0.000,0.074,3100,996,3354
$GC,11872,-0.67,-117.3,782.1,-7.6,344,11876,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2398,3354
$GC,12210,-0.67,-117.3,804.0,-6.4,350,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3354
$GC,12513,-0.67,-117.3,822.5,-6.1,355,12517,0.00,2.30,0.00,0.000,4,0.000,0.075,3100,994,3354
$GC,12545,-0.67,-117.3,824.3,-5.7,355,12550,0.00,2.30,0.00,0.000,6,0.000,0.066,3100,2398,3353
$GC,12877,-0.67,-117.3,842.0,-5.2,361,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3354
$GC,13180,-0.67,-117.3,858.1,-5.4,366,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3353
$GC,13483,-0.67,-117.3,874.9,-5.6,371,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3353
$GC,13786,-0.67,-117.3,892.9,-6.1,376,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3353
$GC,14089,-0.67,-117.3,912.2,-6.4,381,14093,0.00,2.33,0.00,0.000,4,0.000,0.075,3100,989,3353
$GC,14133,-0.67,-117.3,915.3,-7.2,381,14137,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2404,3353
$GC,14453,-0.67,-117.3,936.3,-6.6,387,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3353
$GC,14756,-0.67,-117.3,955.7,-6.4,392,14760,0.00,2.33,0.00,0.000,4,0.000,0.076,3100,989,3352
$GC,14783,-0.67,-117.3,957.4,-6.3,392,14787,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2393,3352
$GC,15121,-0.67,-117.3,977.7,-5.9,398,15125,0.00,2.35,0.00,0.000,4,0.000,0.087,3100,3810,3353
$GC,15147,-0.67,-117.3,979.4,-6.4,398,15152,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2405,3352
$STATE,15362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15362,begin apogee
$GC,15366,-0.22,0.0,992.0,5.8,402,15470,0.47,0.00,100.85,1.503,6,0.155,0.000,3242,2193,2876
$STATE,15471,end apogee,CONTROL_FINISHED_OK
$STATE,15471,begin climb
$GC,15473,0.67,117.3,993.9,0.0,403,15581,0.90,0.00,104.47,1.448,6,0.104,0.000,3528,2193,2397
$GC,15848,0.30,117.3,974.0,8.6,410,15851,0.43,0.00,0.00,0.000,6,0.183,0.000,3417,2193,2393
$GC,16151,0.26,117.3,956.4,5.7,415,16155,0.00,2.42,0.00,0.000,4,0.000,0.081,3414,3607,2393
$GC,16200,0.16,117.3,953.1,6.5,415,16205,0.20,2.33,0.00,0.000,6,0.179,0.064,3372,2203,2392
$GC,16515,0.25,118.4,937.5,5.0,421,16516,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2203,2392
$GC,16818,0.35,118.4,921.9,5.2,426,16820,0.17,0.00,0.00,0.000,6,0.091,0.000,3435,2202,2392
$GC,17122,0.26,118.4,902.5,6.5,431,17123,0.12,0.00,0.00,0.000,6,0.166,0.000,3405,2203,2392
$GC,17424,0.26,118.4,886.4,5.2,436,17428,0.00,2.35,0.00,0.000,4,0.000,0.080,3408,789,2392
$GC,17461,0.26,118.4,884.5,5.6,436,17466,0.00,2.33,0.00,0.000,6,0.000,0.062,3408,2202,2392
$GC,17788,0.27,127.2,868.9,4.8,442,17799,0.00,0.00,9.18,1.284,6,0.000,0.000,3408,2201,2357
$GC,18091,0.29,146.5,855.4,4.4,447,18115,0.00,2.42,17.67,1.368,4,0.000,0.081,3408,3609,2278
$GC,18139,0.27,164.8,853.1,4.5,447,18160,0.00,2.35,16.83,1.336,6,0.000,0.065,3408,2197,2203
$GC,18520,0.32,164.8,833.9,5.1,454,18521,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2197,2201
$GC,18823,0.36,164.8,817.9,5.4,459,18825,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2197,2201
$GC,19127,0.41,164.8,800.7,5.7,464,19128,0.12,0.00,0.00,0.000,6,0.101,0.000,3454,2197,2201
$GC,19429,0.33,164.8,779.7,7.0,469,19431,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2197,2201
$GC,19732,0.25,164.8,758.3,7.1,474,19734,0.20,0.00,0.00,0.000,6,0.163,0.000,3402,2197,2201
$GC,20036,0.34,164.8,740.2,5.9,479,20037,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2197,2201
$GC,20339,0.41,164.8,721.3,6.3,484,20343,0.15,2.35,0.00,0.000,4,0.089,0.081,3464,782,2201
$GC,20370,0.34,164.8,718.9,8.0,484,20375,0.15,2.33,0.00,0.000,6,0.156,0.065,3425,2211,2201
$GC,20702,0.34,164.8,696.0,6.9,490,20703,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2211,2201
$GC,21005,0.34,164.8,676.3,6.5,495,21007,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2211,2200
$GC,21308,0.34,164.8,657.8,6.0,500,21309,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2211,2201
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$STATE,32106,end climb,SURFACE_DEPTH_REACHED
$STATE,32106,begin surface coast
$FINISH,3.6,1.024718
$STATE,32182,end surface coast,CONTROL_FINISHED_OK
$STATE,32182,begin surface
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$XPDR_PINGS,968
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$10V_AH,10.7,15.867
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$DEVICE_SECS,29.125,195.425,339.150,20.925,0.000,23.571,27.952,162.182,242.000,0.000,0.000,13.747,1788.816,27484.615,547.023,2262.358,452.282,33.372,1661.909,0.000,2247.388,0.000,0.466
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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,50669,853
$CAP_FILE_SIZE,178791,0
$CFSIZE,260165632,249434112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111008,223707,5011.310,-14427.612,75,1.2,75,18.6