version: 66.03
glider: 120
mission: 9
dive: 510
start: 3 8 109 20 50 31
data:
$ID,120
$MISSION,9
$DIVE,510
$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,-28729.061
$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
$GPS1,204306,5010.755,-14512.339,56,1.1,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-78.5
$GPS2,204937,5010.791,-14512.366,12,1.6,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.177
$KALMAN_X,-26627.7,-144.8,-46.9,29335.3,539.8
$KALMAN_Y,101584.5,86.9,-164.8,-87966.8,3006.0
$MHEAD_RNG_PITCHd_Wd,165.4,31080,-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,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.52,0.000,2,0.000,0.000,140,2412,2017
$GC,41,-0.67,-117.3,3.8,-0.0,1,117,13.80,2.53,-56.03,0.000,4,0.277,0.082,3097,988,3356
$GC,153,-0.47,-117.3,8.5,-9.6,11,158,0.22,2.35,0.00,0.000,6,0.158,0.065,3159,2403,3356
$GC,482,-0.52,-117.3,32.0,-7.0,41,487,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2402,3358
$GC,808,-0.57,-117.3,55.3,-7.1,72,809,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2402,3358
$GC,1127,-0.63,-117.3,77.1,-6.8,102,1132,0.15,2.42,0.00,0.000,4,0.077,0.068,3094,982,3358
$GC,1156,-0.56,-117.3,79.5,-8.8,104,1161,0.15,2.33,0.00,0.000,6,0.140,0.062,3133,2408,3358
$GC,1473,-0.56,-117.3,104.9,-7.8,119,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2407,3358
$GC,1783,-0.56,-117.3,127.9,-6.8,134,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2407,3358
$GC,2091,-0.56,-117.3,148.7,-6.8,149,2095,0.00,2.40,0.00,0.000,4,0.000,0.068,3133,991,3359
$GC,2142,-0.62,-117.3,152.1,-7.0,151,2146,0.00,2.33,0.00,0.000,6,0.000,0.063,3133,2404,3359
$GC,2456,-0.68,-117.3,173.7,-7.2,161,2461,0.12,2.40,0.00,0.000,4,0.081,0.079,3085,3809,3359
$GC,2489,-0.62,-117.3,176.9,-9.2,162,2494,0.12,2.30,0.00,0.000,6,0.104,0.054,3119,2384,3359
$GC,2819,-0.62,-117.3,204.0,-8.4,173,2823,0.00,2.33,0.00,0.000,4,0.000,0.071,3119,996,3359
$GC,2853,-0.66,-117.3,206.4,-6.6,174,2857,0.00,2.33,0.00,0.000,6,0.000,0.062,3119,2412,3358
$GC,3183,-0.71,-117.3,228.8,-6.7,185,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2412,3359
$GC,3489,-0.75,-117.3,248.5,-6.3,195,3491,0.12,0.00,0.00,0.000,6,0.081,0.000,3070,2412,3358
$GC,3796,-0.69,-117.3,271.7,-7.5,205,3800,0.00,2.40,0.00,0.000,4,0.000,0.069,3070,993,3359
$GC,3840,-0.61,-117.3,275.4,-8.0,206,3845,0.17,2.33,0.00,0.000,6,0.140,0.062,3117,2409,3358
$GC,4159,-0.61,-117.3,296.0,-6.7,217,4163,0.00,2.40,0.00,0.000,4,0.000,0.069,3117,995,3358
$GC,4193,-0.65,-117.3,298.4,-7.2,218,4197,0.00,2.33,0.00,0.000,6,0.000,0.062,3114,2406,3358
$GC,4520,-0.65,-117.3,319.6,-6.4,224,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3359
$GC,4824,-0.65,-117.3,336.2,-5.3,229,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3358
$GC,5126,-0.65,-117.3,351.5,-5.1,234,5130,0.00,2.40,0.00,0.000,4,0.000,0.070,3114,997,3358
$GC,5155,-0.69,-117.3,353.1,-5.4,234,5159,0.00,2.33,0.00,0.000,6,0.000,0.063,3113,2400,3358
$GC,5488,-0.74,-117.3,372.4,-5.9,240,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3358
$GC,5791,-0.78,-117.3,390.8,-6.0,245,5793,0.15,0.00,0.00,0.000,6,0.084,0.000,3054,2400,3358
$GC,6094,-0.71,-117.3,414.7,-8.0,250,6096,0.12,0.00,0.00,0.000,6,0.100,0.000,3090,2400,3358
$GC,6397,-0.71,-117.3,436.7,-7.2,255,6401,0.00,2.40,0.00,0.000,4,0.000,0.082,3086,3814,3357
$GC,6424,-0.71,-117.3,438.8,-7.5,255,6429,0.00,2.30,0.00,0.000,6,0.000,0.054,3086,2394,3357
