version: 66.03
glider: 120
mission: 9
dive: 28
start: 9 7 108 5 25 23
data:
$ID,120
$MISSION,9
$DIVE,28
$D_SURF,2
$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,600
$T_MISSION,615
$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,300
$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,-18213.793
$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,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
$GPS1,051301,5007.000,-14449.786,94,1.2,94,18.5
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-74.1
$GPS2,052429,5006.979,-14449.630,12,2.9,31,18.5
$SPEED_LIMITS,0.095,0.184
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.125,0.135
$KALMAN_X,17296.8,-102.3,15.6,-17098.5,331.5
$KALMAN_Y,16526.3,-304.2,28.0,-13589.1,455.3
$MHEAD_RNG_PITCHd_Wd,24.2,34963,-13.3,-5.500
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.72,-117.3,0.0,0.0,0,52,0.00,0.00,-32.22,0.000,2,0.000,0.000,144,2391,2501
$GC,54,-0.72,-117.3,3.1,-5.0,3,98,13.48,2.42,-20.83,0.000,4,0.292,0.094,3072,3810,3357
$GC,312,-0.51,-117.3,45.8,-14.2,26,317,0.28,2.28,0.00,0.000,6,0.160,0.057,3150,2390,3359
$GC,636,-0.51,-117.3,70.1,-8.2,56,637,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2390,3361
$GC,959,-0.51,-117.3,97.7,-7.5,77,963,0.00,2.25,0.00,0.000,4,0.000,0.071,3150,994,3362
$GC,997,-0.51,-117.3,100.7,-7.6,79,1001,0.00,2.28,0.00,0.000,6,0.000,0.061,3150,2414,3362
$GC,1329,-0.51,-117.3,126.4,-8.4,95,1333,0.00,2.33,0.00,0.000,4,0.000,0.072,3150,984,3362
$GC,1345,-0.51,-117.3,127.7,-8.1,96,1349,0.00,2.28,0.00,0.000,6,0.000,0.062,3149,2400,3362
$GC,1671,-0.58,-117.3,149.8,-6.7,112,1675,0.00,2.30,0.00,0.000,4,0.000,0.082,3150,3810,3361
$GC,1699,-0.67,-117.3,151.8,-7.3,114,1703,0.15,2.25,0.00,0.000,6,0.077,0.059,3090,2389,3362
$GC,2032,-0.57,-117.3,185.4,-10.5,125,2034,0.15,0.00,0.00,0.000,6,0.160,0.000,3130,2389,3361
$GC,2338,-0.57,-117.3,206.6,-5.9,135,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2389,3361
$GC,2644,-0.57,-117.3,224.9,-6.3,145,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2389,3360
$GC,2950,-0.57,-117.3,243.4,-5.9,155,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2389,3360
$GC,3257,-0.57,-117.3,263.8,-6.9,165,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2389,3359
$GC,3563,-0.57,-117.3,283.3,-6.3,175,3567,0.00,2.25,0.00,0.000,4,0.000,0.077,3130,994,3358
$GC,3619,-0.62,-117.3,286.9,-6.3,176,3625,0.00,2.25,0.00,0.000,6,0.000,0.065,3129,2405,3359
$GC,3959,-0.62,-117.3,307.2,-5.7,186,3963,0.00,2.30,0.00,0.000,4,0.000,0.077,3129,990,3357
$GC,3996,-0.62,-117.3,309.4,-6.0,186,4002,0.00,2.30,0.00,0.000,6,0.000,0.065,3128,2403,3357
$GC,4329,-0.66,-117.3,330.1,-6.4,192,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2404,3357
$GC,4632,-0.71,-117.3,349.7,-6.5,197,4637,0.12,2.28,0.00,0.000,4,0.089,0.081,3073,3810,3356
$GC,4669,-0.58,-117.3,353.0,-9.3,197,4674,0.15,2.25,0.00,0.000,6,0.157,0.064,3120,2405,3356
$GC,4995,-0.58,-117.3,375.4,-6.8,203,4999,0.00,2.28,0.00,0.000,4,0.000,0.078,3121,995,3356
$GC,5027,-0.58,-117.3,377.8,-7.2,203,5032,0.00,2.28,0.00,0.000,6,0.000,0.065,3121,2401,3356
$GC,5359,-0.58,-117.3,397.9,-5.9,209,5363,0.00,2.28,0.00,0.000,4,0.000,0.077,3121,994,3355
$GC,5391,-0.62,-117.3,399.8,-5.8,209,5396,0.00,2.28,0.00,0.000,6,0.000,0.066,3121,2396,3355
$GC,5729,-0.67,-117.3,419.2,-5.8,215,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3355
