version: 66.03
glider: 120
mission: 9
dive: 360
start: 1 11 109 3 38 47
data:
$ID,120
$MISSION,9
$DIVE,360
$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,-25336.746
$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,22
$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
$GPS1,033206,5011.782,-14442.074,39,1.1,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.94
$_SM_ANGLEo,-73.4
$GPS2,033750,5011.805,-14442.065,16,1.2,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.131,0.121
$KALMAN_X,17279.1,-86.0,280.9,-8376.5,-1292.9
$KALMAN_Y,262633.7,97.0,35.4,-251182.2,-220.4
$MHEAD_RNG_PITCHd_Wd,28.7,22349,-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,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.73,0.000,2,0.000,0.000,136,2411,1942
$GC,39,-0.67,-117.3,4.1,-0.0,1,115,14.12,2.42,-55.28,0.000,4,0.286,0.083,3094,990,3356
$GC,368,-0.49,-117.3,34.9,-10.3,30,375,0.22,2.35,0.00,0.000,6,0.158,0.064,3157,2396,3357
$GC,696,-0.49,-117.3,58.7,-7.4,61,702,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2396,3358
$GC,1031,-0.49,-117.3,83.3,-7.0,91,1035,0.00,2.35,0.00,0.000,4,0.000,0.069,3161,990,3358
$GC,1064,-0.49,-117.3,86.0,-8.4,92,1070,0.00,2.30,0.00,0.000,6,0.000,0.061,3157,2403,3358
$GC,1380,-0.49,-117.3,108.6,-6.7,108,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2403,3358
$GC,1689,-0.56,-117.3,126.6,-5.5,123,1693,0.00,2.38,0.00,0.000,4,0.000,0.081,3155,3815,3358
$GC,1736,-0.67,-117.3,129.0,-5.8,125,1741,0.17,2.30,0.00,0.000,6,0.080,0.053,3090,2385,3358
$GC,2067,-0.80,-117.3,152.6,-7.6,141,2071,0.00,2.38,0.00,0.000,4,0.000,0.078,3088,3810,3359
$GC,2117,-0.80,-117.3,156.7,-7.8,142,2121,0.00,2.28,0.00,0.000,6,0.000,0.054,3088,2394,3358
$GC,2442,-0.96,-117.3,181.7,-7.7,153,2447,0.20,2.38,0.00,0.000,4,0.090,0.077,3006,3819,3358
$GC,2527,-0.63,-117.3,190.7,-11.2,155,2532,0.38,2.25,0.00,0.000,6,0.167,0.055,3110,2401,3358
$GC,2840,-0.63,-117.3,212.5,-6.5,165,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3359
$GC,3146,-0.63,-117.3,231.8,-6.4,175,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3359
$GC,3452,-0.63,-117.3,252.7,-7.0,185,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2401,3359
$GC,3758,-0.63,-117.3,273.0,-6.4,195,3762,0.00,2.35,0.00,0.000,4,0.000,0.071,3110,986,3359
$GC,3790,-0.63,-117.3,275.2,-6.2,196,3794,0.00,2.33,0.00,0.000,6,0.000,0.062,3110,2411,3358
$GC,4121,-0.63,-117.3,295.2,-6.2,207,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,3359
$GC,4454,-0.63,-117.3,317.9,-6.9,214,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,3358
$GC,4757,-0.63,-117.3,339.4,-7.1,219,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,3358
$GC,5061,-0.63,-117.3,360.4,-6.8,224,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,3358
$GC,5364,-0.63,-117.3,380.2,-6.5,229,5368,0.00,2.35,0.00,0.000,4,0.000,0.072,3110,994,3357
$GC,5392,-0.63,-117.3,382.1,-7.0,229,5396,0.00,2.30,0.00,0.000,6,0.000,0.064,3110,2409,3358
$GC,5723,-0.63,-117.3,402.4,-6.1,235,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2409,3358
$GC,6027,-0.63,-117.3,421.0,-6.1,240,6031,0.00,2.33,0.00,0.000,4,0.000,0.071,3110,993,3357
$GC,6054,-0.63,-117.3,422.9,-7.4,240,6058,0.00,2.28,0.00,0.000,6,0.000,0.063,3110,2400,3357
$GC,6393,-0.67,-117.3,444.1,-6.3,246,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3357
$GC,6696,-0.71,-117.3,463.7,-6.4,251,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2400,3357