$GC,6757,-0.71,-117.3,461.1,-6.7,261,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2394,3357
$GC,7060,-0.71,-117.3,481.6,-6.8,266,7064,0.00,2.38,0.00,0.000,4,0.000,0.071,3086,991,3357
$GC,7088,-0.71,-117.3,483.7,-7.3,266,7092,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2399,3357
$GC,7420,-0.71,-117.3,505.9,-6.7,272,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,7723,-0.71,-117.3,524.3,-6.0,277,7727,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,994,3357
$GC,7750,-0.71,-117.3,526.1,-6.4,277,7754,0.00,2.33,0.00,0.000,6,0.000,0.063,3086,2402,3357
$GC,8083,-0.71,-117.3,546.2,-6.2,283,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3357
$GC,8385,-0.71,-117.3,566.2,-6.7,288,8389,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,987,3356
$GC,8452,-0.71,-117.3,571.2,-6.9,289,8456,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2401,3357
$GC,8813,-0.71,-117.3,598.1,-7.6,295,8817,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,993,3357
$GC,8841,-0.71,-117.3,600.5,-8.0,295,8845,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2399,3357
$GC,9173,-0.71,-117.3,623.5,-6.8,301,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3356
$GC,9476,-0.71,-117.3,642.1,-6.1,306,9480,0.00,2.40,0.00,0.000,4,0.000,0.084,3085,3817,3356
$GC,9503,-0.71,-117.3,643.8,-6.1,306,9507,0.00,2.28,0.00,0.000,6,0.000,0.056,3085,2395,3357
$GC,9836,-0.71,-117.3,662.2,-5.5,312,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2396,3356
$GC,10139,-0.71,-117.3,679.2,-5.7,317,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,10443,-0.71,-117.3,697.7,-6.2,322,10447,0.00,2.50,0.00,0.000,4,0.000,0.083,3085,3818,3356
$GC,10470,-0.71,-117.3,699.6,-6.4,322,10474,0.00,2.30,0.00,0.000,6,0.000,0.056,3085,2400,3356
$GC,10810,-0.71,-117.3,720.4,-6.2,328,10814,0.00,2.40,0.00,0.000,4,0.000,0.071,3086,986,3356
$GC,10854,-0.71,-117.3,723.4,-6.8,328,10858,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2402,3356
$GC,11170,-0.71,-117.3,743.4,-6.4,334,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3356
$GC,11473,-0.71,-117.3,764.8,-7.1,339,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3356
$GC,11777,-0.71,-117.3,787.3,-7.4,344,11781,0.00,2.40,0.00,0.000,4,0.000,0.072,3085,994,3355
$GC,11804,-0.71,-117.3,789.5,-8.0,344,11808,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2407,3355
$GC,12136,-0.71,-117.3,813.8,-7.3,350,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3355
$GC,12439,-0.71,-117.3,834.6,-6.9,355,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3355
$GC,12743,-0.71,-117.3,853.9,-6.3,360,12747,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,990,3355
$GC,12778,-0.71,-117.3,856.0,-6.5,360,12782,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2404,3355
$GC,13105,-0.71,-117.3,873.9,-5.4,366,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,13408,-0.71,-117.3,889.0,-4.9,371,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3355
$GC,13712,-0.71,-117.3,903.0,-4.6,376,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,14014,-0.71,-117.3,917.7,-4.8,381,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,14317,-0.71,-117.3,933.1,-5.1,386,14318,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,14620,-0.71,-117.3,949.8,-5.6,391,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3355
