version: 66.03
glider: 120
mission: 9
dive: 296
start: 12 17 108 22 29 46
data:
$ID,120
$MISSION,9
$DIVE,296
$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,-23824.387
$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,20
$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
$GPS1,222308,5009.729,-14454.863,40,1.0,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-70.6
$GPS2,222850,5009.764,-14454.873,12,1.5,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.145,0.103
$KALMAN_X,27405.9,-297.4,-52.0,-33172.4,1115.7
$KALMAN_Y,230671.3,-128.4,191.3,-222928.4,698.8
$MHEAD_RNG_PITCHd_Wd,286.7,28994,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.85,0.000,2,0.000,0.000,138,2414,1880
$GC,39,-0.67,-117.3,3.6,-0.0,1,136,14.00,2.47,-74.10,0.000,4,0.286,0.081,3098,982,3356
$GC,331,-0.50,-117.3,26.6,-14.4,27,338,0.20,2.33,0.00,0.000,6,0.153,0.064,3154,2399,3357
$GC,658,-0.50,-117.3,53.3,-8.5,58,662,0.00,2.40,0.00,0.000,4,0.000,0.080,3152,3807,3358
$GC,690,-0.50,-117.3,56.4,-8.7,60,697,0.00,2.33,0.00,0.000,6,0.000,0.053,3152,2399,3358
$GC,1025,-0.50,-117.3,83.3,-7.5,90,1029,0.00,2.38,0.00,0.000,4,0.000,0.067,3152,990,3358
$GC,1068,-0.50,-117.3,86.5,-7.4,92,1073,0.00,2.30,0.00,0.000,6,0.000,0.061,3152,2407,3358
$GC,1390,-0.50,-117.3,108.1,-6.7,108,1394,0.00,2.35,0.00,0.000,4,0.000,0.067,3152,992,3359
$GC,1422,-0.50,-117.3,110.6,-7.5,109,1427,0.00,2.33,0.00,0.000,6,0.000,0.061,3152,2403,3358
$GC,1745,-0.55,-117.3,130.1,-5.9,125,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2403,3359
$GC,2054,-0.63,-117.3,146.2,-5.3,140,2056,0.12,0.00,0.00,0.000,6,0.084,0.000,3102,2403,3359
$GC,2360,-0.63,-117.3,167.6,-7.0,151,2364,0.00,2.38,0.00,0.000,4,0.000,0.078,3101,3808,3359
$GC,2409,-0.63,-117.3,171.3,-7.4,152,2413,0.00,2.30,0.00,0.000,6,0.000,0.054,3101,2393,3359
$GC,2722,-0.63,-117.3,191.6,-6.4,162,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2393,3359
$GC,3028,-0.63,-117.3,210.3,-6.1,172,3032,0.00,2.35,0.00,0.000,4,0.000,0.069,3101,989,3359
$GC,3055,-0.63,-117.3,212.2,-6.8,172,3062,0.00,2.28,0.00,0.000,6,0.000,0.061,3101,2402,3359
$GC,3368,-0.63,-117.3,234.0,-7.0,183,3372,0.00,2.35,0.00,0.000,4,0.000,0.081,3101,3818,3359
$GC,3395,-0.63,-117.3,236.1,-7.3,183,3402,0.00,2.35,0.00,0.000,6,0.000,0.055,3101,2394,3359
$GC,3708,-0.63,-117.3,258.6,-7.2,194,3712,0.00,2.38,0.00,0.000,4,0.000,0.070,3101,989,3359
$GC,3736,-0.63,-117.3,260.6,-7.0,195,3741,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2411,3359
$GC,4071,-0.63,-117.3,283.0,-6.4,206,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3359
$GC,4377,-0.63,-117.3,301.8,-6.2,216,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,4681,-0.63,-117.3,320.8,-6.3,221,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,4984,-0.63,-117.3,341.2,-6.7,226,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,5287,-0.63,-117.3,362.5,-7.0,231,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3358
$GC,5590,-0.63,-117.3,383.4,-6.8,236,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3357
$GC,5893,-0.63,-117.3,401.8,-6.0,241,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3357
$GC,6196,-0.63,-117.3,418.7,-5.6,246,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2410,3357
$GC,6499,-0.63,-117.3,434.6,-5.3,251,6504,0.00,2.40,0.00,0.000,4,0.000,0.071,3101,993,3357
