version: 66.03
glider: 120
mission: 9
dive: 61
start: 9 19 108 12 21 11
data:
$ID,120
$MISSION,9
$DIVE,61
$D_SURF,4
$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,-18869.01
$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
$GPS1,121158,5002.726,-14515.540,38,2.1,57,18.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-74.8
$GPS2,122017,5002.655,-14515.521,17,2.6,36,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.039,-0.173
$KALMAN_X,36875.5,-196.3,-216.9,-67104.2,2398.6
$KALMAN_Y,48121.6,-470.9,-183.7,-52820.8,3669.8
$MHEAD_RNG_PITCHd_Wd,174.3,16567,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-117.3,0.0,0.0,0,32,0.00,0.00,-12.18,0.000,2,0.000,0.000,138,2414,1963
$GC,34,-0.67,-117.3,4.0,-0.0,1,110,13.40,2.38,-52.67,0.000,4,0.288,0.102,3096,3804,3356
$GC,294,-0.33,-117.3,34.9,-16.1,24,302,0.35,2.30,0.00,0.000,6,0.162,0.057,3205,2393,3358
$GC,619,-0.68,-117.3,54.9,-6.2,55,622,0.32,0.00,0.00,0.000,6,0.087,0.000,3094,2393,3360
$GC,937,-0.68,-117.3,80.6,-8.0,85,941,0.00,2.28,0.00,0.000,4,0.000,0.068,3094,987,3361
$GC,1189,-0.48,-117.3,104.3,-9.1,96,1193,0.17,2.33,0.00,0.000,6,0.163,0.061,3155,2406,3362
$GC,1510,-0.48,-117.3,128.6,-8.3,112,1514,0.00,2.30,0.00,0.000,4,0.000,0.070,3155,993,3362
$GC,1532,-0.52,-117.3,130.4,-8.5,113,1536,0.00,2.28,0.00,0.000,6,0.000,0.061,3155,2413,3362
$GC,1862,-0.57,-117.3,157.1,-7.6,128,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2413,3362
$GC,2168,-0.63,-117.3,173.4,-4.8,138,2173,0.12,2.33,0.00,0.000,4,0.087,0.071,3104,990,3362
$GC,2200,-0.56,-117.3,175.4,-6.2,139,2205,0.10,2.30,0.00,0.000,6,0.153,0.062,3133,2402,3362
$GC,2534,-0.56,-117.3,192.8,-5.3,150,2538,0.00,2.30,0.00,0.000,4,0.000,0.072,3134,988,3361
$GC,2566,-0.56,-117.3,194.8,-6.3,151,2571,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2400,3361
$GC,2901,-0.56,-117.3,219.3,-8.2,162,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2400,3361
$GC,3207,-0.56,-117.3,242.8,-7.3,172,3211,0.00,2.30,0.00,0.000,4,0.000,0.074,3134,988,3360
$GC,3262,-0.56,-117.3,246.8,-6.9,173,3269,0.00,2.30,0.00,0.000,6,0.000,0.064,3134,2403,3360
$GC,3574,-0.56,-117.3,264.7,-5.4,184,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2403,3359
$GC,3881,-0.56,-117.3,281.8,-5.8,194,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2403,3359
$GC,4187,-0.56,-117.3,300.8,-6.3,204,4191,0.00,2.30,0.00,0.000,4,0.000,0.075,3133,994,3358
$GC,4226,-0.56,-117.3,303.3,-6.9,204,4230,0.00,2.25,0.00,0.000,6,0.000,0.064,3134,2400,3358
$GC,4545,-0.56,-117.3,323.9,-6.5,210,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2401,3358
$GC,4848,-0.56,-117.3,344.1,-6.7,215,4852,0.00,2.30,0.00,0.000,4,0.000,0.076,3134,992,3357
$GC,4879,-0.56,-117.3,346.5,-7.7,215,4884,0.00,2.28,0.00,0.000,6,0.000,0.064,3134,2395,3357
$GC,5217,-0.56,-117.3,370.6,-7.2,221,5221,0.00,2.30,0.00,0.000,4,0.000,0.077,3134,984,3356
$GC,5259,-0.56,-117.3,373.9,-7.7,221,5264,0.00,2.30,0.00,0.000,6,0.000,0.067,3133,2398,3356
$GC,5581,-0.60,-117.3,395.6,-6.7,227,5585,0.00,2.30,0.00,0.000,4,0.000,0.076,3134,988,3356
$GC,5613,-0.60,-117.3,397.9,-7.1,227,5617,0.00,2.30,0.00,0.000,6,0.000,0.065,3133,2400,3356
$GC,5945,-0.64,-117.3,419.2,-6.4,233,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2400,3356
$GC,6248,-0.69,-117.3,438.0,-6.2,238,6250,0.12,0.00,0.00,0.000,6,0.091,0.000,3086,2400,3355
$GC,6551,-0.64,-117.3,459.8,-7.2,243,6555,0.00,2.30,0.00,0.000,4,0.000,0.077,3086,988,3355
