version: 66.03
glider: 120
mission: 9
dive: 454
start: 2 15 109 15 51 50
data:
$ID,120
$MISSION,9
$DIVE,454
$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,275
$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,-27460.521
$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,23
$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
$GPS1,154354,5002.576,-14429.867,60,1.3,60,18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,4.09
$_SM_ANGLEo,-75.1
$GPS2,155055,5002.629,-14429.874,13,1.3,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.033,-0.182
$KALMAN_X,-9888.1,-204.5,-115.8,63259.5,1302.5
$KALMAN_Y,46938.2,334.9,84.3,-48939.9,1722.6
$MHEAD_RNG_PITCHd_Wd,171.5,15961,-11.3,-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,24,-0.64,-117.3,0.0,0.0,0,37,0.00,0.00,-11.07,0.000,2,0.000,0.000,141,2401,2030
$GC,41,-0.64,-117.3,4.1,-0.0,1,114,14.05,0.00,-52.10,0.000,6,0.282,0.000,3104,2401,3356
$GC,435,-0.47,-117.3,39.2,-9.6,38,439,0.17,2.38,0.00,0.000,4,0.170,0.069,3160,992,3357
$GC,479,-0.51,-117.3,42.9,-6.6,41,485,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2408,3357
$GC,804,-0.51,-117.3,64.8,-6.9,72,808,0.00,2.38,0.00,0.000,4,0.000,0.081,3155,3812,3357
$GC,833,-0.51,-117.3,66.7,-6.9,74,838,0.00,2.25,0.00,0.000,6,0.000,0.054,3154,2397,3357
$GC,1166,-0.51,-117.3,89.3,-7.4,99,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2398,3358
$GC,1476,-0.51,-117.3,110.2,-6.3,114,1480,0.00,2.33,0.00,0.000,4,0.000,0.069,3155,992,3357
$GC,1500,-0.51,-117.3,111.8,-6.4,115,1504,0.00,2.30,0.00,0.000,6,0.000,0.060,3154,2410,3357
$GC,1822,-0.74,-117.3,133.1,-6.6,131,1827,0.20,2.35,0.00,0.000,4,0.084,0.077,3076,3818,3358
$GC,2035,-0.62,-117.3,150.7,-8.2,140,2042,0.15,2.25,0.00,0.000,6,0.113,0.054,3119,2392,3358
$GC,2349,-0.62,-117.3,170.6,-6.2,151,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2392,3358
$GC,2654,-0.62,-117.3,191.4,-6.9,161,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2392,3358
$GC,2960,-0.62,-117.3,211.2,-6.1,171,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2392,3358
$GC,3267,-0.62,-117.3,228.3,-5.5,181,3271,0.00,2.30,0.00,0.000,4,0.000,0.070,3119,997,3358
$GC,3300,-0.62,-117.3,230.3,-5.7,182,3304,0.00,2.30,0.00,0.000,6,0.000,0.061,3115,2399,3358
$GC,3630,-0.62,-117.3,249.2,-5.9,193,3634,0.00,2.35,0.00,0.000,4,0.000,0.069,3115,988,3357
$GC,3668,-0.62,-117.3,251.7,-6.2,194,3673,0.00,2.33,0.00,0.000,6,0.000,0.061,3115,2409,3357
$GC,3993,-0.62,-117.3,271.8,-6.3,205,3997,0.00,2.35,0.00,0.000,4,0.000,0.070,3115,988,3358
$GC,4038,-0.62,-117.3,274.9,-6.5,206,4042,0.00,2.30,0.00,0.000,6,0.000,0.061,3115,2401,3358
$GC,4356,-0.62,-117.3,293.8,-6.1,217,4360,0.00,2.35,0.00,0.000,4,0.000,0.070,3115,987,3358
$GC,4386,-0.62,-117.3,295.6,-5.9,218,4390,0.00,2.33,0.00,0.000,6,0.000,0.062,3115,2410,3358
$GC,4718,-0.62,-117.3,316.5,-6.3,225,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2409,3358
$GC,5022,-0.62,-117.3,336.1,-6.5,230,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2409,3358
$GC,5325,-0.62,-117.3,353.7,-5.8,235,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2409,3358
$GC,5628,-0.62,-117.3,371.0,-5.7,240,5632,0.00,2.35,0.00,0.000,4,0.000,0.070,3114,998,3357
$GC,5661,-0.62,-117.3,373.2,-6.7,240,5665,0.00,2.30,0.00,0.000,6,0.000,0.063,3115,2405,3357
$GC,5988,-0.62,-117.3,394.4,-6.6,246,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2405,3357
$GC,6291,-0.62,-117.3,414.3,-6.5,251,6295,0.00,2.38,0.00,0.000,4,0.000,0.071,3115,989,3357
$GC,6318,-0.62,-117.3,416.3,-7.3,251,6322,0.00,2.30,0.00,0.000,6,0.000,0.061,3115,2400,3357
