version: 66.03
glider: 120
mission: 9
dive: 302
start: 12 20 108 3 45 31
data:
$ID,120
$MISSION,9
$DIVE,302
$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,-23968.678
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,033808,5018.085,-14512.877,73,1.8,73,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.99
$_SM_ANGLEo,-75.6
$GPS2,034437,5018.026,-14512.895,33,1.5,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,-0.176
$KALMAN_X,29952.3,98.1,-262.7,-57316.3,1048.7
$KALMAN_Y,230900.0,-43.0,116.3,-207874.9,359.3
$MHEAD_RNG_PITCHd_Wd,168.7,44489,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.55,0.000,2,0.000,0.000,148,2411,1938
$GC,38,-0.67,-117.3,3.8,-0.0,1,117,13.90,2.45,-58.62,0.000,4,0.285,0.096,3094,3808,3356
$GC,371,-0.51,-117.3,35.4,-10.2,31,376,0.20,2.35,0.00,0.000,6,0.157,0.054,3150,2393,3358
$GC,696,-0.51,-117.3,58.2,-7.9,61,700,0.00,2.45,0.00,0.000,4,0.000,0.080,3150,3812,3358
$GC,746,-0.51,-117.3,62.4,-8.1,65,751,0.00,2.35,0.00,0.000,6,0.000,0.053,3150,2393,3358
$GC,1079,-0.51,-117.3,89.6,-7.6,90,1083,0.00,2.38,0.00,0.000,4,0.000,0.068,3150,989,3358
$GC,1163,-0.51,-117.3,95.1,-6.4,94,1168,0.00,2.33,0.00,0.000,6,0.000,0.062,3150,2414,3359
$GC,1490,-0.51,-117.3,115.3,-6.4,110,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2414,3359
$GC,1799,-0.51,-117.3,135.4,-6.3,125,1803,0.00,2.35,0.00,0.000,4,0.000,0.080,3150,3810,3359
$GC,1832,-0.59,-117.3,137.5,-6.4,126,1836,0.00,2.33,0.00,0.000,6,0.000,0.052,3150,2397,3359
$GC,2163,-0.67,-117.3,155.8,-5.3,141,2168,0.15,2.40,0.00,0.000,4,0.084,0.067,3093,987,3359
$GC,2201,-0.67,-117.3,158.8,-7.7,142,2205,0.00,2.30,0.00,0.000,6,0.000,0.061,3093,2409,3359
$GC,2525,-0.81,-117.3,182.8,-7.4,153,2529,0.12,2.42,0.00,0.000,4,0.089,0.067,3052,985,3359
$GC,2694,-0.64,-117.3,197.4,-9.0,158,2699,0.20,2.30,0.00,0.000,6,0.160,0.063,3108,2401,3359
$GC,3023,-0.64,-117.3,219.7,-6.7,169,3027,0.00,2.40,0.00,0.000,4,0.000,0.068,3108,990,3359
$GC,3055,-0.64,-117.3,222.0,-7.3,170,3059,0.00,2.33,0.00,0.000,6,0.000,0.062,3108,2404,3359
$GC,3391,-0.64,-117.3,244.1,-6.4,181,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3359
$GC,3697,-0.64,-117.3,262.7,-5.9,191,3701,0.00,2.40,0.00,0.000,4,0.000,0.069,3108,993,3359
$GC,3718,-0.64,-117.3,264.0,-6.2,191,3724,0.00,2.33,0.00,0.000,6,0.000,0.064,3108,2404,3359
$GC,4030,-0.64,-117.3,282.3,-5.9,202,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,3359
$GC,4337,-0.64,-117.3,302.1,-6.6,212,4341,0.00,2.35,0.00,0.000,4,0.000,0.082,3107,3815,3359
$GC,4364,-0.64,-117.3,304.1,-7.3,212,4368,0.00,2.33,0.00,0.000,6,0.000,0.054,3108,2396,3359
$GC,4708,-0.64,-117.3,328.1,-7.1,218,4712,0.00,2.45,0.00,0.000,4,0.000,0.081,3108,3817,3358
$GC,4740,-0.64,-117.3,330.6,-7.6,218,4745,0.00,2.35,0.00,0.000,6,0.000,0.054,3108,2397,3358
$GC,5067,-0.64,-117.3,353.9,-7.2,224,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2396,3358
$GC,5370,-0.64,-117.3,374.9,-6.9,229,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2397,3358
$GC,5673,-0.64,-117.3,393.8,-6.2,234,5677,0.00,2.45,0.00,0.000,4,0.000,0.082,3108,3814,3358
$GC,5694,-0.64,-117.3,395.1,-5.8,234,5698,0.00,2.35,0.00,0.000,6,0.000,0.055,3109,2396,3358
$GC,6038,-0.64,-117.3,416.0,-6.2,240,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2396,3358
$GC,6341,-0.64,-117.3,435.0,-6.2,245,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2396,3357
$GC,6644,-0.64,-117.3,454.7,-6.6,250,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2396,3357
$GC,6947,-0.64,-117.3,474.1,-6.3,255,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2396,3357
