version: 66.03
glider: 120
mission: 9
dive: 480
start: 2 25 109 12 31 58
data:
$ID,120
$MISSION,9
$DIVE,480
$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,-28009.293
$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,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
$GPS1,121756,5000.166,-14458.398,25,3.1,44,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-74.2
$GPS2,123104,5000.148,-14458.403,17,3.0,36,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.086
$KALMAN_X,-18866.8,327.4,-202.3,37860.8,-2356.0
$KALMAN_Y,82926.4,-353.1,-291.3,-88435.2,2378.0
$MHEAD_RNG_PITCHd_Wd,42.5,16293,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.12,0.000,2,0.000,0.000,134,2403,1825
$GC,42,-0.67,-117.3,3.7,-0.0,1,138,14.23,2.45,-72.53,0.000,4,0.285,0.082,3094,998,3356
$GC,220,-0.52,-117.3,12.9,-9.3,17,225,0.20,2.33,0.00,0.000,6,0.156,0.064,3150,2408,3357
$GC,548,-0.52,-117.3,36.1,-6.8,47,552,0.00,2.38,0.00,0.000,4,0.000,0.081,3141,3812,3357
$GC,582,-0.52,-117.3,38.7,-7.3,49,588,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2391,3357
$GC,907,-0.52,-117.3,61.8,-7.4,80,911,0.00,2.33,0.00,0.000,4,0.000,0.071,3141,987,3357
$GC,940,-0.52,-117.3,65.0,-10.0,82,947,0.00,2.33,0.00,0.000,6,0.000,0.063,3141,2414,3357
$GC,1266,-0.52,-117.3,91.7,-8.0,106,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2413,3357
$GC,1573,-0.52,-117.3,116.5,-8.1,121,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2413,3357
$GC,1882,-0.52,-117.3,137.7,-6.9,136,1886,0.00,2.33,0.00,0.000,4,0.000,0.081,3141,3807,3357
$GC,1915,-0.59,-117.3,140.3,-7.2,137,1922,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2404,3357
$GC,2253,-0.83,-117.3,162.9,-6.7,151,2258,0.22,2.42,0.00,0.000,4,0.086,0.078,3051,3817,3358
$GC,2304,-0.69,-117.3,167.0,-8.0,152,2308,0.15,2.25,0.00,0.000,6,0.148,0.054,3091,2397,3357
$GC,2618,-0.62,-117.3,190.6,-7.6,162,2622,0.00,2.33,0.00,0.000,4,0.000,0.070,3091,990,3358
$GC,2724,-0.56,-117.3,198.7,-6.8,165,2729,0.15,2.33,0.00,0.000,6,0.153,0.063,3132,2410,3357
$GC,3049,-0.63,-117.3,216.8,-5.5,176,3053,0.00,2.33,0.00,0.000,4,0.000,0.081,3125,3809,3358
$GC,3082,-0.71,-117.3,218.8,-5.8,177,3087,0.12,2.25,0.00,0.000,6,0.083,0.054,3077,2388,3357
$GC,3412,-0.71,-117.3,241.3,-7.1,188,3416,0.00,2.30,0.00,0.000,4,0.000,0.071,3077,992,3357
$GC,3475,-0.67,-117.3,246.1,-7.6,190,3479,0.00,2.30,0.00,0.000,6,0.000,0.063,3077,2400,3357
$GC,3817,-0.60,-117.3,274.0,-8.1,201,3822,0.15,2.38,0.00,0.000,4,0.141,0.070,3126,984,3357
$GC,3846,-0.64,-117.3,276.0,-7.1,202,3850,0.00,2.33,0.00,0.000,6,0.000,0.063,3126,2401,3357
$GC,4188,-0.71,-117.3,297.1,-6.1,213,4190,0.12,0.00,0.00,0.000,6,0.084,0.000,3075,2401,3357
$GC,4490,-0.71,-117.3,319.0,-7.2,219,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2401,3357
$GC,4793,-0.71,-117.3,341.6,-7.4,224,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2401,3357
$GC,5097,-0.71,-117.3,363.6,-7.3,229,5101,0.00,2.38,0.00,0.000,4,0.000,0.071,3075,986,3357
$GC,5130,-0.71,-117.3,366.0,-7.5,229,5134,0.00,2.33,0.00,0.000,6,0.000,0.064,3075,2402,3357
$GC,5463,-0.66,-117.3,391.1,-7.5,235,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2402,3357
$GC,5766,-0.61,-117.3,413.6,-7.5,240,5768,0.15,0.00,0.00,0.000,6,0.139,0.000,3118,2402,3357
$GC,6069,-0.75,-117.3,435.4,-7.3,245,6074,0.12,2.38,0.00,0.000,4,0.084,0.071,3081,994,3357
$GC,6154,-0.82,-117.3,442.4,-8.2,246,6158,0.00,2.33,0.00,0.000,6,0.000,0.064,3081,2408,3357
$GC,6497,-1.00,-117.3,469.2,-7.8,252,6502,0.22,2.40,0.00,0.000,4,0.084,0.070,2999,986,3356
