version: 66.03
glider: 120
mission: 9
dive: 619
start: 4 19 109 4 19 18
data:
$ID,120
$MISSION,9
$DIVE,619
$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,-30903.684
$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,21
$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
$GPS1,041137,5003.615,-14427.625,41,1.4,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-76.6
$GPS2,041820,5003.606,-14427.619,16,1.5,16,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,-0.175
$KALMAN_X,-97883.6,197.6,-228.6,153639.0,450.9
$KALMAN_Y,143072.5,-466.1,-216.5,-142146.4,2065.8
$MHEAD_RNG_PITCHd_Wd,171.0,17965,-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,23,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-29.92,0.000,2,0.000,0.000,134,2403,2483
$GC,63,-0.67,-117.3,3.3,-4.5,3,107,13.70,2.45,-23.75,0.000,4,0.275,0.094,3095,3806,3355
$GC,259,-0.54,-117.3,23.2,-10.2,20,266,0.17,2.30,0.00,0.000,6,0.154,0.055,3144,2394,3357
$GC,588,-0.54,-117.3,48.9,-8.0,51,593,0.00,2.42,0.00,0.000,4,0.000,0.069,3144,984,3357
$GC,629,-0.54,-117.3,52.5,-8.3,54,634,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2398,3357
$GC,958,-0.54,-117.3,78.6,-8.1,84,962,0.00,2.42,0.00,0.000,4,0.000,0.068,3141,986,3357
$GC,985,-0.54,-117.3,80.9,-8.3,86,989,0.00,2.38,0.00,0.000,6,0.000,0.061,3142,2401,3357
$GC,1312,-0.54,-117.3,106.3,-7.4,102,1316,0.00,2.42,0.00,0.000,4,0.000,0.068,3141,992,3357
$GC,1341,-0.54,-117.3,108.7,-8.2,103,1345,0.00,2.38,0.00,0.000,6,0.000,0.060,3141,2404,3357
$GC,1658,-0.54,-117.3,131.9,-7.5,118,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3357
$GC,1987,-0.58,-117.3,154.7,-7.0,133,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3357
$GC,2293,-0.65,-117.3,172.0,-5.3,143,2295,0.12,0.00,0.00,0.000,6,0.085,0.000,3091,2403,3357
$GC,2600,-0.65,-117.3,192.2,-6.6,153,2603,0.00,2.42,0.00,0.000,4,0.000,0.080,3087,3811,3357
$GC,2635,-0.65,-117.3,194.7,-7.5,154,2639,0.00,2.30,0.00,0.000,6,0.000,0.054,3088,2398,3357
$GC,2977,-0.65,-117.3,215.1,-5.5,165,2980,0.00,2.42,0.00,0.000,4,0.000,0.069,3090,988,3357
$GC,3012,-0.65,-117.3,217.1,-5.8,166,3016,0.00,2.38,0.00,0.000,6,0.000,0.059,3091,2399,3357
$GC,3354,-0.65,-117.3,240.0,-7.2,177,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2399,3357
$GC,3659,-0.65,-117.3,263.0,-7.7,187,3663,0.00,2.45,0.00,0.000,4,0.000,0.080,3089,3819,3357
$GC,3695,-0.65,-117.3,265.9,-8.3,188,3699,0.00,2.33,0.00,0.000,6,0.000,0.054,3089,2397,3357
$GC,4037,-0.65,-117.3,292.1,-7.4,199,4041,0.00,2.40,0.00,0.000,4,0.000,0.069,3089,991,3357
$GC,4065,-0.65,-117.3,294.4,-7.4,199,4071,0.00,2.38,0.00,0.000,6,0.000,0.060,3089,2404,3357
$GC,4406,-0.65,-117.3,319.7,-7.5,207,4411,0.00,2.42,0.00,0.000,4,0.000,0.080,3086,3809,3357
$GC,4452,-0.65,-117.3,323.5,-8.4,207,4456,0.00,2.30,0.00,0.000,6,0.000,0.054,3086,2398,3358
$GC,4769,-0.65,-117.3,348.1,-7.8,213,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3357
$GC,5071,-0.65,-117.3,370.6,-7.4,218,5075,0.00,2.42,0.00,0.000,4,0.000,0.070,3086,994,3357
$GC,5110,-0.65,-117.3,373.5,-7.4,218,5114,0.00,2.38,0.00,0.000,6,0.000,0.061,3086,2399,3357
$GC,5431,-0.65,-117.3,395.8,-7.0,224,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3358
$GC,5736,-0.61,-117.3,416.8,-6.9,229,5741,0.12,2.45,0.00,0.000,4,0.150,0.069,3120,981,3357
$GC,5781,-0.67,-117.3,419.8,-6.7,229,5785,0.00,2.40,0.00,0.000,6,0.000,0.061,3119,2407,3357
