version: 66.03
glider: 120
mission: 9
dive: 240
start: 11 26 108 11 41 23
data:
$ID,120
$MISSION,9
$DIVE,240
$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,-22714.383
$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,18
$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
$GPS1,113056,5020.703,-14427.343,41,1.4,42,18.7
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-72.4
$GPS2,114026,5020.713,-14427.215,12,1.8,12,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.055,-0.169
$KALMAN_X,33150.1,293.5,429.2,-7147.3,-2562.2
$KALMAN_Y,182288.1,17.4,-57.6,-154157.9,455.1
$MHEAD_RNG_PITCHd_Wd,143.3,49550,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.62,0.000,2,0.000,0.000,148,2410,2413
$GC,57,-0.67,-117.3,3.4,-4.7,3,112,14.30,2.47,-30.62,0.000,4,0.293,0.084,3094,987,3356
$GC,139,-0.47,-117.3,9.7,-8.3,10,147,0.25,2.35,0.00,0.000,6,0.166,0.064,3163,2405,3357
$GC,466,-0.47,-117.3,32.5,-8.0,41,470,0.00,2.38,0.00,0.000,4,0.000,0.080,3155,3816,3358
$GC,509,-0.47,-117.3,36.5,-7.8,44,516,0.00,2.35,0.00,0.000,6,0.000,0.054,3155,2398,3358
$GC,836,-0.47,-117.3,61.0,-8.0,75,840,0.00,2.45,0.00,0.000,4,0.000,0.077,3155,3809,3359
$GC,898,-0.47,-117.3,66.5,-9.2,80,902,0.00,2.30,0.00,0.000,6,0.000,0.054,3155,2397,3358
$GC,1218,-0.47,-117.3,91.1,-7.5,103,1222,0.00,2.35,0.00,0.000,4,0.000,0.067,3155,993,3359
$GC,1259,-0.47,-117.3,94.1,-7.7,105,1263,0.00,2.30,0.00,0.000,6,0.000,0.060,3155,2409,3360
$GC,1585,-0.47,-117.3,116.1,-6.5,121,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2409,3360
$GC,1894,-0.69,-117.3,137.5,-7.6,136,1899,0.15,2.40,0.00,0.000,4,0.089,0.067,3095,991,3360
$GC,1988,-0.69,-117.3,145.8,-8.8,140,1992,0.00,2.30,0.00,0.000,6,0.000,0.061,3095,2407,3360
$GC,2318,-0.83,-117.3,173.0,-8.5,152,2323,0.15,2.40,0.00,0.000,4,0.089,0.067,3037,989,3360
$GC,2346,-0.73,-117.3,175.7,-10.0,153,2351,0.15,2.33,0.00,0.000,6,0.178,0.061,3076,2403,3360
$GC,2680,-0.58,-117.3,207.9,-9.3,164,2685,0.15,2.35,0.00,0.000,4,0.170,0.077,3114,3808,3360
$GC,2746,-0.58,-117.3,213.2,-7.6,166,2750,0.00,2.30,0.00,0.000,6,0.000,0.055,3114,2389,3360
$GC,3082,-0.58,-117.3,235.4,-6.6,177,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2389,3360
$GC,3388,-0.58,-117.3,256.2,-6.9,187,3392,0.00,2.35,0.00,0.000,4,0.000,0.070,3114,993,3360
$GC,3437,-0.58,-117.3,259.9,-7.3,188,3441,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2408,3360
$GC,3755,-0.58,-117.3,283.1,-7.3,199,3759,0.00,2.38,0.00,0.000,4,0.000,0.070,3114,994,3360
$GC,3793,-0.58,-117.3,286.2,-7.7,200,3797,0.00,2.28,0.00,0.000,6,0.000,0.062,3114,2400,3360
$GC,4122,-0.58,-117.3,309.5,-7.1,209,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3359
$GC,4425,-0.58,-117.3,329.9,-6.6,214,4429,0.00,2.38,0.00,0.000,4,0.000,0.081,3113,3816,3358
$GC,4463,-0.58,-117.3,332.5,-6.5,214,4467,0.00,2.30,0.00,0.000,6,0.000,0.057,3113,2392,3358
$GC,4789,-0.58,-117.3,352.5,-6.2,220,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3358
$GC,5093,-0.58,-117.3,371.1,-6.1,225,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3358
$GC,5396,-0.58,-117.3,390.0,-6.3,230,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2392,3358
$GC,5699,-0.58,-117.3,409.2,-6.4,235,5703,0.00,2.38,0.00,0.000,4,0.000,0.072,3114,991,3357
$GC,5731,-0.58,-117.3,411.4,-6.9,235,5735,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2421,3357
$GC,6063,-0.58,-117.3,432.2,-6.2,241,6067,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,994,3357
