version: 66.03
glider: 120
mission: 9
dive: 199
start: 11 10 108 23 56 16
data:
$ID,120
$MISSION,9
$DIVE,199
$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,-21807.061
$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,18
$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
$GPS1,234707,5018.647,-14427.876,41,1.8,46,18.7
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,4
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.3
$GPS2,235521,5018.613,-14427.820,16,1.9,16,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,-0.177
$KALMAN_X,36580.9,246.5,159.9,-10974.3,298.0
$KALMAN_Y,150291.0,160.7,203.0,-126472.2,488.8
$MHEAD_RNG_PITCHd_Wd,166.5,45626,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-31.77,0.000,2,0.000,0.000,138,2415,2430
$GC,57,-0.67,-117.3,3.5,-9.2,3,101,14.00,2.42,-23.25,0.000,4,0.288,0.094,3094,3809,3355
$GC,285,-0.41,-117.3,34.0,-12.5,23,293,0.25,2.33,0.00,0.000,6,0.157,0.054,3173,2395,3357
$GC,610,-0.41,-117.3,58.1,-8.2,54,615,0.00,2.35,0.00,0.000,4,0.000,0.068,3173,987,3358
$GC,650,-0.41,-117.3,61.5,-8.2,57,654,0.00,2.33,0.00,0.000,6,0.000,0.061,3169,2402,3358
$GC,984,-0.41,-117.3,81.7,-6.0,87,988,0.00,2.35,0.00,0.000,4,0.000,0.067,3169,989,3359
$GC,1039,-0.48,-117.3,85.4,-6.8,89,1046,0.00,2.33,0.00,0.000,6,0.000,0.061,3169,2400,3359
$GC,1355,-0.48,-117.3,106.0,-6.6,105,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2400,3360
$GC,1665,-0.54,-117.3,125.0,-6.0,120,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2400,3360
$GC,1974,-0.79,-117.3,143.7,-6.6,135,1979,0.28,2.35,0.00,0.000,4,0.085,0.067,3065,993,3360
$GC,2036,-0.60,-117.3,149.5,-10.0,138,2041,0.22,2.30,0.00,0.000,6,0.163,0.062,3121,2403,3360
$GC,2359,-0.60,-117.3,175.8,-8.2,149,2363,0.00,2.35,0.00,0.000,4,0.000,0.081,3121,3816,3360
$GC,2425,-0.60,-117.3,181.5,-8.0,151,2429,0.00,2.28,0.00,0.000,6,0.000,0.054,3121,2401,3360
$GC,2760,-0.60,-117.3,206.3,-7.2,162,2764,0.00,2.33,0.00,0.000,4,0.000,0.071,3121,993,3360
$GC,2792,-0.60,-117.3,208.9,-8.0,163,2796,0.00,2.33,0.00,0.000,6,0.000,0.062,3121,2405,3360
$GC,3127,-0.60,-117.3,233.6,-7.2,174,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3360
$GC,3434,-0.60,-117.3,254.8,-6.8,184,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3359
$GC,3740,-0.60,-117.3,275.9,-6.9,194,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3359
$GC,4046,-0.60,-117.3,297.0,-7.0,204,4050,0.00,2.38,0.00,0.000,4,0.000,0.072,3121,991,3358
$GC,4123,-0.60,-117.3,302.9,-7.5,206,4127,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2402,3358
$GC,4477,-0.60,-117.3,327.6,-6.9,212,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3358
$GC,4781,-0.60,-117.3,347.0,-6.2,217,4785,0.00,2.35,0.00,0.000,4,0.000,0.072,3121,993,3357
$GC,4820,-0.60,-117.3,349.7,-6.8,217,4824,0.00,2.33,0.00,0.000,6,0.000,0.064,3121,2412,3358
$GC,5140,-0.60,-117.3,369.5,-6.2,223,5144,0.00,2.33,0.00,0.000,4,0.000,0.083,3119,3812,3357
$GC,5172,-0.60,-117.3,371.6,-6.2,223,5176,0.00,2.30,0.00,0.000,6,0.000,0.057,3118,2400,3357
$GC,5504,-0.60,-117.3,392.0,-6.1,229,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3357
$GC,5807,-0.60,-117.3,410.5,-6.1,234,5811,0.00,2.35,0.00,0.000,4,0.000,0.073,3118,989,3357
$GC,5845,-0.60,-117.3,412.9,-7.0,234,5849,0.00,2.33,0.00,0.000,6,0.000,0.064,3116,2412,3356
$GC,6171,-0.60,-117.3,432.1,-5.9,240,6175,0.00,2.38,0.00,0.000,4,0.000,0.072,3116,990,3357
$GC,6214,-0.60,-117.3,434.9,-6.3,240,6218,0.00,2.33,0.00,0.000,6,0.000,0.064,3115,2407,3356