$GC,6532,-0.63,-117.3,436.4,-5.2,251,6536,0.00,2.33,0.00,0.000,6,0.000,0.064,3101,2404,3357
$GC,6864,-0.63,-117.3,453.8,-5.3,257,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2405,3356
$GC,7168,-0.63,-117.3,470.6,-5.6,262,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2404,3356
$GC,7471,-0.63,-117.3,488.3,-5.8,267,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2404,3356
$GC,7774,-0.63,-117.3,506.6,-6.0,272,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2404,3356
$GC,8077,-0.63,-117.3,526.6,-6.6,277,8081,0.00,2.42,0.00,0.000,4,0.000,0.071,3101,986,3356
$GC,8117,-0.68,-117.3,529.3,-7.1,277,8121,0.00,2.30,0.00,0.000,6,0.000,0.064,3101,2401,3355
$GC,8437,-0.68,-117.3,550.9,-6.6,283,8441,0.00,2.38,0.00,0.000,4,0.000,0.083,3101,3812,3355
$GC,8476,-0.68,-117.3,553.6,-6.9,283,8480,0.00,2.28,0.00,0.000,6,0.000,0.056,3101,2391,3355
$GC,8797,-0.68,-117.3,572.7,-5.9,289,8801,0.00,2.38,0.00,0.000,4,0.000,0.072,3101,990,3355
$GC,8837,-0.74,-117.3,574.8,-5.5,289,8841,0.00,2.30,0.00,0.000,6,0.000,0.063,3101,2408,3355
$GC,9158,-0.74,-117.3,591.5,-5.1,295,9162,0.00,2.35,0.00,0.000,4,0.000,0.083,3101,3809,3355
$GC,9196,-0.74,-117.3,593.5,-5.3,295,9200,0.00,2.30,0.00,0.000,6,0.000,0.056,3101,2393,3354
$GC,9516,-0.74,-117.3,609.8,-5.1,301,9520,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,987,3354
$GC,9560,-0.81,-117.3,612.2,-5.7,301,9565,0.15,2.30,0.00,0.000,6,0.090,0.064,3045,2402,3354
$GC,9877,-0.68,-117.3,635.3,-7.5,307,9882,0.15,2.38,0.00,0.000,4,0.158,0.081,3086,3809,3355
$GC,9943,-0.68,-117.3,639.7,-5.8,308,9947,0.00,2.33,0.00,0.000,6,0.000,0.056,3086,2391,3354
$GC,10308,-0.68,-117.3,661.5,-6.0,314,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3354
$GC,10612,-0.68,-117.3,679.7,-6.0,319,10616,0.00,2.45,0.00,0.000,4,0.000,0.083,3085,3808,3354
$GC,10638,-0.68,-117.3,681.4,-6.8,319,10642,0.00,2.33,0.00,0.000,6,0.000,0.056,3086,2396,3353
$GC,10976,-0.68,-117.3,702.4,-6.2,325,10980,0.00,2.40,0.00,0.000,4,0.000,0.072,3086,986,3354
$GC,11014,-0.68,-117.3,705.0,-6.5,325,11018,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2410,3354
$GC,11334,-0.68,-117.3,725.4,-6.5,331,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3354
$GC,11637,-0.68,-117.3,745.4,-6.6,336,11641,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,986,3353
$GC,11663,-0.68,-117.3,747.2,-6.4,336,11667,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2401,3353
$GC,12002,-0.68,-117.3,767.8,-6.0,342,12006,0.00,2.38,0.00,0.000,4,0.000,0.084,3086,3815,3353
$GC,12045,-0.68,-117.3,770.6,-6.7,342,12049,0.00,2.30,0.00,0.000,6,0.000,0.058,3086,2398,3353
$GC,12366,-0.68,-117.3,788.5,-5.6,348,12370,0.00,2.35,0.00,0.000,4,0.000,0.074,3085,992,3353
$GC,12404,-0.68,-117.3,790.8,-6.6,348,12408,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2411,3353
$GC,12731,-0.68,-117.3,808.4,-5.4,354,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3353
$GC,13034,-0.68,-117.3,825.1,-5.4,359,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$GC,13336,-0.68,-117.3,841.6,-5.4,364,13340,0.00,2.35,0.00,0.000,4,0.000,0.085,3086,3808,3353
$GC,13363,-0.68,-117.3,843.2,-5.7,364,13367,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2397,3353
$GC,13702,-0.68,-117.3,861.3,-5.5,370,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,14004,-0.68,-117.3,878.2,-5.6,375,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3353
