version: 66.03
glider: 120
mission: 9
dive: 573
start: 4 1 109 16 38 45
data:
$ID,120
$MISSION,9
$DIVE,573
$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,-30011.902
$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,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
$GPS1,162330,5021.932,-14427.870,79,1.2,79,18.7
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-74.6
$GPS2,163750,5021.926,-14427.841,16,1.6,16,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.177
$KALMAN_X,-72632.8,217.9,205.5,127651.9,-1115.4
$KALMAN_Y,125948.0,463.6,338.8,-92602.1,-3316.6
$MHEAD_RNG_PITCHd_Wd,156.0,51753,-12.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.67,-116.9,0.0,0.0,0,38,0.00,0.00,-10.00,0.000,2,0.000,0.000,135,2413,2002
$GC,42,-0.67,-117.3,3.0,-0.0,1,118,14.10,2.38,-54.08,0.000,4,0.285,0.095,3096,3810,3354
$GC,223,-0.52,-117.3,16.9,-13.1,17,228,0.17,2.28,0.00,0.000,6,0.155,0.056,3144,2389,3356
$GC,548,-0.52,-117.3,43.4,-7.2,47,549,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2389,3356
$GC,868,-0.52,-117.3,67.4,-7.8,77,869,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2389,3357
$GC,1191,-0.52,-117.3,93.3,-7.7,100,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2389,3357
$GC,1502,-0.52,-117.3,118.3,-8.2,115,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2389,3357
$GC,1811,-0.58,-117.3,140.3,-6.1,130,1815,0.00,2.35,0.00,0.000,4,0.000,0.071,3145,991,3357
$GC,1844,-0.67,-117.3,142.6,-6.2,131,1852,0.12,2.35,0.00,0.000,6,0.084,0.062,3096,2411,3357
$GC,2160,-0.86,-117.3,163.7,-6.8,144,2165,0.15,2.38,0.00,0.000,4,0.108,0.079,3033,3813,3357
$GC,2359,-0.62,-117.3,183.2,-10.2,150,2364,0.30,2.28,0.00,0.000,6,0.150,0.054,3116,2392,3357
$GC,2694,-0.62,-117.3,204.7,-6.4,161,2698,0.00,2.38,0.00,0.000,4,0.000,0.071,3117,985,3357
$GC,2734,-0.62,-117.3,207.4,-6.6,162,2738,0.00,2.38,0.00,0.000,6,0.000,0.061,3113,2409,3357
$GC,3058,-0.62,-117.3,228.3,-6.5,173,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3357
$GC,3364,-0.62,-117.3,247.3,-6.0,183,3369,0.00,2.38,0.00,0.000,4,0.000,0.081,3113,3813,3357
$GC,3399,-0.62,-117.3,249.5,-6.7,184,3403,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2389,3357
$GC,3729,-0.62,-117.3,270.5,-6.5,195,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3357
$GC,4035,-0.62,-117.3,289.9,-6.3,205,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3357
$GC,4341,-0.62,-117.3,308.2,-5.9,213,4346,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,3816,3357
$GC,4378,-0.68,-117.3,310.3,-6.4,213,4382,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2390,3357
$GC,4705,-0.85,-117.3,331.1,-6.5,219,4710,0.17,2.45,0.00,0.000,4,0.084,0.079,3042,3819,3357
$GC,4778,-0.68,-117.3,336.9,-8.1,220,4783,0.20,2.28,0.00,0.000,6,0.148,0.055,3095,2391,3357
$GC,5134,-0.68,-117.3,360.1,-6.5,226,5138,0.00,2.35,0.00,0.000,4,0.000,0.071,3096,993,3357
$GC,5178,-0.68,-117.3,363.4,-7.2,226,5182,0.00,2.35,0.00,0.000,6,0.000,0.062,3096,2401,3357
$GC,5494,-0.68,-117.3,383.2,-6.3,232,5498,0.00,2.40,0.00,0.000,4,0.000,0.081,3095,3816,3357
$GC,5528,-0.68,-117.3,385.4,-6.7,232,5532,0.00,2.28,0.00,0.000,6,0.000,0.055,3096,2396,3357
$GC,5854,-0.68,-117.3,405.9,-6.3,238,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3357
$GC,6158,-0.68,-117.3,423.5,-5.8,243,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2396,3357
$GC,6461,-0.68,-117.3,441.6,-6.0,248,6465,0.00,2.38,0.00,0.000,4,0.000,0.071,3095,989,3356