$GC,6650,-0.62,-117.3,437.2,-6.4,257,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2400,3357
$GC,6953,-0.62,-117.3,456.4,-6.3,262,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2400,3356
$GC,7256,-0.62,-117.3,474.4,-5.8,267,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2400,3356
$GC,7559,-0.62,-117.3,491.9,-5.9,272,7563,0.00,2.35,0.00,0.000,4,0.000,0.071,3115,990,3356
$GC,7593,-0.67,-117.3,494.0,-6.3,272,7597,0.00,2.30,0.00,0.000,6,0.000,0.062,3115,2399,3356
$GC,7919,-0.86,-117.3,516.8,-7.3,278,7924,0.20,2.38,0.00,0.000,4,0.088,0.080,3036,3814,3356
$GC,8156,-0.69,-117.3,538.3,-9.8,281,8161,0.20,2.28,0.00,0.000,6,0.150,0.056,3090,2394,3356
$GC,8482,-0.69,-117.3,560.6,-6.6,287,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2394,3356
$GC,8785,-0.69,-117.3,579.8,-6.3,292,8789,0.00,2.33,0.00,0.000,4,0.000,0.072,3090,995,3355
$GC,8823,-0.69,-117.3,582.4,-6.4,292,8827,0.00,2.30,0.00,0.000,6,0.000,0.062,3086,2402,3355
$GC,9145,-0.69,-117.3,602.0,-6.1,298,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,9447,-0.69,-117.3,619.9,-5.9,303,9451,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,995,3355
$GC,9475,-0.69,-117.3,621.6,-6.7,303,9479,0.00,2.33,0.00,0.000,6,0.000,0.063,3086,2408,3355
$GC,9807,-0.69,-117.3,640.1,-5.6,309,9811,0.00,2.38,0.00,0.000,4,0.000,0.072,3086,987,3355
$GC,9840,-0.69,-117.3,642.2,-6.2,309,9845,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2401,3355
$GC,10167,-0.69,-117.3,660.7,-5.7,315,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,10470,-0.69,-117.3,679.3,-6.2,320,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,10774,-0.69,-117.3,699.2,-6.6,325,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11077,-0.69,-117.3,718.8,-6.4,330,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11380,-0.69,-117.3,738.1,-6.4,335,11384,0.00,2.40,0.00,0.000,4,0.000,0.084,3086,3812,3354
$GC,11418,-0.69,-117.3,740.6,-6.6,335,11423,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2401,3354
$GC,11740,-0.69,-117.3,760.4,-6.2,341,11744,0.00,2.33,0.00,0.000,4,0.000,0.072,3086,993,3354
$GC,11773,-0.69,-117.3,762.6,-6.3,341,11777,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2410,3354
$GC,12099,-0.69,-117.3,782.0,-6.0,347,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3354
$GC,12402,-0.69,-117.3,799.5,-5.8,352,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3354
$GC,12706,-0.69,-117.3,817.0,-5.8,357,12710,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,993,3353
$GC,12733,-0.69,-117.3,818.7,-6.3,357,12737,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2408,3353
$GC,13072,-0.69,-117.3,839.2,-6.2,363,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3354
$GC,13374,-0.69,-117.3,859.2,-6.7,368,13379,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,994,3353
$GC,13397,-0.69,-117.3,860.8,-6.9,368,13401,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2407,3354
$GC,13735,-0.69,-117.3,883.7,-6.8,374,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2407,3353
$GC,14038,-0.69,-117.3,904.7,-6.9,379,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3353
$GC,14341,-0.69,-117.3,924.6,-6.5,384,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3354
$GC,14644,-0.69,-117.3,943.1,-6.1,389,14645,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3353
$GC,14947,-0.69,-117.3,960.9,-5.9,394,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3353
$GC,15251,-0.69,-117.3,978.5,-5.8,399,15255,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,991,3352
