version: 66.03
glider: 120
mission: 9
dive: 541
start: 3 20 109 16 22 7
data:
$ID,120
$MISSION,9
$DIVE,541
$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,-29352.512
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,160700,5001.298,-14442.098,86,1.4,86,18.5
$_CALLS,2
$_XMS_NAKs,52
$_XMS_TOUTs,4
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-71.4
$GPS2,162111,5001.204,-14442.094,23,1.9,23,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.110,0.140
$KALMAN_X,-49466.0,219.5,224.8,87524.6,-726.1
$KALMAN_Y,115255.2,-69.2,-311.1,-119086.2,143.6
$MHEAD_RNG_PITCHd_Wd,303.3,15666,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-10.55,0.000,2,0.000,0.000,134,2408,2014
$GC,42,-0.67,-117.3,3.3,-0.0,1,117,13.85,0.00,-56.97,0.000,6,0.278,0.000,3094,2409,3356
$GC,437,-0.50,-117.3,39.2,-10.4,38,442,0.17,2.42,0.00,0.000,4,0.162,0.071,3149,992,3357
$GC,466,-0.50,-117.3,41.6,-7.0,40,471,0.00,2.35,0.00,0.000,6,0.000,0.063,3150,2405,3358
$GC,793,-0.50,-117.3,70.9,-9.0,70,797,0.00,2.35,0.00,0.000,4,0.000,0.082,3141,3808,3358
$GC,828,-0.50,-117.3,73.7,-8.2,73,832,0.00,2.25,0.00,0.000,6,0.000,0.054,3141,2398,3358
$GC,1147,-0.50,-117.3,99.1,-7.8,91,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3358
$GC,1455,-0.50,-117.3,122.1,-6.7,106,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3358
$GC,1765,-0.57,-117.3,142.4,-6.5,121,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3358
$GC,2073,-0.65,-117.3,161.1,-5.7,133,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3358
$GC,2379,-0.73,-117.3,178.8,-5.7,143,2383,0.15,2.42,0.00,0.000,4,0.082,0.079,3075,3809,3358
$GC,2408,-0.68,-117.3,180.9,-8.0,144,2412,0.00,2.28,0.00,0.000,6,0.000,0.054,3075,2389,3358
$GC,2744,-0.62,-117.3,206.1,-7.4,155,2746,0.15,0.00,0.00,0.000,6,0.111,0.000,3118,2387,3358
$GC,3050,-0.62,-117.3,225.6,-6.3,165,3054,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,3806,3358
$GC,3080,-0.66,-117.3,227.5,-6.5,166,3084,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2391,3358
$GC,3415,-0.66,-117.3,249.6,-6.5,177,3419,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,989,3358
$GC,3467,-0.66,-117.3,253.3,-6.7,178,3470,0.00,2.35,0.00,0.000,6,0.000,0.061,3113,2412,3358
$GC,3785,-0.66,-117.3,274.1,-6.6,189,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3358
$GC,4092,-0.66,-117.3,295.0,-6.9,199,4096,0.00,2.42,0.00,0.000,4,0.000,0.070,3113,989,3358
$GC,4137,-0.66,-117.3,298.3,-7.3,200,4141,0.00,2.33,0.00,0.000,6,0.000,0.061,3113,2405,3358
$GC,4488,-0.66,-117.3,323.6,-7.2,207,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3358
$GC,4792,-0.66,-117.3,344.0,-6.6,212,4796,0.00,2.40,0.00,0.000,4,0.000,0.082,3113,3813,3358
$GC,4820,-0.70,-117.3,345.9,-6.7,212,4824,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2397,3358
$GC,5153,-0.75,-117.3,366.1,-6.0,218,5158,0.12,2.38,0.00,0.000,4,0.087,0.070,3064,986,3358
$GC,5181,-0.75,-117.3,368.1,-7.3,218,5185,0.00,2.35,0.00,0.000,6,0.000,0.061,3064,2407,3358
$GC,5514,-0.67,-117.3,392.5,-7.3,224,5519,0.12,2.40,0.00,0.000,4,0.142,0.081,3099,3816,3358
$GC,5564,-0.67,-117.3,396.0,-6.4,224,5568,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2393,3357
$GC,5875,-0.67,-117.3,416.4,-6.7,229,5879,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,990,3358
$GC,5908,-0.67,-117.3,418.9,-7.5,229,5912,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2408,3357
