version: 66.03
glider: 120
mission: 9
dive: 720
start: 5 27 109 5 11 49
data:
$ID,120
$MISSION,9
$DIVE,720
$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,-33048.152
$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,18
$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
$GPS1,050307,5017.021,-14505.932,38,1.9,38,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.9
$GPS2,051055,5017.016,-14505.933,16,2.0,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.076,0.161
$KALMAN_X,-150688.6,-254.3,6.7,161107.9,-178.6
$KALMAN_Y,141940.8,207.3,68.4,-117150.3,-3074.5
$MHEAD_RNG_PITCHd_Wd,316.2,10255,-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,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.53,0.000,2,0.000,0.000,137,2408,2713
$GC,74,-0.67,-117.3,3.5,-7.6,4,108,13.73,2.53,-12.65,0.000,4,0.278,0.081,3096,987,3356
$GC,178,-0.53,-117.3,21.1,-11.3,13,183,0.17,2.42,0.00,0.000,6,0.153,0.062,3144,2404,3358
$GC,505,-0.53,-117.3,47.4,-7.7,43,509,0.00,2.47,0.00,0.000,4,0.000,0.067,3143,988,3358
$GC,539,-0.53,-117.3,50.3,-7.7,45,545,0.00,2.40,0.00,0.000,6,0.000,0.058,3142,2405,3358
$GC,865,-0.53,-117.3,75.0,-7.2,76,867,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2404,3359
$GC,1188,-0.53,-117.3,96.7,-6.5,95,1192,0.00,2.55,0.00,0.000,4,0.000,0.066,3141,984,3359
$GC,1229,-0.53,-117.3,99.4,-6.7,97,1233,0.00,2.45,0.00,0.000,6,0.000,0.058,3142,2405,3359
$GC,1557,-0.53,-117.3,120.4,-6.5,113,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2404,3359
$GC,1867,-0.58,-117.3,141.0,-6.5,128,1872,0.00,2.55,0.00,0.000,4,0.000,0.066,3141,988,3359
$GC,1896,-0.65,-117.3,143.1,-6.9,129,1901,0.00,2.42,0.00,0.000,6,0.000,0.058,3142,2404,3359
$GC,2212,-0.73,-117.3,160.8,-5.2,141,2214,0.17,0.00,0.00,0.000,6,0.078,0.000,3073,2403,3359
$GC,2519,-0.67,-117.3,182.8,-7.6,151,2524,0.00,2.55,0.00,0.000,4,0.000,0.077,3073,3809,3359
$GC,2560,-0.56,-117.3,186.5,-9.3,152,2565,0.22,2.38,0.00,0.000,6,0.123,0.051,3134,2392,3359
$GC,2885,-0.64,-117.3,208.7,-6.9,163,2890,0.00,2.58,0.00,0.000,4,0.000,0.066,3133,996,3359
$GC,2927,-0.72,-117.3,211.6,-7.2,164,2932,0.15,2.42,0.00,0.000,6,0.073,0.058,3082,2401,3359
$GC,3252,-0.72,-117.3,235.0,-6.9,175,3256,0.00,2.55,0.00,0.000,4,0.000,0.077,3082,3818,3359
$GC,3316,-0.68,-117.3,239.8,-8.0,177,3320,0.00,2.38,0.00,0.000,6,0.000,0.052,3082,2401,3359
$GC,3653,-0.68,-117.3,265.2,-7.9,188,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3359
$GC,3958,-0.68,-117.3,291.1,-8.6,198,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3359
$GC,4263,-0.68,-117.3,317.7,-8.6,205,4267,0.00,2.60,0.00,0.000,4,0.000,0.067,3082,992,3359
$GC,4302,-0.68,-117.3,321.2,-8.4,205,4306,0.00,2.45,0.00,0.000,6,0.000,0.060,3082,2403,3359
$GC,4624,-0.68,-117.3,347.9,-8.3,211,4628,0.00,2.53,0.00,0.000,4,0.000,0.079,3081,3812,3359
$GC,4658,-0.68,-117.3,350.7,-8.2,211,4662,0.00,2.40,0.00,0.000,6,0.000,0.051,3082,2400,3358
$GC,4985,-0.68,-117.3,374.7,-7.3,217,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3358
$GC,5288,-0.68,-117.3,394.9,-6.6,222,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3358
$GC,5592,-0.68,-117.3,413.0,-6.0,227,5596,0.00,2.62,0.00,0.000,4,0.000,0.078,3082,3807,3358
$GC,5626,-0.68,-117.3,415.3,-6.7,227,5630,0.00,2.42,0.00,0.000,6,0.000,0.052,3082,2401,3358
$GC,5953,-0.68,-117.3,435.3,-6.1,233,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3357
$GC,6256,-0.68,-117.3,455.2,-6.6,238,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2403,3357
