version: 66.03
glider: 120
mission: 9
dive: 433
start: 2 7 109 15 53 27
data:
$ID,120
$MISSION,9
$DIVE,433
$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,-26966.43
$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,18
$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
$GPS1,153527,5001.641,-14513.017,114,1.0,115,18.4
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,4.14
$_SM_ANGLEo,-74.6
$GPS2,155231,5001.612,-14512.853,16,1.1,33,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,-0.178
$KALMAN_X,-4277.7,-83.5,88.9,6217.7,675.9
$KALMAN_Y,39960.8,-161.7,-174.6,-43069.3,2872.3
$MHEAD_RNG_PITCHd_Wd,164.5,14118,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,31,0.00,0.00,-5.55,0.000,2,0.000,0.000,135,2395,1891
$GC,35,-0.67,-117.3,4.0,-0.0,1,121,14.32,2.53,-63.70,0.000,4,0.288,0.091,3095,3812,3355
$GC,285,-0.48,-117.3,28.8,-10.8,23,291,0.22,2.35,0.00,0.000,6,0.156,0.054,3158,2400,3356
$GC,612,-0.48,-117.3,45.6,-4.1,54,616,0.00,2.45,0.00,0.000,4,0.000,0.067,3158,989,3357
$GC,646,-0.48,-117.3,47.5,-5.5,57,650,0.00,2.33,0.00,0.000,6,0.000,0.061,3155,2407,3356
$GC,974,-0.48,-117.3,66.9,-7.8,87,978,0.00,2.47,0.00,0.000,4,0.000,0.068,3155,983,3357
$GC,1003,-0.48,-117.3,69.5,-8.5,89,1007,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2403,3357
$GC,1323,-0.48,-117.3,92.2,-6.9,111,1327,0.00,2.35,0.00,0.000,4,0.000,0.080,3155,3814,3357
$GC,1362,-0.57,-117.3,94.8,-6.8,112,1368,0.00,2.30,0.00,0.000,6,0.000,0.053,3155,2396,3357
$GC,1678,-0.57,-117.3,117.3,-7.5,128,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2396,3357
$GC,1988,-0.80,-117.3,138.4,-6.7,143,1993,0.25,2.45,0.00,0.000,4,0.085,0.067,3065,994,3357
$GC,2089,-0.65,-117.3,147.2,-9.6,147,2096,0.15,2.30,0.00,0.000,6,0.156,0.061,3105,2411,3358
$GC,2413,-0.65,-117.3,171.5,-6.6,159,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2411,3358
$GC,2719,-0.65,-117.3,192.0,-6.2,169,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2411,3358
$GC,3025,-0.65,-117.3,210.8,-6.3,179,3029,0.00,2.42,0.00,0.000,4,0.000,0.068,3105,991,3358
$GC,3064,-0.65,-117.3,213.6,-6.8,180,3068,0.00,2.30,0.00,0.000,6,0.000,0.062,3103,2400,3358
$GC,3393,-0.65,-117.3,233.9,-6.1,191,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2400,3358
$GC,3700,-0.65,-117.3,254.6,-7.0,201,3704,0.00,2.45,0.00,0.000,4,0.000,0.080,3099,3805,3357
$GC,3739,-0.65,-117.3,257.7,-7.1,202,3743,0.00,2.33,0.00,0.000,6,0.000,0.053,3099,2401,3358
$GC,4068,-0.65,-117.3,281.1,-7.1,213,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,4405,-0.65,-117.3,305.9,-7.5,223,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,4708,-0.65,-117.3,328.5,-7.5,228,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,5010,-0.65,-117.3,350.6,-7.2,233,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,5314,-0.65,-117.3,371.3,-6.7,238,5318,0.00,2.45,0.00,0.000,4,0.000,0.071,3099,986,3357
$GC,5352,-0.65,-117.3,373.9,-6.1,238,5356,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2412,3357
$GC,5674,-0.65,-117.3,392.2,-5.6,244,5678,0.00,2.47,0.00,0.000,4,0.000,0.070,3099,987,3356
$GC,5712,-0.65,-117.3,394.6,-6.3,244,5716,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2413,3356
$GC,6033,-0.65,-117.3,413.2,-5.9,250,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3356
$GC,6336,-0.65,-117.3,433.0,-6.5,255,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3356
$GC,6640,-0.65,-117.3,452.3,-6.3,260,6644,0.00,2.47,0.00,0.000,4,0.000,0.070,3099,988,3355
$GC,6674,-0.65,-117.3,454.6,-6.6,260,6678,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2411,3355
