version: 66.03
glider: 120
mission: 9
dive: 297
start: 12 18 108 7 30 34
data:
$ID,120
$MISSION,9
$DIVE,297
$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,-23836.969
$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
$GPS1,072355,5011.872,-14459.541,36,1.8,36,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-71.7
$GPS2,072938,5011.889,-14459.567,11,1.8,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,0.119
$KALMAN_X,27343.2,78.5,-244.5,-38867.1,432.5
$KALMAN_Y,230839.8,-141.6,-132.0,-218819.1,805.3
$MHEAD_RNG_PITCHd_Wd,293.5,22343,-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,-11.85,0.000,2,0.000,0.000,148,2404,1923
$GC,39,-0.67,-117.3,3.6,-0.0,1,125,13.98,2.50,-62.88,0.000,4,0.286,0.095,3096,3808,3355
$GC,377,-0.48,-117.3,36.6,-14.3,31,384,0.22,2.33,0.00,0.000,6,0.155,0.055,3159,2394,3357
$GC,705,-0.48,-117.3,58.9,-5.9,62,711,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2394,3357
$GC,1030,-0.48,-117.3,80.0,-7.4,93,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2394,3358
$GC,1351,-0.53,-117.3,102.0,-6.6,109,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2394,3359
$GC,1660,-0.59,-117.3,123.0,-7.0,124,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2394,3359
$GC,1969,-0.68,-117.3,143.7,-5.8,139,1974,0.15,2.38,0.00,0.000,4,0.077,0.067,3095,989,3359
$GC,2013,-0.60,-117.3,146.9,-7.8,141,2017,0.00,2.33,0.00,0.000,6,0.000,0.061,3095,2404,3359
$GC,2342,-0.51,-117.3,171.2,-7.3,153,2344,0.20,0.00,0.00,0.000,6,0.153,0.000,3150,2404,3359
$GC,2649,-0.71,-117.3,189.1,-6.3,163,2653,0.15,2.42,0.00,0.000,4,0.084,0.068,3094,983,3359
$GC,2687,-0.81,-117.3,192.0,-7.4,164,2692,0.12,2.30,0.00,0.000,6,0.087,0.062,3046,2401,3359
$GC,3010,-0.81,-117.3,220.7,-9.0,175,3014,0.00,2.38,0.00,0.000,4,0.000,0.081,3045,3817,3359
$GC,3033,-0.74,-117.3,222.7,-8.9,175,3040,0.12,2.30,0.00,0.000,6,0.158,0.055,3076,2395,3359
$GC,3346,-0.62,-117.3,249.6,-8.6,186,3351,0.15,2.38,0.00,0.000,4,0.169,0.069,3124,994,3359
$GC,3412,-0.67,-117.3,254.6,-6.8,188,3417,0.00,2.30,0.00,0.000,6,0.000,0.063,3124,2414,3359
$GC,3743,-0.72,-117.3,276.3,-6.6,199,3744,0.12,0.00,0.00,0.000,6,0.087,0.000,3074,2414,3358
$GC,4048,-0.67,-117.3,299.6,-7.6,209,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2414,3358
$GC,4382,-0.61,-117.3,323.8,-7.2,215,4384,0.15,0.00,0.00,0.000,6,0.110,0.000,3117,2414,3358
$GC,4685,-0.61,-117.3,342.2,-6.0,220,4689,0.00,2.42,0.00,0.000,4,0.000,0.071,3117,986,3358
$GC,4712,-0.61,-117.3,344.0,-6.3,220,4716,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2401,3358
$GC,5044,-0.61,-117.3,364.3,-6.2,226,5048,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,994,3358
$GC,5076,-0.61,-117.3,366.5,-6.6,226,5080,0.00,2.30,0.00,0.000,6,0.000,0.063,3113,2404,3358
$GC,5403,-0.61,-117.3,387.9,-6.6,232,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3357
$GC,5706,-0.61,-117.3,408.3,-6.8,237,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3357
$GC,6009,-0.61,-117.3,429.7,-7.0,242,6013,0.00,2.38,0.00,0.000,4,0.000,0.083,3113,3815,3357
$GC,6036,-0.66,-117.3,431.6,-7.1,242,6040,0.00,2.30,0.00,0.000,6,0.000,0.056,3113,2401,3357
$GC,6368,-0.70,-117.3,453.6,-6.6,248,6372,0.00,2.38,0.00,0.000,4,0.000,0.072,3113,993,3357
$GC,6424,-0.75,-117.3,457.6,-7.1,248,6431,0.12,2.33,0.00,0.000,6,0.087,0.064,3065,2420,3356
$GC,6734,-0.70,-117.3,481.6,-7.8,254,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2421,3356