$GC,6560,-0.68,-117.3,475.2,-6.7,243,6565,0.00,2.65,0.00,0.000,4,0.000,0.067,3081,994,3357
$GC,6595,-0.68,-117.3,477.8,-7.0,243,6599,0.00,2.45,0.00,0.000,6,0.000,0.059,3082,2405,3357
$GC,6923,-0.68,-117.3,499.4,-6.6,249,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,7225,-0.68,-117.3,520.6,-7.1,254,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,7529,-0.68,-117.3,543.2,-7.4,259,7534,0.00,2.65,0.00,0.000,4,0.000,0.067,3082,985,3357
$GC,7564,-0.68,-117.3,546.0,-8.1,259,7568,0.00,2.47,0.00,0.000,6,0.000,0.060,3082,2403,3357
$GC,7891,-0.68,-117.3,569.4,-7.1,265,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3357
$GC,8195,-0.68,-117.3,590.5,-6.9,270,8199,0.00,2.55,0.00,0.000,4,0.000,0.081,3082,3810,3356
$GC,8230,-0.68,-117.3,592.9,-7.5,270,8234,0.00,2.38,0.00,0.000,6,0.000,0.053,3082,2401,3356
$GC,8558,-0.68,-117.3,615.6,-6.9,276,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2402,3356
$GC,8860,-0.68,-117.3,637.5,-7.3,281,8865,0.00,2.60,0.00,0.000,4,0.000,0.079,3082,3808,3356
$GC,8895,-0.68,-117.3,640.2,-7.8,281,8899,0.00,2.40,0.00,0.000,6,0.000,0.053,3082,2392,3356
$GC,9223,-0.68,-117.3,663.6,-7.1,287,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3356
$GC,9526,-0.68,-117.3,683.8,-6.6,292,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3356
$GC,9829,-0.68,-117.3,702.1,-6.0,297,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3355
$GC,10132,-0.68,-117.3,719.2,-5.6,302,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3356
$GC,10435,-0.68,-117.3,735.9,-5.6,307,10439,0.00,2.67,0.00,0.000,4,0.000,0.080,3082,3810,3355
$GC,10469,-0.68,-117.3,737.8,-5.5,307,10474,0.00,2.47,0.00,0.000,6,0.000,0.052,3082,2392,3355
$GC,10797,-0.68,-117.3,756.5,-5.8,313,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3355
$GC,11102,-0.68,-117.3,773.0,-5.3,318,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3355
$GC,11403,-0.68,-117.3,788.3,-5.1,323,11408,0.00,2.62,0.00,0.000,4,0.000,0.069,3082,996,3355
$GC,11433,-0.73,-117.3,789.8,-5.5,323,11438,0.00,2.45,0.00,0.000,6,0.000,0.061,3082,2402,3355
$GC,11767,-0.73,-117.3,807.0,-5.2,329,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3354
$GC,12070,-0.77,-117.3,823.1,-5.3,334,12075,0.00,2.62,0.00,0.000,4,0.000,0.081,3082,3806,3354
$GC,12105,-0.77,-117.3,825.2,-6.4,334,12109,0.00,2.45,0.00,0.000,6,0.000,0.054,3082,2401,3354
$GC,12433,-0.81,-117.3,844.0,-5.8,340,12438,0.00,2.55,0.00,0.000,4,0.000,0.071,3082,990,3354
$GC,12469,-0.87,-117.3,846.4,-5.9,340,12473,0.15,2.45,0.00,0.000,6,0.083,0.061,3030,2401,3354
$GC,12796,-0.79,-117.3,870.3,-7.4,346,12801,0.12,2.55,0.00,0.000,4,0.100,0.081,3058,3809,3354
$GC,12837,-0.74,-117.3,873.3,-6.9,346,12841,0.00,2.38,0.00,0.000,6,0.000,0.054,3059,2399,3354
$GC,13160,-0.69,-117.3,895.7,-6.9,352,13165,0.12,2.53,0.00,0.000,4,0.150,0.071,3093,984,3354
$GC,13200,-0.74,-117.3,898.4,-6.7,352,13204,0.00,2.47,0.00,0.000,6,0.000,0.063,3093,2398,3354
$GC,13523,-0.80,-117.3,916.5,-5.6,358,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2398,3354
$GC,13827,-0.86,-117.3,933.1,-5.5,363,13828,0.17,0.00,0.00,0.000,6,0.078,0.000,3028,2398,3353
$GC,14128,-0.78,-117.3,954.0,-7.0,368,14133,0.12,2.65,0.00,0.000,4,0.099,0.083,3059,3818,3353
$GC,14169,-0.74,-117.3,956.8,-6.6,368,14174,0.00,2.42,0.00,0.000,6,0.000,0.056,3059,2392,3353
$GC,14492,-0.70,-117.3,977.7,-6.5,374,14494,0.12,0.00,0.00,0.000,6,0.156,0.000,3091,2391,3353