$GC,7250,-0.64,-117.3,492.7,-6.1,260,7255,0.00,2.42,0.00,0.000,4,0.000,0.072,3108,995,3356
$GC,7277,-0.64,-117.3,494.5,-6.6,260,7282,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2393,3357
$GC,7616,-0.64,-117.3,513.6,-5.6,266,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2394,3357
$GC,7918,-0.64,-117.3,530.8,-5.7,271,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2392,3357
$GC,8221,-0.64,-117.3,548.8,-6.0,276,8226,0.00,2.42,0.00,0.000,4,0.000,0.072,3108,990,3356
$GC,8255,-0.68,-117.3,550.9,-6.6,276,8259,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2403,3356
$GC,8581,-0.72,-117.3,570.9,-6.1,282,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2403,3356
$GC,8884,-0.76,-117.3,590.0,-6.4,287,8886,0.12,0.00,0.00,0.000,6,0.087,0.000,3060,2403,3355
$GC,9188,-0.72,-117.3,611.7,-7.1,292,9192,0.00,2.45,0.00,0.000,4,0.000,0.071,3060,985,3356
$GC,9226,-0.65,-117.3,614.7,-7.9,292,9231,0.17,2.35,0.00,0.000,6,0.149,0.065,3107,2403,3355
$GC,9547,-0.70,-117.3,633.4,-5.7,298,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3356
$GC,9850,-0.74,-117.3,650.8,-5.8,303,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2403,3355
$GC,10153,-0.79,-117.3,667.6,-5.5,308,10155,0.15,0.00,0.00,0.000,6,0.084,0.000,3050,2403,3355
$GC,10456,-0.73,-117.3,688.2,-6.8,313,10458,0.10,0.00,0.00,0.000,6,0.104,0.000,3078,2403,3355
$GC,10759,-0.73,-117.3,708.2,-6.5,318,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3355
$GC,11062,-0.73,-117.3,728.6,-6.8,323,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3355
$GC,11365,-0.73,-117.3,748.7,-6.6,328,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3355
$GC,11668,-0.73,-117.3,767.8,-6.3,333,11672,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3813,3354
$GC,11705,-0.73,-117.3,770.3,-7.2,333,11710,0.00,2.35,0.00,0.000,6,0.000,0.057,3073,2403,3354
$GC,12032,-0.73,-117.3,791.3,-6.5,339,12036,0.00,2.40,0.00,0.000,4,0.000,0.072,3073,990,3354
$GC,12059,-0.73,-117.3,793.0,-6.7,339,12063,0.00,2.30,0.00,0.000,6,0.000,0.064,3073,2404,3354
$GC,12390,-0.73,-117.3,814.6,-6.6,345,12394,0.00,2.35,0.00,0.000,4,0.000,0.084,3073,3808,3354
$GC,12428,-0.73,-117.3,817.3,-7.2,345,12432,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2393,3354
$GC,12754,-0.73,-117.3,839.2,-6.7,351,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3354
$GC,13058,-0.73,-117.3,859.9,-6.9,356,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3354
$GC,13361,-0.73,-117.3,881.6,-7.1,361,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2393,3354
$GC,13664,-0.73,-117.3,903.8,-7.3,366,13668,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3811,3353
$GC,13702,-0.73,-117.3,906.7,-7.3,366,13706,0.00,2.38,0.00,0.000,6,0.000,0.058,3073,2392,3353
$GC,14029,-0.73,-117.3,929.3,-6.9,372,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3353
$GC,14331,-0.73,-117.3,949.2,-6.5,377,14336,0.00,2.45,0.00,0.000,4,0.000,0.084,3073,3807,3353
$GC,14370,-0.73,-117.3,951.9,-7.0,377,14374,0.00,2.35,0.00,0.000,6,0.000,0.058,3073,2394,3353
$GC,14696,-0.73,-117.3,972.1,-6.2,383,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3353
$STATE,14998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14998,begin apogee
$GC,15004,-0.22,0.0,992.2,6.6,388,15114,0.57,0.00,106.88,1.493,6,0.146,0.000,3244,2189,2876
$STATE,15114,end apogee,CONTROL_FINISHED_OK
$STATE,15115,begin climb
$GC,15117,0.67,117.3,994.2,0.0,389,15240,0.88,2.80,111.43,1.435,4,0.089,0.077,3535,794,2395