$GC,14308,-0.68,-117.3,895.9,-5.8,380,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3352
$GC,14610,-0.68,-117.3,913.4,-5.7,385,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3352
$GC,14914,-0.68,-117.3,930.4,-5.5,390,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3352
$GC,15217,-0.68,-117.3,947.8,-5.8,395,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3352
$GC,15520,-0.68,-117.3,966.1,-6.0,400,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3352
$GC,15823,-0.68,-117.3,984.7,-6.1,405,15824,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3352
$STATE,15942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15942,begin apogee
$GC,15948,-0.22,0.0,992.2,6.1,407,16057,0.52,0.00,106.03,1.496,6,0.146,0.000,3242,2192,2877
$STATE,16057,end apogee,CONTROL_FINISHED_OK
$STATE,16058,begin climb
$GC,16060,0.67,117.3,994.2,0.0,408,16181,0.88,2.70,111.15,1.438,4,0.092,0.077,3533,792,2396
$GC,16248,0.32,117.3,993.3,6.6,411,16255,0.43,2.47,0.00,0.000,6,0.176,0.063,3425,2206,2394
$GC,16559,0.29,128.3,978.4,4.7,417,16572,0.00,0.00,10.90,1.304,6,0.000,0.000,3425,2206,2352
$GC,16929,0.30,131.5,960.2,4.9,423,16936,0.00,0.00,4.50,0.985,6,0.000,0.000,3425,2206,2339
$GC,17233,0.31,140.2,945.9,4.8,428,17247,0.00,2.47,9.32,1.290,4,0.000,0.080,3425,785,2304
$GC,17282,0.33,160.0,943.6,4.4,428,17306,0.00,2.33,19.42,1.389,6,0.000,0.064,3425,2200,2222
$GC,17667,0.35,170.9,925.2,4.7,435,17680,0.00,0.00,10.77,1.309,6,0.000,0.000,3425,2200,2178
$GC,17971,0.37,191.9,911.9,4.4,440,17994,0.00,0.00,20.27,1.388,6,0.000,0.000,3425,2200,2092
$GC,18341,0.43,198.2,894.3,4.8,446,18354,0.00,2.42,6.70,1.174,4,0.000,0.081,3425,3608,2067
$GC,18411,0.43,198.2,889.9,6.2,447,18415,0.00,2.38,0.00,0.000,6,0.000,0.064,3425,2201,2066
$GC,18771,0.49,198.2,870.6,5.5,453,18773,0.15,0.00,0.00,0.000,6,0.088,0.000,3488,2201,2066
$GC,19075,0.38,198.2,846.4,8.1,458,19077,0.17,0.00,0.00,0.000,6,0.148,0.000,3439,2201,2066
$GC,19377,0.38,198.2,826.2,6.6,463,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2201,2066
$GC,19680,0.38,198.2,806.7,6.5,468,19684,0.00,2.42,0.00,0.000,4,0.000,0.081,3439,3614,2066
$GC,19712,0.38,198.2,804.4,6.8,468,19716,0.00,2.40,0.00,0.000,6,0.000,0.064,3439,2195,2066
$GC,20044,0.38,198.2,784.1,6.1,474,20049,0.00,2.40,0.00,0.000,4,0.000,0.080,3439,784,2066
$GC,20089,0.44,198.2,781.3,6.9,474,20093,0.00,2.30,0.00,0.000,6,0.000,0.063,3439,2203,2065
$GC,20403,0.44,198.2,762.9,5.9,480,20405,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2203,2065
$GC,20707,0.44,198.2,745.0,6.0,485,20708,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2203,2065
$GC,21010,0.44,198.2,726.1,6.3,490,21014,0.00,2.35,0.00,0.000,4,0.000,0.081,3439,3615,2065
$GC,21048,0.44,198.2,723.1,7.1,490,21052,0.00,2.35,0.00,0.000,6,0.000,0.065,3439,2197,2065
$GC,21369,0.44,198.2,701.6,6.8,496,21373,0.00,2.38,0.00,0.000,4,0.000,0.080,3439,3614,2065
$GC,21402,0.44,198.2,698.9,7.9,496,21406,0.00,2.35,0.00,0.000,6,0.000,0.064,3439,2193,2065
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$STATE,31769,begin surface coast
$FINISH,2.7,1.013901
$STATE,31897,end surface coast,CONTROL_FINISHED_OK
$STATE,31897,begin surface
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$DATA_FILE_SIZE,47491,825
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