$GC,6629,-0.73,-117.3,482.9,-11.6,254,6634,0.30,2.35,0.00,0.000,6,0.166,0.065,3081,2404,3356
$GC,6995,-0.73,-117.3,508.9,-6.8,260,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3356
$GC,7298,-0.73,-117.3,529.0,-6.6,265,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3356
$GC,7600,-0.73,-117.3,550.0,-7.0,270,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2403,3356
$GC,7904,-0.73,-117.3,572.0,-7.3,275,7909,0.00,2.40,0.00,0.000,4,0.000,0.072,3081,984,3355
$GC,7939,-0.73,-117.3,574.6,-7.6,275,7944,0.00,2.35,0.00,0.000,6,0.000,0.064,3080,2407,3355
$GC,8267,-0.73,-117.3,598.3,-7.3,281,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2406,3355
$GC,8569,-0.73,-117.3,621.2,-7.6,286,8573,0.00,2.38,0.00,0.000,4,0.000,0.084,3081,3815,3355
$GC,8598,-0.73,-117.3,623.3,-7.7,286,8602,0.00,2.28,0.00,0.000,6,0.000,0.056,3080,2391,3355
$GC,8930,-0.73,-117.3,646.6,-6.9,292,8934,0.00,2.33,0.00,0.000,4,0.000,0.073,3080,993,3355
$GC,8957,-0.73,-117.3,648.7,-7.5,292,8961,0.00,2.33,0.00,0.000,6,0.000,0.064,3081,2404,3355
$GC,9290,-0.73,-117.3,671.7,-6.9,298,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3355
$GC,9593,-0.73,-117.3,692.8,-7.0,303,9598,0.00,2.38,0.00,0.000,4,0.000,0.084,3080,3814,3355
$GC,9627,-0.73,-117.3,695.3,-7.5,303,9631,0.00,2.28,0.00,0.000,6,0.000,0.057,3081,2390,3355
$GC,9954,-0.73,-117.3,718.0,-7.0,309,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3355
$GC,10257,-0.73,-117.3,738.5,-6.7,314,10261,0.00,2.42,0.00,0.000,4,0.000,0.084,3081,3817,3354
$GC,10296,-0.73,-117.3,741.3,-6.3,314,10300,0.00,2.28,0.00,0.000,6,0.000,0.058,3080,2392,3355
$GC,10617,-0.73,-117.3,761.7,-6.3,320,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3355
$GC,10920,-0.73,-117.3,780.7,-6.3,325,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3355
$GC,11224,-0.73,-117.3,799.9,-6.4,330,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3355
$GC,11527,-0.73,-117.3,819.7,-6.5,335,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3354
$GC,11830,-0.73,-117.3,839.1,-6.4,340,11835,0.00,2.45,0.00,0.000,4,0.000,0.085,3081,3807,3354
$GC,11864,-0.73,-117.3,841.4,-6.8,340,11868,0.00,2.28,0.00,0.000,6,0.000,0.058,3080,2396,3354
$GC,12191,-0.73,-117.3,860.4,-5.8,346,12195,0.00,2.38,0.00,0.000,4,0.000,0.074,3080,986,3354
$GC,12213,-0.73,-117.3,861.8,-6.1,346,12217,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2408,3354
$GC,12551,-0.73,-117.3,881.2,-5.7,352,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2407,3354
$GC,12854,-0.73,-117.3,899.0,-5.9,357,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2407,3354
$GC,13157,-0.73,-117.3,917.8,-6.3,362,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2408,3354
$GC,13460,-0.73,-117.3,937.3,-6.4,367,13464,0.00,2.40,0.00,0.000,4,0.000,0.075,3081,990,3353
$GC,13505,-0.73,-117.3,940.4,-7.0,367,13509,0.00,2.35,0.00,0.000,6,0.000,0.067,3080,2405,3353
$GC,13820,-0.73,-117.3,960.9,-6.5,373,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3353
$GC,14123,-0.73,-117.3,979.1,-6.0,378,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3353
$STATE,14363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14363,begin apogee
$GC,14370,-0.22,0.0,993.1,5.8,382,14486,0.52,0.00,108.82,1.487,6,0.138,0.000,3242,2192,2875
$STATE,14486,end apogee,CONTROL_FINISHED_OK
$STATE,14486,begin climb
$GC,14490,0.67,117.3,997.6,0.0,384,14614,0.88,2.70,113.80,1.434,4,0.090,0.079,3533,797,2397
