version: 66.03
glider: 120
mission: 9
dive: 365
start: 1 13 109 0 27 27
data:
$ID,120
$MISSION,9
$DIVE,365
$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,-25435.445
$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,22
$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
$GPS1,002037,5018.795,-14427.208,70,1.5,70,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.24
$_SM_ANGLEo,-75.2
$GPS2,002632,5018.797,-14427.227,11,1.9,11,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.001,-0.178
$KALMAN_X,16165.3,34.7,197.7,10320.0,-462.0
$KALMAN_Y,262871.0,587.3,517.7,-239464.4,-340.0
$MHEAD_RNG_PITCHd_Wd,161.6,46008,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.30,0.000,2,0.000,0.000,134,2405,1930
$GC,40,-0.67,-117.3,4.2,-0.0,1,114,14.30,0.00,-54.83,0.000,6,0.291,0.000,3092,2405,3355
$GC,433,-0.48,-117.3,42.5,-11.2,38,438,0.20,2.42,0.00,0.000,4,0.170,0.080,3147,3810,3357
$GC,473,-0.48,-117.3,46.8,-10.5,41,477,0.00,2.33,0.00,0.000,6,0.000,0.054,3147,2391,3357
$GC,804,-0.48,-117.3,72.2,-7.9,72,808,0.00,2.40,0.00,0.000,4,0.000,0.070,3147,984,3357
$GC,825,-0.48,-117.3,74.1,-8.7,73,831,0.00,2.30,0.00,0.000,6,0.000,0.062,3147,2400,3357
$GC,1154,-0.48,-117.3,100.1,-8.1,93,1158,0.00,2.38,0.00,0.000,4,0.000,0.069,3147,986,3357
$GC,1175,-0.48,-117.3,102.2,-8.6,94,1179,0.00,2.33,0.00,0.000,6,0.000,0.061,3147,2404,3357
$GC,1502,-0.48,-117.3,125.2,-6.6,110,1506,0.00,2.38,0.00,0.000,4,0.000,0.068,3147,990,3357
$GC,1558,-0.53,-117.3,129.0,-6.2,112,1564,0.00,2.30,0.00,0.000,6,0.000,0.061,3147,2404,3357
$GC,1874,-0.79,-117.3,150.8,-7.0,128,1879,0.22,2.38,0.00,0.000,4,0.084,0.077,3058,3810,3357
$GC,2094,-0.62,-117.3,169.3,-8.4,134,2099,0.20,2.30,0.00,0.000,6,0.149,0.054,3113,2395,3357
$GC,2407,-0.62,-117.3,188.1,-5.8,144,2411,0.00,2.35,0.00,0.000,4,0.000,0.069,3113,991,3357
$GC,2490,-0.62,-117.3,193.1,-5.5,146,2494,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2405,3357
$GC,2803,-0.62,-117.3,211.2,-6.0,156,2807,0.00,2.35,0.00,0.000,4,0.000,0.070,3112,991,3357
$GC,2838,-0.62,-117.3,213.6,-6.7,157,2842,0.00,2.33,0.00,0.000,6,0.000,0.061,3113,2411,3357
$GC,3178,-0.62,-117.3,234.8,-6.0,168,3182,0.00,2.35,0.00,0.000,4,0.000,0.070,3112,986,3357
$GC,3239,-0.62,-117.3,238.9,-6.5,169,3246,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2404,3357
$GC,3553,-0.62,-117.3,258.4,-6.4,180,3557,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,985,3357
$GC,3587,-0.62,-117.3,260.7,-6.5,181,3591,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2410,3357
$GC,3927,-0.62,-117.3,282.2,-6.3,192,3931,0.00,2.40,0.00,0.000,4,0.000,0.069,3113,991,3357
$GC,3962,-0.62,-117.3,284.6,-7.0,193,3966,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2412,3357
$GC,4332,-0.62,-117.3,309.5,-6.8,203,4336,0.00,2.42,0.00,0.000,4,0.000,0.069,3113,988,3357
$GC,4387,-0.62,-117.3,313.7,-7.4,203,4394,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2397,3357
$GC,4697,-0.62,-117.3,336.9,-7.6,209,4701,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,994,3357
$GC,4735,-0.62,-117.3,340.0,-7.7,209,4739,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2407,3357
$GC,5056,-0.62,-117.3,363.1,-7.2,215,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3357
$GC,5359,-0.62,-117.3,383.5,-6.7,220,5363,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,994,3357
$GC,5392,-0.62,-117.3,386.0,-7.6,220,5396,0.00,2.28,0.00,0.000,6,0.000,0.063,3113,2403,3357
$GC,5725,-0.62,-117.3,407.6,-6.5,226,5729,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,989,3356
