version: 66.03
glider: 120
mission: 9
dive: 227
start: 11 21 108 15 25 52
data:
$ID,120
$MISSION,9
$DIVE,227
$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,-22414.455
$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,20
$R_STBD_OVSHOOT,17
$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
$GPS1,151907,4956.526,-14513.833,42,1.2,42,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-56.9
$GPS2,152457,4956.521,-14513.738,17,1.9,17,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.032,-0.175
$KALMAN_X,45356.8,313.4,-490.5,-73708.0,352.2
$KALMAN_Y,178233.5,-403.6,-145.8,-194388.7,3412.8
$MHEAD_RNG_PITCHd_Wd,151.4,5118,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,74,0.00,0.00,-51.25,0.000,2,0.000,0.000,139,2408,1921
$GC,77,-0.67,-117.3,3.1,-2.5,5,153,13.98,2.47,-55.15,0.000,4,0.285,0.092,3095,3811,3356
$GC,361,-0.47,-117.3,35.9,-10.7,30,368,0.20,2.38,0.00,0.000,6,0.152,0.060,3158,2399,3357
$GC,687,-0.47,-117.3,61.8,-7.7,61,688,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2399,3358
$GC,1003,-0.47,-117.3,83.3,-7.1,89,1007,0.00,2.45,0.00,0.000,4,0.000,0.078,3155,3813,3359
$GC,1065,-0.52,-117.3,87.8,-7.1,92,1070,0.00,2.33,0.00,0.000,6,0.000,0.054,3155,2388,3359
$GC,1392,-0.52,-117.3,111.9,-7.3,108,1396,0.00,2.35,0.00,0.000,4,0.000,0.068,3155,985,3359
$GC,1423,-0.52,-117.3,114.5,-8.1,109,1430,0.00,2.33,0.00,0.000,6,0.000,0.062,3155,2399,3359
$GC,1740,-0.58,-117.3,136.6,-6.7,125,1744,0.00,2.40,0.00,0.000,4,0.000,0.080,3155,3809,3359
$GC,1780,-0.67,-117.3,139.1,-6.3,127,1785,0.15,2.30,0.00,0.000,6,0.081,0.054,3098,2392,3359
$GC,2094,-0.67,-117.3,162.3,-6.9,140,2098,0.00,2.35,0.00,0.000,4,0.000,0.069,3098,987,3359
$GC,2234,-0.61,-117.3,172.4,-7.1,144,2238,0.00,2.30,0.00,0.000,6,0.000,0.063,3097,2401,3359
$GC,2557,-0.54,-117.3,196.7,-7.7,155,2559,0.17,0.00,0.00,0.000,6,0.157,0.000,3145,2401,3359
$GC,2864,-0.61,-117.3,214.4,-5.8,165,2868,0.00,2.40,0.00,0.000,4,0.000,0.071,3145,987,3359
$GC,2885,-0.69,-117.3,215.9,-6.5,165,2890,0.15,2.35,0.00,0.000,6,0.083,0.063,3087,2412,3359
$GC,3198,-0.65,-117.3,238.1,-7.2,175,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2412,3358
$GC,3504,-0.65,-117.3,259.7,-7.1,185,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2412,3358
$GC,3810,-0.65,-117.3,281.8,-7.2,195,3814,0.00,2.38,0.00,0.000,4,0.000,0.082,3087,3809,3358
$GC,3844,-0.59,-117.3,284.4,-7.8,196,3849,0.12,2.30,0.00,0.000,6,0.114,0.057,3121,2393,3358
$GC,4213,-0.59,-117.3,308.4,-6.4,206,4217,0.00,2.35,0.00,0.000,4,0.000,0.072,3121,990,3357
$GC,4245,-0.59,-117.3,310.5,-6.2,206,4249,0.00,2.33,0.00,0.000,6,0.000,0.064,3120,2408,3357
$GC,4577,-0.59,-117.3,330.4,-6.0,212,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2408,3357
$GC,4880,-0.59,-117.3,349.3,-6.2,217,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2408,3356
$GC,5183,-0.59,-117.3,369.3,-6.7,222,5187,0.00,2.40,0.00,0.000,4,0.000,0.072,3121,994,3357
$GC,5210,-0.63,-117.3,371.4,-7.6,222,5215,0.00,2.33,0.00,0.000,6,0.000,0.064,3121,2403,3356
$GC,5542,-0.63,-117.3,394.0,-6.7,228,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3356
$GC,5845,-0.63,-117.3,412.8,-6.1,233,5849,0.00,2.38,0.00,0.000,4,0.000,0.072,3121,994,3356
$GC,5877,-0.67,-117.3,414.9,-6.9,233,5881,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,2402,3356
$GC,6210,-0.72,-117.3,434.5,-5.9,239,6212,0.12,0.00,0.00,0.000,6,0.087,0.000,3073,2404,3355
