version: 66.03
glider: 120
mission: 9
dive: 150
start: 10 23 108 8 18 50
data:
$ID,120
$MISSION,9
$DIVE,150
$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,-20850.727
$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
$GPS1,081207,5001.724,-14455.659,50,1.7,50,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-59.1
$GPS2,081756,5001.746,-14455.536,14,1.7,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.131,0.120
$KALMAN_X,41026.7,136.7,139.0,-48211.9,-1931.9
$KALMAN_Y,116721.4,-338.3,-30.8,-123383.3,1546.8
$MHEAD_RNG_PITCHd_Wd,29.1,12017,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,28,0.00,0.00,-6.72,0.000,2,0.000,0.000,148,2402,964
$GC,31,-0.67,-117.3,3.3,-0.0,1,149,12.00,2.47,-100.05,0.000,4,0.242,0.089,3089,3816,3356
$GC,378,-0.33,-117.3,41.5,-16.7,32,386,0.35,2.33,0.00,0.000,6,0.166,0.054,3208,2387,3358
$GC,706,-0.66,-117.3,66.0,-5.3,63,711,0.28,2.25,0.00,0.000,4,0.089,0.064,3108,994,3359
$GC,745,-0.66,-117.3,68.6,-6.3,66,749,0.00,2.30,0.00,0.000,6,0.000,0.058,3108,2413,3359
$GC,1074,-0.75,-117.3,97.3,-8.9,88,1078,0.00,2.33,0.00,0.000,4,0.000,0.065,3108,992,3359
$GC,1136,-0.59,-117.3,102.5,-8.3,91,1140,0.00,2.28,0.00,0.000,6,0.000,0.059,3108,2402,3360
$GC,1463,-0.44,-117.3,135.3,-10.0,107,1468,0.20,2.35,0.00,0.000,4,0.163,0.076,3168,3811,3360
$GC,1483,-0.44,-117.3,137.2,-8.2,108,1488,0.00,2.28,0.00,0.000,6,0.000,0.051,3168,2394,3360
$GC,1800,-0.74,-117.3,157.1,-7.0,122,1805,0.25,2.28,0.00,0.000,4,0.085,0.067,3078,994,3360
$GC,1843,-0.59,-117.3,160.8,-8.4,123,1848,0.17,2.28,0.00,0.000,6,0.160,0.060,3122,2403,3360
$GC,2167,-0.73,-117.3,184.6,-7.4,134,2172,0.12,2.30,0.00,0.000,4,0.086,0.076,3075,3810,3360
$GC,2331,-0.58,-117.3,198.4,-9.0,139,2336,0.20,2.25,0.00,0.000,6,0.151,0.055,3131,2395,3360
$GC,2665,-0.58,-117.3,220.2,-6.2,150,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2395,3359
$GC,2971,-0.58,-117.3,239.6,-6.4,160,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2395,3359
$GC,3277,-0.58,-117.3,257.5,-5.8,170,3281,0.00,2.30,0.00,0.000,4,0.000,0.071,3131,987,3358
$GC,3314,-0.58,-117.3,259.8,-5.9,171,3319,0.00,2.33,0.00,0.000,6,0.000,0.062,3128,2404,3358
$GC,3644,-0.58,-117.3,280.3,-6.5,182,3648,0.00,2.33,0.00,0.000,4,0.000,0.071,3128,989,3358
$GC,3692,-0.58,-117.3,283.8,-7.1,183,3697,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2406,3358
$GC,4010,-0.58,-117.3,306.0,-7.1,193,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3357
$GC,4314,-0.58,-117.3,325.4,-6.3,198,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3356
$GC,4616,-0.58,-117.3,343.4,-5.9,203,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2406,3356
$GC,4919,-0.58,-117.3,362.0,-6.2,208,4924,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,996,3355
$GC,4969,-0.62,-117.3,365.5,-7.1,208,4973,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2410,3355
$GC,5284,-0.62,-117.3,386.3,-6.7,214,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2410,3355
$GC,5587,-0.62,-117.3,406.2,-6.6,219,5591,0.00,2.33,0.00,0.000,4,0.000,0.072,3128,991,3355
$GC,5614,-0.66,-117.3,408.1,-7.5,219,5618,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2412,3354
$GC,5951,-0.66,-117.3,429.1,-6.2,225,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2412,3354
$GC,6255,-0.70,-117.3,447.2,-5.9,230,6259,0.12,2.33,0.00,0.000,4,0.092,0.071,3078,996,3354
$GC,6287,-0.61,-117.3,449.6,-7.8,230,6291,0.15,2.28,0.00,0.000,6,0.162,0.064,3118,2401,3353
$GC,6618,-0.61,-117.3,471.7,-6.6,236,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2401,3353
