version: 66.03
glider: 120
mission: 9
dive: 106
start: 10 6 108 14 50 41
data:
$ID,120
$MISSION,9
$DIVE,106
$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,-19820.053
$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,21
$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
$GPS1,144425,4955.303,-14508.613,41,1.3,41,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.96
$_SM_ANGLEo,-76.0
$GPS2,144945,4955.315,-14508.649,15,1.6,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,0.068
$KALMAN_X,42812.9,7.7,-249.0,-65052.9,-875.4
$KALMAN_Y,87325.4,-573.3,-357.9,-105324.5,3351.8
$MHEAD_RNG_PITCHd_Wd,49.3,30899,-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,-12.48,0.000,2,0.000,0.000,143,2411,1949
$GC,35,-0.67,-117.3,5.0,-0.0,1,111,13.62,2.40,-52.03,0.000,4,0.289,0.081,3092,991,3356
$GC,329,-0.37,-117.3,42.5,-14.2,27,336,0.35,2.33,0.00,0.000,6,0.168,0.061,3190,2403,3358
$GC,656,-0.46,-117.3,63.2,-6.1,58,657,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2403,3360
$GC,971,-0.54,-117.3,82.7,-6.2,86,976,0.15,2.33,0.00,0.000,4,0.080,0.074,3133,3821,3361
$GC,997,-0.54,-117.3,84.7,-7.9,87,1002,0.00,2.28,0.00,0.000,6,0.000,0.051,3133,2400,3361
$GC,1319,-0.49,-117.3,111.3,-8.3,103,1323,0.00,2.35,0.00,0.000,4,0.000,0.076,3129,3817,3361
$GC,1359,-0.41,-117.3,114.7,-8.7,105,1363,0.17,2.25,0.00,0.000,6,0.140,0.053,3178,2392,3362
$GC,1685,-0.50,-117.3,135.1,-5.8,121,1688,0.00,2.28,0.00,0.000,4,0.000,0.069,3178,985,3362
$GC,1711,-0.61,-117.3,136.7,-6.2,122,1716,0.12,2.30,0.00,0.000,6,0.074,0.060,3113,2402,3361
$GC,2041,-0.55,-117.3,162.2,-7.7,136,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2402,3361
$GC,2347,-0.49,-117.3,187.4,-8.3,146,2349,0.15,0.00,0.00,0.000,6,0.152,0.000,3153,2401,3361
$GC,2653,-0.56,-117.3,206.6,-5.8,156,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2401,3361
$GC,2959,-0.63,-117.3,224.9,-6.3,166,2964,0.12,2.30,0.00,0.000,4,0.087,0.079,3102,3806,3360
$GC,2997,-0.58,-117.3,227.9,-8.4,167,3001,0.00,2.25,0.00,0.000,6,0.000,0.058,3102,2387,3360
$GC,3326,-0.53,-117.3,252.6,-7.3,178,3328,0.15,0.00,0.00,0.000,6,0.134,0.000,3143,2385,3360
$GC,3633,-0.57,-117.3,269.8,-5.7,188,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2385,3360
$GC,3939,-0.62,-117.3,288.0,-6.0,198,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2385,3359
$GC,4274,-0.67,-117.3,307.2,-5.7,207,4279,0.15,2.38,0.00,0.000,4,0.085,0.080,3079,3816,3359
$GC,4317,-0.56,-117.3,310.3,-7.6,207,4322,0.15,2.28,0.00,0.000,6,0.153,0.058,3127,2396,3359
$GC,4637,-0.56,-117.3,329.1,-5.8,213,4641,0.00,2.28,0.00,0.000,4,0.000,0.073,3127,992,3358
$GC,4692,-0.56,-117.3,332.4,-6.1,213,4699,0.00,2.28,0.00,0.000,6,0.000,0.063,3127,2394,3358
$GC,5002,-0.56,-117.3,350.5,-5.9,219,5006,0.00,2.33,0.00,0.000,4,0.000,0.082,3127,3816,3358
$GC,5028,-0.56,-117.3,352.3,-6.3,219,5033,0.00,2.25,0.00,0.000,6,0.000,0.058,3127,2408,3358
$GC,5366,-0.56,-117.3,372.7,-6.2,225,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2408,3357
$GC,5669,-0.56,-117.3,391.9,-6.3,230,5673,0.00,2.30,0.00,0.000,4,0.000,0.074,3127,988,3357
$GC,5700,-0.56,-117.3,394.2,-6.7,230,5705,0.00,2.30,0.00,0.000,6,0.000,0.063,3127,2403,3357
$GC,6033,-0.56,-117.3,415.8,-6.5,236,6037,0.00,2.30,0.00,0.000,4,0.000,0.082,3127,3809,3357
$GC,6065,-0.60,-117.3,417.8,-6.3,236,6069,0.00,2.25,0.00,0.000,6,0.000,0.058,3127,2405,3356
$GC,6397,-0.64,-117.3,438.3,-6.1,242,6401,0.00,2.28,0.00,0.000,4,0.000,0.074,3127,991,3356
