version: 66.03
glider: 120
mission: 9
dive: 387
start: 1 21 109 9 1 47
data:
$ID,120
$MISSION,9
$DIVE,387
$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,-25859.492
$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
$GPS1,085437,5012.546,-14512.324,32,1.6,32,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.01
$_SM_ANGLEo,-72.7
$GPS2,090052,5012.574,-14512.385,12,2.3,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.177
$KALMAN_X,19128.1,-127.0,-101.4,-45815.9,352.2
$KALMAN_Y,284780.8,145.8,517.6,-272437.8,1791.7
$MHEAD_RNG_PITCHd_Wd,163.7,34383,-12.1,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-116.7,0.0,0.0,0,37,0.00,0.00,-11.62,0.000,2,0.000,0.000,140,2404,1922
$GC,41,-0.67,-117.3,4.0,-0.0,1,126,13.90,2.53,-60.80,0.000,4,0.279,0.080,3095,984,3357
$GC,307,-0.52,-117.3,26.5,-10.0,25,312,0.17,2.35,0.00,0.000,6,0.156,0.063,3145,2408,3358
$GC,636,-0.52,-117.3,52.0,-7.2,55,641,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2408,3358
$GC,961,-0.52,-117.3,78.5,-7.9,86,962,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2408,3358
$GC,1271,-0.52,-117.3,104.2,-8.6,102,1275,0.00,2.40,0.00,0.000,4,0.000,0.069,3145,991,3358
$GC,1315,-0.52,-117.3,108.2,-9.0,104,1319,0.00,2.35,0.00,0.000,6,0.000,0.061,3141,2409,3359
$GC,1636,-0.52,-117.3,131.3,-6.4,120,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2410,3359
$GC,1946,-0.56,-117.3,149.8,-5.9,135,1950,0.00,2.40,0.00,0.000,4,0.000,0.069,3141,989,3359
$GC,1975,-0.56,-117.3,151.9,-6.9,137,1979,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2401,3359
$GC,2310,-0.83,-117.3,174.0,-7.1,148,2315,0.22,2.35,0.00,0.000,4,0.088,0.067,3055,991,3359
$GC,2411,-0.68,-117.3,182.5,-8.7,151,2416,0.15,2.28,0.00,0.000,6,0.156,0.061,3094,2402,3359
$GC,2741,-0.63,-117.3,207.7,-7.7,162,2745,0.00,2.35,0.00,0.000,4,0.000,0.080,3094,3818,3359
$GC,2803,-0.63,-117.3,212.5,-8.0,164,2807,0.00,2.25,0.00,0.000,6,0.000,0.054,3094,2397,3359
$GC,3138,-0.63,-117.3,238.0,-7.5,175,3142,0.00,2.33,0.00,0.000,4,0.000,0.070,3094,994,3359
$GC,3171,-0.63,-117.3,240.7,-7.9,176,3176,0.00,2.30,0.00,0.000,6,0.000,0.062,3094,2413,3359
$GC,3501,-0.63,-117.3,265.6,-7.5,187,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2413,3359
$GC,3808,-0.63,-117.3,288.1,-7.3,197,3812,0.00,2.40,0.00,0.000,4,0.000,0.070,3094,988,3359
$GC,3857,-0.63,-117.3,292.1,-7.7,198,3861,0.00,2.33,0.00,0.000,6,0.000,0.062,3094,2405,3358
$GC,4173,-0.63,-117.3,315.4,-7.5,206,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2405,3358
$GC,4476,-0.63,-117.3,338.2,-7.5,211,4480,0.00,2.38,0.00,0.000,4,0.000,0.082,3094,3810,3358
$GC,4509,-0.63,-117.3,340.7,-7.3,211,4513,0.00,2.25,0.00,0.000,6,0.000,0.055,3094,2402,3358
$GC,4835,-0.63,-117.3,364.8,-7.4,217,4839,0.00,2.35,0.00,0.000,4,0.000,0.071,3094,988,3358
$GC,4862,-0.63,-117.3,366.9,-8.1,217,4866,0.00,2.30,0.00,0.000,6,0.000,0.062,3094,2402,3358
$GC,5194,-0.63,-117.3,390.1,-7.0,223,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3358
$GC,5497,-0.63,-117.3,410.6,-6.8,228,5502,0.00,2.35,0.00,0.000,4,0.000,0.071,3094,992,3357
$GC,5560,-0.63,-117.3,415.2,-7.4,229,5564,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2404,3357
$GC,5926,-0.63,-117.3,439.3,-6.4,235,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3357
$GC,6229,-0.63,-117.3,458.6,-6.4,240,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3357
$GC,6533,-0.63,-117.3,477.4,-6.2,245,6537,0.00,2.35,0.00,0.000,4,0.000,0.072,3094,986,3357
$GC,6565,-0.63,-117.3,479.6,-6.7,245,6569,0.00,2.30,0.00,0.000,6,0.000,0.064,3094,2399,3356
