version: 66.03
glider: 120
mission: 9
dive: 515
start: 3 10 109 18 42 43
data:
$ID,120
$MISSION,9
$DIVE,515
$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,275
$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,-28825.545
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,183506,4958.092,-14513.223,61,1.8,66,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-76.9
$GPS2,184149,4958.087,-14513.255,12,1.7,17,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.177
$KALMAN_X,-27818.4,-273.9,-39.6,29600.1,79.8
$KALMAN_Y,113068.1,-126.8,-221.7,-122702.0,3857.5
$MHEAD_RNG_PITCHd_Wd,157.0,7709,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.35,0.000,2,0.000,0.000,142,2414,2011
$GC,41,-0.67,-117.3,3.5,-0.0,1,117,13.95,2.50,-56.12,0.000,4,0.281,0.081,3096,987,3356
$GC,171,-0.47,-117.3,10.5,-10.1,12,178,0.22,2.35,0.00,0.000,6,0.155,0.064,3159,2404,3358
$GC,500,-0.52,-117.3,34.2,-7.5,43,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2403,3358
$GC,826,-0.57,-117.3,58.1,-5.6,74,827,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2404,3358
$GC,1145,-0.62,-117.3,78.2,-6.3,104,1150,0.12,2.38,0.00,0.000,4,0.081,0.067,3108,994,3358
$GC,1167,-0.62,-117.3,80.0,-7.6,105,1173,0.00,2.33,0.00,0.000,6,0.000,0.061,3108,2410,3359
$GC,1483,-0.54,-117.3,107.0,-9.3,121,1485,0.12,0.00,0.00,0.000,6,0.151,0.000,3141,2410,3359
$GC,1793,-0.54,-117.3,132.8,-7.7,136,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2410,3359
$GC,2122,-0.59,-117.3,154.8,-6.4,151,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2410,3359
$GC,2428,-0.66,-117.3,172.9,-5.7,161,2433,0.12,2.40,0.00,0.000,4,0.084,0.069,3095,989,3359
$GC,2479,-0.66,-117.3,176.3,-7.0,162,2483,0.00,2.33,0.00,0.000,6,0.000,0.061,3095,2402,3359
$GC,2792,-0.66,-117.3,197.7,-7.1,172,2796,0.00,2.38,0.00,0.000,4,0.000,0.081,3095,3810,3359
$GC,2865,-0.66,-117.3,203.8,-8.5,174,2868,0.00,2.25,0.00,0.000,6,0.000,0.054,3095,2396,3359
$GC,3200,-0.66,-117.3,228.7,-7.1,185,3204,0.00,2.35,0.00,0.000,4,0.000,0.071,3094,985,3359
$GC,3230,-0.66,-117.3,230.7,-7.8,186,3234,0.00,2.35,0.00,0.000,6,0.000,0.061,3095,2406,3359
$GC,3566,-0.66,-117.3,250.4,-5.5,197,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3359
$GC,3872,-0.66,-117.3,268.5,-6.2,207,3876,0.00,2.38,0.00,0.000,4,0.000,0.081,3095,3817,3359
$GC,3902,-0.66,-117.3,270.3,-6.2,208,3906,0.00,2.28,0.00,0.000,6,0.000,0.054,3095,2391,3359
$GC,4237,-0.66,-117.3,292.1,-6.6,219,4241,0.00,2.33,0.00,0.000,4,0.000,0.071,3095,995,3359
$GC,4276,-0.66,-117.3,294.8,-6.7,220,4280,0.00,2.33,0.00,0.000,6,0.000,0.061,3094,2401,3359
$GC,4629,-0.66,-117.3,316.5,-6.0,228,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3359
$GC,4932,-0.66,-117.3,335.2,-6.2,233,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3359
$GC,5235,-0.66,-117.3,354.1,-6.2,238,5239,0.00,2.38,0.00,0.000,4,0.000,0.082,3094,3809,3358
$GC,5263,-0.66,-117.3,356.0,-6.5,238,5267,0.00,2.22,0.00,0.000,6,0.000,0.055,3094,2402,3359
$GC,5601,-0.66,-117.3,377.4,-6.5,244,5605,0.00,2.38,0.00,0.000,4,0.000,0.071,3095,984,3359
$GC,5629,-0.66,-117.3,379.4,-7.1,244,5633,0.00,2.35,0.00,0.000,6,0.000,0.062,3094,2400,3358
$GC,5967,-0.66,-117.3,402.1,-6.7,250,5972,0.00,2.38,0.00,0.000,4,0.000,0.082,3094,3807,3358
$GC,6012,-0.66,-117.3,405.3,-7.2,250,6016,0.00,2.25,0.00,0.000,6,0.000,0.055,3095,2399,3358
$GC,6329,-0.66,-117.3,425.4,-6.3,256,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3359
