version: 66.03
glider: 120
mission: 9
dive: 183
start: 11 5 108 0 11 45
data:
$ID,120
$MISSION,9
$DIVE,183
$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,-21488.906
$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,19
$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
$GPS1,000438,5001.105,-14513.034,55,1.0,55,18.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-77.4
$GPS2,001050,5001.132,-14513.091,12,1.2,12,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.176
$KALMAN_X,45976.1,-570.0,13.1,-73180.6,1499.5
$KALMAN_Y,144996.8,91.2,-117.4,-153152.0,3067.2
$MHEAD_RNG_PITCHd_Wd,170.6,13258,-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,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,55,0.00,0.00,-31.70,0.000,2,0.000,0.000,142,2414,2437
$GC,57,-0.67,-117.3,3.8,-6.8,3,102,14.12,2.42,-24.17,0.000,4,0.291,0.081,3093,982,3356
$GC,260,-0.40,-117.3,29.7,-14.0,21,265,0.32,2.35,0.00,0.000,6,0.165,0.064,3184,2400,3358
$GC,584,-0.40,-117.3,55.7,-7.4,51,585,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2400,3358
$GC,903,-0.72,-117.3,75.5,-6.7,81,908,0.28,2.35,0.00,0.000,4,0.082,0.065,3082,984,3359
$GC,970,-0.56,-117.3,81.5,-9.7,86,974,0.20,2.33,0.00,0.000,6,0.163,0.061,3136,2405,3360
$GC,1290,-0.49,-117.3,109.5,-8.9,102,1294,0.00,2.35,0.00,0.000,4,0.000,0.079,3136,3818,3361
$GC,1339,-0.49,-117.3,113.9,-8.4,104,1343,0.00,2.28,0.00,0.000,6,0.000,0.053,3136,2393,3361
$GC,1660,-0.49,-117.3,137.3,-7.1,120,1664,0.00,2.30,0.00,0.000,4,0.000,0.069,3136,989,3360
$GC,1715,-0.49,-117.3,141.4,-7.6,122,1722,0.00,2.33,0.00,0.000,6,0.000,0.061,3136,2399,3361
$GC,2050,-0.49,-117.3,162.0,-5.8,136,2054,0.00,2.35,0.00,0.000,4,0.000,0.081,3136,3818,3361
$GC,2077,-0.49,-117.3,163.5,-5.9,137,2081,0.00,2.28,0.00,0.000,6,0.000,0.054,3136,2391,3361
$GC,2412,-0.49,-117.3,183.2,-6.0,148,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2392,3361
$GC,2719,-0.54,-117.3,201.7,-6.1,158,2723,0.00,2.42,0.00,0.000,4,0.000,0.081,3136,3815,3361
$GC,2747,-0.59,-117.3,203.5,-6.5,159,2751,0.00,2.28,0.00,0.000,6,0.000,0.055,3136,2393,3361
$GC,3081,-0.64,-117.3,223.2,-5.6,170,3085,0.00,2.30,0.00,0.000,4,0.000,0.071,3136,994,3360
$GC,3113,-0.64,-117.3,225.1,-5.7,171,3117,0.00,2.30,0.00,0.000,6,0.000,0.062,3136,2398,3360
$GC,3449,-0.68,-117.3,245.5,-6.2,182,3451,0.12,0.00,0.00,0.000,6,0.086,0.000,3088,2399,3359
$GC,3755,-0.64,-117.3,268.2,-7.3,192,3759,0.00,2.33,0.00,0.000,4,0.000,0.071,3087,996,3359
$GC,3798,-0.56,-117.3,271.7,-7.9,193,3803,0.17,2.30,0.00,0.000,6,0.157,0.064,3133,2408,3359
$GC,4122,-0.60,-117.3,290.5,-5.7,204,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2408,3358
$GC,4427,-0.64,-117.3,308.6,-6.1,212,4431,0.00,2.35,0.00,0.000,4,0.000,0.072,3133,994,3358
$GC,4464,-0.69,-117.3,311.1,-6.9,212,4469,0.12,2.30,0.00,0.000,6,0.087,0.064,3087,2407,3358
$GC,4791,-0.65,-117.3,333.0,-6.6,218,4795,0.00,2.33,0.00,0.000,4,0.000,0.081,3086,3809,3357
$GC,4853,-0.57,-117.3,337.4,-7.0,219,4858,0.17,2.28,0.00,0.000,6,0.140,0.059,3135,2392,3357
$GC,5218,-0.62,-117.3,356.7,-5.2,225,5222,0.00,2.33,0.00,0.000,4,0.000,0.074,3134,987,3357
$GC,5256,-0.68,-117.3,359.1,-5.5,225,5261,0.12,2.30,0.00,0.000,6,0.089,0.064,3090,2401,3357
$GC,5576,-0.68,-117.3,380.0,-6.6,231,5580,0.00,2.35,0.00,0.000,4,0.000,0.081,3086,3817,3357
$GC,5619,-0.61,-117.3,383.2,-7.6,231,5624,0.12,2.28,0.00,0.000,6,0.120,0.058,3120,2400,3356