$GC,6588,-0.55,-117.3,463.0,-8.7,243,6593,0.15,2.30,0.00,0.000,6,0.163,0.067,3143,2397,3355
$GC,6921,-0.63,-117.3,480.0,-4.9,249,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2397,3355
$GC,7224,-0.70,-117.3,493.1,-4.2,254,7229,0.15,2.30,0.00,0.000,4,0.088,0.075,3080,987,3354
$GC,7256,-0.60,-117.3,494.9,-6.2,254,7260,0.10,2.30,0.00,0.000,6,0.167,0.067,3112,2401,3354
$GC,7588,-0.60,-117.3,510.9,-4.8,260,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3354
$GC,7891,-0.60,-117.3,526.8,-5.3,265,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3354
$GC,8193,-0.60,-117.3,545.1,-6.1,270,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3354
$GC,8497,-0.60,-117.3,564.9,-6.6,275,8501,0.00,2.30,0.00,0.000,4,0.000,0.077,3112,991,3353
$GC,8528,-0.60,-117.3,567.2,-7.4,275,8533,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2406,3354
$GC,8860,-0.60,-117.3,588.4,-6.4,281,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3353
$GC,9164,-0.60,-117.3,607.3,-6.2,286,9168,0.00,2.33,0.00,0.000,4,0.000,0.078,3112,987,3353
$GC,9218,-0.60,-117.3,610.9,-6.9,286,9225,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2396,3353
$GC,9527,-0.60,-117.3,630.0,-6.1,292,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3353
$GC,9830,-0.60,-117.3,649.1,-6.3,297,9834,0.00,2.30,0.00,0.000,4,0.000,0.078,3112,989,3352
$GC,9862,-0.60,-117.3,651.4,-6.6,297,9867,0.00,2.30,0.00,0.000,6,0.000,0.067,3112,2400,3352
$GC,10200,-0.60,-117.3,673.5,-6.6,303,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3352
$GC,10503,-0.60,-117.3,692.9,-6.4,308,10507,0.00,2.33,0.00,0.000,4,0.000,0.078,3112,985,3352
$GC,10528,-0.60,-117.3,694.7,-6.7,308,10533,0.00,2.33,0.00,0.000,6,0.000,0.068,3112,2403,3352
$GC,10866,-0.60,-117.3,715.7,-6.3,314,10870,0.00,2.30,0.00,0.000,4,0.000,0.079,3113,994,3352
$GC,10898,-0.60,-117.3,717.8,-6.3,314,10903,0.00,2.30,0.00,0.000,6,0.000,0.068,3112,2405,3352
$GC,11230,-0.60,-117.3,737.1,-5.8,320,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,11533,-0.60,-117.3,752.9,-5.1,325,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,11837,-0.60,-117.3,766.3,-4.3,330,11841,0.00,2.30,0.00,0.000,4,0.000,0.077,3112,985,3351
$GC,11886,-0.60,-117.3,768.6,-4.8,330,11890,0.00,2.33,0.00,0.000,6,0.000,0.069,3112,2404,3351
$GC,12207,-0.60,-117.3,782.0,-4.2,336,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3351
$GC,12510,-0.60,-117.3,794.2,-3.9,341,12513,0.00,2.30,0.00,0.000,4,0.000,0.078,3113,992,3351
$GC,12558,-0.60,-117.3,796.4,-4.2,341,12563,0.00,2.30,0.00,0.000,6,0.000,0.080,3112,2399,3351
$GC,12880,-0.60,-117.3,810.6,-4.4,347,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3351
$GC,13182,-0.60,-117.3,825.3,-4.9,352,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3350
$GC,13485,-0.60,-117.3,841.5,-5.4,357,13489,0.00,2.30,0.00,0.000,4,0.000,0.079,3112,993,3350
$GC,13511,-0.60,-117.3,843.3,-6.4,357,13516,0.00,2.30,0.00,0.000,6,0.000,0.068,3112,2399,3350
$GC,13855,-0.60,-117.3,862.6,-5.7,363,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2398,3350
$GC,14158,-0.60,-117.3,879.6,-5.6,368,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3350
$GC,14461,-0.60,-117.3,896.0,-5.5,373,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3350
$GC,14764,-0.60,-117.3,913.7,-5.9,378,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3350
