version: 66.03
glider: 120
mission: 9
dive: 657
start: 5 3 109 11 30 45
data:
$ID,120
$MISSION,9
$DIVE,657
$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,-31644.904
$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,17
$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
$GPS1,111854,5021.725,-14429.255,67,1.4,68,18.7
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.2
$GPS2,112950,5021.745,-14429.163,14,1.5,14,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.040,-0.170
$KALMAN_X,-124737.7,-58.6,24.3,178653.7,-1696.5
$KALMAN_Y,144596.7,58.8,129.9,-110970.0,-1711.2
$MHEAD_RNG_PITCHd_Wd,148.2,51369,-12.3,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.67,-113.1,0.0,0.0,0,72,0.00,0.00,-39.90,0.000,2,0.000,0.000,136,2415,2745
$GC,76,-0.67,-113.1,3.8,-7.3,4,110,14.15,2.42,-11.55,0.000,4,0.277,0.094,3085,3834,3340
$GC,239,-0.48,-113.1,28.3,-10.9,18,244,0.28,2.30,0.00,0.000,6,0.143,0.054,3162,2391,3341
$GC,566,-0.54,-113.1,49.2,-6.4,48,570,0.00,2.47,0.00,0.000,4,0.000,0.070,3162,992,3341
$GC,612,-0.63,-113.1,52.4,-6.3,51,619,0.15,2.40,0.00,0.000,6,0.074,0.060,3107,2407,3341
$GC,941,-0.63,-113.1,74.3,-5.9,82,945,0.00,2.38,0.00,0.000,4,0.000,0.079,3106,3809,3341
$GC,1021,-0.56,-113.1,80.7,-7.8,88,1028,0.10,2.28,0.00,0.000,6,0.107,0.053,3131,2390,3341
$GC,1338,-0.56,-113.1,104.6,-7.4,104,1342,0.00,2.45,0.00,0.000,4,0.000,0.068,3131,990,3342
$GC,1394,-0.56,-113.1,109.4,-8.5,106,1401,0.00,2.42,0.00,0.000,6,0.000,0.061,3126,2409,3342
$GC,1712,-0.56,-113.1,134.5,-7.8,122,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2409,3341
$GC,2019,-0.56,-113.1,154.6,-6.0,136,2024,0.00,2.55,0.00,0.000,4,0.000,0.067,3126,990,3342
$GC,2053,-0.56,-113.1,156.9,-6.5,137,2058,0.00,2.45,0.00,0.000,6,0.000,0.061,3126,2406,3342
$GC,2385,-0.56,-113.1,178.4,-6.7,148,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3342
$GC,2691,-0.60,-113.1,198.4,-6.3,158,2694,0.00,2.45,0.00,0.000,4,0.000,0.080,3126,3821,3342
$GC,2731,-0.70,-113.1,200.9,-6.1,159,2735,0.00,2.30,0.00,0.000,6,0.000,0.052,3126,2397,3342
$GC,3062,-0.76,-113.1,218.5,-5.5,170,3067,0.15,2.47,0.00,0.000,4,0.079,0.067,3058,985,3341
$GC,3108,-0.66,-113.1,222.2,-8.5,171,3113,0.17,2.45,0.00,0.000,6,0.134,0.060,3104,2405,3342
$GC,3427,-0.66,-113.1,246.0,-7.4,182,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2403,3342
$GC,3734,-0.66,-113.1,267.9,-6.9,192,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2403,3342
$GC,4039,-0.66,-113.1,288.9,-6.8,202,4044,0.00,2.55,0.00,0.000,4,0.000,0.067,3104,983,3342
$GC,4069,-0.66,-113.1,290.9,-7.4,203,4073,0.00,2.47,0.00,0.000,6,0.000,0.061,3102,2406,3342
$GC,4404,-0.66,-113.1,312.7,-6.4,211,4408,0.00,2.53,0.00,0.000,4,0.000,0.068,3102,987,3342
$GC,4444,-0.66,-113.1,315.3,-6.1,211,4448,0.00,2.45,0.00,0.000,6,0.000,0.061,3102,2398,3342
$GC,4765,-0.66,-113.1,336.8,-6.7,217,4770,0.00,2.55,0.00,0.000,4,0.000,0.068,3102,981,3342
$GC,4805,-0.66,-113.1,339.6,-7.2,217,4809,0.00,2.47,0.00,0.000,6,0.000,0.060,3102,2400,3341
$GC,5126,-0.66,-113.1,360.9,-6.6,223,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2399,3341
$GC,5431,-0.66,-113.1,381.9,-7.0,228,5435,0.00,2.55,0.00,0.000,4,0.000,0.067,3102,993,3342
$GC,5487,-0.70,-113.1,386.1,-7.4,228,5493,0.00,2.45,0.00,0.000,6,0.000,0.061,3102,2404,3341
$GC,5798,-0.70,-113.1,406.4,-6.5,234,5802,0.00,2.53,0.00,0.000,4,0.000,0.069,3102,987,3342
