version: 66.03
glider: 120
mission: 9
dive: 314
start: 12 24 108 18 33 10
data:
$ID,120
$MISSION,9
$DIVE,314
$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,-24252.527
$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,21
$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
$GPS1,182427,5003.490,-14455.822,37,2.5,56,18.5
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,4.08
$_SM_ANGLEo,-68.3
$GPS2,183215,5003.410,-14455.851,21,1.2,21,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132,0.119
$KALMAN_X,26841.1,-199.7,-68.3,-33851.7,-649.6
$KALMAN_Y,243101.9,-380.8,-126.6,-246549.7,1211.1
$MHEAD_RNG_PITCHd_Wd,29.6,9611,-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,-11.65,0.000,2,0.000,0.000,134,2410,1940
$GC,39,-0.67,-117.3,3.8,-0.0,1,105,13.45,2.53,-46.83,0.000,4,0.272,0.081,3092,989,3357
$GC,176,-0.51,-117.3,20.3,-14.3,13,181,0.22,2.35,0.00,0.000,6,0.167,0.064,3145,2406,3358
$GC,504,-0.45,-117.3,42.1,-7.5,43,509,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2406,3359
$GC,829,-0.45,-117.3,72.3,-5.3,74,833,0.00,2.42,0.00,0.000,4,0.000,0.068,3146,981,3359
$GC,846,-0.45,-117.3,73.2,-5.6,75,851,0.12,2.33,0.00,0.000,6,0.160,0.062,3173,2403,3359
$GC,1176,-0.64,-117.3,92.8,-6.3,96,1181,0.15,2.38,0.00,0.000,4,0.085,0.067,3120,990,3359
$GC,1232,-0.73,-117.3,97.1,-7.6,98,1239,0.12,2.30,0.00,0.000,6,0.088,0.061,3074,2412,3359
$GC,1548,-0.79,-117.3,124.3,-8.1,114,1552,0.00,2.30,0.00,0.000,4,0.000,0.079,3073,3805,3359
$GC,1626,-0.59,-117.3,131.7,-10.2,117,1633,0.20,2.25,0.00,0.000,6,0.156,0.054,3127,2396,3360
$GC,1962,-0.59,-117.3,155.7,-7.8,133,1966,0.00,2.33,0.00,0.000,4,0.000,0.068,3127,993,3360
$GC,2002,-0.59,-117.3,159.0,-8.0,134,2006,0.00,2.28,0.00,0.000,6,0.000,0.061,3127,2397,3360
$GC,2331,-0.59,-117.3,181.8,-6.5,145,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3360
$GC,2638,-0.63,-117.3,203.9,-7.1,155,2642,0.00,2.35,0.00,0.000,4,0.000,0.080,3127,3808,3360
$GC,2682,-0.70,-117.3,207.4,-7.6,156,2687,0.12,2.30,0.00,0.000,6,0.086,0.053,3080,2392,3360
$GC,3005,-0.70,-117.3,232.8,-7.6,167,3009,0.00,2.33,0.00,0.000,4,0.000,0.069,3081,987,3360
$GC,3050,-0.66,-117.3,236.3,-7.8,168,3054,0.00,2.30,0.00,0.000,6,0.000,0.061,3080,2407,3360
$GC,3374,-0.57,-117.3,262.6,-8.5,179,3376,0.17,0.00,0.00,0.000,6,0.152,0.000,3129,2407,3360
$GC,3680,-0.62,-117.3,282.9,-6.6,189,3684,0.00,2.38,0.00,0.000,4,0.000,0.071,3129,986,3360
$GC,3708,-0.68,-117.3,284.9,-7.5,189,3715,0.00,2.33,0.00,0.000,6,0.000,0.062,3128,2400,3360
$GC,4021,-0.74,-117.3,304.2,-6.0,199,4022,0.15,0.00,0.00,0.000,6,0.085,0.000,3070,2400,3359
$GC,4324,-0.68,-117.3,326.8,-7.5,204,4328,0.00,2.38,0.00,0.000,4,0.000,0.070,3070,986,3359
$GC,4368,-0.59,-117.3,330.6,-8.6,204,4373,0.20,2.33,0.00,0.000,6,0.150,0.062,3125,2399,3359
$GC,4684,-0.65,-117.3,350.8,-6.3,210,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3359
$GC,4986,-0.71,-117.3,368.7,-5.8,215,4988,0.12,0.00,0.00,0.000,6,0.088,0.000,3077,2399,3358
$GC,5289,-0.71,-117.3,387.9,-6.4,220,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3358
$GC,5592,-0.71,-117.3,405.9,-5.9,225,5596,0.00,2.40,0.00,0.000,4,0.000,0.072,3076,985,3358
$GC,5615,-0.71,-117.3,407.2,-5.5,225,5619,0.00,2.35,0.00,0.000,6,0.000,0.063,3076,2413,3358
$GC,5952,-0.65,-117.3,427.8,-6.2,231,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2413,3358
$GC,6256,-0.60,-117.3,448.9,-7.0,236,6257,0.17,0.00,0.00,0.000,6,0.146,0.000,3125,2413,3357
