version: 66.03
glider: 120
mission: 9
dive: 203
start: 11 12 108 13 11 3
data:
$ID,120
$MISSION,9
$DIVE,203
$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,-21893.029
$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,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
$GPS1,130427,5005.804,-14429.227,28,4.4,47,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.5
$GPS2,131008,5005.881,-14429.169,35,2.0,35,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.052,-0.170
$KALMAN_X,39759.0,-288.1,-144.2,-14905.7,1890.5
$KALMAN_Y,155024.9,210.5,-274.5,-154351.6,1745.2
$MHEAD_RNG_PITCHd_Wd,178.5,21998,-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,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.83,0.000,2,0.000,0.000,135,2413,2389
$GC,57,-0.67,-117.3,3.3,-6.0,3,105,14.12,2.45,-28.92,0.000,4,0.290,0.092,3092,3818,3356
$GC,279,-0.39,-117.3,29.9,-13.5,22,286,0.28,2.35,0.00,0.000,6,0.159,0.055,3188,2400,3358
$GC,607,-0.44,-117.3,52.7,-7.4,53,611,0.00,2.38,0.00,0.000,4,0.000,0.068,3188,984,3358
$GC,646,-0.51,-117.3,55.7,-7.5,56,651,0.12,2.33,0.00,0.000,6,0.081,0.061,3142,2407,3358
$GC,974,-0.74,-117.3,78.6,-6.7,86,979,0.17,2.38,0.00,0.000,4,0.102,0.065,3075,990,3359
$GC,1090,-0.51,-117.3,90.4,-11.1,91,1095,0.28,2.30,0.00,0.000,6,0.161,0.061,3149,2398,3359
$GC,1406,-0.51,-117.3,114.1,-7.6,106,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2399,3360
$GC,1715,-0.51,-117.3,135.5,-6.2,121,1719,0.00,2.38,0.00,0.000,4,0.000,0.078,3149,3819,3361
$GC,1747,-0.56,-117.3,137.5,-6.4,122,1754,0.00,2.33,0.00,0.000,6,0.000,0.053,3149,2394,3361
$GC,2062,-0.61,-117.3,157.9,-6.4,136,2066,0.00,2.33,0.00,0.000,4,0.000,0.069,3149,994,3361
$GC,2095,-0.67,-117.3,160.1,-6.5,137,2100,0.15,2.30,0.00,0.000,6,0.078,0.061,3093,2413,3361
$GC,2424,-0.58,-117.3,187.3,-8.7,148,2425,0.12,0.00,0.00,0.000,6,0.157,0.000,3125,2413,3360
$GC,2730,-0.58,-117.3,209.2,-6.7,158,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2413,3360
$GC,3036,-0.58,-117.3,228.6,-6.2,168,3040,0.00,2.40,0.00,0.000,4,0.000,0.070,3125,985,3360
$GC,3084,-0.58,-117.3,232.1,-7.4,169,3089,0.00,2.35,0.00,0.000,6,0.000,0.063,3125,2394,3360
$GC,3403,-0.58,-117.3,253.6,-6.8,180,3407,0.00,2.35,0.00,0.000,4,0.000,0.071,3125,994,3360
$GC,3431,-0.58,-117.3,255.6,-7.4,181,3435,0.00,2.33,0.00,0.000,6,0.000,0.063,3125,2409,3359
$GC,3765,-0.58,-117.3,278.2,-6.6,192,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2409,3359
$GC,4071,-0.58,-117.3,297.7,-6.2,202,4075,0.00,2.38,0.00,0.000,4,0.000,0.071,3125,994,3359
$GC,4103,-0.58,-117.3,299.9,-6.6,203,4107,0.00,2.35,0.00,0.000,6,0.000,0.064,3125,2405,3359
$GC,4436,-0.58,-117.3,319.9,-6.0,209,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2405,3358
$GC,4738,-0.58,-117.3,337.4,-5.8,214,4742,0.00,2.38,0.00,0.000,4,0.000,0.071,3125,990,3358
$GC,4771,-0.58,-117.3,339.6,-6.6,214,4775,0.00,2.33,0.00,0.000,6,0.000,0.064,3125,2398,3358
$GC,5103,-0.58,-117.3,360.0,-6.2,220,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3358
$GC,5406,-0.58,-117.3,378.3,-6.0,225,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3357
$GC,5709,-0.58,-117.3,395.5,-5.7,230,5713,0.00,2.38,0.00,0.000,4,0.000,0.072,3125,991,3356
$GC,5735,-0.58,-117.3,397.1,-5.9,230,5739,0.00,2.33,0.00,0.000,6,0.000,0.064,3126,2397,3357
$GC,6073,-0.58,-117.3,413.7,-4.9,236,6077,0.00,2.38,0.00,0.000,4,0.000,0.084,3125,3809,3357
