version: 66.03
glider: 120
mission: 9
dive: 690
start: 5 15 109 20 5 30
data:
$ID,120
$MISSION,9
$DIVE,690
$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,-32389.311
$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,19
$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
$GPS1,195807,4957.313,-14459.833,40,1.2,40,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.1
$GPS2,200432,4957.320,-14459.812,13,1.5,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,0.094
$KALMAN_X,-138795.8,174.9,208.3,155851.3,-3183.0
$KALMAN_Y,155322.8,-379.9,-284.0,-166051.7,1242.9
$MHEAD_RNG_PITCHd_Wd,39.7,21642,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.67,0.000,2,0.000,0.000,140,2409,2637
$GC,74,-0.67,-117.3,3.3,-6.3,4,110,14.60,2.70,-16.05,0.000,4,0.276,0.077,3094,980,3358
$GC,343,-0.51,-117.3,35.1,-11.2,28,348,0.20,2.45,0.00,0.000,6,0.145,0.061,3149,2407,3359
$GC,673,-0.51,-117.3,58.9,-6.9,58,677,0.00,2.50,0.00,0.000,4,0.000,0.079,3140,3816,3359
$GC,702,-0.51,-117.3,61.4,-7.2,60,706,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2390,3360
$GC,1032,-0.51,-117.3,86.6,-7.9,87,1036,0.00,2.60,0.00,0.000,4,0.000,0.065,3140,994,3360
$GC,1089,-0.51,-117.3,91.2,-8.2,89,1095,0.00,2.42,0.00,0.000,6,0.000,0.059,3139,2405,3360
$GC,1406,-0.51,-117.3,115.8,-8.0,105,1410,0.00,2.62,0.00,0.000,4,0.000,0.065,3140,985,3360
$GC,1434,-0.51,-117.3,118.2,-8.0,106,1438,0.00,2.45,0.00,0.000,6,0.000,0.058,3140,2402,3360
$GC,1752,-0.51,-117.3,140.8,-6.8,121,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2401,3360
$GC,2079,-0.56,-117.3,160.6,-5.8,134,2084,0.00,2.62,0.00,0.000,4,0.000,0.065,3140,983,3360
$GC,2125,-0.62,-117.3,163.6,-6.6,135,2129,0.00,2.50,0.00,0.000,6,0.000,0.058,3140,2404,3360
$GC,2446,-0.70,-117.3,182.2,-5.6,146,2451,0.15,2.53,0.00,0.000,4,0.079,0.075,3074,3808,3360
$GC,2536,-0.63,-117.3,189.2,-8.0,148,2543,0.15,2.33,0.00,0.000,6,0.107,0.051,3113,2391,3360
$GC,2850,-0.63,-117.3,210.1,-7.0,159,2855,0.00,2.62,0.00,0.000,4,0.000,0.065,3114,987,3360
$GC,2881,-0.63,-117.3,212.3,-7.4,160,2886,0.00,2.45,0.00,0.000,6,0.000,0.059,3113,2400,3360
$GC,3218,-0.63,-117.3,236.3,-6.9,171,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3360
$GC,3524,-0.63,-117.3,255.1,-5.8,181,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3360
$GC,3831,-0.63,-117.3,273.6,-6.1,191,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3360
$GC,4136,-0.63,-117.3,293.5,-6.6,201,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3360
$GC,4441,-0.63,-117.3,314.4,-6.9,208,4445,0.00,2.62,0.00,0.000,4,0.000,0.067,3113,989,3360
$GC,4474,-0.63,-117.3,316.9,-7.1,208,4479,0.00,2.47,0.00,0.000,6,0.000,0.060,3113,2405,3360
$GC,4803,-0.63,-117.3,338.4,-6.6,214,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3360
$GC,5105,-0.63,-117.3,357.6,-6.3,219,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3360
$GC,5408,-0.63,-117.3,375.4,-5.9,224,5412,0.00,2.62,0.00,0.000,4,0.000,0.067,3113,991,3360
$GC,5459,-0.68,-117.3,378.4,-5.7,224,5463,0.00,2.53,0.00,0.000,6,0.000,0.061,3113,2410,3360
$GC,5771,-0.72,-117.3,395.2,-5.4,229,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3360
$GC,6073,-0.77,-117.3,413.3,-6.1,234,6078,0.15,2.58,0.00,0.000,4,0.082,0.067,3047,992,3359
$GC,6113,-0.65,-117.3,416.6,-8.5,234,6118,0.22,2.45,0.00,0.000,6,0.135,0.060,3105,2401,3359
$GC,6435,-0.65,-117.3,436.7,-6.1,240,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,3359