$GC,5940,-0.61,-117.3,404.2,-6.6,237,5944,0.00,2.33,0.00,0.000,4,0.000,0.073,3120,993,3356
$GC,5994,-0.61,-117.3,408.3,-7.5,237,6002,0.00,2.33,0.00,0.000,6,0.000,0.064,3120,2398,3356
$GC,6304,-0.61,-117.3,430.1,-7.1,243,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2398,3356
$GC,6607,-0.61,-117.3,449.5,-6.3,248,6611,0.00,2.33,0.00,0.000,4,0.000,0.073,3120,994,3356
$GC,6634,-0.61,-117.3,451.3,-6.6,248,6638,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2413,3356
$GC,6971,-0.61,-117.3,470.7,-5.7,254,6975,0.00,2.35,0.00,0.000,4,0.000,0.074,3120,994,3356
$GC,7014,-0.61,-117.3,473.3,-6.2,254,7018,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2397,3356
$GC,7335,-0.65,-117.3,491.6,-5.7,260,7339,0.00,2.33,0.00,0.000,4,0.000,0.073,3120,990,3356
$GC,7363,-0.69,-117.3,493.5,-7.1,260,7367,0.00,2.30,0.00,0.000,6,0.000,0.064,3120,2406,3356
$GC,7694,-0.69,-117.3,514.3,-6.3,266,7698,0.00,2.35,0.00,0.000,4,0.000,0.073,3120,990,3355
$GC,7714,-0.69,-117.3,515.7,-6.5,266,7719,0.00,2.33,0.00,0.000,6,0.000,0.065,3120,2401,3355
$GC,8058,-0.69,-117.3,537.5,-6.3,272,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2401,3355
$GC,8362,-0.74,-117.3,555.8,-6.0,277,8364,0.12,0.00,0.00,0.000,6,0.090,0.000,3073,2402,3355
$GC,8665,-0.69,-117.3,577.7,-7.3,282,8669,0.00,2.35,0.00,0.000,4,0.000,0.074,3073,987,3355
$GC,8697,-0.61,-117.3,580.3,-7.7,282,8702,0.17,2.33,0.00,0.000,6,0.158,0.066,3119,2408,3355
$GC,9029,-0.66,-117.3,601.0,-6.1,288,9034,0.00,2.35,0.00,0.000,4,0.000,0.074,3119,993,3355
$GC,9051,-0.71,-117.3,602.5,-6.2,288,9055,0.00,2.33,0.00,0.000,6,0.000,0.065,3119,2401,3355
$GC,9395,-0.76,-117.3,622.0,-5.6,294,9397,0.15,0.00,0.00,0.000,6,0.087,0.000,3061,2402,3354
$GC,9698,-0.69,-117.3,641.6,-6.5,299,9702,0.10,2.33,0.00,0.000,4,0.104,0.074,3094,994,3354
$GC,9724,-0.65,-117.3,643.3,-6.8,299,9728,0.00,2.33,0.00,0.000,6,0.000,0.067,3094,2411,3354
$GC,10061,-0.65,-117.3,663.1,-5.9,305,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2411,3354
$GC,10365,-0.65,-117.3,681.0,-5.9,310,10369,0.00,2.35,0.00,0.000,4,0.000,0.075,3094,990,3354
$GC,10391,-0.65,-117.3,682.8,-6.5,310,10396,0.00,2.33,0.00,0.000,6,0.000,0.066,3094,2412,3354
$GC,10729,-0.65,-117.3,704.4,-6.5,316,10734,0.00,2.35,0.00,0.000,4,0.000,0.074,3094,989,3354
$GC,10762,-0.65,-117.3,706.7,-7.1,316,10766,0.00,2.33,0.00,0.000,6,0.000,0.067,3094,2394,3354
$GC,11094,-0.65,-117.3,727.9,-6.4,322,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3354
$GC,11398,-0.65,-117.3,747.3,-6.4,327,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3354
$GC,11700,-0.65,-117.3,765.4,-5.9,332,11704,0.00,2.33,0.00,0.000,4,0.000,0.077,3094,993,3353
$GC,11748,-0.65,-117.3,768.6,-6.2,332,11753,0.00,2.33,0.00,0.000,6,0.000,0.068,3094,2395,3353
$GC,12064,-0.65,-117.3,786.7,-5.8,338,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3353
$GC,12367,-0.65,-117.3,803.5,-5.5,343,12371,0.00,2.33,0.00,0.000,4,0.000,0.076,3094,991,3353
$GC,12394,-0.65,-117.3,805.2,-6.4,343,12398,0.00,2.33,0.00,0.000,6,0.000,0.067,3094,2394,3352
$GC,12732,-0.65,-117.3,824.9,-6.0,349,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3353
$GC,13035,-0.65,-117.3,842.6,-5.7,354,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3353
$GC,13338,-0.65,-117.3,859.9,-5.7,359,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2394,3353
$GC,13641,-0.65,-117.3,876.7,-5.5,364,13645,0.00,2.33,0.00,0.000,4,0.000,0.077,3094,994,3352
