version: 66.03
glider: 120
mission: 9
dive: 275
start: 12 9 108 21 55 26
data:
$ID,120
$MISSION,9
$DIVE,275
$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,-23443.754
$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,18
$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
$GPS1,214236,5007.036,-14449.718,38,1.1,42,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-61.3
$GPS2,215432,5007.092,-14449.645,15,1.0,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.087
$KALMAN_X,30745.2,366.1,114.6,-31144.8,-2827.6
$KALMAN_Y,215006.4,27.4,9.8,-212181.6,207.6
$MHEAD_RNG_PITCHd_Wd,42.4,34820,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,46,0.00,0.00,-21.25,0.000,2,0.000,0.000,147,2408,847
$GC,49,-0.67,-117.3,3.0,-1.2,2,188,12.40,2.47,-116.95,0.000,4,0.249,0.081,3098,984,3357
$GC,436,-0.48,-117.3,30.7,-8.3,37,440,0.22,2.35,0.00,0.000,6,0.164,0.064,3160,2401,3358
$GC,762,-0.48,-117.3,55.3,-6.3,67,763,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2401,3358
$GC,1081,-0.48,-117.3,79.5,-7.1,97,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2401,3358
$GC,1399,-0.48,-117.3,101.6,-6.9,113,1403,0.00,2.42,0.00,0.000,4,0.000,0.079,3152,3817,3358
$GC,1483,-0.54,-117.3,107.8,-7.1,117,1488,0.00,2.33,0.00,0.000,6,0.000,0.053,3152,2388,3358
$GC,1810,-0.54,-117.3,130.0,-6.4,133,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2388,3358
$GC,2119,-0.61,-117.3,151.4,-7.3,148,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2388,3359
$GC,2426,-0.78,-117.3,171.9,-6.5,158,2431,0.22,2.33,0.00,0.000,4,0.084,0.068,3067,993,3358
$GC,2492,-0.65,-117.3,177.2,-8.1,160,2497,0.15,2.30,0.00,0.000,6,0.162,0.061,3107,2408,3358
$GC,2822,-0.60,-117.3,199.0,-6.6,171,2826,0.00,2.40,0.00,0.000,4,0.000,0.080,3107,3815,3358
$GC,2884,-0.60,-117.3,203.1,-7.1,173,2888,0.00,2.28,0.00,0.000,6,0.000,0.054,3107,2400,3358
$GC,3218,-0.60,-117.3,226.0,-6.9,184,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,3358
$GC,3525,-0.60,-117.3,246.0,-6.5,194,3529,0.00,2.35,0.00,0.000,4,0.000,0.071,3107,986,3358
$GC,3553,-0.60,-117.3,248.0,-7.1,195,3557,0.00,2.33,0.00,0.000,6,0.000,0.064,3107,2407,3358
$GC,3889,-0.60,-117.3,269.3,-6.4,206,3893,0.00,2.38,0.00,0.000,4,0.000,0.081,3104,3812,3358
$GC,3921,-0.60,-117.3,271.6,-6.7,207,3925,0.00,2.30,0.00,0.000,6,0.000,0.055,3104,2397,3358
$GC,4256,-0.60,-117.3,294.6,-6.7,218,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2397,3357
$GC,4591,-0.60,-117.3,317.7,-7.0,225,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2397,3357
$GC,4893,-0.60,-117.3,339.8,-7.3,230,4898,0.00,2.45,0.00,0.000,4,0.000,0.081,3100,3806,3356
$GC,4932,-0.60,-117.3,342.8,-7.8,230,4936,0.00,2.28,0.00,0.000,6,0.000,0.057,3099,2394,3356
$GC,5258,-0.60,-117.3,366.9,-7.4,236,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3356
$GC,5561,-0.60,-117.3,387.8,-6.9,241,5565,0.00,2.45,0.00,0.000,4,0.000,0.081,3100,3807,3355
$GC,5594,-0.60,-117.3,390.3,-7.0,241,5598,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2397,3355
$GC,5926,-0.60,-117.3,412.6,-6.6,247,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3355
$GC,6229,-0.60,-117.3,431.0,-6.0,252,6233,0.00,2.45,0.00,0.000,4,0.000,0.081,3099,3805,3355
$GC,6278,-0.60,-117.3,434.0,-6.3,252,6282,0.00,2.28,0.00,0.000,6,0.000,0.058,3100,2395,3355
$GC,6594,-0.60,-117.3,452.5,-5.9,258,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3354
