version: 66.03
glider: 120
mission: 9
dive: 366
start: 1 13 109 9 36 53
data:
$ID,120
$MISSION,9
$DIVE,366
$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,-25450.834
$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,19
$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
$GPS1,093007,5015.239,-14426.711,78,1.4,78,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.07
$_SM_ANGLEo,-68.7
$GPS2,093556,5015.250,-14426.658,14,1.5,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,-0.176
$KALMAN_X,17064.0,55.0,69.7,10205.8,434.2
$KALMAN_Y,264234.4,-252.7,538.0,-246560.4,891.8
$MHEAD_RNG_PITCHd_Wd,169.7,39517,-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,-11.60,0.000,2,0.000,0.000,136,2403,1931
$GC,39,-0.67,-117.3,4.0,-0.0,1,113,13.77,0.00,-56.58,0.000,6,0.277,0.000,3094,2403,3355
$GC,432,-0.49,-117.3,39.3,-12.8,38,437,0.17,2.42,0.00,0.000,4,0.164,0.069,3151,992,3358
$GC,465,-0.49,-117.3,41.8,-5.7,40,471,0.00,2.30,0.00,0.000,6,0.000,0.062,3151,2406,3358
$GC,792,-0.49,-117.3,64.1,-7.8,71,796,0.00,2.38,0.00,0.000,4,0.000,0.083,3151,3816,3358
$GC,820,-0.49,-117.3,66.4,-7.8,73,824,0.00,2.30,0.00,0.000,6,0.000,0.053,3151,2391,3358
$GC,1152,-0.49,-117.3,90.8,-7.4,97,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2391,3358
$GC,1461,-0.54,-117.3,111.0,-6.0,112,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2391,3358
$GC,1770,-0.61,-117.3,129.6,-6.0,127,1774,0.00,2.47,0.00,0.000,4,0.000,0.080,3151,3813,3358
$GC,1793,-0.70,-117.3,131.2,-7.0,128,1798,0.17,2.30,0.00,0.000,6,0.078,0.051,3085,2396,3358
$GC,2125,-0.66,-117.3,159.8,-8.8,143,2129,0.00,2.38,0.00,0.000,4,0.000,0.068,3085,989,3358
$GC,2197,-0.60,-117.3,166.6,-9.3,145,2202,0.12,2.30,0.00,0.000,6,0.140,0.061,3117,2410,3359
$GC,2521,-0.60,-117.3,189.0,-6.4,156,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2410,3359
$GC,2827,-0.60,-117.3,207.6,-5.9,166,2831,0.00,2.30,0.00,0.000,4,0.000,0.080,3113,3805,3359
$GC,2861,-0.60,-117.3,209.6,-6.3,167,2865,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2400,3359
$GC,3202,-0.60,-117.3,232.4,-6.9,178,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3359
$GC,3508,-0.60,-117.3,252.4,-6.3,188,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3359
$GC,3814,-0.60,-117.3,269.9,-5.8,198,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3359
$GC,4120,-0.60,-117.3,286.7,-5.3,208,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3359
$GC,4457,-0.60,-117.3,303.8,-5.1,218,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3359
$GC,4760,-0.60,-117.3,319.4,-5.2,223,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3359
$GC,5063,-0.60,-117.3,337.0,-5.7,228,5067,0.00,2.40,0.00,0.000,4,0.000,0.071,3112,995,3358
$GC,5090,-0.65,-117.3,338.7,-6.4,228,5094,0.00,2.35,0.00,0.000,6,0.000,0.063,3113,2410,3358
$GC,5423,-0.65,-117.3,357.5,-5.5,234,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3358
$GC,5725,-0.65,-117.3,373.9,-5.4,239,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3358
$GC,6029,-0.65,-117.3,391.1,-5.7,244,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3358
$GC,6331,-0.65,-117.3,409.2,-6.0,249,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3358
$GC,6635,-0.69,-117.3,428.2,-6.3,254,6639,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,992,3358
$GC,6668,-0.76,-117.3,430.4,-6.7,254,6673,0.12,2.28,0.00,0.000,6,0.088,0.063,3066,2400,3357
