version: 66.03
glider: 120
mission: 9
dive: 29
start: 9 7 108 14 4 46
data:
$ID,120
$MISSION,9
$DIVE,29
$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,-18225.246
$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
$GPS1,135908,5010.051,-14445.700,59,1.2,59,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.5
$GPS2,140351,5010.096,-14445.730,10,2.0,10,18.6
$SPEED_LIMITS,0.095,0.184
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,0.121
$KALMAN_X,17238.8,150.2,-54.4,-12590.6,-132.1
$KALMAN_Y,17240.7,45.1,-111.9,-8757.6,867.2
$MHEAD_RNG_PITCHd_Wd,30.4,27594,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-117.3,0.0,0.0,0,63,0.00,0.00,-42.75,0.000,2,0.000,0.000,140,2412,2672
$GC,65,-0.72,-117.3,3.6,-4.9,4,100,13.62,2.40,-14.82,0.000,4,0.297,0.094,3072,3808,3357
$GC,351,-0.46,-117.3,50.6,-13.0,29,359,0.28,2.30,0.00,0.000,6,0.162,0.058,3157,2396,3360
$GC,678,-0.46,-117.3,76.2,-7.3,60,682,0.00,2.35,0.00,0.000,4,0.000,0.079,3155,3814,3362
$GC,783,-0.46,-117.3,84.3,-7.1,67,787,0.00,2.28,0.00,0.000,6,0.000,0.058,3155,2389,3362
$GC,1109,-0.46,-117.3,110.4,-8.3,83,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2389,3363
$GC,1419,-0.53,-117.3,130.1,-5.1,98,1423,0.00,2.35,0.00,0.000,4,0.000,0.083,3155,3809,3363
$GC,1446,-0.62,-117.3,131.5,-5.2,99,1451,0.08,2.28,0.00,0.000,6,0.056,0.060,3101,2397,3363
$GC,1767,-0.55,-117.3,156.7,-8.9,114,1772,0.12,2.30,0.00,0.000,4,0.160,0.074,3133,983,3363
$GC,1803,-0.55,-117.3,160.1,-8.5,115,1808,0.00,2.33,0.00,0.000,6,0.000,0.064,3133,2405,3363
$GC,2133,-0.55,-117.3,184.8,-6.9,126,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3362
$GC,2440,-0.55,-117.3,204.6,-6.2,136,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3362
$GC,2746,-0.55,-117.3,223.2,-6.0,146,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3362
$GC,3052,-0.55,-117.3,242.2,-6.4,156,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3362
$GC,3359,-0.60,-117.3,261.7,-6.2,166,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3362
$GC,3665,-0.65,-117.3,279.9,-5.8,176,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2405,3362
$GC,3971,-0.71,-117.3,296.4,-5.4,186,3973,0.15,0.00,0.00,0.000,6,0.081,0.000,3072,2405,3360
$GC,4274,-0.59,-117.3,323.3,-9.2,192,4279,0.15,2.33,0.00,0.000,4,0.167,0.077,3120,987,3359
$GC,4335,-0.59,-117.3,328.4,-8.5,193,4339,0.00,2.30,0.00,0.000,6,0.000,0.068,3120,2413,3360
$GC,4700,-0.59,-117.3,355.7,-7.5,199,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2413,3360
$GC,5003,-0.59,-117.3,376.9,-6.9,204,5006,0.00,2.33,0.00,0.000,4,0.000,0.079,3120,984,3359
$GC,5028,-0.59,-117.3,378.8,-7.3,204,5033,0.00,2.30,0.00,0.000,6,0.000,0.067,3120,2397,3359
$GC,5372,-0.59,-117.3,400.0,-6.1,210,5376,0.00,2.30,0.00,0.000,4,0.000,0.084,3113,3816,3359
$GC,5420,-0.59,-117.3,403.2,-6.4,210,5425,0.00,2.28,0.00,0.000,6,0.000,0.064,3113,2401,3358
$GC,5735,-0.59,-117.3,423.8,-6.6,216,5739,0.00,2.28,0.00,0.000,4,0.000,0.078,3113,990,3358
$GC,5772,-0.59,-117.3,426.6,-7.1,216,5777,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2402,3359
$GC,6099,-0.59,-117.3,449.6,-7.2,222,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6402,-0.59,-117.3,472.4,-7.6,227,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,6705,-0.59,-117.3,493.0,-6.7,232,6709,0.00,2.30,0.00,0.000,4,0.000,0.080,3113,990,3358
