version: 66.03
glider: 120
mission: 9
dive: 117
start: 10 10 108 18 42 12
data:
$ID,120
$MISSION,9
$DIVE,117
$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,-20092.213
$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,23
$R_STBD_OVSHOOT,17
$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
$GPS1,183537,5021.498,-14428.378,85,2.0,87,18.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,4.68
$_SM_ANGLEo,-68.2
$GPS2,184117,5021.506,-14428.353,13,2.4,32,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.011,-0.177
$KALMAN_X,35628.1,138.4,311.4,-10700.8,-708.8
$KALMAN_Y,87200.5,173.1,35.2,-57864.6,-1043.3
$MHEAD_RNG_PITCHd_Wd,157.8,50951,-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,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.45,0.000,2,0.000,0.000,136,2409,1977
$GC,36,-0.67,-117.3,5.2,-0.0,1,117,13.70,2.35,-60.12,0.000,4,0.287,0.099,3086,3823,3355
$GC,133,-0.21,-117.3,9.0,-14.7,10,141,0.50,2.33,0.00,0.000,6,0.170,0.056,3246,2396,3355
$GC,461,-0.76,-117.3,26.3,-6.1,41,466,0.50,2.30,0.00,0.000,4,0.105,0.065,3079,988,3357
$GC,500,-0.57,-117.3,30.0,-10.4,44,505,0.17,2.30,0.00,0.000,6,0.179,0.060,3125,2405,3357
$GC,825,-0.45,-117.3,65.3,-8.1,74,826,0.15,0.00,0.00,0.000,6,0.170,0.000,3165,2405,3358
$GC,1140,-0.45,-117.3,86.1,-6.5,100,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2405,3360
$GC,1449,-0.45,-117.3,106.6,-6.6,115,1453,0.00,2.30,0.00,0.000,4,0.000,0.065,3165,987,3360
$GC,1490,-0.45,-117.3,109.3,-7.1,117,1494,0.00,2.28,0.00,0.000,6,0.000,0.058,3166,2402,3360
$GC,1816,-0.50,-117.3,129.9,-5.8,133,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2402,3360
$GC,2126,-0.57,-117.3,146.6,-5.0,148,2130,0.00,2.30,0.00,0.000,4,0.000,0.068,3165,988,3360
$GC,2181,-0.66,-117.3,149.9,-5.9,150,2188,0.15,2.30,0.00,0.000,6,0.068,0.060,3102,2402,3360
$GC,2493,-0.57,-117.3,173.7,-8.0,161,2497,0.00,2.30,0.00,0.000,4,0.000,0.078,3100,3814,3360
$GC,2559,-0.48,-117.3,179.9,-9.5,163,2564,0.15,2.28,0.00,0.000,6,0.159,0.055,3157,2394,3359
$GC,2895,-0.64,-117.3,203.1,-6.9,174,2899,0.15,2.28,0.00,0.000,4,0.087,0.069,3098,992,3359
$GC,2937,-0.69,-117.3,206.7,-7.8,175,2942,0.00,2.30,0.00,0.000,6,0.000,0.061,3098,2405,3359
$GC,3262,-0.81,-117.3,230.5,-6.9,186,3267,0.12,2.30,0.00,0.000,4,0.095,0.069,3052,992,3359
$GC,3434,-0.59,-117.3,246.0,-9.7,191,3439,0.20,2.30,0.00,0.000,6,0.168,0.064,3125,2403,3358
$GC,3763,-0.59,-117.3,266.9,-6.4,202,3767,0.00,2.30,0.00,0.000,4,0.000,0.081,3125,3814,3357
$GC,3795,-0.59,-117.3,269.0,-6.6,203,3799,0.00,2.25,0.00,0.000,6,0.000,0.055,3125,2405,3357
$GC,4130,-0.59,-117.3,289.6,-6.1,214,4134,0.00,2.28,0.00,0.000,4,0.000,0.071,3125,993,3357
$GC,4161,-0.59,-117.3,291.8,-6.4,215,4166,0.00,2.30,0.00,0.000,6,0.000,0.062,3125,2405,3357
$GC,4497,-0.59,-117.3,311.6,-5.9,223,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3356
$GC,4798,-0.59,-117.3,328.6,-5.6,228,4802,0.00,2.33,0.00,0.000,4,0.000,0.071,3125,986,3356
$GC,4835,-0.59,-117.3,330.8,-5.9,228,4839,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2406,3356
$GC,5161,-0.59,-117.3,347.4,-5.1,234,5165,0.00,2.33,0.00,0.000,4,0.000,0.072,3125,985,3355
$GC,5205,-0.59,-117.3,350.1,-6.3,234,5209,0.00,2.30,0.00,0.000,6,0.000,0.063,3125,2396,3355
$GC,5526,-0.59,-117.3,370.6,-6.6,240,5530,0.00,2.30,0.00,0.000,4,0.000,0.072,3125,983,3355
$GC,5565,-0.59,-117.3,373.3,-6.9,240,5569,0.00,2.28,0.00,0.000,6,0.000,0.063,3125,2399,3355
$GC,5885,-0.59,-117.3,393.7,-6.4,246,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3354
$GC,6188,-0.59,-117.3,411.8,-6.0,251,6192,0.00,2.30,0.00,0.000,4,0.000,0.072,3125,985,3354
