version: 66.03
glider: 120
mission: 9
dive: 561
start: 3 28 109 4 21 50
data:
$ID,120
$MISSION,9
$DIVE,561
$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,-29775.371
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,041406,4956.601,-14505.026,35,0.9,41,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-73.7
$GPS2,042055,4956.581,-14505.053,10,1.1,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.074
$KALMAN_X,-58337.3,27.8,-448.0,69979.3,-2827.8
$KALMAN_Y,136120.7,-250.2,-289.5,-148339.2,1338.7
$MHEAD_RNG_PITCHd_Wd,46.9,26316,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-20.52,0.000,2,0.000,0.000,134,2403,2233
$GC,52,-0.67,-117.3,3.5,-5.2,2,109,14.10,2.40,-37.83,0.000,4,0.284,0.107,3086,3809,3355
$GC,346,-0.50,-117.3,33.1,-10.7,28,353,0.25,2.25,0.00,0.000,6,0.155,0.055,3155,2391,3358
$GC,675,-0.50,-117.3,56.6,-7.1,59,679,0.00,2.35,0.00,0.000,4,0.000,0.071,3155,986,3358
$GC,744,-0.54,-117.3,62.1,-8.0,65,748,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2402,3358
$GC,1079,-0.54,-117.3,86.4,-7.2,92,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2401,3358
$GC,1387,-0.54,-117.3,108.3,-7.3,107,1391,0.00,2.38,0.00,0.000,4,0.000,0.069,3155,989,3358
$GC,1409,-0.54,-117.3,110.0,-7.2,108,1413,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2406,3358
$GC,1732,-0.58,-117.3,131.2,-6.7,124,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2405,3358
$GC,2050,-0.88,-117.3,153.6,-7.6,139,2052,0.35,0.00,0.00,0.000,6,0.089,0.000,3032,2406,3358
$GC,2356,-0.88,-117.3,180.1,-8.4,149,2360,0.00,2.38,0.00,0.000,4,0.000,0.070,3032,995,3358
$GC,2616,-0.65,-117.3,208.3,-10.9,156,2621,0.25,2.35,0.00,0.000,6,0.155,0.063,3100,2410,3358
$GC,2929,-0.65,-117.3,231.0,-6.8,166,2933,0.00,2.40,0.00,0.000,4,0.000,0.070,3100,986,3359
$GC,3009,-0.65,-117.3,236.7,-6.8,168,3013,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2401,3359
$GC,3328,-0.65,-117.3,257.3,-6.5,179,3332,0.00,2.38,0.00,0.000,4,0.000,0.069,3100,995,3358
$GC,3384,-0.65,-117.3,261.1,-6.6,180,3390,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2409,3359
$GC,3698,-0.65,-117.3,282.0,-6.9,191,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3359
$GC,4033,-0.65,-117.3,306.5,-7.5,201,4037,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,989,3359
$GC,4061,-0.65,-117.3,308.7,-7.8,201,4065,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2404,3359
$GC,4394,-0.65,-117.3,330.8,-6.5,207,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,4698,-0.65,-117.3,348.2,-5.8,212,4702,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,992,3358
$GC,4782,-0.65,-117.3,353.7,-6.3,213,4786,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2405,3358
$GC,5131,-0.65,-117.3,376.2,-6.6,219,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3358
$GC,5434,-0.65,-117.3,395.5,-6.3,224,5438,0.00,2.38,0.00,0.000,4,0.000,0.070,3100,996,3358
$GC,5480,-0.65,-117.3,398.5,-6.7,224,5484,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2407,3358
$GC,5795,-0.65,-117.3,417.6,-6.1,230,5799,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,991,3358
$GC,5834,-0.65,-117.3,420.2,-6.8,230,5838,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2401,3358
$GC,6155,-0.65,-117.3,440.3,-6.3,236,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,6459,-0.65,-117.3,461.3,-7.0,241,6463,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,985,3358
$GC,6509,-0.65,-117.3,465.3,-8.2,241,6513,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2398,3358