$GC,6892,-0.63,-117.3,498.5,-5.9,251,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3357
$GC,7195,-0.63,-117.3,516.3,-5.9,256,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3356
$GC,7499,-0.63,-117.3,536.2,-6.6,261,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3356
$GC,7801,-0.63,-117.3,557.1,-6.9,266,7805,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,986,3356
$GC,7829,-0.63,-117.3,559.3,-7.7,266,7833,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2404,3356
$GC,8161,-0.63,-117.3,582.7,-7.1,272,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3356
$GC,8464,-0.63,-117.3,604.4,-7.1,277,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3356
$GC,8768,-0.63,-117.3,624.6,-6.6,282,8772,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,989,3356
$GC,8802,-0.63,-117.3,627.1,-7.3,282,8806,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2406,3356
$GC,9129,-0.63,-117.3,648.2,-6.4,288,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3356
$GC,9431,-0.63,-117.3,666.6,-6.0,293,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3356
$GC,9735,-0.63,-117.3,683.2,-5.4,298,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,10038,-0.63,-117.3,699.1,-5.2,303,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3356
$GC,10341,-0.63,-117.3,715.9,-5.6,308,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3356
$GC,10644,-0.63,-117.3,733.8,-5.9,313,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3355
$GC,10947,-0.63,-117.3,752.5,-6.2,318,10951,0.00,2.40,0.00,0.000,4,0.000,0.074,3094,990,3355
$GC,10980,-0.63,-117.3,754.7,-6.6,318,10984,0.00,2.33,0.00,0.000,6,0.000,0.065,3094,2405,3355
$GC,11312,-0.67,-117.3,774.9,-6.1,324,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2405,3355
$GC,11615,-0.71,-117.3,792.9,-5.9,329,11619,0.00,2.38,0.00,0.000,4,0.000,0.074,3094,994,3355
$GC,11642,-0.71,-117.3,794.7,-6.1,329,11646,0.00,2.33,0.00,0.000,6,0.000,0.065,3094,2412,3354
$GC,11975,-0.76,-117.3,813.0,-5.5,335,11979,0.00,2.40,0.00,0.000,4,0.000,0.074,3094,989,3354
$GC,12008,-0.80,-117.3,815.0,-5.4,335,12013,0.12,2.33,0.00,0.000,6,0.085,0.064,3050,2408,3354
$GC,12334,-0.80,-117.3,834.4,-6.0,341,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,12637,-0.80,-117.3,852.0,-5.7,346,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,12940,-0.80,-117.3,868.2,-5.3,351,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,13243,-0.80,-117.3,885.1,-5.6,356,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,13546,-0.80,-117.3,903.5,-6.1,361,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,13849,-0.80,-117.3,923.3,-6.6,366,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,14153,-0.80,-117.3,943.5,-6.7,371,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,14455,-0.80,-117.3,962.2,-6.2,376,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3354
$GC,14759,-0.80,-117.3,980.4,-6.0,381,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2408,3353
$STATE,14938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14938,begin apogee
$GC,14944,-0.22,0.0,991.5,6.1,384,15060,0.62,0.00,109.10,1.490,6,0.133,0.000,3241,2200,2875
$STATE,15061,end apogee,CONTROL_FINISHED_OK
$STATE,15061,begin climb
$GC,15065,0.67,117.3,995.8,0.0,386,15188,0.88,2.75,113.10,1.437,4,0.088,0.078,3532,796,2396
$GC,15211,0.33,117.3,994.8,5.6,388,15216,0.43,2.50,0.00,0.000,6,0.176,0.061,3426,2199,2395
$GC,15555,0.34,127.0,978.2,4.7,394,15570,0.00,2.40,9.80,1.279,4,0.000,0.081,3426,3610,2358
