version: 66.03
glider: 120
mission: 9
dive: 186
start: 11 6 108 2 2 28
data:
$ID,120
$MISSION,9
$DIVE,186
$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,-21555.863
$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,18
$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
$GPS1,015238,4953.484,-14511.103,32,1.3,32,18.4
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.6
$GPS2,020133,4953.452,-14511.186,15,1.4,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,0.094
$KALMAN_X,45273.8,-268.8,23.7,-70537.2,783.7
$KALMAN_Y,148639.6,-249.2,-438.3,-170349.2,3570.6
$MHEAD_RNG_PITCHd_Wd,39.7,35477,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,49,0.00,0.00,-26.65,0.000,2,0.000,0.000,136,2402,2304
$GC,52,-0.67,-117.3,3.0,-4.3,3,106,13.90,2.42,-32.90,0.000,4,0.287,0.092,3087,3812,3356
$GC,187,-0.40,-117.3,19.9,-15.4,15,192,0.35,2.33,0.00,0.000,6,0.164,0.056,3184,2388,3357
$GC,512,-0.40,-117.3,46.2,-7.2,45,516,0.00,2.45,0.00,0.000,4,0.000,0.078,3182,3816,3358
$GC,556,-0.47,-117.3,50.0,-8.8,48,562,0.00,2.28,0.00,0.000,6,0.000,0.053,3182,2396,3358
$GC,882,-0.55,-117.3,74.3,-6.9,79,886,0.12,2.33,0.00,0.000,4,0.084,0.067,3132,984,3359
$GC,931,-0.55,-117.3,78.4,-8.4,83,935,0.00,2.30,0.00,0.000,6,0.000,0.059,3132,2400,3359
$GC,1248,-0.50,-117.3,103.8,-8.1,99,1252,0.00,2.35,0.00,0.000,4,0.000,0.077,3129,3812,3360
$GC,1291,-0.44,-117.3,107.8,-9.0,101,1296,0.17,2.28,0.00,0.000,6,0.127,0.053,3177,2388,3360
$GC,1613,-0.52,-117.3,128.2,-6.1,117,1617,0.00,2.30,0.00,0.000,4,0.000,0.068,3178,989,3361
$GC,1636,-0.62,-117.3,129.7,-6.6,118,1641,0.20,2.30,0.00,0.000,6,0.079,0.060,3105,2407,3361
$GC,1956,-0.74,-117.3,156.1,-7.8,133,1960,0.00,2.35,0.00,0.000,4,0.000,0.077,3100,3815,3361
$GC,2012,-0.69,-117.3,160.7,-8.6,134,2019,0.00,2.25,0.00,0.000,6,0.000,0.055,3100,2402,3361
$GC,2325,-0.61,-117.3,184.4,-7.3,145,2329,0.00,2.33,0.00,0.000,4,0.000,0.069,3100,985,3361
$GC,2353,-0.54,-117.3,186.7,-8.1,146,2358,0.15,2.30,0.00,0.000,6,0.156,0.061,3139,2398,3361
$GC,2688,-0.54,-117.3,207.1,-5.7,157,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2398,3360
$GC,2994,-0.58,-117.3,224.4,-5.7,167,2998,0.00,2.35,0.00,0.000,4,0.000,0.081,3139,3809,3360
$GC,3022,-0.64,-117.3,225.9,-5.9,168,3026,0.00,2.28,0.00,0.000,6,0.000,0.056,3140,2390,3360
$GC,3357,-0.89,-117.3,248.0,-6.8,179,3362,0.30,2.42,0.00,0.000,4,0.087,0.078,3026,3819,3359
$GC,3591,-0.60,-117.3,272.3,-10.7,186,3596,0.28,2.30,0.00,0.000,6,0.166,0.058,3121,2401,3359
$GC,3926,-0.60,-117.3,292.6,-6.3,197,3930,0.00,2.33,0.00,0.000,4,0.000,0.072,3121,990,3358
$GC,3963,-0.60,-117.3,295.3,-7.5,198,3968,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2401,3358
$GC,4296,-0.60,-117.3,318.1,-7.0,205,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3358
$GC,4599,-0.60,-117.3,338.6,-6.7,210,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3358
$GC,4903,-0.60,-117.3,358.3,-6.4,215,4907,0.00,2.38,0.00,0.000,4,0.000,0.082,3118,3817,3357
$GC,4940,-0.60,-117.3,360.7,-6.6,215,4944,0.00,2.28,0.00,0.000,6,0.000,0.058,3118,2396,3357
$GC,5267,-0.60,-117.3,381.2,-6.3,221,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2396,3357
$GC,5570,-0.60,-117.3,400.4,-6.3,226,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2396,3357
$GC,5873,-0.60,-117.3,421.7,-7.1,231,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2396,3357
$GC,6176,-0.60,-117.3,442.1,-6.7,236,6180,0.00,2.33,0.00,0.000,4,0.000,0.074,3118,991,3356
$GC,6208,-0.60,-117.3,444.4,-7.2,236,6213,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2395,3356
