version: 66.03
glider: 120
mission: 9
dive: 163
start: 10 28 108 8 57 34
data:
$ID,120
$MISSION,9
$DIVE,163
$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,-21117.402
$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,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
$GPS1,084839,5001.783,-14429.622,39,1.1,39,18.6
$_CALLS,1
$_XMS_NAKs,35
$_XMS_TOUTs,4
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-67.3
$GPS2,085639,5001.824,-14429.678,12,1.2,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.010,-0.177
$KALMAN_X,40259.1,-113.8,-20.2,-16302.7,333.9
$KALMAN_Y,126168.5,-77.4,-75.8,-132908.3,1999.6
$MHEAD_RNG_PITCHd_Wd,164.7,14470,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.2,0.0,0.0,0,35,0.00,0.00,-12.23,0.000,2,0.000,0.000,135,2411,1957
$GC,38,-0.67,-117.3,3.4,-0.0,1,103,13.62,2.42,-43.78,0.000,4,0.278,0.094,3096,3809,3355
$GC,355,-0.38,-117.3,49.9,-12.3,29,362,0.28,2.30,0.00,0.000,6,0.160,0.054,3193,2396,3357
$GC,683,-0.66,-117.3,71.8,-7.6,60,688,0.25,2.30,0.00,0.000,4,0.083,0.066,3104,993,3358
$GC,767,-0.56,-117.3,79.2,-8.6,67,772,0.12,2.30,0.00,0.000,6,0.159,0.059,3133,2402,3359
$GC,1093,-0.47,-117.3,106.2,-8.3,83,1095,0.12,0.00,0.00,0.000,6,0.171,0.000,3166,2402,3359
$GC,1402,-0.47,-117.3,125.2,-5.5,98,1406,0.00,2.33,0.00,0.000,4,0.000,0.067,3167,989,3359
$GC,1434,-0.54,-117.3,127.0,-5.7,99,1440,0.00,2.33,0.00,0.000,6,0.000,0.060,3166,2399,3360
$GC,1750,-0.64,-117.3,142.4,-4.8,115,1752,0.17,0.00,0.00,0.000,6,0.078,0.000,3099,2399,3360
$GC,2057,-0.55,-117.3,165.7,-7.8,127,2059,0.15,0.00,0.00,0.000,6,0.154,0.000,3139,2399,3359
$GC,2363,-0.55,-117.3,185.3,-6.7,137,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2399,3359
$GC,2669,-0.55,-117.3,206.4,-6.8,147,2673,0.00,2.38,0.00,0.000,4,0.000,0.081,3139,3814,3358
$GC,2701,-0.61,-117.3,208.6,-6.9,148,2705,0.00,2.25,0.00,0.000,6,0.000,0.054,3139,2396,3358
$GC,3036,-0.66,-117.3,230.3,-6.4,159,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2396,3358
$GC,3342,-0.70,-117.3,248.5,-5.8,169,3347,0.15,2.30,0.00,0.000,4,0.082,0.071,3073,995,3358
$GC,3370,-0.59,-117.3,250.7,-9.0,170,3375,0.20,2.30,0.00,0.000,6,0.164,0.064,3126,2403,3358
$GC,3704,-0.59,-117.3,273.2,-6.7,181,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3358
$GC,4010,-0.59,-117.3,293.6,-6.7,191,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3357
$GC,4315,-0.59,-117.3,313.9,-6.7,198,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3356
$GC,4618,-0.59,-117.3,334.7,-6.9,203,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3356
$GC,4922,-0.59,-117.3,354.5,-6.5,208,4926,0.00,2.33,0.00,0.000,4,0.000,0.071,3126,992,3355
$GC,4954,-0.59,-117.3,356.8,-6.8,208,4959,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2398,3355
$GC,5286,-0.59,-117.3,376.0,-5.7,214,5291,0.00,2.33,0.00,0.000,4,0.000,0.072,3126,990,3355
$GC,5335,-0.59,-117.3,379.1,-6.2,214,5340,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2401,3355
$GC,5651,-0.59,-117.3,395.4,-5.2,220,5655,0.00,2.33,0.00,0.000,4,0.000,0.072,3126,992,3354
$GC,5677,-0.59,-117.3,397.0,-6.2,220,5681,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2407,3354
$GC,6015,-0.59,-117.3,415.3,-5.6,226,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3354
$GC,6318,-0.59,-117.3,433.9,-6.2,231,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2406,3354
$GC,6621,-0.59,-117.3,454.1,-6.7,236,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3354
$GC,6924,-0.59,-117.3,474.4,-6.7,241,6928,0.00,2.35,0.00,0.000,4,0.000,0.074,3126,987,3353
