version: 66.03
glider: 120
mission: 9
dive: 108
start: 10 7 108 9 38 33
data:
$ID,120
$MISSION,9
$DIVE,108
$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,-19890.012
$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
$GPS1,093138,4959.824,-14500.770,76,1.3,76,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,5.36
$_SM_ANGLEo,-75.5
$GPS2,093739,4959.830,-14500.736,37,1.3,37,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,0.092
$KALMAN_X,39751.3,-237.2,46.2,-52640.5,-1326.4
$KALMAN_Y,88458.1,-223.4,-272.6,-98548.3,2078.5
$MHEAD_RNG_PITCHd_Wd,40.4,18413,-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,-12.20,0.000,2,0.000,0.000,148,2411,1960
$GC,35,-0.67,-117.3,5.0,-0.0,1,103,13.68,2.40,-47.12,0.000,4,0.289,0.087,3093,993,3356
$GC,357,-0.32,-117.3,49.3,-14.8,30,362,0.40,2.30,0.00,0.000,6,0.165,0.062,3208,2402,3359
$GC,684,-0.69,-117.3,72.9,-7.6,60,688,0.30,2.30,0.00,0.000,4,0.088,0.065,3100,985,3360
$GC,817,-0.52,-117.3,85.5,-9.0,69,822,0.17,2.30,0.00,0.000,6,0.163,0.059,3146,2408,3361
$GC,1144,-0.46,-117.3,111.8,-8.9,85,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2408,3362
$GC,1453,-0.46,-117.3,137.1,-7.7,100,1457,0.00,2.33,0.00,0.000,4,0.000,0.067,3146,986,3362
$GC,1493,-0.46,-117.3,140.0,-7.3,102,1497,0.00,2.28,0.00,0.000,6,0.000,0.060,3142,2400,3362
$GC,1807,-0.46,-117.3,160.6,-6.5,115,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3362
$GC,2113,-0.46,-117.3,180.9,-6.8,125,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3362
$GC,2420,-0.46,-117.3,201.2,-6.4,135,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3361
$GC,2726,-0.46,-117.3,219.2,-6.0,145,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3361
$GC,3032,-0.46,-117.3,241.8,-7.8,155,3036,0.00,2.30,0.00,0.000,4,0.000,0.071,3142,991,3360
$GC,3081,-0.51,-117.3,246.0,-8.5,156,3085,0.00,2.30,0.00,0.000,6,0.000,0.062,3142,2400,3360
$GC,3399,-0.51,-117.3,268.7,-6.8,167,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3360
$GC,3705,-0.55,-117.3,288.1,-6.1,177,3709,0.00,2.30,0.00,0.000,4,0.000,0.072,3142,991,3359
$GC,3733,-0.60,-117.3,289.8,-6.5,178,3737,0.00,2.28,0.00,0.000,6,0.000,0.064,3142,2402,3359
$GC,4097,-0.65,-117.3,310.8,-5.7,187,4099,0.10,0.00,0.00,0.000,6,0.095,0.000,3103,2402,3358
$GC,4400,-0.65,-117.3,330.4,-6.5,192,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2402,3357
$GC,4702,-0.65,-117.3,349.3,-6.2,197,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2402,3357
$GC,5005,-0.65,-117.3,367.6,-6.1,202,5009,0.00,2.30,0.00,0.000,4,0.000,0.082,3101,3812,3356
$GC,5038,-0.61,-117.3,369.8,-6.6,202,5042,0.00,2.28,0.00,0.000,6,0.000,0.058,3101,2395,3357
$GC,5370,-0.61,-117.3,390.9,-6.4,208,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3356
$GC,5673,-0.61,-117.3,409.7,-6.1,213,5676,0.00,2.28,0.00,0.000,4,0.000,0.074,3101,993,3356
$GC,5704,-0.61,-117.3,411.8,-6.2,213,5709,0.00,2.30,0.00,0.000,6,0.000,0.064,3101,2402,3356
$GC,6037,-0.56,-117.3,433.2,-6.5,219,6039,0.12,0.00,0.00,0.000,6,0.159,0.000,3133,2402,3356
$GC,6340,-0.61,-117.3,449.9,-5.5,224,6344,0.00,2.30,0.00,0.000,4,0.000,0.082,3128,3809,3355
$GC,6367,-0.66,-117.3,451.4,-5.9,224,6371,0.00,2.28,0.00,0.000,6,0.000,0.058,3128,2393,3355
$GC,6705,-0.70,-117.3,470.6,-5.6,230,6707,0.12,0.00,0.00,0.000,6,0.096,0.000,3080,2393,3355
$GC,7008,-0.64,-117.3,492.4,-7.3,235,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2393,3355
