version: 66.03
glider: 120
mission: 9
dive: 313
start: 12 24 108 9 21 34
data:
$ID,120
$MISSION,9
$DIVE,313
$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,-24230.383
$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
$GPS1,091438,5001.098,-14459.292,33,1.8,33,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.64
$_SM_ANGLEo,-64.6
$GPS2,092039,5001.097,-14459.224,16,1.8,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,0.118
$KALMAN_X,28050.5,25.1,-238.6,-39126.8,-823.8
$KALMAN_Y,243213.4,126.1,-290.9,-251285.1,623.7
$MHEAD_RNG_PITCHd_Wd,29.8,15459,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.07,0.000,2,0.000,0.000,147,2397,1579
$GC,38,-0.67,-117.3,4.0,-0.0,1,135,13.12,2.47,-77.38,0.000,4,0.264,0.081,3095,990,3355
$GC,282,-0.46,-117.3,29.8,-9.9,23,287,0.25,2.33,0.00,0.000,6,0.153,0.063,3167,2404,3357
$GC,611,-0.46,-117.3,45.4,-3.9,53,615,0.00,2.40,0.00,0.000,4,0.000,0.067,3167,990,3358
$GC,639,-0.51,-117.3,47.1,-5.4,55,644,0.00,2.35,0.00,0.000,6,0.000,0.061,3166,2411,3358
$GC,967,-0.56,-117.3,73.9,-10.5,85,970,0.00,2.38,0.00,0.000,4,0.000,0.081,3167,3817,3358
$GC,994,-0.63,-117.3,75.9,-6.8,87,1001,0.17,2.30,0.00,0.000,6,0.081,0.052,3103,2394,3358
$GC,1322,-0.58,-117.3,104.9,-9.5,106,1326,0.00,2.35,0.00,0.000,4,0.000,0.067,3102,988,3358
$GC,1378,-0.50,-117.3,110.4,-9.6,108,1383,0.17,2.30,0.00,0.000,6,0.145,0.061,3150,2408,3359
$GC,1694,-0.55,-117.3,134.2,-7.0,123,1698,0.00,2.35,0.00,0.000,4,0.000,0.078,3150,3808,3359
$GC,1734,-0.63,-117.3,136.8,-6.3,125,1738,0.12,2.30,0.00,0.000,6,0.081,0.052,3104,2394,3359
$GC,2061,-0.63,-117.3,157.2,-5.2,139,2065,0.00,2.38,0.00,0.000,4,0.000,0.068,3103,986,3359
$GC,2179,-0.63,-117.3,165.1,-7.1,142,2183,0.00,2.30,0.00,0.000,6,0.000,0.061,3103,2407,3359
$GC,2492,-0.63,-117.3,185.6,-6.4,152,2496,0.00,2.35,0.00,0.000,4,0.000,0.079,3100,3808,3359
$GC,2524,-0.63,-117.3,188.0,-7.0,153,2528,0.00,2.30,0.00,0.000,6,0.000,0.054,3100,2394,3359
$GC,2859,-0.63,-117.3,211.7,-7.0,164,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3359
$GC,3165,-0.63,-117.3,232.2,-6.6,174,3169,0.00,2.38,0.00,0.000,4,0.000,0.070,3100,990,3359
$GC,3204,-0.63,-117.3,235.0,-7.3,175,3208,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2410,3359
$GC,3528,-0.63,-117.3,256.1,-6.4,186,3532,0.00,2.33,0.00,0.000,4,0.000,0.081,3100,3815,3359
$GC,3566,-0.63,-117.3,258.7,-7.3,187,3569,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2394,3359
$GC,3896,-0.63,-117.3,280.0,-6.6,198,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3359
$GC,4201,-0.63,-117.3,300.1,-6.5,208,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3358
$GC,4504,-0.63,-117.3,319.2,-6.3,213,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3358
$GC,4808,-0.63,-117.3,337.9,-6.2,218,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3357
$GC,5111,-0.63,-117.3,357.7,-6.5,223,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3357
$GC,5414,-0.63,-117.3,377.3,-6.5,228,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3357
$GC,5717,-0.63,-117.3,397.7,-6.8,233,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3357
$GC,6020,-0.63,-117.3,418.4,-6.9,238,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3357
$GC,6323,-0.63,-117.3,439.2,-6.9,243,6327,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,990,3356
$GC,6349,-0.63,-117.3,441.2,-7.1,243,6353,0.00,2.30,0.00,0.000,6,0.000,0.063,3100,2403,3356
