version: 66.03
glider: 120
mission: 9
dive: 109
start: 10 7 108 18 45 17
data:
$ID,120
$MISSION,9
$DIVE,109
$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,-19905.094
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,183758,5001.727,-14456.703,67,8.3,86,18.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,5.00
$_SM_ANGLEo,-70.1
$GPS2,184421,5001.704,-14456.672,14,2.0,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.153,0.091
$KALMAN_X,38017.7,246.0,96.6,-46618.6,-2701.8
$KALMAN_Y,88172.7,-399.8,-77.7,-94801.3,1644.1
$MHEAD_RNG_PITCHd_Wd,40.8,12759,-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,-12.25,0.000,2,0.000,0.000,136,2408,1980
$GC,35,-0.67,-117.3,5.4,-0.0,1,111,13.80,2.40,-51.75,0.000,4,0.290,0.080,3095,991,3356
$GC,291,-0.33,-117.3,33.5,-14.4,24,297,0.38,2.30,0.00,0.000,6,0.168,0.061,3202,2397,3358
$GC,617,-0.73,-117.3,60.9,-6.5,54,622,0.32,2.30,0.00,0.000,4,0.085,0.063,3083,988,3359
$GC,649,-0.63,-117.3,63.7,-8.6,56,656,0.08,2.30,0.00,0.000,6,0.168,0.058,3107,2398,3359
$GC,971,-0.44,-117.3,92.5,-10.0,81,975,0.20,2.33,0.00,0.000,4,0.170,0.074,3167,3819,3361
$GC,1002,-0.44,-117.3,95.3,-7.8,82,1009,0.00,2.28,0.00,0.000,6,0.000,0.050,3167,2394,3361
$GC,1318,-0.44,-117.3,120.5,-8.2,98,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2394,3361
$GC,1628,-0.50,-117.3,140.7,-5.7,113,1632,0.00,2.28,0.00,0.000,4,0.000,0.067,3167,985,3361
$GC,1690,-0.57,-117.3,144.4,-6.4,116,1694,0.12,2.30,0.00,0.000,6,0.087,0.060,3118,2413,3361
$GC,2003,-0.57,-117.3,166.6,-7.1,128,2006,0.00,2.28,0.00,0.000,4,0.000,0.077,3116,3809,3361
$GC,2030,-0.57,-117.3,168.7,-7.5,129,2034,0.00,2.22,0.00,0.000,6,0.000,0.054,3116,2396,3361
$GC,2364,-0.57,-117.3,190.3,-6.5,140,2368,0.00,2.28,0.00,0.000,4,0.000,0.069,3116,985,3361
$GC,2396,-0.57,-117.3,192.7,-7.3,141,2401,0.00,2.30,0.00,0.000,6,0.000,0.060,3116,2399,3361
$GC,2732,-0.52,-117.3,215.0,-6.5,152,2734,0.12,0.00,0.00,0.000,6,0.161,0.000,3148,2400,3360
$GC,3038,-0.57,-117.3,233.6,-6.5,162,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2400,3360
$GC,3344,-0.63,-117.3,253.1,-6.2,172,3346,0.12,0.00,0.00,0.000,6,0.087,0.000,3100,2400,3359
$GC,3650,-0.63,-117.3,276.1,-7.5,182,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,3956,-0.63,-117.3,297.2,-6.8,192,3960,0.00,2.30,0.00,0.000,4,0.000,0.071,3099,991,3358
$GC,4005,-0.56,-117.3,300.8,-7.7,193,4010,0.08,2.30,0.00,0.000,6,0.158,0.063,3134,2400,3358
$GC,4320,-0.56,-117.3,320.5,-6.3,199,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2400,3358
$GC,4623,-0.56,-117.3,340.0,-6.4,204,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2400,3357
$GC,4926,-0.56,-117.3,357.0,-5.6,209,4930,0.00,2.30,0.00,0.000,4,0.000,0.072,3134,991,3356
$GC,4965,-0.56,-117.3,359.2,-5.8,209,4969,0.00,2.28,0.00,0.000,6,0.000,0.064,3134,2405,3356
$GC,5285,-0.60,-117.3,375.8,-5.2,215,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2405,3356
$GC,5588,-0.64,-117.3,393.4,-5.9,220,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2405,3355
$GC,5891,-0.68,-117.3,412.6,-6.4,225,5895,0.12,2.33,0.00,0.000,4,0.091,0.072,3087,988,3355
$GC,5934,-0.59,-117.3,416.1,-8.4,225,5939,0.08,2.30,0.00,0.000,6,0.153,0.063,3121,2401,3355
$GC,6255,-0.59,-117.3,437.7,-6.7,231,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3355
$GC,6558,-0.59,-117.3,456.2,-6.0,236,6562,0.00,2.28,0.00,0.000,4,0.000,0.073,3121,995,3354
