version: 66.03
glider: 120
mission: 9
dive: 260
start: 12 4 108 5 41 46
data:
$ID,120
$MISSION,9
$DIVE,260
$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,-23100.479
$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,16
$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
$GPS1,053426,5018.349,-14511.734,42,1.4,42,18.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-71.5
$GPS2,054051,5018.382,-14511.681,12,1.9,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.003,-0.180
$KALMAN_X,35968.7,220.1,-163.6,-62112.7,51.7
$KALMAN_Y,196126.3,299.6,365.1,-173036.7,281.3
$MHEAD_RNG_PITCHd_Wd,162.3,45135,-11.8,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.66,-117.3,0.0,0.0,0,46,0.00,0.00,-21.48,0.000,2,0.000,0.000,137,2406,2095
$GC,49,-0.66,-117.3,3.2,-3.9,2,123,14.12,0.00,-53.25,0.000,6,0.288,0.000,3096,2406,3355
$GC,443,-0.43,-117.3,42.0,-11.6,39,445,0.28,0.00,0.00,0.000,6,0.168,0.000,3174,2406,3357
$GC,759,-0.43,-117.3,65.0,-7.2,69,760,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2406,3358
$GC,1086,-0.49,-117.3,87.4,-6.7,95,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2406,3358
$GC,1396,-0.56,-117.3,105.2,-6.4,110,1400,0.12,2.45,0.00,0.000,4,0.082,0.077,3126,3822,3358
$GC,1467,-0.52,-117.3,110.2,-6.6,113,1472,0.00,2.33,0.00,0.000,6,0.000,0.053,3126,2392,3358
$GC,1783,-0.52,-117.3,133.4,-7.1,128,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2392,3359
$GC,2113,-0.52,-117.3,154.6,-6.2,143,2117,0.00,2.38,0.00,0.000,4,0.000,0.070,3125,987,3359
$GC,2145,-0.52,-117.3,156.7,-6.7,144,2149,0.00,2.38,0.00,0.000,6,0.000,0.061,3125,2411,3359
$GC,2480,-0.52,-117.3,178.1,-6.1,155,2484,0.00,2.40,0.00,0.000,4,0.000,0.081,3126,3809,3359
$GC,2509,-0.52,-117.3,179.8,-6.3,156,2513,0.00,2.30,0.00,0.000,6,0.000,0.054,3126,2396,3359
$GC,2843,-0.52,-117.3,198.9,-5.4,167,2847,0.00,2.38,0.00,0.000,4,0.000,0.071,3125,986,3359
$GC,2875,-0.58,-117.3,200.7,-5.6,168,2879,0.00,2.30,0.00,0.000,6,0.000,0.061,3126,2405,3359
$GC,3205,-0.58,-117.3,216.4,-4.9,179,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2405,3359
$GC,3511,-0.62,-117.3,232.5,-5.4,189,3515,0.00,2.38,0.00,0.000,4,0.000,0.081,3126,3808,3358
$GC,3555,-0.68,-117.3,235.2,-6.2,190,3559,0.00,2.30,0.00,0.000,6,0.000,0.055,3126,2394,3358
$GC,3874,-0.90,-117.3,256.9,-7.3,201,3879,0.25,2.47,0.00,0.000,4,0.091,0.078,3030,3808,3358
$GC,4132,-0.64,-117.3,284.0,-10.6,208,4139,0.28,2.30,0.00,0.000,6,0.168,0.057,3105,2398,3357
$GC,4444,-0.64,-117.3,305.9,-6.9,218,4448,0.00,2.38,0.00,0.000,4,0.000,0.071,3105,991,3357
$GC,4470,-0.64,-117.3,307.9,-6.9,218,4474,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2400,3357
$GC,4808,-0.59,-117.3,332.2,-7.2,224,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3357
$GC,5112,-0.54,-117.3,353.8,-7.1,229,5114,0.15,0.00,0.00,0.000,6,0.160,0.000,3140,2400,3357
$GC,5415,-0.66,-117.3,372.0,-6.0,234,5420,0.12,2.40,0.00,0.000,4,0.091,0.071,3097,992,3356
$GC,5453,-0.76,-117.3,375.2,-7.8,234,5457,0.00,2.35,0.00,0.000,6,0.000,0.063,3097,2401,3356
$GC,5774,-0.93,-117.3,398.7,-7.3,240,5779,0.20,2.40,0.00,0.000,4,0.092,0.071,3024,985,3356
$GC,5943,-0.69,-117.3,415.2,-9.7,242,5948,0.28,2.33,0.00,0.000,6,0.170,0.065,3095,2403,3356
$GC,6269,-0.64,-117.3,437.5,-6.6,248,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2403,3356
$GC,6573,-0.60,-117.3,457.0,-6.4,253,6577,0.00,2.38,0.00,0.000,4,0.000,0.083,3095,3810,3356