$GC,6541,-0.60,-117.3,465.7,-6.4,242,6545,0.00,2.35,0.00,0.000,4,0.000,0.083,3114,3808,3356
$GC,6584,-0.60,-117.3,468.5,-6.6,242,6588,0.00,2.25,0.00,0.000,6,0.000,0.058,3113,2399,3356
$GC,6905,-0.60,-117.3,487.9,-6.0,248,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3356
$GC,7208,-0.60,-117.3,506.0,-5.9,253,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3356
$GC,7511,-0.60,-117.3,523.8,-5.9,258,7515,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,991,3355
$GC,7537,-0.60,-117.3,525.5,-5.9,258,7541,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2399,3355
$GC,7875,-0.60,-117.3,544.9,-5.8,264,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3355
$GC,8178,-0.60,-117.3,562.0,-5.6,269,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3355
$GC,8481,-0.60,-117.3,580.1,-6.0,274,8485,0.00,2.38,0.00,0.000,4,0.000,0.084,3113,3812,3354
$GC,8519,-0.65,-117.3,582.4,-6.2,274,8523,0.00,2.28,0.00,0.000,6,0.000,0.058,3113,2396,3355
$GC,8845,-0.85,-117.3,605.1,-7.2,280,8850,0.17,2.33,0.00,0.000,4,0.093,0.074,3044,993,3354
$GC,9068,-0.69,-117.3,624.8,-9.1,283,9073,0.20,2.30,0.00,0.000,6,0.173,0.067,3096,2400,3354
$GC,9411,-0.69,-117.3,647.9,-6.7,289,9415,0.00,2.35,0.00,0.000,4,0.000,0.084,3096,3808,3354
$GC,9449,-0.69,-117.3,650.5,-6.8,289,9453,0.00,2.30,0.00,0.000,6,0.000,0.059,3097,2396,3353
$GC,9776,-0.69,-117.3,671.0,-6.2,295,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3354
$GC,10079,-0.69,-117.3,689.3,-6.0,300,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3353
$GC,10382,-0.69,-117.3,708.0,-6.3,305,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3353
$GC,10685,-0.69,-117.3,727.4,-6.5,310,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3353
$GC,10988,-0.69,-117.3,747.7,-6.8,315,10993,0.00,2.45,0.00,0.000,4,0.000,0.086,3097,3816,3353
$GC,11026,-0.69,-117.3,750.3,-6.7,315,11031,0.00,2.30,0.00,0.000,6,0.000,0.059,3096,2405,3352
$GC,11353,-0.69,-117.3,770.6,-6.2,321,11357,0.00,2.35,0.00,0.000,4,0.000,0.075,3096,984,3353
$GC,11396,-0.69,-117.3,773.5,-6.4,321,11400,0.00,2.35,0.00,0.000,6,0.000,0.067,3096,2401,3353
$GC,11717,-0.69,-117.3,791.3,-5.5,327,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3352
$GC,12020,-0.69,-117.3,806.8,-5.1,332,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3352
$GC,12323,-0.69,-117.3,823.2,-5.4,337,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3352
$GC,12626,-0.69,-117.3,840.8,-5.9,342,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3352
$GC,12930,-0.69,-117.3,859.4,-6.1,347,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2401,3352
$GC,13232,-0.69,-117.3,877.8,-6.1,352,13236,0.00,2.38,0.00,0.000,4,0.000,0.076,3096,987,3352
$GC,13265,-0.69,-117.3,880.0,-6.7,352,13269,0.00,2.38,0.00,0.000,6,0.000,0.068,3096,2405,3352
$GC,13597,-0.69,-117.3,900.6,-6.2,358,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3352
$GC,13900,-0.69,-117.3,918.9,-6.0,363,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3352
$GC,14203,-0.69,-117.3,937.2,-6.0,368,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3351
$GC,14506,-0.69,-117.3,955.5,-6.0,373,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3351
$GC,14809,-0.69,-117.3,974.0,-6.0,378,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2405,3351
$STATE,15111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15111,begin apogee
$GC,15116,-0.22,0.0,992.8,6.2,383,15222,0.50,0.00,102.88,1.505,6,0.149,0.000,3248,2194,2876
$STATE,15223,end apogee,CONTROL_FINISHED_OK