$GC,7001,-0.65,-117.3,473.6,-5.7,266,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,7304,-0.65,-117.3,490.8,-5.7,271,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,7608,-0.65,-117.3,509.0,-6.0,276,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,7910,-0.65,-117.3,526.2,-5.7,281,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,8213,-0.65,-117.3,544.8,-6.1,286,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,8516,-0.65,-117.3,563.5,-6.2,291,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,8820,-0.65,-117.3,580.8,-5.6,296,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3355
$GC,9123,-0.65,-117.3,596.8,-5.3,301,9127,0.00,2.45,0.00,0.000,4,0.000,0.071,3099,995,3354
$GC,9167,-0.71,-117.3,599.7,-6.3,301,9171,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2401,3354
$GC,9483,-0.71,-117.3,618.9,-6.2,307,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,9786,-0.71,-117.3,637.6,-6.1,312,9790,0.00,2.40,0.00,0.000,4,0.000,0.084,3099,3811,3355
$GC,9814,-0.76,-117.3,639.3,-6.1,312,9818,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2392,3354
$GC,10147,-0.80,-117.3,657.7,-5.5,318,10149,0.12,0.00,0.00,0.000,6,0.093,0.000,3050,2392,3354
$GC,10450,-0.75,-117.3,677.3,-6.5,323,10454,0.00,2.50,0.00,0.000,4,0.000,0.081,3049,3813,3354
$GC,10489,-0.66,-117.3,680.2,-7.3,323,10494,0.17,2.35,0.00,0.000,6,0.117,0.055,3099,2395,3354
$GC,10810,-0.70,-117.3,699.3,-6.0,329,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3354
$GC,11112,-0.70,-117.3,716.7,-5.7,334,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3354
$GC,11416,-0.70,-117.3,732.7,-5.4,339,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3354
$GC,11718,-0.70,-117.3,749.3,-5.6,344,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3354
$GC,12023,-0.75,-117.3,768.2,-6.3,349,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3354
$GC,12325,-0.80,-117.3,787.3,-6.3,354,12327,0.12,0.00,0.00,0.000,6,0.089,0.000,3051,2395,3353
$GC,12628,-0.80,-117.3,807.6,-6.7,359,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2395,3353
$GC,12931,-0.80,-117.3,828.3,-6.8,364,12932,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2395,3353
$GC,13235,-0.80,-117.3,848.8,-6.8,369,13239,0.00,2.53,0.00,0.000,4,0.000,0.082,3050,3808,3353
$GC,13274,-0.73,-117.3,851.8,-7.8,369,13279,0.10,2.38,0.00,0.000,6,0.101,0.056,3078,2402,3353
$GC,13596,-0.73,-117.3,873.1,-6.7,375,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3353
$GC,13898,-0.73,-117.3,893.8,-6.8,380,13902,0.00,2.47,0.00,0.000,4,0.000,0.073,3078,986,3353
$GC,13931,-0.73,-117.3,896.4,-7.3,380,13935,0.00,2.35,0.00,0.000,6,0.000,0.066,3077,2410,3352
$GC,14258,-0.73,-117.3,918.0,-6.6,386,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2410,3353
$GC,14561,-0.73,-117.3,936.7,-6.1,391,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3352
$GC,14864,-0.73,-117.3,954.4,-5.8,396,14866,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3352
$GC,15168,-0.73,-117.3,971.8,-5.7,401,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3352
$GC,15470,-0.73,-117.3,987.8,-5.2,406,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2409,3352
$STATE,15528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15528,begin apogee
$GC,15535,-0.22,0.0,990.9,5.1,407,15651,0.55,0.00,108.68,1.487,6,0.144,0.000,3243,2193,2876
$STATE,15652,end apogee,CONTROL_FINISHED_OK
$STATE,15652,begin climb
$GC,15655,0.67,117.3,994.6,0.0,409,15778,0.88,2.80,113.38,1.435,4,0.095,0.077,3533,791,2396
$GC,15801,0.32,117.3,993.3,5.7,411,15806,0.43,2.53,0.00,0.000,6,0.175,0.061,3427,2209,2395
