version: 66.03
glider: 120
mission: 9
dive: 320
start: 12 27 108 0 26 4
data:
$ID,120
$MISSION,9
$DIVE,320
$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,-24400.863
$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,20
$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
$GPS1,001838,5016.623,-14434.068,31,1.6,31,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-64.7
$GPS2,002509,5016.629,-14434.003,14,1.1,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.116,0.135
$KALMAN_X,21595.0,158.3,-21.5,-3059.5,-1453.9
$KALMAN_Y,241867.3,63.7,-183.9,-221226.3,-246.1
$MHEAD_RNG_PITCHd_Wd,21.9,9491,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.45,0.000,2,0.000,0.000,135,2411,1747
$GC,40,-0.67,-117.3,3.7,-0.0,1,137,13.80,2.53,-73.55,0.000,4,0.280,0.087,3096,990,3356
$GC,378,-0.46,-117.3,29.3,-13.2,31,385,0.25,2.33,0.00,0.000,6,0.158,0.064,3166,2409,3357
$GC,705,-0.51,-117.3,49.6,-4.2,62,709,0.00,2.38,0.00,0.000,4,0.000,0.070,3167,983,3357
$GC,740,-0.57,-117.3,51.7,-5.7,65,744,0.00,2.35,0.00,0.000,6,0.000,0.061,3167,2404,3358
$GC,1065,-0.57,-117.3,73.3,-8.8,95,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2404,3358
$GC,1388,-0.61,-117.3,94.0,-6.7,116,1390,0.15,0.00,0.00,0.000,6,0.081,0.000,3108,2405,3358
$GC,1697,-0.61,-117.3,121.5,-8.9,131,1701,0.00,2.35,0.00,0.000,4,0.000,0.080,3108,3809,3358
$GC,1804,-0.54,-117.3,129.3,-6.5,135,1811,0.12,2.30,0.00,0.000,6,0.137,0.054,3140,2386,3359
$GC,2129,-0.54,-117.3,152.7,-6.5,151,2133,0.00,2.33,0.00,0.000,4,0.000,0.069,3140,993,3359
$GC,2190,-0.61,-117.3,156.1,-5.7,152,2196,0.00,2.28,0.00,0.000,6,0.000,0.061,3141,2401,3359
$GC,2503,-0.69,-117.3,174.1,-5.8,163,2505,0.15,0.00,0.00,0.000,6,0.081,0.000,3081,2402,3359
$GC,2809,-0.65,-117.3,197.9,-8.1,173,2813,0.00,2.38,0.00,0.000,4,0.000,0.068,3081,995,3358
$GC,2844,-0.57,-117.3,201.0,-9.1,174,2849,0.17,2.30,0.00,0.000,6,0.150,0.062,3128,2413,3358
$GC,3179,-0.61,-117.3,221.0,-6.0,185,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2413,3359
$GC,3485,-0.66,-117.3,239.7,-6.2,195,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2413,3359
$GC,3792,-0.71,-117.3,257.5,-5.7,205,3794,0.12,0.00,0.00,0.000,6,0.085,0.000,3080,2413,3359
$GC,4097,-0.71,-117.3,277.0,-6.4,215,4101,0.00,2.40,0.00,0.000,4,0.000,0.071,3080,992,3358
$GC,4125,-0.66,-117.3,278.9,-6.6,215,4131,0.00,2.33,0.00,0.000,6,0.000,0.062,3080,2399,3358
$GC,4438,-0.59,-117.3,299.5,-6.7,226,4443,0.15,2.35,0.00,0.000,4,0.150,0.081,3124,3812,3358
$GC,4477,-0.66,-117.3,301.8,-5.0,227,4481,0.00,2.25,0.00,0.000,6,0.000,0.054,3123,2400,3358
$GC,4798,-0.72,-117.3,319.3,-5.5,233,4803,0.12,2.38,0.00,0.000,4,0.087,0.070,3078,988,3358
$GC,4825,-0.72,-117.3,321.2,-7.1,233,4829,0.00,2.28,0.00,0.000,6,0.000,0.062,3078,2403,3358
$GC,5163,-0.65,-117.3,345.0,-7.1,239,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3358
$GC,5466,-0.59,-117.3,366.5,-7.1,244,5470,0.15,2.38,0.00,0.000,4,0.152,0.081,3124,3806,3357
$GC,5493,-0.65,-117.3,368.2,-6.1,244,5497,0.00,2.30,0.00,0.000,6,0.000,0.054,3124,2397,3358
$GC,5825,-0.72,-117.3,387.0,-5.7,250,5829,0.12,2.40,0.00,0.000,4,0.090,0.071,3079,990,3357
$GC,5874,-0.72,-117.3,390.7,-7.4,250,5878,0.00,2.30,0.00,0.000,6,0.000,0.062,3078,2404,3357
$GC,6189,-0.68,-117.3,413.3,-7.3,256,6193,0.00,2.38,0.00,0.000,4,0.000,0.071,3078,985,3357
$GC,6211,-0.68,-117.3,415.0,-7.4,256,6215,0.00,2.30,0.00,0.000,6,0.000,0.064,3079,2412,3357
$GC,6555,-0.62,-117.3,440.6,-7.6,262,6560,0.12,2.38,0.00,0.000,4,0.153,0.071,3118,988,3356