$GC,6101,-0.62,-117.3,434.8,-6.6,241,6105,0.00,2.28,0.00,0.000,6,0.000,0.063,3113,2401,3357
$GC,6422,-0.62,-117.3,454.0,-6.0,247,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3357
$GC,6725,-0.62,-117.3,472.1,-6.0,252,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2401,3356
$GC,7028,-0.62,-117.3,491.0,-6.3,257,7032,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,991,3356
$GC,7066,-0.67,-117.3,493.7,-6.9,257,7071,0.00,2.35,0.00,0.000,6,0.000,0.063,3113,2412,3356
$GC,7387,-0.67,-117.3,514.8,-6.6,263,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3356
$GC,7690,-0.67,-117.3,534.6,-6.5,268,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3356
$GC,7993,-0.67,-117.3,553.8,-6.3,273,7997,0.00,2.42,0.00,0.000,4,0.000,0.072,3113,991,3355
$GC,8021,-0.72,-117.3,555.7,-6.9,273,8025,0.00,2.35,0.00,0.000,6,0.000,0.064,3113,2413,3355
$GC,8353,-0.76,-117.3,576.2,-6.2,279,8354,0.12,0.00,0.00,0.000,6,0.092,0.000,3064,2413,3355
$GC,8656,-0.71,-117.3,598.4,-7.3,284,8660,0.00,2.40,0.00,0.000,4,0.000,0.072,3064,991,3355
$GC,8689,-0.62,-117.3,601.1,-8.3,284,8694,0.20,2.33,0.00,0.000,6,0.155,0.064,3118,2401,3355
$GC,9016,-0.68,-117.3,620.6,-5.9,290,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2401,3355
$GC,9318,-0.75,-117.3,638.7,-6.0,295,9322,0.12,2.40,0.00,0.000,4,0.090,0.071,3071,989,3355
$GC,9356,-0.69,-117.3,641.5,-8.1,295,9360,0.00,2.35,0.00,0.000,6,0.000,0.065,3070,2410,3355
$GC,9677,-0.61,-117.3,666.2,-7.7,301,9679,0.17,0.00,0.00,0.000,6,0.160,0.000,3118,2410,3355
$GC,9980,-0.67,-117.3,683.9,-5.7,306,9984,0.00,2.40,0.00,0.000,4,0.000,0.072,3118,995,3354
$GC,10012,-0.75,-117.3,685.9,-6.1,306,10017,0.12,2.30,0.00,0.000,6,0.091,0.065,3070,2401,3354
$GC,10338,-0.75,-117.3,706.5,-6.3,312,10342,0.00,2.35,0.00,0.000,4,0.000,0.083,3070,3812,3354
$GC,10394,-0.70,-117.3,710.4,-7.0,312,10400,0.00,2.25,0.00,0.000,6,0.000,0.058,3070,2402,3354
$GC,10704,-0.70,-117.3,729.9,-6.3,318,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2402,3354
$GC,11006,-0.70,-117.3,749.1,-6.4,323,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2402,3354
$GC,11309,-0.70,-117.3,767.2,-5.9,328,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2402,3353
$GC,11612,-0.70,-117.3,785.0,-5.8,333,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2402,3354
$GC,11915,-0.70,-117.3,803.2,-6.1,338,11919,0.00,2.38,0.00,0.000,4,0.000,0.074,3070,993,3353
$GC,11953,-0.70,-117.3,805.6,-6.2,338,11957,0.00,2.30,0.00,0.000,6,0.000,0.064,3069,2401,3353
$GC,12280,-0.66,-117.3,826.7,-6.5,344,12282,0.12,0.00,0.00,0.000,6,0.155,0.000,3102,2401,3353
$GC,12583,-0.70,-117.3,843.9,-5.7,349,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3353
$GC,12886,-0.75,-117.3,860.8,-5.5,354,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,3353
$GC,13188,-0.75,-117.3,876.8,-5.2,359,13193,0.00,2.40,0.00,0.000,4,0.000,0.074,3103,986,3352
$GC,13216,-0.79,-117.3,878.4,-5.7,359,13221,0.12,2.33,0.00,0.000,6,0.093,0.066,3054,2400,3352
$GC,13547,-0.79,-117.3,898.9,-6.2,365,13551,0.00,2.38,0.00,0.000,4,0.000,0.084,3054,3817,3352
$GC,13574,-0.73,-117.3,900.6,-6.7,365,13578,0.00,2.30,0.00,0.000,6,0.000,0.058,3054,2393,3352
$GC,13906,-0.66,-117.3,922.2,-6.5,371,13908,0.17,0.00,0.00,0.000,6,0.142,0.000,3102,2391,3352
$GC,14208,-0.71,-117.3,938.6,-5.4,376,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2391,3352