$GC,6739,-0.65,-117.3,454.9,-6.0,245,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,3359
$GC,7041,-0.65,-117.3,473.7,-6.2,250,7045,0.00,2.67,0.00,0.000,4,0.000,0.067,3106,986,3359
$GC,7075,-0.69,-117.3,476.1,-6.7,250,7079,0.00,2.47,0.00,0.000,6,0.000,0.060,3106,2404,3359
$GC,7402,-0.74,-117.3,496.1,-6.1,256,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2403,3359
$GC,7706,-0.78,-117.3,513.0,-5.5,261,7711,0.12,2.60,0.00,0.000,4,0.081,0.067,3058,994,3358
$GC,7763,-0.73,-117.3,516.9,-7.4,261,7769,0.00,2.45,0.00,0.000,6,0.000,0.061,3057,2400,3358
$GC,8075,-0.64,-117.3,538.6,-7.0,267,8079,0.15,2.50,0.00,0.000,4,0.135,0.078,3099,3816,3358
$GC,8132,-0.70,-117.3,542.1,-5.6,267,8139,0.00,2.33,0.00,0.000,6,0.000,0.054,3099,2396,3358
$GC,8443,-0.88,-117.3,562.5,-6.8,273,8448,0.17,2.58,0.00,0.000,4,0.087,0.077,3032,3810,3358
$GC,8642,-0.73,-117.3,579.2,-8.9,276,8647,0.17,2.38,0.00,0.000,6,0.121,0.053,3076,2398,3358
$GC,9009,-0.68,-117.3,605.8,-7.1,282,9014,0.00,2.58,0.00,0.000,4,0.000,0.069,3076,995,3358
$GC,9034,-0.64,-117.3,607.6,-7.1,282,9039,0.15,2.45,0.00,0.000,6,0.138,0.060,3108,2400,3358
$GC,9374,-0.71,-117.3,627.5,-5.8,288,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3358
$GC,9676,-0.83,-117.3,644.8,-5.8,293,9681,0.15,2.55,0.00,0.000,4,0.084,0.069,3054,989,3358
$GC,9744,-0.83,-117.3,649.8,-6.8,294,9748,0.00,2.47,0.00,0.000,6,0.000,0.061,3054,2405,3358
$GC,10106,-0.93,-117.3,674.7,-7.0,300,10111,0.12,2.47,0.00,0.000,4,0.087,0.078,3009,3809,3358
$GC,10306,-0.71,-117.3,692.1,-9.2,303,10311,0.30,2.33,0.00,0.000,6,0.150,0.054,3084,2400,3357
$GC,10673,-0.71,-117.3,714.8,-6.2,309,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3358
$GC,10976,-0.71,-117.3,733.2,-6.1,314,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3357
$GC,11279,-0.71,-117.3,752.5,-6.4,319,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3357
$GC,11582,-0.71,-117.3,772.6,-6.6,324,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3357
$GC,11885,-0.71,-117.3,792.6,-6.6,329,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3357
$GC,12189,-0.71,-117.3,811.6,-6.2,334,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3356
$GC,12491,-0.71,-117.3,829.5,-5.9,339,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,3356
$GC,12794,-0.71,-117.3,845.9,-5.4,344,12799,0.00,2.75,0.00,0.000,4,0.000,0.068,3084,996,3356
$GC,12834,-0.71,-117.3,848.4,-5.9,344,12838,0.00,2.50,0.00,0.000,6,0.000,0.062,3084,2407,3356
$GC,13157,-0.71,-117.3,866.0,-5.6,350,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2407,3356
$GC,13458,-0.71,-117.3,883.5,-5.8,355,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2406,3356
$GC,13762,-0.71,-117.3,900.7,-5.7,360,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2406,3356
$GC,14065,-0.71,-117.3,917.5,-5.6,365,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2406,3356
$GC,14368,-0.71,-117.3,934.8,-5.8,370,14372,0.00,2.62,0.00,0.000,4,0.000,0.071,3084,986,3355
$GC,14402,-0.71,-117.3,936.8,-6.0,370,14407,0.00,2.53,0.00,0.000,6,0.000,0.063,3084,2409,3355
$GC,14730,-0.71,-117.3,955.4,-5.6,376,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3355
$GC,15033,-0.71,-117.3,973.2,-5.9,381,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3355
$STATE,15333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15333,begin apogee
$GC,15343,-0.22,0.0,990.0,5.5,386,15455,0.55,0.00,109.22,1.502,6,0.129,0.000,3248,2201,2876
$STATE,15456,end apogee,CONTROL_FINISHED_OK