$GC,6998,-0.75,-117.3,484.2,-6.8,256,7003,0.12,2.33,0.00,0.000,4,0.089,0.071,3064,993,3357
$GC,7037,-0.70,-117.3,487.5,-8.8,256,7041,0.00,2.28,0.00,0.000,6,0.000,0.063,3064,2400,3357
$GC,7358,-0.63,-117.3,513.3,-8.2,262,7359,0.17,0.00,0.00,0.000,6,0.151,0.000,3115,2400,3357
$GC,7661,-0.69,-117.3,531.6,-5.9,267,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2400,3357
$GC,7964,-0.75,-117.3,549.5,-5.9,272,7966,0.12,0.00,0.00,0.000,6,0.087,0.000,3066,2400,3357
$GC,8267,-0.75,-117.3,569.1,-6.5,277,8271,0.00,2.35,0.00,0.000,4,0.000,0.072,3067,989,3356
$GC,8294,-0.75,-117.3,571.1,-7.5,277,8298,0.00,2.30,0.00,0.000,6,0.000,0.063,3066,2401,3356
$GC,8632,-0.70,-117.3,594.4,-6.9,283,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2401,3356
$GC,8935,-0.64,-117.3,615.3,-6.9,288,8940,0.15,2.35,0.00,0.000,4,0.148,0.072,3117,995,3356
$GC,8968,-0.72,-117.3,617.4,-5.6,288,8972,0.00,2.30,0.00,0.000,6,0.000,0.064,3114,2407,3356
$GC,9295,-0.79,-117.3,635.8,-5.7,294,9300,0.15,2.35,0.00,0.000,4,0.086,0.072,3051,988,3355
$GC,9322,-0.74,-117.3,637.7,-7.4,294,9326,0.00,2.30,0.00,0.000,6,0.000,0.063,3051,2408,3355
$GC,9655,-0.63,-117.3,664.6,-8.2,300,9657,0.22,0.00,0.00,0.000,6,0.160,0.000,3115,2409,3356
$GC,9958,-0.71,-117.3,682.5,-5.8,305,9962,0.00,2.35,0.00,0.000,4,0.000,0.073,3115,986,3355
$GC,9991,-0.80,-117.3,684.6,-6.1,305,9996,0.17,2.30,0.00,0.000,6,0.086,0.064,3052,2401,3355
$GC,10318,-0.75,-117.3,707.0,-6.9,311,10322,0.00,2.35,0.00,0.000,4,0.000,0.081,3052,3817,3354
$GC,10373,-0.68,-117.3,711.1,-7.8,311,10380,0.15,2.28,0.00,0.000,6,0.120,0.057,3094,2400,3355
$GC,10682,-0.68,-117.3,728.0,-5.3,317,10686,0.00,2.33,0.00,0.000,4,0.000,0.074,3093,985,3355
$GC,10710,-0.68,-117.3,729.4,-5.9,317,10714,0.00,2.30,0.00,0.000,6,0.000,0.064,3094,2401,3355
$GC,11042,-0.68,-117.3,746.5,-5.1,323,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3355
$GC,11346,-0.68,-117.3,763.2,-5.6,328,11350,0.00,2.35,0.00,0.000,4,0.000,0.074,3093,987,3354
$GC,11378,-0.68,-117.3,765.2,-6.1,328,11383,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2410,3354
$GC,11711,-0.68,-117.3,783.6,-5.5,334,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2409,3354
$GC,12014,-0.68,-117.3,799.4,-5.2,339,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3354
$GC,12317,-0.68,-117.3,814.4,-4.9,344,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2410,3354
$GC,12621,-0.68,-117.3,829.1,-4.9,349,12625,0.00,2.38,0.00,0.000,4,0.000,0.074,3093,990,3354
$GC,12653,-0.68,-117.3,830.9,-5.5,349,12658,0.00,2.30,0.00,0.000,6,0.000,0.065,3093,2398,3354
$GC,12987,-0.68,-117.3,847.2,-4.9,355,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3353
$GC,13289,-0.68,-117.3,861.8,-4.8,360,13293,0.00,2.33,0.00,0.000,4,0.000,0.074,3093,995,3353
$GC,13321,-0.68,-117.3,863.6,-5.0,360,13325,0.00,2.30,0.00,0.000,6,0.000,0.064,3094,2401,3353
$GC,13650,-0.72,-117.3,878.1,-4.4,366,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3353
$GC,13952,-0.76,-117.3,891.0,-4.2,371,13956,0.00,2.35,0.00,0.000,4,0.000,0.073,3094,992,3353
$GC,13979,-0.81,-117.3,892.4,-5.4,371,13984,0.12,2.30,0.00,0.000,6,0.087,0.065,3049,2401,3353
$GC,14311,-0.81,-117.3,910.0,-5.4,377,14315,0.00,2.35,0.00,0.000,4,0.000,0.083,3048,3808,3353
$GC,14366,-0.73,-117.3,913.6,-6.7,377,14373,0.12,2.25,0.00,0.000,6,0.120,0.058,3081,2391,3353
$GC,14677,-0.73,-117.3,928.9,-4.9,383,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2391,3353