$GC,6032,-0.67,-117.3,437.4,-6.1,220,6036,0.00,2.30,0.00,0.000,4,0.000,0.079,3121,984,3355
$GC,6080,-0.67,-117.3,440.8,-7.3,220,6085,0.00,2.30,0.00,0.000,6,0.000,0.067,3121,2396,3354
$GC,6396,-0.72,-117.3,461.9,-6.8,226,6398,0.12,0.00,0.00,0.000,6,0.087,0.000,3071,2396,3354
$GC,6699,-0.62,-117.3,489.7,-9.4,231,6704,0.15,2.30,0.00,0.000,4,0.167,0.078,3119,990,3353
$GC,6730,-0.62,-117.3,492.6,-8.3,231,6735,0.00,2.30,0.00,0.000,6,0.000,0.067,3119,2405,3353
$GC,7063,-0.68,-117.3,517.3,-7.4,237,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2406,3353
$GC,7366,-0.73,-117.3,537.6,-6.6,242,7368,0.12,0.00,0.00,0.000,6,0.090,0.000,3070,2405,3353
$GC,7669,-0.68,-117.3,559.3,-7.1,247,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2405,3352
$GC,7972,-0.63,-117.3,579.9,-6.8,252,7974,0.15,0.00,0.00,0.000,6,0.137,0.000,3112,2405,3352
$GC,8275,-0.63,-117.3,598.5,-6.2,257,8279,0.00,2.30,0.00,0.000,4,0.000,0.081,3112,989,3352
$GC,8301,-0.63,-117.3,600.3,-7.2,257,8306,0.00,2.30,0.00,0.000,6,0.000,0.069,3112,2404,3352
$GC,8644,-0.63,-117.3,620.9,-6.1,263,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2404,3352
$GC,8948,-0.68,-117.3,639.7,-6.2,268,8952,0.00,2.30,0.00,0.000,4,0.000,0.080,3112,994,3352
$GC,8979,-0.68,-117.3,642.1,-7.0,268,8984,0.00,2.30,0.00,0.000,6,0.000,0.068,3112,2408,3352
$GC,9312,-0.73,-117.3,662.5,-6.2,274,9316,0.00,2.33,0.00,0.000,4,0.000,0.080,3113,984,3352
$GC,9354,-0.73,-117.3,665.4,-6.5,274,9359,0.00,2.30,0.00,0.000,6,0.000,0.068,3112,2399,3352
$GC,9676,-0.79,-117.3,683.6,-5.6,280,9678,0.15,0.00,0.00,0.000,6,0.084,0.000,3053,2400,3351
$GC,9979,-0.67,-117.3,707.2,-7.9,285,9980,0.17,0.00,0.00,0.000,6,0.171,0.000,3101,2400,3351
$GC,10281,-0.67,-117.3,725.6,-6.0,290,10285,0.00,2.30,0.00,0.000,4,0.000,0.080,3102,992,3351
$GC,10313,-0.67,-117.3,727.8,-6.9,290,10318,0.00,2.30,0.00,0.000,6,0.000,0.068,3101,2402,3351
$GC,10645,-0.67,-117.3,748.2,-6.3,296,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3351
$GC,10948,-0.67,-117.3,767.7,-6.5,301,10952,0.00,2.30,0.00,0.000,4,0.000,0.080,3101,993,3350
$GC,10985,-0.67,-117.3,770.4,-7.5,301,10990,0.00,2.30,0.00,0.000,6,0.000,0.069,3100,2406,3351
$GC,11311,-0.67,-117.3,791.6,-6.5,307,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2406,3351
$GC,11614,-0.67,-117.3,810.4,-6.2,312,11618,0.00,2.33,0.00,0.000,4,0.000,0.081,3101,984,3350
$GC,11646,-0.67,-117.3,812.7,-6.3,312,11651,0.00,2.33,0.00,0.000,6,0.000,0.071,3100,2402,3350
$GC,11978,-0.67,-117.3,831.6,-5.6,318,11982,0.00,2.30,0.00,0.000,4,0.000,0.089,3100,3810,3350
$GC,12005,-0.67,-117.3,833.1,-5.4,318,12009,0.00,2.28,0.00,0.000,6,0.000,0.067,3100,2397,3350
$GC,12343,-0.67,-117.3,849.5,-4.8,324,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3350
$GC,12646,-0.67,-117.3,864.0,-4.8,329,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3350
$GC,12949,-0.67,-117.3,879.7,-5.3,334,12953,0.00,2.30,0.00,0.000,4,0.000,0.082,3100,983,3349
$GC,12992,-0.67,-117.3,882.3,-6.0,334,12996,0.00,2.33,0.00,0.000,6,0.000,0.071,3099,2407,3349
$GC,13313,-0.67,-117.3,900.4,-5.7,340,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3349
$GC,13616,-0.67,-117.3,919.0,-6.1,345,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3349
$GC,13919,-0.71,-117.3,937.9,-6.3,350,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3349
$GC,14222,-0.71,-117.3,956.7,-6.2,355,14223,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3349