$GC,6103,-0.91,-117.3,441.3,-6.8,235,6108,0.25,2.42,0.00,0.000,4,0.081,0.078,3020,3814,3357
$GC,6328,-0.72,-117.3,461.2,-9.6,238,6333,0.22,2.33,0.00,0.000,6,0.150,0.055,3080,2388,3357
$GC,6666,-0.67,-117.3,484.1,-6.7,244,6670,0.00,2.38,0.00,0.000,4,0.000,0.070,3081,993,3357
$GC,6723,-0.67,-117.3,488.1,-7.2,244,6727,0.00,2.40,0.00,0.000,6,0.000,0.062,3080,2405,3357
$GC,7034,-0.67,-117.3,508.4,-6.5,249,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3357
$GC,7337,-0.67,-117.3,528.5,-6.6,254,7341,0.00,2.45,0.00,0.000,4,0.000,0.071,3080,986,3357
$GC,7404,-0.67,-117.3,533.3,-7.5,255,7408,0.00,2.40,0.00,0.000,6,0.000,0.061,3080,2403,3356
$GC,7766,-0.67,-117.3,558.2,-7.0,261,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2403,3357
$GC,8068,-0.67,-117.3,579.9,-7.2,266,8072,0.00,2.45,0.00,0.000,4,0.000,0.070,3080,992,3356
$GC,8113,-0.67,-117.3,583.4,-7.6,266,8117,0.00,2.40,0.00,0.000,6,0.000,0.062,3080,2403,3356
$GC,8428,-0.67,-117.3,605.6,-7.0,272,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,8732,-0.67,-117.3,627.5,-7.2,277,8736,0.00,2.47,0.00,0.000,4,0.000,0.071,3080,983,3356
$GC,8772,-0.67,-117.3,630.6,-7.9,277,8776,0.00,2.42,0.00,0.000,6,0.000,0.062,3080,2407,3356
$GC,9093,-0.67,-117.3,651.7,-6.5,283,9098,0.00,2.45,0.00,0.000,4,0.000,0.071,3080,994,3356
$GC,9127,-0.67,-117.3,654.0,-6.9,283,9131,0.00,2.40,0.00,0.000,6,0.000,0.062,3080,2402,3355
$GC,9456,-0.67,-117.3,674.8,-6.4,289,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3355
$GC,9758,-0.67,-117.3,693.8,-6.2,294,9762,0.00,2.45,0.00,0.000,4,0.000,0.071,3080,992,3355
$GC,9808,-0.67,-117.3,697.1,-6.6,294,9812,0.00,2.40,0.00,0.000,6,0.000,0.063,3080,2400,3355
$GC,10119,-0.67,-117.3,717.0,-6.5,299,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2399,3355
$GC,10422,-0.67,-117.3,736.7,-6.5,304,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2399,3355
$GC,10725,-0.67,-117.3,755.0,-6.0,309,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2399,3355
$GC,11028,-0.67,-117.3,772.9,-5.9,314,11032,0.00,2.47,0.00,0.000,4,0.000,0.071,3080,982,3355
$GC,11084,-0.67,-117.3,776.5,-6.2,314,11090,0.00,2.42,0.00,0.000,6,0.000,0.063,3080,2410,3354
$GC,11394,-0.67,-117.3,795.4,-6.1,320,11398,0.00,2.47,0.00,0.000,4,0.000,0.071,3080,986,3354
$GC,11428,-0.67,-117.3,797.7,-6.7,320,11433,0.00,2.42,0.00,0.000,6,0.000,0.062,3080,2408,3354
$GC,11756,-0.67,-117.3,819.1,-6.5,326,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3354
$GC,12059,-0.67,-117.3,839.2,-6.6,331,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2407,3355
$GC,12362,-0.67,-117.3,857.3,-5.9,336,12366,0.00,2.47,0.00,0.000,4,0.000,0.072,3080,986,3354
$GC,12398,-0.67,-117.3,859.4,-6.5,336,12402,0.00,2.42,0.00,0.000,6,0.000,0.063,3080,2408,3354
$GC,12725,-0.67,-117.3,876.3,-5.0,342,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2408,3354
$GC,13028,-0.67,-117.3,890.6,-4.7,347,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2408,3354
$GC,13332,-0.67,-117.3,905.5,-4.9,352,13336,0.00,2.47,0.00,0.000,4,0.000,0.072,3080,994,3353
$GC,13372,-0.67,-117.3,907.7,-5.2,352,13376,0.00,2.42,0.00,0.000,6,0.000,0.064,3080,2408,3354
$GC,13695,-0.67,-117.3,923.6,-4.9,358,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2408,3354
$GC,13997,-0.67,-117.3,938.9,-5.1,363,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2408,3354
$GC,14300,-0.67,-117.3,954.6,-5.2,368,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2408,3354