$GC,15278,-0.69,-117.3,980.3,-6.3,399,15282,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2400,3352
$STATE,15492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15492,begin apogee
$GC,15499,-0.22,0.0,992.5,5.7,403,15615,0.52,0.00,108.57,1.490,6,0.140,0.000,3244,2200,2875
$STATE,15615,end apogee,CONTROL_FINISHED_OK
$STATE,15615,begin climb
$GC,15619,0.64,117.3,997.2,0.0,405,15743,0.85,2.67,113.30,1.436,4,0.095,0.076,3531,800,2397
$GC,15777,0.26,117.3,996.5,5.3,407,15783,0.50,2.47,0.00,0.000,6,0.177,0.060,3406,2202,2395
$GC,16110,0.30,142.4,982.0,4.3,413,16136,0.00,0.00,23.50,1.398,6,0.000,0.000,3406,2201,2295
$GC,16413,0.30,146.8,967.3,4.9,418,16424,0.00,2.35,5.85,1.113,4,0.000,0.080,3406,3610,2276
$GC,16457,0.30,146.8,965.0,5.1,418,16462,0.00,2.30,0.00,0.000,6,0.000,0.064,3408,2198,2276
$GC,16773,0.32,159.5,950.3,4.7,424,16788,0.00,0.00,12.85,1.345,6,0.000,0.000,3408,2198,2225
$GC,17078,0.38,174.0,936.1,4.6,429,17094,0.00,0.00,14.52,1.359,6,0.000,0.000,3408,2198,2166
$GC,17380,0.45,185.2,921.9,4.7,434,17394,0.17,0.00,11.93,1.327,6,0.082,0.000,3478,2198,2120
$GC,17683,0.34,185.2,900.6,7.2,439,17688,0.15,2.38,0.00,0.000,4,0.148,0.079,3436,791,2118
$GC,17718,0.34,185.2,898.4,6.0,439,17722,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2205,2118
$GC,18044,0.34,185.2,879.0,5.9,445,18048,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3617,2118
$GC,18089,0.29,185.2,875.9,6.3,445,18093,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2197,2117
$GC,18405,0.29,185.2,857.6,5.8,451,18409,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,782,2117
$GC,18449,0.29,185.2,854.9,6.1,451,18453,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2199,2117
$GC,18764,0.29,185.2,837.1,5.7,457,18766,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2117
$GC,19067,0.29,185.2,818.2,6.3,462,19068,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2117
$GC,19371,0.29,185.2,798.5,6.5,467,19372,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2116
$GC,19674,0.29,185.2,778.5,6.6,472,19678,0.00,2.35,0.00,0.000,4,0.000,0.081,3437,3614,2116
$GC,19709,0.24,185.2,776.0,7.6,472,19714,0.15,2.30,0.00,0.000,6,0.173,0.064,3399,2191,2116
$GC,20036,0.36,185.2,758.6,5.2,478,20041,0.10,2.35,0.00,0.000,4,0.094,0.079,3437,785,2116
$GC,20081,0.41,185.2,755.9,5.9,478,20085,0.00,2.30,0.00,0.000,6,0.000,0.063,3437,2200,2116
$GC,20397,0.48,185.2,738.0,5.7,484,20399,0.10,0.00,0.00,0.000,6,0.115,0.000,3477,2200,2116
$GC,20700,0.38,185.2,716.7,7.1,489,20705,0.12,2.35,0.00,0.000,4,0.143,0.079,3442,3609,2115
$GC,20734,0.32,185.2,714.3,6.3,489,20738,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2192,2116
$GC,21060,0.32,185.2,694.5,6.0,495,21061,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2192,2116
$GC,21363,0.32,185.2,676.2,6.1,500,21364,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2192,2116
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$STATE,32892,end climb,SURFACE_DEPTH_REACHED
$STATE,32892,begin surface coast
$FINISH,2.7,1.002281
$STATE,32989,end surface coast,CONTROL_FINISHED_OK
$STATE,32989,begin surface
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$10V_AH,10.5,60.959
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$DEVICE_SECS,28.400,220.600,405.650,0.000,0.000,28.825,32.159,206.893,256.750,0.000,0.000,13.924,1853.531,27842.037,571.688,2427.831,783.677,33.375,1783.025,0.000,2391.932,0.000,0.465
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$DATA_FILE_SIZE,50644,876
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