version: 66.03
glider: 120
mission: 9
dive: 171
start: 10 31 108 9 9 52
data:
$ID,120
$MISSION,9
$DIVE,171
$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,-21271.73
$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,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
$GPS1,090338,5006.690,-14451.174,74,1.5,74,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-73.1
$GPS2,090857,5006.686,-14451.217,14,1.5,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.141,0.109
$KALMAN_X,42289.1,-260.2,-135.5,-43660.8,813.4
$KALMAN_Y,130220.7,-155.8,167.4,-128124.0,818.3
$MHEAD_RNG_PITCHd_Wd,289.2,36106,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,44,0.00,0.00,-21.88,0.000,2,0.000,0.000,147,2416,2189
$GC,46,-0.67,-117.3,3.2,-5.2,2,104,14.12,2.40,-36.30,0.000,4,0.291,0.092,3085,3805,3356
$GC,346,-0.35,-117.3,42.1,-15.8,29,351,0.43,2.30,0.00,0.000,6,0.166,0.055,3204,2390,3359
$GC,670,-0.69,-117.3,65.1,-6.9,59,672,0.32,0.00,0.00,0.000,6,0.089,0.000,3095,2389,3359
$GC,996,-0.76,-117.3,93.1,-8.7,83,1000,0.00,2.42,0.00,0.000,4,0.000,0.077,3094,3813,3361
$GC,1118,-0.59,-117.3,104.6,-9.7,88,1125,0.12,2.28,0.00,0.000,6,0.159,0.053,3125,2386,3361
$GC,1434,-0.52,-117.3,131.5,-8.3,104,1438,0.00,2.28,0.00,0.000,4,0.000,0.067,3125,994,3362
$GC,1474,-0.46,-117.3,134.9,-8.8,106,1479,0.15,2.30,0.00,0.000,6,0.156,0.061,3166,2408,3362
$GC,1810,-0.65,-117.3,156.2,-6.5,121,1812,0.17,0.00,0.00,0.000,6,0.085,0.000,3106,2408,3362
$GC,2116,-0.83,-117.3,178.1,-7.1,131,2121,0.15,2.35,0.00,0.000,4,0.100,0.077,3043,3813,3361
$GC,2154,-0.60,-117.3,181.4,-9.6,132,2159,0.28,2.28,0.00,0.000,6,0.170,0.055,3118,2392,3361
$GC,2477,-0.56,-117.3,206.5,-7.8,143,2481,0.00,2.30,0.00,0.000,4,0.000,0.071,3118,993,3361
$GC,2542,-0.56,-117.3,211.9,-7.8,145,2547,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2401,3361
$GC,2879,-0.51,-117.3,237.4,-7.5,156,2883,0.12,2.33,0.00,0.000,4,0.166,0.069,3147,996,3360
$GC,2911,-0.57,-117.3,239.7,-6.7,157,2915,0.00,2.30,0.00,0.000,6,0.000,0.062,3147,2411,3361
$GC,3247,-0.65,-117.3,258.4,-5.3,168,3248,0.12,0.00,0.00,0.000,6,0.086,0.000,3099,2412,3360
$GC,3552,-0.65,-117.3,277.9,-6.6,178,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3359
$GC,3858,-0.65,-117.3,298.6,-6.7,188,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3359
$GC,4192,-0.65,-117.3,322.2,-7.2,194,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3358
$GC,4495,-0.65,-117.3,342.1,-6.6,199,4499,0.00,2.35,0.00,0.000,4,0.000,0.072,3099,991,3358
$GC,4534,-0.65,-117.3,344.9,-7.5,199,4538,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2401,3358
$GC,4854,-0.60,-117.3,366.3,-6.7,205,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,5157,-0.55,-117.3,386.1,-6.6,210,5159,0.15,0.00,0.00,0.000,6,0.160,0.000,3139,2402,3358
$GC,5460,-0.63,-117.3,404.3,-6.0,215,5464,0.00,2.33,0.00,0.000,4,0.000,0.073,3139,996,3357
$GC,5498,-0.71,-117.3,406.9,-6.9,215,5503,0.15,2.30,0.00,0.000,6,0.085,0.064,3085,2412,3357
$GC,5824,-0.67,-117.3,430.7,-7.4,221,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3357
$GC,6127,-0.67,-117.3,452.0,-6.9,226,6131,0.00,2.33,0.00,0.000,4,0.000,0.082,3085,3813,3356
$GC,6160,-0.60,-117.3,454.5,-7.7,226,6165,0.15,2.25,0.00,0.000,6,0.138,0.058,3126,2401,3356
$GC,6492,-0.64,-117.3,474.6,-6.0,232,6496,0.00,2.33,0.00,0.000,4,0.000,0.074,3125,991,3356
$GC,6532,-0.68,-117.3,477.3,-6.6,232,6536,0.00,2.30,0.00,0.000,6,0.000,0.065,3126,2407,3356
$GC,6853,-0.73,-117.3,497.1,-6.1,238,6858,0.15,2.35,0.00,0.000,4,0.087,0.072,3061,990,3355