$GC,6688,-0.63,-117.3,463.0,-6.5,249,6692,0.00,2.35,0.00,0.000,4,0.000,0.082,3100,3811,3355
$GC,6720,-0.63,-117.3,465.3,-6.6,249,6724,0.00,2.33,0.00,0.000,6,0.000,0.056,3100,2391,3356
$GC,7053,-0.63,-117.3,485.9,-6.1,255,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3356
$GC,7356,-0.63,-117.3,504.3,-6.1,260,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3355
$GC,7660,-0.63,-117.3,522.4,-6.0,265,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3356
$GC,7962,-0.63,-117.3,540.5,-6.0,270,7966,0.00,2.47,0.00,0.000,4,0.000,0.081,3100,3811,3355
$GC,7994,-0.63,-117.3,542.5,-6.0,270,7998,0.00,2.33,0.00,0.000,6,0.000,0.056,3100,2395,3355
$GC,8326,-0.63,-117.3,562.2,-6.0,276,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3355
$GC,8630,-0.63,-117.3,580.5,-6.0,281,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3355
$GC,8933,-0.68,-117.3,598.3,-5.9,286,8937,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,993,3355
$GC,8960,-0.74,-117.3,600.1,-6.3,286,8964,0.00,2.30,0.00,0.000,6,0.000,0.064,3100,2409,3354
$GC,9298,-0.79,-117.3,621.1,-6.3,292,9299,0.12,0.00,0.00,0.000,6,0.095,0.000,3052,2410,3355
$GC,9601,-0.72,-117.3,644.5,-7.8,297,9603,0.12,0.00,0.00,0.000,6,0.110,0.000,3087,2410,3354
$GC,9903,-0.72,-117.3,665.9,-7.0,302,9907,0.00,2.42,0.00,0.000,4,0.000,0.072,3087,987,3353
$GC,9941,-0.72,-117.3,668.7,-7.9,302,9945,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2401,3354
$GC,10267,-0.72,-117.3,690.7,-6.8,308,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,10571,-0.72,-117.3,710.0,-6.3,313,10575,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,983,3353
$GC,10614,-0.72,-117.3,713.1,-6.8,313,10618,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2401,3354
$GC,10935,-0.72,-117.3,733.2,-6.3,319,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2401,3353
$GC,11238,-0.72,-117.3,752.0,-6.1,324,11242,0.00,2.35,0.00,0.000,4,0.000,0.084,3086,3808,3353
$GC,11277,-0.72,-117.3,754.5,-6.2,324,11281,0.00,2.25,0.00,0.000,6,0.000,0.058,3086,2399,3353
$GC,11598,-0.72,-117.3,773.1,-5.8,330,11602,0.00,2.33,0.00,0.000,4,0.000,0.074,3086,993,3353
$GC,11630,-0.72,-117.3,775.1,-5.9,330,11634,0.00,2.30,0.00,0.000,6,0.000,0.065,3086,2399,3353
$GC,11962,-0.72,-117.3,794.3,-5.9,336,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,12266,-0.72,-117.3,811.4,-5.6,341,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3353
$GC,12568,-0.72,-117.3,828.6,-5.7,346,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,12871,-0.72,-117.3,846.6,-6.0,351,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,13175,-0.72,-117.3,864.5,-5.8,356,13176,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,13477,-0.72,-117.3,882.3,-5.9,361,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3352
$GC,13781,-0.72,-117.3,901.0,-6.2,366,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,14084,-0.72,-117.3,919.9,-6.2,371,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3352
$GC,14387,-0.72,-117.3,938.5,-6.1,376,14388,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3352
$GC,14690,-0.72,-117.3,957.5,-6.3,381,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3352
$GC,14993,-0.72,-117.3,976.9,-6.4,386,14994,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3352
$STATE,15235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15235,begin apogee