$GC,6095,-0.63,-117.3,414.9,-5.3,236,6099,0.00,2.28,0.00,0.000,6,0.000,0.057,3125,2402,3356
$GC,6432,-0.68,-117.3,431.7,-5.0,242,6436,0.00,2.38,0.00,0.000,4,0.000,0.072,3125,986,3356
$GC,6464,-0.72,-117.3,433.5,-5.8,242,6468,0.12,2.30,0.00,0.000,6,0.088,0.064,3078,2399,3356
$GC,6796,-0.64,-117.3,455.6,-6.8,248,6798,0.12,0.00,0.00,0.000,6,0.133,0.000,3111,2399,3356
$GC,7099,-0.64,-117.3,473.6,-5.9,253,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3356
$GC,7402,-0.64,-117.3,491.0,-5.7,258,7406,0.00,2.38,0.00,0.000,4,0.000,0.072,3111,992,3355
$GC,7434,-0.64,-117.3,493.0,-6.2,258,7438,0.00,2.33,0.00,0.000,6,0.000,0.065,3111,2398,3355
$GC,7766,-0.64,-117.3,512.9,-6.0,264,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2398,3355
$GC,8069,-0.64,-117.3,531.6,-6.2,269,8073,0.00,2.33,0.00,0.000,4,0.000,0.073,3111,990,3354
$GC,8100,-0.64,-117.3,533.8,-7.1,269,8105,0.00,2.33,0.00,0.000,6,0.000,0.066,3111,2399,3354
$GC,8433,-0.64,-117.3,554.3,-6.2,275,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3355
$GC,8736,-0.64,-117.3,573.0,-6.2,280,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3354
$GC,9039,-0.64,-117.3,591.7,-6.1,285,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3354
$GC,9342,-0.64,-117.3,609.4,-5.9,290,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2399,3354
$GC,9645,-0.64,-117.3,627.1,-5.9,295,9649,0.00,2.40,0.00,0.000,4,0.000,0.074,3111,986,3353
$GC,9678,-0.64,-117.3,629.2,-6.1,295,9682,0.00,2.35,0.00,0.000,6,0.000,0.066,3111,2396,3354
$GC,10011,-0.73,-117.3,648.7,-5.9,301,10015,0.00,2.38,0.00,0.000,4,0.000,0.073,3111,991,3354
$GC,10037,-0.89,-117.3,650.6,-7.2,301,10042,0.25,2.30,0.00,0.000,6,0.080,0.066,3019,2408,3353
$GC,10375,-0.83,-117.3,676.9,-7.9,307,10380,0.12,2.40,0.00,0.000,4,0.166,0.074,3053,991,3353
$GC,10460,-0.76,-117.3,683.2,-7.0,308,10464,0.00,2.33,0.00,0.000,6,0.000,0.067,3053,2402,3353
$GC,10803,-0.76,-117.3,708.2,-7.3,314,10807,0.00,2.38,0.00,0.000,4,0.000,0.074,3053,990,3353
$GC,10881,-0.68,-117.3,714.1,-7.5,315,10886,0.15,2.33,0.00,0.000,6,0.173,0.067,3093,2402,3353
$GC,11229,-0.82,-117.3,739.0,-7.3,321,11234,0.12,2.38,0.00,0.000,4,0.091,0.073,3049,994,3353
$GC,11312,-0.76,-117.3,745.8,-8.0,322,11316,0.00,2.30,0.00,0.000,6,0.000,0.065,3047,2402,3353
$GC,11661,-0.76,-117.3,775.2,-8.5,328,11665,0.00,2.38,0.00,0.000,4,0.000,0.074,3047,994,3352
$GC,11749,-0.68,-117.3,783.2,-8.7,329,11754,0.17,2.30,0.00,0.000,6,0.163,0.066,3094,2404,3352
$GC,12092,-0.84,-117.3,809.7,-7.7,335,12097,0.15,2.35,0.00,0.000,4,0.089,0.074,3038,988,3352
$GC,12170,-0.74,-117.3,816.2,-8.6,336,12174,0.15,2.33,0.00,0.000,6,0.168,0.066,3077,2411,3352
$GC,12518,-0.84,-117.3,842.3,-7.5,342,12522,0.00,2.35,0.00,0.000,4,0.000,0.074,3077,992,3352
$GC,12600,-0.84,-117.3,848.5,-7.5,343,12604,0.00,2.30,0.00,0.000,6,0.000,0.066,3073,2400,3352
$GC,12950,-0.94,-117.3,873.1,-7.0,349,12954,0.15,2.35,0.00,0.000,4,0.090,0.074,3011,990,3352
$GC,13032,-0.76,-117.3,879.8,-7.7,350,13037,0.22,2.33,0.00,0.000,6,0.173,0.066,3071,2412,3352
$GC,13376,-0.86,-117.3,901.9,-6.4,356,13380,0.00,2.35,0.00,0.000,4,0.000,0.075,3071,992,3352
$GC,13481,-0.86,-117.3,908.7,-6.4,357,13485,0.00,2.33,0.00,0.000,6,0.000,0.067,3071,2397,3352
$GC,13808,-0.96,-117.3,929.4,-6.5,363,13813,0.17,2.33,0.00,0.000,4,0.089,0.074,3002,994,3351
$GC,13902,-0.74,-117.3,937.2,-8.2,364,13907,0.28,2.30,0.00,0.000,6,0.174,0.067,3075,2400,3351
