version: 66.03
glider: 120
mission: 9
dive: 139
start: 10 19 108 5 5 47
data:
$ID,120
$MISSION,9
$DIVE,139
$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,-20532.018
$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,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
$GPS1,045928,5011.801,-14512.604,25,2.3,44,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-71.0
$GPS2,050453,5011.792,-14512.605,8,4.6,27,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031,-0.175
$KALMAN_X,46205.2,-152.6,-63.2,-73164.5,1350.0
$KALMAN_Y,103800.6,-104.8,-72.4,-92054.1,1977.4
$MHEAD_RNG_PITCHd_Wd,171.6,32939,-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,-12.00,0.000,2,0.000,0.000,135,2403,1729
$GC,36,-0.67,-117.3,3.9,-0.0,1,124,13.40,2.42,-68.38,0.000,4,0.277,0.092,3085,3807,3355
$GC,232,-0.31,-117.3,23.0,-14.9,19,237,0.45,2.28,0.00,0.000,6,0.169,0.054,3210,2395,3357
$GC,557,-0.40,-117.3,42.8,-5.9,49,561,0.00,2.30,0.00,0.000,4,0.000,0.067,3214,989,3358
$GC,585,-0.50,-117.3,44.6,-6.7,51,590,0.17,2.30,0.00,0.000,6,0.080,0.058,3152,2412,3358
$GC,909,-0.50,-117.3,67.5,-7.1,81,910,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2413,3359
$GC,1223,-0.50,-117.3,90.6,-7.4,104,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2413,3360
$GC,1532,-0.50,-117.3,115.6,-8.1,119,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2413,3360
$GC,1843,-0.54,-117.3,134.9,-4.9,134,1847,0.00,2.33,0.00,0.000,4,0.000,0.067,3152,991,3361
$GC,1884,-0.59,-117.3,136.9,-5.1,136,1888,0.00,2.28,0.00,0.000,6,0.000,0.059,3152,2399,3361
$GC,2210,-0.64,-117.3,153.6,-5.5,151,2211,0.12,0.00,0.00,0.000,6,0.089,0.000,3101,2399,3360
$GC,2516,-0.58,-117.3,175.1,-7.0,161,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3360
$GC,2822,-0.53,-117.3,197.0,-7.6,171,2824,0.15,0.00,0.00,0.000,6,0.121,0.000,3142,2399,3360
$GC,3128,-0.53,-117.3,217.9,-6.6,181,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2399,3360
$GC,3435,-0.57,-117.3,237.6,-6.4,191,3438,0.00,2.30,0.00,0.000,4,0.000,0.070,3143,987,3360
$GC,3473,-0.62,-117.3,240.2,-6.3,192,3477,0.00,2.30,0.00,0.000,6,0.000,0.062,3142,2410,3360
$GC,3808,-0.67,-117.3,259.9,-5.7,203,3812,0.12,2.33,0.00,0.000,4,0.088,0.070,3092,988,3359
$GC,3834,-0.61,-117.3,261.7,-7.0,203,3841,0.00,2.30,0.00,0.000,6,0.000,0.062,3091,2394,3359
$GC,4147,-0.49,-117.3,284.9,-7.4,214,4152,0.20,2.33,0.00,0.000,4,0.163,0.079,3142,3810,3359
$GC,4190,-0.58,-117.3,287.4,-5.8,215,4195,0.00,2.28,0.00,0.000,6,0.000,0.056,3142,2379,3359
$GC,4514,-0.65,-117.3,304.4,-5.4,225,4516,0.10,0.00,0.00,0.000,6,0.097,0.000,3103,2379,3358
$GC,4816,-0.65,-117.3,324.8,-6.8,230,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2378,3358
$GC,5120,-0.65,-117.3,345.0,-6.6,235,5124,0.00,2.40,0.00,0.000,4,0.000,0.081,3102,3817,3357
$GC,5151,-0.65,-117.3,347.2,-7.3,235,5156,0.00,2.28,0.00,0.000,6,0.000,0.058,3102,2402,3357
$GC,5484,-0.65,-117.3,368.9,-6.5,241,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3357
$GC,5787,-0.65,-117.3,388.3,-6.4,246,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3357
$GC,6090,-0.65,-117.3,409.2,-6.9,251,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3356
$GC,6394,-0.65,-117.3,431.3,-7.4,256,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3356
$GC,6696,-0.65,-117.3,454.1,-7.6,261,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3356
$GC,6999,-0.65,-117.3,476.4,-7.3,266,7003,0.00,2.30,0.00,0.000,4,0.000,0.074,3102,991,3355
