version: 66.03
glider: 120
mission: 9
dive: 335
start: 1 1 109 16 5 58
data:
$ID,120
$MISSION,9
$DIVE,335
$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,-24730.443
$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,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
$GPS1,155930,5003.561,-14446.812,37,0.9,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-73.4
$GPS2,160501,5003.553,-14446.837,11,1.3,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.075,0.161
$KALMAN_X,21055.0,83.9,41.2,-17753.2,-597.7
$KALMAN_Y,246801.2,240.6,-132.8,-250604.0,-989.6
$MHEAD_RNG_PITCHd_Wd,316.7,8767,-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,-11.20,0.000,2,0.000,0.000,135,2404,1835
$GC,38,-0.67,-117.3,3.8,-0.0,1,135,13.95,2.47,-73.28,0.000,4,0.283,0.081,3097,993,3355
$GC,216,-0.52,-117.3,14.4,-13.2,17,221,0.17,2.38,0.00,0.000,6,0.162,0.064,3144,2407,3356
$GC,540,-0.52,-117.3,40.6,-8.3,47,545,0.00,2.38,0.00,0.000,4,0.000,0.082,3136,3812,3357
$GC,562,-0.47,-117.3,42.4,-7.9,48,569,0.00,2.28,0.00,0.000,6,0.000,0.054,3136,2387,3356
$GC,891,-0.41,-117.3,71.1,-8.7,79,897,0.17,0.00,0.00,0.000,6,0.156,0.000,3183,2386,3357
$GC,1212,-0.52,-117.3,91.5,-5.8,102,1214,0.12,0.00,0.00,0.000,6,0.083,0.000,3137,2386,3357
$GC,1521,-0.57,-117.3,112.5,-6.5,117,1525,0.00,2.45,0.00,0.000,4,0.000,0.079,3137,3808,3357
$GC,1562,-0.62,-117.3,115.1,-6.8,119,1567,0.00,2.30,0.00,0.000,6,0.000,0.053,3137,2396,3358
$GC,1890,-0.87,-117.3,138.4,-7.2,135,1895,0.28,2.45,0.00,0.000,4,0.095,0.077,3034,3813,3358
$GC,2098,-0.61,-117.3,160.4,-11.0,143,2103,0.30,2.30,0.00,0.000,6,0.158,0.054,3118,2401,3358
$GC,2421,-0.61,-117.3,181.7,-6.5,154,2425,0.00,2.35,0.00,0.000,4,0.000,0.069,3118,988,3358
$GC,2498,-0.61,-117.3,187.1,-7.4,156,2502,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2409,3358
$GC,2823,-0.61,-117.3,210.2,-7.3,167,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3358
$GC,3129,-0.61,-117.3,232.0,-6.9,177,3133,0.00,2.42,0.00,0.000,4,0.000,0.070,3113,988,3358
$GC,3172,-0.61,-117.3,235.3,-7.3,178,3176,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2400,3358
$GC,3497,-0.61,-117.3,256.0,-6.4,189,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3803,-0.61,-117.3,275.5,-6.4,199,3807,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,994,3357
$GC,3842,-0.61,-117.3,278.3,-7.1,200,3845,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2405,3358
$GC,4172,-0.61,-117.3,299.4,-6.5,211,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3358
$GC,4505,-0.61,-117.3,321.5,-6.7,217,4509,0.00,2.35,0.00,0.000,4,0.000,0.082,3113,3818,3357
$GC,4544,-0.66,-117.3,324.1,-6.6,217,4548,0.00,2.25,0.00,0.000,6,0.000,0.056,3113,2397,3357
$GC,4864,-0.66,-117.3,344.2,-6.2,223,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3357
$GC,5167,-0.66,-117.3,363.0,-6.2,228,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3357
$GC,5471,-0.66,-117.3,382.0,-6.3,233,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3357
$GC,5774,-0.66,-117.3,403.0,-7.0,238,5778,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,988,3357
$GC,5801,-0.70,-117.3,405.0,-7.1,238,5805,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2406,3356
$GC,6133,-0.74,-117.3,427.3,-6.7,244,6134,0.10,0.00,0.00,0.000,6,0.096,0.000,3073,2406,3356
$GC,6435,-0.74,-117.3,448.5,-7.0,249,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2406,3356
