version: 66.03
glider: 120
mission: 9
dive: 615
start: 4 17 109 15 45 34
data:
$ID,120
$MISSION,9
$DIVE,615
$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,-30821.855
$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,21
$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
$GPS1,153237,5017.533,-14426.885,85,1.0,85,18.7
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-74.5
$GPS2,154438,5017.496,-14426.852,21,1.6,21,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.178
$KALMAN_X,-100674.7,108.6,317.6,156870.1,-1089.7
$KALMAN_Y,139468.5,518.0,193.0,-114243.7,-1322.5
$MHEAD_RNG_PITCHd_Wd,158.0,43638,-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,-30.25,0.000,2,0.000,0.000,138,2407,2490
$GC,64,-0.67,-117.3,3.1,-2.8,3,108,13.55,2.40,-23.10,0.000,4,0.274,0.091,3085,3818,3355
$GC,225,-0.49,-117.3,23.9,-10.9,17,230,0.25,2.30,0.00,0.000,6,0.152,0.055,3154,2392,3357
$GC,551,-0.49,-117.3,48.6,-7.5,47,555,0.00,2.38,0.00,0.000,4,0.000,0.071,3155,983,3358
$GC,602,-0.55,-117.3,52.4,-7.2,51,608,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2400,3357
$GC,931,-0.59,-117.3,74.2,-6.8,82,936,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2400,3357
$GC,1251,-0.63,-117.3,95.9,-6.7,102,1256,0.12,2.45,0.00,0.000,4,0.081,0.067,3102,986,3358
$GC,1287,-0.57,-117.3,99.0,-8.8,103,1294,0.10,2.38,0.00,0.000,6,0.123,0.060,3128,2409,3357
$GC,1605,-0.57,-117.3,123.3,-7.5,119,1609,0.00,2.40,0.00,0.000,4,0.000,0.080,3126,3815,3357
$GC,1627,-0.57,-117.3,125.0,-6.9,120,1631,0.00,2.30,0.00,0.000,6,0.000,0.053,3125,2391,3358
$GC,1950,-0.57,-117.3,147.4,-6.8,136,1954,0.00,2.38,0.00,0.000,4,0.000,0.068,3126,992,3358
$GC,2046,-0.57,-117.3,153.8,-6.6,139,2052,0.00,2.35,0.00,0.000,6,0.000,0.060,3125,2401,3357
$GC,2360,-0.57,-117.3,173.7,-6.3,150,2363,0.00,2.42,0.00,0.000,4,0.000,0.067,3125,984,3358
$GC,2411,-0.65,-117.3,177.0,-6.4,151,2415,0.00,2.38,0.00,0.000,6,0.000,0.059,3125,2403,3358
$GC,2730,-0.69,-117.3,195.9,-5.9,162,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3358
$GC,3037,-0.74,-117.3,213.0,-5.5,172,3039,0.15,0.00,0.00,0.000,6,0.079,0.000,3064,2403,3358
$GC,3342,-0.66,-117.3,236.0,-7.8,182,3347,0.12,2.42,0.00,0.000,4,0.097,0.067,3102,991,3358
$GC,3365,-0.62,-117.3,237.8,-7.7,182,3371,0.00,2.38,0.00,0.000,6,0.000,0.060,3100,2408,3357
$GC,3679,-0.62,-117.3,259.0,-6.6,193,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,3985,-0.62,-117.3,278.0,-6.1,203,3989,0.00,2.45,0.00,0.000,4,0.000,0.068,3100,981,3358
$GC,4029,-0.62,-117.3,280.9,-6.0,204,4033,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2404,3358
$GC,4349,-0.62,-117.3,299.4,-5.7,215,4353,0.00,2.42,0.00,0.000,4,0.000,0.068,3099,994,3358
$GC,4394,-0.62,-117.3,302.4,-6.8,216,4398,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2401,3357
$GC,4716,-0.62,-117.3,322.7,-6.4,222,4720,0.00,2.45,0.00,0.000,4,0.000,0.068,3100,985,3357
$GC,4773,-0.62,-117.3,326.8,-7.5,222,4779,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2412,3358
$GC,5084,-0.62,-117.3,349.5,-7.4,228,5088,0.00,2.45,0.00,0.000,4,0.000,0.069,3100,991,3358
$GC,5120,-0.62,-117.3,352.3,-7.6,228,5124,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2400,3358
$GC,5447,-0.62,-117.3,375.3,-6.8,234,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3358
$GC,5750,-0.62,-117.3,392.2,-5.5,239,5754,0.00,2.45,0.00,0.000,4,0.000,0.069,3100,990,3357
$GC,5778,-0.62,-117.3,393.9,-5.9,239,5783,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2410,3357
