version: 66.03
glider: 120
mission: 9
dive: 604
start: 4 13 109 10 43 16
data:
$ID,120
$MISSION,9
$DIVE,604
$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,-30622.312
$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,24
$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
$GPS1,103525,4959.379,-14500.687,45,1.3,45,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-69.5
$GPS2,104220,4959.346,-14500.612,17,1.3,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,0.105
$KALMAN_X,-87770.6,-167.5,32.5,104398.3,-1612.8
$KALMAN_Y,147606.6,-367.0,-357.9,-154528.0,1122.8
$MHEAD_RNG_PITCHd_Wd,35.1,19023,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.48,0.000,2,0.000,0.000,136,2404,2332
$GC,64,-0.67,-117.3,3.4,-4.6,3,117,13.57,2.42,-29.92,0.000,4,0.274,0.081,3094,983,3356
$GC,370,-0.52,-117.3,34.6,-9.7,30,377,0.17,2.38,0.00,0.000,6,0.150,0.064,3143,2405,3358
$GC,701,-0.52,-117.3,61.7,-8.3,61,707,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2405,3358
$GC,1025,-0.52,-117.3,87.3,-8.0,88,1029,0.00,2.42,0.00,0.000,4,0.000,0.069,3143,984,3358
$GC,1076,-0.52,-117.3,91.5,-8.6,90,1080,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2406,3358
$GC,1392,-0.52,-117.3,115.0,-7.5,105,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2405,3358
$GC,1702,-0.57,-117.3,137.0,-7.2,120,1706,0.00,2.40,0.00,0.000,4,0.000,0.068,3141,993,3358
$GC,1743,-0.63,-117.3,139.9,-6.9,122,1747,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2405,3358
$GC,2066,-0.70,-117.3,161.3,-6.5,135,2071,0.15,2.42,0.00,0.000,4,0.080,0.067,3074,986,3358
$GC,2116,-0.62,-117.3,165.8,-9.2,136,2121,0.15,2.38,0.00,0.000,6,0.133,0.060,3114,2409,3358
$GC,2431,-0.62,-117.3,189.5,-7.4,146,2435,0.00,2.42,0.00,0.000,4,0.000,0.068,3114,992,3358
$GC,2459,-0.62,-117.3,191.8,-7.6,146,2466,0.00,2.35,0.00,0.000,6,0.000,0.060,3113,2401,3358
$GC,2773,-0.62,-117.3,214.3,-7.1,157,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,3079,-0.62,-117.3,233.5,-6.2,167,3083,0.00,2.42,0.00,0.000,4,0.000,0.068,3113,987,3358
$GC,3113,-0.62,-117.3,235.8,-6.5,168,3117,0.00,2.38,0.00,0.000,6,0.000,0.061,3113,2403,3358
$GC,3443,-0.62,-117.3,258.8,-6.9,179,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,3749,-0.62,-117.3,279.9,-6.9,189,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3358
$GC,4056,-0.62,-117.3,299.8,-6.2,199,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,4390,-0.62,-117.3,319.9,-6.1,205,4394,0.00,2.42,0.00,0.000,4,0.000,0.070,3113,985,3358
$GC,4423,-0.62,-117.3,322.2,-6.5,205,4427,0.00,2.38,0.00,0.000,6,0.000,0.061,3113,2400,3358
$GC,4752,-0.62,-117.3,343.4,-6.6,211,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,5054,-0.62,-117.3,364.6,-7.1,216,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,5358,-0.62,-117.3,384.8,-6.6,221,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,5660,-0.62,-117.3,404.2,-6.4,226,5664,0.00,2.42,0.00,0.000,4,0.000,0.070,3113,986,3358
$GC,5699,-0.68,-117.3,406.7,-6.2,226,5703,0.00,2.38,0.00,0.000,6,0.000,0.062,3113,2400,3358
$GC,6020,-0.72,-117.3,424.1,-5.4,232,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3358
$GC,6324,-0.76,-117.3,440.6,-5.5,237,6326,0.12,0.00,0.00,0.000,6,0.087,0.000,3062,2400,3357
$GC,6627,-0.72,-117.3,461.3,-6.9,242,6631,0.00,2.42,0.00,0.000,4,0.000,0.071,3064,991,3357