$GC,14979,-0.73,-117.3,944.8,-5.4,388,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2391,3353
$GC,15283,-0.73,-117.3,961.4,-5.5,393,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2391,3353
$GC,15586,-0.73,-117.3,978.3,-5.6,398,15590,0.00,2.33,0.00,0.000,4,0.000,0.075,3081,990,3353
$GC,15613,-0.73,-117.3,980.1,-5.6,398,15617,0.00,2.33,0.00,0.000,6,0.000,0.066,3081,2407,3353
$STATE,15827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15827,begin apogee
$GC,15833,-0.22,0.0,991.8,5.4,402,15949,0.52,0.00,108.07,1.490,6,0.145,0.000,3240,2196,2876
$STATE,15949,end apogee,CONTROL_FINISHED_OK
$STATE,15950,begin climb
$GC,15953,0.67,117.3,996.1,0.0,404,16077,0.88,2.70,112.47,1.442,4,0.091,0.077,3533,795,2396
$GC,16122,0.32,117.3,992.9,6.6,406,16127,0.43,2.47,0.00,0.000,6,0.179,0.061,3427,2202,2394
$GC,16443,0.32,117.3,976.6,5.0,412,16447,0.00,2.38,0.00,0.000,4,0.000,0.081,3426,3612,2393
$GC,16487,0.21,117.3,974.1,5.5,412,16492,0.20,2.33,0.00,0.000,6,0.173,0.062,3385,2193,2393
$GC,16802,0.38,174.2,963.3,3.4,418,16864,0.15,2.47,51.25,1.443,4,0.083,0.079,3450,792,2164
$GC,16898,0.38,174.2,958.2,5.4,419,16902,0.00,2.38,0.00,0.000,6,0.000,0.062,3450,2205,2162
$GC,17230,0.38,174.2,938.4,6.0,425,17234,0.00,2.35,0.00,0.000,4,0.000,0.082,3450,3611,2160
$GC,17274,0.27,174.2,935.4,6.4,425,17279,0.17,2.30,0.00,0.000,6,0.176,0.065,3405,2200,2159
$GC,17590,0.39,187.9,920.7,4.6,431,17605,0.12,0.00,12.73,1.340,6,0.090,0.000,3451,2200,2110
$GC,17892,0.39,187.9,903.7,5.6,436,17893,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2200,2109
$GC,18195,0.39,187.9,886.8,5.6,441,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2200,2108
$GC,18498,0.39,187.9,869.0,6.0,446,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2200,2108
$GC,18802,0.39,187.9,850.2,6.2,451,18803,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2200,2108
$GC,19104,0.39,187.9,830.4,6.5,456,19108,0.00,2.40,0.00,0.000,4,0.000,0.083,3451,3613,2107
$GC,19143,0.31,187.9,827.3,8.9,456,19148,0.12,2.30,0.00,0.000,6,0.174,0.065,3420,2196,2107
$GC,19464,0.39,187.9,808.3,5.9,462,19465,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2196,2107
$GC,19767,0.48,187.9,791.6,5.5,467,19769,0.15,0.00,0.00,0.000,6,0.088,0.000,3478,2196,2107
$GC,20070,0.41,187.9,771.1,6.8,472,20074,0.00,2.40,0.00,0.000,4,0.000,0.082,3478,3609,2107
$GC,20098,0.28,187.9,768.9,7.0,472,20103,0.25,2.30,0.00,0.000,6,0.168,0.064,3410,2198,2107
$GC,20431,0.40,192.9,752.6,4.9,478,20442,0.12,2.40,6.07,1.088,4,0.090,0.079,3457,785,2088
$GC,20481,0.40,192.9,749.3,6.4,478,20486,0.00,2.33,0.00,0.000,6,0.000,0.064,3457,2213,2088
$GC,20791,0.40,192.9,728.8,6.7,483,20793,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2213,2088
$GC,21095,0.40,192.9,707.9,7.0,488,21096,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2213,2087
$GC,21397,0.40,192.9,686.1,7.2,493,21401,0.00,2.33,0.00,0.000,4,0.000,0.084,3457,3608,2087
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$STATE,32638,end climb,SURFACE_DEPTH_REACHED
$STATE,32638,begin surface coast
$FINISH,3.0,1.013536
$STATE,32779,end surface coast,CONTROL_FINISHED_OK
$STATE,32779,begin surface
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$10V_AH,10.6,48.150
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$DATA_FILE_SIZE,50525,874
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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