$GC,6111,-0.62,-117.3,410.6,-5.0,245,6115,0.00,2.42,0.00,0.000,4,0.000,0.081,3100,3817,3357
$GC,6151,-0.62,-117.3,412.7,-5.4,245,6155,0.00,2.30,0.00,0.000,6,0.000,0.054,3100,2397,3357
$GC,6472,-0.62,-117.3,430.3,-5.6,251,6477,0.00,2.42,0.00,0.000,4,0.000,0.070,3100,983,3357
$GC,6530,-0.62,-117.3,433.7,-6.5,251,6536,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2408,3357
$GC,6840,-0.62,-117.3,451.3,-5.6,257,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3357
$GC,7143,-0.62,-117.3,470.0,-6.3,262,7147,0.00,2.45,0.00,0.000,4,0.000,0.069,3100,993,3357
$GC,7182,-0.62,-117.3,472.9,-7.4,262,7186,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2409,3357
$GC,7504,-0.62,-117.3,493.2,-6.3,268,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3357
$GC,7806,-0.62,-117.3,512.1,-6.2,273,7810,0.00,2.47,0.00,0.000,4,0.000,0.070,3100,990,3356
$GC,7863,-0.66,-117.3,515.9,-6.7,273,7870,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2399,3356
$GC,8173,-0.66,-117.3,534.3,-5.9,279,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3356
$GC,8477,-0.66,-117.3,552.8,-6.1,284,8482,0.00,2.45,0.00,0.000,4,0.000,0.069,3100,983,3356
$GC,8523,-0.70,-117.3,555.8,-6.4,284,8527,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2403,3356
$GC,8845,-0.70,-117.3,575.0,-5.9,290,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9148,-0.70,-117.3,592.7,-5.8,295,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3356
$GC,9452,-0.70,-117.3,610.3,-5.8,300,9456,0.00,2.47,0.00,0.000,4,0.000,0.070,3100,991,3356
$GC,9480,-0.70,-117.3,611.9,-5.5,300,9484,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2407,3355
$GC,9812,-0.70,-117.3,628.4,-4.9,306,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,10116,-0.70,-117.3,643.5,-5.0,311,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3355
$GC,10419,-0.70,-117.3,658.8,-5.0,316,10424,0.00,2.47,0.00,0.000,4,0.000,0.070,3100,993,3355
$GC,10465,-0.75,-117.3,661.5,-5.8,316,10469,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2405,3355
$GC,10781,-0.75,-117.3,677.2,-4.9,322,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,11084,-0.75,-117.3,691.3,-4.7,327,11088,0.00,2.47,0.00,0.000,4,0.000,0.070,3100,989,3355
$GC,11124,-0.81,-117.3,693.4,-5.6,327,11129,0.12,2.40,0.00,0.000,6,0.086,0.061,3054,2400,3355
$GC,11445,-0.81,-117.3,711.2,-5.6,333,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2399,3355
$GC,11749,-0.81,-117.3,729.0,-5.9,338,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2399,3354
$GC,12051,-0.81,-117.3,746.5,-5.8,343,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2399,3355
$GC,12355,-0.81,-117.3,763.2,-5.5,348,12359,0.00,2.47,0.00,0.000,4,0.000,0.071,3054,986,3354
$GC,12383,-0.81,-117.3,765.0,-6.6,348,12388,0.00,2.40,0.00,0.000,6,0.000,0.062,3054,2399,3354
$GC,12717,-0.75,-117.3,784.4,-5.8,354,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2398,3354
$GC,13020,-0.70,-117.3,802.3,-5.9,359,13025,0.12,2.47,0.00,0.000,4,0.137,0.071,3088,995,3354
$GC,13054,-0.70,-117.3,804.3,-5.6,359,13058,0.00,2.40,0.00,0.000,6,0.000,0.062,3086,2403,3354
$GC,13382,-0.70,-117.3,821.6,-5.3,365,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13685,-0.70,-117.3,839.5,-6.0,370,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13988,-0.70,-117.3,858.6,-6.3,375,13992,0.00,2.47,0.00,0.000,4,0.000,0.071,3087,994,3354
$GC,14033,-0.70,-117.3,861.7,-5.8,375,14037,0.00,2.40,0.00,0.000,6,0.000,0.062,3086,2402,3354