$GC,6601,-0.59,-117.3,458.8,-5.6,236,6605,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2406,3353
$GC,6922,-0.59,-117.3,477.0,-5.7,242,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2406,3354
$GC,7225,-0.59,-117.3,494.3,-5.8,247,7229,0.00,2.30,0.00,0.000,4,0.000,0.074,3121,992,3354
$GC,7267,-0.59,-117.3,497.0,-6.6,247,7272,0.00,2.28,0.00,0.000,6,0.000,0.064,3121,2393,3354
$GC,7588,-0.59,-117.3,516.8,-6.2,253,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2393,3353
$GC,7892,-0.59,-117.3,537.3,-6.8,258,7896,0.00,2.28,0.00,0.000,4,0.000,0.074,3121,995,3353
$GC,7918,-0.59,-117.3,539.3,-8.1,258,7922,0.00,2.28,0.00,0.000,6,0.000,0.064,3121,2396,3353
$GC,8256,-0.59,-117.3,561.4,-6.4,264,8260,0.00,2.28,0.00,0.000,4,0.000,0.074,3121,996,3353
$GC,8282,-0.59,-117.3,563.2,-6.9,264,8287,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2406,3353
$GC,8620,-0.59,-117.3,582.0,-5.4,270,8624,0.00,2.30,0.00,0.000,4,0.000,0.082,3121,3813,3352
$GC,8652,-0.64,-117.3,583.8,-5.4,270,8656,0.00,2.22,0.00,0.000,6,0.000,0.058,3121,2404,3352
$GC,8984,-0.64,-117.3,598.9,-4.5,276,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3352
$GC,9287,-0.64,-117.3,612.5,-4.5,281,9291,0.00,2.30,0.00,0.000,4,0.000,0.074,3121,989,3352
$GC,9319,-0.64,-117.3,614.3,-5.0,281,9324,0.00,2.30,0.00,0.000,6,0.000,0.065,3121,2396,3352
$GC,9652,-0.68,-117.3,629.7,-4.7,287,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2396,3352
$GC,9955,-0.68,-117.3,644.8,-5.0,292,9959,0.00,2.30,0.00,0.000,4,0.000,0.074,3120,989,3351
$GC,9994,-0.68,-117.3,647.1,-6.0,292,9998,0.00,2.28,0.00,0.000,6,0.000,0.065,3120,2403,3351
$GC,10314,-0.72,-117.3,664.9,-5.6,298,10316,0.12,0.00,0.00,0.000,6,0.092,0.000,3074,2403,3351
$GC,10617,-0.68,-117.3,685.3,-6.8,303,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2403,3351
$GC,10920,-0.63,-117.3,706.6,-7.1,308,10922,0.12,0.00,0.00,0.000,6,0.120,0.000,3109,2403,3351
$GC,11223,-0.63,-117.3,725.8,-6.2,313,11227,0.00,2.33,0.00,0.000,4,0.000,0.075,3109,988,3350
$GC,11250,-0.63,-117.3,727.6,-6.8,313,11254,0.00,2.30,0.00,0.000,6,0.000,0.065,3109,2395,3350
$GC,11587,-0.63,-117.3,747.4,-5.8,319,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2395,3350
$GC,11891,-0.63,-117.3,764.8,-5.7,324,11895,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,991,3350
$GC,11934,-0.63,-117.3,767.6,-6.9,324,11938,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2398,3350
$GC,12255,-0.63,-117.3,786.7,-6.1,330,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3350
$GC,12558,-0.63,-117.3,805.8,-6.3,335,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3350
$GC,12861,-0.63,-117.3,825.1,-6.3,340,12865,0.00,2.30,0.00,0.000,4,0.000,0.076,3109,992,3349
$GC,12909,-0.63,-117.3,828.5,-7.4,340,12914,0.00,2.30,0.00,0.000,6,0.000,0.065,3109,2399,3349
$GC,13225,-0.63,-117.3,847.5,-5.9,346,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3350
$GC,13527,-0.63,-117.3,863.8,-5.4,351,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2400,3350
$GC,13831,-0.63,-117.3,880.0,-5.4,356,13835,0.00,2.33,0.00,0.000,4,0.000,0.075,3109,987,3349
$GC,13857,-0.63,-117.3,881.6,-5.7,356,13861,0.00,2.33,0.00,0.000,6,0.000,0.066,3109,2405,3349
$GC,14195,-0.63,-117.3,898.7,-5.0,362,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2405,3349
$GC,14498,-0.63,-117.3,913.6,-4.9,367,14499,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2405,3349