$GC,6559,-0.68,-117.3,467.6,-6.2,241,6563,0.00,2.42,0.00,0.000,4,0.000,0.071,3125,993,3357
$GC,6586,-0.76,-117.3,469.3,-6.3,241,6591,0.17,2.30,0.00,0.000,6,0.083,0.063,3063,2401,3357
$GC,6918,-0.76,-117.3,493.0,-7.1,247,6922,0.00,2.35,0.00,0.000,4,0.000,0.081,3061,3813,3357
$GC,6962,-0.67,-117.3,496.3,-8.1,247,6967,0.12,2.28,0.00,0.000,6,0.120,0.056,3095,2402,3356
$GC,7277,-0.67,-117.3,516.9,-6.5,253,7281,0.00,2.38,0.00,0.000,4,0.000,0.072,3095,987,3357
$GC,7309,-0.67,-117.3,519.2,-6.9,253,7313,0.00,2.35,0.00,0.000,6,0.000,0.064,3095,2398,3357
$GC,7642,-0.67,-117.3,540.4,-6.5,259,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3357
$GC,7944,-0.67,-117.3,560.4,-6.5,264,7948,0.00,2.35,0.00,0.000,4,0.000,0.072,3095,993,3357
$GC,7972,-0.67,-117.3,562.4,-7.4,264,7976,0.00,2.30,0.00,0.000,6,0.000,0.064,3095,2406,3356
$GC,8304,-0.67,-117.3,581.8,-5.8,270,8308,0.00,2.35,0.00,0.000,4,0.000,0.083,3095,3814,3357
$GC,8336,-0.67,-117.3,583.8,-5.9,270,8340,0.00,2.28,0.00,0.000,6,0.000,0.057,3095,2398,3357
$GC,8668,-0.67,-117.3,601.0,-5.1,276,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3356
$GC,8972,-0.67,-117.3,616.0,-5.0,281,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3357
$GC,9275,-0.67,-117.3,633.7,-6.0,286,9279,0.00,2.38,0.00,0.000,4,0.000,0.073,3095,986,3356
$GC,9302,-0.67,-117.3,635.8,-7.7,286,9306,0.00,2.35,0.00,0.000,6,0.000,0.064,3095,2427,3356
$GC,9640,-0.67,-117.3,658.3,-6.7,292,9644,0.00,2.42,0.00,0.000,4,0.000,0.072,3095,993,3356
$GC,9667,-0.67,-117.3,660.3,-7.3,292,9671,0.00,2.33,0.00,0.000,6,0.000,0.064,3095,2408,3356
$GC,10004,-0.67,-117.3,682.7,-6.6,298,10009,0.00,2.38,0.00,0.000,4,0.000,0.084,3095,3812,3356
$GC,10043,-0.72,-117.3,685.4,-7.0,298,10048,0.00,2.28,0.00,0.000,6,0.000,0.058,3095,2395,3356
$GC,10365,-0.72,-117.3,705.0,-6.1,304,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2395,3356
$GC,10667,-0.72,-117.3,722.0,-5.6,309,10671,0.00,2.42,0.00,0.000,4,0.000,0.084,3095,3812,3355
$GC,10694,-0.72,-117.3,723.4,-5.1,309,10698,0.00,2.28,0.00,0.000,6,0.000,0.057,3095,2394,3355
$GC,11031,-0.72,-117.3,739.4,-4.7,315,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2395,3355
$GC,11335,-0.72,-117.3,753.7,-4.8,320,11339,0.00,2.40,0.00,0.000,4,0.000,0.073,3095,990,3355
$GC,11361,-0.72,-117.3,755.3,-6.1,320,11365,0.00,2.33,0.00,0.000,6,0.000,0.065,3095,2408,3355
$GC,11699,-0.72,-117.3,775.3,-6.2,326,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2409,3355
$GC,12002,-0.72,-117.3,795.9,-6.9,331,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2409,3354
$GC,12306,-0.72,-117.3,815.6,-6.4,336,12310,0.00,2.42,0.00,0.000,4,0.000,0.073,3095,994,3355
$GC,12338,-0.72,-117.3,817.9,-7.4,336,12342,0.00,2.30,0.00,0.000,6,0.000,0.064,3095,2401,3355
$GC,12670,-0.72,-117.3,837.9,-6.0,342,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,12974,-0.76,-117.3,856.1,-6.0,347,12978,0.00,2.40,0.00,0.000,4,0.000,0.085,3095,3807,3354
$GC,13007,-0.81,-117.3,858.2,-6.1,347,13012,0.12,2.33,0.00,0.000,6,0.090,0.058,3050,2392,3353
$GC,13333,-0.81,-117.3,880.3,-6.8,353,13337,0.00,2.40,0.00,0.000,4,0.000,0.073,3050,990,3354
$GC,13365,-0.76,-117.3,882.9,-7.4,353,13370,0.00,2.33,0.00,0.000,6,0.000,0.064,3050,2410,3354
$GC,13692,-0.68,-117.3,907.4,-7.6,359,13694,0.17,0.00,0.00,0.000,6,0.156,0.000,3098,2410,3354
$GC,13995,-0.73,-117.3,925.9,-6.0,364,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3354