$GC,6497,-0.68,-117.3,443.7,-6.1,248,6501,0.00,2.38,0.00,0.000,6,0.000,0.063,3095,2408,3356
$GC,6824,-0.68,-117.3,464.4,-6.3,254,6828,0.00,2.38,0.00,0.000,4,0.000,0.082,3096,3807,3356
$GC,6869,-0.68,-117.3,467.2,-6.2,254,6873,0.00,2.25,0.00,0.000,6,0.000,0.055,3096,2402,3356
$GC,7184,-0.68,-117.3,483.4,-5.0,260,7189,0.00,2.40,0.00,0.000,4,0.000,0.072,3096,983,3356
$GC,7214,-0.68,-117.3,484.9,-5.5,260,7218,0.00,2.38,0.00,0.000,6,0.000,0.062,3096,2403,3356
$GC,7546,-0.68,-117.3,503.5,-5.7,266,7550,0.00,2.40,0.00,0.000,4,0.000,0.082,3095,3814,3356
$GC,7580,-0.68,-117.3,505.6,-5.9,266,7584,0.00,2.28,0.00,0.000,6,0.000,0.055,3096,2397,3356
$GC,7907,-0.68,-117.3,525.1,-6.1,272,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2397,3356
$GC,8210,-0.68,-117.3,543.6,-6.1,277,8215,0.00,2.38,0.00,0.000,4,0.000,0.071,3096,991,3356
$GC,8239,-0.68,-117.3,545.6,-6.7,277,8243,0.00,2.38,0.00,0.000,6,0.000,0.063,3096,2408,3355
$GC,8571,-0.68,-117.3,565.4,-5.9,283,8575,0.00,2.42,0.00,0.000,4,0.000,0.071,3096,991,3355
$GC,8605,-0.68,-117.3,567.5,-5.9,283,8609,0.00,2.38,0.00,0.000,6,0.000,0.063,3095,2407,3355
$GC,8932,-0.68,-117.3,586.2,-5.7,289,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2406,3355
$GC,9235,-0.68,-117.3,604.9,-6.3,294,9239,0.00,2.42,0.00,0.000,4,0.000,0.071,3096,988,3355
$GC,9268,-0.68,-117.3,607.3,-7.0,294,9272,0.00,2.38,0.00,0.000,6,0.000,0.063,3096,2404,3355
$GC,9594,-0.68,-117.3,628.8,-6.7,300,9599,0.00,2.40,0.00,0.000,4,0.000,0.083,3096,3811,3355
$GC,9629,-0.72,-117.3,631.3,-7.3,300,9633,0.00,2.28,0.00,0.000,6,0.000,0.055,3096,2395,3355
$GC,9957,-0.90,-117.3,655.6,-7.5,306,9962,0.17,2.45,0.00,0.000,4,0.086,0.081,3026,3816,3354
$GC,10091,-0.74,-117.3,666.7,-8.1,308,10096,0.17,2.30,0.00,0.000,6,0.140,0.056,3073,2388,3354
$GC,10458,-0.69,-117.3,690.4,-6.2,314,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2389,3355
$GC,10761,-0.65,-117.3,708.6,-6.0,319,10766,0.12,2.40,0.00,0.000,4,0.167,0.071,3108,988,3354
$GC,10790,-0.70,-117.3,710.3,-5.4,319,10794,0.00,2.38,0.00,0.000,6,0.000,0.064,3108,2400,3355
$GC,11123,-0.90,-117.3,729.7,-6.2,325,11127,0.22,2.42,0.00,0.000,4,0.086,0.071,3025,993,3354
$GC,11322,-0.74,-117.3,745.1,-7.7,328,11327,0.17,2.38,0.00,0.000,6,0.160,0.064,3071,2404,3354
$GC,11688,-0.74,-117.3,769.7,-6.6,334,11693,0.00,2.40,0.00,0.000,4,0.000,0.084,3071,3807,3354
$GC,11717,-0.74,-117.3,771.6,-6.8,334,11721,0.00,2.28,0.00,0.000,6,0.000,0.056,3071,2396,3354
$GC,12050,-0.74,-117.3,792.0,-6.1,340,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2397,3354
$GC,12352,-0.74,-117.3,809.9,-5.8,345,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2397,3353
$GC,12656,-0.74,-117.3,825.9,-5.2,350,12660,0.00,2.45,0.00,0.000,4,0.000,0.084,3071,3806,3354
$GC,12695,-0.74,-117.3,828.1,-5.3,350,12699,0.00,2.28,0.00,0.000,6,0.000,0.056,3071,2399,3353
$GC,13017,-0.74,-117.3,845.1,-5.4,356,13021,0.00,2.45,0.00,0.000,4,0.000,0.084,3071,3808,3353
$GC,13045,-0.74,-117.3,846.9,-6.4,356,13049,0.00,2.28,0.00,0.000,6,0.000,0.056,3071,2393,3353
$GC,13384,-0.74,-117.3,866.1,-5.8,362,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3353
$GC,13687,-0.74,-117.3,886.2,-6.7,367,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3354
$GC,13991,-0.74,-117.3,907.9,-7.2,372,13995,0.00,2.47,0.00,0.000,4,0.000,0.084,3072,3810,3353