$GC,6891,-0.58,-117.3,500.4,-8.5,238,6896,0.25,2.30,0.00,0.000,6,0.166,0.065,3128,2398,3356
$GC,7212,-0.63,-117.3,520.0,-6.0,244,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3356
$GC,7515,-0.68,-117.3,537.5,-5.8,249,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2398,3356
$GC,7818,-0.74,-117.3,554.2,-5.4,254,7819,0.15,0.00,0.00,0.000,6,0.086,0.000,3072,2398,3356
$GC,8121,-0.68,-117.3,573.6,-6.4,259,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,8424,-0.63,-117.3,593.3,-6.6,264,8426,0.15,0.00,0.00,0.000,6,0.124,0.000,3114,2398,3355
$GC,8727,-0.63,-117.3,611.3,-5.9,269,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3355
$GC,9030,-0.63,-117.3,629.8,-6.1,274,9034,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,996,3355
$GC,9061,-0.63,-117.3,632.1,-7.3,274,9066,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2405,3354
$GC,9394,-0.63,-117.3,652.8,-6.3,280,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3355
$GC,9697,-0.63,-117.3,671.5,-6.1,285,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3355
$GC,10000,-0.63,-117.3,689.8,-6.0,290,10004,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,991,3354
$GC,10026,-0.63,-117.3,691.4,-5.9,290,10030,0.00,2.35,0.00,0.000,6,0.000,0.066,3113,2397,3354
$GC,10364,-0.63,-117.3,710.3,-5.5,296,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3354
$GC,10667,-0.63,-117.3,726.7,-5.4,301,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3354
$GC,10970,-0.63,-117.3,744.3,-5.9,306,10974,0.00,2.35,0.00,0.000,4,0.000,0.074,3114,988,3354
$GC,11003,-0.68,-117.3,746.5,-6.2,306,11007,0.00,2.33,0.00,0.000,6,0.000,0.066,3114,2409,3354
$GC,11335,-0.72,-117.3,765.5,-5.7,312,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2409,3354
$GC,11638,-0.72,-117.3,783.0,-5.8,317,11642,0.00,2.35,0.00,0.000,4,0.000,0.075,3114,994,3353
$GC,11665,-0.77,-117.3,784.6,-6.2,317,11670,0.12,2.30,0.00,0.000,6,0.091,0.067,3067,2401,3353
$GC,11996,-0.77,-117.3,805.7,-6.4,323,12000,0.00,2.35,0.00,0.000,4,0.000,0.084,3066,3812,3352
$GC,12058,-0.69,-117.3,810.3,-7.3,324,12062,0.00,2.28,0.00,0.000,6,0.000,0.060,3067,2394,3352
$GC,12423,-0.62,-117.3,835.2,-6.8,330,12425,0.17,0.00,0.00,0.000,6,0.146,0.000,3115,2392,3352
$GC,12726,-0.67,-117.3,851.9,-5.4,335,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2392,3353
$GC,13029,-0.72,-117.3,868.6,-5.6,340,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2392,3353
$GC,13333,-0.78,-117.3,885.3,-5.4,345,13334,0.15,0.00,0.00,0.000,6,0.087,0.000,3059,2392,3352
$GC,13636,-0.68,-117.3,905.0,-6.5,350,13638,0.12,0.00,0.00,0.000,6,0.160,0.000,3090,2392,3352
$GC,13938,-0.68,-117.3,921.4,-5.3,355,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2392,3352
$GC,14241,-0.68,-117.3,937.8,-5.4,360,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2392,3352
$GC,14545,-0.68,-117.3,954.7,-5.6,365,14546,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2392,3352
$GC,14847,-0.68,-117.3,972.8,-6.0,370,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2392,3352
$STATE,15149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15149,begin apogee
$GC,15154,-0.22,0.0,991.2,6.1,375,15259,0.50,0.00,102.53,1.505,6,0.153,0.000,3240,2200,2876
$STATE,15260,end apogee,CONTROL_FINISHED_OK
$STATE,15260,begin climb
$GC,15261,0.67,117.3,993.1,0.0,376,15372,0.90,0.00,107.60,1.450,6,0.093,0.000,3532,2200,2397
$GC,15635,0.30,117.3,976.3,7.7,383,15640,0.40,2.47,0.00,0.000,4,0.180,0.077,3431,790,2393
$GC,15684,0.23,117.3,973.3,5.1,383,15689,0.15,2.40,0.00,0.000,6,0.169,0.064,3396,2202,2392