$GC,15241,-0.22,0.0,992.9,6.6,390,15355,0.52,0.00,106.62,1.496,6,0.145,0.000,3244,2192,2875
$STATE,15356,end apogee,CONTROL_FINISHED_OK
$STATE,15356,begin climb
$GC,15359,0.67,117.3,998.3,0.0,392,15479,0.90,2.83,112.07,1.445,4,0.092,0.077,3532,3607,2396
$GC,15501,0.21,117.3,998.3,5.0,394,15507,0.57,2.62,0.00,0.000,6,0.187,0.064,3393,2199,2395
$GC,15840,0.32,168.1,986.2,3.5,400,15889,0.00,0.00,45.92,1.436,6,0.000,0.000,3393,2199,2190
$GC,16207,0.44,168.1,968.6,5.0,406,16211,0.17,2.47,0.00,0.000,4,0.082,0.077,3464,784,2186
$GC,16234,0.40,168.1,966.7,7.4,406,16238,0.00,2.35,0.00,0.000,6,0.000,0.064,3464,2210,2187
$GC,16566,0.31,168.1,941.2,7.8,412,16568,0.15,0.00,0.00,0.000,6,0.150,0.000,3424,2211,2186
$GC,16868,0.31,168.1,921.0,6.6,417,16869,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2211,2185
$GC,17172,0.31,168.1,900.9,6.7,422,17173,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2211,2185
$GC,17475,0.31,168.1,880.8,6.6,427,17476,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2211,2185
$GC,17778,0.31,168.1,860.6,6.7,432,17782,0.00,2.47,0.00,0.000,4,0.000,0.080,3424,780,2185
$GC,17811,0.38,168.1,858.2,8.0,432,17815,0.00,2.33,0.00,0.000,6,0.000,0.062,3424,2211,2185
$GC,18137,0.42,168.1,836.8,6.6,438,18138,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2211,2185
$GC,18441,0.47,168.1,818.6,6.0,443,18443,0.12,0.00,0.00,0.000,6,0.092,0.000,3474,2211,2185
$GC,18744,0.38,168.1,796.3,7.3,448,18746,0.12,0.00,0.00,0.000,6,0.146,0.000,3440,2211,2184
$GC,19046,0.38,168.1,777.1,6.2,453,19050,0.00,2.45,0.00,0.000,4,0.000,0.079,3449,788,2185
$GC,19078,0.38,168.1,775.1,6.1,453,19082,0.00,2.35,0.00,0.000,6,0.000,0.064,3449,2207,2184
$GC,19411,0.38,168.1,755.4,6.0,459,19412,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2184
$GC,19713,0.38,168.1,737.7,5.8,464,19715,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2184
$GC,20017,0.38,168.1,719.8,5.9,469,20021,0.00,2.45,0.00,0.000,4,0.000,0.080,3449,778,2184
$GC,20043,0.38,168.1,718.2,5.4,469,20048,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2210,2184
$GC,20382,0.38,168.1,699.3,5.5,475,20386,0.00,2.42,0.00,0.000,4,0.000,0.080,3449,786,2184
$GC,20425,0.38,168.1,696.7,5.2,475,20429,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2204,2184
$GC,20746,0.38,168.1,677.8,6.0,481,20748,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2184
$GC,21049,0.38,168.1,659.4,6.1,486,21053,0.00,2.42,0.00,0.000,4,0.000,0.080,3449,782,2185
$GC,21088,0.38,168.1,656.9,5.6,486,21092,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2211,2184
$GC,21408,0.38,168.1,637.5,6.2,492,21409,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,2184
$GC,21711,0.38,168.1,618.4,6.2,497,21715,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,784,2184
$GC,21743,0.38,168.1,616.2,6.2,497,21747,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2211,2184
$GC,22076,0.38,168.1,595.9,6.1,503,22080,0.00,2.42,0.00,0.000,4,0.000,0.080,3449,777,2184
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$STATE,32379,end climb,SURFACE_DEPTH_REACHED
$STATE,32379,begin surface coast
$FINISH,2.8,1.024118
$STATE,32435,end surface coast,CONTROL_FINISHED_OK
$STATE,32436,begin surface
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$DATA_FILE_SIZE,47501,833
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