$GC,6961,-0.59,-117.3,477.1,-7.4,241,6965,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2400,3353
$GC,7288,-0.63,-117.3,497.1,-6.0,247,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3353
$GC,7591,-0.68,-117.3,513.9,-5.5,252,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2400,3353
$GC,7894,-0.72,-117.3,529.5,-5.1,257,7896,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2401,3352
$GC,8198,-0.68,-117.3,547.2,-5.9,262,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2401,3352
$GC,8501,-0.63,-117.3,565.6,-6.1,267,8505,0.12,2.38,0.00,0.000,4,0.117,0.085,3112,3812,3352
$GC,8534,-0.63,-117.3,567.6,-5.6,267,8538,0.00,2.25,0.00,0.000,6,0.000,0.058,3112,2400,3352
$GC,8860,-0.63,-117.3,586.5,-5.8,273,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2401,3352
$GC,9163,-0.63,-117.3,604.8,-6.1,278,9167,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,987,3352
$GC,9195,-0.63,-117.3,606.9,-6.2,278,9199,0.00,2.33,0.00,0.000,6,0.000,0.065,3112,2397,3352
$GC,9527,-0.63,-117.3,627.4,-6.1,284,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3352
$GC,9830,-0.63,-117.3,645.1,-5.8,289,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3352
$GC,10133,-0.63,-117.3,662.4,-5.7,294,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3351
$GC,10436,-0.63,-117.3,679.7,-5.8,299,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3351
$GC,10739,-0.63,-117.3,698.1,-6.0,304,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2397,3351
$GC,11043,-0.63,-117.3,716.4,-6.1,309,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3351
$GC,11345,-0.63,-117.3,733.9,-5.7,314,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3351
$GC,11649,-0.63,-117.3,750.5,-5.4,319,11653,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,995,3350
$GC,11675,-0.63,-117.3,752.1,-6.0,319,11680,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2396,3350
$GC,12013,-0.63,-117.3,769.4,-5.1,325,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3350
$GC,12316,-0.63,-117.3,785.7,-5.5,330,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2396,3350
$GC,12619,-0.63,-117.3,804.0,-6.0,335,12623,0.00,2.38,0.00,0.000,4,0.000,0.087,3112,3812,3350
$GC,12646,-0.68,-117.3,805.7,-6.5,335,12650,0.00,2.25,0.00,0.000,6,0.000,0.060,3112,2403,3350
$GC,12977,-0.73,-117.3,825.4,-5.9,341,12981,0.00,2.33,0.00,0.000,4,0.000,0.075,3112,989,3350
$GC,13009,-0.73,-117.3,827.6,-6.7,341,13014,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2396,3350
$GC,13343,-0.77,-117.3,846.6,-5.7,347,13344,0.12,0.00,0.00,0.000,6,0.091,0.000,3063,2396,3349
$GC,13645,-0.73,-117.3,865.9,-6.4,352,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2395,3349
$GC,13948,-0.68,-117.3,884.3,-6.0,357,13950,0.12,0.00,0.00,0.000,6,0.116,0.000,3098,2396,3349
$GC,14251,-0.68,-117.3,900.5,-5.4,362,14252,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3349
$GC,14554,-0.68,-117.3,917.4,-5.5,367,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3349
$GC,14857,-0.68,-117.3,934.4,-5.6,372,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3349
$GC,15160,-0.68,-117.3,951.3,-5.5,377,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3349
$GC,15463,-0.68,-117.3,968.0,-5.6,382,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3349
$GC,15766,-0.68,-117.3,985.1,-5.7,387,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3349
$STATE,15886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15886,begin apogee