$GC,7311,-0.59,-117.3,514.5,-7.3,240,7316,0.15,2.28,0.00,0.000,4,0.130,0.074,3132,991,3355
$GC,7354,-0.64,-117.3,517.3,-6.2,240,7358,0.00,2.28,0.00,0.000,6,0.000,0.065,3128,2402,3355
$GC,7675,-0.64,-117.3,535.3,-5.6,246,7679,0.00,2.30,0.00,0.000,4,0.000,0.084,3128,3810,3355
$GC,7701,-0.70,-117.3,536.8,-5.2,246,7706,0.12,2.25,0.00,0.000,6,0.091,0.058,3080,2390,3354
$GC,8038,-0.65,-117.3,557.4,-6.0,252,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2390,3354
$GC,8342,-0.61,-117.3,575.4,-5.9,257,8346,0.15,2.28,0.00,0.000,4,0.127,0.074,3132,993,3354
$GC,8381,-0.67,-117.3,577.5,-5.7,257,8385,0.00,2.28,0.00,0.000,6,0.000,0.064,3129,2410,3354
$GC,8701,-0.72,-117.3,594.0,-5.2,263,8703,0.12,0.00,0.00,0.000,6,0.094,0.000,3079,2410,3354
$GC,9004,-0.67,-117.3,613.2,-6.4,268,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2410,3353
$GC,9307,-0.67,-117.3,632.5,-6.4,273,9311,0.00,2.33,0.00,0.000,4,0.000,0.074,3079,988,3353
$GC,9350,-0.59,-117.3,635.6,-7.1,273,9355,0.17,2.30,0.00,0.000,6,0.163,0.066,3126,2410,3353
$GC,9671,-0.64,-117.3,654.2,-5.8,279,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2411,3353
$GC,9974,-0.69,-117.3,671.6,-5.7,284,9978,0.00,2.33,0.00,0.000,4,0.000,0.074,3126,994,3353
$GC,10013,-0.75,-117.3,673.9,-6.2,284,10018,0.17,2.28,0.00,0.000,6,0.090,0.065,3064,2406,3353
$GC,10333,-0.63,-117.3,698.1,-7.7,290,10338,0.15,2.30,0.00,0.000,4,0.168,0.082,3100,3809,3353
$GC,10375,-0.63,-117.3,701.3,-6.8,290,10380,0.00,2.28,0.00,0.000,6,0.000,0.060,3100,2396,3353
$GC,10697,-0.63,-117.3,721.9,-6.5,296,10701,0.00,2.28,0.00,0.000,4,0.000,0.075,3100,994,3353
$GC,10735,-0.63,-117.3,724.7,-7.8,296,10739,0.00,2.28,0.00,0.000,6,0.000,0.065,3100,2409,3352
$GC,11055,-0.63,-117.3,745.0,-6.3,302,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3352
$GC,11358,-0.63,-117.3,763.1,-6.0,307,11362,0.00,2.33,0.00,0.000,4,0.000,0.075,3100,991,3352
$GC,11385,-0.63,-117.3,764.8,-7.1,307,11389,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2396,3352
$GC,11723,-0.63,-117.3,783.6,-5.6,313,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3352
$GC,12025,-0.63,-117.3,800.9,-5.7,318,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3352
$GC,12330,-0.63,-117.3,819.1,-6.0,323,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3351
$GC,12631,-0.63,-117.3,838.4,-6.5,328,12636,0.00,2.33,0.00,0.000,4,0.000,0.075,3101,986,3351
$GC,12680,-0.63,-117.3,842.1,-7.2,328,12685,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2400,3351
$GC,12995,-0.63,-117.3,863.5,-6.8,334,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3351
$GC,13299,-0.63,-117.3,884.1,-6.8,339,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3351
$GC,13602,-0.63,-117.3,904.6,-6.8,344,13606,0.00,2.33,0.00,0.000,4,0.000,0.076,3100,986,3351
$GC,13639,-0.63,-117.3,907.4,-6.9,344,13644,0.00,2.33,0.00,0.000,6,0.000,0.067,3100,2403,3351
$GC,13966,-0.63,-117.3,929.2,-6.7,350,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3351
$GC,14270,-0.63,-117.3,949.3,-6.6,355,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,14572,-0.63,-117.3,968.3,-6.2,360,14576,0.00,2.33,0.00,0.000,4,0.000,0.077,3100,988,3350
$GC,14615,-0.63,-117.3,971.1,-6.2,360,14619,0.00,2.33,0.00,0.000,6,0.000,0.068,3100,2402,3350
$GC,14936,-0.70,-117.3,989.8,-5.8,366,14940,0.00,2.15,0.00,0.000,3,0.000,0.076,3100,1083,3350
$STATE,14940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14940,begin apogee