$GC,14923,-0.71,-117.3,967.9,-6.0,396,14927,0.00,2.42,0.00,0.000,4,0.000,0.074,3085,991,3354
$GC,14951,-0.71,-117.3,969.6,-5.9,396,14955,0.00,2.35,0.00,0.000,6,0.000,0.065,3085,2399,3354
$GC,15283,-0.71,-117.3,988.7,-5.7,402,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$STATE,15340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15341,begin apogee
$GC,15348,-0.22,0.0,992.2,5.8,403,15463,0.52,0.00,109.30,1.485,6,0.137,0.000,3242,2202,2875
$STATE,15464,end apogee,CONTROL_FINISHED_OK
$STATE,15464,begin climb
$GC,15468,0.67,117.3,997.2,0.0,405,15591,0.88,0.00,114.57,1.431,6,0.092,0.000,3529,2201,2396
$GC,15898,0.36,117.3,979.4,6.8,412,15900,0.32,0.00,0.00,0.000,6,0.165,0.000,3437,2202,2394
$GC,16198,0.31,121.2,964.3,4.9,417,16205,0.00,0.00,4.57,0.988,6,0.000,0.000,3437,2202,2381
$GC,16503,0.27,125.2,949.4,4.9,422,16510,0.12,0.00,5.45,1.091,6,0.185,0.000,3405,2202,2365
$GC,16805,0.35,144.3,935.8,4.5,427,16829,0.00,2.53,18.60,1.385,4,0.000,0.081,3406,3612,2287
$GC,16875,0.35,144.3,932.0,5.5,428,16879,0.00,2.38,0.00,0.000,6,0.000,0.062,3408,2191,2286
$GC,17242,0.43,154.6,914.6,4.7,434,17256,0.15,0.00,10.73,1.307,6,0.080,0.000,3472,2191,2245
$GC,17545,0.33,154.6,896.4,6.0,439,17550,0.15,2.45,0.00,0.000,4,0.147,0.080,3424,3608,2244
$GC,17595,0.33,154.6,893.4,5.9,439,17599,0.00,2.35,0.00,0.000,6,0.000,0.063,3424,2202,2243
$GC,17906,0.35,177.3,880.0,4.4,444,17929,0.00,0.00,21.48,1.377,6,0.000,0.000,3424,2202,2153
$GC,18209,0.43,193.9,866.3,4.5,449,18233,0.00,2.53,16.45,1.338,4,0.000,0.081,3425,3612,2084
$GC,18262,0.43,197.9,863.6,4.9,449,18274,0.00,2.40,5.10,1.012,6,0.000,0.061,3424,2189,2069
$GC,18579,0.51,204.3,848.7,4.8,455,18594,0.15,2.47,7.57,1.190,4,0.079,0.078,3493,3603,2042
$GC,18617,0.32,204.3,845.9,8.2,455,18622,0.30,2.35,0.00,0.000,6,0.163,0.061,3420,2188,2042
$GC,18944,0.41,204.3,829.0,5.1,461,18945,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2189,2041
$GC,19248,0.50,204.3,813.1,5.2,466,19250,0.17,0.00,0.00,0.000,6,0.081,0.000,3489,2188,2040
$GC,19550,0.40,204.3,790.8,7.4,471,19555,0.15,2.40,0.00,0.000,4,0.146,0.077,3449,792,2041
$GC,19595,0.40,204.3,788.0,5.3,471,19599,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2203,2041
$GC,19911,0.40,204.3,770.4,5.6,477,19913,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2040
$GC,20213,0.40,204.3,753.2,5.7,482,20215,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2040
$GC,20517,0.40,204.3,735.1,6.0,487,20518,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2040
$GC,20820,0.40,204.3,716.3,6.2,492,20821,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2040
$GC,21123,0.40,204.3,698.1,6.0,497,21124,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2039
$GC,21426,0.40,204.3,679.6,6.2,502,21431,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3611,2040
$GC,21477,0.40,204.3,676.2,5.9,502,21481,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2202,2040
$GC,21787,0.40,204.3,658.2,5.8,507,21788,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2040
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$STATE,32051,end climb,SURFACE_DEPTH_REACHED
$STATE,32051,begin surface coast
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$STATE,32169,end surface coast,CONTROL_FINISHED_OK
$STATE,32169,begin surface
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$DATA_FILE_SIZE,47452,843
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