$GC,5752,-0.62,-117.3,409.5,-7.0,226,5757,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2407,3357
$GC,6091,-0.67,-117.3,430.9,-6.3,232,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3357
$GC,6394,-0.71,-117.3,448.8,-5.8,237,6398,0.00,2.33,0.00,0.000,4,0.000,0.071,3113,991,3356
$GC,6450,-0.78,-117.3,452.3,-6.2,237,6457,0.15,2.28,0.00,0.000,6,0.083,0.062,3058,2404,3356
$GC,6760,-0.72,-117.3,473.9,-7.0,243,6764,0.00,2.33,0.00,0.000,4,0.000,0.081,3058,3808,3356
$GC,6788,-0.63,-117.3,476.1,-7.8,243,6793,0.20,2.22,0.00,0.000,6,0.129,0.055,3114,2393,3356
$GC,7121,-0.69,-117.3,495.3,-5.7,249,7125,0.00,2.28,0.00,0.000,4,0.000,0.072,3115,996,3356
$GC,7160,-0.75,-117.3,497.6,-6.4,249,7164,0.12,2.28,0.00,0.000,6,0.088,0.062,3067,2404,3355
$GC,7480,-0.75,-117.3,518.0,-6.4,255,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2404,3355
$GC,7783,-0.75,-117.3,536.4,-6.0,260,7787,0.00,2.33,0.00,0.000,4,0.000,0.071,3066,991,3355
$GC,7828,-0.75,-117.3,539.3,-6.4,260,7832,0.00,2.30,0.00,0.000,6,0.000,0.063,3066,2405,3355
$GC,8143,-0.68,-117.3,557.7,-5.8,266,8145,0.12,0.00,0.00,0.000,6,0.150,0.000,3099,2405,3355
$GC,8446,-0.68,-117.3,573.7,-5.3,271,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,8750,-0.68,-117.3,590.6,-5.6,276,8754,0.00,2.33,0.00,0.000,4,0.000,0.072,3099,996,3355
$GC,8799,-0.68,-117.3,593.8,-6.4,276,8803,0.00,2.28,0.00,0.000,6,0.000,0.064,3099,2399,3355
$GC,9115,-0.68,-117.3,612.7,-6.1,282,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,9418,-0.68,-117.3,632.2,-6.5,287,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3355
$GC,9721,-0.68,-117.3,651.2,-6.2,292,9725,0.00,2.33,0.00,0.000,4,0.000,0.073,3099,998,3354
$GC,9753,-0.68,-117.3,653.4,-7.2,292,9757,0.00,2.28,0.00,0.000,6,0.000,0.064,3099,2399,3354
$GC,10080,-0.68,-117.3,672.4,-5.8,298,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3354
$GC,10383,-0.82,-117.3,691.7,-6.5,303,10388,0.15,2.33,0.00,0.000,4,0.092,0.072,3041,996,3354
$GC,10513,-0.82,-117.3,700.9,-7.1,305,10517,0.00,2.30,0.00,0.000,6,0.000,0.064,3040,2405,3354
$GC,10879,-0.88,-117.3,725.6,-6.7,311,10883,0.00,2.35,0.00,0.000,4,0.000,0.082,3040,3813,3354
$GC,10952,-0.88,-117.3,730.8,-7.1,312,10956,0.00,2.22,0.00,0.000,6,0.000,0.057,3040,2402,3353
$GC,11312,-0.94,-117.3,755.1,-6.9,318,11316,0.00,2.38,0.00,0.000,4,0.000,0.082,3040,3812,3354
$GC,11395,-0.81,-117.3,761.3,-7.3,319,11399,0.00,2.25,0.00,0.000,6,0.000,0.057,3040,2399,3354
$GC,11739,-0.70,-117.3,784.1,-6.7,325,11744,0.15,2.33,0.00,0.000,4,0.150,0.074,3093,993,3354
$GC,11789,-0.70,-117.3,787.3,-5.6,325,11793,0.00,2.30,0.00,0.000,6,0.000,0.064,3093,2399,3354
$GC,12099,-0.70,-117.3,803.4,-5.2,330,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3354
$GC,12402,-0.70,-117.3,819.3,-5.3,335,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3354
$GC,12705,-0.70,-117.3,835.2,-5.3,340,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3354
$GC,13008,-0.70,-117.3,852.6,-5.7,345,13012,0.00,2.40,0.00,0.000,4,0.000,0.074,3093,990,3353
$GC,13040,-0.70,-117.3,854.8,-5.5,345,13044,0.00,2.35,0.00,0.000,6,0.000,0.066,3093,2411,3353
$GC,13374,-0.75,-117.3,875.1,-6.1,351,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3353
$GC,13676,-0.79,-117.3,894.3,-6.4,356,13680,0.00,2.38,0.00,0.000,4,0.000,0.074,3093,995,3353
$GC,13703,-0.79,-117.3,896.2,-6.9,356,13707,0.00,2.30,0.00,0.000,6,0.000,0.066,3093,2399,3353
$GC,14035,-0.83,-117.3,916.5,-6.0,362,14037,0.15,0.00,0.00,0.000,6,0.085,0.000,3036,2399,3352