$GC,14947,-0.22,0.0,990.0,5.9,366,15049,0.45,0.00,99.78,1.505,6,0.150,0.000,3243,2203,2876
$STATE,15050,end apogee,CONTROL_FINISHED_OK
$STATE,15050,begin climb
$GC,15052,0.67,117.3,993.1,0.0,367,15164,0.88,2.62,103.70,1.452,4,0.102,0.079,3528,3604,2396
$GC,15225,0.19,117.3,989.8,9.2,369,15230,0.60,2.47,0.00,0.000,6,0.203,0.066,3385,2196,2394
$GC,15540,0.26,131.6,974.8,4.6,375,15555,0.00,0.00,13.25,1.338,6,0.000,0.000,3385,2197,2339
$GC,15843,0.35,151.8,961.4,4.4,380,15865,0.15,0.00,19.02,1.391,6,0.091,0.000,3438,2197,2257
$GC,16146,0.28,151.8,942.8,6.2,385,16150,0.00,2.42,0.00,0.000,4,0.000,0.083,3438,3607,2255
$GC,16172,0.16,151.8,940.8,6.3,385,16177,0.25,2.33,0.00,0.000,6,0.176,0.066,3373,2198,2254
$GC,16510,0.32,172.7,925.8,4.4,391,16531,0.15,0.00,19.15,1.399,6,0.094,0.000,3425,2198,2171
$GC,16813,0.36,172.7,908.4,5.8,396,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2199,2169
$GC,17115,0.41,172.7,890.1,6.1,401,17120,0.00,2.40,0.00,0.000,4,0.000,0.084,3425,3614,2167
$GC,17165,0.34,172.7,886.4,7.9,401,17169,0.00,2.33,0.00,0.000,6,0.000,0.067,3425,2193,2168
$GC,17479,0.34,172.7,864.1,7.1,407,17480,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2193,2168
$GC,17782,0.34,172.7,843.1,6.9,412,17784,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2193,2168
$GC,18086,0.34,172.7,823.1,6.5,417,18090,0.00,2.38,0.00,0.000,4,0.000,0.082,3425,3608,2167
$GC,18124,0.28,172.7,820.4,6.4,417,18128,0.00,2.30,0.00,0.000,6,0.000,0.066,3425,2189,2167
$GC,18450,0.28,172.7,798.6,6.7,423,18454,0.00,2.38,0.00,0.000,4,0.000,0.082,3425,3617,2167
$GC,18476,0.24,172.7,796.6,8.4,423,18481,0.08,2.33,0.00,0.000,6,0.163,0.066,3393,2198,2167
$GC,18814,0.35,172.7,776.8,5.9,429,18816,0.12,0.00,0.00,0.000,6,0.097,0.000,3436,2198,2167
$GC,19117,0.35,172.7,756.7,6.7,434,19118,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2168
$GC,19420,0.35,172.7,736.8,6.6,439,19421,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2168
$GC,19723,0.35,172.7,717.3,6.4,444,19727,0.00,2.35,0.00,0.000,4,0.000,0.084,3436,3609,2167
$GC,19755,0.28,172.7,715.0,6.5,444,19759,0.00,2.28,0.00,0.000,6,0.000,0.067,3436,2201,2167
$GC,20086,0.28,172.7,692.9,6.7,450,20088,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2168
$GC,20391,0.28,172.7,673.1,6.5,455,20395,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,783,2167
$GC,20417,0.28,172.7,671.4,5.8,455,20421,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2197,2167
$GC,20755,0.28,172.7,649.5,6.6,461,20759,0.00,2.33,0.00,0.000,4,0.000,0.083,3436,3616,2167
$GC,20817,0.19,172.7,644.8,7.1,462,20822,0.20,2.30,0.00,0.000,6,0.176,0.067,3385,2191,2167
$GC,21182,0.35,176.1,626.3,4.9,468,21188,0.15,0.00,3.85,0.825,6,0.096,0.000,3436,2191,2158
$GC,21485,0.40,176.1,608.9,5.8,473,21489,0.00,2.38,0.00,0.000,4,0.000,0.084,3436,3618,2158
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$STATE,32018,end climb,SURFACE_DEPTH_REACHED
$STATE,32018,begin surface coast
$FINISH,4.0,1.003205
$STATE,32168,end surface coast,CONTROL_FINISHED_OK
$STATE,32168,begin surface
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$DEVICE_SECS,31.250,208.350,363.925,0.000,0.000,31.020,26.169,178.108,248.000,0.000,0.000,37.294,1826.043,27413.816,508.663,2388.147,463.686,33.371,1685.466,0.000,2334.423,0.000,0.466
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$DATA_FILE_SIZE,50679,840
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