version: 66.03
glider: 120
mission: 9
dive: 101
start: 10 4 108 17 26 46
data:
$ID,120
$MISSION,9
$DIVE,101
$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,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,-19703.545
$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
$GPS1,172038,5004.583,-14515.846,84,1.1,84,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,5.09
$_SM_ANGLEo,-73.7
$GPS2,172551,5004.580,-14515.872,15,1.1,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.008,-0.178
$KALMAN_X,45671.1,-168.7,-255.2,-76306.4,1299.9
$KALMAN_Y,79587.7,-51.1,-365.4,-80957.4,2910.8
$MHEAD_RNG_PITCHd_Wd,164.2,20127,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.3,0.0,0.0,0,33,0.00,0.00,-12.23,0.000,2,0.000,0.000,142,2395,1959
$GC,35,-0.67,-117.3,5.2,-0.0,1,112,13.80,2.40,-55.72,0.000,4,0.293,0.092,3097,3809,3354
$GC,258,-0.31,-117.3,29.4,-16.0,21,263,0.43,2.28,0.00,0.000,6,0.166,0.055,3217,2390,3356
$GC,583,-0.56,-117.3,50.4,-6.2,51,587,0.22,2.28,0.00,0.000,4,0.090,0.067,3137,992,3358
$GC,633,-0.63,-117.3,54.4,-7.6,55,637,0.00,2.28,0.00,0.000,6,0.000,0.058,3137,2403,3358
$GC,968,-0.82,-117.3,81.9,-8.1,85,973,0.22,2.30,0.00,0.000,4,0.081,0.064,3052,991,3360
$GC,1107,-0.52,-117.3,99.1,-13.5,91,1112,0.32,2.28,0.00,0.000,6,0.167,0.061,3145,2401,3361
$GC,1423,-0.47,-117.3,124.6,-7.3,106,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2401,3361
$GC,1731,-0.47,-117.3,144.9,-6.0,121,1735,0.00,2.30,0.00,0.000,4,0.000,0.078,3141,3818,3361
$GC,1797,-0.47,-117.3,148.9,-5.9,124,1802,0.00,2.28,0.00,0.000,6,0.000,0.054,3141,2393,3361
$GC,2111,-0.47,-117.3,168.4,-6.6,135,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3361
$GC,2417,-0.47,-117.3,187.5,-6.0,145,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3361
$GC,2724,-0.47,-117.3,205.8,-6.1,155,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3360
$GC,3029,-0.47,-117.3,224.3,-5.9,165,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3360
$GC,3336,-0.47,-117.3,241.8,-5.7,175,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3359
$GC,3642,-0.51,-117.3,259.6,-5.8,185,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2393,3359
$GC,3948,-0.56,-117.3,278.8,-6.5,195,3952,0.00,2.28,0.00,0.000,4,0.000,0.074,3141,994,3358
$GC,3981,-0.62,-117.3,281.1,-7.1,196,3985,0.00,2.28,0.00,0.000,6,0.000,0.064,3142,2402,3358
$GC,4346,-0.67,-117.3,304.9,-6.4,207,4351,0.12,2.30,0.00,0.000,4,0.091,0.081,3090,3810,3357
$GC,4372,-0.61,-117.3,307.0,-8.0,207,4377,0.10,2.22,0.00,0.000,6,0.124,0.058,3115,2403,3357
$GC,4709,-0.61,-117.3,330.9,-7.0,213,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3357
$GC,5012,-0.61,-117.3,350.2,-6.3,218,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3357
$GC,5315,-0.61,-117.3,367.4,-5.6,223,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2402,3357
$GC,5619,-0.61,-117.3,384.0,-5.4,228,5623,0.00,2.30,0.00,0.000,4,0.000,0.074,3115,985,3356
$GC,5650,-0.61,-117.3,386.0,-6.5,228,5655,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2395,3356
$GC,5983,-0.61,-117.3,407.1,-6.5,234,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2394,3356
$GC,6286,-0.61,-117.3,428.0,-6.8,239,6290,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,991,3355
$GC,6323,-0.61,-117.3,430.7,-7.5,239,6328,0.00,2.30,0.00,0.000,6,0.000,0.065,3114,2397,3355
$GC,6650,-0.61,-117.3,451.6,-6.4,245,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2397,3355
$GC,6953,-0.61,-117.3,470.1,-6.0,250,6957,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,989,3355
