version: 66.03
glider: 120
mission: 9
dive: 24
start: 9 5 108 23 45 8
data:
$ID,120
$MISSION,9
$DIVE,24
$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,550
$T_MISSION,615
$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,-18110.215
$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,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
$GPS1,233232,4958.277,-14502.935,41,1.1,41,18.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.9
$GPS2,234414,4958.209,-14502.829,16,1.1,33,18.4
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,0.148
$KALMAN_X,17665.6,-330.0,-22.0,-32884.4,1403.6
$KALMAN_Y,15751.8,-61.4,-384.2,-28884.6,1572.2
$MHEAD_RNG_PITCHd_Wd,20.3,22309,-14.4,-6.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.77,-117.3,0.0,0.0,0,102,0.00,0.00,-82.47,0.000,2,0.000,0.000,138,2412,2412
$GC,104,-0.77,-117.3,3.0,-3.3,8,149,13.32,2.35,-23.88,0.000,4,0.289,0.096,3059,3813,3356
$GC,400,-0.51,-117.3,51.8,-11.9,34,408,0.28,2.33,0.00,0.000,6,0.163,0.058,3143,2388,3358
$GC,727,-0.51,-117.3,79.7,-7.8,65,731,0.00,2.35,0.00,0.000,4,0.000,0.078,3141,3809,3359
$GC,758,-0.51,-117.3,82.4,-7.9,66,766,0.00,2.28,0.00,0.000,6,0.000,0.057,3141,2402,3359
$GC,1074,-0.51,-117.3,107.0,-8.2,82,1078,0.00,2.30,0.00,0.000,4,0.000,0.072,3141,984,3359
$GC,1122,-0.51,-117.3,111.0,-7.9,84,1127,0.00,2.33,0.00,0.000,6,0.000,0.063,3141,2406,3359
$GC,1444,-0.57,-117.3,132.7,-7.3,100,1448,0.00,2.33,0.00,0.000,4,0.000,0.073,3141,985,3359
$GC,1498,-0.66,-117.3,137.3,-8.1,102,1506,0.08,2.33,0.00,0.000,6,0.074,0.064,3099,2406,3359
$GC,1832,-0.66,-117.3,164.0,-7.4,116,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3358
$GC,2139,-0.66,-117.3,188.3,-7.9,126,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3357
$GC,2445,-0.66,-117.3,213.1,-8.0,136,2449,0.00,2.30,0.00,0.000,4,0.000,0.082,3098,3816,3357
$GC,2472,-0.66,-117.3,215.4,-9.0,137,2476,0.00,2.25,0.00,0.000,6,0.000,0.062,3098,2395,3357
$GC,2806,-0.66,-117.3,243.2,-8.5,148,2810,0.00,2.28,0.00,0.000,4,0.000,0.077,3098,993,3356
$GC,2837,-0.66,-117.3,246.1,-8.3,149,2842,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2400,3356
$GC,3173,-0.66,-117.3,273.7,-8.0,160,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3355
$GC,3479,-0.66,-117.3,297.6,-7.7,170,3483,0.00,2.30,0.00,0.000,4,0.000,0.077,3098,993,3354
$GC,3516,-0.66,-117.3,300.6,-7.8,171,3521,0.00,2.30,0.00,0.000,6,0.000,0.066,3098,2400,3354
$GC,3842,-0.66,-117.3,324.5,-7.3,177,3846,0.00,2.33,0.00,0.000,4,0.000,0.077,3098,983,3353
$GC,3891,-0.66,-117.3,327.9,-6.9,177,3896,0.00,2.33,0.00,0.000,6,0.000,0.066,3098,2405,3353
$GC,4206,-0.66,-117.3,349.6,-6.9,183,4210,0.00,2.33,0.00,0.000,4,0.000,0.078,3098,985,3352
$GC,4233,-0.66,-117.3,351.5,-7.6,183,4237,0.00,2.28,0.00,0.000,6,0.000,0.067,3098,2401,3352
$GC,4563,-0.66,-117.3,376.1,-7.5,189,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3351
$GC,4866,-0.66,-117.3,398.7,-7.5,194,4870,0.00,2.30,0.00,0.000,4,0.000,0.079,3098,992,3351
$GC,4892,-0.66,-117.3,400.8,-8.0,194,4897,0.00,2.30,0.00,0.000,6,0.000,0.067,3098,2402,3351
$GC,5236,-0.66,-117.3,427.2,-7.7,200,5240,0.00,2.33,0.00,0.000,4,0.000,0.079,3098,984,3350
$GC,5256,-0.66,-117.3,428.8,-7.5,200,5261,0.00,2.33,0.00,0.000,6,0.000,0.067,3098,2406,3350
$GC,5599,-0.66,-117.3,453.6,-7.1,206,5603,0.00,2.33,0.00,0.000,4,0.000,0.079,3098,985,3350
$GC,5637,-0.66,-117.3,456.4,-7.4,206,5641,0.00,2.30,0.00,0.000,6,0.000,0.067,3098,2398,3350
$GC,5963,-0.66,-117.3,478.6,-6.8,212,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3349
