version: 66.03
glider: 120
mission: 9
dive: 285
start: 12 13 108 17 1 21
data:
$ID,120
$MISSION,9
$DIVE,285
$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,-23651.375
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,165438,5008.404,-14427.677,32,1.1,32,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-69.8
$GPS2,170026,5008.375,-14427.688,11,1.4,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.178
$KALMAN_X,26451.0,210.4,-225.6,-261.5,-871.5
$KALMAN_Y,218695.2,334.1,-29.0,-213764.9,704.1
$MHEAD_RNG_PITCHd_Wd,159.2,26724,-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,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.40,0.000,2,0.000,0.000,138,2403,1690
$GC,38,-0.67,-117.3,3.5,-0.0,1,138,13.75,2.53,-78.72,0.000,4,0.281,0.095,3096,3801,3355
$GC,392,-0.47,-117.3,36.1,-11.2,33,397,0.22,2.30,0.00,0.000,6,0.161,0.054,3159,2398,3357
$GC,717,-0.47,-117.3,63.7,-7.6,63,721,0.00,2.38,0.00,0.000,4,0.000,0.068,3159,986,3358
$GC,749,-0.47,-117.3,66.7,-9.1,65,756,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2404,3357
$GC,1081,-0.47,-117.3,91.4,-7.3,90,1085,0.00,2.40,0.00,0.000,4,0.000,0.067,3155,986,3358
$GC,1159,-0.52,-117.3,97.1,-7.0,93,1166,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2406,3358
$GC,1475,-0.52,-117.3,118.6,-7.2,109,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3358
$GC,1785,-0.58,-117.3,139.7,-6.4,124,1789,0.00,2.40,0.00,0.000,4,0.000,0.068,3155,990,3358
$GC,1817,-0.62,-117.3,142.1,-7.1,125,1824,0.12,2.33,0.00,0.000,6,0.085,0.061,3106,2410,3359
$GC,2131,-0.80,-117.3,165.6,-7.8,138,2136,0.15,2.40,0.00,0.000,4,0.098,0.067,3051,985,3359
$GC,2389,-0.62,-117.3,192.2,-10.1,145,2396,0.25,2.30,0.00,0.000,6,0.159,0.064,3118,2399,3358
$GC,2702,-0.62,-117.3,213.8,-6.8,156,2705,0.00,2.38,0.00,0.000,4,0.000,0.069,3118,984,3358
$GC,2751,-0.62,-117.3,217.4,-7.1,157,2755,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2400,3358
$GC,3075,-0.62,-117.3,238.9,-6.8,168,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3381,-0.62,-117.3,258.8,-6.4,178,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3688,-0.62,-117.3,277.6,-5.9,188,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,3994,-0.62,-117.3,295.2,-5.8,198,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,4328,-0.62,-117.3,315.1,-6.0,205,4332,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,988,3358
$GC,4371,-0.62,-117.3,318.0,-6.7,205,4375,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2410,3358
$GC,4692,-0.62,-117.3,338.8,-6.6,211,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3357
$GC,4995,-0.62,-117.3,360.0,-7.0,216,5000,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,986,3357
$GC,5045,-0.62,-117.3,363.8,-7.5,216,5049,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2407,3357
$GC,5361,-0.62,-117.3,386.6,-7.3,222,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3356
$GC,5664,-0.62,-117.3,407.1,-6.6,227,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2407,3357
$GC,5966,-0.62,-117.3,425.0,-5.8,232,5971,0.00,2.42,0.00,0.000,4,0.000,0.071,3113,991,3356
$GC,6016,-0.67,-117.3,427.9,-5.5,232,6020,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2405,3356
$GC,6326,-0.67,-117.3,444.3,-5.2,237,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3356
$GC,6629,-0.67,-117.3,460.7,-5.4,242,6633,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,991,3355
$GC,6656,-0.71,-117.3,462.4,-6.6,242,6660,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2406,3355