$STATE,15223,begin climb
$GC,15225,0.67,117.3,995.0,0.0,384,15341,0.85,2.75,107.60,1.454,4,0.097,0.079,3525,3607,2396
$GC,15415,0.22,117.3,992.6,8.3,387,15421,0.57,2.50,0.00,0.000,6,0.196,0.065,3391,2195,2394
$GC,15781,0.25,148.0,977.1,4.1,393,15815,0.00,2.53,27.45,1.421,4,0.000,0.081,3395,794,2272
$GC,15855,0.34,154.0,973.6,4.8,394,15868,0.00,2.40,6.90,1.162,6,0.000,0.064,3394,2203,2248
$GC,16213,0.41,154.0,954.6,5.4,400,16218,0.15,2.40,0.00,0.000,4,0.089,0.082,3459,3615,2247
$GC,16247,0.21,154.0,952.1,8.2,400,16252,0.28,2.35,0.00,0.000,6,0.179,0.067,3391,2197,2246
$GC,16573,0.29,154.0,934.0,5.5,406,16577,0.00,2.38,0.00,0.000,4,0.000,0.081,3395,793,2246
$GC,16606,0.39,154.0,932.0,6.3,406,16611,0.08,2.35,0.00,0.000,6,0.089,0.064,3444,2201,2246
$GC,16938,0.32,154.0,908.1,7.4,412,16939,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2201,2246
$GC,17241,0.25,154.0,886.1,7.3,417,17246,0.15,2.38,0.00,0.000,4,0.156,0.082,3400,3621,2246
$GC,17273,0.25,154.0,883.8,6.3,417,17277,0.00,2.35,0.00,0.000,6,0.000,0.064,3408,2200,2245
$GC,17605,0.25,154.0,864.2,5.9,423,17609,0.00,2.38,0.00,0.000,4,0.000,0.081,3408,798,2246
$GC,17643,0.31,154.0,862.0,5.7,423,17647,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2206,2245
$GC,17970,0.36,154.0,843.3,5.8,429,17971,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2206,2245
$GC,18272,0.40,154.0,827.0,5.3,434,18274,0.12,0.00,0.00,0.000,6,0.099,0.000,3459,2206,2245
$GC,18576,0.29,154.0,807.1,6.7,439,18577,0.17,0.00,0.00,0.000,6,0.159,0.000,3413,2206,2245
$GC,18879,0.29,155.7,791.7,5.0,444,18880,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2206,2244
$GC,19181,0.29,155.7,776.2,5.1,449,19182,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2206,2244
$GC,19484,0.29,155.7,760.3,5.3,454,19488,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,839,2245
$GC,19517,0.29,155.7,758.4,6.0,454,19521,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2199,2245
$GC,19849,0.29,155.7,739.8,5.7,460,19850,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2199,2245
$GC,20152,0.29,155.7,720.8,6.3,465,20153,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2244
$GC,20455,0.29,155.7,701.9,6.2,470,20459,0.00,2.38,0.00,0.000,4,0.000,0.084,3421,3619,2244
$GC,20498,0.25,155.7,698.8,7.2,470,20502,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2196,2244
$GC,20819,0.25,155.7,678.6,6.4,476,20820,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2244
$GC,21122,0.25,155.7,659.2,6.4,481,21126,0.00,2.40,0.00,0.000,4,0.000,0.081,3421,3611,2244
$GC,21160,0.20,155.7,656.4,8.5,481,21164,0.15,2.33,0.00,0.000,6,0.179,0.066,3385,2188,2244
$GC,21486,0.33,155.7,639.3,5.2,487,21488,0.12,0.00,0.00,0.000,6,0.096,0.000,3428,2188,2244
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$STATE,32622,end climb,SURFACE_DEPTH_REACHED
$STATE,32622,begin surface coast
$FINISH,1.1,1.002624
$STATE,32719,end surface coast,CONTROL_FINISHED_OK
$STATE,32719,begin surface
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$10V_AH,10.6,24.802
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$DEVICE_SECS,30.850,198.325,351.775,19.975,0.000,61.807,56.127,241.718,254.000,0.000,0.000,15.496,1828.190,27874.430,520.405,2408.783,658.444,33.378,1707.182,0.000,2381.378,0.000,0.465
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$DATA_FILE_SIZE,50587,858
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$CFSIZE,260165632,244174848
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