version: 66.03
glider: 120
mission: 9
dive: 92
start: 10 1 108 7 23 4
data:
$ID,120
$MISSION,9
$DIVE,92
$D_SURF,6
$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,-19509.178
$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,22
$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
$GPS1,071708,5014.489,-14501.884,71,1.7,71,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.10
$_SM_ANGLEo,-74.3
$GPS2,072209,5014.470,-14501.898,15,1.7,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.113
$KALMAN_X,38813.5,-77.5,183.1,-53390.4,1401.0
$KALMAN_Y,69062.5,64.1,100.7,-52708.2,-393.9
$MHEAD_RNG_PITCHd_Wd,291.0,16958,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.35,0.000,2,0.000,0.000,142,2405,1970
$GC,35,-0.67,-117.3,5.2,-0.0,1,103,13.50,2.40,-48.38,0.000,4,0.287,0.097,3085,3806,3356
$GC,155,-0.25,-117.3,16.5,-16.4,12,160,0.52,2.28,0.00,0.000,6,0.174,0.055,3232,2395,3358
$GC,480,-0.38,-117.3,37.5,-4.8,42,482,0.12,0.00,0.00,0.000,6,0.083,0.000,3186,2395,3360
$GC,799,-0.73,-117.3,58.0,-7.2,72,803,0.28,2.28,0.00,0.000,4,0.099,0.064,3084,987,3361
$GC,871,-0.51,-117.3,65.3,-10.7,78,876,0.25,2.28,0.00,0.000,6,0.169,0.059,3153,2404,3362
$GC,1191,-0.51,-117.3,92.5,-7.9,101,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2404,3362
$GC,1500,-0.51,-117.3,116.9,-7.6,116,1504,0.00,2.30,0.00,0.000,4,0.000,0.066,3153,989,3362
$GC,1549,-0.51,-117.3,120.5,-6.9,118,1554,0.00,2.30,0.00,0.000,6,0.000,0.058,3153,2405,3362
$GC,1871,-0.55,-117.3,139.9,-5.9,134,1875,0.00,2.30,0.00,0.000,4,0.000,0.078,3153,3815,3362
$GC,1903,-0.63,-117.3,141.8,-5.5,135,1910,0.08,2.25,0.00,0.000,6,0.067,0.053,3113,2402,3362
$GC,2217,-0.57,-117.3,164.3,-7.4,148,2221,0.00,2.28,0.00,0.000,4,0.000,0.068,3113,986,3362
$GC,2254,-0.52,-117.3,167.5,-8.7,149,2259,0.10,2.30,0.00,0.000,6,0.156,0.061,3144,2400,3362
$GC,2583,-0.52,-117.3,185.7,-5.2,160,2587,0.00,2.30,0.00,0.000,4,0.000,0.069,3145,983,3361
$GC,2620,-0.52,-117.3,187.9,-5.6,161,2625,0.00,2.30,0.00,0.000,6,0.000,0.061,3142,2400,3361
$GC,2950,-0.52,-117.3,206.7,-6.2,172,2954,0.00,2.30,0.00,0.000,4,0.000,0.070,3142,983,3361
$GC,2988,-0.56,-117.3,209.4,-6.6,173,2992,0.00,2.30,0.00,0.000,6,0.000,0.062,3142,2398,3361
$GC,3317,-0.56,-117.3,231.8,-6.7,184,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2398,3360
$GC,3624,-0.60,-117.3,252.4,-6.7,194,3628,0.00,2.28,0.00,0.000,4,0.000,0.071,3142,993,3359
$GC,3656,-0.65,-117.3,254.8,-6.9,195,3661,0.08,2.30,0.00,0.000,6,0.072,0.062,3102,2409,3359
$GC,3991,-0.65,-117.3,280.5,-7.8,206,3995,0.00,2.28,0.00,0.000,4,0.000,0.080,3101,3809,3359
$GC,4019,-0.60,-117.3,282.7,-8.6,207,4023,0.00,2.22,0.00,0.000,6,0.000,0.057,3101,2396,3359
$GC,4384,-0.60,-117.3,312.0,-8.1,217,4388,0.00,2.35,0.00,0.000,4,0.000,0.081,3101,3817,3358
$GC,4410,-0.67,-117.3,314.4,-8.5,217,4415,0.00,2.28,0.00,0.000,6,0.000,0.058,3101,2396,3358
$GC,4748,-0.80,-117.3,343.4,-8.7,223,4753,0.12,2.35,0.00,0.000,4,0.094,0.079,3053,3821,3357
$GC,4960,-0.59,-117.3,365.3,-10.6,226,4965,0.22,2.28,0.00,0.000,6,0.164,0.058,3122,2401,3357
$GC,5314,-0.59,-117.3,388.6,-6.3,232,5318,0.00,2.30,0.00,0.000,4,0.000,0.073,3122,983,3357
$GC,5351,-0.59,-117.3,390.9,-6.0,232,5356,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2400,3357
$GC,5678,-0.59,-117.3,410.0,-5.8,238,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3356
$GC,5981,-0.59,-117.3,428.4,-6.1,243,5985,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,991,3356