$GC,6748,-0.59,-117.3,495.9,-6.3,232,6753,0.00,2.30,0.00,0.000,6,0.000,0.068,3113,2400,3358
$GC,7075,-0.59,-117.3,514.1,-5.5,238,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,7378,-0.59,-117.3,531.8,-5.9,243,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,7681,-0.59,-117.3,551.9,-6.7,248,7685,0.00,2.30,0.00,0.000,4,0.000,0.079,3113,988,3357
$GC,7729,-0.59,-117.3,555.4,-7.1,248,7734,0.00,2.30,0.00,0.000,6,0.000,0.069,3113,2398,3357
$GC,8050,-0.59,-117.3,575.9,-6.3,254,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3357
$GC,8353,-0.59,-117.3,594.8,-6.2,259,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3357
$GC,8657,-0.63,-117.3,614.6,-6.5,264,8661,0.00,2.30,0.00,0.000,4,0.000,0.080,3113,989,3356
$GC,8694,-0.67,-117.3,617.4,-7.0,264,8699,0.00,2.30,0.00,0.000,6,0.000,0.069,3113,2399,3356
$GC,9027,-0.72,-117.3,640.2,-6.9,270,9031,0.00,2.30,0.00,0.000,4,0.000,0.087,3113,3814,3356
$GC,9059,-0.78,-117.3,642.5,-6.6,270,9064,0.10,2.28,0.00,0.000,6,0.076,0.066,3062,2398,3356
$GC,9391,-0.68,-117.3,667.9,-7.6,276,9395,0.12,2.33,0.00,0.000,4,0.166,0.086,3086,3811,3356
$GC,9422,-0.68,-117.3,670.2,-6.6,276,9427,0.00,2.28,0.00,0.000,6,0.000,0.067,3087,2398,3356
$GC,9754,-0.68,-117.3,689.1,-5.6,282,9758,0.00,2.33,0.00,0.000,4,0.000,0.087,3086,3810,3355
$GC,9786,-0.68,-117.3,690.9,-5.3,282,9791,0.00,2.28,0.00,0.000,6,0.000,0.067,3086,2400,3355
$GC,10119,-0.68,-117.3,709.0,-5.5,288,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,10421,-0.68,-117.3,727.0,-6.0,293,10425,0.00,2.30,0.00,0.000,4,0.000,0.081,3086,983,3356
$GC,10453,-0.68,-117.3,729.0,-6.0,293,10458,0.00,2.33,0.00,0.000,6,0.000,0.068,3086,2406,3356
$GC,10791,-0.68,-117.3,750.1,-6.3,299,10795,0.00,2.30,0.00,0.000,4,0.000,0.087,3085,3814,3355
$GC,10822,-0.68,-117.3,752.4,-7.4,299,10827,0.00,2.28,0.00,0.000,6,0.000,0.067,3086,2400,3355
$GC,11155,-0.68,-117.3,774.7,-6.8,305,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,11457,-0.68,-117.3,796.0,-7.0,310,11461,0.00,2.33,0.00,0.000,4,0.000,0.088,3086,3810,3355
$GC,11506,-0.68,-117.3,799.7,-7.8,310,11511,0.00,2.28,0.00,0.000,6,0.000,0.067,3086,2403,3355
$GC,11821,-0.68,-117.3,821.1,-6.9,316,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,12124,-0.68,-117.3,841.1,-6.5,321,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,12427,-0.68,-117.3,858.8,-5.7,326,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,12731,-0.68,-117.3,874.5,-5.1,331,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,13034,-0.68,-117.3,890.0,-5.1,336,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3354
$GC,13337,-0.68,-117.3,906.9,-5.7,341,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13640,-0.68,-117.3,925.3,-6.1,346,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13943,-0.68,-117.3,943.5,-6.0,351,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,14246,-0.68,-117.3,962.4,-6.2,356,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,14549,-0.68,-117.3,981.5,-6.3,361,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$STATE,14730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14730,begin apogee
$GC,14734,-0.22,0.0,994.1,6.8,364,14837,0.52,0.00,100.30,1.512,6,0.160,0.000,3245,2193,2876