$GC,14299,-0.78,-117.3,944.1,-6.0,369,14300,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3354
$GC,14601,-0.83,-117.3,962.1,-5.9,374,14603,0.15,0.00,0.00,0.000,6,0.090,0.000,3042,2410,3353
$GC,14905,-0.78,-117.3,982.6,-6.8,379,14909,0.00,2.38,0.00,0.000,4,0.000,0.084,3042,3815,3353
$GC,14949,-0.69,-117.3,985.9,-7.3,379,14953,0.17,2.33,0.00,0.000,6,0.134,0.058,3090,2401,3353
$STATE,15018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15018,begin apogee
$GC,15024,-0.22,0.0,990.2,6.0,381,15135,0.50,0.00,107.32,1.494,6,0.144,0.000,3241,2196,2876
$STATE,15135,end apogee,CONTROL_FINISHED_OK
$STATE,15135,begin climb
$GC,15138,0.67,117.3,992.2,0.0,382,15254,0.88,0.00,112.12,1.440,6,0.091,0.000,3527,2195,2397
$GC,15509,0.34,117.3,977.2,7.5,389,15514,0.32,2.53,0.00,0.000,4,0.170,0.078,3428,3610,2394
$GC,15564,0.24,117.3,973.5,6.0,389,15571,0.15,2.40,0.00,0.000,6,0.179,0.061,3400,2203,2394
$GC,15875,0.31,138.1,959.6,4.4,395,15900,0.00,2.50,19.05,1.392,4,0.000,0.081,3400,3612,2313
$GC,15928,0.31,138.1,956.9,5.1,395,15932,0.00,2.40,0.00,0.000,6,0.000,0.062,3408,2191,2312
$GC,16244,0.36,138.1,940.3,5.3,401,16245,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2191,2311
$GC,16547,0.40,138.1,924.4,5.3,406,16549,0.12,0.00,0.00,0.000,6,0.091,0.000,3459,2191,2311
$GC,16850,0.30,138.1,903.9,6.8,411,16855,0.15,2.45,0.00,0.000,4,0.148,0.081,3413,3613,2311
$GC,16889,0.30,138.1,901.4,6.0,411,16893,0.00,2.38,0.00,0.000,6,0.000,0.063,3421,2194,2311
$GC,17210,0.30,138.1,882.9,5.7,417,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2194,2311
$GC,17513,0.30,138.1,866.5,5.4,422,17517,0.00,2.42,0.00,0.000,4,0.000,0.079,3422,783,2311
$GC,17568,0.31,142.9,863.5,4.9,422,17578,0.00,2.30,5.70,1.113,6,0.000,0.064,3421,2203,2293
$GC,17939,0.31,143.1,844.8,5.0,429,17943,0.00,2.35,0.00,0.000,4,0.000,0.082,3421,3617,2293
$GC,17966,0.31,143.1,843.1,5.4,429,17971,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2194,2293
$GC,18298,0.31,143.8,826.7,5.0,435,18303,0.00,2.42,0.00,0.000,4,0.000,0.080,3421,782,2293
$GC,18326,0.35,179.3,825.2,4.0,435,18366,0.00,2.30,33.17,1.382,6,0.000,0.062,3421,2201,2143
$GC,18728,0.42,179.3,801.1,6.3,442,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2201,2140
$GC,19031,0.49,179.3,781.2,6.6,447,19035,0.15,2.45,0.00,0.000,4,0.091,0.079,3490,782,2140
$GC,19063,0.37,179.3,778.4,8.9,447,19068,0.20,2.33,0.00,0.000,6,0.151,0.064,3434,2205,2140
$GC,19390,0.37,179.3,756.1,6.8,453,19391,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2204,2140
$GC,19692,0.37,179.3,737.2,6.2,458,19693,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2204,2140
$GC,19995,0.37,179.3,718.7,6.1,463,20000,0.00,2.38,0.00,0.000,4,0.000,0.082,3434,3610,2140
$GC,20039,0.37,179.3,715.6,8.0,463,20043,0.00,2.38,0.00,0.000,6,0.000,0.064,3435,2195,2140
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$STATE,31555,end climb,SURFACE_DEPTH_REACHED
$STATE,31555,begin surface coast
$FINISH,3.0,1.015882
$STATE,31610,end surface coast,CONTROL_FINISHED_OK
$STATE,31610,begin surface
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$10V_AH,10.6,41.975
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$DEVICE_SECS,30.400,232.350,512.275,0.000,0.000,26.168,31.736,277.293,238.750,0.000,0.000,21.515,1735.714,26749.258,637.674,2298.032,728.918,33.384,1829.235,0.000,2259.062,0.000,0.465
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$DATA_FILE_SIZE,47443,807
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