$GC,5843,-0.70,-113.1,409.5,-6.8,234,5847,0.00,2.47,0.00,0.000,6,0.000,0.061,3102,2407,3341
$GC,6160,-0.70,-113.1,430.0,-6.5,240,6164,0.00,2.55,0.00,0.000,4,0.000,0.068,3102,982,3341
$GC,6187,-0.70,-113.1,432.2,-7.6,240,6192,0.00,2.47,0.00,0.000,6,0.000,0.061,3102,2408,3341
$GC,6521,-0.70,-113.1,455.1,-6.9,246,6525,0.00,2.53,0.00,0.000,4,0.000,0.069,3102,990,3341
$GC,6550,-0.74,-113.1,457.2,-7.1,246,6554,0.00,2.47,0.00,0.000,6,0.000,0.061,3102,2411,3341
$GC,6883,-0.74,-113.1,478.1,-6.2,252,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2409,3341
$GC,7186,-0.74,-113.1,496.8,-6.2,257,7190,0.00,2.55,0.00,0.000,4,0.000,0.070,3102,986,3341
$GC,7231,-0.80,-113.1,499.9,-7.3,257,7236,0.15,2.47,0.00,0.000,6,0.078,0.061,3049,2403,3340
$GC,7548,-0.74,-113.1,525.5,-8.3,263,7553,0.10,2.53,0.00,0.000,4,0.094,0.068,3081,992,3340
$GC,7587,-0.74,-113.1,529.0,-8.9,263,7591,0.00,2.47,0.00,0.000,6,0.000,0.061,3081,2404,3340
$GC,7908,-0.74,-113.1,554.9,-8.1,269,7913,0.00,2.53,0.00,0.000,4,0.000,0.069,3081,990,3340
$GC,7937,-0.74,-113.1,557.3,-8.4,269,7941,0.00,2.47,0.00,0.000,6,0.000,0.062,3080,2401,3340
$GC,8270,-0.74,-113.1,582.7,-7.6,275,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3341
$GC,8573,-0.74,-113.1,603.7,-6.9,280,8577,0.00,2.53,0.00,0.000,4,0.000,0.070,3080,989,3340
$GC,8601,-0.74,-113.1,605.7,-7.2,280,8605,0.00,2.47,0.00,0.000,6,0.000,0.062,3080,2400,3340
$GC,8935,-0.74,-113.1,627.0,-6.3,286,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3340
$GC,9237,-0.74,-113.1,645.6,-6.2,291,9241,0.00,2.45,0.00,0.000,4,0.000,0.082,3081,3818,3340
$GC,9276,-0.74,-113.1,648.1,-6.2,291,9280,0.00,2.30,0.00,0.000,6,0.000,0.054,3081,2391,3340
$GC,9610,-0.74,-113.1,669.1,-6.4,297,9614,0.00,2.50,0.00,0.000,4,0.000,0.071,3081,986,3340
$GC,9638,-0.74,-113.1,671.2,-7.4,297,9642,0.00,2.47,0.00,0.000,6,0.000,0.062,3081,2399,3340
$GC,9972,-0.74,-113.1,693.8,-6.8,303,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2398,3340
$GC,10274,-0.74,-113.1,714.8,-6.9,308,10278,0.00,2.53,0.00,0.000,4,0.000,0.070,3081,989,3340
$GC,10313,-0.74,-113.1,717.6,-7.1,308,10317,0.00,2.47,0.00,0.000,6,0.000,0.063,3081,2399,3340
$GC,10635,-0.74,-113.1,737.9,-6.3,314,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2398,3340
$GC,10938,-0.74,-113.1,756.6,-6.2,319,10941,0.00,2.45,0.00,0.000,4,0.000,0.083,3080,3807,3340
$GC,10966,-0.74,-113.1,758.6,-7.2,319,10970,0.00,2.30,0.00,0.000,6,0.000,0.054,3081,2388,3340
$GC,11304,-0.74,-113.1,779.9,-6.4,325,11309,0.00,2.53,0.00,0.000,4,0.000,0.070,3080,994,3340
$GC,11339,-0.74,-113.1,782.4,-7.1,325,11343,0.00,2.47,0.00,0.000,6,0.000,0.062,3081,2406,3340
$GC,11667,-0.74,-113.1,803.1,-6.3,331,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3339
$GC,11970,-0.74,-113.1,821.4,-6.0,336,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,3340
$GC,12273,-0.74,-113.1,839.1,-5.8,341,12277,0.00,2.58,0.00,0.000,4,0.000,0.071,3081,993,3340
$GC,12312,-0.74,-113.1,841.6,-5.6,341,12316,0.00,2.50,0.00,0.000,6,0.000,0.063,3081,2404,3339
$GC,12634,-0.74,-113.1,859.8,-5.7,347,12638,0.00,2.55,0.00,0.000,4,0.000,0.070,3080,989,3340
$GC,12662,-0.74,-113.1,861.6,-6.1,347,12666,0.00,2.50,0.00,0.000,6,0.000,0.063,3081,2405,3340
$GC,12994,-0.74,-113.1,880.2,-5.6,353,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2403,3340
$GC,13298,-0.74,-113.1,896.6,-5.4,358,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3340