$GC,6896,-0.60,-117.3,472.2,-6.6,263,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3354
$GC,7200,-0.60,-117.3,494.1,-7.2,268,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3354
$GC,7502,-0.60,-117.3,515.8,-7.2,273,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3354
$GC,7806,-0.60,-117.3,537.0,-6.9,278,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3354
$GC,8109,-0.60,-117.3,556.0,-6.2,283,8113,0.00,2.45,0.00,0.000,4,0.000,0.083,3099,3806,3353
$GC,8163,-0.60,-117.3,559.5,-6.8,283,8170,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2401,3353
$GC,8473,-0.60,-117.3,576.4,-5.4,289,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,8776,-0.60,-117.3,592.2,-5.2,294,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3353
$GC,9080,-0.60,-117.3,609.3,-5.7,299,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,9383,-0.60,-117.3,627.7,-6.1,304,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3353
$GC,9685,-0.60,-117.3,646.1,-6.1,309,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3353
$GC,9989,-0.60,-117.3,665.1,-6.2,314,9993,0.00,2.50,0.00,0.000,4,0.000,0.083,3100,3817,3352
$GC,10015,-0.60,-117.3,666.8,-6.4,314,10020,0.00,2.35,0.00,0.000,6,0.000,0.057,3100,2391,3352
$GC,10354,-0.60,-117.3,686.1,-5.7,320,10358,0.00,2.47,0.00,0.000,4,0.000,0.084,3099,3811,3352
$GC,10386,-0.60,-117.3,688.1,-5.3,320,10390,0.00,2.33,0.00,0.000,6,0.000,0.058,3099,2397,3352
$GC,10718,-0.60,-117.3,705.1,-5.1,326,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3352
$GC,11021,-0.60,-117.3,720.5,-5.1,331,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3352
$GC,11324,-0.60,-117.3,736.3,-5.2,336,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3351
$GC,11627,-0.60,-117.3,752.7,-5.5,341,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3351
$GC,11930,-0.60,-117.3,768.7,-5.3,346,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3351
$GC,12234,-0.60,-117.3,783.0,-4.6,351,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3351
$GC,12537,-0.60,-117.3,796.7,-4.5,356,12541,0.00,2.47,0.00,0.000,4,0.000,0.084,3100,3806,3351
$GC,12571,-0.65,-117.3,798.2,-5.0,356,12575,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2397,3351
$GC,12896,-0.85,-117.3,816.5,-5.9,362,12901,0.15,2.45,0.00,0.000,4,0.097,0.082,3040,3811,3351
$GC,13075,-0.73,-117.3,829.7,-7.6,364,13079,0.15,2.33,0.00,0.000,6,0.133,0.058,3080,2396,3350
$GC,13395,-0.73,-117.3,849.8,-6.3,370,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2397,3350
$GC,13698,-0.73,-117.3,868.7,-6.1,375,13699,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2396,3350
$GC,14001,-0.73,-117.3,886.1,-5.8,380,14006,0.00,2.47,0.00,0.000,4,0.000,0.084,3079,3815,3350
$GC,14034,-0.73,-117.3,888.1,-6.3,380,14038,0.00,2.35,0.00,0.000,6,0.000,0.059,3079,2391,3350
$GC,14366,-0.73,-117.3,906.7,-5.6,386,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2391,3350
$GC,14669,-0.73,-117.3,923.6,-5.6,391,14673,0.00,2.45,0.00,0.000,4,0.000,0.084,3080,3814,3350
$GC,14702,-0.73,-117.3,925.5,-5.6,391,14706,0.00,2.33,0.00,0.000,6,0.000,0.059,3079,2398,3349
$GC,15028,-0.73,-117.3,944.1,-5.7,397,15030,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3350
$GC,15331,-0.73,-117.3,959.9,-5.2,402,15336,0.00,2.47,0.00,0.000,4,0.000,0.085,3080,3811,3349
$GC,15364,-0.73,-117.3,961.5,-5.3,402,15368,0.00,2.33,0.00,0.000,6,0.000,0.059,3079,2400,3349
