version: 66.03
glider: 120
mission: 9
dive: 103
start: 10 5 108 11 28 1
data:
$ID,120
$MISSION,9
$DIVE,103
$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,-19759.297
$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,21
$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
$GPS1,112138,4958.896,-14515.798,43,1.6,43,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.03
$_SM_ANGLEo,-71.6
$GPS2,112707,4958.902,-14515.798,12,1.5,28,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.037,-0.174
$KALMAN_X,45228.5,-157.2,-55.9,-75990.9,518.5
$KALMAN_Y,82836.3,-270.6,-5.1,-94857.8,2928.4
$MHEAD_RNG_PITCHd_Wd,149.5,10158,-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,-12.43,0.000,2,0.000,0.000,135,2414,1839
$GC,35,-0.67,-117.3,4.8,-0.0,1,112,13.73,2.42,-56.58,0.000,4,0.292,0.105,3097,3816,3356
$GC,307,-0.32,-117.3,39.7,-13.4,25,315,0.35,2.30,0.00,0.000,6,0.164,0.054,3214,2396,3359
$GC,635,-0.71,-117.3,63.4,-6.5,56,640,0.35,2.30,0.00,0.000,4,0.091,0.065,3092,983,3360
$GC,734,-0.51,-117.3,72.1,-9.4,64,741,0.17,2.33,0.00,0.000,6,0.154,0.058,3143,2402,3361
$GC,1063,-0.44,-117.3,100.4,-8.8,85,1065,0.12,0.00,0.00,0.000,6,0.171,0.000,3176,2402,3362
$GC,1372,-0.50,-117.3,121.7,-6.7,100,1376,0.00,2.30,0.00,0.000,4,0.000,0.066,3176,992,3363
$GC,1405,-0.56,-117.3,124.1,-7.2,101,1413,0.10,2.30,0.00,0.000,6,0.069,0.058,3127,2406,3363
$GC,1720,-0.56,-117.3,148.8,-7.2,117,1724,0.00,2.30,0.00,0.000,4,0.000,0.077,3127,3816,3363
$GC,1759,-0.56,-117.3,151.6,-7.7,119,1763,0.00,2.22,0.00,0.000,6,0.000,0.054,3127,2402,3362
$GC,2088,-0.56,-117.3,174.6,-6.8,130,2092,0.00,2.35,0.00,0.000,4,0.000,0.078,3127,3817,3362
$GC,2116,-0.56,-117.3,176.5,-6.7,131,2120,0.00,2.25,0.00,0.000,6,0.000,0.054,3127,2395,3362
$GC,2450,-0.56,-117.3,197.9,-6.3,142,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2395,3362
$GC,2756,-0.56,-117.3,218.3,-7.0,152,2760,0.00,2.35,0.00,0.000,4,0.000,0.080,3127,3810,3361
$GC,2783,-0.56,-117.3,220.4,-7.7,153,2787,0.00,2.25,0.00,0.000,6,0.000,0.056,3127,2389,3361
$GC,3116,-0.56,-117.3,244.7,-7.4,164,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3361
$GC,3423,-0.56,-117.3,266.9,-7.2,174,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3361
$GC,3729,-0.56,-117.3,287.6,-6.5,184,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3360
$GC,4066,-0.56,-117.3,308.8,-6.3,193,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3359
$GC,4367,-0.56,-117.3,327.4,-6.1,198,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3359
$GC,4671,-0.56,-117.3,347.0,-6.5,203,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2389,3358
$GC,4976,-0.56,-117.3,367.0,-6.6,208,4980,0.00,2.38,0.00,0.000,4,0.000,0.082,3127,3814,3358
$GC,5002,-0.56,-117.3,369.0,-6.3,208,5007,0.00,2.28,0.00,0.000,6,0.000,0.058,3127,2400,3358
$GC,5340,-0.56,-117.3,390.2,-6.2,214,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3357
$GC,5643,-0.56,-117.3,409.0,-6.2,219,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3357
$GC,5946,-0.56,-117.3,426.9,-5.8,224,5950,0.00,2.30,0.00,0.000,4,0.000,0.074,3127,985,3356
$GC,5978,-0.62,-117.3,428.9,-6.4,224,5982,0.00,2.30,0.00,0.000,6,0.000,0.063,3127,2398,3356
$GC,6309,-0.62,-117.3,446.8,-5.4,230,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3356
$GC,6612,-0.62,-117.3,463.3,-5.4,235,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3356
$GC,6917,-0.62,-117.3,480.1,-5.6,240,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3355