$GC,6535,-0.60,-117.3,454.1,-6.0,246,6540,0.00,2.38,0.00,0.000,4,0.000,0.073,3116,986,3356
$GC,6562,-0.60,-117.3,455.9,-6.6,246,6566,0.00,2.33,0.00,0.000,6,0.000,0.064,3116,2411,3356
$GC,6900,-0.60,-117.3,475.9,-5.9,252,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2411,3356
$GC,7203,-0.60,-117.3,494.0,-5.9,257,7207,0.00,2.38,0.00,0.000,4,0.000,0.072,3116,986,3356
$GC,7236,-0.64,-117.3,496.2,-6.5,257,7240,0.00,2.33,0.00,0.000,6,0.000,0.065,3116,2423,3356
$GC,7568,-0.64,-117.3,515.7,-5.9,263,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2423,3355
$GC,7871,-0.64,-117.3,532.7,-5.6,268,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2423,3355
$GC,8174,-0.64,-117.3,550.3,-5.8,273,8178,0.00,2.40,0.00,0.000,4,0.000,0.073,3116,987,3354
$GC,8217,-0.64,-117.3,553.0,-6.2,273,8221,0.00,2.35,0.00,0.000,6,0.000,0.065,3115,2401,3354
$GC,8538,-0.64,-117.3,573.1,-6.3,279,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3354
$GC,8841,-0.64,-117.3,592.6,-6.5,284,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3354
$GC,9144,-0.64,-117.3,610.4,-5.8,289,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3354
$GC,9447,-0.64,-117.3,627.0,-5.5,294,9451,0.00,2.38,0.00,0.000,4,0.000,0.074,3116,987,3354
$GC,9474,-0.69,-117.3,628.6,-6.1,294,9478,0.00,2.33,0.00,0.000,6,0.000,0.064,3115,2402,3354
$GC,9805,-0.73,-117.3,646.4,-5.4,300,9807,0.10,0.00,0.00,0.000,6,0.096,0.000,3077,2402,3353
$GC,10108,-0.73,-117.3,666.2,-6.6,305,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2402,3353
$GC,10412,-0.73,-117.3,686.5,-6.7,310,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3353
$GC,10715,-0.73,-117.3,707.5,-7.0,315,10719,0.00,2.38,0.00,0.000,4,0.000,0.074,3077,993,3353
$GC,10741,-0.73,-117.3,709.6,-7.6,315,10745,0.00,2.30,0.00,0.000,6,0.000,0.066,3077,2401,3353
$GC,11079,-0.68,-117.3,733.7,-7.2,321,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2401,3353
$GC,11382,-0.63,-117.3,753.7,-6.5,326,11384,0.12,0.00,0.00,0.000,6,0.152,0.000,3110,2401,3353
$GC,11686,-0.63,-117.3,769.0,-5.0,331,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3353
$GC,11988,-0.63,-117.3,784.5,-5.2,336,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3353
$GC,12292,-0.67,-117.3,800.9,-5.4,341,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3353
$GC,12595,-0.71,-117.3,818.0,-5.7,346,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3353
$GC,12898,-0.76,-117.3,835.4,-5.7,351,12900,0.12,0.00,0.00,0.000,6,0.091,0.000,3063,2401,3352
$GC,13200,-0.76,-117.3,855.2,-6.5,356,13202,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3352
$GC,13504,-0.72,-117.3,874.6,-6.4,361,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3352
$GC,13807,-0.72,-117.3,893.7,-6.3,366,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3352
$GC,14110,-0.72,-117.3,911.5,-5.8,371,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3352
$GC,14413,-0.72,-117.3,930.4,-6.2,376,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3352
$GC,14716,-0.72,-117.3,949.4,-6.4,381,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2401,3352
$GC,15019,-0.72,-117.3,969.0,-6.4,386,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2402,3352
$GC,15322,-0.72,-117.3,988.5,-6.4,391,15326,0.00,2.38,0.00,0.000,4,0.000,0.085,3062,3810,3351
$STATE,15347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15347,begin apogee
$GC,15355,-0.22,0.0,990.2,6.2,391,15461,0.57,0.00,103.05,1.495,6,0.143,0.000,3240,2189,2876
$STATE,15462,end apogee,CONTROL_FINISHED_OK
$STATE,15462,begin climb