$STATE,14837,end apogee,CONTROL_FINISHED_OK
$STATE,14838,begin climb
$GC,14839,0.72,117.3,996.2,0.0,365,14946,0.95,0.00,103.25,1.460,6,0.105,0.000,3546,2192,2397
$GC,15215,0.36,117.3,978.7,7.9,372,15220,0.40,2.42,0.00,0.000,4,0.193,0.084,3446,785,2394
$GC,15270,0.29,117.3,975.4,5.9,372,15277,0.10,2.40,0.00,0.000,6,0.172,0.067,3418,2200,2393
$GC,15579,0.34,153.1,961.9,4.4,378,15612,0.00,0.00,30.98,1.434,6,0.000,0.000,3418,2199,2252
$GC,15882,0.34,153.2,945.6,5.5,383,15883,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2199,2250
$GC,16185,0.34,153.2,927.6,5.9,388,16189,0.00,2.38,0.00,0.000,4,0.000,0.084,3417,3618,2249
$GC,16216,0.34,153.2,925.3,7.1,388,16221,0.00,2.38,0.00,0.000,6,0.000,0.071,3423,2200,2249
$GC,16554,0.34,153.2,904.1,6.3,394,16558,0.00,2.38,0.00,0.000,4,0.000,0.087,3423,781,2249
$GC,16596,0.38,153.2,901.5,5.8,394,16601,0.00,2.35,0.00,0.000,6,0.000,0.067,3423,2202,2249
$GC,16917,0.38,153.2,882.4,5.9,400,16918,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2202,2249
$GC,17220,0.38,153.2,865.2,5.6,405,17221,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2249
$GC,17523,0.38,153.2,848.2,5.7,410,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2201,2249
$GC,17826,0.38,155.1,831.6,5.4,415,17830,0.00,2.30,0.00,0.000,4,0.000,0.086,3422,3609,2249
$GC,17864,0.38,155.1,829.3,5.5,415,17869,0.00,2.33,0.00,0.000,6,0.000,0.073,3422,2198,2249
$GC,18191,0.40,167.0,812.5,5.1,421,18205,0.00,0.00,12.57,1.322,6,0.000,0.000,3423,2198,2195
$GC,18494,0.46,178.7,797.0,5.1,426,18513,0.12,2.45,11.40,1.289,4,0.100,0.084,3471,3608,2147
$GC,18551,0.29,178.7,792.7,9.2,426,18559,0.20,2.38,0.00,0.000,6,0.186,0.074,3418,2196,2147
$GC,18861,0.36,178.7,774.1,6.1,432,18862,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2196,2146
$GC,19164,0.44,178.7,754.4,6.5,437,19168,0.12,2.38,0.00,0.000,4,0.094,0.086,3463,3611,2146
$GC,19214,0.30,178.7,749.9,9.4,437,19218,0.17,2.30,0.00,0.000,6,0.186,0.072,3419,2200,2145
$GC,19522,0.38,178.7,727.9,7.1,442,19524,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2145
$GC,19825,0.47,178.7,706.6,7.0,447,19827,0.15,0.00,0.00,0.000,6,0.092,0.000,3476,2200,2145
$GC,20128,0.39,178.7,680.3,8.8,452,20130,0.12,0.00,0.00,0.000,6,0.166,0.000,3445,2200,2145
$GC,20431,0.39,178.7,657.6,7.4,457,20432,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2200,2145
$GC,20734,0.39,178.7,636.5,7.0,462,20738,0.00,2.33,0.00,0.000,4,0.000,0.084,3445,3609,2145
$GC,20789,0.33,178.7,632.1,7.5,462,20793,0.00,2.30,0.00,0.000,6,0.000,0.071,3449,2205,2145
$GC,21104,0.33,178.7,610.4,6.9,468,21108,0.00,2.33,0.00,0.000,4,0.000,0.085,3449,3614,2145
$GC,21141,0.27,178.7,607.4,7.6,468,21146,0.12,2.33,0.00,0.000,6,0.176,0.072,3411,2199,2145
$GC,21468,0.40,185.8,589.8,5.3,474,21478,0.10,0.00,7.35,1.098,6,0.101,0.000,3448,2199,2118
$GC,21770,0.40,185.8,571.0,6.3,479,21772,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2199,2117
$GC,22073,0.40,185.8,552.6,6.1,484,22075,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2199,2117
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$STATE,30543,end surface coast,CONTROL_FINISHED_OK
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$DATA_FILE_SIZE,44437,783
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