$GC,6266,-0.66,-117.3,499.7,-7.0,217,6270,0.00,2.30,0.00,0.000,4,0.000,0.080,3098,993,3349
$GC,6292,-0.66,-117.3,501.8,-8.1,217,6297,0.00,2.30,0.00,0.000,6,0.000,0.068,3098,2405,3348
$GC,6636,-0.66,-117.3,526.7,-7.4,223,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3348
$GC,6939,-0.66,-117.3,549.5,-7.5,228,6942,0.00,2.33,0.00,0.000,4,0.000,0.080,3098,984,3348
$GC,6987,-0.71,-117.3,553.4,-7.7,228,6992,0.00,2.33,0.00,0.000,6,0.000,0.069,3098,2405,3348
$GC,7308,-0.71,-117.3,576.5,-7.2,234,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2405,3348
$GC,7611,-0.71,-117.3,597.3,-6.9,239,7615,0.00,2.33,0.00,0.000,4,0.000,0.081,3098,983,3347
$GC,7654,-0.76,-117.3,600.5,-7.5,239,7659,0.00,2.33,0.00,0.000,6,0.000,0.068,3098,2403,3347
$GC,7980,-0.80,-117.3,621.6,-6.6,245,7982,0.12,0.00,0.00,0.000,6,0.091,0.000,3044,2403,3347
$GC,8284,-0.69,-117.3,646.5,-8.3,250,8285,0.17,0.00,0.00,0.000,6,0.174,0.000,3091,2403,3347
$GC,8586,-0.69,-117.3,665.1,-6.1,255,8590,0.00,2.33,0.00,0.000,4,0.000,0.081,3091,990,3347
$GC,8623,-0.69,-117.3,667.7,-7.0,255,8628,0.00,2.30,0.00,0.000,6,0.000,0.069,3091,2400,3347
$GC,8956,-0.69,-117.3,687.9,-6.2,261,8960,0.00,2.30,0.00,0.000,4,0.000,0.081,3091,994,3346
$GC,9004,-0.69,-117.3,691.4,-6.5,261,9009,0.00,2.30,0.00,0.000,6,0.000,0.069,3089,2403,3346
$GC,9320,-0.69,-117.3,712.9,-6.9,267,9324,0.00,2.33,0.00,0.000,4,0.000,0.081,3089,985,3346
$GC,9362,-0.69,-117.3,716.0,-7.0,267,9367,0.00,2.33,0.00,0.000,6,0.000,0.070,3088,2406,3346
$GC,9684,-0.69,-117.3,738.3,-7.0,273,9688,0.00,2.33,0.00,0.000,4,0.000,0.081,3088,989,3346
$GC,9722,-0.69,-117.3,741.0,-7.1,273,9726,0.00,2.28,0.00,0.000,6,0.000,0.069,3088,2400,3346
$GC,10042,-0.69,-117.3,762.5,-6.7,279,10046,0.00,2.33,0.00,0.000,4,0.000,0.082,3088,986,3346
$GC,10073,-0.69,-117.3,764.8,-7.4,279,10078,0.00,2.33,0.00,0.000,6,0.000,0.069,3088,2406,3346
$GC,10411,-0.69,-117.3,786.6,-6.5,285,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2406,3346
$GC,10714,-0.69,-117.3,805.6,-6.2,290,10718,0.00,2.33,0.00,0.000,4,0.000,0.081,3088,990,3345
$GC,10751,-0.69,-117.3,808.1,-6.7,290,10756,0.00,2.30,0.00,0.000,6,0.000,0.069,3088,2394,3345
$GC,11078,-0.69,-117.3,829.0,-6.5,296,11082,0.00,2.33,0.00,0.000,4,0.000,0.087,3086,3822,3345
$GC,11104,-0.69,-117.3,830.9,-7.2,296,11108,0.00,2.30,0.00,0.000,6,0.000,0.067,3086,2396,3345
$GC,11442,-0.73,-117.3,853.7,-6.8,302,11446,0.00,2.30,0.00,0.000,4,0.000,0.082,3086,985,3345
$GC,11480,-0.73,-117.3,856.4,-7.3,302,11484,0.00,2.30,0.00,0.000,6,0.000,0.070,3086,2412,3345
$GC,11800,-0.73,-117.3,878.6,-6.9,308,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3345
$GC,12103,-0.77,-117.3,899.3,-6.9,313,12107,0.00,2.35,0.00,0.000,4,0.000,0.083,3086,984,3345
$GC,12146,-0.82,-117.3,902.6,-6.7,313,12151,0.00,2.33,0.00,0.000,6,0.000,0.070,3086,2402,3345
$GC,12472,-0.86,-117.3,924.4,-6.6,319,12474,0.15,0.00,0.00,0.000,6,0.088,0.000,3025,2402,3344
$GC,12775,-0.72,-117.3,949.8,-8.4,324,12780,0.17,2.30,0.00,0.000,4,0.181,0.087,3072,3813,3344
$GC,12836,-0.72,-117.3,953.9,-7.2,325,12840,0.00,2.28,0.00,0.000,6,0.000,0.070,3072,2394,3344
$GC,13201,-0.72,-117.3,975.7,-5.8,331,13205,0.00,2.30,0.00,0.000,4,0.000,0.084,3073,985,3343
$GC,13249,-0.72,-117.3,978.8,-6.1,331,13254,0.00,2.33,0.00,0.000,6,0.000,0.071,3072,2400,3344
$STATE,13502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13502,begin apogee
$GC,13506,-0.22,0.0,993.5,5.8,336,13607,0.57,0.00,97.93,1.513,6,0.163,0.000,3247,2189,2876