$GC,6820,-0.65,-117.3,488.7,-7.6,246,6824,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,995,3358
$GC,6859,-0.65,-117.3,492.0,-8.2,246,6863,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2404,3358
$GC,7182,-0.65,-117.3,515.5,-7.3,252,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,7484,-0.65,-117.3,536.5,-6.9,257,7488,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,989,3357
$GC,7539,-0.65,-117.3,540.6,-7.3,257,7546,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2401,3357
$GC,7850,-0.65,-117.3,561.2,-6.7,263,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3357
$GC,8153,-0.65,-117.3,581.5,-6.7,268,8158,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,988,3357
$GC,8217,-0.70,-117.3,586.1,-7.4,269,8221,0.00,2.35,0.00,0.000,6,0.000,0.064,3099,2401,3357
$GC,8589,-0.70,-117.3,609.6,-6.2,275,8593,0.00,2.40,0.00,0.000,4,0.000,0.084,3100,3809,3357
$GC,8624,-0.75,-117.3,611.7,-6.3,275,8628,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2391,3356
$GC,8951,-0.75,-117.3,629.9,-5.4,281,8955,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,995,3356
$GC,8996,-0.80,-117.3,632.5,-5.6,281,9001,0.12,2.35,0.00,0.000,6,0.087,0.062,3054,2405,3356
$GC,9312,-0.80,-117.3,650.9,-5.9,287,9316,0.00,2.38,0.00,0.000,4,0.000,0.082,3054,3809,3356
$GC,9335,-0.74,-117.3,652.6,-6.9,287,9339,0.00,2.28,0.00,0.000,6,0.000,0.056,3054,2390,3356
$GC,9673,-0.68,-117.3,673.4,-6.2,293,9678,0.15,2.38,0.00,0.000,4,0.120,0.071,3105,990,3356
$GC,9729,-0.75,-117.3,676.7,-5.8,293,9736,0.00,2.35,0.00,0.000,6,0.000,0.064,3105,2408,3356
$GC,10041,-0.95,-117.3,695.0,-6.2,299,10046,0.25,2.42,0.00,0.000,4,0.085,0.071,3011,989,3356
$GC,10300,-0.75,-117.3,718.4,-9.3,302,10307,0.25,2.38,0.00,0.000,6,0.161,0.066,3073,2405,3356
$GC,10610,-0.75,-117.3,741.1,-7.3,308,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3356
$GC,10914,-0.75,-117.3,763.2,-7.3,313,10918,0.00,2.40,0.00,0.000,4,0.000,0.072,3073,996,3356
$GC,10949,-0.75,-117.3,765.9,-7.7,313,10953,0.00,2.35,0.00,0.000,6,0.000,0.064,3072,2402,3356
$GC,11277,-0.75,-117.3,791.3,-7.8,319,11281,0.00,2.40,0.00,0.000,4,0.000,0.072,3072,995,3356
$GC,11305,-0.75,-117.3,793.7,-8.5,319,11309,0.00,2.35,0.00,0.000,6,0.000,0.064,3072,2400,3356
$GC,11643,-0.75,-117.3,817.8,-7.1,325,11647,0.00,2.40,0.00,0.000,4,0.000,0.072,3072,993,3356
$GC,11679,-0.75,-117.3,820.5,-7.7,325,11683,0.00,2.38,0.00,0.000,6,0.000,0.064,3073,2408,3356
$GC,12007,-0.75,-117.3,842.0,-6.5,331,12011,0.00,2.42,0.00,0.000,4,0.000,0.073,3073,991,3356
$GC,12070,-0.75,-117.3,846.2,-7.0,332,12074,0.00,2.38,0.00,0.000,6,0.000,0.065,3073,2400,3356
$GC,12436,-0.75,-117.3,868.7,-6.1,338,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,12740,-0.75,-117.3,886.7,-5.9,343,12744,0.00,2.40,0.00,0.000,4,0.000,0.073,3072,995,3355
$GC,12790,-0.75,-117.3,890.0,-6.7,343,12794,0.00,2.38,0.00,0.000,6,0.000,0.064,3072,2408,3355
$GC,13100,-0.75,-117.3,908.9,-6.1,348,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3355
$GC,13403,-0.75,-117.3,927.4,-6.1,353,13407,0.00,2.42,0.00,0.000,4,0.000,0.074,3072,995,3355
$GC,13438,-0.75,-117.3,929.7,-6.7,353,13442,0.00,2.38,0.00,0.000,6,0.000,0.065,3072,2406,3355
$GC,13765,-0.75,-117.3,950.1,-6.3,359,13766,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3355
$GC,14068,-0.75,-117.3,969.0,-6.2,364,14072,0.00,2.42,0.00,0.000,4,0.000,0.074,3072,996,3355
$GC,14131,-0.75,-117.3,973.3,-6.9,365,14135,0.00,2.38,0.00,0.000,6,0.000,0.066,3073,2398,3355