$GC,15622,0.26,127.0,974.8,5.5,395,15626,0.00,2.35,0.00,0.000,6,0.000,0.064,3426,2195,2358
$GC,15983,0.28,147.4,958.4,4.4,401,16004,0.00,0.00,19.67,1.398,6,0.000,0.000,3426,2195,2274
$GC,16287,0.28,147.8,943.6,5.0,406,16291,0.00,2.40,0.00,0.000,4,0.000,0.081,3426,779,2274
$GC,16350,0.32,147.8,940.2,5.6,407,16354,0.00,2.33,0.00,0.000,6,0.000,0.062,3426,2201,2274
$GC,16715,0.32,147.8,920.3,5.6,413,16716,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2201,2274
$GC,17019,0.32,147.8,903.5,5.5,418,17023,0.00,2.35,0.00,0.000,4,0.000,0.080,3426,3619,2273
$GC,17057,0.27,147.8,901.2,5.5,418,17062,0.00,2.33,0.00,0.000,6,0.000,0.064,3426,2201,2273
$GC,17378,0.27,147.8,884.2,5.3,424,17382,0.00,2.40,0.00,0.000,4,0.000,0.080,3426,790,2273
$GC,17429,0.31,147.8,881.5,5.1,424,17433,0.00,2.30,0.00,0.000,6,0.000,0.062,3426,2210,2273
$GC,17739,0.31,149.6,866.0,4.9,429,17743,0.00,2.33,0.00,0.000,4,0.000,0.079,3426,3614,2273
$GC,17779,0.26,149.6,863.7,6.2,429,17783,0.00,2.33,0.00,0.000,6,0.000,0.064,3426,2197,2273
$GC,18100,0.26,151.4,847.8,4.9,435,18110,0.00,2.38,5.10,1.051,4,0.000,0.080,3426,785,2257
$GC,18145,0.32,160.2,845.5,4.7,435,18161,0.00,2.30,9.65,1.262,6,0.000,0.063,3426,2203,2222
$GC,18464,0.32,160.2,828.1,5.5,441,18466,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2204,2221
$GC,18768,0.37,160.2,810.4,5.8,446,18772,0.00,2.40,0.00,0.000,4,0.000,0.080,3426,784,2221
$GC,18813,0.42,160.2,807.7,5.8,446,18817,0.00,2.30,0.00,0.000,6,0.000,0.062,3426,2201,2221
$GC,19128,0.47,160.2,791.3,5.2,452,19130,0.12,0.00,0.00,0.000,6,0.088,0.000,3476,2201,2221
$GC,19431,0.36,160.2,771.7,6.6,457,19436,0.15,2.40,0.00,0.000,4,0.145,0.077,3436,791,2221
$GC,19503,0.36,160.2,767.7,5.7,458,19508,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2207,2221
$GC,19858,0.36,160.2,748.8,5.4,464,19859,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2221
$GC,20161,0.36,160.2,732.0,5.5,469,20163,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2221
$GC,20464,0.36,160.2,714.6,5.8,474,20465,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2221
$GC,20768,0.36,160.2,696.5,6.0,479,20772,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,791,2221
$GC,20800,0.36,160.2,694.4,5.8,479,20804,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2203,2221
$GC,21127,0.36,160.2,675.7,5.7,485,21131,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,791,2221
$GC,21165,0.41,160.2,673.5,6.1,485,21169,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2210,2221
$GC,21487,0.41,160.2,656.6,5.1,491,21488,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2221
$GC,21789,0.41,164.1,641.7,4.9,496,21796,0.00,0.00,4.88,0.954,6,0.000,0.000,3436,2210,2207
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$STATE,31805,end climb,SURFACE_DEPTH_REACHED
$STATE,31805,begin surface coast
$FINISH,2.9,1.005852
$STATE,31902,end surface coast,CONTROL_FINISHED_OK
$STATE,31902,begin surface
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$10V_AH,10.5,51.810
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$DEVICE_SECS,27.625,202.950,412.450,0.000,0.000,30.603,26.579,161.449,243.250,0.000,0.000,31.967,1758.936,26977.756,571.205,2369.783,670.168,33.383,1744.958,0.000,2327.376,0.000,0.465
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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,47443,822
$CAP_FILE_SIZE,180409,0
$CFSIZE,260165632,228573184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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