$GC,7053,-0.65,-117.3,480.6,-7.1,266,7060,0.00,2.30,0.00,0.000,6,0.000,0.064,3102,2399,3355
$GC,7363,-0.65,-117.3,501.6,-6.7,272,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3355
$GC,7666,-0.65,-117.3,521.0,-6.4,277,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3355
$GC,7969,-0.65,-117.3,540.0,-6.3,282,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2399,3355
$GC,8272,-0.65,-117.3,558.6,-6.1,287,8276,0.00,2.33,0.00,0.000,4,0.000,0.073,3102,988,3354
$GC,8294,-0.65,-117.3,560.0,-6.3,287,8298,0.00,2.30,0.00,0.000,6,0.000,0.064,3102,2412,3354
$GC,8630,-0.65,-117.3,580.8,-6.2,293,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2412,3354
$GC,8933,-0.65,-117.3,600.2,-6.3,298,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2412,3355
$GC,9238,-0.65,-117.3,618.6,-6.1,303,9242,0.00,2.33,0.00,0.000,4,0.000,0.083,3101,3822,3353
$GC,9277,-0.65,-117.3,621.1,-6.4,303,9281,0.00,2.28,0.00,0.000,6,0.000,0.059,3101,2389,3354
$GC,9598,-0.65,-117.3,639.8,-5.8,309,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2390,3354
$GC,9900,-0.65,-117.3,657.7,-5.8,314,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2390,3354
$GC,10203,-0.65,-117.3,675.2,-5.7,319,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2389,3353
$GC,10508,-0.65,-117.3,691.8,-5.5,324,10512,0.00,2.40,0.00,0.000,4,0.000,0.083,3100,3819,3353
$GC,10529,-0.65,-117.3,693.1,-5.4,324,10534,0.00,2.30,0.00,0.000,6,0.000,0.060,3101,2399,3353
$GC,10872,-0.65,-117.3,711.2,-5.2,330,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3353
$GC,11176,-0.65,-117.3,725.4,-4.6,335,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3353
$GC,11479,-0.65,-117.3,738.9,-4.4,340,11483,0.00,2.38,0.00,0.000,4,0.000,0.084,3100,3813,3353
$GC,11506,-0.65,-117.3,740.3,-4.7,340,11510,0.00,2.25,0.00,0.000,6,0.000,0.060,3101,2402,3352
$GC,11844,-0.65,-117.3,756.2,-4.8,346,11848,0.00,2.30,0.00,0.000,4,0.000,0.075,3101,990,3352
$GC,11876,-0.65,-117.3,758.0,-5.4,346,11880,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2414,3352
$GC,12208,-0.65,-117.3,775.2,-5.3,352,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2414,3352
$GC,12511,-0.65,-117.3,793.0,-5.9,357,12515,0.00,2.33,0.00,0.000,4,0.000,0.084,3101,3818,3352
$GC,12542,-0.65,-117.3,795.2,-6.2,357,12547,0.00,2.30,0.00,0.000,6,0.000,0.060,3101,2399,3352
$GC,12875,-0.65,-117.3,816.0,-6.4,363,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3352
$GC,13178,-0.65,-117.3,835.5,-6.4,368,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3352
$GC,13481,-0.65,-117.3,855.2,-6.5,373,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3351
$GC,13784,-0.65,-117.3,874.0,-6.1,378,13788,0.00,2.38,0.00,0.000,4,0.000,0.084,3100,3807,3351
$GC,13827,-0.65,-117.3,876.6,-6.0,378,13831,0.00,2.28,0.00,0.000,6,0.000,0.060,3100,2404,3351
$GC,14148,-0.65,-117.3,894.2,-5.4,384,14149,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,14451,-0.65,-117.3,910.1,-5.2,389,14455,0.00,2.33,0.00,0.000,4,0.000,0.076,3100,986,3351
$GC,14477,-0.65,-117.3,911.6,-5.8,389,14482,0.00,2.33,0.00,0.000,6,0.000,0.065,3101,2398,3351
$GC,14815,-0.65,-117.3,930.2,-5.6,395,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3351
$GC,15118,-0.65,-117.3,946.4,-5.3,400,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3351
$GC,15421,-0.65,-117.3,961.8,-5.0,405,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3350
$GC,15724,-0.65,-117.3,975.3,-4.4,410,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3350