$GC,6922,-0.61,-117.3,491.0,-6.4,241,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2401,3353
$GC,7225,-0.61,-117.3,509.5,-6.1,246,7229,0.00,2.33,0.00,0.000,4,0.000,0.073,3118,990,3353
$GC,7257,-0.61,-117.3,511.8,-6.8,246,7261,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2404,3352
$GC,7589,-0.61,-117.3,532.8,-6.4,252,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3352
$GC,7892,-0.61,-117.3,552.4,-6.5,257,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3352
$GC,8196,-0.61,-117.3,571.7,-6.3,262,8200,0.00,2.33,0.00,0.000,4,0.000,0.073,3113,996,3352
$GC,8239,-0.61,-117.3,574.6,-6.1,262,8243,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2395,3351
$GC,8560,-0.61,-117.3,592.3,-5.4,268,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3351
$GC,8863,-0.61,-117.3,607.3,-4.9,273,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3351
$GC,9167,-0.61,-117.3,621.6,-4.8,278,9171,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,991,3351
$GC,9193,-0.61,-117.3,623.0,-4.8,278,9198,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2402,3351
$GC,9531,-0.61,-117.3,640.0,-5.0,284,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3351
$GC,9834,-0.61,-117.3,657.0,-5.7,289,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3351
$GC,10138,-0.61,-117.3,675.0,-6.0,294,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3350
$GC,10440,-0.61,-117.3,693.1,-5.9,299,10444,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,996,3350
$GC,10495,-0.66,-117.3,696.3,-5.8,299,10502,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2406,3350
$GC,10805,-0.66,-117.3,712.4,-5.2,305,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3350
$GC,11108,-0.66,-117.3,726.9,-4.8,310,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3350
$GC,11411,-0.66,-117.3,741.6,-4.9,315,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3350
$GC,11714,-0.66,-117.3,758.8,-5.8,320,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3350
$GC,12017,-0.66,-117.3,777.2,-6.1,325,12021,0.00,2.35,0.00,0.000,4,0.000,0.075,3113,987,3349
$GC,12054,-0.71,-117.3,779.7,-6.4,325,12058,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2399,3349
$GC,12381,-0.71,-117.3,798.5,-5.8,331,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3349
$GC,12684,-0.75,-117.3,815.0,-5.3,336,12686,0.12,0.00,0.00,0.000,6,0.091,0.000,3064,2399,3349
$GC,12987,-0.70,-117.3,833.2,-6.0,341,12991,0.00,2.33,0.00,0.000,4,0.000,0.075,3064,993,3349
$GC,13032,-0.61,-117.3,836.4,-6.7,341,13036,0.20,2.30,0.00,0.000,6,0.159,0.067,3116,2405,3349
$GC,13347,-0.67,-117.3,851.6,-4.8,347,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2405,3349
$GC,13649,-0.73,-117.3,866.5,-4.9,352,13653,0.00,2.33,0.00,0.000,4,0.000,0.075,3116,996,3348
$GC,13682,-0.79,-117.3,868.5,-5.5,352,13687,0.15,2.30,0.00,0.000,6,0.089,0.067,3059,2408,3348
$GC,14014,-0.72,-117.3,890.6,-6.8,358,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2408,3348
$GC,14317,-0.64,-117.3,911.1,-6.7,363,14322,0.15,2.35,0.00,0.000,4,0.134,0.084,3100,3810,3348
$GC,14349,-0.64,-117.3,913.1,-6.4,363,14353,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2409,3348
$GC,14681,-0.64,-117.3,931.6,-5.6,369,14685,0.00,2.35,0.00,0.000,4,0.000,0.076,3100,984,3348
$GC,14707,-0.64,-117.3,933.2,-5.8,369,14711,0.00,2.35,0.00,0.000,6,0.000,0.066,3100,2404,3348
$GC,15045,-0.64,-117.3,952.1,-5.7,375,15049,0.00,2.35,0.00,0.000,4,0.000,0.086,3099,3813,3348
$GC,15077,-0.64,-117.3,954.0,-5.8,375,15081,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2397,3348
