version: 66.03
glider: 120
mission: 9
dive: 241
start: 11 26 108 20 55 41
data:
$ID,120
$MISSION,9
$DIVE,241
$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,-22748.074
$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
$GPS1,204207,5018.085,-14425.551,41,1.1,52,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-75.8
$GPS2,205447,5018.175,-14425.600,13,2.4,32,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.004,-0.178
$KALMAN_X,33612.6,49.9,128.8,-5143.6,-872.9
$KALMAN_Y,183908.2,179.7,250.5,-160965.4,732.5
$MHEAD_RNG_PITCHd_Wd,159.9,45035,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-31.42,0.000,2,0.000,0.000,130,2407,2414
$GC,57,-0.67,-117.3,3.5,-4.5,3,107,14.20,2.47,-26.80,0.000,4,0.289,0.100,3095,3805,3357
$GC,153,-0.43,-117.3,14.5,-14.3,12,158,0.28,2.33,0.00,0.000,6,0.163,0.055,3172,2399,3358
$GC,481,-0.43,-117.3,38.9,-7.8,42,482,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2398,3359
$GC,796,-0.43,-117.3,62.6,-7.4,72,800,0.00,2.35,0.00,0.000,4,0.000,0.068,3172,991,3359
$GC,828,-0.47,-117.3,64.9,-7.0,74,835,0.00,2.33,0.00,0.000,6,0.000,0.061,3169,2408,3359
$GC,1150,-0.70,-117.3,87.0,-6.2,100,1155,0.20,2.40,0.00,0.000,4,0.081,0.066,3092,985,3360
$GC,1236,-0.55,-117.3,93.5,-8.5,104,1241,0.17,2.33,0.00,0.000,6,0.159,0.061,3134,2412,3360
$GC,1562,-0.50,-117.3,119.2,-8.4,120,1566,0.00,2.38,0.00,0.000,4,0.000,0.077,3127,3806,3360
$GC,1612,-0.50,-117.3,123.9,-9.2,122,1616,0.00,2.28,0.00,0.000,6,0.000,0.053,3127,2396,3360
$GC,1927,-0.50,-117.3,148.4,-7.0,137,1932,0.00,2.42,0.00,0.000,4,0.000,0.077,3127,3806,3360
$GC,1982,-0.50,-117.3,152.1,-6.5,139,1989,0.00,2.30,0.00,0.000,6,0.000,0.054,3127,2404,3360
$GC,2295,-0.50,-117.3,171.6,-6.4,150,2299,0.00,2.35,0.00,0.000,4,0.000,0.067,3127,992,3360
$GC,2333,-0.50,-117.3,174.2,-7.3,151,2338,0.00,2.33,0.00,0.000,6,0.000,0.061,3127,2410,3361
$GC,2663,-0.50,-117.3,195.8,-6.6,162,2667,0.00,2.38,0.00,0.000,4,0.000,0.067,3127,987,3360
$GC,2701,-0.54,-117.3,198.4,-6.6,163,2705,0.00,2.33,0.00,0.000,6,0.000,0.061,3127,2412,3361
$GC,3031,-0.54,-117.3,219.6,-6.5,174,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2412,3360
$GC,3336,-0.54,-117.3,238.2,-5.9,184,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2412,3360
$GC,3643,-0.54,-117.3,255.2,-5.7,194,3647,0.00,2.40,0.00,0.000,4,0.000,0.069,3127,994,3360
$GC,3698,-0.61,-117.3,258.6,-6.1,195,3704,0.00,2.28,0.00,0.000,6,0.000,0.061,3127,2401,3360
$GC,4011,-0.65,-117.3,275.9,-5.5,206,4015,0.00,2.40,0.00,0.000,4,0.000,0.080,3127,3812,3360
$GC,4060,-0.72,-117.3,278.8,-5.7,207,4065,0.12,2.28,0.00,0.000,6,0.091,0.054,3080,2399,3360
$GC,4373,-0.67,-117.3,299.3,-6.8,217,4377,0.00,2.38,0.00,0.000,4,0.000,0.070,3080,988,3359
$GC,4429,-0.60,-117.3,303.4,-7.4,218,4434,0.15,2.30,0.00,0.000,6,0.154,0.063,3119,2404,3359
$GC,4738,-0.60,-117.3,321.5,-5.7,223,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2404,3359
$GC,5041,-0.60,-117.3,339.4,-5.9,228,5046,0.00,2.40,0.00,0.000,4,0.000,0.070,3119,987,3358
$GC,5074,-0.60,-117.3,341.6,-6.8,228,5078,0.00,2.30,0.00,0.000,6,0.000,0.064,3116,2404,3358
$GC,5406,-0.60,-117.3,362.4,-6.3,234,5410,0.00,2.33,0.00,0.000,4,0.000,0.071,3115,992,3358
$GC,5446,-0.60,-117.3,365.1,-6.7,234,5450,0.00,2.28,0.00,0.000,6,0.000,0.063,3115,2399,3358
$GC,5766,-0.60,-117.3,385.9,-6.5,240,5770,0.00,2.33,0.00,0.000,4,0.000,0.071,3115,990,3358
$GC,5792,-0.60,-117.3,387.8,-7.1,240,5796,0.00,2.30,0.00,0.000,6,0.000,0.063,3115,2408,3358