$GC,14024,-0.74,-117.3,910.5,-6.8,372,14028,0.00,2.30,0.00,0.000,6,0.000,0.057,3071,2390,3353
$GC,14351,-0.74,-117.3,932.1,-6.5,378,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2391,3353
$GC,14654,-0.74,-117.3,951.3,-6.3,383,14658,0.00,2.47,0.00,0.000,4,0.000,0.084,3071,3806,3353
$GC,14705,-0.74,-117.3,954.6,-6.6,383,14709,0.00,2.28,0.00,0.000,6,0.000,0.057,3071,2402,3353
$GC,15015,-0.74,-117.3,973.6,-6.0,388,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2403,3353
$STATE,15315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15315,begin apogee
$GC,15323,-0.22,0.0,991.3,5.9,393,15438,0.57,0.00,108.22,1.493,6,0.140,0.000,3243,2189,2875
$STATE,15438,end apogee,CONTROL_FINISHED_OK
$STATE,15438,begin climb
$GC,15442,0.67,117.3,996.0,0.0,395,15563,0.90,2.72,114.45,1.442,4,0.091,0.077,3533,790,2396
$GC,15644,0.34,117.3,992.1,7.4,398,15650,0.40,2.47,0.00,0.000,6,0.169,0.060,3430,2205,2393
$GC,15989,0.30,124.8,975.5,4.8,404,15999,0.00,0.00,7.65,1.218,6,0.000,0.000,3430,2205,2367
$GC,16293,0.31,128.9,960.8,4.9,409,16300,0.00,0.00,5.50,1.091,6,0.000,0.000,3430,2204,2350
$GC,16595,0.31,128.9,945.6,5.1,414,16599,0.00,2.35,0.00,0.000,4,0.000,0.081,3428,3613,2349
$GC,16662,0.22,128.9,941.9,5.5,415,16667,0.17,2.30,0.00,0.000,6,0.175,0.062,3392,2190,2349
$GC,17024,0.35,168.3,927.4,3.9,421,17063,0.12,0.00,36.33,1.433,6,0.082,0.000,3443,2190,2189
$GC,17327,0.35,168.3,910.6,5.7,426,17328,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2190,2186
$GC,17629,0.35,168.3,893.9,5.5,431,17633,0.00,2.38,0.00,0.000,4,0.000,0.080,3443,785,2186
$GC,17692,0.35,168.3,890.2,5.6,432,17696,0.00,2.33,0.00,0.000,6,0.000,0.063,3443,2200,2185
$GC,18064,0.35,168.3,869.2,5.7,438,18069,0.00,2.40,0.00,0.000,4,0.000,0.078,3444,791,2185
$GC,18109,0.35,168.3,866.3,6.4,438,18114,0.00,2.33,0.00,0.000,6,0.000,0.062,3443,2203,2185
$GC,18426,0.35,168.3,847.2,6.1,444,18430,0.00,2.40,0.00,0.000,4,0.000,0.077,3444,792,2185
$GC,18489,0.35,168.3,843.0,7.7,445,18493,0.00,2.33,0.00,0.000,6,0.000,0.062,3444,2199,2185
$GC,18856,0.35,168.3,820.9,6.1,451,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2199,2185
$GC,19159,0.35,168.3,802.4,6.1,456,19163,0.00,2.42,0.00,0.000,4,0.000,0.079,3445,788,2185
$GC,19195,0.35,168.3,800.4,5.8,456,19200,0.00,2.35,0.00,0.000,6,0.000,0.061,3445,2210,2185
$GC,19522,0.35,168.3,783.2,5.2,462,19524,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2209,2184
$GC,19826,0.36,171.7,768.3,4.9,467,19835,0.00,2.47,3.97,0.882,4,0.000,0.078,3445,791,2175
$GC,19882,0.36,171.7,765.4,5.3,467,19886,0.00,2.33,0.00,0.000,6,0.000,0.062,3445,2200,2176
$GC,20193,0.36,171.7,749.6,5.1,472,20194,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2200,2175
$GC,20495,0.36,171.7,734.1,5.1,477,20499,0.00,2.42,0.00,0.000,4,0.000,0.078,3445,789,2175
$GC,20540,0.36,171.7,731.7,5.3,477,20544,0.00,2.35,0.00,0.000,6,0.000,0.061,3445,2207,2175
$GC,20856,0.36,171.7,715.5,5.2,483,20860,0.00,2.45,0.00,0.000,4,0.000,0.077,3445,781,2175
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$STATE,32571,end climb,SURFACE_DEPTH_REACHED
$STATE,32571,begin surface coast
$FINISH,1.6,1.017053
$STATE,32736,end surface coast,CONTROL_FINISHED_OK
$STATE,32736,begin surface
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$10V_AH,10.4,77.370
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$DATA_FILE_SIZE,50497,849
$CAP_FILE_SIZE,209599,0
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