$STATE,15456,begin climb
$GC,15460,0.67,117.3,994.4,0.0,388,15587,0.88,3.00,117.78,1.451,4,0.077,0.073,3533,791,2397
$GC,15605,0.34,133.4,995.1,4.5,390,15630,0.47,2.78,18.20,1.338,6,0.165,0.057,3432,2203,2331
$GC,15953,0.34,133.4,976.2,5.5,396,15955,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2202,2328
$GC,16256,0.30,133.4,960.0,5.3,401,16261,0.00,2.50,0.00,0.000,4,0.000,0.076,3436,784,2328
$GC,16313,0.30,137.6,957.0,4.9,401,16323,0.00,2.40,5.03,1.055,6,0.000,0.060,3436,2215,2314
$GC,16692,0.26,137.6,936.8,5.4,408,16697,0.12,2.58,0.00,0.000,4,0.167,0.074,3416,784,2313
$GC,16732,0.30,137.6,934.4,5.3,408,16736,0.00,2.40,0.00,0.000,6,0.000,0.059,3416,2208,2313
$GC,17054,0.30,139.6,918.6,4.9,414,17056,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2206,2313
$GC,17357,0.33,159.8,905.0,4.4,419,17380,0.00,0.00,21.05,1.411,6,0.000,0.000,3417,2206,2224
$GC,17660,0.37,159.8,890.0,5.1,424,17665,0.00,2.60,0.00,0.000,4,0.000,0.076,3421,787,2222
$GC,17717,0.42,159.8,886.8,5.9,424,17725,0.00,2.38,0.00,0.000,6,0.000,0.060,3422,2201,2222
$GC,18030,0.47,159.8,870.3,5.3,430,18032,0.15,0.00,0.00,0.000,6,0.083,0.000,3485,2200,2222
$GC,18332,0.32,159.8,848.1,7.5,435,18337,0.20,2.58,0.00,0.000,4,0.143,0.074,3435,780,2222
$GC,18383,0.32,159.8,844.7,6.4,435,18387,0.00,2.42,0.00,0.000,6,0.000,0.059,3436,2207,2222
$GC,18694,0.32,159.8,826.8,5.8,440,18695,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2222
$GC,18997,0.32,159.8,810.1,5.5,445,19002,0.00,2.53,0.00,0.000,4,0.000,0.076,3436,790,2222
$GC,19063,0.32,159.8,806.5,5.7,446,19067,0.00,2.42,0.00,0.000,6,0.000,0.059,3436,2205,2222
$GC,19429,0.32,162.8,788.0,4.9,452,19435,0.00,0.00,3.95,0.887,6,0.000,0.000,3436,2204,2211
$GC,19734,0.32,166.6,773.0,4.9,457,19744,0.00,2.50,5.43,1.061,4,0.000,0.077,3436,778,2196
$GC,19773,0.34,175.7,770.9,4.7,457,19788,0.00,2.42,9.65,1.235,6,0.000,0.059,3436,2201,2159
$GC,20094,0.34,175.7,754.3,5.2,462,20096,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2158
$GC,20398,0.34,175.7,738.7,5.1,467,20402,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,792,2158
$GC,20455,0.38,178.0,735.7,4.9,467,20461,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2203,2157
$GC,20766,0.38,178.0,719.6,5.2,473,20767,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2157
$GC,21070,0.38,178.0,702.9,5.5,478,21074,0.00,2.55,0.00,0.000,4,0.000,0.077,3436,783,2157
$GC,21138,0.43,178.0,698.7,5.9,479,21143,0.00,2.45,0.00,0.000,6,0.000,0.059,3436,2212,2157
$GC,21500,0.47,178.0,677.2,6.0,485,21502,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2157
$GC,21803,0.47,178.0,657.8,6.5,490,21807,0.00,2.58,0.00,0.000,4,0.000,0.075,3436,788,2157
$GC,21843,0.53,178.0,655.0,7.0,490,21848,0.15,2.45,0.00,0.000,6,0.077,0.059,3496,2207,2157
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$STATE,32086,end climb,SURFACE_DEPTH_REACHED
$STATE,32086,begin surface coast
$FINISH,0.6,1.025353
$STATE,32184,end surface coast,CONTROL_FINISHED_OK
$STATE,32185,begin surface
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$10V_AH,10.3,93.503
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$DEVICE_SECS,30.825,245.725,367.800,13.900,0.000,24.934,26.755,163.588,258.750,0.000,0.000,13.095,1834.196,26726.295,558.380,2560.460,923.020,33.382,1829.407,0.000,2520.996,0.000,0.465
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$DATA_FILE_SIZE,47607,828
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