version: 66.03
glider: 120
mission: 9
dive: 42
start: 9 12 108 8 6 5
data:
$ID,120
$MISSION,9
$DIVE,42
$D_SURF,2
$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,-18497.139
$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,21
$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
$GPS1,075958,4956.058,-14432.051,43,2.5,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-79.2
$GPS2,080511,4956.063,-14431.978,15,2.1,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.040,-0.173
$KALMAN_X,20333.4,-212.1,-181.2,1152.1,497.9
$KALMAN_Y,35451.3,-290.7,-266.7,-52450.8,3766.8
$MHEAD_RNG_PITCHd_Wd,148.7,4580,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,43,0.00,0.00,-22.95,0.000,2,0.000,0.000,146,2400,2244
$GC,45,-0.67,-117.3,3.5,-5.6,2,99,13.32,2.40,-32.42,0.000,4,0.291,0.107,3096,3806,3357
$GC,227,-0.31,-117.3,27.9,-15.1,18,235,0.38,2.30,0.00,0.000,6,0.172,0.058,3209,2396,3359
$GC,553,-0.52,-117.3,48.4,-5.4,49,558,0.15,2.35,0.00,0.000,4,0.087,0.076,3153,3820,3360
$GC,580,-0.75,-117.3,50.4,-7.1,51,585,0.22,2.25,0.00,0.000,6,0.085,0.055,3069,2396,3360
$GC,913,-0.45,-117.3,92.6,-13.7,78,915,0.35,0.00,0.00,0.000,6,0.174,0.000,3167,2395,3362
$GC,1221,-0.45,-117.3,117.3,-6.7,93,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2395,3362
$GC,1531,-0.50,-117.3,133.4,-4.6,108,1535,0.00,2.35,0.00,0.000,4,0.000,0.081,3167,3817,3363
$GC,1571,-0.59,-117.3,135.2,-4.8,110,1576,0.12,2.22,0.00,0.000,6,0.085,0.058,3119,2402,3363
$GC,1902,-0.53,-117.3,153.7,-5.5,125,1906,0.00,2.28,0.00,0.000,4,0.000,0.072,3119,992,3363
$GC,2069,-0.48,-117.3,167.3,-9.3,130,2074,0.15,2.28,0.00,0.000,6,0.166,0.064,3157,2406,3363
$GC,2404,-0.56,-117.3,194.4,-7.9,141,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2406,3362
$GC,2710,-0.63,-117.3,212.2,-4.9,151,2712,0.12,0.00,0.00,0.000,6,0.087,0.000,3109,2406,3362
$GC,3016,-0.57,-117.3,229.2,-5.4,161,3020,0.00,2.30,0.00,0.000,4,0.000,0.074,3109,993,3362
$GC,3054,-0.52,-117.3,231.6,-6.1,162,3059,0.10,2.30,0.00,0.000,6,0.166,0.065,3141,2403,3362
$GC,3383,-0.52,-117.3,248.8,-5.8,173,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3361
$GC,3690,-0.52,-117.3,269.9,-7.2,183,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3361
$GC,3996,-0.52,-117.3,291.8,-7.0,193,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3361
$GC,4300,-0.56,-117.3,310.8,-6.0,200,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3360
$GC,4604,-0.60,-117.3,325.5,-4.8,205,4608,0.00,2.30,0.00,0.000,4,0.000,0.077,3142,989,3359
$GC,4630,-0.65,-117.3,326.9,-5.3,205,4635,0.08,2.30,0.00,0.000,6,0.076,0.067,3102,2403,3359
$GC,4974,-0.65,-117.3,344.8,-5.3,211,4978,0.00,2.30,0.00,0.000,4,0.000,0.084,3101,3819,3359
$GC,5000,-0.60,-117.3,346.6,-6.7,211,5005,0.00,2.28,0.00,0.000,6,0.000,0.061,3101,2402,3359
$GC,5338,-0.56,-117.3,367.4,-6.3,217,5340,0.12,0.00,0.00,0.000,6,0.141,0.000,3134,2400,3359
$GC,5641,-0.56,-117.3,384.6,-5.6,222,5645,0.00,2.28,0.00,0.000,4,0.000,0.077,3134,991,3358
$GC,5672,-0.56,-117.3,386.6,-6.4,222,5677,0.00,2.30,0.00,0.000,6,0.000,0.067,3134,2401,3358
$GC,6005,-0.61,-117.3,405.8,-5.8,228,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2401,3358
$GC,6308,-0.65,-117.3,423.9,-6.0,233,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2401,3358
$GC,6611,-0.70,-117.3,442.9,-6.3,238,6616,0.12,2.30,0.00,0.000,4,0.093,0.077,3087,991,3357
$GC,6642,-0.63,-117.3,445.3,-7.7,238,6647,0.00,2.30,0.00,0.000,6,0.000,0.067,3087,2402,3357
$GC,6975,-0.52,-117.3,471.7,-7.9,244,6977,0.22,0.00,0.00,0.000,6,0.172,0.000,3149,2402,3357