$GC,6631,-0.66,-117.3,443.2,-5.8,261,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3358
$GC,6934,-0.66,-117.3,460.9,-5.9,266,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3358
$GC,7237,-0.66,-117.3,479.8,-6.2,271,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3358
$GC,7540,-0.66,-117.3,498.8,-6.2,276,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3358
$GC,7843,-0.66,-117.3,515.5,-5.4,281,7847,0.00,2.38,0.00,0.000,4,0.000,0.073,3094,990,3358
$GC,7872,-0.71,-117.3,517.1,-5.6,281,7876,0.00,2.35,0.00,0.000,6,0.000,0.063,3094,2406,3357
$GC,8205,-0.71,-117.3,533.6,-4.9,287,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2406,3357
$GC,8508,-0.71,-117.3,548.9,-5.1,292,8512,0.00,2.42,0.00,0.000,4,0.000,0.084,3094,3815,3357
$GC,8544,-0.71,-117.3,550.7,-5.3,292,8548,0.00,2.28,0.00,0.000,6,0.000,0.056,3094,2398,3357
$GC,8871,-0.75,-117.3,568.0,-5.2,298,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3357
$GC,9174,-0.79,-117.3,582.3,-4.7,303,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3357
$GC,9477,-0.83,-117.3,595.4,-4.2,308,9479,0.15,0.00,0.00,0.000,6,0.088,0.000,3038,2399,3357
$GC,9781,-0.74,-117.3,613.4,-6.1,313,9783,0.12,0.00,0.00,0.000,6,0.101,0.000,3073,2396,3357
$GC,10083,-0.74,-117.3,631.7,-6.1,318,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2396,3357
$GC,10387,-0.74,-117.3,652.0,-6.8,323,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2396,3357
$GC,10689,-0.74,-117.3,674.9,-7.6,328,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2396,3357
$GC,10993,-0.88,-117.3,701.0,-8.7,333,10998,0.12,2.47,0.00,0.000,4,0.084,0.083,3026,3813,3356
$GC,11072,-0.74,-117.3,708.6,-10.4,334,11076,0.17,2.28,0.00,0.000,6,0.135,0.057,3073,2400,3356
$GC,11421,-0.86,-117.3,738.0,-8.4,340,11425,0.00,2.45,0.00,0.000,4,0.000,0.083,3073,3818,3356
$GC,11477,-0.91,-117.3,742.6,-7.7,340,11484,0.15,2.30,0.00,0.000,6,0.081,0.058,3016,2390,3356
$GC,11788,-0.91,-117.3,768.0,-8.2,346,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2391,3356
$GC,12091,-0.91,-117.3,791.2,-7.6,351,12095,0.00,2.45,0.00,0.000,4,0.000,0.083,3016,3814,3356
$GC,12240,-0.72,-117.3,803.4,-8.7,353,12245,0.25,2.30,0.00,0.000,6,0.153,0.058,3083,2390,3356
$GC,12589,-0.72,-117.3,823.4,-5.5,359,12593,0.00,2.47,0.00,0.000,4,0.000,0.084,3083,3815,3356
$GC,12622,-0.72,-117.3,825.2,-5.1,359,12626,0.00,2.28,0.00,0.000,6,0.000,0.058,3083,2402,3356
$GC,12949,-0.72,-117.3,842.7,-5.4,365,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,13252,-0.72,-117.3,859.1,-5.5,370,13256,0.00,2.45,0.00,0.000,4,0.000,0.084,3084,3808,3356
$GC,13290,-0.72,-117.3,861.5,-6.1,370,13294,0.00,2.28,0.00,0.000,6,0.000,0.058,3083,2398,3356
$GC,13612,-0.89,-117.3,882.1,-6.6,376,13617,0.15,2.47,0.00,0.000,4,0.091,0.082,3024,3817,3355
$GC,13713,-0.73,-117.3,890.0,-7.9,377,13717,0.20,2.30,0.00,0.000,6,0.133,0.058,3078,2394,3355
$GC,14039,-0.73,-117.3,910.4,-6.2,383,14043,0.00,2.35,0.00,0.000,4,0.000,0.074,3078,995,3355
$GC,14067,-0.73,-117.3,912.1,-6.0,383,14071,0.00,2.35,0.00,0.000,6,0.000,0.065,3078,2401,3355
$GC,14399,-0.73,-117.3,933.7,-6.6,389,14403,0.00,2.42,0.00,0.000,4,0.000,0.085,3079,3817,3355
$GC,14426,-0.73,-117.3,935.6,-7.1,389,14430,0.00,2.30,0.00,0.000,6,0.000,0.058,3078,2396,3355
$GC,14759,-0.73,-117.3,956.4,-6.2,395,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2396,3355
$GC,15063,-0.73,-117.3,973.4,-5.5,400,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2396,3355