$GC,14234,-0.85,-117.3,958.8,-6.6,370,14238,0.00,2.35,0.00,0.000,4,0.000,0.075,3076,989,3351
$GC,14344,-0.85,-117.3,966.3,-6.0,371,14348,0.00,2.30,0.00,0.000,6,0.000,0.067,3073,2402,3351
$GC,14666,-0.96,-117.3,988.1,-6.8,377,14670,0.15,2.38,0.00,0.000,4,0.091,0.074,3010,987,3351
$STATE,14690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14690,begin apogee
$GC,14697,-0.22,0.0,990.2,8.3,377,14804,0.77,0.00,103.25,1.494,6,0.173,0.000,3237,2212,2876
$STATE,14804,end apogee,CONTROL_FINISHED_OK
$STATE,14805,begin climb
$GC,14807,0.67,117.3,994.5,0.0,379,14923,0.88,2.62,108.35,1.438,4,0.094,0.077,3524,3605,2396
$GC,15102,0.23,117.3,978.9,9.6,383,15108,0.55,2.42,0.00,0.000,6,0.195,0.064,3395,2200,2393
$GC,15428,0.23,123.9,962.8,4.8,389,15442,0.00,2.50,6.93,1.181,4,0.000,0.080,3395,784,2370
$GC,15487,0.33,150.7,959.9,4.2,389,15517,0.00,2.38,24.88,1.397,6,0.000,0.064,3395,2208,2260
$GC,15862,0.41,150.7,941.0,5.1,396,15864,0.15,0.00,0.00,0.000,6,0.087,0.000,3451,2208,2259
$GC,16165,0.31,150.7,919.9,7.1,401,16167,0.12,0.00,0.00,0.000,6,0.157,0.000,3420,2209,2258
$GC,16468,0.31,150.7,901.6,6.0,406,16469,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2209,2258
$GC,16771,0.31,150.7,884.5,5.7,411,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2209,2258
$GC,17074,0.31,150.7,868.5,5.3,416,17078,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,776,2257
$GC,17106,0.31,150.7,866.7,5.3,416,17110,0.00,2.35,0.00,0.000,6,0.000,0.063,3421,2199,2257
$GC,17438,0.31,152.1,850.0,5.0,422,17442,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,3608,2257
$GC,17488,0.24,152.1,847.3,5.2,422,17492,0.00,2.33,0.00,0.000,6,0.000,0.066,3421,2197,2257
$GC,17803,0.24,152.2,831.6,5.0,428,17804,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2197,2257
$GC,18106,0.24,154.7,816.5,4.9,433,18115,0.00,2.38,4.47,0.973,4,0.000,0.082,3421,794,2245
$GC,18160,0.24,154.7,813.8,5.3,433,18164,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2203,2244
$GC,18475,0.25,160.8,798.6,4.8,439,18484,0.00,0.00,7.20,1.173,6,0.000,0.000,3421,2203,2220
$GC,18779,0.26,165.7,783.8,4.9,444,18787,0.00,0.00,6.07,1.106,6,0.000,0.000,3421,2203,2200
$GC,19081,0.26,165.7,768.1,5.2,449,19083,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2199
$GC,19385,0.26,165.7,751.1,5.7,454,19386,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2203,2199
$GC,19687,0.26,165.7,732.5,6.2,459,19688,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2199
$GC,19991,0.26,165.7,712.9,6.5,464,19995,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,792,2199
$GC,20029,0.31,165.7,710.2,7.1,464,20033,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2207,2199
$GC,20350,0.31,165.7,690.2,6.2,470,20351,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2207,2199
$GC,20653,0.31,165.7,672.9,5.7,475,20654,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2207,2199
$GC,20956,0.31,165.7,656.6,5.3,480,20960,0.00,2.42,0.00,0.000,4,0.000,0.080,3421,791,2199
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$STATE,31746,end climb,SURFACE_DEPTH_REACHED
$STATE,31746,begin surface coast
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$STATE,31843,end surface coast,CONTROL_FINISHED_OK
$STATE,31843,begin surface
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$DATA_FILE_SIZE,50548,842
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