$STATE,13608,end apogee,CONTROL_FINISHED_OK
$STATE,13608,begin climb
$GC,13609,0.77,117.3,994.6,0.0,337,13720,0.98,2.58,102.68,1.461,4,0.104,0.084,3572,798,2396
$GC,13753,0.35,117.3,992.1,9.4,339,13758,0.50,2.47,0.00,0.000,6,0.202,0.067,3433,2202,2395
$GC,14101,0.35,117.3,970.2,6.1,345,14105,0.00,2.40,0.00,0.000,4,0.000,0.085,3433,3617,2393
$GC,14149,0.27,117.3,966.9,6.3,345,14154,0.10,2.40,0.00,0.000,6,0.193,0.074,3409,2207,2393
$GC,14465,0.38,148.6,951.1,4.9,351,14494,0.00,0.00,26.95,1.427,6,0.000,0.000,3408,2206,2270
$GC,14768,0.50,167.4,935.1,5.4,356,14792,0.17,2.53,17.27,1.384,4,0.090,0.087,3479,789,2193
$GC,14836,0.43,167.4,930.0,7.3,357,14841,0.00,2.42,0.00,0.000,6,0.000,0.067,3479,2204,2192
$GC,15202,0.36,167.4,899.7,8.3,363,15207,0.15,2.38,0.00,0.000,4,0.183,0.084,3435,3615,2190
$GC,15233,0.36,167.4,897.0,6.6,363,15238,0.00,2.40,0.00,0.000,6,0.000,0.074,3435,2191,2190
$GC,15566,0.40,167.4,873.1,7.2,369,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2190
$GC,15869,0.46,167.4,849.5,7.8,374,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2190
$GC,16172,0.50,167.4,826.1,7.7,379,16174,0.12,0.00,0.00,0.000,6,0.101,0.000,3485,2192,2190
$GC,16475,0.43,167.4,799.6,8.8,384,16479,0.00,2.35,0.00,0.000,4,0.000,0.088,3490,782,2190
$GC,16513,0.35,167.4,796.2,9.4,384,16518,0.17,2.35,0.00,0.000,6,0.170,0.067,3436,2206,2189
$GC,16839,0.40,167.4,774.1,6.7,390,16840,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2206,2189
$GC,17142,0.46,167.4,754.3,6.5,395,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2189
$GC,17445,0.51,167.4,733.2,7.0,400,17450,0.12,2.38,0.00,0.000,4,0.096,0.087,3490,785,2189
$GC,17494,0.43,167.4,728.8,9.1,400,17499,0.10,2.33,0.00,0.000,6,0.167,0.067,3459,2203,2189
$GC,17808,0.43,167.4,703.9,7.9,406,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2203,2189
$GC,18112,0.43,167.4,680.4,7.7,411,18115,0.00,2.35,0.00,0.000,4,0.000,0.087,3463,789,2189
$GC,18138,0.43,167.4,678.3,8.1,411,18143,0.00,2.30,0.00,0.000,6,0.000,0.066,3463,2199,2189
$GC,18481,0.43,167.4,652.3,7.5,417,18482,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2189
$GC,18784,0.43,167.4,631.6,6.7,422,18785,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2199,2189
$GC,19087,0.43,167.4,612.6,6.3,427,19088,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2189
$GC,19391,0.43,167.4,593.9,6.1,432,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2189
$GC,19693,0.43,167.4,575.0,6.3,437,19695,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2189
$GC,19996,0.43,167.4,554.9,6.7,442,19998,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,2189
$GC,20300,0.43,167.4,533.9,7.0,447,20303,0.00,2.35,0.00,0.000,4,0.000,0.087,3463,787,2189
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$STATE,28438,end climb,SURFACE_DEPTH_REACHED
$STATE,28438,begin surface coast
$FINISH,0.8,1.017334
$STATE,28460,end surface coast,CONTROL_FINISHED_OK
$STATE,28460,begin surface
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$10V_AH,10.6,3.749
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$DEVICE_SECS,27.925,224.475,358.650,0.000,0.000,56.693,60.487,409.172,211.000,0.000,0.000,33.136,1635.645,24046.373,573.271,2294.713,685.907,33.364,1722.543,0.000,2246.328,0.000,0.465
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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,44356,743
$CAP_FILE_SIZE,180837,0
$CFSIZE,260165632,256737280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060908,074207,5001.238,-14459.800,45,1.2,50,18.5