$GC,15365,-0.73,-117.3,988.9,-5.1,405,15369,0.00,2.45,0.00,0.000,4,0.000,0.085,3078,3809,3354
$STATE,15385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15385,begin apogee
$GC,15395,-0.22,0.0,990.0,4.9,405,15507,0.52,0.00,108.90,1.484,6,0.143,0.000,3240,2198,2876
$STATE,15507,end apogee,CONTROL_FINISHED_OK
$STATE,15508,begin climb
$GC,15511,0.67,117.3,993.0,0.0,407,15635,0.88,2.70,114.28,1.429,4,0.089,0.077,3531,786,2396
$GC,15675,0.32,117.3,990.4,7.2,409,15680,0.43,2.53,0.00,0.000,6,0.173,0.060,3426,2203,2394
$GC,16003,0.32,117.3,969.1,6.5,415,16007,0.00,2.35,0.00,0.000,4,0.000,0.081,3425,3612,2393
$GC,16059,0.22,117.3,964.9,7.0,415,16066,0.15,2.33,0.00,0.000,6,0.179,0.064,3388,2177,2393
$GC,16370,0.31,117.3,947.3,5.6,421,16374,0.00,2.33,0.00,0.000,4,0.000,0.079,3394,789,2392
$GC,16415,0.40,117.3,944.6,5.7,421,16420,0.15,2.33,0.00,0.000,6,0.085,0.061,3452,2209,2392
$GC,16731,0.31,117.3,924.3,6.5,427,16733,0.12,0.00,0.00,0.000,6,0.153,0.000,3419,2210,2392
$GC,17035,0.31,117.3,908.2,5.2,432,17039,0.00,2.40,0.00,0.000,4,0.000,0.079,3421,792,2392
$GC,17085,0.31,117.3,905.5,5.3,432,17089,0.00,2.33,0.00,0.000,6,0.000,0.062,3422,2211,2392
$GC,17396,0.34,135.5,891.6,4.5,437,17415,0.00,0.00,16.88,1.368,6,0.000,0.000,3422,2211,2323
$GC,17699,0.37,160.8,878.6,4.3,442,17724,0.00,0.00,23.88,1.381,6,0.000,0.000,3421,2211,2220
$GC,18002,0.44,183.2,865.5,4.4,447,18026,0.12,0.00,21.58,1.361,6,0.090,0.000,3474,2211,2129
$GC,18306,0.36,183.2,847.1,6.2,452,18310,0.15,2.35,0.00,0.000,4,0.139,0.081,3427,3610,2126
$GC,18350,0.36,183.2,844.4,5.6,452,18354,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2193,2125
$GC,18665,0.36,183.2,827.3,5.5,458,18667,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2125
$GC,18968,0.36,183.2,809.3,5.9,463,18969,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2124
$GC,19272,0.36,183.2,789.6,6.5,468,19276,0.00,2.42,0.00,0.000,4,0.000,0.082,3436,3616,2124
$GC,19316,0.36,183.2,786.2,7.0,468,19320,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2200,2124
$GC,19631,0.36,183.2,764.0,7.1,474,19632,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2124
$GC,19934,0.36,183.2,742.6,7.1,479,19935,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2124
$GC,20239,0.36,183.2,721.2,7.1,484,20240,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2124
$GC,20540,0.36,183.2,700.1,7.0,489,20542,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2124
$GC,20844,0.41,183.2,680.3,6.4,494,20848,0.00,2.42,0.00,0.000,4,0.000,0.082,3436,3617,2124
$GC,20888,0.41,183.2,677.2,8.0,494,20892,0.00,2.33,0.00,0.000,6,0.000,0.064,3435,2195,2124
$GC,21204,0.45,183.2,659.0,5.7,500,21206,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2123
$GC,21507,0.50,184.9,643.8,5.0,505,21509,0.12,0.00,0.00,0.000,6,0.093,0.000,3490,2195,2123
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$STATE,32156,end climb,SURFACE_DEPTH_REACHED
$STATE,32156,begin surface coast
$FINISH,2.2,1.012488
$STATE,32253,end surface coast,CONTROL_FINISHED_OK
$STATE,32253,begin surface
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$10V_AH,10.4,69.353
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$DEVICE_SECS,30.175,222.100,388.975,0.000,0.000,31.133,33.897,173.703,251.000,0.000,0.000,17.147,1809.734,27162.645,556.874,2391.699,803.324,33.375,1758.021,0.000,2351.677,0.000,0.465
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$DATA_FILE_SIZE,47563,843
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