$GC,6130,-0.60,-117.3,409.1,-6.3,246,6134,0.00,2.35,0.00,0.000,4,0.000,0.082,3115,3817,3358
$GC,6156,-0.60,-117.3,410.7,-5.9,246,6160,0.00,2.30,0.00,0.000,6,0.000,0.057,3115,2404,3357
$GC,6494,-0.60,-117.3,430.0,-5.6,252,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2404,3357
$GC,6797,-0.60,-117.3,447.1,-5.7,257,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2404,3357
$GC,7100,-0.60,-117.3,464.7,-5.8,262,7104,0.00,2.38,0.00,0.000,4,0.000,0.071,3116,994,3356
$GC,7150,-0.66,-117.3,467.8,-6.8,262,7154,0.00,2.30,0.00,0.000,6,0.000,0.064,3115,2408,3356
$GC,7465,-0.66,-117.3,486.5,-6.0,268,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2408,3356
$GC,7768,-0.66,-117.3,505.3,-6.2,273,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2408,3356
$GC,8072,-0.70,-117.3,524.2,-6.2,278,8076,0.00,2.40,0.00,0.000,4,0.000,0.071,3115,993,3356
$GC,8121,-0.76,-117.3,527.4,-6.1,278,8126,0.15,2.35,0.00,0.000,6,0.087,0.064,3060,2408,3356
$GC,8431,-0.65,-117.3,552.2,-8.1,283,8436,0.15,2.35,0.00,0.000,4,0.161,0.081,3100,3806,3355
$GC,8497,-0.65,-117.3,556.9,-6.6,284,8501,0.00,2.28,0.00,0.000,6,0.000,0.058,3100,2400,3356
$GC,8863,-0.65,-117.3,580.1,-6.4,290,8867,0.00,2.35,0.00,0.000,4,0.000,0.073,3100,991,3356
$GC,8900,-0.65,-117.3,582.6,-6.7,290,8904,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2405,3355
$GC,9228,-0.65,-117.3,602.6,-6.1,296,9232,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,989,3356
$GC,9260,-0.65,-117.3,604.9,-6.6,296,9265,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2402,3355
$GC,9592,-0.65,-117.3,624.8,-6.0,302,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,9896,-0.65,-117.3,642.1,-5.6,307,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,10198,-0.65,-117.3,658.8,-5.5,312,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3355
$GC,10502,-0.65,-117.3,675.2,-5.4,317,10506,0.00,2.45,0.00,0.000,4,0.000,0.084,3100,3811,3355
$GC,10534,-0.65,-117.3,676.9,-5.4,317,10538,0.00,2.35,0.00,0.000,6,0.000,0.058,3100,2395,3354
$GC,10866,-0.65,-117.3,695.9,-5.8,323,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3355
$GC,11169,-0.65,-117.3,714.2,-6.0,328,11173,0.00,2.38,0.00,0.000,4,0.000,0.074,3100,993,3354
$GC,11213,-0.65,-117.3,717.1,-6.7,328,11217,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2402,3354
$GC,11534,-0.65,-117.3,736.9,-6.2,334,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3354
$GC,11837,-0.65,-117.3,755.6,-6.2,339,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3354
$GC,12141,-0.65,-117.3,772.8,-5.6,344,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3354
$GC,12443,-0.65,-117.3,789.7,-5.6,349,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3354
$GC,12746,-0.65,-117.3,806.0,-5.4,354,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3354
$GC,13049,-0.65,-117.3,822.0,-5.2,359,13054,0.00,2.42,0.00,0.000,4,0.000,0.073,3100,988,3354
$GC,13076,-0.65,-117.3,823.5,-5.3,359,13080,0.00,2.33,0.00,0.000,6,0.000,0.066,3099,2402,3353
$GC,13415,-0.65,-117.3,839.9,-4.9,365,13416,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3353
$GC,13718,-0.65,-117.3,854.1,-4.6,370,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3353
$GC,14020,-0.65,-117.3,869.3,-5.1,375,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3353
$GC,14323,-0.65,-117.3,885.8,-5.4,380,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3353
$GC,14627,-0.65,-117.3,902.9,-5.6,385,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3353