$GC,6599,-0.68,-117.3,444.0,-7.3,262,6603,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2403,3357
$GC,6914,-0.72,-117.3,465.8,-7.0,268,6918,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,992,3357
$GC,6942,-0.77,-117.3,467.8,-7.2,268,6947,0.15,2.30,0.00,0.000,6,0.083,0.063,3057,2411,3356
$GC,7274,-0.72,-117.3,494.6,-8.1,274,7278,0.00,2.33,0.00,0.000,4,0.000,0.081,3057,3808,3356
$GC,7324,-0.61,-117.3,499.1,-9.3,274,7329,0.22,2.25,0.00,0.000,6,0.139,0.056,3121,2390,3356
$GC,7633,-0.68,-117.3,518.0,-6.0,279,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2390,3356
$GC,7937,-0.78,-117.3,534.9,-5.6,284,7941,0.17,2.38,0.00,0.000,4,0.087,0.071,3055,996,3356
$GC,7975,-0.78,-117.3,537.9,-7.3,284,7979,0.00,2.30,0.00,0.000,6,0.000,0.063,3055,2413,3356
$GC,8296,-0.85,-117.3,562.5,-7.8,290,8300,0.00,2.33,0.00,0.000,4,0.000,0.081,3055,3807,3356
$GC,8441,-0.75,-117.3,574.5,-8.7,292,8445,0.00,2.25,0.00,0.000,6,0.000,0.058,3055,2394,3356
$GC,8790,-0.65,-117.3,603.0,-8.2,298,8792,0.17,0.00,0.00,0.000,6,0.162,0.000,3103,2391,3356
$GC,9092,-0.65,-117.3,622.4,-6.3,303,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2392,3356
$GC,9395,-0.65,-117.3,641.2,-6.3,308,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2392,3356
$GC,9698,-0.65,-117.3,660.5,-6.4,313,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2391,3356
$GC,10002,-0.65,-117.3,680.8,-6.7,318,10006,0.00,2.47,0.00,0.000,4,0.000,0.081,3099,3810,3355
$GC,10035,-0.69,-117.3,683.1,-6.9,318,10039,0.00,2.30,0.00,0.000,6,0.000,0.056,3099,2396,3355
$GC,10367,-0.69,-117.3,703.6,-6.1,324,10371,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,986,3355
$GC,10393,-0.69,-117.3,705.4,-6.7,324,10398,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2408,3355
$GC,10732,-0.69,-117.3,725.2,-5.9,330,10736,0.00,2.35,0.00,0.000,4,0.000,0.082,3099,3819,3355
$GC,10759,-0.74,-117.3,726.9,-6.1,330,10763,0.00,2.25,0.00,0.000,6,0.000,0.058,3099,2400,3355
$GC,11097,-0.79,-117.3,747.1,-6.0,336,11102,0.12,2.35,0.00,0.000,4,0.092,0.071,3052,994,3354
$GC,11147,-0.73,-117.3,750.8,-7.5,336,11152,0.10,2.30,0.00,0.000,6,0.150,0.063,3077,2406,3354
$GC,11457,-0.73,-117.3,771.5,-6.6,341,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2406,3354
$GC,11760,-0.73,-117.3,792.1,-6.8,346,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2406,3354
$GC,12063,-0.73,-117.3,812.6,-6.7,351,12067,0.00,2.35,0.00,0.000,4,0.000,0.084,3073,3811,3354
$GC,12107,-0.73,-117.3,815.6,-7.2,351,12111,0.00,2.28,0.00,0.000,6,0.000,0.058,3072,2390,3354
$GC,12428,-0.73,-117.3,836.2,-6.3,357,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3353
$GC,12731,-0.73,-117.3,853.5,-5.7,362,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3354
$GC,13034,-0.73,-117.3,869.4,-5.2,367,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3353
$GC,13338,-0.73,-117.3,883.8,-4.7,372,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2390,3354
$GC,13641,-0.73,-117.3,898.5,-4.9,377,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3354
$GC,13943,-0.73,-117.3,914.1,-5.2,382,13948,0.00,2.53,0.00,0.000,4,0.000,0.084,3073,3813,3353
$GC,13978,-0.73,-117.3,916.0,-5.4,382,13982,0.00,2.35,0.00,0.000,6,0.000,0.058,3072,2396,3352
$GC,14304,-0.73,-117.3,934.8,-5.8,388,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2397,3353
$GC,14607,-0.73,-117.3,953.2,-6.0,393,14608,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2397,3353
$GC,14910,-0.73,-117.3,971.0,-5.9,398,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2397,3353
$GC,15213,-0.73,-117.3,988.5,-5.7,403,15218,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3812,3352