$GC,7278,-0.62,-117.3,487.1,-4.9,249,7282,0.00,2.30,0.00,0.000,4,0.000,0.077,3149,991,3357
$GC,7299,-0.73,-117.3,488.3,-5.5,249,7304,0.17,2.30,0.00,0.000,6,0.077,0.066,3078,2405,3357
$GC,7642,-0.62,-117.3,512.0,-7.0,255,7647,0.12,2.30,0.00,0.000,4,0.166,0.085,3109,3814,3356
$GC,7712,-0.62,-117.3,516.6,-6.0,256,7718,0.00,2.28,0.00,0.000,6,0.000,0.064,3109,2399,3356
$GC,8073,-0.62,-117.3,537.9,-5.9,262,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3356
$GC,8376,-0.62,-117.3,556.8,-6.2,267,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3356
$GC,8679,-0.62,-117.3,576.3,-6.5,272,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,3356
$GC,8982,-0.62,-117.3,595.1,-6.3,277,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3356
$GC,9285,-0.62,-117.3,613.2,-5.9,282,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3356
$GC,9588,-0.62,-117.3,630.3,-5.7,287,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3356
$GC,9891,-0.62,-117.3,647.4,-5.7,292,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3355
$GC,10195,-0.62,-117.3,666.0,-6.2,297,10199,0.00,2.30,0.00,0.000,4,0.000,0.080,3110,985,3354
$GC,10221,-0.62,-117.3,667.8,-6.8,297,10225,0.00,2.30,0.00,0.000,6,0.000,0.070,3110,2395,3354
$GC,10558,-0.62,-117.3,689.9,-6.6,303,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2395,3355
$GC,10861,-0.62,-117.3,709.6,-6.5,308,10865,0.00,2.30,0.00,0.000,4,0.000,0.080,3109,988,3355
$GC,10887,-0.62,-117.3,711.4,-6.8,308,10892,0.00,2.30,0.00,0.000,6,0.000,0.069,3109,2397,3354
$GC,11225,-0.62,-117.3,732.4,-6.1,314,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3354
$GC,11528,-0.62,-117.3,750.1,-5.8,319,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3354
$GC,11832,-0.62,-117.3,768.4,-6.0,324,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3354
$GC,12134,-0.62,-117.3,786.6,-6.0,329,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3354
$GC,12438,-0.62,-117.3,805.5,-6.2,334,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3353
$GC,12741,-0.62,-117.3,824.2,-6.2,339,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3353
$GC,13044,-0.62,-117.3,843.8,-6.5,344,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3353
$GC,13347,-0.62,-117.3,864.0,-6.7,349,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3353
$GC,13650,-0.62,-117.3,884.1,-6.7,354,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3353
$GC,13953,-0.62,-117.3,903.3,-6.4,359,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,3353
$GC,14256,-0.62,-117.3,922.8,-6.4,364,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2397,3353
$GC,14559,-0.62,-117.3,941.7,-6.3,369,14563,0.00,2.33,0.00,0.000,4,0.000,0.090,3110,3816,3353
$GC,14591,-0.67,-117.3,943.8,-6.3,369,14596,0.00,2.28,0.00,0.000,6,0.000,0.066,3109,2402,3353
$GC,14924,-0.71,-117.3,963.3,-5.8,375,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2402,3353
$GC,15226,-0.71,-117.3,980.3,-5.6,380,15227,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2402,3353
$STATE,15407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15407,begin apogee
$GC,15411,-0.22,0.0,990.1,5.4,383,15513,0.45,0.00,99.95,1.502,6,0.158,0.000,3247,2190,2876
$STATE,15514,end apogee,CONTROL_FINISHED_OK
$STATE,15514,begin climb
$GC,15515,0.67,117.3,992.0,0.0,384,15627,0.90,2.65,103.32,1.448,4,0.103,0.081,3534,3609,2396
$GC,15671,0.18,117.3,989.3,9.5,387,15677,0.55,2.47,0.00,0.000,6,0.202,0.071,3379,2210,2394
$GC,16021,0.25,126.8,972.4,4.7,393,16034,0.00,0.00,9.07,1.262,6,0.000,0.000,3379,2210,2359
$GC,16390,0.35,136.4,954.7,4.7,399,16404,0.15,0.00,10.05,1.300,6,0.093,0.000,3438,2209,2318