$GC,14929,-0.65,-117.3,919.9,-5.6,390,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3353
$GC,15233,-0.65,-117.3,936.6,-5.5,395,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3352
$GC,15536,-0.65,-117.3,952.6,-5.3,400,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$GC,15839,-0.65,-117.3,968.0,-5.1,405,15840,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3352
$GC,16143,-0.69,-117.3,983.8,-5.3,410,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3352
$STATE,16261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16261,begin apogee
$GC,16267,-0.22,0.0,990.0,5.3,412,16374,0.47,0.00,104.93,1.493,6,0.150,0.000,3240,2196,2877
$STATE,16375,end apogee,CONTROL_FINISHED_OK
$STATE,16375,begin climb
$GC,16377,0.67,117.3,991.6,0.0,413,16495,0.88,2.75,110.25,1.440,4,0.091,0.077,3524,3603,2395
$GC,16523,0.20,117.3,991.6,6.2,416,16528,0.60,2.55,0.00,0.000,6,0.187,0.062,3386,2201,2394
$GC,16866,0.30,142.8,976.6,4.3,422,16896,0.00,2.55,23.15,1.394,4,0.000,0.078,3394,795,2294
$GC,16936,0.41,158.4,973.5,4.6,423,16958,0.17,2.38,15.73,1.342,6,0.084,0.062,3457,2204,2230
$GC,17296,0.31,158.4,950.2,6.5,429,17300,0.15,2.40,0.00,0.000,4,0.153,0.081,3412,3617,2228
$GC,17333,0.31,158.4,948.0,5.7,429,17338,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2197,2228
$GC,17660,0.33,169.6,932.6,4.7,435,17673,0.00,0.00,11.10,1.321,6,0.000,0.000,3421,2197,2184
$GC,17963,0.34,177.0,918.2,4.8,440,17973,0.00,0.00,8.23,1.246,6,0.000,0.000,3421,2197,2154
$GC,18267,0.35,184.9,903.8,4.8,445,18277,0.00,0.00,8.77,1.262,6,0.000,0.000,3421,2197,2122
$GC,18570,0.39,188.2,888.9,4.9,450,18577,0.00,0.00,4.65,1.002,6,0.000,0.000,3420,2197,2108
$GC,18873,0.44,188.2,872.9,5.4,455,18875,0.12,0.00,0.00,0.000,6,0.100,0.000,3471,2197,2108
$GC,19176,0.34,188.2,849.7,7.8,460,19178,0.15,0.00,0.00,0.000,6,0.156,0.000,3431,2197,2107
$GC,19478,0.34,188.2,828.8,6.8,465,19482,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,784,2107
$GC,19511,0.34,188.2,826.4,7.3,465,19515,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2209,2107
$GC,19843,0.34,188.2,803.5,6.9,471,19844,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2108
$GC,20146,0.34,188.2,783.8,6.5,476,20147,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2107
$GC,20449,0.34,188.2,764.1,6.5,481,20450,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2107
$GC,20752,0.34,188.2,744.9,6.3,486,20757,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,781,2107
$GC,20779,0.34,188.2,743.2,6.0,486,20783,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2208,2107
$GC,21117,0.34,188.2,722.1,6.3,492,21118,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2107
$GC,21420,0.34,188.2,703.0,6.3,497,21422,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2107
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$STATE,32786,end climb,SURFACE_DEPTH_REACHED
$STATE,32786,begin surface coast
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$STATE,32938,end surface coast,CONTROL_FINISHED_OK
$STATE,32938,begin surface
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$DEVICE_SECS,28.700,194.825,401.700,0.000,0.000,85.601,92.298,314.519,252.750,0.000,0.000,33.063,1798.483,28237.627,567.364,2328.032,835.885,33.373,1701.453,0.000,2292.543,0.000,0.466
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$DATA_FILE_SIZE,50590,866
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$CFSIZE,260165632,239890432
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