version: 66.03
glider: 120
mission: 9
dive: 386
start: 1 21 109 0 15 51
data:
$ID,120
$MISSION,9
$DIVE,386
$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,-25826.895
$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,23
$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
$GPS1,000831,5014.895,-14511.176,37,2.0,37,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-72.4
$GPS2,001456,5014.942,-14511.174,13,1.1,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.176
$KALMAN_X,19307.3,-106.8,309.7,-44993.2,778.1
$KALMAN_Y,282565.7,-47.8,295.4,-265429.9,2189.2
$MHEAD_RNG_PITCHd_Wd,168.8,38774,-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,-11.00,0.000,2,0.000,0.000,138,2411,1915
$GC,40,-0.67,-117.3,3.9,-0.0,1,125,13.70,2.47,-63.80,0.000,4,0.274,0.081,3098,991,3356
$GC,340,-0.51,-117.3,28.8,-9.7,28,345,0.17,2.30,0.00,0.000,6,0.160,0.063,3145,2397,3357
$GC,665,-0.51,-117.3,54.5,-7.4,58,667,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2396,3357
$GC,986,-0.51,-117.3,79.6,-8.2,88,990,0.00,2.38,0.00,0.000,4,0.000,0.069,3146,993,3358
$GC,1030,-0.51,-117.3,83.4,-8.0,90,1034,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2409,3358
$GC,1352,-0.51,-117.3,108.1,-7.5,106,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2409,3358
$GC,1661,-0.51,-117.3,129.2,-6.4,121,1665,0.00,2.38,0.00,0.000,4,0.000,0.081,3142,3807,3358
$GC,1717,-0.59,-117.3,133.1,-7.4,123,1723,0.00,2.30,0.00,0.000,6,0.000,0.053,3142,2389,3359
$GC,2032,-0.70,-117.3,154.5,-6.5,138,2037,0.15,2.45,0.00,0.000,4,0.088,0.077,3081,3807,3359
$GC,2049,-0.85,-117.3,155.8,-7.0,138,2054,0.12,2.28,0.00,0.000,6,0.087,0.053,3028,2396,3358
$GC,2362,-0.58,-117.3,191.1,-11.5,148,2367,0.30,2.38,0.00,0.000,4,0.160,0.067,3121,991,3359
$GC,2515,-0.58,-117.3,203.0,-7.7,152,2519,0.00,2.30,0.00,0.000,6,0.000,0.061,3121,2405,3359
$GC,2829,-0.62,-117.3,224.2,-6.6,162,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3359
$GC,3134,-0.66,-117.3,242.9,-6.2,172,3138,0.00,2.40,0.00,0.000,4,0.000,0.069,3121,990,3359
$GC,3184,-0.72,-117.3,246.4,-6.5,173,3188,0.12,2.33,0.00,0.000,6,0.084,0.061,3076,2412,3359
$GC,3502,-0.72,-117.3,268.6,-6.9,184,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2412,3358
$GC,3808,-0.72,-117.3,288.9,-6.4,194,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2412,3358
$GC,4112,-0.72,-117.3,308.7,-6.5,202,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2412,3358
$GC,4416,-0.72,-117.3,328.3,-6.5,207,4420,0.00,2.42,0.00,0.000,4,0.000,0.071,3076,988,3358
$GC,4449,-0.72,-117.3,330.8,-7.8,207,4453,0.00,2.35,0.00,0.000,6,0.000,0.063,3076,2412,3358
$GC,4776,-0.66,-117.3,353.9,-7.2,213,4780,0.00,2.35,0.00,0.000,4,0.000,0.081,3073,3815,3358
$GC,4787,-0.60,-117.3,354.9,-7.1,213,4792,0.17,2.28,0.00,0.000,6,0.127,0.054,3122,2396,3358
$GC,5136,-0.66,-117.3,375.6,-5.9,219,5140,0.00,2.35,0.00,0.000,4,0.000,0.071,3122,993,3358
$GC,5164,-0.73,-117.3,377.4,-6.2,219,5169,0.12,2.28,0.00,0.000,6,0.084,0.062,3077,2400,3357
$GC,5495,-0.73,-117.3,399.4,-6.6,225,5499,0.00,2.35,0.00,0.000,4,0.000,0.081,3075,3818,3357
$GC,5551,-0.69,-117.3,403.6,-8.2,225,5558,0.00,2.30,0.00,0.000,6,0.000,0.057,3075,2395,3357
$GC,5862,-0.56,-117.3,427.7,-7.7,231,5867,0.17,2.40,0.00,0.000,4,0.160,0.081,3126,3814,3356
$GC,5924,-0.71,-117.3,431.8,-6.5,232,5929,0.12,2.25,0.00,0.000,6,0.086,0.057,3080,2395,3357
$GC,6296,-0.89,-117.3,459.8,-7.6,238,6301,0.15,2.40,0.00,0.000,4,0.104,0.080,3019,3819,3357
$GC,6347,-0.68,-117.3,464.4,-9.9,238,6351,0.28,2.28,0.00,0.000,6,0.160,0.057,3095,2390,3357