$GC,15304,0.32,117.3,993.5,7.6,391,15311,0.43,2.45,0.00,0.000,6,0.181,0.063,3427,2201,2394
$GC,15614,0.29,121.8,978.1,4.9,397,15621,0.00,0.00,5.12,1.039,6,0.000,0.000,3427,2201,2379
$GC,15917,0.29,121.8,962.8,5.0,402,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2201,2379
$GC,16221,0.25,127.9,948.1,4.8,407,16234,0.00,2.45,7.18,1.213,4,0.000,0.080,3428,3608,2354
$GC,16292,0.15,127.9,944.0,6.4,408,16297,0.25,2.40,0.00,0.000,6,0.169,0.063,3370,2196,2353
$GC,16652,0.35,171.1,930.5,3.8,414,16694,0.20,0.00,39.38,1.434,6,0.083,0.000,3444,2196,2178
$GC,16955,0.35,171.1,911.1,6.5,419,16959,0.00,2.47,0.00,0.000,4,0.000,0.082,3445,3615,2174
$GC,16990,0.27,171.1,908.4,7.9,419,16995,0.17,2.45,0.00,0.000,6,0.166,0.064,3403,2194,2174
$GC,17316,0.37,171.1,889.6,5.8,425,17318,0.10,0.00,0.00,0.000,6,0.095,0.000,3442,2194,2174
$GC,17620,0.42,171.1,869.2,6.8,430,17624,0.00,2.45,0.00,0.000,4,0.000,0.080,3443,784,2174
$GC,17652,0.42,171.1,866.6,7.3,430,17656,0.00,2.33,0.00,0.000,6,0.000,0.064,3443,2209,2173
$GC,17984,0.42,171.1,842.4,7.3,436,17985,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2209,2174
$GC,18287,0.42,171.1,821.0,7.0,441,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2209,2173
$GC,18591,0.42,171.1,800.5,6.7,446,18593,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2209,2173
$GC,18894,0.42,171.1,780.5,6.5,451,18895,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2209,2173
$GC,19197,0.42,171.1,762.0,6.0,456,19198,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2209,2173
$GC,19500,0.42,171.1,745.4,5.5,461,19501,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2209,2173
$GC,19803,0.42,171.1,729.9,5.1,466,19807,0.00,2.47,0.00,0.000,4,0.000,0.079,3445,792,2173
$GC,19847,0.42,171.1,727.6,5.7,466,19851,0.00,2.30,0.00,0.000,6,0.000,0.064,3445,2200,2173
$GC,20162,0.42,174.3,712.1,4.9,472,20163,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2199,2173
$GC,20465,0.42,174.3,696.5,5.1,477,20469,0.00,2.45,0.00,0.000,4,0.000,0.080,3445,786,2173
$GC,20503,0.42,174.3,694.2,6.1,477,20507,0.00,2.33,0.00,0.000,6,0.000,0.065,3445,2211,2173
$GC,20830,0.42,174.3,676.4,5.5,483,20831,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2211,2173
$GC,21133,0.42,174.3,659.2,5.6,488,21134,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2210,2173
$GC,21436,0.42,174.3,640.5,6.3,493,21437,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2211,2172
$GC,21739,0.42,174.3,620.5,6.7,498,21740,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2211,2172
$GC,22043,0.42,174.3,600.1,6.8,503,22044,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2211,2173
$GC,22345,0.42,174.3,580.0,6.6,508,22346,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2211,2173
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$STATE,32629,end climb,SURFACE_DEPTH_REACHED
$STATE,32629,begin surface coast
$FINISH,6.5,1.025475
$STATE,32637,end surface coast,CONTROL_FINISHED_OK
$STATE,32637,begin surface
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$10V_AH,10.6,40.352
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$DEVICE_SECS,28.750,186.850,353.625,30.875,0.000,30.810,27.956,180.619,241.000,0.000,0.000,33.078,1775.999,27816.869,554.579,2304.761,620.277,33.380,1676.145,0.000,2261.073,0.000,0.465
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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,47639,848
$CAP_FILE_SIZE,175912,0
$CFSIZE,260165632,235143168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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