$GC,13601,-0.74,-113.7,911.8,-5.0,363,13606,0.00,2.62,0.00,0.000,4,0.000,0.071,3081,991,3339
$GC,13630,-0.74,-113.7,913.5,-6.1,363,13634,0.00,2.47,0.00,0.000,6,0.000,0.063,3081,2405,3339
$GC,13963,-0.74,-113.7,930.3,-5.1,369,13967,0.00,2.47,0.00,0.000,4,0.000,0.083,3081,3808,3339
$GC,13992,-0.74,-113.7,931.9,-5.7,369,13996,0.00,2.28,0.00,0.000,6,0.000,0.055,3081,2401,3339
$GC,14330,-0.74,-113.7,950.1,-5.4,375,14335,0.00,2.53,0.00,0.000,4,0.000,0.072,3081,992,3339
$GC,14376,-0.74,-113.7,952.9,-5.7,375,14380,0.00,2.47,0.00,0.000,6,0.000,0.063,3081,2400,3339
$GC,14691,-0.74,-113.7,971.8,-6.0,381,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2398,3339
$STATE,14991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14991,begin apogee
$GC,15001,-0.22,0.0,990.7,6.3,386,15108,0.55,0.00,104.28,1.493,6,0.131,0.000,3244,2197,2876
$STATE,15109,end apogee,CONTROL_FINISHED_OK
$STATE,15109,begin climb
$GC,15113,0.67,113.7,992.9,0.0,387,15234,0.88,3.00,111.40,1.440,4,0.084,0.073,3533,794,2412
$GC,15282,0.32,113.7,994.6,5.2,390,15287,0.47,2.70,0.00,0.000,6,0.163,0.058,3422,2207,2410
$GC,15610,0.35,138.7,980.4,4.3,396,15639,0.00,2.58,22.83,1.396,4,0.000,0.077,3422,791,2310
$GC,15680,0.35,138.7,977.0,5.4,397,15684,0.00,2.40,0.00,0.000,6,0.000,0.059,3422,2212,2309
$GC,16047,0.35,138.7,958.4,5.1,403,16052,0.00,2.47,0.00,0.000,4,0.000,0.077,3422,785,2309
$GC,16088,0.39,138.7,956.2,5.1,403,16092,0.00,2.38,0.00,0.000,6,0.000,0.060,3422,2203,2308
$GC,16409,0.39,138.7,939.6,5.2,409,16414,0.00,2.47,0.00,0.000,4,0.000,0.077,3422,787,2308
$GC,16450,0.44,138.7,937.4,5.3,409,16455,0.12,2.38,0.00,0.000,6,0.086,0.060,3476,2200,2308
$GC,16772,0.30,138.7,916.5,6.6,415,16777,0.17,2.38,0.00,0.000,4,0.146,0.078,3422,3612,2308
$GC,16829,0.25,138.7,912.9,6.3,415,16836,0.00,2.30,0.00,0.000,6,0.000,0.062,3422,2178,2308
$GC,17141,0.25,140.5,897.4,4.9,421,17145,0.00,2.47,0.00,0.000,4,0.000,0.077,3422,790,2308
$GC,17220,0.33,160.6,893.6,4.4,422,17245,0.00,2.40,20.45,1.387,6,0.000,0.059,3422,2208,2221
$GC,17568,0.38,160.6,875.6,5.2,428,17569,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2207,2219
$GC,17872,0.43,160.6,860.3,5.1,433,17877,0.10,2.50,0.00,0.000,4,0.091,0.076,3463,785,2219
$GC,17936,0.38,160.6,856.5,7.2,434,17940,0.00,2.40,0.00,0.000,6,0.000,0.061,3463,2203,2219
$GC,18303,0.30,160.6,833.6,6.3,440,18308,0.15,2.53,0.00,0.000,4,0.153,0.076,3421,779,2218
$GC,18373,0.39,174.0,830.0,4.6,441,18392,0.00,2.42,13.10,1.311,6,0.000,0.059,3421,2211,2166
$GC,18739,0.46,174.0,810.2,5.4,447,18744,0.12,2.50,0.00,0.000,4,0.086,0.077,3477,781,2164
$GC,18780,0.38,174.0,807.4,7.5,447,18785,0.12,2.40,0.00,0.000,6,0.142,0.059,3445,2208,2164
$GC,19101,0.38,174.0,786.9,6.4,453,19105,0.00,2.50,0.00,0.000,4,0.000,0.076,3449,783,2164
$GC,19140,0.38,174.0,784.2,6.6,453,19144,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2203,2164
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$GC,25391,0.53,210.9,395.2,4.9,556,25400,0.00,2.42,4.35,0.798,6,0.000,0.058,3462,2206,2016
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$STATE,31354,end climb,SURFACE_DEPTH_REACHED
$STATE,31357,begin surface coast
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$STATE,31429,end surface coast,CONTROL_FINISHED_OK
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$DATA_FILE_SIZE,47579,814
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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