$GC,6656,-0.68,-117.3,486.1,-6.9,243,6660,0.00,2.28,0.00,0.000,4,0.000,0.073,3096,994,3357
$GC,6706,-0.68,-117.3,489.7,-6.8,243,6710,0.00,2.30,0.00,0.000,6,0.000,0.063,3096,2408,3357
$GC,7017,-0.68,-117.3,509.1,-6.2,248,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3357
$GC,7319,-0.68,-117.3,527.2,-6.0,253,7323,0.00,2.35,0.00,0.000,4,0.000,0.072,3096,984,3356
$GC,7358,-0.68,-117.3,529.8,-6.2,253,7362,0.00,2.30,0.00,0.000,6,0.000,0.064,3096,2400,3356
$GC,7679,-0.68,-117.3,547.8,-5.6,259,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2400,3356
$GC,7983,-0.68,-117.3,565.9,-6.1,264,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2400,3356
$GC,8285,-0.68,-117.3,585.0,-6.3,269,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2400,3356
$GC,8589,-0.68,-117.3,603.0,-5.9,274,8593,0.00,2.38,0.00,0.000,4,0.000,0.072,3095,991,3356
$GC,8616,-0.68,-117.3,604.8,-6.2,274,8620,0.00,2.33,0.00,0.000,6,0.000,0.064,3096,2403,3356
$GC,8955,-0.68,-117.3,623.0,-5.4,280,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2402,3356
$GC,9257,-0.68,-117.3,638.8,-5.2,285,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2402,3356
$GC,9560,-0.68,-117.3,655.6,-5.6,290,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3356
$GC,9863,-0.68,-117.3,672.2,-5.4,295,9867,0.00,2.38,0.00,0.000,4,0.000,0.073,3096,986,3355
$GC,9896,-0.68,-117.3,674.1,-5.3,295,9900,0.00,2.30,0.00,0.000,6,0.000,0.064,3095,2400,3355
$GC,10229,-0.68,-117.3,691.8,-5.4,301,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3355
$GC,10532,-0.68,-117.3,708.7,-5.7,306,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3355
$GC,10835,-0.68,-117.3,726.9,-6.0,311,10839,0.00,2.35,0.00,0.000,4,0.000,0.072,3095,995,3355
$GC,10873,-0.68,-117.3,729.6,-6.8,311,10877,0.00,2.30,0.00,0.000,6,0.000,0.064,3096,2403,3355
$GC,11195,-0.72,-117.3,750.1,-6.5,317,11199,0.00,2.38,0.00,0.000,4,0.000,0.084,3096,3818,3355
$GC,11229,-0.79,-117.3,752.5,-7.7,317,11233,0.12,2.28,0.00,0.000,6,0.086,0.058,3051,2393,3354
$GC,11555,-0.79,-117.3,775.8,-7.2,323,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2393,3354
$GC,11858,-0.79,-117.3,797.9,-7.3,328,11862,0.00,2.40,0.00,0.000,4,0.000,0.083,3050,3806,3354
$GC,11891,-0.72,-117.3,800.5,-8.2,328,11896,0.12,2.25,0.00,0.000,6,0.117,0.057,3084,2397,3354
$GC,12217,-0.72,-117.3,821.5,-6.3,334,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2398,3354
$GC,12520,-0.72,-117.3,838.9,-5.7,339,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2398,3354
$GC,12824,-0.72,-117.3,855.4,-5.4,344,12828,0.00,2.38,0.00,0.000,4,0.000,0.074,3084,993,3354
$GC,12897,-0.79,-117.3,859.8,-5.4,345,12901,0.00,2.30,0.00,0.000,6,0.000,0.065,3085,2399,3354
$GC,13252,-0.97,-117.3,880.4,-5.8,351,13257,0.20,2.40,0.00,0.000,4,0.085,0.073,3011,995,3353
$GC,13413,-0.78,-117.3,892.7,-7.8,353,13418,0.20,2.33,0.00,0.000,6,0.171,0.066,3063,2411,3353
$GC,13746,-0.74,-117.3,913.5,-6.3,359,13747,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2411,3353
$GC,14048,-0.74,-117.3,933.8,-6.8,364,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2411,3353
$GC,14352,-0.70,-117.3,954.6,-6.9,369,14356,0.00,2.40,0.00,0.000,4,0.000,0.075,3063,989,3353
$GC,14385,-0.65,-117.3,957.0,-8.0,369,14390,0.17,2.33,0.00,0.000,6,0.156,0.065,3106,2398,3353
$GC,14711,-0.88,-117.3,977.7,-6.7,375,14716,0.17,2.38,0.00,0.000,4,0.089,0.082,3038,3810,3353
$GC,14818,-0.84,-117.3,985.8,-7.7,376,14822,0.00,2.28,0.00,0.000,6,0.000,0.058,3038,2394,3353
$STATE,14893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14893,begin apogee