$STATE,15233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15233,begin apogee
$GC,15241,-0.22,0.0,990.0,6.4,403,15351,0.55,0.00,106.90,1.493,6,0.153,0.000,3237,2192,2876
$STATE,15352,end apogee,CONTROL_FINISHED_OK
$STATE,15352,begin climb
$GC,15355,0.67,117.3,993.6,0.0,405,15471,0.90,0.00,112.12,1.438,6,0.093,0.000,3531,2191,2397
$GC,15720,0.35,117.3,976.2,7.6,411,15722,0.38,0.00,0.00,0.000,6,0.166,0.000,3429,2192,2394
$GC,16023,0.31,120.2,961.0,4.9,416,16025,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2191,2393
$GC,16327,0.27,125.0,946.3,4.9,421,16337,0.00,0.00,7.90,1.238,6,0.000,0.000,3429,2192,2366
$GC,16692,0.28,130.1,928.4,4.9,427,16705,0.00,2.50,6.45,1.172,4,0.000,0.077,3436,785,2344
$GC,16739,0.30,147.0,926.0,4.5,427,16760,0.00,2.33,16.42,1.371,6,0.000,0.064,3436,2201,2276
$GC,17121,0.30,147.0,905.1,5.5,434,17125,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,787,2275
$GC,17164,0.30,147.0,902.5,6.0,434,17168,0.00,2.33,0.00,0.000,6,0.000,0.063,3437,2214,2275
$GC,17485,0.30,147.0,884.2,5.7,440,17489,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,790,2274
$GC,17523,0.30,147.0,882.0,5.5,440,17527,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2207,2274
$GC,17844,0.30,147.0,863.7,5.7,446,17845,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2207,2275
$GC,18147,0.30,147.0,846.1,5.8,451,18151,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,782,2274
$GC,18219,0.30,147.0,842.0,5.4,452,18223,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2198,2274
$GC,18572,0.30,147.0,822.3,5.6,458,18574,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2274
$GC,18876,0.30,147.0,805.8,5.4,463,18877,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2198,2274
$GC,19179,0.30,147.0,788.9,5.6,468,19183,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,786,2274
$GC,19217,0.30,147.0,786.7,5.7,468,19221,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2211,2274
$GC,19538,0.30,147.0,769.0,5.5,474,19539,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2274
$GC,19841,0.30,147.0,752.6,5.4,479,19845,0.00,2.42,0.00,0.000,4,0.000,0.079,3437,786,2274
$GC,19873,0.30,147.0,750.9,5.2,479,19877,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2201,2274
$GC,20206,0.30,150.0,734.5,4.9,485,20212,0.00,0.00,4.00,0.874,6,0.000,0.000,3436,2201,2264
$GC,20509,0.31,154.6,719.6,4.9,490,20517,0.00,0.00,5.88,1.066,6,0.000,0.000,3436,2201,2245
$GC,20812,0.31,154.6,704.2,5.1,495,20813,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2245
$GC,21115,0.31,154.6,688.9,5.0,500,21116,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2201,2245
$GC,21418,0.31,159.0,674.0,4.9,505,21426,0.00,0.00,5.88,1.045,6,0.000,0.000,3437,2201,2227
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$STATE,32717,end climb,SURFACE_DEPTH_REACHED
$STATE,32717,begin surface coast
$FINISH,6.2,1.025540
$STATE,32736,end surface coast,CONTROL_FINISHED_OK
$STATE,32736,begin surface
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$10V_AH,10.6,42.772
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$DEVICE_SECS,30.825,226.725,400.000,0.000,0.000,24.805,25.771,213.746,257.500,0.000,0.000,14.390,1847.834,27585.102,576.300,2529.245,663.186,33.378,1841.722,0.000,2491.415,0.000,0.465
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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,50692,844
$CAP_FILE_SIZE,196068,0
$CFSIZE,260165632,233742336
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