$GC,15891,-0.22,0.0,992.2,5.7,389,15995,0.47,0.00,101.55,1.505,6,0.149,0.000,3242,2198,2876
$STATE,15996,end apogee,CONTROL_FINISHED_OK
$STATE,15996,begin climb
$GC,15998,0.67,117.3,993.9,0.0,390,16108,0.88,0.00,106.40,1.450,6,0.096,0.000,3530,2198,2396
$GC,16426,0.31,117.3,971.1,8.4,397,16431,0.38,2.50,0.00,0.000,4,0.180,0.081,3426,3607,2393
$GC,16464,0.18,117.3,968.3,6.1,397,16469,0.17,2.38,0.00,0.000,6,0.185,0.065,3383,2203,2393
$GC,16791,0.28,141.6,954.1,4.3,403,16814,0.00,0.00,21.73,1.407,6,0.000,0.000,3383,2203,2298
$GC,17094,0.38,149.1,939.7,4.8,408,17105,0.17,0.00,8.05,1.243,6,0.085,0.000,3448,2203,2268
$GC,17397,0.29,149.1,919.2,6.9,413,17399,0.15,0.00,0.00,0.000,6,0.156,0.000,3410,2203,2267
$GC,17699,0.29,149.1,901.3,5.8,418,17703,0.00,2.40,0.00,0.000,4,0.000,0.082,3410,791,2267
$GC,17737,0.34,149.1,898.9,5.2,418,17741,0.00,2.33,0.00,0.000,6,0.000,0.064,3409,2201,2267
$GC,18063,0.34,149.1,879.3,6.1,424,18067,0.00,2.35,0.00,0.000,4,0.000,0.081,3410,3609,2267
$GC,18096,0.29,149.1,877.1,6.9,424,18100,0.00,2.33,0.00,0.000,6,0.000,0.065,3410,2193,2266
$GC,18427,0.29,149.1,857.8,5.8,430,18429,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2193,2267
$GC,18731,0.29,149.1,841.8,5.2,435,18735,0.00,2.38,0.00,0.000,4,0.000,0.082,3409,780,2266
$GC,18763,0.35,149.1,840.1,5.3,435,18767,0.00,2.33,0.00,0.000,6,0.000,0.064,3410,2200,2266
$GC,19095,0.35,149.1,822.7,5.3,441,19096,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2200,2266
$GC,19398,0.35,149.1,806.8,5.3,446,19402,0.00,2.35,0.00,0.000,4,0.000,0.082,3410,3609,2266
$GC,19460,0.35,149.1,803.1,6.8,447,19464,0.00,2.30,0.00,0.000,6,0.000,0.066,3410,2198,2266
$GC,19824,0.35,149.1,782.6,5.6,453,19828,0.00,2.38,0.00,0.000,4,0.000,0.081,3410,3613,2266
$GC,19862,0.35,149.1,780.1,6.0,453,19867,0.00,2.33,0.00,0.000,6,0.000,0.066,3410,2206,2266
$GC,20189,0.35,149.1,761.7,5.6,459,20190,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2205,2266
$GC,20492,0.35,149.1,744.7,5.6,464,20493,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2206,2266
$GC,20795,0.39,149.1,727.1,5.8,469,20799,0.00,2.35,0.00,0.000,4,0.000,0.081,3410,789,2266
$GC,20833,0.45,149.1,724.8,5.9,469,20838,0.15,2.30,0.00,0.000,6,0.089,0.064,3465,2200,2266
$GC,21160,0.33,149.1,701.6,7.2,475,21164,0.15,2.35,0.00,0.000,4,0.162,0.080,3414,3618,2266
$GC,21209,0.29,149.1,698.3,6.3,475,21213,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2194,2266
$GC,21523,0.29,149.1,681.5,5.3,481,21528,0.00,2.38,0.00,0.000,4,0.000,0.081,3423,3618,2265
$GC,21556,0.22,149.1,679.5,5.7,481,21561,0.12,2.30,0.00,0.000,6,0.181,0.065,3393,2198,2265
$GC,21882,0.36,185.6,666.4,4.0,487,21917,0.12,0.00,31.38,1.292,6,0.095,0.000,3438,2199,2118
$GC,22250,0.41,185.6,646.7,5.5,493,22254,0.00,2.40,0.00,0.000,4,0.000,0.081,3439,787,2115
$GC,22287,0.41,185.6,644.4,6.4,493,22291,0.00,2.35,0.00,0.000,6,0.000,0.064,3439,2206,2115
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$STATE,32285,begin surface coast
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$STATE,32370,end surface coast,CONTROL_FINISHED_OK
$STATE,32370,begin surface
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$10V_AH,10.7,21.742
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$DEVICE_SECS,28.900,183.050,385.325,0.000,0.000,31.269,34.525,302.079,230.250,0.000,0.000,12.854,1739.934,27806.299,519.434,2216.554,635.518,33.372,1625.692,0.000,2190.244,0.000,0.465
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$DATA_FILE_SIZE,47509,825
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