$GC,6513,-0.67,-117.3,454.7,-6.8,244,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2404,3355
$GC,6815,-0.62,-117.3,475.1,-6.7,249,6820,0.15,2.42,0.00,0.000,4,0.117,0.082,3113,3818,3354
$GC,6842,-0.62,-117.3,477.0,-6.6,249,6846,0.00,2.33,0.00,0.000,6,0.000,0.058,3113,2394,3354
$GC,7180,-0.62,-117.3,498.2,-6.4,255,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3355
$GC,7483,-0.62,-117.3,518.2,-6.7,260,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,7786,-0.62,-117.3,538.0,-6.5,265,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,8089,-0.62,-117.3,557.0,-6.3,270,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,8392,-0.62,-117.3,574.4,-5.7,275,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,8695,-0.62,-117.3,590.7,-5.3,280,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,8998,-0.66,-117.3,607.5,-5.6,285,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,9302,-0.70,-117.3,624.9,-5.7,290,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,9605,-0.70,-117.3,643.0,-6.0,295,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2394,3354
$GC,9908,-0.76,-117.3,661.6,-6.1,300,9910,0.12,0.00,0.00,0.000,6,0.091,0.000,3064,2394,3353
$GC,10211,-0.71,-117.3,682.6,-6.9,305,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2394,3353
$GC,10514,-0.67,-117.3,703.6,-6.9,310,10516,0.12,0.00,0.00,0.000,6,0.112,0.000,3098,2391,3353
$GC,10817,-0.67,-117.3,722.1,-6.0,315,10821,0.00,2.47,0.00,0.000,4,0.000,0.086,3098,3811,3352
$GC,10844,-0.67,-117.3,723.8,-6.9,315,10848,0.00,2.33,0.00,0.000,6,0.000,0.059,3098,2397,3352
$GC,11181,-0.67,-117.3,742.4,-5.4,321,11185,0.00,2.38,0.00,0.000,4,0.000,0.075,3099,994,3352
$GC,11224,-0.67,-117.3,745.0,-6.6,321,11228,0.00,2.33,0.00,0.000,6,0.000,0.067,3098,2402,3352
$GC,11546,-0.67,-117.3,761.7,-5.2,327,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3352
$GC,11848,-0.67,-117.3,778.0,-5.4,332,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3352
$GC,12151,-0.67,-117.3,793.7,-5.2,337,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3352
$GC,12455,-0.67,-117.3,809.2,-5.1,342,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3352
$GC,12758,-0.67,-117.3,823.9,-4.8,347,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3352
$GC,13061,-0.67,-117.3,838.1,-4.7,352,13065,0.00,2.40,0.00,0.000,4,0.000,0.087,3098,3809,3352
$GC,13088,-0.67,-117.3,839.4,-4.2,352,13092,0.00,2.33,0.00,0.000,6,0.000,0.060,3098,2401,3352
$GC,13425,-0.67,-117.3,855.8,-4.8,358,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3352
$GC,13729,-0.67,-117.3,871.0,-5.0,363,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3351
$GC,14032,-0.67,-117.3,887.2,-5.3,368,14036,0.00,2.42,0.00,0.000,4,0.000,0.076,3098,990,3351
$GC,14054,-0.67,-117.3,888.4,-5.5,368,14058,0.00,2.35,0.00,0.000,6,0.000,0.067,3099,2401,3351
$GC,14390,-0.67,-117.3,907.2,-5.6,374,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3351
$GC,14693,-0.67,-117.3,925.0,-5.9,379,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3351
$GC,14997,-0.67,-117.3,944.0,-6.3,384,15001,0.00,2.42,0.00,0.000,4,0.000,0.076,3098,984,3351
$GC,15023,-0.67,-117.3,945.8,-6.6,384,15028,0.00,2.38,0.00,0.000,6,0.000,0.068,3098,2399,3350
$GC,15361,-0.67,-117.3,966.6,-6.2,390,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3351