$GC,6241,-0.67,-117.3,444.3,-7.8,235,6245,0.00,2.38,0.00,0.000,4,0.000,0.082,3099,3809,3357
$GC,6269,-0.67,-117.3,446.6,-7.9,235,6273,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2391,3357
$GC,6607,-0.67,-117.3,471.4,-7.3,241,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3357
$GC,6910,-0.67,-117.3,492.1,-6.7,246,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3357
$GC,7213,-0.67,-117.3,510.6,-6.0,251,7217,0.00,2.47,0.00,0.000,4,0.000,0.082,3099,3813,3357
$GC,7259,-0.72,-117.3,513.3,-5.5,251,7263,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2398,3357
$GC,7575,-0.72,-117.3,529.8,-5.2,257,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,7878,-0.72,-117.3,545.5,-5.2,262,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,8181,-0.72,-117.3,562.5,-5.6,267,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,8484,-0.72,-117.3,579.9,-5.8,272,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,8788,-0.72,-117.3,597.5,-5.8,277,8792,0.00,2.50,0.00,0.000,4,0.000,0.082,3099,3814,3357
$GC,8821,-0.77,-117.3,599.6,-6.5,277,8826,0.00,2.30,0.00,0.000,6,0.000,0.055,3099,2397,3356
$GC,9148,-0.77,-117.3,619.8,-6.2,283,9153,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,986,3356
$GC,9194,-0.82,-117.3,623.0,-7.2,283,9199,0.15,2.35,0.00,0.000,6,0.083,0.062,3044,2402,3356
$GC,9510,-0.75,-117.3,645.8,-7.2,289,9515,0.10,2.42,0.00,0.000,4,0.096,0.082,3072,3806,3356
$GC,9560,-0.75,-117.3,649.3,-6.7,289,9564,0.00,2.28,0.00,0.000,6,0.000,0.056,3072,2399,3356
$GC,9871,-0.75,-117.3,668.2,-6.0,294,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3356
$GC,10174,-0.75,-117.3,686.4,-5.9,299,10178,0.00,2.45,0.00,0.000,4,0.000,0.083,3072,3806,3356
$GC,10201,-0.75,-117.3,688.1,-6.3,299,10206,0.00,2.28,0.00,0.000,6,0.000,0.056,3072,2397,3356
$GC,10534,-0.75,-117.3,707.3,-5.8,305,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3356
$GC,10837,-0.75,-117.3,723.9,-5.5,310,10841,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3807,3356
$GC,10872,-0.75,-117.3,726.0,-6.6,310,10876,0.00,2.28,0.00,0.000,6,0.000,0.057,3072,2398,3355
$GC,11199,-0.75,-117.3,745.2,-6.0,316,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2399,3355
$GC,11502,-0.75,-117.3,763.9,-6.2,321,11506,0.00,2.45,0.00,0.000,4,0.000,0.084,3072,3808,3355
$GC,11529,-0.75,-117.3,765.9,-6.9,321,11533,0.00,2.28,0.00,0.000,6,0.000,0.057,3072,2399,3355
$GC,11862,-0.75,-117.3,787.9,-6.7,327,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3355
$GC,12164,-0.75,-117.3,807.4,-6.4,332,12168,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3813,3355
$GC,12198,-0.75,-117.3,809.6,-6.0,332,12202,0.00,2.30,0.00,0.000,6,0.000,0.057,3072,2391,3355
$GC,12525,-0.75,-117.3,829.1,-5.9,338,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2392,3355
$GC,12829,-0.75,-117.3,846.7,-5.8,343,12832,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3809,3355
$GC,12862,-0.75,-117.3,848.7,-6.0,343,12866,0.00,2.28,0.00,0.000,6,0.000,0.057,3072,2402,3354
$GC,13195,-0.75,-117.3,869.2,-6.3,349,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,13498,-0.75,-117.3,888.7,-6.5,354,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3354
$GC,13802,-0.75,-117.3,908.9,-6.6,359,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3354
$GC,14104,-0.75,-117.3,928.0,-6.2,364,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3354
$GC,14407,-0.75,-117.3,945.7,-5.8,369,14409,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3354