$GC,6739,-0.74,-117.3,468.7,-6.6,254,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3356
$GC,7042,-0.74,-117.3,488.3,-6.5,259,7046,0.00,2.40,0.00,0.000,4,0.000,0.071,3078,988,3356
$GC,7074,-0.74,-117.3,490.6,-6.8,259,7078,0.00,2.33,0.00,0.000,6,0.000,0.064,3078,2402,3356
$GC,7407,-0.74,-117.3,512.3,-6.6,265,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3356
$GC,7710,-0.74,-117.3,533.0,-6.9,270,7714,0.00,2.40,0.00,0.000,4,0.000,0.071,3078,987,3355
$GC,7731,-0.74,-117.3,534.5,-6.6,270,7735,0.00,2.33,0.00,0.000,6,0.000,0.064,3078,2402,3355
$GC,8074,-0.74,-117.3,557.3,-6.6,276,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3355
$GC,8378,-0.74,-117.3,576.7,-6.4,281,8382,0.00,2.38,0.00,0.000,4,0.000,0.072,3078,989,3355
$GC,8405,-0.74,-117.3,578.5,-6.6,281,8409,0.00,2.33,0.00,0.000,6,0.000,0.063,3078,2411,3355
$GC,8743,-0.74,-117.3,599.9,-6.3,287,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2411,3355
$GC,9045,-0.74,-117.3,618.5,-6.1,292,9049,0.00,2.33,0.00,0.000,4,0.000,0.083,3076,3807,3355
$GC,9089,-0.74,-117.3,621.4,-6.5,292,9093,0.00,2.25,0.00,0.000,6,0.000,0.057,3076,2395,3354
$GC,9411,-0.74,-117.3,641.0,-6.1,298,9415,0.00,2.33,0.00,0.000,4,0.000,0.073,3076,990,3355
$GC,9443,-0.74,-117.3,643.3,-6.7,298,9447,0.00,2.30,0.00,0.000,6,0.000,0.063,3076,2406,3355
$GC,9775,-0.74,-117.3,664.6,-6.5,304,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2406,3355
$GC,10079,-0.74,-117.3,684.4,-6.5,309,10083,0.00,2.35,0.00,0.000,4,0.000,0.072,3076,991,3354
$GC,10112,-0.74,-117.3,686.6,-7.0,309,10116,0.00,2.30,0.00,0.000,6,0.000,0.064,3076,2407,3355
$GC,10438,-0.74,-117.3,706.4,-6.1,315,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2407,3354
$GC,10741,-0.74,-117.3,724.6,-5.9,320,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2407,3354
$GC,11044,-0.74,-117.3,742.4,-6.0,325,11048,0.00,2.35,0.00,0.000,4,0.000,0.074,3076,994,3354
$GC,11083,-0.85,-117.3,745.1,-7.0,325,11087,0.00,2.30,0.00,0.000,6,0.000,0.064,3076,2409,3354
$GC,11404,-1.00,-117.3,766.5,-6.8,331,11409,0.20,2.38,0.00,0.000,4,0.088,0.072,2999,984,3353
$GC,11489,-0.79,-117.3,773.4,-8.3,332,11494,0.22,2.33,0.00,0.000,6,0.173,0.064,3059,2411,3354
$GC,11833,-0.88,-117.3,797.7,-7.1,338,11837,0.00,2.33,0.00,0.000,4,0.000,0.084,3058,3806,3354
$GC,11962,-0.88,-117.3,806.7,-6.5,340,11967,0.00,2.25,0.00,0.000,6,0.000,0.059,3058,2401,3353
$GC,12329,-0.98,-117.3,831.4,-6.7,346,12334,0.15,2.38,0.00,0.000,4,0.087,0.081,2991,3807,3353
$GC,12392,-0.76,-117.3,836.4,-7.6,347,12397,0.30,2.28,0.00,0.000,6,0.172,0.060,3071,2389,3353
$GC,12757,-0.89,-117.3,860.2,-6.5,353,12762,0.12,2.40,0.00,0.000,4,0.091,0.081,3026,3811,3353
$GC,12824,-0.82,-117.3,864.8,-6.8,354,12828,0.00,2.25,0.00,0.000,6,0.000,0.058,3026,2392,3353
$GC,13190,-0.82,-117.3,891.2,-7.2,360,13194,0.00,2.40,0.00,0.000,4,0.000,0.083,3026,3811,3353
$GC,13296,-0.72,-117.3,899.3,-6.9,361,13301,0.20,2.25,0.00,0.000,6,0.140,0.058,3081,2398,3353
$GC,13617,-0.89,-117.3,920.2,-6.4,367,13622,0.15,2.40,0.00,0.000,4,0.087,0.081,3021,3819,3352
$GC,13700,-0.78,-117.3,926.2,-7.2,368,13705,0.15,2.28,0.00,0.000,6,0.123,0.059,3062,2396,3352
$GC,14044,-0.89,-117.3,949.1,-6.7,374,14048,0.00,2.40,0.00,0.000,4,0.000,0.084,3059,3807,3352
$GC,14115,-0.89,-117.3,953.8,-6.8,375,14119,0.00,2.28,0.00,0.000,6,0.000,0.059,3059,2395,3352
$GC,14476,-1.00,-117.3,977.7,-6.7,381,14481,0.15,2.40,0.00,0.000,4,0.088,0.082,2994,3810,3352