$GC,6655,-0.67,-117.3,463.5,-7.6,242,6660,0.12,2.35,0.00,0.000,6,0.129,0.062,3099,2400,3357
$GC,6989,-0.67,-117.3,484.5,-6.3,248,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3357
$GC,7291,-0.67,-117.3,501.9,-5.7,253,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,7594,-0.67,-117.3,518.6,-5.5,258,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,7897,-0.67,-117.3,535.0,-5.4,263,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,8200,-0.67,-117.3,552.9,-6.0,268,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,8503,-0.67,-117.3,571.9,-6.3,273,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,8807,-0.67,-117.3,591.3,-6.4,278,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,9109,-0.67,-117.3,609.2,-5.8,283,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,9412,-0.67,-117.3,625.1,-5.2,288,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3357
$GC,9716,-0.67,-117.3,640.9,-5.2,293,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3356
$GC,10018,-0.67,-117.3,656.5,-5.2,298,10023,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,994,3356
$GC,10053,-0.72,-117.3,658.4,-5.6,298,10058,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2399,3356
$GC,10381,-0.72,-117.3,676.3,-5.4,304,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3356
$GC,10684,-0.76,-117.3,693.8,-5.8,309,10688,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,995,3356
$GC,10714,-0.81,-117.3,695.7,-6.3,309,10719,0.15,2.38,0.00,0.000,6,0.081,0.063,3045,2399,3356
$GC,11047,-0.76,-117.3,719.0,-7.0,315,11051,0.00,2.45,0.00,0.000,4,0.000,0.082,3045,3819,3356
$GC,11092,-0.66,-117.3,722.4,-8.0,315,11097,0.20,2.30,0.00,0.000,6,0.120,0.056,3101,2399,3356
$GC,11408,-0.72,-117.3,739.9,-5.5,321,11413,0.00,2.42,0.00,0.000,4,0.000,0.072,3101,985,3355
$GC,11454,-0.79,-117.3,742.8,-6.1,321,11459,0.12,2.40,0.00,0.000,6,0.084,0.063,3054,2404,3356
$GC,11770,-0.79,-117.3,763.1,-6.5,327,11774,0.00,2.42,0.00,0.000,4,0.000,0.081,3054,3816,3355
$GC,11816,-0.72,-117.3,766.7,-7.9,327,11821,0.12,2.30,0.00,0.000,6,0.107,0.055,3088,2398,3355
$GC,12131,-0.72,-117.3,787.4,-6.5,333,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2398,3355
$GC,12435,-0.72,-117.3,807.8,-6.7,338,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2399,3356
$GC,12738,-0.72,-117.3,826.5,-6.0,343,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2399,3355
$GC,13041,-0.72,-117.3,844.1,-5.8,348,13045,0.00,2.42,0.00,0.000,4,0.000,0.073,3088,987,3355
$GC,13075,-0.72,-117.3,846.4,-6.2,348,13080,0.00,2.40,0.00,0.000,6,0.000,0.063,3086,2404,3354
$GC,13403,-0.72,-117.3,865.4,-5.7,354,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,13706,-0.72,-117.3,882.5,-5.7,359,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,14009,-0.72,-117.3,900.7,-6.1,364,14013,0.00,2.45,0.00,0.000,4,0.000,0.072,3086,992,3354
$GC,14054,-0.72,-117.3,903.6,-6.7,364,14059,0.00,2.40,0.00,0.000,6,0.000,0.064,3086,2403,3354
$GC,14371,-0.72,-117.3,923.1,-6.2,370,14372,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3354
$GC,14674,-0.72,-117.3,941.6,-6.1,375,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3355
$GC,14977,-0.72,-117.3,959.0,-5.7,380,14978,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3354
$GC,15281,-0.72,-117.3,976.4,-5.7,385,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3354