$GC,15697,-0.73,-117.3,977.3,-4.7,408,15698,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3349
$STATE,15998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15998,begin apogee
$GC,16003,-0.22,0.0,991.2,4.5,413,16111,0.55,0.00,104.35,1.499,6,0.147,0.000,3243,2194,2876
$STATE,16111,end apogee,CONTROL_FINISHED_OK
$STATE,16111,begin climb
$GC,16114,0.67,117.3,992.3,0.0,414,16231,0.88,2.70,110.35,1.437,4,0.092,0.078,3532,786,2396
$GC,16253,0.31,117.3,991.5,6.8,415,16259,0.45,2.53,0.00,0.000,6,0.185,0.062,3422,2202,2394
$GC,16597,0.31,117.3,971.7,5.7,421,16601,0.00,2.40,0.00,0.000,4,0.000,0.080,3422,3613,2392
$GC,16635,0.20,117.3,969.3,5.5,421,16640,0.15,2.40,0.00,0.000,6,0.181,0.064,3386,2192,2392
$GC,16956,0.33,157.0,956.6,3.9,427,16996,0.12,0.00,35.25,1.433,6,0.087,0.000,3432,2192,2235
$GC,17324,0.39,169.1,939.2,4.7,433,17338,0.00,0.00,11.80,1.327,6,0.000,0.000,3432,2192,2186
$GC,17628,0.45,176.6,924.6,4.8,438,17638,0.00,0.00,8.12,1.240,6,0.000,0.000,3432,2192,2156
$GC,17930,0.51,176.6,908.8,5.3,443,17932,0.15,0.00,0.00,0.000,6,0.097,0.000,3491,2192,2155
$GC,18233,0.37,176.6,884.0,8.3,448,18235,0.20,0.00,0.00,0.000,6,0.159,0.000,3436,2192,2154
$GC,18536,0.37,176.6,863.2,6.7,453,18537,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2191,2154
$GC,18839,0.37,176.6,843.5,6.5,458,18841,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2154
$GC,19142,0.37,176.6,824.8,6.2,463,19143,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2154
$GC,19445,0.37,176.6,805.7,6.3,468,19446,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2154
$GC,19748,0.37,176.6,786.1,6.5,473,19752,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,790,2153
$GC,19804,0.37,176.6,782.4,6.7,473,19810,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2206,2154
$GC,20114,0.37,176.6,763.1,6.3,479,20115,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2154
$GC,20416,0.37,176.6,743.9,6.3,484,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2153
$GC,20719,0.37,176.6,725.7,6.0,489,20720,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2153
$GC,21023,0.37,176.6,707.9,5.9,494,21024,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2154
$GC,21326,0.37,176.6,690.5,5.8,499,21327,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2153
$GC,21628,0.37,176.6,674.6,5.2,504,21630,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2153
$GC,21932,0.37,179.4,659.6,4.9,509,21938,0.00,0.00,4.03,0.852,6,0.000,0.000,3436,2206,2144
$GC,22235,0.37,179.4,643.1,5.5,514,22236,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2144
$GC,22538,0.37,179.4,625.1,6.1,519,22539,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2144
$GC,22841,0.37,179.4,606.3,6.2,524,22842,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2143
$GC,23144,0.37,179.4,588.1,5.9,529,23145,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2143
$GC,23447,0.37,179.4,571.0,5.6,534,23451,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3605,2144
$GC,23490,0.37,179.4,568.0,6.0,534,23494,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2195,2144
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$STATE,33078,begin surface coast
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$STATE,33219,end surface coast,CONTROL_FINISHED_OK
$STATE,33219,begin surface
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$DATA_FILE_SIZE,50682,869
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