$GC,13678,-0.65,-117.3,878.9,-6.1,364,13682,0.00,2.33,0.00,0.000,6,0.000,0.067,3094,2396,3352
$GC,14005,-0.65,-117.3,895.6,-5.1,370,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3352
$GC,14308,-0.65,-117.3,911.4,-5.2,375,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3352
$GC,14611,-0.65,-117.3,928.0,-5.6,380,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3352
$GC,14914,-0.65,-117.3,945.8,-6.0,385,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3352
$GC,15217,-0.65,-117.3,964.4,-6.1,390,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2396,3352
$GC,15520,-0.65,-117.3,983.3,-6.2,395,15524,0.00,2.33,0.00,0.000,4,0.000,0.077,3094,994,3352
$GC,15563,-0.65,-117.3,986.3,-7.3,395,15567,0.00,2.33,0.00,0.000,6,0.000,0.069,3094,2407,3352
$STATE,15639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15640,begin apogee
$GC,15645,-0.22,0.0,991.1,6.3,397,15750,0.50,0.00,103.03,1.503,6,0.146,0.000,3247,2195,2876
$STATE,15751,end apogee,CONTROL_FINISHED_OK
$STATE,15751,begin climb
$GC,15753,0.67,117.3,993.2,0.0,398,15865,0.85,0.00,108.05,1.451,6,0.094,0.000,3526,2195,2397
$GC,16119,0.32,117.3,976.9,7.7,404,16121,0.38,0.00,0.00,0.000,6,0.176,0.000,3427,2195,2393
$GC,16421,0.24,117.3,958.9,5.9,409,16423,0.12,0.00,0.00,0.000,6,0.185,0.000,3397,2194,2393
$GC,16724,0.24,117.3,942.9,5.3,414,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2195,2393
$GC,17027,0.24,117.3,926.8,5.3,419,17028,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2194,2392
$GC,17330,0.24,117.3,910.6,5.3,424,17331,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2195,2392
$GC,17633,0.24,117.3,894.9,5.1,429,17634,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2194,2391
$GC,17937,0.26,134.5,881.1,4.5,434,17954,0.00,0.00,15.38,1.366,6,0.000,0.000,3397,2195,2327
$GC,18240,0.34,162.7,868.2,4.2,439,18268,0.00,0.00,25.52,1.394,6,0.000,0.000,3397,2195,2212
$GC,18544,0.45,182.7,855.0,4.4,444,18565,0.20,0.00,18.67,1.358,6,0.084,0.000,3473,2195,2131
$GC,18846,0.34,182.7,832.2,7.7,449,18851,0.15,2.42,0.00,0.000,4,0.157,0.081,3427,3607,2129
$GC,18889,0.29,182.7,828.7,8.4,449,18893,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2201,2128
$GC,19211,0.29,182.7,806.7,6.9,455,19212,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2128
$GC,19513,0.29,182.7,784.9,7.3,460,19517,0.00,2.38,0.00,0.000,4,0.000,0.082,3436,806,2128
$GC,19561,0.29,182.7,781.3,6.9,460,19566,0.00,2.35,0.00,0.000,6,0.000,0.065,3435,2198,2128
$GC,19877,0.29,182.7,759.0,7.1,466,19878,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2198,2128
$GC,20180,0.29,182.7,738.4,6.8,471,20181,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2127
$GC,20483,0.29,182.7,718.1,6.7,476,20484,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2128
$GC,20786,0.29,182.7,697.1,6.9,481,20787,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2198,2127
$GC,21089,0.29,182.7,676.1,6.9,486,21090,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2198,2127
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$STATE,32257,end climb,SURFACE_DEPTH_REACHED
$STATE,32257,begin surface coast
$FINISH,1.3,1.013515
$STATE,32319,end surface coast,CONTROL_FINISHED_OK
$STATE,32320,begin surface
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$10V_AH,10.6,24.412
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$DATA_FILE_SIZE,50563,845
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$GPS,051108,091256,4957.742,-14514.461,39,1.4,39,18.4