$GC,6984,-0.61,-117.3,472.1,-6.6,250,6989,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2396,3354
$GC,7316,-0.61,-117.3,491.7,-6.0,256,7320,0.00,2.30,0.00,0.000,4,0.000,0.074,3114,989,3355
$GC,7343,-0.61,-117.3,493.5,-6.2,256,7347,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2400,3355
$GC,7681,-0.61,-117.3,514.8,-6.4,262,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3354
$GC,7983,-0.61,-117.3,535.5,-7.0,267,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3354
$GC,8287,-0.61,-117.3,558.0,-7.4,272,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3354
$GC,8590,-0.61,-117.3,580.7,-7.4,277,8594,0.00,2.33,0.00,0.000,4,0.000,0.074,3114,983,3354
$GC,8633,-0.61,-117.3,584.0,-7.7,277,8637,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2400,3353
$GC,8954,-0.61,-117.3,606.1,-6.8,283,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3353
$GC,9257,-0.61,-117.3,624.3,-5.9,288,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2400,3354
$GC,9560,-0.61,-117.3,639.5,-4.9,293,9564,0.00,2.33,0.00,0.000,4,0.000,0.075,3114,983,3353
$GC,9586,-0.61,-117.3,641.0,-5.2,293,9591,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2402,3353
$GC,9925,-0.61,-117.3,656.8,-4.7,299,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3353
$GC,10228,-0.61,-117.3,671.2,-4.8,304,10232,0.00,2.33,0.00,0.000,4,0.000,0.075,3114,985,3353
$GC,10254,-0.61,-117.3,672.6,-5.3,304,10258,0.00,2.33,0.00,0.000,6,0.000,0.065,3114,2405,3353
$GC,10592,-0.61,-117.3,689.2,-5.0,310,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3353
$GC,10895,-0.61,-117.3,705.2,-5.4,315,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3353
$GC,11198,-0.61,-117.3,722.6,-5.8,320,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2405,3353
$GC,11501,-0.61,-117.3,740.7,-6.0,325,11505,0.00,2.33,0.00,0.000,4,0.000,0.075,3114,988,3352
$GC,11527,-0.61,-117.3,742.6,-7.1,325,11532,0.00,2.30,0.00,0.000,6,0.000,0.067,3114,2393,3352
$GC,11865,-0.61,-117.3,764.2,-6.5,331,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3352
$GC,12168,-0.61,-117.3,784.8,-6.8,336,12169,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3351
$GC,12471,-0.61,-117.3,804.5,-6.4,341,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3352
$GC,12774,-0.61,-117.3,823.7,-6.3,346,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3352
$GC,13079,-0.65,-117.3,842.2,-6.0,351,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3352
$GC,13380,-0.65,-117.3,859.7,-5.8,356,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3351
$GC,13684,-0.69,-117.3,876.2,-5.4,361,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2393,3351
$GC,13988,-0.74,-117.3,892.0,-5.1,366,13990,0.12,0.00,0.00,0.000,6,0.097,0.000,3067,2393,3350
$GC,14289,-0.74,-117.3,909.5,-5.8,371,14293,0.00,2.33,0.00,0.000,4,0.000,0.078,3067,986,3350
$GC,14317,-0.68,-117.3,911.1,-6.8,371,14321,0.12,2.30,0.00,0.000,6,0.171,0.068,3098,2402,3350
$GC,14647,-0.68,-117.3,928.9,-5.3,377,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3350
$GC,14950,-0.68,-117.3,945.3,-5.5,382,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3350
$GC,15254,-0.68,-117.3,962.1,-5.6,387,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3350
$GC,15557,-0.68,-117.3,979.7,-5.8,392,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3350
$STATE,15737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15737,begin apogee
$GC,15741,-0.22,0.0,990.5,5.9,395,15844,0.47,0.00,100.20,1.506,6,0.154,0.000,3243,2200,2876
$STATE,15845,end apogee,CONTROL_FINISHED_OK
$STATE,15845,begin climb