$GC,6007,-0.59,-117.3,430.0,-5.9,243,6012,0.00,2.28,0.00,0.000,6,0.000,0.064,3122,2394,3356
$GC,6345,-0.59,-117.3,448.6,-5.4,249,6349,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,985,3356
$GC,6406,-0.59,-117.3,452.1,-6.0,250,6410,0.00,2.28,0.00,0.000,6,0.000,0.064,3122,2403,3356
$GC,6770,-0.59,-117.3,472.2,-5.6,256,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2402,3355
$GC,7073,-0.59,-117.3,490.4,-6.0,261,7077,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,992,3354
$GC,7116,-0.59,-117.3,493.2,-7.0,261,7120,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2404,3354
$GC,7436,-0.59,-117.3,514.2,-6.6,267,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3354
$GC,7740,-0.59,-117.3,534.7,-6.8,272,7744,0.00,2.30,0.00,0.000,4,0.000,0.073,3122,990,3354
$GC,7777,-0.59,-117.3,537.6,-7.6,272,7782,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2400,3354
$GC,8104,-0.59,-117.3,560.4,-7.1,278,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3353
$GC,8407,-0.63,-117.3,582.2,-7.2,283,8411,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,992,3354
$GC,8445,-0.63,-117.3,585.1,-7.5,283,8449,0.00,2.30,0.00,0.000,6,0.000,0.064,3122,2402,3353
$GC,8771,-0.63,-117.3,608.2,-7.1,289,8775,0.00,2.30,0.00,0.000,4,0.000,0.074,3122,992,3353
$GC,8809,-0.67,-117.3,611.3,-7.6,289,8813,0.00,2.28,0.00,0.000,6,0.000,0.064,3122,2396,3354
$GC,9136,-0.72,-117.3,633.9,-7.0,295,9140,0.12,2.30,0.00,0.000,4,0.089,0.074,3075,986,3353
$GC,9162,-0.67,-117.3,636.1,-8.3,295,9166,0.00,2.30,0.00,0.000,6,0.000,0.064,3075,2401,3353
$GC,9500,-0.55,-117.3,663.4,-8.1,301,9502,0.22,0.00,0.00,0.000,6,0.166,0.000,3137,2401,3353
$GC,9803,-0.64,-117.3,679.2,-5.1,306,9807,0.00,2.30,0.00,0.000,4,0.000,0.075,3138,988,3352
$GC,9835,-0.74,-117.3,681.1,-5.8,306,9839,0.15,2.30,0.00,0.000,6,0.077,0.066,3077,2400,3352
$GC,10167,-0.68,-117.3,701.9,-6.3,312,10171,0.00,2.30,0.00,0.000,4,0.000,0.082,3073,3810,3352
$GC,10199,-0.60,-117.3,704.0,-6.7,312,10203,0.12,2.25,0.00,0.000,6,0.150,0.059,3114,2402,3352
$GC,10531,-0.60,-117.3,718.8,-4.2,318,10535,0.00,2.28,0.00,0.000,4,0.000,0.076,3114,993,3352
$GC,10557,-0.60,-117.3,720.0,-4.4,318,10561,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2406,3352
$GC,10895,-0.60,-117.3,733.1,-3.9,324,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3352
$GC,11198,-0.60,-117.3,747.4,-4.8,329,11202,0.00,2.33,0.00,0.000,4,0.000,0.076,3114,985,3352
$GC,11235,-0.60,-117.3,749.7,-6.1,329,11240,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2399,3351
$GC,11561,-0.60,-117.3,768.7,-6.0,335,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3352
$GC,11866,-0.60,-117.3,787.6,-6.2,340,11870,0.00,2.30,0.00,0.000,4,0.000,0.076,3114,988,3351
$GC,11920,-0.60,-117.3,791.4,-7.0,340,11927,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2400,3351
$GC,12230,-0.64,-117.3,810.2,-6.1,346,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3351
$GC,12533,-0.64,-117.3,828.0,-5.8,351,12537,0.00,2.30,0.00,0.000,4,0.000,0.076,3114,988,3351
$GC,12570,-0.68,-117.3,830.4,-6.3,351,12575,0.00,2.30,0.00,0.000,6,0.000,0.066,3114,2402,3351
$GC,12897,-0.73,-117.3,848.9,-5.7,357,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3351
$GC,13200,-0.77,-117.3,866.6,-5.9,362,13205,0.15,2.30,0.00,0.000,4,0.091,0.075,3050,992,3350
$GC,13232,-0.64,-117.3,869.2,-8.1,362,13237,0.15,2.30,0.00,0.000,6,0.176,0.067,3106,2402,3350