$GC,6994,-0.76,-117.3,454.8,-7.7,260,6998,0.00,2.35,0.00,0.000,4,0.000,0.081,3066,3807,3357
$GC,7038,-0.69,-117.3,458.4,-8.5,260,7042,0.00,2.30,0.00,0.000,6,0.000,0.056,3065,2390,3357
$GC,7354,-0.65,-117.3,480.9,-7.0,266,7359,0.15,2.35,0.00,0.000,4,0.117,0.071,3120,994,3357
$GC,7392,-0.73,-117.3,483.4,-6.1,266,7397,0.12,2.28,0.00,0.000,6,0.087,0.063,3074,2399,3357
$GC,7712,-0.73,-117.3,502.7,-6.1,272,7717,0.00,2.35,0.00,0.000,4,0.000,0.081,3073,3812,3357
$GC,7752,-0.68,-117.3,505.5,-6.9,272,7756,0.00,2.28,0.00,0.000,6,0.000,0.055,3073,2400,3357
$GC,8072,-0.68,-117.3,525.0,-6.0,278,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3357
$GC,8375,-0.68,-117.3,542.9,-5.9,283,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3357
$GC,8679,-0.68,-117.3,561.1,-6.1,288,8683,0.00,2.40,0.00,0.000,4,0.000,0.072,3073,992,3356
$GC,8711,-0.68,-117.3,563.4,-6.6,288,8715,0.00,2.30,0.00,0.000,6,0.000,0.063,3073,2401,3356
$GC,9044,-0.68,-117.3,584.8,-6.5,294,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3356
$GC,9347,-0.68,-117.3,605.7,-7.0,299,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2401,3356
$GC,9650,-0.68,-117.3,627.7,-7.3,304,9654,0.00,2.38,0.00,0.000,4,0.000,0.083,3073,3816,3356
$GC,9676,-0.68,-117.3,629.9,-7.6,304,9680,0.00,2.30,0.00,0.000,6,0.000,0.056,3073,2398,3356
$GC,10015,-0.68,-117.3,655.3,-7.5,310,10019,0.00,2.42,0.00,0.000,4,0.000,0.083,3073,3811,3356
$GC,10042,-0.68,-117.3,657.4,-7.7,310,10045,0.00,2.30,0.00,0.000,6,0.000,0.056,3073,2398,3356
$GC,10379,-0.68,-117.3,681.7,-7.2,316,10384,0.00,2.38,0.00,0.000,4,0.000,0.072,3072,994,3356
$GC,10418,-0.68,-117.3,684.7,-7.3,316,10422,0.00,2.30,0.00,0.000,6,0.000,0.063,3073,2405,3356
$GC,10739,-0.68,-117.3,707.5,-7.2,322,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3356
$GC,11041,-0.68,-117.3,729.4,-7.2,327,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3356
$GC,11345,-0.68,-117.3,750.2,-6.9,332,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3356
$GC,11648,-0.68,-117.3,769.7,-6.4,337,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3355
$GC,11951,-0.68,-117.3,788.6,-6.1,342,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3355
$GC,12254,-0.68,-117.3,806.4,-5.9,347,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2405,3355
$GC,12557,-0.68,-117.3,824.1,-5.8,352,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3355
$GC,12860,-0.68,-117.3,841.2,-5.6,357,12864,0.00,2.42,0.00,0.000,4,0.000,0.073,3073,993,3354
$GC,12892,-0.68,-117.3,843.2,-5.7,357,12896,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2400,3354
$GC,13219,-0.68,-117.3,861.0,-5.5,363,13223,0.00,2.38,0.00,0.000,4,0.000,0.084,3073,3812,3354
$GC,13247,-0.68,-117.3,862.7,-6.4,363,13250,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2398,3354
$GC,13585,-0.68,-117.3,882.2,-5.9,369,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$GC,13888,-0.68,-117.3,900.7,-6.1,374,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$GC,14191,-0.68,-117.3,920.3,-6.5,379,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$GC,14494,-0.68,-117.3,938.3,-5.8,384,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3354
$GC,14797,-0.68,-117.3,954.5,-5.3,389,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$GC,15100,-0.68,-117.3,968.6,-4.6,394,15105,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3812,3354
$GC,15123,-0.68,-117.3,969.7,-4.8,394,15128,0.00,2.35,0.00,0.000,6,0.000,0.058,3073,2393,3353