$GC,15067,-0.60,-117.3,931.5,-5.9,383,15071,0.00,2.30,0.00,0.000,4,0.000,0.079,3112,990,3350
$GC,15104,-0.60,-117.3,933.8,-6.2,383,15109,0.00,2.30,0.00,0.000,6,0.000,0.068,3112,2395,3350
$GC,15437,-0.65,-117.3,953.1,-5.8,389,15438,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2395,3350
$GC,15740,-0.69,-117.3,971.3,-6.1,394,15744,0.00,2.30,0.00,0.000,4,0.000,0.081,3112,993,3350
$GC,15772,-0.73,-117.3,973.3,-6.4,394,15776,0.00,2.30,0.00,0.000,6,0.000,0.069,3112,2399,3349
$STATE,16102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16102,begin apogee
$GC,16106,-0.22,0.0,992.8,5.8,400,16208,0.43,0.00,99.30,1.513,6,0.153,0.000,3242,2200,2876
$STATE,16209,end apogee,CONTROL_FINISHED_OK
$STATE,16209,begin climb
$GC,16211,0.67,117.3,995.1,0.0,401,16317,0.88,0.00,102.97,1.457,6,0.105,0.000,3525,2200,2397
$GC,16575,0.31,117.3,977.2,8.0,407,16577,0.40,0.00,0.00,0.000,6,0.183,0.000,3420,2200,2394
$GC,16878,0.26,117.8,961.8,5.0,412,16882,0.00,2.40,0.00,0.000,4,0.000,0.084,3424,782,2393
$GC,16922,0.23,127.0,959.4,4.7,412,16937,0.10,2.38,9.48,1.290,6,0.172,0.066,3396,2198,2357
$GC,17246,0.24,138.9,944.4,4.7,418,17260,0.00,0.00,11.45,1.337,6,0.000,0.000,3396,2198,2309
$GC,17550,0.29,143.1,929.6,4.9,423,17557,0.00,0.00,5.38,1.095,6,0.000,0.000,3396,2199,2292
$GC,17853,0.35,147.9,914.9,4.9,428,17861,0.10,0.00,6.05,1.153,6,0.100,0.000,3433,2199,2273
$GC,18156,0.30,147.9,896.8,6.0,433,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2199,2272
$GC,18458,0.30,147.9,878.6,6.0,438,18459,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2199,2272
$GC,18761,0.30,147.9,859.5,6.2,443,18765,0.00,2.35,0.00,0.000,4,0.000,0.085,3433,3614,2271
$GC,18799,0.18,147.9,856.8,6.9,443,18804,0.17,2.33,0.00,0.000,6,0.176,0.069,3385,2205,2271
$GC,19131,0.28,147.9,839.8,5.2,449,19132,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2205,2271
$GC,19434,0.37,147.9,823.6,5.4,454,19436,0.17,0.00,0.00,0.000,6,0.091,0.000,3448,2205,2272
$GC,19737,0.29,147.9,801.6,7.3,459,19739,0.15,0.00,0.00,0.000,6,0.164,0.000,3409,2205,2271
$GC,20040,0.29,147.9,783.2,6.0,464,20041,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2271
$GC,20343,0.29,147.9,764.2,6.3,469,20344,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2271
$GC,20646,0.29,147.9,746.1,6.0,474,20647,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2271
$GC,20949,0.29,147.9,729.4,5.4,479,20950,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2272
$GC,21252,0.30,151.2,714.5,4.9,484,21258,0.00,0.00,4.25,0.923,6,0.000,0.000,3410,2206,2258
$GC,21556,0.37,177.0,701.2,4.3,489,21580,0.00,0.00,22.62,1.310,6,0.000,0.000,3410,2205,2154
$GC,21859,0.47,201.1,688.1,4.3,494,21883,0.17,0.00,21.27,1.284,6,0.088,0.000,3473,2205,2056
$GC,22162,0.39,201.1,669.6,6.2,499,22163,0.12,0.00,0.00,0.000,6,0.163,0.000,3442,2205,2053
$GC,22465,0.39,201.8,654.3,5.0,504,22466,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2205,2053
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$STATE,32275,end climb,SURFACE_DEPTH_REACHED
$STATE,32275,begin surface coast
$FINISH,3.0,1.023947
$STATE,32329,end surface coast,CONTROL_FINISHED_OK
$STATE,32329,begin surface
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$10V_AH,10.7,8.324
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$DATA_FILE_SIZE,47578,822
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$CFSIZE,260165632,253964288
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