version: 66.03
glider: 120
mission: 9
dive: 432
start: 2 7 109 6 21 27
data:
$ID,120
$MISSION,9
$DIVE,432
$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,-26931.852
$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,22
$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
$GPS1,061205,5004.471,-14512.414,38,1.4,42,18.4
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-71.5
$GPS2,062032,5004.446,-14512.399,14,1.4,14,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,-0.177
$KALMAN_X,-4517.9,30.3,-57.0,7021.9,913.6
$KALMAN_Y,38849.4,-473.4,-379.5,-36194.5,4148.8
$MHEAD_RNG_PITCHd_Wd,168.4,19333,-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,26,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-9.35,0.000,2,0.000,0.000,145,2411,1844
$GC,41,-0.67,-117.3,3.7,-0.0,1,127,13.88,2.53,-63.95,0.000,4,0.278,0.094,3095,3804,3356
$GC,202,-0.58,-117.3,12.9,-7.0,15,209,0.12,2.35,0.00,0.000,6,0.166,0.054,3128,2397,3357
$GC,530,-0.52,-117.3,45.8,-7.3,46,536,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3358
$GC,856,-0.44,-117.3,73.3,-8.7,77,858,0.15,0.00,0.00,0.000,6,0.166,0.000,3169,2396,3358
$GC,1179,-0.51,-117.3,98.2,-7.9,97,1183,0.00,2.45,0.00,0.000,4,0.000,0.069,3170,992,3358
$GC,1201,-0.58,-117.3,99.8,-6.8,98,1206,0.12,2.30,0.00,0.000,6,0.084,0.061,3121,2403,3358
$GC,1524,-0.58,-117.3,125.0,-7.4,114,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3358
$GC,1833,-0.64,-117.3,147.4,-7.4,129,1837,0.00,2.38,0.00,0.000,4,0.000,0.080,3122,3812,3359
$GC,1883,-0.64,-117.3,151.6,-8.3,131,1887,0.00,2.35,0.00,0.000,6,0.000,0.053,3121,2392,3358
$GC,2196,-0.85,-117.3,177.5,-7.9,141,2201,0.20,2.47,0.00,0.000,4,0.090,0.077,3041,3806,3359
$GC,2394,-0.63,-117.3,196.5,-10.0,147,2399,0.25,2.38,0.00,0.000,6,0.154,0.054,3110,2389,3359
$GC,2729,-0.63,-117.3,219.7,-6.7,158,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2389,3359
$GC,3036,-0.63,-117.3,238.5,-5.9,168,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2389,3359
$GC,3341,-0.63,-117.3,255.4,-5.6,178,3346,0.00,2.42,0.00,0.000,4,0.000,0.071,3110,988,3359
$GC,3391,-0.63,-117.3,258.5,-6.3,179,3395,0.00,2.33,0.00,0.000,6,0.000,0.063,3110,2406,3359
$GC,3705,-0.63,-117.3,277.2,-6.3,189,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3359
$GC,4010,-0.63,-117.3,298.2,-6.8,199,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2405,3359
$GC,4344,-0.63,-117.3,319.9,-6.4,205,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2406,3359
$GC,4647,-0.63,-117.3,339.7,-6.6,210,4651,0.00,2.45,0.00,0.000,4,0.000,0.071,3110,987,3358
$GC,4668,-0.63,-117.3,341.4,-6.9,210,4673,0.00,2.35,0.00,0.000,6,0.000,0.064,3110,2407,3358
$GC,5007,-0.63,-117.3,363.2,-6.5,216,5011,0.00,2.38,0.00,0.000,4,0.000,0.082,3110,3805,3358
$GC,5034,-0.68,-117.3,365.2,-7.1,216,5038,0.00,2.30,0.00,0.000,6,0.000,0.054,3110,2399,3358
$GC,5367,-0.73,-117.3,385.8,-6.1,222,5371,0.00,2.40,0.00,0.000,4,0.000,0.071,3110,992,3357
$GC,5406,-0.77,-117.3,388.3,-6.0,222,5411,0.12,2.30,0.00,0.000,6,0.085,0.061,3064,2404,3357
$GC,5727,-0.77,-117.3,408.4,-6.2,228,5731,0.00,2.35,0.00,0.000,4,0.000,0.081,3063,3809,3357
$GC,5771,-0.68,-117.3,411.5,-6.6,228,5776,0.12,2.30,0.00,0.000,6,0.113,0.055,3097,2393,3357
$GC,6087,-0.68,-117.3,430.1,-5.9,234,6091,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,990,3357
$GC,6125,-0.68,-117.3,432.8,-7.1,234,6129,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2400,3357
$GC,6446,-0.68,-117.3,453.6,-6.5,240,6450,0.00,2.42,0.00,0.000,4,0.000,0.071,3097,993,3357