$GC,14525,-0.71,-117.3,974.4,-5.8,360,14529,0.00,2.33,0.00,0.000,4,0.000,0.082,3099,990,3348
$GC,14556,-0.71,-117.3,976.4,-6.2,360,14561,0.00,2.30,0.00,0.000,6,0.000,0.071,3100,2395,3348
$STATE,14832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14832,begin apogee
$GC,14836,-0.22,0.0,993.3,6.1,365,14939,0.47,0.00,99.25,1.512,6,0.157,0.000,3244,2198,2876
$STATE,14939,end apogee,CONTROL_FINISHED_OK
$STATE,14939,begin climb
$GC,14941,0.72,117.3,995.2,0.0,366,15051,0.95,2.58,102.85,1.460,4,0.108,0.085,3546,786,2397
$GC,15122,0.36,117.3,992.4,8.2,369,15127,0.35,2.45,0.00,0.000,6,0.196,0.064,3438,2197,2395
$GC,15444,0.29,121.6,974.9,5.4,375,15450,0.00,0.00,4.72,1.011,6,0.000,0.000,3438,2197,2380
$GC,15747,0.24,128.0,959.0,5.3,380,15756,0.17,0.00,7.28,1.219,6,0.191,0.000,3394,2197,2354
$GC,16050,0.37,165.2,945.8,4.3,385,16085,0.12,0.00,33.00,1.435,6,0.095,0.000,3438,2197,2202
$GC,16352,0.37,165.2,926.3,6.7,390,16356,0.00,2.40,0.00,0.000,4,0.000,0.086,3438,3616,2199
$GC,16395,0.29,165.2,923.1,7.0,390,16400,0.00,2.40,0.00,0.000,6,0.000,0.072,3438,2195,2199
$GC,16721,0.29,165.2,900.3,7.0,396,16725,0.00,2.38,0.00,0.000,4,0.000,0.084,3438,3608,2199
$GC,16752,0.21,165.2,897.8,7.7,396,16758,0.15,2.35,0.00,0.000,6,0.180,0.072,3394,2202,2199
$GC,17085,0.34,165.2,879.2,5.6,402,17086,0.10,0.00,0.00,0.000,6,0.104,0.000,3430,2202,2199
$GC,17387,0.34,165.2,859.8,6.4,407,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2201,2199
$GC,17690,0.34,165.2,841.6,6.0,412,17692,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2202,2199
$GC,17994,0.34,166.0,824.7,5.5,417,17995,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2202,2198
$GC,18297,0.34,166.0,808.1,5.5,422,18301,0.00,2.35,0.00,0.000,4,0.000,0.087,3431,3617,2198
$GC,18334,0.30,166.0,805.6,6.1,422,18339,0.00,2.33,0.00,0.000,6,0.000,0.072,3435,2199,2198
$GC,18661,0.30,166.0,785.1,6.3,428,18665,0.00,2.35,0.00,0.000,4,0.000,0.087,3435,778,2198
$GC,18692,0.30,166.0,783.0,6.2,428,18697,0.00,2.33,0.00,0.000,6,0.000,0.067,3435,2199,2198
$GC,19025,0.30,166.0,761.7,6.5,434,19026,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2199,2198
$GC,19328,0.30,166.0,741.4,6.7,439,19329,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2198
$GC,19631,0.30,166.0,721.4,6.5,444,19635,0.00,2.30,0.00,0.000,4,0.000,0.084,3436,3610,2198
$GC,19674,0.25,166.0,718.4,7.2,444,19679,0.10,2.33,0.00,0.000,6,0.176,0.073,3396,2194,2198
$GC,19995,0.43,196.8,703.7,4.5,450,20024,0.17,0.00,26.73,1.317,6,0.091,0.000,3458,2194,2072
$GC,20297,0.43,196.8,682.0,7.4,455,20301,0.00,2.35,0.00,0.000,4,0.000,0.086,3463,786,2070
$GC,20340,0.43,196.8,678.6,7.3,455,20345,0.00,2.35,0.00,0.000,6,0.000,0.066,3463,2202,2069
$GC,20667,0.43,196.8,653.3,7.7,461,20668,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2203,2069
$GC,20970,0.43,196.8,629.5,7.9,466,20974,0.00,2.33,0.00,0.000,4,0.000,0.085,3463,3614,2069
$GC,21002,0.34,196.8,626.5,9.0,466,21007,0.10,2.33,0.00,0.000,6,0.180,0.071,3433,2204,2069
$GC,21339,0.42,196.8,602.9,7.0,472,21343,0.00,2.35,0.00,0.000,4,0.000,0.086,3436,785,2069
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$STATE,30612,begin surface coast
$FINISH,0.9,1.024742
$STATE,30656,end surface coast,CONTROL_FINISHED_OK
$STATE,30657,begin surface
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$10V_AH,10.6,4.197
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$DATA_FILE_SIZE,47494,804
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