$GC,7037,-0.65,-117.3,504.5,-7.5,259,7042,0.15,2.33,0.00,0.000,4,0.115,0.083,3113,3808,3355
$GC,7070,-0.72,-117.3,506.8,-6.9,259,7074,0.00,2.25,0.00,0.000,6,0.000,0.056,3112,2396,3356
$GC,7396,-0.77,-117.3,526.1,-5.8,265,7398,0.12,0.00,0.00,0.000,6,0.090,0.000,3063,2396,3356
$GC,7699,-0.73,-117.3,545.0,-6.3,270,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2396,3356
$GC,8002,-0.69,-117.3,563.9,-6.2,275,8007,0.10,2.40,0.00,0.000,4,0.100,0.071,3094,995,3355
$GC,8035,-0.69,-117.3,566.0,-6.7,275,8039,0.00,2.28,0.00,0.000,6,0.000,0.064,3094,2401,3355
$GC,8367,-0.69,-117.3,586.5,-6.2,281,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3355
$GC,8670,-0.69,-117.3,606.3,-6.5,286,8674,0.00,2.40,0.00,0.000,4,0.000,0.084,3094,3811,3355
$GC,8707,-0.69,-117.3,609.1,-7.7,286,8711,0.00,2.30,0.00,0.000,6,0.000,0.056,3094,2389,3355
$GC,9034,-0.69,-117.3,631.6,-7.0,292,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2389,3355
$GC,9337,-0.69,-117.3,653.5,-7.2,297,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3355
$GC,9640,-0.69,-117.3,674.5,-6.9,302,9644,0.00,2.35,0.00,0.000,4,0.000,0.073,3094,992,3355
$GC,9680,-0.69,-117.3,677.4,-7.6,302,9684,0.00,2.30,0.00,0.000,6,0.000,0.064,3094,2404,3355
$GC,10001,-0.69,-117.3,698.0,-6.3,308,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3355
$GC,10304,-0.69,-117.3,716.6,-6.1,313,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3355
$GC,10607,-0.69,-117.3,735.1,-6.1,318,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3355
$GC,10910,-0.69,-117.3,753.4,-6.0,323,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3355
$GC,11213,-0.69,-117.3,771.5,-5.9,328,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2404,3355
$GC,11516,-0.69,-117.3,788.9,-5.7,333,11521,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,994,3354
$GC,11549,-0.69,-117.3,791.0,-6.2,333,11553,0.00,2.35,0.00,0.000,6,0.000,0.066,3094,2408,3354
$GC,11881,-0.69,-117.3,809.5,-5.6,339,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2409,3354
$GC,12185,-0.69,-117.3,825.4,-5.2,344,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2409,3354
$GC,12488,-0.69,-117.3,841.1,-5.2,349,12489,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2409,3354
$GC,12791,-0.69,-117.3,857.0,-5.3,354,12795,0.00,2.42,0.00,0.000,4,0.000,0.074,3094,994,3353
$GC,12823,-0.69,-117.3,859.0,-5.8,354,12827,0.00,2.33,0.00,0.000,6,0.000,0.066,3094,2410,3353
$GC,13156,-0.69,-117.3,875.3,-4.8,360,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2410,3353
$GC,13460,-0.69,-117.3,889.9,-4.8,365,13464,0.00,2.38,0.00,0.000,4,0.000,0.074,3094,995,3353
$GC,13486,-0.69,-117.3,891.4,-5.2,365,13491,0.00,2.33,0.00,0.000,6,0.000,0.066,3094,2397,3353
$GC,13825,-0.69,-117.3,907.2,-4.7,371,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3353
$GC,14127,-0.69,-117.3,922.5,-5.1,376,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2397,3353
$GC,14431,-0.73,-117.3,938.8,-5.4,381,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3353
$GC,14734,-0.77,-117.3,956.6,-5.9,386,14738,0.00,2.38,0.00,0.000,4,0.000,0.074,3094,996,3353
$GC,14767,-0.77,-117.3,958.8,-6.2,386,14771,0.00,2.35,0.00,0.000,6,0.000,0.067,3094,2404,3353
$GC,15100,-0.81,-117.3,978.5,-6.0,392,15105,0.12,2.38,0.00,0.000,4,0.089,0.084,3046,3816,3352
$GC,15139,-0.71,-117.3,981.5,-7.7,392,15144,0.15,2.30,0.00,0.000,6,0.128,0.058,3087,2392,3352
$STATE,15275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15275,begin apogee