$GC,6428,-0.64,-117.3,440.4,-5.9,242,6433,0.00,2.28,0.00,0.000,6,0.000,0.063,3127,2395,3356
$GC,6761,-0.64,-117.3,460.5,-6.0,248,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3356
$GC,7064,-0.64,-117.3,479.2,-6.2,253,7068,0.00,2.30,0.00,0.000,4,0.000,0.074,3128,989,3355
$GC,7090,-0.64,-117.3,480.9,-6.3,253,7094,0.00,2.30,0.00,0.000,6,0.000,0.064,3127,2401,3355
$GC,7427,-0.64,-117.3,500.1,-5.6,259,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2401,3355
$GC,7731,-0.64,-117.3,514.3,-4.6,264,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3355
$GC,8036,-0.68,-117.3,527.4,-4.4,269,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3355
$GC,8337,-0.73,-117.3,540.6,-4.4,274,8342,0.15,2.33,0.00,0.000,4,0.092,0.073,3064,982,3355
$GC,8392,-0.59,-117.3,544.2,-6.7,274,8399,0.17,2.33,0.00,0.000,6,0.163,0.065,3117,2405,3354
$GC,8702,-0.59,-117.3,559.7,-5.0,280,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2405,3355
$GC,9004,-0.59,-117.3,576.7,-5.6,285,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2405,3354
$GC,9307,-0.59,-117.3,594.1,-5.9,290,9311,0.00,2.33,0.00,0.000,4,0.000,0.074,3118,988,3354
$GC,9333,-0.59,-117.3,595.8,-7.0,290,9337,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2397,3354
$GC,9671,-0.59,-117.3,616.8,-6.3,296,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3354
$GC,9974,-0.59,-117.3,635.3,-6.0,301,9978,0.00,2.30,0.00,0.000,4,0.000,0.074,3113,992,3354
$GC,10011,-0.59,-117.3,637.7,-5.6,301,10016,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2400,3354
$GC,10338,-0.59,-117.3,655.6,-5.5,307,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3354
$GC,10641,-0.59,-117.3,672.3,-5.5,312,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3354
$GC,10944,-0.59,-117.3,689.2,-5.6,317,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3354
$GC,11247,-0.59,-117.3,706.7,-5.7,322,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3354
$GC,11550,-0.59,-117.3,724.4,-5.9,327,11554,0.00,2.30,0.00,0.000,4,0.000,0.075,3113,992,3353
$GC,11587,-0.59,-117.3,726.8,-7.2,327,11592,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2397,3353
$GC,11914,-0.59,-117.3,745.9,-5.9,333,11918,0.00,2.33,0.00,0.000,4,0.000,0.084,3113,3817,3353
$GC,11940,-0.64,-117.3,747.6,-6.1,333,11945,0.00,2.28,0.00,0.000,6,0.000,0.060,3113,2398,3353
$GC,12278,-0.64,-117.3,766.9,-5.7,339,12282,0.00,2.30,0.00,0.000,4,0.000,0.076,3113,985,3353
$GC,12305,-0.68,-117.3,768.6,-6.0,339,12309,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2410,3353
$GC,12642,-0.68,-117.3,788.4,-5.9,345,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3353
$GC,12945,-0.68,-117.3,807.0,-6.1,350,12949,0.00,2.30,0.00,0.000,4,0.000,0.084,3113,3813,3352
$GC,12966,-0.73,-117.3,808.4,-6.5,350,12970,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2399,3352
$GC,13309,-0.77,-117.3,828.1,-5.7,356,13314,0.15,2.30,0.00,0.000,4,0.093,0.075,3051,991,3352
$GC,13336,-0.67,-117.3,830.1,-7.8,356,13340,0.12,2.30,0.00,0.000,6,0.167,0.066,3099,2400,3352
$GC,13673,-0.67,-117.3,850.3,-5.9,362,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3352
$GC,13978,-0.67,-117.3,867.0,-5.4,367,13982,0.00,2.30,0.00,0.000,4,0.000,0.076,3099,994,3352
$GC,14015,-0.67,-117.3,869.3,-5.1,367,14020,0.00,2.30,0.00,0.000,6,0.000,0.067,3099,2398,3352
$GC,14342,-0.67,-117.3,886.6,-5.3,373,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3352