$GC,6214,-0.59,-117.3,413.5,-6.8,251,6218,0.00,2.30,0.00,0.000,6,0.000,0.063,3125,2394,3354
$GC,6552,-0.59,-117.3,431.9,-5.4,257,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3354
$GC,6855,-0.59,-117.3,447.6,-5.2,262,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3354
$GC,7160,-0.59,-117.3,463.2,-5.1,267,7164,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,983,3353
$GC,7197,-0.59,-117.3,465.6,-5.0,267,7202,0.00,2.30,0.00,0.000,6,0.000,0.063,3125,2396,3353
$GC,7524,-0.59,-117.3,481.5,-4.8,273,7528,0.00,2.28,0.00,0.000,4,0.000,0.073,3125,992,3353
$GC,7557,-0.63,-117.3,483.1,-5.6,273,7561,0.00,2.28,0.00,0.000,6,0.000,0.063,3125,2394,3353
$GC,7889,-0.63,-117.3,499.4,-4.9,279,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2394,3352
$GC,8191,-0.63,-117.3,516.6,-5.8,284,8195,0.00,2.30,0.00,0.000,4,0.000,0.074,3125,987,3352
$GC,8229,-0.63,-117.3,519.2,-6.7,284,8233,0.00,2.30,0.00,0.000,6,0.000,0.064,3125,2399,3352
$GC,8556,-0.67,-117.3,538.9,-6.1,290,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3352
$GC,8859,-0.72,-117.3,557.8,-6.2,295,8861,0.12,0.00,0.00,0.000,6,0.093,0.000,3078,2399,3352
$GC,9162,-0.68,-117.3,577.1,-6.3,300,9166,0.00,2.30,0.00,0.000,4,0.000,0.073,3078,992,3352
$GC,9189,-0.60,-117.3,578.9,-6.7,300,9194,0.10,2.30,0.00,0.000,6,0.160,0.064,3117,2398,3351
$GC,9527,-0.60,-117.3,596.0,-4.9,306,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3351
$GC,9830,-0.60,-117.3,610.7,-4.8,311,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2398,3352
$GC,10132,-0.60,-117.3,625.6,-5.0,316,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2398,3351
$GC,10435,-0.60,-117.3,640.9,-5.1,321,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2398,3351
$GC,10740,-0.60,-117.3,656.4,-5.1,326,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2399,3351
$GC,11042,-0.60,-117.3,672.7,-5.4,331,11046,0.00,2.33,0.00,0.000,4,0.000,0.074,3118,984,3350
$GC,11068,-0.60,-117.3,674.3,-6.5,331,11072,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2400,3350
$GC,11406,-0.60,-117.3,694.8,-6.2,337,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3350
$GC,11709,-0.60,-117.3,713.4,-6.1,342,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3350
$GC,12012,-0.60,-117.3,730.1,-5.5,347,12016,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,983,3350
$GC,12055,-0.60,-117.3,732.7,-5.7,347,12059,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2398,3349
$GC,12376,-0.60,-117.3,749.4,-5.2,353,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3349
$GC,12680,-0.60,-117.3,764.7,-5.0,358,12684,0.00,2.30,0.00,0.000,4,0.000,0.074,3113,992,3349
$GC,12707,-0.60,-117.3,766.2,-5.8,358,12711,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2400,3349
$GC,13044,-0.60,-117.3,783.4,-5.1,364,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3349
$GC,13348,-0.60,-117.3,799.8,-5.5,369,13352,0.00,2.30,0.00,0.000,4,0.000,0.075,3113,993,3349
$GC,13380,-0.60,-117.3,801.8,-5.6,369,13385,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2398,3349
$GC,13713,-0.60,-117.3,819.9,-5.5,375,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3349
$GC,14015,-0.60,-117.3,837.4,-5.8,380,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3349
$GC,14318,-0.60,-117.3,854.5,-5.6,385,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3349
$GC,14623,-0.64,-117.3,871.5,-5.6,390,14627,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,985,3349
$GC,14645,-0.69,-117.3,872.9,-5.6,390,14649,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2404,3349