$GC,14900,-0.22,0.0,991.4,7.1,378,15016,0.68,0.00,108.55,1.491,6,0.130,0.000,3247,2195,2876
$STATE,15017,end apogee,CONTROL_FINISHED_OK
$STATE,15017,begin climb
$GC,15019,0.67,117.3,997.3,0.0,380,15143,0.85,2.70,113.25,1.440,4,0.090,0.077,3524,3605,2396
$GC,15193,0.26,117.3,995.8,7.6,382,15199,0.52,2.45,0.00,0.000,6,0.184,0.061,3402,2202,2395
$GC,15509,0.33,178.8,985.2,3.2,388,15571,0.00,2.50,55.92,1.438,4,0.000,0.079,3408,780,2146
$GC,15630,0.48,190.9,980.7,4.7,389,15650,0.20,2.40,12.68,1.306,6,0.078,0.061,3481,2208,2096
$GC,16013,0.37,190.9,953.9,7.3,396,16018,0.15,2.40,0.00,0.000,4,0.143,0.078,3436,787,2092
$GC,16082,0.42,190.9,949.5,5.7,397,16086,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2199,2093
$GC,16442,0.42,190.9,928.4,6.0,403,16443,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2092
$GC,16745,0.42,190.9,907.8,6.9,408,16749,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,790,2091
$GC,16790,0.47,190.9,904.5,7.6,408,16794,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2209,2091
$GC,17105,0.47,190.9,881.6,7.3,414,17106,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2091
$GC,17408,0.47,190.9,858.7,7.6,419,17412,0.00,2.38,0.00,0.000,4,0.000,0.080,3437,787,2091
$GC,17436,0.52,190.9,856.6,7.0,419,17440,0.15,2.30,0.00,0.000,6,0.087,0.061,3496,2213,2091
$GC,17767,0.38,190.9,825.8,9.3,425,17772,0.17,2.40,0.00,0.000,4,0.149,0.078,3449,779,2090
$GC,17806,0.38,190.9,822.8,7.1,425,17810,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2202,2090
$GC,18126,0.38,190.9,801.3,6.6,431,18128,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2090
$GC,18430,0.38,190.9,783.1,6.0,436,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2090
$GC,18733,0.38,190.9,765.8,5.7,441,18734,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2090
$GC,19036,0.38,190.9,747.7,6.0,446,19037,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2090
$GC,19339,0.38,190.9,728.6,6.4,451,19343,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,787,2090
$GC,19411,0.38,190.9,723.8,7.4,452,19415,0.00,2.30,0.00,0.000,6,0.000,0.061,3449,2206,2090
$GC,19765,0.38,190.9,699.4,6.9,458,19769,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,784,2090
$GC,19814,0.38,190.9,695.8,6.6,458,19819,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2203,2090
$GC,20125,0.38,190.9,674.3,7.0,463,20129,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,784,2090
$GC,20159,0.38,190.9,671.9,6.8,463,20163,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2203,2090
$GC,20485,0.38,190.9,650.3,6.6,469,20486,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2090
$GC,20788,0.38,190.9,631.4,6.2,474,20792,0.00,2.38,0.00,0.000,4,0.000,0.080,3449,783,2090
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$STATE,30881,end climb,SURFACE_DEPTH_REACHED
$STATE,30881,begin surface coast
$FINISH,3.0,1.004029
$STATE,30976,end surface coast,CONTROL_FINISHED_OK
$STATE,30976,begin surface
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$10V_AH,10.5,51.676
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$DEVICE_SECS,29.900,244.750,389.450,0.000,0.000,29.692,30.115,191.274,254.000,0.000,0.000,13.073,1807.130,25811.494,554.086,2550.072,709.391,33.381,1843.030,0.000,2513.979,0.000,0.465
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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,47585,814
$CAP_FILE_SIZE,193436,0
$CFSIZE,260165632,228638720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210109,085437,5012.546,-14512.324,32,1.6,32,18.5