$GC,14539,-0.79,-117.3,982.7,-9.0,382,14544,0.25,2.28,0.00,0.000,6,0.169,0.060,3060,2397,3352
$STATE,14660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14660,begin apogee
$GC,14666,-0.22,0.0,991.3,6.8,384,14781,0.60,0.00,107.82,1.492,6,0.139,0.000,3245,2200,2876
$STATE,14782,end apogee,CONTROL_FINISHED_OK
$STATE,14782,begin climb
$GC,14785,0.67,117.3,997.2,0.0,386,14909,0.88,2.67,112.10,1.442,4,0.094,0.077,3529,3601,2396
$GC,15050,0.26,117.3,986.7,9.7,390,15055,0.50,2.40,0.00,0.000,6,0.185,0.065,3404,2203,2394
$GC,15410,0.28,133.1,969.7,4.5,396,15427,0.00,0.00,15.00,1.359,6,0.000,0.000,3404,2203,2333
$GC,15714,0.34,143.6,955.6,4.7,401,15730,0.00,2.42,11.23,1.322,4,0.000,0.079,3408,789,2289
$GC,15787,0.41,143.6,952.0,5.2,402,15791,0.12,2.33,0.00,0.000,6,0.091,0.063,3453,2208,2289
$GC,16141,0.36,143.6,931.9,5.7,408,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2208,2289
$GC,16444,0.31,143.6,915.3,5.5,413,16449,0.12,2.40,0.00,0.000,4,0.131,0.077,3423,785,2288
$GC,16471,0.31,143.6,913.8,5.1,413,16475,0.00,2.30,0.00,0.000,6,0.000,0.063,3423,2205,2288
$GC,16809,0.32,152.3,897.7,4.8,419,16823,0.00,2.38,9.05,1.279,4,0.000,0.081,3423,3627,2255
$GC,16870,0.28,152.3,894.2,6.4,419,16876,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2197,2255
$GC,17180,0.30,169.7,880.2,4.5,425,17198,0.00,0.00,16.88,1.370,6,0.000,0.000,3424,2197,2184
$GC,17483,0.36,182.1,866.2,4.6,430,17498,0.00,0.00,12.82,1.322,6,0.000,0.000,3424,2197,2133
$GC,17786,0.42,185.3,851.4,4.9,435,17793,0.00,0.00,4.50,0.971,6,0.000,0.000,3423,2197,2120
$GC,18089,0.47,185.3,834.7,5.6,440,18094,0.15,2.50,0.00,0.000,4,0.091,0.081,3490,3616,2120
$GC,18124,0.26,185.3,831.9,10.1,440,18129,0.32,2.38,0.00,0.000,6,0.176,0.065,3402,2201,2119
$GC,18450,0.39,185.3,812.9,5.8,446,18452,0.12,0.00,0.00,0.000,6,0.089,0.000,3448,2201,2119
$GC,18753,0.44,185.3,792.0,7.0,451,18755,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2201,2119
$GC,19057,0.49,185.3,771.6,6.7,456,19058,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2201,2119
$GC,19360,0.54,185.3,752.0,6.4,461,19364,0.12,2.42,0.00,0.000,4,0.106,0.081,3499,3611,2119
$GC,19387,0.37,185.3,749.5,9.6,461,19392,0.25,2.35,0.00,0.000,6,0.176,0.064,3437,2195,2119
$GC,19718,0.37,185.3,728.0,6.3,467,19720,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2196,2119
$GC,20021,0.37,185.3,710.6,5.7,472,20025,0.00,2.40,0.00,0.000,4,0.000,0.079,3438,790,2119
$GC,20066,0.43,185.3,707.9,5.6,472,20070,0.00,2.28,0.00,0.000,6,0.000,0.062,3437,2202,2119
$GC,20381,0.47,185.3,690.7,5.4,478,20382,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2202,2119
$GC,20685,0.52,185.3,674.4,5.4,483,20686,0.15,0.00,0.00,0.000,6,0.088,0.000,3496,2202,2119
$GC,20988,0.39,185.3,652.2,7.4,488,20989,0.17,0.00,0.00,0.000,6,0.150,0.000,3448,2203,2119
$GC,21290,0.39,185.3,634.6,5.7,493,21291,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2203,2119
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$STATE,32235,end climb,SURFACE_DEPTH_REACHED
$STATE,32235,begin surface coast
$FINISH,2.9,1.004951
$STATE,32332,end surface coast,CONTROL_FINISHED_OK
$STATE,32332,begin surface
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$10V_AH,10.6,44.791
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50718,853
$CAP_FILE_SIZE,192690,0
$CFSIZE,260165632,232562688
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