$GC,14636,0.32,117.3,997.3,5.3,386,14642,0.43,2.53,0.00,0.000,6,0.175,0.061,3427,2205,2395
$GC,14981,0.32,117.3,978.7,5.4,392,14985,0.00,2.35,0.00,0.000,4,0.000,0.081,3427,3614,2394
$GC,15037,0.22,117.3,975.2,7.2,392,15044,0.17,2.33,0.00,0.000,6,0.174,0.064,3392,2189,2393
$GC,15347,0.29,117.3,959.5,5.1,398,15348,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2189,2392
$GC,15651,0.37,117.3,943.9,5.1,403,15656,0.12,2.38,0.00,0.000,4,0.085,0.079,3446,789,2392
$GC,15696,0.30,117.3,941.1,5.9,403,15700,0.12,2.33,0.00,0.000,6,0.140,0.064,3414,2209,2392
$GC,16011,0.30,117.3,924.2,5.3,409,16015,0.00,2.42,0.00,0.000,4,0.000,0.078,3422,779,2392
$GC,16050,0.30,117.3,922.1,5.3,409,16054,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2203,2392
$GC,16372,0.31,126.8,906.9,4.7,415,16383,0.00,0.00,9.25,1.283,6,0.000,0.000,3422,2202,2359
$GC,16675,0.32,135.5,892.5,4.8,420,16690,0.00,2.45,9.62,1.286,4,0.000,0.080,3422,781,2323
$GC,16725,0.34,147.8,890.1,4.6,420,16744,0.00,2.35,12.62,1.315,6,0.000,0.063,3422,2212,2273
$GC,17107,0.35,156.1,871.7,4.8,427,17118,0.00,0.00,9.10,1.256,6,0.000,0.000,3422,2211,2239
$GC,17410,0.40,161.5,857.1,4.8,432,17423,0.00,2.40,6.45,1.151,4,0.000,0.083,3422,3614,2217
$GC,17464,0.40,161.5,853.9,5.4,432,17468,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2189,2217
$GC,17775,0.45,161.5,837.8,5.2,437,17777,0.12,0.00,0.00,0.000,6,0.093,0.000,3478,2189,2216
$GC,18077,0.33,161.5,817.5,6.8,442,18079,0.17,0.00,0.00,0.000,6,0.143,0.000,3428,2189,2216
$GC,18380,0.33,161.5,800.8,5.4,447,18384,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,792,2216
$GC,18419,0.33,161.5,798.6,5.7,447,18423,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2200,2216
$GC,18740,0.33,161.5,780.5,5.7,453,18744,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3611,2216
$GC,18779,0.33,161.5,778.0,6.1,453,18783,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2197,2216
$GC,19100,0.33,161.5,759.0,5.9,459,19104,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,783,2216
$GC,19150,0.33,161.5,755.8,6.2,459,19154,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2206,2216
$GC,19460,0.33,161.5,736.6,6.2,464,19464,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,782,2216
$GC,19505,0.33,161.5,733.7,6.6,464,19509,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2206,2216
$GC,19821,0.33,161.5,714.0,6.3,470,19822,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2216
$GC,20124,0.33,161.5,694.5,6.4,475,20125,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2216
$GC,20426,0.33,161.5,675.4,6.3,480,20428,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2215
$GC,20730,0.33,161.5,656.9,6.1,485,20731,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2215
$GC,21033,0.33,161.5,640.2,5.5,490,21034,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2215
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$STATE,32252,end climb,SURFACE_DEPTH_REACHED
$STATE,32252,begin surface coast
$FINISH,2.6,1.013079
$STATE,32338,end surface coast,CONTROL_FINISHED_OK
$STATE,32338,begin surface
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$10V_AH,10.5,64.552
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$DEVICE_SECS,31.100,230.900,381.000,0.000,0.000,89.269,81.759,311.531,253.500,0.000,0.000,37.635,1837.648,27150.652,565.877,2600.375,1038.647,33.373,1794.693,0.000,2548.792,0.000,0.465
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$DATA_FILE_SIZE,50712,854
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