$GC,6473,-0.68,-117.3,455.7,-7.4,240,6477,0.00,2.33,0.00,0.000,6,0.000,0.063,3098,2401,3357
$GC,6805,-0.68,-117.3,476.6,-6.4,246,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3357
$GC,7108,-0.68,-117.3,494.5,-5.8,251,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3357
$GC,7411,-0.68,-117.3,510.7,-5.3,256,7415,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,997,3356
$GC,7439,-0.68,-117.3,512.2,-5.4,256,7443,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2409,3357
$GC,7777,-0.68,-117.3,529.5,-5.2,262,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,8080,-0.68,-117.3,547.1,-5.9,267,8084,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,997,3356
$GC,8113,-0.68,-117.3,549.3,-7.1,267,8117,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2403,3356
$GC,8439,-0.68,-117.3,569.7,-6.2,273,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3356
$GC,8743,-0.68,-117.3,587.8,-6.0,278,8747,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,997,3356
$GC,8770,-0.68,-117.3,589.7,-6.9,278,8774,0.00,2.30,0.00,0.000,6,0.000,0.063,3098,2404,3356
$GC,9102,-0.68,-117.3,609.6,-6.0,284,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,9405,-0.68,-117.3,627.5,-5.9,289,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,9708,-0.68,-117.3,643.8,-5.3,294,9712,0.00,2.42,0.00,0.000,4,0.000,0.071,3098,997,3356
$GC,9741,-0.68,-117.3,645.6,-5.9,294,9745,0.00,2.28,0.00,0.000,6,0.000,0.064,3098,2400,3356
$GC,10073,-0.68,-117.3,662.8,-5.2,300,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3356
$GC,10376,-0.68,-117.3,679.3,-5.4,305,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3356
$GC,10679,-0.68,-117.3,696.4,-5.6,310,10683,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,995,3356
$GC,10706,-0.68,-117.3,697.9,-6.1,310,10710,0.00,2.30,0.00,0.000,6,0.000,0.064,3098,2399,3355
$GC,11039,-0.68,-117.3,713.3,-4.5,316,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3355
$GC,11343,-0.68,-117.3,725.7,-4.1,321,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3355
$GC,11646,-0.72,-117.3,739.3,-4.5,326,11650,0.00,2.40,0.00,0.000,4,0.000,0.072,3098,993,3355
$GC,11673,-0.77,-117.3,740.8,-5.3,326,11677,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2412,3355
$GC,12012,-0.81,-117.3,757.5,-5.0,332,12017,0.12,2.35,0.00,0.000,4,0.092,0.081,3047,3811,3355
$GC,12040,-0.75,-117.3,759.1,-6.1,332,12044,0.00,2.25,0.00,0.000,6,0.000,0.057,3047,2399,3355
$GC,12379,-0.68,-117.3,780.6,-6.4,338,12380,0.17,0.00,0.00,0.000,6,0.129,0.000,3097,2396,3355
$GC,12681,-0.73,-117.3,796.6,-5.2,343,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3355
$GC,12984,-0.78,-117.3,811.6,-5.0,348,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3355
$GC,13288,-0.82,-117.3,826.8,-5.0,353,13290,0.15,0.00,0.00,0.000,6,0.087,0.000,3040,2396,3354
$GC,13590,-0.76,-117.3,847.5,-7.0,358,13592,0.12,0.00,0.00,0.000,6,0.109,0.000,3074,2396,3354
$GC,13893,-0.76,-117.3,867.5,-6.5,363,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2396,3354
$GC,14196,-0.76,-117.3,887.9,-6.8,368,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2396,3354
$GC,14499,-0.76,-117.3,908.3,-6.8,373,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2396,3354
$GC,14803,-0.76,-117.3,927.9,-6.4,378,14807,0.00,2.45,0.00,0.000,4,0.000,0.073,3074,995,3354
$GC,14830,-0.76,-117.3,929.9,-6.6,378,14834,0.00,2.33,0.00,0.000,6,0.000,0.066,3073,2399,3354
$GC,15162,-0.76,-117.3,950.6,-6.3,384,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$GC,15465,-0.76,-117.3,968.1,-5.7,389,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3354