$GC,13564,-0.64,-117.3,890.6,-6.5,368,13568,0.00,2.30,0.00,0.000,4,0.000,0.076,3107,992,3350
$GC,13590,-0.64,-117.3,892.4,-7.2,368,13594,0.00,2.30,0.00,0.000,6,0.000,0.066,3106,2403,3350
$GC,13928,-0.64,-117.3,913.5,-6.2,374,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3350
$GC,14232,-0.64,-117.3,931.9,-6.1,379,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2404,3350
$GC,14534,-0.64,-117.3,949.7,-5.8,384,14538,0.00,2.33,0.00,0.000,4,0.000,0.077,3106,985,3350
$GC,14571,-0.64,-117.3,952.2,-6.5,384,14575,0.00,2.33,0.00,0.000,6,0.000,0.067,3107,2405,3349
$GC,14897,-0.64,-117.3,969.7,-5.3,390,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2405,3350
$GC,15201,-0.68,-117.3,985.3,-5.1,395,15205,0.00,2.33,0.00,0.000,4,0.000,0.077,3107,985,3349
$GC,15232,-0.68,-117.3,987.0,-6.0,395,15237,0.00,2.33,0.00,0.000,6,0.000,0.068,3107,2402,3349
$STATE,15320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15320,begin apogee
$GC,15325,-0.22,0.0,991.5,4.9,397,15428,0.45,0.00,99.97,1.509,6,0.150,0.000,3245,2200,2876
$STATE,15428,end apogee,CONTROL_FINISHED_OK
$STATE,15428,begin climb
$GC,15430,0.67,117.3,993.0,0.0,398,15541,0.88,2.60,103.80,1.457,4,0.099,0.081,3533,790,2397
$GC,15568,0.27,117.3,991.4,7.9,400,15573,0.50,2.50,0.00,0.000,6,0.191,0.062,3409,2192,2395
$GC,15922,0.27,117.3,970.4,5.9,406,15923,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2193,2393
$GC,16225,0.27,117.3,952.6,5.8,411,16229,0.00,2.38,0.00,0.000,4,0.000,0.082,3409,3612,2393
$GC,16268,0.17,117.3,949.8,6.0,411,16273,0.15,2.33,0.00,0.000,6,0.179,0.066,3372,2199,2393
$GC,16589,0.27,125.4,934.4,4.8,417,16599,0.10,0.00,7.85,1.255,6,0.100,0.000,3407,2199,2364
$GC,16892,0.33,129.0,919.7,4.9,422,16899,0.00,0.00,5.15,1.081,6,0.000,0.000,3407,2199,2349
$GC,17196,0.39,139.1,905.4,4.7,427,17210,0.10,0.00,10.27,1.320,6,0.114,0.000,3448,2199,2307
$GC,17565,0.29,139.1,881.8,6.5,433,17570,0.15,2.38,0.00,0.000,4,0.159,0.081,3402,3609,2306
$GC,17626,0.29,139.1,878.0,6.0,434,17630,0.00,2.30,0.00,0.000,6,0.000,0.065,3408,2200,2306
$GC,17991,0.29,139.1,857.9,5.6,440,17995,0.00,2.33,0.00,0.000,4,0.000,0.081,3408,792,2306
$GC,18028,0.33,139.1,855.8,5.9,440,18033,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2206,2305
$GC,18355,0.33,139.1,837.0,5.8,446,18356,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2206,2306
$GC,18658,0.33,139.1,819.3,5.9,451,18659,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2206,2305
$GC,18961,0.33,139.1,801.5,5.9,456,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2206,2306
$GC,19265,0.33,139.1,784.3,5.6,461,19269,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,788,2305
$GC,19309,0.38,139.1,781.8,5.2,461,19313,0.00,2.30,0.00,0.000,6,0.000,0.064,3408,2215,2305
$GC,19630,0.38,139.1,764.9,5.3,467,19634,0.00,2.38,0.00,0.000,4,0.000,0.083,3408,781,2305
$GC,19673,0.44,139.1,762.5,5.5,467,19678,0.15,2.30,0.00,0.000,6,0.094,0.064,3464,2213,2305
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$STATE,32521,end climb,SURFACE_DEPTH_REACHED
$STATE,32521,begin surface coast
$FINISH,4.0,1.012222
$STATE,32641,end surface coast,CONTROL_FINISHED_OK
$STATE,32641,begin surface
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$10V_AH,10.7,12.301
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$DATA_FILE_SIZE,50584,871
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