$GC,6988,-0.71,-117.3,482.7,-6.2,248,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3355
$GC,7291,-0.71,-117.3,502.0,-6.4,253,7295,0.00,2.35,0.00,0.000,4,0.000,0.072,3113,993,3355
$GC,7341,-0.77,-117.3,505.4,-6.7,253,7345,0.15,2.30,0.00,0.000,6,0.084,0.064,3058,2413,3355
$GC,7651,-0.71,-117.3,529.0,-7.7,258,7655,0.10,2.35,0.00,0.000,4,0.104,0.083,3085,3809,3355
$GC,7684,-0.71,-117.3,531.6,-8.2,258,7688,0.00,2.28,0.00,0.000,6,0.000,0.057,3085,2399,3355
$GC,8010,-0.71,-117.3,555.5,-7.3,264,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,8313,-0.71,-117.3,578.1,-7.4,269,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,8616,-0.71,-117.3,600.4,-7.4,274,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,8919,-0.71,-117.3,621.1,-6.7,279,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,9222,-0.71,-117.3,639.2,-5.9,284,9226,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,985,3354
$GC,9277,-0.71,-117.3,642.5,-5.6,284,9283,0.00,2.35,0.00,0.000,6,0.000,0.066,3085,2398,3354
$GC,9586,-0.71,-117.3,659.0,-5.3,290,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,9889,-0.71,-117.3,675.5,-5.4,295,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3354
$GC,10192,-0.71,-117.3,692.1,-5.5,300,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3354
$GC,10496,-0.71,-117.3,709.4,-5.7,305,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,10799,-0.71,-117.3,726.7,-5.7,310,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,11102,-0.71,-117.3,743.2,-5.4,315,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3354
$GC,11405,-0.71,-117.3,758.7,-5.1,320,11409,0.00,2.42,0.00,0.000,4,0.000,0.073,3085,988,3353
$GC,11437,-0.71,-117.3,760.6,-6.4,320,11441,0.00,2.38,0.00,0.000,6,0.000,0.066,3085,2403,3353
$GC,11770,-0.71,-117.3,777.5,-5.1,326,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,12072,-0.71,-117.3,794.4,-5.6,331,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,12375,-0.71,-117.3,812.3,-6.0,336,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,12679,-0.71,-117.3,831.2,-6.2,341,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,12982,-0.71,-117.3,850.0,-6.2,346,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,13285,-0.71,-117.3,868.6,-6.0,351,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,13588,-0.71,-117.3,885.8,-5.6,356,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3353
$GC,13891,-0.71,-117.3,902.3,-5.5,361,13892,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3352
$GC,14194,-0.71,-117.3,919.7,-5.8,366,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3352
$GC,14497,-0.71,-117.3,938.6,-6.2,371,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3352
$GC,14800,-0.71,-117.3,956.9,-6.0,376,14805,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,995,3352
$GC,14839,-0.71,-117.3,959.6,-6.7,376,14843,0.00,2.35,0.00,0.000,6,0.000,0.068,3085,2409,3352
$GC,15165,-0.71,-117.3,978.1,-5.7,382,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3352
$STATE,15405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15405,begin apogee
$GC,15412,-0.22,0.0,991.2,5.4,386,15520,0.52,0.00,105.47,1.497,6,0.145,0.000,3242,2199,2876
$STATE,15521,end apogee,CONTROL_FINISHED_OK
$STATE,15521,begin climb
$GC,15523,0.67,117.3,992.8,0.0,387,15638,0.88,0.00,110.70,1.437,6,0.093,0.000,3529,2199,2397
$GC,15894,0.33,117.3,976.0,7.7,394,15899,0.32,2.47,0.00,0.000,4,0.165,0.077,3444,790,2394
$GC,15938,0.27,117.3,973.2,5.6,394,15943,0.15,2.38,0.00,0.000,6,0.163,0.064,3406,2204,2394