$GC,15464,0.67,117.3,993.8,0.0,393,15576,0.90,0.00,109.20,1.443,6,0.096,0.000,3529,2189,2397
$GC,15870,0.32,117.3,970.8,8.4,400,15875,0.38,2.55,0.00,0.000,4,0.175,0.079,3424,3616,2393
$GC,15908,0.20,117.3,967.9,7.2,400,15913,0.17,2.42,0.00,0.000,6,0.183,0.065,3381,2196,2393
$GC,16229,0.28,126.5,952.4,4.7,406,16240,0.00,0.00,9.10,1.271,6,0.000,0.000,3382,2197,2360
$GC,16532,0.37,126.5,936.9,5.1,411,16537,0.15,2.45,0.00,0.000,4,0.089,0.081,3446,3608,2359
$GC,16576,0.17,126.5,933.8,7.1,411,16581,0.28,2.35,0.00,0.000,6,0.176,0.066,3377,2198,2359
$GC,16891,0.28,131.1,918.2,4.9,417,16901,0.00,2.38,5.75,1.122,4,0.000,0.080,3381,791,2340
$GC,16929,0.42,150.2,916.3,4.5,417,16954,0.22,2.33,18.25,1.381,6,0.082,0.064,3463,2202,2262
$GC,17322,0.29,150.2,887.4,7.4,424,17324,0.17,0.00,0.00,0.000,6,0.160,0.000,3418,2203,2261
$GC,17623,0.29,150.2,870.1,5.6,429,17624,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2203,2260
$GC,17926,0.29,150.2,853.8,5.3,434,17930,0.00,2.38,0.00,0.000,4,0.000,0.082,3418,3618,2260
$GC,17971,0.23,150.2,851.3,5.8,434,17975,0.00,2.35,0.00,0.000,6,0.000,0.066,3421,2197,2260
$GC,18287,0.23,150.2,835.1,5.1,440,18291,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,800,2260
$GC,18326,0.23,150.2,832.9,5.5,440,18330,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2207,2260
$GC,18646,0.23,150.2,816.2,5.3,446,18650,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3618,2260
$GC,18678,0.17,150.2,814.1,6.4,446,18683,0.20,2.35,0.00,0.000,6,0.170,0.066,3370,2193,2260
$GC,19010,0.36,176.9,800.1,4.2,452,19036,0.20,0.00,23.80,1.353,6,0.087,0.000,3442,2194,2154
$GC,19313,0.36,176.9,780.8,6.5,457,19317,0.00,2.47,0.00,0.000,4,0.000,0.082,3441,3609,2151
$GC,19379,0.24,176.9,776.0,7.0,458,19384,0.20,2.35,0.00,0.000,6,0.168,0.066,3397,2201,2151
$GC,19739,0.37,189.7,759.0,4.6,464,19754,0.12,0.00,12.20,1.265,6,0.092,0.000,3443,2201,2102
$GC,20103,0.37,189.7,738.8,5.6,470,20107,0.00,2.42,0.00,0.000,4,0.000,0.081,3443,787,2099
$GC,20158,0.37,189.7,735.6,5.5,470,20165,0.00,2.38,0.00,0.000,6,0.000,0.066,3443,2201,2099
$GC,20468,0.37,189.7,717.1,5.9,476,20472,0.00,2.35,0.00,0.000,4,0.000,0.083,3444,3607,2099
$GC,20506,0.29,189.7,714.3,7.0,476,20511,0.15,2.35,0.00,0.000,6,0.171,0.066,3411,2189,2099
$GC,20827,0.38,189.7,696.9,5.4,482,20828,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2189,2099
$GC,21129,0.47,189.7,679.5,5.8,487,21134,0.15,2.38,0.00,0.000,4,0.087,0.081,3476,792,2100
$GC,21156,0.47,189.7,677.5,7.4,487,21160,0.00,2.35,0.00,0.000,6,0.000,0.066,3476,2198,2099
$GC,21494,0.36,189.7,649.1,8.5,493,21499,0.15,2.38,0.00,0.000,4,0.159,0.081,3436,3622,2099
$GC,21532,0.31,189.7,645.9,8.4,493,21536,0.00,2.35,0.00,0.000,6,0.000,0.065,3436,2193,2099
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$STATE,32249,end climb,SURFACE_DEPTH_REACHED
$STATE,32249,begin surface coast
$FINISH,1.0,1.016307
$STATE,32369,end surface coast,CONTROL_FINISHED_OK
$STATE,32369,begin surface
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$10V_AH,10.7,26.531
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$DEVICE_SECS,31.250,203.600,377.425,0.000,0.000,26.193,32.432,319.504,244.000,0.000,0.000,16.287,1820.211,27498.408,560.591,2312.767,685.816,33.380,1692.820,0.000,2298.445,0.000,0.465
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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,50558,854
$CAP_FILE_SIZE,187984,0
$CFSIZE,260165632,243163136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
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