$GC,15409,-0.64,-117.3,972.7,-5.6,381,15410,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3348
$GC,15712,-0.64,-117.3,990.0,-5.7,386,15713,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3348
$STATE,15771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15771,begin apogee
$GC,15776,-0.22,0.0,993.4,5.8,387,15879,0.47,0.00,101.03,1.502,6,0.146,0.000,3243,2200,2876
$STATE,15880,end apogee,CONTROL_FINISHED_OK
$STATE,15880,begin climb
$GC,15882,0.67,117.3,995.5,0.0,388,15992,0.90,0.00,106.18,1.450,6,0.094,0.000,3534,2201,2397
$GC,16256,0.29,117.3,977.1,8.2,395,16262,0.43,2.47,0.00,0.000,4,0.179,0.081,3414,3614,2393
$GC,16294,0.20,117.3,974.4,6.3,395,16299,0.15,2.40,0.00,0.000,6,0.179,0.064,3388,2190,2393
$GC,16621,0.28,146.1,960.7,4.2,401,16648,0.00,0.00,25.48,1.417,6,0.000,0.000,3388,2190,2279
$GC,16924,0.39,169.7,947.6,4.3,406,16953,0.15,2.53,21.45,1.398,4,0.086,0.082,3451,3606,2183
$GC,16992,0.22,169.7,943.0,7.2,407,16997,0.22,2.38,0.00,0.000,6,0.171,0.067,3393,2197,2181
$GC,17358,0.31,169.7,924.2,5.2,413,17362,0.00,2.38,0.00,0.000,4,0.000,0.081,3394,785,2181
$GC,17395,0.42,169.7,922.1,5.7,413,17400,0.17,2.33,0.00,0.000,6,0.087,0.063,3459,2199,2181
$GC,17721,0.32,169.7,898.1,7.6,419,17723,0.15,0.00,0.00,0.000,6,0.156,0.000,3420,2200,2181
$GC,18024,0.32,169.7,877.1,6.9,424,18028,0.00,2.35,0.00,0.000,4,0.000,0.081,3420,3613,2181
$GC,18057,0.27,169.7,874.7,7.0,424,18061,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2189,2181
$GC,18389,0.27,169.7,852.0,6.7,430,18390,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2189,2180
$GC,18692,0.27,169.7,834.0,5.9,435,18696,0.00,2.33,0.00,0.000,4,0.000,0.082,3421,790,2180
$GC,18731,0.27,169.7,831.8,5.1,435,18735,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2207,2180
$GC,19051,0.28,175.7,816.0,4.8,441,19060,0.00,0.00,6.47,1.157,6,0.000,0.000,3421,2207,2158
$GC,19421,0.29,187.3,798.6,4.7,447,19437,0.00,2.42,11.43,1.287,4,0.000,0.080,3421,780,2111
$GC,19476,0.37,201.9,795.9,4.6,447,19496,0.00,2.33,14.12,1.295,6,0.000,0.064,3421,2201,2051
$GC,19852,0.42,201.9,773.7,6.2,454,19856,0.00,2.38,0.00,0.000,4,0.000,0.082,3421,3616,2049
$GC,19878,0.42,201.9,771.6,7.4,454,19883,0.00,2.35,0.00,0.000,6,0.000,0.066,3421,2205,2049
$GC,20217,0.48,201.9,748.7,6.8,460,20219,0.15,0.00,0.00,0.000,6,0.092,0.000,3478,2204,2048
$GC,20519,0.37,201.9,720.9,9.4,465,20521,0.15,0.00,0.00,0.000,6,0.158,0.000,3440,2204,2048
$GC,20822,0.37,201.9,696.7,7.8,470,20823,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2204,2048
$GC,21126,0.37,201.9,674.3,7.4,475,21127,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2204,2048
$GC,21428,0.37,201.9,652.9,7.0,480,21429,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2204,2048
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$STATE,31712,end climb,SURFACE_DEPTH_REACHED
$STATE,31712,begin surface coast
$FINISH,2.4,1.001151
$STATE,31777,end surface coast,CONTROL_FINISHED_OK
$STATE,31777,begin surface
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$HUMID,2130
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$10V_AH,10.7,19.985
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$DEVICE_SECS,29.600,215.025,367.900,0.000,0.000,29.792,33.505,159.858,241.500,0.000,0.000,31.312,1774.611,27016.018,589.692,2333.678,482.813,33.374,1738.590,0.000,2291.996,0.000,0.465
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$DATA_FILE_SIZE,47560,823
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$CFSIZE,260165632,247025664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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