$GC,14604,-0.67,-117.3,970.3,-5.3,373,14609,0.00,2.50,0.00,0.000,4,0.000,0.072,3080,993,3353
$GC,14633,-0.67,-117.3,972.0,-5.4,373,14636,0.00,2.42,0.00,0.000,6,0.000,0.064,3080,2409,3353
$STATE,14968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14968,begin apogee
$GC,14977,-0.22,0.0,990.9,5.6,379,15090,0.55,0.00,108.03,1.491,6,0.132,0.000,3248,2194,2876
$STATE,15091,end apogee,CONTROL_FINISHED_OK
$STATE,15091,begin climb
$GC,15096,0.67,117.3,995.3,0.0,381,15218,0.85,0.00,115.25,1.435,6,0.084,0.000,3528,2194,2395
$GC,15523,0.35,117.3,976.4,7.0,388,15528,0.32,2.47,0.00,0.000,4,0.167,0.078,3427,3620,2393
$GC,15625,0.24,117.3,970.7,5.4,389,15630,0.15,2.35,0.00,0.000,6,0.174,0.061,3399,2192,2392
$GC,15953,0.35,163.8,958.4,3.7,395,16001,0.00,2.47,41.67,1.434,4,0.000,0.076,3408,792,2207
$GC,16026,0.47,191.5,955.2,4.2,396,16060,0.17,2.38,26.55,1.388,6,0.074,0.059,3479,2208,2094
$GC,16384,0.37,191.5,928.8,7.7,402,16389,0.15,2.35,0.00,0.000,4,0.143,0.077,3428,3615,2090
$GC,16468,0.37,191.5,922.5,7.2,403,16472,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2190,2089
$GC,16812,0.37,191.5,900.5,6.5,409,16816,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,3618,2089
$GC,16857,0.37,191.5,897.1,7.5,409,16861,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2197,2088
$GC,17185,0.37,191.5,875.5,6.6,415,17189,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,3619,2088
$GC,17248,0.37,191.5,871.0,7.5,416,17252,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2198,2089
$GC,17615,0.37,191.5,846.6,6.6,422,17619,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,3611,2088
$GC,17676,0.37,191.5,842.1,6.8,422,17684,0.00,2.35,0.00,0.000,6,0.000,0.062,3436,2191,2088
$GC,17987,0.37,191.5,822.3,6.4,428,17991,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,3608,2088
$GC,18039,0.37,191.5,818.5,7.5,428,18043,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2200,2088
$GC,18349,0.37,191.5,800.3,5.8,433,18353,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,3613,2088
$GC,18383,0.37,191.5,798.0,6.6,433,18387,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2189,2088
$GC,18711,0.37,191.5,780.0,5.6,439,18715,0.00,2.45,0.00,0.000,4,0.000,0.078,3435,3609,2087
$GC,18757,0.37,191.5,777.0,6.4,439,18761,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2199,2088
$GC,19073,0.37,191.5,760.3,5.3,445,19074,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2088
$GC,19376,0.37,191.5,744.5,5.2,450,19380,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,3606,2087
$GC,19454,0.37,191.5,739.7,6.7,451,19458,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2201,2087
$GC,19805,0.41,191.5,722.1,5.1,457,19809,0.00,2.42,0.00,0.000,4,0.000,0.077,3435,3607,2087
$GC,19844,0.41,191.5,719.7,5.2,457,19848,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2200,2087
$GC,20171,0.46,191.5,702.8,5.1,463,20175,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,3608,2087
$GC,20236,0.46,191.5,698.9,6.6,464,20240,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2191,2087
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$STATE,31908,end climb,SURFACE_DEPTH_REACHED
$STATE,31908,begin surface coast
$FINISH,1.0,1.009193
$STATE,32051,end surface coast,CONTROL_FINISHED_OK
$STATE,32051,begin surface
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$DATA_FILE_SIZE,50579,841
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