$GC,15847,0.67,117.3,992.4,0.0,396,15958,0.90,2.65,104.43,1.455,4,0.100,0.081,3533,794,2397
$GC,15974,0.26,117.3,993.4,5.7,398,15982,0.45,2.53,0.00,0.000,6,0.194,0.063,3405,2193,2394
$GC,16284,0.28,137.1,979.5,4.4,404,16308,0.00,2.50,17.88,1.379,4,0.000,0.081,3405,3600,2317
$GC,16331,0.23,137.1,977.1,5.9,404,16335,0.00,2.42,0.00,0.000,6,0.000,0.066,3408,2179,2316
$GC,16652,0.24,145.4,961.9,4.8,410,16662,0.00,0.00,8.85,1.266,6,0.000,0.000,3408,2179,2283
$GC,16955,0.24,145.4,946.7,5.1,415,16959,0.00,2.45,0.00,0.000,4,0.000,0.082,3408,3613,2282
$GC,16994,0.18,145.4,944.3,5.3,415,16998,0.12,2.33,0.00,0.000,6,0.183,0.067,3379,2201,2282
$GC,17314,0.29,150.3,928.8,4.9,421,17325,0.00,2.38,6.00,1.150,4,0.000,0.081,3381,787,2263
$GC,17357,0.42,150.3,926.4,5.7,421,17362,0.15,2.35,0.00,0.000,6,0.084,0.062,3454,2200,2262
$GC,17678,0.31,150.3,903.8,7.2,427,17680,0.15,0.00,0.00,0.000,6,0.163,0.000,3416,2201,2262
$GC,17981,0.31,150.3,885.7,5.9,432,17985,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,782,2261
$GC,18042,0.31,150.3,882.0,5.7,433,18046,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2207,2261
$GC,18407,0.31,150.3,859.8,6.1,439,18411,0.00,2.33,0.00,0.000,4,0.000,0.083,3421,3617,2262
$GC,18444,0.22,150.3,857.2,7.0,439,18449,0.12,2.30,0.00,0.000,6,0.185,0.067,3392,2200,2261
$GC,18770,0.29,150.3,839.8,5.3,445,18771,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2200,2261
$GC,19074,0.36,150.3,822.6,5.7,450,19075,0.12,0.00,0.00,0.000,6,0.096,0.000,3437,2200,2262
$GC,19376,0.36,150.3,800.6,7.4,455,19377,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2261
$GC,19680,0.32,150.3,779.2,7.0,460,19681,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2262
$GC,19983,0.27,150.3,759.3,6.5,465,19985,0.12,0.00,0.00,0.000,6,0.160,0.000,3406,2200,2260
$GC,20286,0.31,150.3,743.5,5.1,470,20290,0.00,2.33,0.00,0.000,4,0.000,0.081,3408,788,2261
$GC,20329,0.38,150.3,741.3,5.1,470,20333,0.00,2.30,0.00,0.000,6,0.000,0.064,3408,2198,2260
$GC,20650,0.43,161.8,726.0,4.7,476,20667,0.15,2.35,10.88,1.249,4,0.092,0.082,3474,3617,2215
$GC,20694,0.19,161.8,723.1,8.2,476,20699,0.30,2.35,0.00,0.000,6,0.180,0.067,3380,2197,2214
$GC,21015,0.38,207.2,710.8,3.7,482,21060,0.15,2.45,39.17,1.321,4,0.096,0.081,3439,789,2030
$GC,21104,0.43,207.2,706.0,5.6,483,21109,0.00,2.40,0.00,0.000,6,0.000,0.065,3438,2200,2028
$GC,21448,0.47,207.2,684.7,6.4,489,21452,0.00,2.38,0.00,0.000,4,0.000,0.084,3438,3618,2025
$GC,21474,0.47,207.2,682.7,7.8,489,21478,0.00,2.35,0.00,0.000,6,0.000,0.066,3439,2205,2025
$GC,21811,0.47,207.2,656.3,8.0,495,21815,0.00,2.35,0.00,0.000,4,0.000,0.081,3438,790,2025
$GC,21900,0.51,207.2,648.7,9.6,496,21905,0.08,2.33,0.00,0.000,6,0.087,0.064,3490,2198,2025
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$STATE,31457,end climb,SURFACE_DEPTH_REACHED
$STATE,31457,begin surface coast
$FINISH,5.7,1.024594
$STATE,31485,end surface coast,CONTROL_FINISHED_OK
$STATE,31485,begin surface
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$10V_AH,10.7,13.494
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$DEVICE_SECS,29.600,182.675,348.700,12.700,0.000,31.599,25.769,152.024,234.000,0.000,0.000,15.605,1732.024,26929.359,546.007,2195.059,424.623,33.376,1611.952,0.000,2178.658,0.000,0.465
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$DATA_FILE_SIZE,47505,817
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$CFSIZE,260165632,250867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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