$GC,16253,0.30,138.1,959.2,4.4,400,16274,0.00,0.00,19.15,1.391,6,0.000,0.000,3406,2204,2313
$GC,16557,0.35,148.1,945.0,4.7,405,16569,0.00,0.00,10.60,1.309,6,0.000,0.000,3407,2203,2272
$GC,16860,0.42,152.4,930.2,4.9,410,16868,0.15,0.00,5.70,1.111,6,0.084,0.000,3464,2203,2254
$GC,17163,0.32,152.4,910.6,6.6,415,17168,0.15,2.47,0.00,0.000,4,0.149,0.078,3421,789,2253
$GC,17201,0.37,152.4,908.3,5.7,415,17205,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2202,2253
$GC,17522,0.37,152.4,890.2,5.6,421,17526,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,3617,2254
$GC,17549,0.37,152.4,888.4,6.8,421,17553,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2196,2253
$GC,17887,0.37,152.4,868.9,5.8,427,17888,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2253
$GC,18189,0.37,152.4,851.5,5.7,432,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2252
$GC,18492,0.37,152.4,834.6,5.5,437,18494,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2252
$GC,18796,0.37,152.4,818.1,5.5,442,18797,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2252
$GC,19099,0.37,152.4,801.5,5.4,447,19103,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,3618,2252
$GC,19131,0.37,152.4,799.5,6.4,447,19135,0.00,2.35,0.00,0.000,6,0.000,0.065,3421,2200,2252
$GC,19463,0.37,152.4,781.9,5.3,453,19467,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,788,2252
$GC,19497,0.42,152.4,780.2,5.6,453,19501,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2207,2252
$GC,19823,0.42,152.4,763.7,5.1,459,19824,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2207,2252
$GC,20126,0.42,152.4,747.8,5.3,464,20127,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2207,2252
$GC,20429,0.42,152.4,731.4,5.4,469,20433,0.00,2.33,0.00,0.000,4,0.000,0.081,3421,3609,2252
$GC,20468,0.42,152.4,729.0,6.0,469,20472,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2196,2252
$GC,20788,0.42,152.4,713.0,5.0,475,20789,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2252
$GC,21091,0.43,159.7,698.3,4.8,480,21102,0.10,0.00,7.93,1.151,6,0.096,0.000,3461,2196,2224
$GC,21395,0.38,159.7,680.2,6.0,485,21396,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2195,2223
$GC,21698,0.32,159.7,661.5,6.2,490,21700,0.15,0.00,0.00,0.000,6,0.141,0.000,3419,2196,2223
$GC,22001,0.39,165.1,646.4,4.8,495,22009,0.00,0.00,6.40,1.066,6,0.000,0.000,3419,2195,2202
$GC,22304,0.46,167.7,631.5,4.9,500,22311,0.15,0.00,4.15,0.858,6,0.087,0.000,3477,2195,2192
$GC,22608,0.36,167.7,611.4,6.7,505,22612,0.15,2.45,0.00,0.000,4,0.147,0.080,3429,3609,2191
$GC,22646,0.36,167.7,608.8,6.4,505,22650,0.00,2.38,0.00,0.000,6,0.000,0.062,3435,2191,2191
$GC,22966,0.36,167.7,590.6,5.8,511,22970,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,787,2191
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$STATE,33538,end climb,SURFACE_DEPTH_REACHED
$STATE,33538,begin surface coast
$FINISH,2.7,1.025217
$STATE,33740,end surface coast,CONTROL_FINISHED_OK
$STATE,33740,begin surface
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$10V_AH,10.6,38.088
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$DEVICE_SECS,28.200,185.275,371.250,16.400,0.000,31.031,29.096,157.389,256.250,0.000,0.000,16.905,1841.747,28735.498,575.604,2372.589,591.830,33.377,1728.413,0.000,2351.876,0.000,0.465
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$DATA_FILE_SIZE,50595,889
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$CFSIZE,260165632,236445696
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