$GC,14711,-0.75,-117.3,960.6,-4.9,374,14715,0.00,2.47,0.00,0.000,4,0.000,0.085,3072,3808,3354
$GC,14749,-0.75,-117.3,962.6,-5.0,374,14753,0.00,2.30,0.00,0.000,6,0.000,0.058,3071,2392,3354
$GC,15071,-0.75,-117.3,978.6,-5.0,380,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2392,3354
$STATE,15310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15310,begin apogee
$GC,15318,-0.22,0.0,991.9,5.5,384,15433,0.57,0.00,108.88,1.486,6,0.143,0.000,3243,2192,2875
$STATE,15434,end apogee,CONTROL_FINISHED_OK
$STATE,15434,begin climb
$GC,15437,0.67,117.3,996.0,0.0,386,15561,0.88,2.67,114.57,1.432,4,0.094,0.077,3534,792,2396
$GC,15606,0.32,117.3,994.6,5.5,388,15612,0.43,2.50,0.00,0.000,6,0.170,0.061,3426,2201,2394
$GC,15928,0.34,132.7,979.7,4.6,394,15947,0.00,0.00,14.60,1.348,6,0.000,0.000,3426,2200,2334
$GC,16300,0.35,141.7,961.9,4.7,400,16314,0.00,2.38,9.43,1.280,4,0.000,0.081,3426,3611,2298
$GC,16360,0.28,141.7,958.5,6.7,400,16367,0.00,2.33,0.00,0.000,6,0.000,0.063,3426,2181,2298
$GC,16671,0.31,159.2,944.6,4.5,406,16690,0.00,0.00,17.40,1.381,6,0.000,0.000,3426,2182,2226
$GC,16975,0.32,171.5,930.6,4.6,411,16989,0.00,0.00,12.48,1.333,6,0.000,0.000,3426,2182,2176
$GC,17277,0.36,173.0,915.8,5.0,416,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2182,2174
$GC,17579,0.36,173.0,899.8,5.3,421,17581,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2182,2174
$GC,17883,0.40,173.0,882.8,5.6,426,17884,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2182,2173
$GC,18187,0.44,173.0,865.5,5.7,431,18188,0.10,0.00,0.00,0.000,6,0.091,0.000,3464,2182,2174
$GC,18489,0.40,173.0,846.2,6.4,436,18490,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2182,2174
$GC,18793,0.36,173.0,827.0,6.3,441,18794,0.12,0.00,0.00,0.000,6,0.124,0.000,3429,2182,2173
$GC,19095,0.40,173.0,810.9,5.2,446,19097,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2182,2173
$GC,19399,0.44,173.0,795.1,5.2,451,19400,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2182,2173
$GC,19702,0.48,175.7,780.2,4.9,456,19710,0.12,0.00,5.18,1.032,6,0.082,0.000,3479,2182,2159
$GC,20005,0.39,175.7,760.8,6.5,461,20007,0.12,0.00,0.00,0.000,6,0.140,0.000,3445,2182,2159
$GC,20307,0.39,175.7,743.0,5.9,466,20311,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,782,2158
$GC,20358,0.39,175.7,739.9,5.6,466,20363,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2205,2158
$GC,20669,0.39,175.7,719.2,6.7,471,20670,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2158
$GC,20972,0.39,175.7,698.0,7.0,476,20976,0.00,2.45,0.00,0.000,4,0.000,0.079,3449,791,2158
$GC,21010,0.39,175.7,695.1,6.8,476,21015,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2207,2158
$GC,21333,0.39,175.7,674.0,6.5,482,21337,0.00,2.38,0.00,0.000,4,0.000,0.081,3448,3609,2158
$GC,21367,0.34,175.7,671.7,6.6,482,21371,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2199,2158
$GC,21694,0.34,175.7,652.9,5.6,488,21698,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,785,2158
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$STATE,32553,end climb,SURFACE_DEPTH_REACHED
$STATE,32553,begin surface coast
$FINISH,1.8,1.012876
$STATE,32639,end surface coast,CONTROL_FINISHED_OK
$STATE,32640,begin surface
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$10V_AH,10.4,72.916
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$DATA_FILE_SIZE,47523,831
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