$GC,15461,-0.68,-117.3,985.7,-4.7,400,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2393,3354
$STATE,15580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15580,begin apogee
$GC,15586,-0.22,0.0,991.8,5.0,402,15702,0.57,0.00,108.20,1.488,6,0.146,0.000,3244,2185,2876
$STATE,15702,end apogee,CONTROL_FINISHED_OK
$STATE,15703,begin climb
$GC,15705,0.67,117.3,996.1,0.0,404,15829,0.88,2.72,112.78,1.436,4,0.094,0.077,3532,802,2396
$GC,15898,0.35,117.3,992.4,7.1,407,15903,0.40,2.45,0.00,0.000,6,0.178,0.062,3431,2200,2395
$GC,16265,0.32,130.7,974.9,4.6,413,16284,0.00,2.42,12.90,1.334,4,0.000,0.081,3431,3607,2343
$GC,16308,0.25,140.5,972.7,4.7,413,16325,0.15,2.35,10.68,1.285,6,0.177,0.063,3400,2191,2303
$GC,16629,0.37,176.6,959.9,4.0,418,16669,0.12,2.47,33.35,1.421,4,0.086,0.081,3449,795,2156
$GC,16697,0.37,178.1,956.5,5.0,419,16702,0.00,2.35,0.00,0.000,6,0.000,0.064,3449,2203,2154
$GC,17058,0.37,178.1,935.8,5.8,425,17062,0.00,2.35,0.00,0.000,4,0.000,0.082,3449,3609,2152
$GC,17097,0.28,178.1,933.0,8.3,425,17102,0.15,2.33,0.00,0.000,6,0.172,0.065,3411,2192,2151
$GC,17419,0.37,178.1,916.6,5.1,431,17423,0.00,2.35,0.00,0.000,4,0.000,0.081,3411,789,2151
$GC,17458,0.49,178.1,914.6,6.0,431,17463,0.20,2.30,0.00,0.000,6,0.084,0.064,3486,2206,2151
$GC,17779,0.37,178.1,889.8,7.9,437,17781,0.17,0.00,0.00,0.000,6,0.148,0.000,3438,2207,2151
$GC,18081,0.37,178.1,870.1,6.4,442,18082,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2207,2151
$GC,18384,0.37,178.1,850.7,6.4,447,18388,0.00,2.33,0.00,0.000,4,0.000,0.081,3437,3611,2151
$GC,18423,0.31,178.1,848.1,7.1,447,18427,0.00,2.33,0.00,0.000,6,0.000,0.064,3437,2198,2151
$GC,18744,0.31,178.1,829.3,5.8,453,18745,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2198,2151
$GC,19046,0.31,178.1,811.4,6.0,458,19047,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2198,2150
$GC,19350,0.31,178.1,793.4,5.9,463,19354,0.00,2.42,0.00,0.000,4,0.000,0.081,3437,3620,2150
$GC,19388,0.27,178.1,791.0,6.1,463,19393,0.12,2.35,0.00,0.000,6,0.185,0.064,3406,2200,2150
$GC,19710,0.40,190.4,775.9,4.6,469,19726,0.12,0.00,13.07,1.283,6,0.088,0.000,3451,2200,2099
$GC,20012,0.46,190.4,758.8,5.7,474,20017,0.00,2.42,0.00,0.000,4,0.000,0.082,3451,3617,2098
$GC,20047,0.40,190.4,756.5,6.5,474,20051,0.00,2.35,0.00,0.000,6,0.000,0.064,3452,2196,2097
$GC,20375,0.40,190.4,736.3,6.1,480,20379,0.00,2.40,0.00,0.000,4,0.000,0.079,3452,781,2097
$GC,20419,0.40,190.4,733.3,6.7,480,20423,0.00,2.30,0.00,0.000,6,0.000,0.062,3451,2200,2098
$GC,20734,0.40,190.4,713.1,6.5,486,20738,0.00,2.35,0.00,0.000,4,0.000,0.081,3452,3616,2097
$GC,20785,0.33,190.4,709.4,6.4,486,20789,0.00,2.30,0.00,0.000,6,0.000,0.065,3452,2195,2097
$GC,21095,0.33,190.4,690.6,6.0,491,21099,0.00,2.33,0.00,0.000,4,0.000,0.080,3452,790,2097
$GC,21139,0.33,190.4,687.8,6.6,491,21143,0.00,2.30,0.00,0.000,6,0.000,0.062,3451,2208,2097
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$STATE,31949,end climb,SURFACE_DEPTH_REACHED
$STATE,31949,begin surface coast
$FINISH,3.0,1.012281
$STATE,32049,end surface coast,CONTROL_FINISHED_OK
$STATE,32049,begin surface
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$TCM_TEMP,15.60
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$10V_AH,10.5,48.960
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47450,833
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$CFSIZE,260165632,230199296
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