$GC,16028,-0.65,-117.3,988.9,-4.4,415,16032,0.00,2.35,0.00,0.000,4,0.000,0.086,3101,3818,3350
$STATE,16046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16047,begin apogee
$GC,16054,-0.22,0.0,990.1,5.4,415,16158,0.45,0.00,100.95,1.499,6,0.151,0.000,3240,2200,2876
$STATE,16159,end apogee,CONTROL_FINISHED_OK
$STATE,16159,begin climb
$GC,16160,0.67,117.3,993.0,0.0,417,16271,0.90,0.00,106.10,1.443,6,0.097,0.000,3529,2200,2396
$GC,16574,0.31,117.3,968.0,8.4,424,16576,0.43,0.00,0.00,0.000,6,0.182,0.000,3418,2200,2393
$GC,16877,0.27,129.8,953.4,4.6,429,16890,0.00,0.00,11.82,1.324,6,0.000,0.000,3418,2200,2346
$GC,17180,0.28,134.9,938.8,4.9,434,17190,0.00,2.40,6.07,1.142,4,0.000,0.079,3424,784,2325
$GC,17234,0.28,134.9,935.6,6.6,434,17241,0.00,2.38,0.00,0.000,6,0.000,0.063,3424,2200,2325
$GC,17544,0.28,134.9,919.0,5.4,440,17545,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2325
$GC,17847,0.24,134.9,902.7,5.4,445,17848,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2325
$GC,18151,0.19,134.9,886.9,5.2,450,18155,0.15,2.38,0.00,0.000,4,0.176,0.080,3381,791,2325
$GC,18205,0.35,162.4,884.4,4.2,450,18236,0.08,2.33,24.38,1.406,6,0.068,0.063,3432,2201,2214
$GC,18580,0.35,162.4,862.7,5.9,457,18584,0.00,2.38,0.00,0.000,4,0.000,0.082,3432,3619,2211
$GC,18623,0.24,162.4,859.7,6.7,457,18628,0.15,2.35,0.00,0.000,6,0.176,0.066,3399,2188,2211
$GC,18945,0.31,162.4,843.1,5.1,463,18946,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2188,2210
$GC,19247,0.38,162.4,826.6,5.5,468,19252,0.12,2.35,0.00,0.000,4,0.093,0.081,3446,785,2210
$GC,19285,0.34,162.4,824.0,7.0,468,19289,0.00,2.33,0.00,0.000,6,0.000,0.066,3446,2205,2210
$GC,19611,0.28,162.4,800.7,7.2,474,19613,0.15,0.00,0.00,0.000,6,0.158,0.000,3407,2205,2210
$GC,19914,0.33,162.4,783.0,5.8,479,19916,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2205,2210
$GC,20218,0.38,162.4,765.4,5.8,484,20222,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,790,2210
$GC,20262,0.45,162.4,762.8,6.1,484,20266,0.15,2.30,0.00,0.000,6,0.091,0.064,3464,2206,2210
$GC,20578,0.33,162.4,740.1,7.3,490,20580,0.15,0.00,0.00,0.000,6,0.162,0.000,3425,2206,2210
$GC,20879,0.33,162.4,721.4,6.1,495,20880,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2206,2210
$GC,21182,0.33,162.4,703.4,5.9,500,21186,0.00,2.38,0.00,0.000,4,0.000,0.081,3425,783,2210
$GC,21219,0.33,162.4,701.2,5.4,500,21224,0.00,2.33,0.00,0.000,6,0.000,0.063,3425,2202,2210
$GC,21546,0.33,162.4,681.9,6.0,506,21547,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2210
$GC,21849,0.33,162.4,664.0,5.9,511,21850,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2210
$GC,22152,0.33,162.4,646.2,5.9,516,22153,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2210
$GC,22455,0.33,162.4,627.4,6.2,521,22459,0.00,2.35,0.00,0.000,4,0.000,0.081,3425,791,2210
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$STATE,33054,end climb,SURFACE_DEPTH_REACHED
$STATE,33054,begin surface coast
$FINISH,3.0,1.024841
$STATE,33139,end surface coast,CONTROL_FINISHED_OK
$STATE,33139,begin surface
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$10V_AH,10.7,18.536
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$DEVICE_SECS,28.925,168.175,367.950,0.000,0.000,24.814,24.061,151.776,245.750,0.000,0.000,29.651,1795.602,28520.420,538.634,2227.976,450.249,33.375,1622.364,0.000,2197.575,0.000,0.466
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$DATA_FILE_SIZE,50627,872
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