$GC,7219,-0.62,-117.3,497.1,-5.6,245,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3356
$GC,7522,-0.66,-117.3,514.1,-5.7,250,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2398,3355
$GC,7825,-0.71,-117.3,531.4,-5.7,255,7827,0.12,0.00,0.00,0.000,6,0.094,0.000,3080,2398,3355
$GC,8128,-0.66,-117.3,551.6,-6.7,260,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3355
$GC,8431,-0.62,-117.3,571.8,-6.6,265,8436,0.12,2.33,0.00,0.000,4,0.124,0.074,3118,986,3355
$GC,8457,-0.62,-117.3,573.5,-6.3,265,8462,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2397,3354
$GC,8795,-0.62,-117.3,593.2,-5.8,271,8799,0.00,2.33,0.00,0.000,4,0.000,0.084,3113,3812,3354
$GC,8832,-0.62,-117.3,595.4,-6.4,271,8836,0.00,2.28,0.00,0.000,6,0.000,0.059,3113,2399,3354
$GC,9158,-0.62,-117.3,614.1,-5.8,277,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3354
$GC,9462,-0.62,-117.3,632.3,-6.1,282,9466,0.00,2.30,0.00,0.000,4,0.000,0.076,3114,986,3354
$GC,9493,-0.62,-117.3,634.4,-6.7,282,9498,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2398,3354
$GC,9826,-0.62,-117.3,656.0,-6.5,288,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3354
$GC,10130,-0.62,-117.3,676.0,-6.6,293,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3354
$GC,10432,-0.62,-117.3,695.2,-6.3,298,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,10735,-0.62,-117.3,713.2,-5.9,303,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3353
$GC,11040,-0.62,-117.3,731.5,-6.0,308,11044,0.00,2.30,0.00,0.000,4,0.000,0.075,3113,993,3353
$GC,11066,-0.62,-117.3,733.3,-6.4,308,11071,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2398,3353
$GC,11404,-0.62,-117.3,752.6,-5.7,314,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,11707,-0.62,-117.3,768.7,-5.3,319,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,12010,-0.62,-117.3,784.4,-5.1,324,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3353
$GC,12313,-0.62,-117.3,799.9,-5.1,329,12317,0.00,2.30,0.00,0.000,4,0.000,0.076,3113,992,3352
$GC,12344,-0.62,-117.3,801.6,-5.3,329,12349,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2401,3352
$GC,12677,-0.62,-117.3,819.0,-5.2,335,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3352
$GC,12980,-0.62,-117.3,836.3,-5.7,340,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3352
$GC,13283,-0.66,-117.3,855.2,-6.3,345,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3352
$GC,13586,-0.71,-117.3,875.3,-6.6,350,13590,0.00,2.33,0.00,0.000,4,0.000,0.076,3113,987,3352
$GC,13612,-0.75,-117.3,877.2,-7.2,350,13617,0.12,2.30,0.00,0.000,6,0.094,0.066,3067,2410,3351
$GC,13949,-0.75,-117.3,901.7,-7.3,356,13953,0.00,2.30,0.00,0.000,4,0.000,0.084,3067,3816,3351
$GC,13981,-0.67,-117.3,904.2,-8.2,356,13985,0.08,2.28,0.00,0.000,6,0.120,0.061,3102,2397,3352
$GC,14313,-0.67,-117.3,926.1,-6.5,362,14314,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2396,3351
$GC,14616,-0.67,-117.3,944.3,-5.9,367,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2396,3351
$GC,14918,-0.67,-117.3,961.0,-5.5,372,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2396,3351
$GC,15222,-0.67,-117.3,977.3,-5.4,377,15226,0.00,2.30,0.00,0.000,4,0.000,0.078,3102,986,3351
$GC,15254,-0.67,-117.3,979.2,-5.7,377,15258,0.00,2.33,0.00,0.000,6,0.000,0.068,3101,2401,3351
$STATE,15463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15463,begin apogee
$GC,15467,-0.22,0.0,990.7,5.5,381,15571,0.47,0.00,100.38,1.504,6,0.151,0.000,3244,2201,2876
$STATE,15571,end apogee,CONTROL_FINISHED_OK