$STATE,14433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14433,begin apogee
$GC,14442,-0.22,0.0,992.0,6.1,370,14556,0.57,0.00,108.53,1.492,6,0.142,0.000,3243,2197,2875
$STATE,14556,end apogee,CONTROL_FINISHED_OK
$STATE,14556,begin climb
$GC,14560,0.67,117.3,996.3,0.0,372,14685,0.88,2.72,114.18,1.434,4,0.092,0.077,3534,800,2396
$GC,14758,0.34,117.3,993.0,6.6,375,14763,0.40,2.47,0.00,0.000,6,0.171,0.061,3431,2210,2394
$GC,15120,0.29,117.3,974.6,5.0,381,15124,0.00,2.33,0.00,0.000,4,0.000,0.081,3431,3612,2393
$GC,15177,0.17,117.3,971.2,5.7,381,15184,0.22,2.28,0.00,0.000,6,0.177,0.063,3379,2196,2393
$GC,15488,0.33,147.1,958.2,4.1,387,15518,0.15,0.00,27.38,1.421,6,0.085,0.000,3436,2195,2276
$GC,15791,0.33,147.1,940.6,6.0,392,15795,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,782,2274
$GC,15830,0.33,147.1,938.1,6.0,392,15834,0.00,2.35,0.00,0.000,6,0.000,0.062,3436,2211,2274
$GC,16152,0.33,147.1,916.8,6.7,398,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2210,2273
$GC,16454,0.33,147.1,897.2,6.5,403,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2273
$GC,16757,0.33,147.1,878.9,5.9,408,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2273
$GC,17060,0.33,147.1,862.5,5.4,413,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2272
$GC,17364,0.34,157.6,848.2,4.7,418,17376,0.00,0.00,10.32,1.281,6,0.000,0.000,3436,2210,2233
$GC,17667,0.35,162.6,833.5,4.9,423,17678,0.00,2.42,6.15,1.124,4,0.000,0.078,3436,790,2212
$GC,17723,0.36,173.1,830.5,4.7,423,17739,0.00,2.35,11.00,1.272,6,0.000,0.063,3436,2227,2170
$GC,18095,0.36,173.1,811.6,5.1,430,18097,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2227,2169
$GC,18398,0.36,173.1,796.0,5.1,435,18402,0.00,2.47,0.00,0.000,4,0.000,0.079,3436,780,2168
$GC,18448,0.36,173.1,793.3,5.1,435,18452,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2209,2169
$GC,18758,0.36,173.1,777.0,5.3,440,18760,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2168
$GC,19062,0.36,173.1,761.2,5.3,445,19063,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2169
$GC,19364,0.36,173.1,744.2,5.6,450,19368,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,791,2168
$GC,19398,0.36,173.1,742.1,5.9,450,19402,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2204,2168
$GC,19724,0.36,173.1,721.6,6.4,456,19726,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2168
$GC,20028,0.36,173.1,701.3,6.7,461,20029,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2168
$GC,20331,0.36,173.1,680.0,7.0,466,20335,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,792,2168
$GC,20366,0.41,173.1,677.7,6.8,466,20370,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2168
$GC,20693,0.41,173.1,655.6,6.7,472,20694,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2168
$GC,20996,0.41,173.1,635.8,6.5,477,20998,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2168
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$STATE,31377,end climb,SURFACE_DEPTH_REACHED
$STATE,31377,begin surface coast
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$STATE,31474,end surface coast,CONTROL_FINISHED_OK
$STATE,31474,begin surface
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$10V_AH,10.4,75.676
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$DATA_FILE_SIZE,47559,822
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$CFSIZE,260165632,215121920
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