$GC,14645,-0.67,-117.3,903.5,-5.6,378,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3351
$GC,14948,-0.67,-117.3,921.0,-5.8,383,14952,0.00,2.33,0.00,0.000,4,0.000,0.076,3099,986,3351
$GC,14980,-0.67,-117.3,923.2,-6.3,383,14984,0.00,2.33,0.00,0.000,6,0.000,0.068,3099,2400,3351
$GC,15312,-0.67,-117.3,943.5,-6.1,389,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3351
$GC,15615,-0.67,-117.3,962.9,-6.4,394,15619,0.00,2.33,0.00,0.000,4,0.000,0.077,3099,989,3351
$GC,15646,-0.67,-117.3,965.2,-7.1,394,15651,0.00,2.33,0.00,0.000,6,0.000,0.067,3099,2400,3351
$GC,15979,-0.67,-117.3,986.9,-6.5,400,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3351
$STATE,16038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16038,begin apogee
$GC,16042,-0.22,0.0,990.9,6.5,401,16145,0.47,0.00,100.22,1.505,6,0.150,0.000,3245,2203,2876
$STATE,16146,end apogee,CONTROL_FINISHED_OK
$STATE,16146,begin climb
$GC,16148,0.67,117.3,993.2,0.0,402,16260,0.90,2.67,103.65,1.452,4,0.098,0.081,3534,792,2396
$GC,16288,0.27,117.3,994.3,6.6,405,16293,0.52,2.50,0.00,0.000,6,0.196,0.062,3406,2203,2395
$GC,16648,0.27,122.9,976.9,4.8,411,16658,0.00,2.42,5.90,1.119,4,0.000,0.080,3406,3620,2375
$GC,16691,0.19,122.9,974.3,6.4,411,16695,0.00,2.40,0.00,0.000,6,0.000,0.065,3408,2190,2375
$GC,17012,0.19,122.9,956.6,5.6,417,17013,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2190,2374
$GC,17315,0.19,122.9,938.5,6.0,422,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2190,2374
$GC,17618,0.19,122.9,920.3,6.0,427,17622,0.00,2.35,0.00,0.000,4,0.000,0.082,3408,783,2374
$GC,17661,0.19,122.9,917.6,6.4,427,17665,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2205,2374
$GC,17982,0.19,122.9,899.0,5.8,433,17983,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2205,2374
$GC,18285,0.19,122.9,881.8,5.7,438,18286,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2205,2373
$GC,18588,0.19,122.9,865.6,5.3,443,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2205,2373
$GC,18893,0.19,125.4,850.5,4.9,448,18894,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2206,2373
$GC,19194,0.22,143.6,836.8,4.5,453,19215,0.00,0.00,18.48,1.368,6,0.000,0.000,3408,2205,2290
$GC,19498,0.23,152.2,822.3,4.8,458,19510,0.00,0.00,8.80,1.243,6,0.000,0.000,3408,2205,2255
$GC,19866,0.23,158.0,804.6,4.8,464,19875,0.00,0.00,6.85,1.161,6,0.000,0.000,3408,2205,2231
$GC,20169,0.24,166.5,790.0,4.8,469,20180,0.00,0.00,8.68,1.223,6,0.000,0.000,3408,2205,2197
$GC,20472,0.29,166.5,773.6,5.5,474,20474,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2205,2196
$GC,20775,0.34,166.5,755.1,6.2,479,20776,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2205,2196
$GC,21078,0.39,166.5,735.8,6.3,484,21080,0.10,0.00,0.00,0.000,6,0.103,0.000,3446,2205,2196
$GC,21382,0.33,166.5,713.9,7.2,489,21383,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2205,2196
$GC,21684,0.28,166.5,691.6,7.3,494,21689,0.15,2.38,0.00,0.000,4,0.156,0.078,3407,784,2195
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$STATE,33244,end climb,SURFACE_DEPTH_REACHED
$STATE,33245,begin surface coast
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$STATE,33310,end surface coast,CONTROL_FINISHED_OK
$STATE,33310,begin surface
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$DATA_FILE_SIZE,50598,850
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$CFSIZE,260165632,250466304
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