$GC,16759,0.28,136.4,930.8,6.5,405,16760,0.12,0.00,0.00,0.000,6,0.168,0.000,3408,2209,2317
$GC,17061,0.28,136.4,913.8,5.6,410,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2209,2316
$GC,17364,0.28,136.4,897.4,5.4,415,17368,0.00,2.35,0.00,0.000,4,0.000,0.084,3408,3615,2316
$GC,17402,0.22,136.4,895.2,5.8,415,17407,0.00,2.35,0.00,0.000,6,0.000,0.071,3408,2196,2316
$GC,17734,0.22,142.2,879.1,4.8,421,17742,0.00,0.00,6.12,1.157,6,0.000,0.000,3408,2197,2296
$GC,18037,0.23,148.5,864.5,4.8,426,18046,0.00,0.00,7.25,1.207,6,0.000,0.000,3408,2197,2269
$GC,18340,0.23,150.4,849.5,4.9,431,18344,0.00,2.35,0.00,0.000,4,0.000,0.084,3408,3607,2269
$GC,18378,0.19,150.4,847.3,5.6,431,18383,0.00,2.33,0.00,0.000,6,0.000,0.071,3408,2205,2269
$GC,18710,0.19,150.4,829.8,5.4,437,18711,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2205,2269
$GC,19013,0.19,150.4,813.1,5.5,442,19017,0.00,2.35,0.00,0.000,4,0.000,0.085,3408,790,2269
$GC,19045,0.24,150.4,811.2,5.5,442,19049,0.00,2.33,0.00,0.000,6,0.000,0.067,3408,2204,2269
$GC,19376,0.24,150.4,791.1,6.1,448,19380,0.00,2.33,0.00,0.000,4,0.000,0.084,3408,3621,2269
$GC,19431,0.19,150.4,787.2,7.8,448,19438,0.00,2.33,0.00,0.000,6,0.000,0.071,3408,2202,2269
$GC,19740,0.19,150.4,768.5,6.0,454,19741,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2269
$GC,20043,0.19,150.4,751.3,5.7,459,20044,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2268
$GC,20346,0.19,150.4,735.2,5.3,464,20347,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2268
$GC,20650,0.20,159.6,720.8,4.7,469,20662,0.00,0.00,10.50,1.238,6,0.000,0.000,3408,2203,2225
$GC,20953,0.26,159.6,704.9,5.3,474,20954,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2224
$GC,21256,0.30,159.6,687.4,5.8,479,21257,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2224
$GC,21559,0.35,159.6,669.1,6.0,484,21560,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2202,2224
$GC,21862,0.40,159.6,651.6,5.7,489,21867,0.12,2.35,0.00,0.000,4,0.104,0.085,3453,3611,2224
$GC,21912,0.24,159.6,647.9,7.7,489,21917,0.25,2.30,0.00,0.000,6,0.177,0.069,3395,2188,2224
$GC,22221,0.36,170.5,632.9,4.7,494,22234,0.12,0.00,10.62,1.190,6,0.102,0.000,3437,2188,2179
$GC,22524,0.36,170.5,617.2,5.2,499,22525,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2188,2178
$GC,22827,0.36,170.5,602.0,5.0,504,22828,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2188,2178
$GC,23130,0.36,170.5,586.0,5.3,509,23131,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2188,2178
$GC,23433,0.36,170.5,568.7,5.8,514,23437,0.00,2.38,0.00,0.000,4,0.000,0.087,3437,3616,2178
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$STATE,33237,end climb,SURFACE_DEPTH_REACHED
$STATE,33237,begin surface coast
$FINISH,1.6,1.024521
$STATE,33259,end surface coast,CONTROL_FINISHED_OK
$STATE,33260,begin surface
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$HUMID,2169
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$TCM_TEMP,16.70
$XPDR_PINGS,971
$24V_AH,23.3,12.061
$10V_AH,10.6,5.889
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$DEVICE_SECS,29.025,154.250,392.500,0.000,0.000,30.673,28.676,141.192,242.750,0.000,0.000,34.893,1761.990,28704.453,553.342,2259.708,364.982,33.371,1629.597,0.000,2225.471,0.000,0.465
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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,47447,853
$CAP_FILE_SIZE,173250,0
$CFSIZE,260165632,255430656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120908,172307,4953.310,-14430.506,42,1.0,53,18.5