$GC,15281,-0.22,0.0,990.6,6.5,395,15390,0.52,0.00,106.45,1.495,6,0.141,0.000,3247,2203,2876
$STATE,15391,end apogee,CONTROL_FINISHED_OK
$STATE,15391,begin climb
$GC,15394,0.67,117.3,992.8,0.0,396,15514,0.85,2.70,111.05,1.437,4,0.091,0.075,3533,794,2396
$GC,15553,0.31,117.3,994.3,5.7,399,15558,0.45,2.47,0.00,0.000,6,0.179,0.061,3420,2205,2395
$GC,15885,0.33,134.8,979.2,4.5,405,15904,0.00,0.00,16.62,1.367,6,0.000,0.000,3420,2205,2326
$GC,16188,0.33,134.8,963.7,5.2,410,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2324
$GC,16490,0.33,134.8,946.8,5.6,415,16492,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2324
$GC,16794,0.33,134.8,928.7,6.0,420,16795,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2325
$GC,17097,0.33,134.8,910.1,6.1,425,17101,0.00,2.45,0.00,0.000,4,0.000,0.079,3421,792,2325
$GC,17135,0.33,134.8,907.7,6.3,425,17140,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2212,2324
$GC,17456,0.33,134.8,890.0,5.5,431,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2212,2324
$GC,17759,0.33,134.8,874.5,5.1,436,17763,0.00,2.38,0.00,0.000,4,0.000,0.080,3421,789,2324
$GC,17808,0.35,148.8,872.2,4.6,436,17828,0.00,2.30,13.60,1.345,6,0.000,0.064,3421,2201,2268
$GC,18190,0.37,167.0,854.8,4.5,443,18209,0.00,0.00,17.23,1.356,6,0.000,0.000,3421,2201,2195
$GC,18493,0.43,174.8,840.5,4.8,448,18504,0.10,0.00,8.57,1.233,6,0.095,0.000,3462,2201,2163
$GC,18796,0.38,174.8,821.4,6.4,453,18801,0.00,2.40,0.00,0.000,4,0.000,0.079,3463,792,2162
$GC,18846,0.33,174.8,818.0,6.3,453,18851,0.15,2.33,0.00,0.000,6,0.156,0.064,3424,2212,2161
$GC,19156,0.38,174.8,800.6,5.6,458,19157,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2212,2161
$GC,19459,0.43,174.8,783.0,5.8,463,19464,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,783,2161
$GC,19499,0.51,174.8,780.7,5.6,463,19504,0.17,2.30,0.00,0.000,6,0.082,0.063,3490,2205,2161
$GC,19820,0.38,174.8,755.2,8.0,469,19822,0.17,0.00,0.00,0.000,6,0.156,0.000,3442,2205,2161
$GC,20122,0.38,174.8,735.4,6.5,474,20123,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2205,2161
$GC,20426,0.38,174.8,715.9,6.3,479,20430,0.00,2.40,0.00,0.000,4,0.000,0.078,3449,789,2161
$GC,20475,0.38,174.8,712.6,6.3,479,20479,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2207,2161
$GC,20790,0.38,174.8,692.6,6.3,485,20792,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2161
$GC,21093,0.38,174.8,674.1,6.2,490,21095,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2161
$GC,21397,0.38,174.8,653.8,6.8,495,21401,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,787,2160
$GC,21469,0.38,174.8,648.8,6.5,496,21473,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2207,2161
$GC,21823,0.38,174.8,624.8,6.8,502,21824,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2161
$GC,22126,0.38,174.8,604.3,6.8,507,22130,0.00,2.33,0.00,0.000,4,0.000,0.081,3449,3611,2161
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$STATE,32539,end climb,SURFACE_DEPTH_REACHED
$STATE,32539,begin surface coast
$FINISH,2.7,1.025065
$STATE,32636,end surface coast,CONTROL_FINISHED_OK
$STATE,32636,begin surface
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$DEVICE_SECS,29.575,203.750,383.825,7.075,0.000,23.009,32.191,165.033,251.750,0.000,0.000,11.950,1824.360,27624.814,567.465,2383.115,602.097,33.384,1752.606,0.000,2357.260,0.000,0.465
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$DATA_FILE_SIZE,50713,863
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