$GC,16144,0.32,117.3,973.9,5.6,417,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2209,2393
$GC,16448,0.32,117.3,956.6,5.6,422,16449,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2209,2393
$GC,16750,0.32,117.3,940.5,5.3,427,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2209,2393
$GC,17054,0.33,123.6,925.8,4.8,432,17062,0.00,0.00,6.43,1.171,6,0.000,0.000,3427,2209,2372
$GC,17357,0.35,142.6,912.1,4.5,437,17382,0.00,2.58,18.60,1.384,4,0.000,0.078,3436,790,2294
$GC,17406,0.36,147.3,909.8,4.9,437,17417,0.00,2.33,6.10,1.114,6,0.000,0.062,3436,2203,2275
$GC,17721,0.37,152.6,894.2,4.8,442,17729,0.00,0.00,6.55,1.162,6,0.000,0.000,3436,2203,2253
$GC,18024,0.37,152.6,878.8,5.1,447,18028,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,789,2252
$GC,18058,0.38,164.5,877.0,4.7,447,18077,0.00,2.30,12.15,1.314,6,0.000,0.062,3436,2200,2205
$GC,18388,0.38,164.5,858.3,5.8,453,18393,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,788,2204
$GC,18422,0.38,164.5,856.2,6.1,453,18426,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2213,2204
$GC,18748,0.38,164.5,835.9,6.3,459,18752,0.00,2.33,0.00,0.000,4,0.000,0.082,3436,3610,2203
$GC,18794,0.33,164.5,832.7,7.4,459,18798,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2191,2204
$GC,19109,0.33,164.5,813.5,6.0,465,19113,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,791,2203
$GC,19147,0.33,164.5,811.2,6.1,465,19151,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2202,2203
$GC,19468,0.33,164.5,792.3,6.0,471,19469,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2203
$GC,19771,0.33,164.5,774.7,5.8,476,19772,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2203
$GC,20074,0.33,164.5,757.2,5.9,481,20075,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2203
$GC,20377,0.33,164.5,739.8,5.7,486,20378,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2203
$GC,20680,0.33,164.5,722.1,5.8,491,20681,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2203
$GC,20983,0.33,164.5,704.7,5.7,496,20984,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2203
$GC,21287,0.33,164.5,687.3,5.7,501,21288,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2203
$GC,21589,0.33,164.5,669.1,6.0,506,21590,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2203
$GC,21893,0.33,164.5,651.2,5.9,511,21897,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3618,2203
$GC,21927,0.33,164.5,648.9,6.1,511,21932,0.00,2.38,0.00,0.000,6,0.000,0.063,3436,2192,2203
$GC,22255,0.33,164.5,631.8,5.1,517,22259,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,791,2203
$GC,22311,0.38,165.9,629.1,5.0,517,22317,0.00,2.30,0.00,0.000,6,0.000,0.061,3435,2211,2203
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$STATE,32387,end climb,SURFACE_DEPTH_REACHED
$STATE,32387,begin surface coast
$FINISH,2.7,1.013970
$STATE,32474,end surface coast,CONTROL_FINISHED_OK
$STATE,32474,begin surface
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$HUMID,2100
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$XPDR_PINGS,941
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$10V_AH,10.5,58.075
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$DEVICE_SECS,27.725,177.925,383.875,0.000,0.000,89.185,99.052,540.129,235.250,0.000,0.000,33.946,1728.134,27905.033,529.483,2196.558,1209.380,33.365,1608.083,0.000,2149.552,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47540,843
$CAP_FILE_SIZE,178710,0
$CFSIZE,260165632,225009664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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