$GC,14338,-0.77,-117.3,937.6,-7.0,367,14340,0.12,0.00,0.00,0.000,6,0.111,0.000,3071,2399,3353
$GC,14640,-0.77,-117.3,954.9,-5.6,372,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3353
$GC,14944,-0.77,-117.3,970.6,-5.1,377,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2399,3353
$GC,15247,-0.77,-117.3,985.7,-5.0,382,15251,0.00,2.38,0.00,0.000,4,0.000,0.075,3071,989,3352
$GC,15275,-0.77,-117.3,987.2,-5.5,382,15279,0.00,2.30,0.00,0.000,6,0.000,0.067,3071,2401,3352
$STATE,15367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15367,begin apogee
$GC,15374,-0.22,0.0,991.7,4.8,384,15489,0.57,0.00,108.05,1.488,6,0.145,0.000,3245,2201,2876
$STATE,15490,end apogee,CONTROL_FINISHED_OK
$STATE,15490,begin climb
$GC,15492,0.67,117.3,994.5,0.0,386,15616,0.85,2.65,112.72,1.436,4,0.091,0.077,3533,801,2396
$GC,15685,0.34,117.3,988.7,7.6,389,15690,0.40,2.45,0.00,0.000,6,0.173,0.063,3432,2198,2395
$GC,16051,0.28,117.3,966.9,5.8,395,16055,0.00,2.38,0.00,0.000,4,0.000,0.081,3431,3615,2393
$GC,16115,0.17,117.3,963.1,5.6,396,16120,0.22,2.33,0.00,0.000,6,0.173,0.065,3378,2197,2393
$GC,16481,0.35,164.7,949.1,3.6,402,16526,0.17,0.00,42.85,1.433,6,0.084,0.000,3444,2197,2204
$GC,16783,0.35,164.7,931.7,6.0,407,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2197,2200
$GC,17087,0.35,164.7,913.5,6.0,412,17091,0.00,2.42,0.00,0.000,4,0.000,0.081,3445,3613,2200
$GC,17131,0.25,164.7,910.4,6.7,412,17136,0.20,2.33,0.00,0.000,6,0.171,0.064,3397,2197,2200
$GC,17446,0.43,164.7,894.6,5.1,418,17450,0.15,2.38,0.00,0.000,4,0.089,0.078,3458,786,2200
$GC,17587,0.43,164.7,886.5,5.4,420,17591,0.00,2.30,0.00,0.000,6,0.000,0.064,3458,2205,2200
$GC,17941,0.39,164.7,864.4,6.3,426,17946,0.00,2.35,0.00,0.000,4,0.000,0.082,3458,3617,2199
$GC,18031,0.25,164.7,857.6,7.3,427,18036,0.25,2.33,0.00,0.000,6,0.172,0.065,3396,2189,2199
$GC,18369,0.38,169.9,840.9,4.9,433,18377,0.12,0.00,5.38,1.072,6,0.094,0.000,3439,2189,2183
$GC,18672,0.43,169.9,824.4,5.4,438,18677,0.00,2.40,0.00,0.000,4,0.000,0.082,3439,3610,2183
$GC,18746,0.37,169.9,819.6,6.3,439,18750,0.00,2.30,0.00,0.000,6,0.000,0.064,3448,2192,2183
$GC,19106,0.37,169.9,797.9,6.0,445,19110,0.00,2.35,0.00,0.000,4,0.000,0.081,3448,779,2183
$GC,19144,0.37,169.9,795.4,6.4,445,19148,0.00,2.30,0.00,0.000,6,0.000,0.063,3448,2199,2183
$GC,19466,0.37,169.9,776.5,5.9,451,19470,0.00,2.35,0.00,0.000,4,0.000,0.081,3448,3617,2183
$GC,19510,0.27,169.9,773.4,7.3,451,19515,0.17,2.30,0.00,0.000,6,0.173,0.065,3404,2196,2182
$GC,19825,0.40,185.8,759.0,4.5,457,19844,0.15,0.00,15.93,1.295,6,0.091,0.000,3461,2196,2118
$GC,20129,0.40,185.8,741.9,5.7,462,20130,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2196,2116
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$STATE,32331,end climb,SURFACE_DEPTH_REACHED
$STATE,32333,begin surface coast
$FINISH,3.0,1.014939
$STATE,32417,end surface coast,CONTROL_FINISHED_OK
$STATE,32417,begin surface
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$10V_AH,10.6,48.825
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$DEVICE_SECS,30.800,248.950,383.825,4.025,0.000,28.992,26.312,162.439,260.750,0.000,0.000,13.172,1867.392,27090.135,573.812,2587.105,670.884,33.382,1872.240,0.000,2550.789,0.000,0.465
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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,47421,833
$CAP_FILE_SIZE,201682,0
$CFSIZE,260165632,230268928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130109,093007,5015.239,-14426.711,78,1.4,78,18.6