$STATE,15571,begin climb
$GC,15573,0.67,117.3,992.3,0.0,382,15685,0.90,2.65,103.80,1.452,4,0.100,0.081,3533,799,2397
$GC,15702,0.26,117.3,992.4,6.7,384,15709,0.52,2.50,0.00,0.000,6,0.196,0.062,3404,2209,2394
$GC,16011,0.26,117.3,975.6,5.4,390,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2209,2393
$GC,16314,0.26,117.3,959.3,5.3,395,16315,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2209,2393
$GC,16617,0.26,117.3,943.6,5.1,400,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2209,2392
$GC,16922,0.27,126.7,929.3,4.7,405,16933,0.00,0.00,8.95,1.287,6,0.000,0.000,3405,2209,2359
$GC,17224,0.27,127.0,914.2,5.0,410,17225,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2209,2359
$GC,17526,0.28,133.4,899.7,4.8,415,17535,0.00,0.00,7.22,1.218,6,0.000,0.000,3405,2209,2331
$GC,17830,0.28,135.4,884.8,4.9,420,17834,0.00,2.33,0.00,0.000,4,0.000,0.082,3405,3610,2331
$GC,17869,0.23,135.4,882.5,6.5,420,17873,0.00,2.30,0.00,0.000,6,0.000,0.066,3408,2197,2331
$GC,18188,0.23,135.4,865.0,5.6,426,18192,0.00,2.35,0.00,0.000,4,0.000,0.082,3408,784,2332
$GC,18243,0.23,135.4,861.7,6.7,426,18250,0.00,2.33,0.00,0.000,6,0.000,0.064,3408,2197,2331
$GC,18553,0.23,135.4,843.2,6.1,432,18557,0.00,2.33,0.00,0.000,4,0.000,0.082,3408,3609,2331
$GC,18614,0.17,135.4,839.0,6.7,433,18619,0.15,2.30,0.00,0.000,6,0.178,0.067,3371,2195,2331
$GC,18979,0.29,138.1,820.7,4.9,439,18987,0.12,0.00,5.68,1.104,6,0.094,0.000,3413,2195,2313
$GC,19282,0.36,138.1,804.7,5.2,444,19284,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2196,2313
$GC,19585,0.43,144.0,790.0,4.8,449,19594,0.12,0.00,6.78,1.162,6,0.107,0.000,3462,2196,2289
$GC,19888,0.30,144.0,770.7,6.4,454,19893,0.15,2.35,0.00,0.000,4,0.163,0.081,3422,786,2288
$GC,19942,0.30,144.0,767.6,5.8,454,19950,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2201,2288
$GC,20253,0.32,162.4,753.7,4.5,460,20276,0.00,2.42,16.80,1.311,4,0.000,0.083,3422,3613,2213
$GC,20298,0.27,162.4,751.4,5.1,460,20302,0.00,2.38,0.00,0.000,6,0.000,0.066,3422,2194,2213
$GC,20619,0.27,166.6,736.0,4.9,466,20626,0.00,0.00,5.20,1.023,6,0.000,0.000,3422,2194,2196
$GC,20922,0.27,166.6,720.8,5.0,471,20926,0.00,2.35,0.00,0.000,4,0.000,0.082,3422,789,2195
$GC,20987,0.32,166.6,717.3,5.4,472,20992,0.00,2.33,0.00,0.000,6,0.000,0.063,3422,2198,2195
$GC,21353,0.32,166.6,698.3,5.2,478,21354,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2198,2195
$GC,21656,0.32,166.6,681.9,5.4,483,21660,0.00,2.38,0.00,0.000,4,0.000,0.081,3422,782,2195
$GC,21688,0.36,166.6,679.9,6.0,483,21693,0.00,2.33,0.00,0.000,6,0.000,0.063,3422,2200,2195
$GC,22020,0.36,166.6,660.3,6.0,489,22024,0.00,2.33,0.00,0.000,4,0.000,0.081,3422,3614,2195
$GC,22058,0.31,166.6,657.8,6.3,489,22062,0.00,2.30,0.00,0.000,6,0.000,0.065,3422,2192,2195
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$STATE,33069,end climb,SURFACE_DEPTH_REACHED
$STATE,33070,begin surface coast
$FINISH,4.0,1.001652
$STATE,33166,end surface coast,CONTROL_FINISHED_OK
$STATE,33166,begin surface
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$10V_AH,10.7,13.762
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$DEVICE_SECS,28.725,191.400,357.450,10.950,0.000,30.915,25.975,153.866,248.500,0.000,0.000,29.180,1801.049,28361.664,542.603,2366.249,447.405,33.381,1703.448,0.000,2337.695,0.000,0.468
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$DATA_FILE_SIZE,50662,841
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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