$GC,6611,-0.60,-117.3,459.6,-7.1,253,6615,0.00,2.30,0.00,0.000,6,0.000,0.057,3095,2393,3355
$GC,6938,-0.60,-117.3,480.9,-6.5,259,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2393,3356
$GC,7240,-0.60,-117.3,501.6,-7.0,264,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2393,3356
$GC,7544,-0.60,-117.3,522.9,-7.0,269,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2393,3355
$GC,7847,-0.60,-117.3,544.4,-7.1,274,7851,0.00,2.40,0.00,0.000,4,0.000,0.072,3095,987,3355
$GC,7902,-0.60,-117.3,548.7,-7.9,274,7909,0.00,2.35,0.00,0.000,6,0.000,0.066,3095,2398,3355
$GC,8212,-0.60,-117.3,569.4,-6.6,280,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3355
$GC,8515,-0.60,-117.3,588.7,-6.4,285,8519,0.00,2.38,0.00,0.000,4,0.000,0.072,3095,991,3354
$GC,8542,-0.60,-117.3,590.5,-6.4,285,8546,0.00,2.33,0.00,0.000,6,0.000,0.064,3095,2400,3354
$GC,8873,-0.60,-117.3,609.3,-5.6,291,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,9176,-0.60,-117.3,625.0,-5.2,296,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3354
$GC,9479,-0.60,-117.3,641.1,-5.3,301,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,9783,-0.60,-117.3,658.5,-5.8,306,9787,0.00,2.40,0.00,0.000,4,0.000,0.073,3095,989,3354
$GC,9832,-0.60,-117.3,661.7,-6.9,306,9836,0.00,2.38,0.00,0.000,6,0.000,0.065,3095,2411,3354
$GC,10147,-0.60,-117.3,680.5,-6.1,312,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3354
$GC,10450,-0.60,-117.3,699.5,-6.3,317,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2410,3354
$GC,10753,-0.60,-117.3,718.6,-6.3,322,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2411,3354
$GC,11056,-0.60,-117.3,737.0,-6.1,327,11061,0.00,2.42,0.00,0.000,4,0.000,0.074,3095,987,3353
$GC,11083,-0.60,-117.3,738.8,-6.5,327,11088,0.00,2.38,0.00,0.000,6,0.000,0.066,3095,2404,3353
$GC,11422,-0.60,-117.3,758.3,-5.7,333,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2404,3353
$GC,11724,-0.60,-117.3,774.9,-5.5,338,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2404,3353
$GC,12028,-0.60,-117.3,791.7,-5.5,343,12032,0.00,2.40,0.00,0.000,4,0.000,0.074,3095,993,3353
$GC,12065,-0.60,-117.3,794.0,-5.5,343,12069,0.00,2.33,0.00,0.000,6,0.000,0.065,3095,2405,3352
$GC,12392,-0.60,-117.3,811.6,-5.4,349,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2405,3353
$GC,12695,-0.60,-117.3,827.0,-5.1,354,12699,0.00,2.35,0.00,0.000,4,0.000,0.074,3095,993,3353
$GC,12740,-0.60,-117.3,829.5,-5.7,354,12744,0.00,2.33,0.00,0.000,6,0.000,0.066,3095,2413,3352
$GC,13056,-0.60,-117.3,846.1,-5.3,360,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2413,3353
$GC,13357,-0.60,-117.3,862.5,-5.4,365,13362,0.00,2.40,0.00,0.000,4,0.000,0.074,3095,993,3352
$GC,13395,-0.60,-117.3,864.8,-6.2,365,13400,0.00,2.33,0.00,0.000,6,0.000,0.066,3095,2406,3352
$GC,13722,-0.60,-117.3,881.6,-5.1,371,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3352
$GC,14025,-0.60,-117.3,896.9,-5.1,376,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2405,3352
$GC,14329,-0.60,-117.3,912.2,-5.1,381,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2405,3352
$GC,14632,-0.60,-117.3,926.9,-4.8,386,14636,0.00,2.40,0.00,0.000,4,0.000,0.075,3095,992,3352
$GC,14670,-0.60,-117.3,928.9,-5.3,386,14674,0.00,2.35,0.00,0.000,6,0.000,0.067,3095,2399,3352
$GC,14990,-0.60,-117.3,944.0,-4.8,392,14992,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3352
$GC,15294,-0.60,-117.3,958.5,-4.8,397,15295,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3352