$STATE,15580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15580,begin apogee
$GC,15588,-0.22,0.0,993.3,5.6,390,15702,0.52,0.00,107.78,1.499,6,0.137,0.000,3243,2200,2875
$STATE,15703,end apogee,CONTROL_FINISHED_OK
$STATE,15703,begin climb
$GC,15707,0.67,117.3,997.7,0.0,392,15831,0.88,2.78,114.05,1.440,4,0.091,0.077,3533,785,2396
$GC,15871,0.31,117.3,997.2,5.6,394,15876,0.45,2.58,0.00,0.000,6,0.173,0.060,3423,2200,2395
$GC,16198,0.33,133.9,982.4,4.5,400,16219,0.00,2.40,15.68,1.362,4,0.000,0.080,3423,3612,2329
$GC,16277,0.26,133.9,978.1,5.6,401,16281,0.00,2.30,0.00,0.000,6,0.000,0.062,3424,2201,2329
$GC,16627,0.28,144.4,961.4,4.7,407,16639,0.00,0.00,10.93,1.317,6,0.000,0.000,3424,2202,2287
$GC,16930,0.28,144.4,946.1,5.1,412,16934,0.00,2.38,0.00,0.000,4,0.000,0.080,3424,3610,2286
$GC,16965,0.22,144.4,944.0,6.6,412,16970,0.12,2.30,0.00,0.000,6,0.180,0.062,3395,2193,2285
$GC,17293,0.32,144.4,927.0,5.3,418,17294,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2193,2285
$GC,17595,0.41,144.4,910.6,5.4,423,17597,0.17,0.00,0.00,0.000,6,0.077,0.000,3464,2193,2285
$GC,17899,0.32,144.4,888.3,7.5,428,17901,0.15,0.00,0.00,0.000,6,0.131,0.000,3422,2193,2285
$GC,18202,0.32,144.4,868.8,6.3,433,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2193,2285
$GC,18504,0.32,144.4,851.1,5.7,438,18505,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2193,2284
$GC,18808,0.33,151.8,836.4,4.8,443,18818,0.00,0.00,7.88,1.213,6,0.000,0.000,3422,2193,2257
$GC,19111,0.36,172.6,822.8,4.4,448,19136,0.00,2.42,19.88,1.349,4,0.000,0.081,3422,3610,2171
$GC,19166,0.36,172.6,820.1,5.1,448,19170,0.00,2.33,0.00,0.000,6,0.000,0.062,3422,2191,2171
$GC,19478,0.44,189.1,806.0,4.5,453,19496,0.10,0.00,16.45,1.318,6,0.088,0.000,3462,2192,2104
$GC,19780,0.44,189.1,789.5,5.5,458,19784,0.00,2.40,0.00,0.000,4,0.000,0.080,3462,3610,2101
$GC,19820,0.34,189.1,786.8,6.5,458,19825,0.15,2.30,0.00,0.000,6,0.166,0.062,3424,2200,2101
$GC,20142,0.41,189.1,769.6,5.3,464,20146,0.00,2.40,0.00,0.000,4,0.000,0.079,3426,787,2101
$GC,20183,0.50,189.1,767.3,5.5,464,20188,0.15,2.33,0.00,0.000,6,0.083,0.061,3486,2203,2101
$GC,20506,0.40,189.1,741.5,8.2,470,20507,0.15,0.00,0.00,0.000,6,0.143,0.000,3445,2202,2101
$GC,20807,0.48,189.1,721.3,6.5,475,20812,0.00,2.38,0.00,0.000,4,0.000,0.079,3445,3609,2100
$GC,20864,0.64,189.1,717.6,5.9,475,20871,0.22,2.33,0.00,0.000,6,0.074,0.061,3536,2201,2101
$GC,21175,0.49,189.1,695.1,7.3,481,21180,0.17,2.42,0.00,0.000,4,0.142,0.078,3481,3615,2100
$GC,21277,0.41,189.1,688.2,5.5,482,21282,0.15,2.33,0.00,0.000,6,0.169,0.061,3453,2195,2100
$GC,21604,0.53,189.1,669.4,5.6,488,21609,0.10,2.42,0.00,0.000,4,0.090,0.080,3491,3607,2100
$GC,21739,0.39,189.1,661.4,6.1,490,21744,0.17,2.33,0.00,0.000,6,0.166,0.064,3446,2199,2100
$GC,22105,0.55,189.1,641.9,5.2,496,22110,0.15,2.42,0.00,0.000,4,0.083,0.079,3509,3609,2100
$GC,22268,0.40,189.1,631.5,7.1,498,22273,0.25,2.33,0.00,0.000,6,0.160,0.061,3451,2192,2100
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$STATE,32112,end climb,SURFACE_DEPTH_REACHED
$STATE,32112,begin surface coast
$FINISH,5.2,1.025704
$STATE,32131,end surface coast,CONTROL_FINISHED_OK
$STATE,32132,begin surface
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$10V_AH,10.3,81.640
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$DATA_FILE_SIZE,47463,799
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