$GC,14988,-0.74,-117.3,890.5,-5.1,396,14989,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3348
$GC,15292,-0.78,-117.3,905.5,-4.9,401,15293,0.15,0.00,0.00,0.000,6,0.091,0.000,3057,2405,3348
$GC,15594,-0.72,-117.3,923.1,-5.8,406,15595,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2405,3348
$GC,15897,-0.65,-117.3,940.3,-5.7,411,15902,0.15,2.33,0.00,0.000,4,0.130,0.075,3106,991,3348
$GC,15940,-0.65,-117.3,942.7,-5.3,411,15944,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2402,3348
$GC,16261,-0.65,-117.3,956.9,-4.4,417,16262,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2402,3348
$GC,16565,-0.65,-117.3,971.4,-4.8,422,16569,0.00,2.33,0.00,0.000,4,0.000,0.076,3106,987,3348
$GC,16596,-0.65,-117.3,973.3,-5.7,422,16601,0.00,2.33,0.00,0.000,6,0.000,0.067,3106,2402,3347
$STATE,16927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16927,begin apogee
$GC,16932,-0.22,0.0,990.9,5.4,428,17034,0.45,0.00,99.68,1.504,6,0.149,0.000,3244,2202,2876
$STATE,17035,end apogee,CONTROL_FINISHED_OK
$STATE,17035,begin climb
$GC,17037,0.67,117.3,992.8,0.0,429,17145,0.85,0.00,104.40,1.450,6,0.100,0.000,3523,2202,2398
$GC,17402,0.32,117.3,976.6,7.5,435,17404,0.38,0.00,0.00,0.000,6,0.178,0.000,3424,2202,2394
$GC,17705,0.26,127.9,961.8,4.7,440,17720,0.00,2.42,10.43,1.303,4,0.000,0.081,3424,789,2353
$GC,17753,0.30,157.5,959.5,4.2,440,17784,0.00,2.38,26.70,1.405,6,0.000,0.063,3424,2213,2233
$GC,18127,0.30,157.5,939.2,5.5,447,18128,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2213,2231
$GC,18430,0.30,157.5,922.0,5.7,452,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2212,2230
$GC,18733,0.30,157.5,903.2,6.2,457,18737,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,791,2230
$GC,18781,0.30,157.5,900.1,6.6,457,18786,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2202,2230
$GC,19096,0.30,157.5,879.6,6.6,463,19101,0.00,2.33,0.00,0.000,4,0.000,0.081,3424,3608,2230
$GC,19123,0.23,157.5,877.6,6.4,463,19128,0.12,2.33,0.00,0.000,6,0.187,0.066,3395,2200,2229
$GC,19461,0.30,157.5,857.2,6.1,469,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2200,2229
$GC,19764,0.38,157.5,837.3,6.6,474,19766,0.15,0.00,0.00,0.000,6,0.094,0.000,3450,2200,2229
$GC,20067,0.30,157.5,811.9,8.5,479,20068,0.12,0.00,0.00,0.000,6,0.160,0.000,3419,2200,2229
$GC,20369,0.30,157.5,789.9,7.1,484,20370,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2229
$GC,20674,0.30,157.5,769.5,6.7,489,20675,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2229
$GC,20975,0.30,157.5,749.9,6.5,494,20977,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2229
$GC,21278,0.30,157.5,731.9,5.8,499,21280,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2229
$GC,21583,0.30,157.5,716.4,5.1,504,21584,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2229
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$STATE,33196,end climb,SURFACE_DEPTH_REACHED
$STATE,33196,begin surface coast
$FINISH,3.7,1.024736
$STATE,33270,end surface coast,CONTROL_FINISHED_OK
$STATE,33270,begin surface
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$10V_AH,10.7,15.600
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$DEVICE_SECS,30.550,227.775,361.000,9.175,0.000,30.688,25.319,164.596,257.250,0.000,0.000,34.405,1899.574,28253.375,567.156,2434.145,483.024,33.371,1775.326,0.000,2406.033,0.000,0.465
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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,50561,879
$CAP_FILE_SIZE,196466,0
$CFSIZE,260165632,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111008,035851,5017.730,-14427.619,47,2.7,66,18.7