$GC,14348,-0.70,-117.3,881.0,-6.1,381,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,14652,-0.70,-117.3,899.3,-6.0,386,14653,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3354
$GC,14955,-0.70,-117.3,917.3,-6.0,391,14959,0.00,2.47,0.00,0.000,4,0.000,0.071,3086,991,3354
$GC,14995,-0.74,-117.3,919.8,-6.0,391,15000,0.00,2.42,0.00,0.000,6,0.000,0.064,3086,2410,3353
$GC,15317,-0.74,-117.3,937.0,-5.3,397,15322,0.00,2.45,0.00,0.000,4,0.000,0.084,3086,3809,3353
$GC,15346,-0.79,-117.3,938.6,-5.5,397,15350,0.00,2.30,0.00,0.000,6,0.000,0.056,3086,2394,3353
$GC,15686,-0.83,-117.3,955.1,-4.8,403,15691,0.12,2.47,0.00,0.000,4,0.088,0.071,3039,985,3353
$GC,15716,-0.78,-117.3,956.9,-7.2,403,15720,0.00,2.42,0.00,0.000,6,0.000,0.063,3039,2406,3353
$GC,16049,-0.70,-117.3,978.1,-6.4,409,16051,0.17,0.00,0.00,0.000,6,0.147,0.000,3089,2406,3353
$STATE,16287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16287,begin apogee
$GC,16296,-0.22,0.0,990.2,5.0,413,16410,0.50,0.00,107.80,1.493,6,0.130,0.000,3242,2193,2875
$STATE,16411,end apogee,CONTROL_FINISHED_OK
$STATE,16411,begin climb
$GC,16415,0.67,117.3,994.5,0.0,415,16538,0.90,2.85,115.10,1.443,4,0.087,0.076,3533,3613,2396
$GC,16562,0.22,117.3,994.3,5.3,417,16567,0.60,2.60,0.00,0.000,6,0.178,0.060,3392,2208,2395
$GC,16897,0.34,163.7,981.8,3.7,423,16942,0.12,0.00,42.55,1.434,6,0.082,0.000,3445,2208,2207
$GC,17198,0.34,163.7,965.6,5.5,428,17200,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2208,2203
$GC,17501,0.34,163.7,949.1,5.5,433,17502,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2208,2203
$GC,17804,0.34,163.7,932.8,5.3,438,17808,0.00,2.40,0.00,0.000,4,0.000,0.079,3446,3614,2203
$GC,17869,0.23,163.7,928.7,7.2,439,17874,0.20,2.35,0.00,0.000,6,0.169,0.062,3397,2191,2203
$GC,18236,0.37,182.7,912.2,4.5,445,18261,0.12,2.47,17.48,1.389,4,0.083,0.081,3446,3607,2129
$GC,18297,0.28,182.7,908.4,7.2,445,18304,0.15,2.33,0.00,0.000,6,0.167,0.061,3411,2188,2129
$GC,18608,0.37,182.7,892.3,5.2,451,18612,0.00,2.40,0.00,0.000,4,0.000,0.078,3411,3614,2128
$GC,18658,0.37,182.7,889.1,6.7,451,18662,0.00,2.30,0.00,0.000,6,0.000,0.062,3411,2198,2128
$GC,18970,0.47,182.7,872.4,5.4,456,18975,0.15,2.40,0.00,0.000,4,0.080,0.079,3478,3621,2128
$GC,19009,0.27,182.7,868.9,8.3,456,19014,0.28,2.33,0.00,0.000,6,0.167,0.062,3404,2192,2128
$GC,19331,0.38,183.0,852.3,5.0,462,19336,0.12,2.40,0.00,0.000,4,0.083,0.079,3451,3610,2128
$GC,19372,0.27,183.0,849.7,6.9,462,19376,0.17,2.30,0.00,0.000,6,0.170,0.062,3408,2191,2127
$GC,19694,0.41,206.9,835.2,4.3,468,19723,0.12,2.47,22.70,1.370,4,0.083,0.080,3455,3608,2030
$GC,19764,0.33,206.9,830.8,7.6,469,19769,0.15,2.28,0.00,0.000,6,0.156,0.061,3424,2201,2029
$GC,20126,0.42,206.9,812.0,5.2,475,20130,0.00,2.40,0.00,0.000,4,0.000,0.079,3424,3621,2028
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$STATE,32963,end climb,SURFACE_DEPTH_REACHED
$STATE,32963,begin surface coast
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$STATE,33024,end surface coast,CONTROL_FINISHED_OK
$STATE,33024,begin surface
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$DEVICE_SECS,32.750,278.925,361.900,7.425,0.000,55.854,67.207,360.952,259.750,0.000,0.000,24.371,1901.273,27580.520,608.262,2520.567,1155.142,33.379,1858.713,0.000,2469.994,0.000,0.465
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$DATA_FILE_SIZE,50729,846
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