$GC,15769,-0.76,-117.3,984.4,-5.3,394,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3354
$STATE,15887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15887,begin apogee
$GC,15894,-0.22,0.0,990.5,5.2,396,16009,0.57,0.00,109.12,1.488,6,0.141,0.000,3244,2193,2876
$STATE,16010,end apogee,CONTROL_FINISHED_OK
$STATE,16010,begin climb
$GC,16013,0.67,117.3,994.1,0.0,398,16134,0.90,2.78,114.38,1.436,4,0.091,0.078,3535,787,2396
$GC,16177,0.32,117.3,991.4,7.6,400,16182,0.45,2.50,0.00,0.000,6,0.176,0.061,3421,2205,2395
$GC,16492,0.32,117.3,973.1,5.7,406,16493,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2205,2393
$GC,16795,0.32,117.3,956.2,5.6,411,16796,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2204,2393
$GC,17098,0.32,117.3,939.9,5.4,416,17103,0.00,2.47,0.00,0.000,4,0.000,0.077,3424,791,2393
$GC,17138,0.32,117.3,937.9,5.4,416,17142,0.00,2.30,0.00,0.000,6,0.000,0.062,3424,2206,2393
$GC,17459,0.32,118.3,921.7,5.0,422,17463,0.00,2.35,0.00,0.000,4,0.000,0.081,3424,3616,2393
$GC,17498,0.23,122.6,919.6,4.9,422,17509,0.12,2.33,5.60,1.114,6,0.186,0.064,3395,2200,2376
$GC,17821,0.35,160.0,906.6,3.9,428,17861,0.12,2.55,34.67,1.417,4,0.087,0.079,3449,788,2222
$GC,17900,0.35,160.0,902.1,6.0,429,17905,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2199,2222
$GC,18250,0.31,160.0,880.8,6.1,435,18252,0.12,0.00,0.00,0.000,6,0.156,0.000,3416,2199,2220
$GC,18553,0.37,160.0,864.3,5.4,440,18557,0.00,2.42,0.00,0.000,4,0.000,0.077,3421,789,2220
$GC,18586,0.42,160.0,862.3,5.9,440,18590,0.00,2.30,0.00,0.000,6,0.000,0.062,3421,2204,2220
$GC,18913,0.47,160.0,843.1,6.0,446,18915,0.15,0.00,0.00,0.000,6,0.085,0.000,3481,2204,2219
$GC,19216,0.35,160.0,820.9,7.3,451,19218,0.17,0.00,0.00,0.000,6,0.146,0.000,3432,2204,2219
$GC,19519,0.35,160.0,803.4,5.7,456,19520,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2204,2219
$GC,19821,0.35,160.0,787.0,5.4,461,19823,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2204,2219
$GC,20124,0.35,160.0,770.5,5.5,466,20129,0.00,2.45,0.00,0.000,4,0.000,0.078,3435,790,2219
$GC,20158,0.35,160.0,768.5,5.2,466,20162,0.00,2.30,0.00,0.000,6,0.000,0.062,3435,2204,2219
$GC,20485,0.35,160.0,749.0,6.1,472,20486,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2219
$GC,20788,0.35,160.0,729.4,6.5,477,20792,0.00,2.45,0.00,0.000,4,0.000,0.078,3435,780,2219
$GC,20821,0.35,160.0,727.2,5.7,477,20825,0.00,2.33,0.00,0.000,6,0.000,0.062,3435,2209,2219
$GC,21148,0.35,160.0,705.8,6.5,483,21149,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2209,2219
$GC,21450,0.35,160.0,686.4,6.4,488,21454,0.00,2.33,0.00,0.000,4,0.000,0.081,3435,3607,2219
$GC,21483,0.35,160.0,684.1,6.4,488,21487,0.00,2.38,0.00,0.000,6,0.000,0.062,3435,2192,2219
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$STATE,33034,end climb,SURFACE_DEPTH_REACHED
$STATE,33034,begin surface coast
$FINISH,6.4,1.025622
$STATE,33039,end surface coast,CONTROL_FINISHED_OK
$STATE,33039,begin surface
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$XPDR_PINGS,989
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$10V_AH,10.5,57.934
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$DEVICE_SECS,30.050,209.400,348.550,21.525,0.000,52.520,70.236,185.311,247.250,0.000,0.000,14.118,1821.789,28075.721,542.768,2343.183,802.403,33.371,1704.088,0.000,2314.237,0.000,0.465
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$DATA_FILE_SIZE,47474,843
$CAP_FILE_SIZE,189283,0
$CFSIZE,260165632,225071104
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