$GC,14801,-0.63,-117.3,928.3,-4.8,372,14805,0.00,2.33,0.00,0.000,4,0.000,0.077,3109,993,3349
$GC,14832,-0.63,-117.3,930.0,-5.6,372,14837,0.00,2.33,0.00,0.000,6,0.000,0.067,3109,2408,3349
$GC,15165,-0.63,-117.3,945.6,-4.7,378,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2408,3349
$GC,15468,-0.63,-117.3,959.3,-4.5,383,15472,0.00,2.33,0.00,0.000,4,0.000,0.077,3109,991,3348
$GC,15494,-0.63,-117.3,960.6,-5.7,383,15498,0.00,2.30,0.00,0.000,6,0.000,0.067,3109,2398,3348
$GC,15832,-0.63,-117.3,976.2,-4.6,389,15833,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2398,3348
$STATE,16133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16134,begin apogee
$GC,16138,-0.22,0.0,990.5,4.7,394,16241,0.45,0.00,99.82,1.506,6,0.151,0.000,3246,2198,2876
$STATE,16241,end apogee,CONTROL_FINISHED_OK
$STATE,16241,begin climb
$GC,16243,0.67,117.3,991.9,0.0,395,16354,0.90,2.67,104.18,1.453,4,0.100,0.081,3535,3607,2396
$GC,16381,0.16,117.3,990.5,8.1,398,16387,0.68,2.50,0.00,0.000,6,0.204,0.066,3372,2205,2395
$GC,16742,0.25,130.2,973.6,4.6,404,16756,0.00,0.00,11.98,1.322,6,0.000,0.000,3372,2205,2345
$GC,17106,0.36,130.2,955.5,5.0,410,17111,0.15,2.42,0.00,0.000,4,0.089,0.080,3432,778,2344
$GC,17150,0.31,130.2,952.8,6.2,410,17154,0.00,2.38,0.00,0.000,6,0.000,0.066,3432,2211,2344
$GC,17471,0.25,130.2,932.1,6.4,416,17473,0.12,0.00,0.00,0.000,6,0.163,0.000,3402,2211,2344
$GC,17773,0.25,130.2,916.0,5.3,421,17774,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2211,2343
$GC,18076,0.26,133.4,901.1,4.9,426,18082,0.00,0.00,4.30,0.973,6,0.000,0.000,3402,2211,2331
$GC,18380,0.26,139.7,886.4,4.8,431,18394,0.00,2.40,7.18,1.216,4,0.000,0.082,3402,3619,2306
$GC,18427,0.26,139.7,883.8,5.5,431,18432,0.00,2.35,0.00,0.000,6,0.000,0.067,3408,2198,2306
$GC,18748,0.26,139.7,867.6,5.0,437,18749,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2198,2306
$GC,19051,0.27,143.1,852.7,4.9,442,19061,0.00,2.35,4.68,1.016,4,0.000,0.081,3408,787,2292
$GC,19083,0.31,174.1,851.1,4.1,442,19116,0.00,2.33,27.23,1.392,6,0.000,0.063,3408,2200,2166
$GC,19418,0.36,174.1,833.4,5.4,448,19419,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2200,2164
$GC,19721,0.41,174.1,816.5,5.6,453,19723,0.12,0.00,0.00,0.000,6,0.103,0.000,3454,2200,2163
$GC,20024,0.34,174.1,794.2,7.4,458,20028,0.00,2.38,0.00,0.000,4,0.000,0.081,3462,790,2163
$GC,20062,0.26,174.1,791.2,8.4,458,20067,0.22,2.35,0.00,0.000,6,0.163,0.066,3401,2207,2163
$GC,20388,0.34,174.1,772.6,5.6,464,20389,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2207,2163
$GC,20692,0.42,174.1,755.4,5.7,469,20694,0.15,0.00,0.00,0.000,6,0.094,0.000,3454,2208,2163
$GC,20994,0.35,174.1,732.6,7.7,474,20999,0.00,2.38,0.00,0.000,4,0.000,0.081,3462,787,2163
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$GC,21359,0.35,174.1,709.5,6.0,480,21360,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2197,2163
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$STATE,33172,end climb,SURFACE_DEPTH_REACHED
$STATE,33172,begin surface coast
$FINISH,5.7,1.024652
$STATE,33183,end surface coast,CONTROL_FINISHED_OK
$STATE,33183,begin surface
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$10V_AH,10.7,14.555
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$DATA_FILE_SIZE,50668,863
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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