$GC,15597,-0.60,-117.3,973.6,-5.0,402,15598,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3352
$GC,15900,-0.60,-117.3,989.4,-5.3,407,15904,0.00,2.40,0.00,0.000,4,0.000,0.074,3095,992,3351
$STATE,15907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15907,begin apogee
$GC,15915,-0.22,0.0,990.1,5.4,407,16023,0.45,0.00,104.88,1.493,6,0.151,0.000,3237,2212,2876
$STATE,16023,end apogee,CONTROL_FINISHED_OK
$STATE,16023,begin climb
$GC,16026,0.66,117.3,994.2,0.0,409,16144,0.93,2.60,110.32,1.437,4,0.094,0.078,3533,3609,2395
$GC,16190,0.18,117.3,991.8,7.3,411,16195,0.62,2.50,0.00,0.000,6,0.189,0.065,3380,2204,2394
$GC,16511,0.33,171.3,979.9,3.5,417,16566,0.12,2.60,48.67,1.426,4,0.091,0.080,3424,765,2177
$GC,16600,0.33,171.3,975.5,5.9,418,16604,0.00,2.47,0.00,0.000,6,0.000,0.064,3424,2205,2175
$GC,16937,0.37,171.3,957.7,5.3,424,16942,0.00,2.40,0.00,0.000,4,0.000,0.082,3424,3614,2173
$GC,16981,0.37,171.3,954.9,6.4,424,16985,0.00,2.38,0.00,0.000,6,0.000,0.064,3424,2196,2173
$GC,17302,0.37,171.3,936.6,5.7,430,17307,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,783,2172
$GC,17341,0.37,171.3,934.2,6.3,430,17345,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2202,2172
$GC,17667,0.37,171.3,915.6,5.8,436,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2202,2172
$GC,17971,0.37,171.3,897.0,6.2,441,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2202,2172
$GC,18274,0.37,171.3,878.1,6.2,446,18275,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2171
$GC,18576,0.37,171.3,859.6,6.1,451,18578,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2202,2171
$GC,18880,0.37,171.3,840.8,6.3,456,18884,0.00,2.42,0.00,0.000,4,0.000,0.081,3424,790,2171
$GC,18923,0.41,171.3,837.8,6.1,456,18928,0.00,2.33,0.00,0.000,6,0.000,0.063,3424,2212,2172
$GC,19239,0.41,171.3,817.6,6.4,462,19240,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2212,2171
$GC,19541,0.41,171.3,797.7,6.6,467,19542,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2212,2170
$GC,19844,0.41,171.3,778.0,6.5,472,19846,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2212,2171
$GC,20148,0.41,171.3,759.0,6.3,477,20152,0.00,2.35,0.00,0.000,4,0.000,0.083,3424,3608,2171
$GC,20180,0.41,171.3,756.8,6.8,477,20184,0.00,2.38,0.00,0.000,6,0.000,0.064,3424,2196,2171
$GC,20513,0.41,171.3,736.6,6.1,483,20514,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2171
$GC,20815,0.41,171.3,718.8,5.8,488,20816,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2171
$GC,21118,0.41,171.3,700.8,6.0,493,21119,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2170
$GC,21421,0.41,171.3,682.1,6.1,498,21423,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2170
$GC,21725,0.41,171.3,663.3,6.2,503,21726,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2170
$GC,22027,0.41,171.3,644.5,6.2,508,22031,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,789,2170
$GC,22066,0.47,171.3,642.2,5.6,508,22071,0.12,2.30,0.00,0.000,6,0.095,0.064,3474,2198,2171
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$STATE,32646,end climb,SURFACE_DEPTH_REACHED
$STATE,32647,begin surface coast
$FINISH,1.9,1.015771
$STATE,32765,end surface coast,CONTROL_FINISHED_OK
$STATE,32765,begin surface
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$10V_AH,10.6,34.717
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$DATA_FILE_SIZE,50664,861
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