$GC,15664,-0.67,-117.3,984.5,-5.9,395,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3351
$STATE,15783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15784,begin apogee
$GC,15789,-0.22,0.0,991.7,5.9,397,15896,0.47,0.00,104.05,1.503,6,0.143,0.000,3242,2190,2876
$STATE,15897,end apogee,CONTROL_FINISHED_OK
$STATE,15897,begin climb
$GC,15899,0.67,117.3,994.0,0.0,398,16016,0.88,2.67,109.15,1.448,4,0.092,0.080,3533,795,2396
$GC,16060,0.30,117.3,994.1,7.1,401,16065,0.45,2.50,0.00,0.000,6,0.182,0.064,3420,2205,2394
$GC,16393,0.26,121.1,977.8,4.9,407,16399,0.00,0.00,4.40,0.957,6,0.000,0.000,3420,2205,2382
$GC,16695,0.26,121.8,962.6,5.0,412,16696,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2381
$GC,16998,0.26,127.3,947.8,4.8,417,17007,0.00,0.00,7.15,1.216,6,0.000,0.000,3420,2205,2357
$GC,17301,0.26,127.3,931.9,5.3,422,17303,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2205,2356
$GC,17604,0.26,127.3,915.6,5.4,427,17608,0.00,2.45,0.00,0.000,4,0.000,0.081,3421,788,2356
$GC,17652,0.26,127.3,912.7,5.4,427,17657,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2201,2356
$GC,17968,0.26,127.3,895.2,5.6,433,17972,0.00,2.35,0.00,0.000,4,0.000,0.083,3421,3611,2356
$GC,18018,0.16,127.3,891.8,7.1,433,18023,0.20,2.33,0.00,0.000,6,0.173,0.067,3370,2192,2356
$GC,18328,0.32,140.8,877.5,4.6,438,18343,0.15,0.00,13.02,1.345,6,0.087,0.000,3434,2192,2302
$GC,18693,0.32,140.8,854.6,6.3,444,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,2301
$GC,18995,0.27,140.8,835.3,6.4,449,18997,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2193,2301
$GC,19298,0.23,140.8,815.5,6.6,454,19300,0.15,0.00,0.00,0.000,6,0.151,0.000,3395,2192,2301
$GC,19602,0.31,140.8,798.9,5.4,459,19603,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2192,2300
$GC,19905,0.38,140.8,783.5,5.1,464,19910,0.15,2.47,0.00,0.000,4,0.084,0.083,3462,3612,2300
$GC,19949,0.18,140.8,780.3,7.4,464,19954,0.32,2.38,0.00,0.000,6,0.172,0.067,3374,2198,2300
$GC,20264,0.36,168.4,766.8,4.2,470,20291,0.17,0.00,25.12,1.341,6,0.084,0.000,3438,2198,2188
$GC,20567,0.36,168.4,750.4,5.5,475,20568,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2198,2186
$GC,20869,0.36,168.4,734.7,5.2,480,20874,0.00,2.45,0.00,0.000,4,0.000,0.081,3439,783,2185
$GC,20896,0.36,173.6,733.2,4.9,480,20907,0.00,2.35,5.85,1.072,6,0.000,0.066,3438,2209,2168
$GC,21228,0.36,173.6,716.2,5.1,486,21232,0.00,2.45,0.00,0.000,4,0.000,0.081,3439,787,2167
$GC,21260,0.36,173.6,714.5,5.0,486,21264,0.00,2.33,0.00,0.000,6,0.000,0.066,3439,2202,2167
$GC,21592,0.36,173.6,697.4,5.2,492,21593,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2202,2167
$GC,21895,0.36,173.6,682.2,5.0,497,21899,0.00,2.42,0.00,0.000,4,0.000,0.081,3439,791,2167
$GC,21933,0.36,173.6,680.2,5.3,497,21937,0.00,2.33,0.00,0.000,6,0.000,0.067,3438,2206,2167
$GC,22260,0.36,173.6,663.5,5.2,503,22264,0.00,2.42,0.00,0.000,4,0.000,0.081,3439,787,2167
$GC,22298,0.36,173.6,661.3,5.1,503,22301,0.00,2.33,0.00,0.000,6,0.000,0.065,3439,2206,2167
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$STATE,33456,end climb,SURFACE_DEPTH_REACHED
$STATE,33457,begin surface coast
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$STATE,33553,end surface coast,CONTROL_FINISHED_OK
$STATE,33554,begin surface
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$DATA_FILE_SIZE,50594,851
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