$GC,14511,-0.76,-117.3,954.5,-5.2,381,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2391,3352
$GC,14815,-0.80,-117.3,970.3,-5.2,386,14820,0.15,2.38,0.00,0.000,4,0.088,0.074,3039,992,3352
$GC,14842,-0.72,-117.3,972.4,-7.3,386,14847,0.17,2.33,0.00,0.000,6,0.173,0.067,3085,2412,3352
$STATE,15171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15172,begin apogee
$GC,15177,-0.22,0.0,991.1,5.6,392,15285,0.52,0.00,104.90,1.496,6,0.150,0.000,3243,2201,2876
$STATE,15285,end apogee,CONTROL_FINISHED_OK
$STATE,15285,begin climb
$GC,15288,0.67,117.3,992.8,0.0,393,15404,0.88,2.70,109.50,1.440,4,0.094,0.078,3533,788,2396
$GC,15450,0.30,117.3,990.9,8.1,396,15455,0.45,2.50,0.00,0.000,6,0.182,0.062,3420,2203,2394
$GC,15776,0.30,117.3,971.8,5.8,402,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2203,2393
$GC,16079,0.30,117.3,954.0,5.9,407,16083,0.00,2.45,0.00,0.000,4,0.000,0.079,3421,784,2392
$GC,16116,0.30,117.3,951.7,5.8,407,16121,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2206,2392
$GC,16443,0.30,117.3,933.8,5.4,413,16447,0.00,2.42,0.00,0.000,4,0.000,0.080,3421,785,2392
$GC,16480,0.30,117.3,931.8,5.0,413,16485,0.00,2.33,0.00,0.000,6,0.000,0.063,3421,2200,2392
$GC,16807,0.30,117.3,914.8,5.2,419,16811,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,3608,2391
$GC,16840,0.19,117.3,912.9,5.4,419,16845,0.15,2.30,0.00,0.000,6,0.183,0.065,3386,2197,2392
$GC,17167,0.32,156.6,900.1,3.9,425,17203,0.10,0.00,34.47,1.424,6,0.099,0.000,3424,2197,2237
$GC,17470,0.37,158.7,885.4,4.9,430,17471,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2197,2235
$GC,17773,0.43,161.5,870.6,4.9,435,17783,0.00,2.40,5.95,1.124,4,0.000,0.080,3424,791,2216
$GC,17811,0.45,177.9,868.7,4.5,435,17834,0.12,2.33,15.68,1.342,6,0.094,0.065,3476,2199,2150
$GC,18137,0.33,177.9,844.6,7.6,441,18138,0.17,0.00,0.00,0.000,6,0.159,0.000,3429,2200,2148
$GC,18438,0.33,177.9,826.2,6.0,446,18443,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,785,2148
$GC,18476,0.33,177.9,823.8,6.2,446,18481,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2202,2148
$GC,18803,0.33,177.9,802.6,6.6,452,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2148
$GC,19106,0.33,177.9,782.2,6.7,457,19110,0.00,2.42,0.00,0.000,4,0.000,0.081,3435,792,2148
$GC,19155,0.33,177.9,778.9,6.5,457,19159,0.00,2.30,0.00,0.000,6,0.000,0.064,3435,2200,2148
$GC,19470,0.33,177.9,758.7,6.4,463,19471,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2148
$GC,19773,0.33,177.9,739.7,6.2,468,19777,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,785,2148
$GC,19806,0.33,177.9,737.6,6.5,468,19810,0.00,2.35,0.00,0.000,6,0.000,0.064,3435,2208,2148
$GC,20138,0.33,177.9,718.5,5.7,474,20142,0.00,2.33,0.00,0.000,4,0.000,0.082,3436,3606,2148
$GC,20176,0.33,177.9,716.1,5.4,474,20180,0.00,2.33,0.00,0.000,6,0.000,0.065,3435,2197,2147
$GC,20503,0.33,177.9,699.1,5.2,480,20504,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2147
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$STATE,32239,end climb,SURFACE_DEPTH_REACHED
$STATE,32239,begin surface coast
$FINISH,1.3,1.014664
$STATE,32326,end surface coast,CONTROL_FINISHED_OK
$STATE,32326,begin surface
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$10V_AH,10.6,31.993
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$DATA_FILE_SIZE,47636,839
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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