$STATE,14730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14730,begin apogee
$GC,14739,-0.22,0.0,991.4,5.6,378,14853,0.50,0.00,109.90,1.491,6,0.130,0.000,3243,2198,2876
$STATE,14854,end apogee,CONTROL_FINISHED_OK
$STATE,14854,begin climb
$GC,14859,0.67,117.3,996.1,0.0,380,14982,0.93,0.00,118.78,1.442,6,0.084,0.000,3532,2198,2397
$GC,15290,0.34,117.3,977.1,7.4,387,15292,0.40,0.00,0.00,0.000,6,0.164,0.000,3433,2198,2394
$GC,15590,0.28,117.3,960.9,5.2,392,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2198,2393
$GC,15894,0.23,117.3,945.1,5.2,397,15899,0.15,2.62,0.00,0.000,4,0.183,0.074,3395,785,2393
$GC,15940,0.34,139.0,942.9,4.4,397,15966,0.10,2.42,20.12,1.395,6,0.088,0.060,3435,2205,2309
$GC,16327,0.34,139.0,921.1,5.8,404,16331,0.00,2.42,0.00,0.000,4,0.000,0.079,3435,3609,2307
$GC,16378,0.24,139.0,917.3,6.6,404,16383,0.15,2.35,0.00,0.000,6,0.175,0.062,3400,2202,2307
$GC,16690,0.31,139.0,901.1,5.2,409,16694,0.00,2.45,0.00,0.000,4,0.000,0.076,3408,789,2307
$GC,16730,0.38,139.0,899.0,5.5,409,16735,0.10,2.38,0.00,0.000,6,0.087,0.059,3448,2199,2307
$GC,17053,0.32,139.0,880.7,5.7,415,17055,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2307
$GC,17355,0.27,139.0,865.0,5.2,420,17357,0.15,0.00,0.00,0.000,6,0.143,0.000,3409,2198,2306
$GC,17660,0.36,169.3,852.4,4.1,425,17690,0.00,0.00,28.02,1.388,6,0.000,0.000,3408,2199,2185
$GC,17962,0.45,172.3,837.8,4.9,430,17969,0.15,0.00,3.97,0.891,6,0.081,0.000,3467,2198,2173
$GC,18265,0.37,172.3,817.4,6.8,435,18266,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2198,2172
$GC,18567,0.29,172.3,797.0,6.8,440,18569,0.20,0.00,0.00,0.000,6,0.142,0.000,3411,2198,2172
$GC,18871,0.38,172.3,780.9,5.2,445,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2198,2172
$GC,19174,0.46,172.3,765.6,5.1,450,19179,0.15,2.60,0.00,0.000,4,0.077,0.074,3479,788,2172
$GC,19209,0.36,172.3,763.3,7.1,450,19214,0.17,2.42,0.00,0.000,6,0.141,0.059,3434,2208,2172
$GC,19536,0.36,172.3,744.9,5.6,456,19540,0.00,2.50,0.00,0.000,4,0.000,0.078,3434,3620,2171
$GC,19602,0.32,172.3,740.8,6.8,457,19606,0.00,2.42,0.00,0.000,6,0.000,0.061,3436,2194,2171
$GC,19974,0.32,172.3,718.5,5.9,463,19975,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2171
$GC,20278,0.32,172.3,700.2,6.1,468,20282,0.00,2.55,0.00,0.000,4,0.000,0.078,3436,3619,2171
$GC,20313,0.32,172.3,697.8,7.2,468,20317,0.00,2.42,0.00,0.000,6,0.000,0.061,3436,2196,2171
$GC,20640,0.32,172.3,677.4,6.2,474,20641,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2171
$GC,20944,0.32,172.3,658.8,6.1,479,20945,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2171
$GC,21247,0.32,172.3,641.4,5.6,484,21248,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2171
$GC,21551,0.32,172.3,624.7,5.5,489,21552,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2171
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$STATE,32457,end climb,SURFACE_DEPTH_REACHED
$STATE,32457,begin surface coast
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$STATE,32607,end surface coast,CONTROL_FINISHED_OK
$STATE,32607,begin surface
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$DEVICE_SECS,29.525,214.225,372.175,4.325,0.000,31.305,26.218,199.397,241.500,0.000,0.000,33.844,1803.956,27484.873,533.968,2276.603,992.901,33.387,1652.808,0.000,2228.408,0.000,0.466
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$DATA_FILE_SIZE,50748,851
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