$GC,15999,0.26,140.4,959.5,4.3,389,16022,0.00,0.00,20.88,1.404,6,0.000,0.000,3396,2202,2303
$GC,16303,0.32,140.4,944.4,5.0,394,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2201,2301
$GC,16605,0.37,140.4,929.3,5.0,399,16607,0.12,0.00,0.00,0.000,6,0.090,0.000,3444,2202,2301
$GC,16909,0.29,140.4,910.0,6.4,404,16913,0.12,2.38,0.00,0.000,4,0.156,0.081,3413,3610,2301
$GC,16941,0.24,140.4,907.8,7.4,404,16945,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2193,2301
$GC,17267,0.24,140.4,889.7,5.5,410,17268,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2301
$GC,17570,0.24,140.4,872.5,5.7,415,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2301
$GC,17873,0.24,140.4,855.5,5.6,420,17874,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2301
$GC,18176,0.24,140.4,839.5,5.2,425,18177,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2300
$GC,18479,0.24,140.4,823.3,5.3,430,18481,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2300
$GC,18782,0.24,140.4,807.3,5.3,435,18784,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2300
$GC,19086,0.24,140.6,792.1,5.0,440,19087,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2193,2301
$GC,19389,0.25,148.6,777.6,4.8,445,19398,0.00,0.00,8.02,1.200,6,0.000,0.000,3421,2193,2270
$GC,19753,0.25,148.6,759.3,5.2,451,19757,0.00,2.45,0.00,0.000,4,0.000,0.084,3421,3610,2270
$GC,19796,0.18,148.6,756.6,5.4,451,19801,0.17,2.33,0.00,0.000,6,0.173,0.066,3378,2197,2270
$GC,20117,0.34,176.4,743.1,4.2,457,20147,0.15,2.42,24.55,1.327,4,0.090,0.082,3438,788,2156
$GC,20169,0.34,176.4,740.0,5.9,457,20173,0.00,2.35,0.00,0.000,6,0.000,0.064,3438,2200,2156
$GC,20484,0.34,176.4,719.2,6.6,463,20489,0.00,2.40,0.00,0.000,4,0.000,0.084,3438,3621,2154
$GC,20517,0.27,176.4,716.7,7.3,463,20522,0.10,2.38,0.00,0.000,6,0.173,0.066,3399,2206,2154
$GC,20849,0.38,176.4,699.2,5.2,469,20851,0.12,0.00,0.00,0.000,6,0.091,0.000,3444,2206,2154
$GC,21151,0.38,176.4,681.8,5.8,474,21155,0.00,2.40,0.00,0.000,4,0.000,0.081,3444,789,2154
$GC,21205,0.38,176.4,678.5,6.0,474,21212,0.00,2.35,0.00,0.000,6,0.000,0.065,3445,2199,2154
$GC,21515,0.38,176.4,658.8,6.3,480,21516,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2199,2154
$GC,21818,0.38,176.4,637.9,6.9,485,21819,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2199,2154
$GC,22121,0.38,176.4,615.4,7.5,490,22125,0.00,2.38,0.00,0.000,4,0.000,0.084,3444,3620,2153
$GC,22147,0.32,176.4,613.2,8.2,490,22151,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2193,2153
$GC,22485,0.32,176.4,587.6,7.5,496,22486,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2193,2153
$GC,22789,0.32,176.4,566.8,6.7,501,22793,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,780,2154
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$STATE,32517,end climb,SURFACE_DEPTH_REACHED
$STATE,32517,begin surface coast
$FINISH,1.7,1.002647
$STATE,32615,end surface coast,CONTROL_FINISHED_OK
$STATE,32615,begin surface
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$10V_AH,10.7,22.801
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$DEVICE_SECS,31.200,160.175,384.975,0.000,0.000,24.744,28.314,151.709,239.750,0.000,0.000,15.282,1754.240,28048.604,543.350,2172.208,485.486,33.373,1598.483,0.000,2168.431,0.000,0.465
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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,47514,833
$CAP_FILE_SIZE,175459,0
$CFSIZE,260165632,245370880
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