version: 66.03
glider: 120
mission: 9
dive: 443
start: 2 11 109 9 40 16
data:
$ID,120
$MISSION,9
$DIVE,443
$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,-27226.113
$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,20
$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
$GPS1,092321,5008.943,-14446.134,59,2.3,78,18.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.01
$_SM_ANGLEo,-74.1
$GPS2,093919,5008.897,-14446.109,10,1.8,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.104
$KALMAN_X,-12429.4,246.3,166.2,45742.4,-1617.9
$KALMAN_Y,41524.5,-216.7,-31.8,-31240.8,621.9
$MHEAD_RNG_PITCHd_Wd,35.6,29548,-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,-117.3,0.0,0.0,0,37,0.00,0.00,-11.18,0.000,2,0.000,0.000,136,2402,2029
$GC,41,-0.67,-117.3,4.0,-0.0,1,110,14.20,2.42,-48.97,0.000,4,0.285,0.091,3084,3814,3355
$GC,116,-0.44,-117.3,7.6,-9.6,7,123,0.30,2.28,0.00,0.000,6,0.163,0.054,3166,2397,3356
$GC,444,-0.49,-117.3,28.0,-6.6,38,448,0.00,2.42,0.00,0.000,4,0.000,0.080,3166,3817,3357
$GC,592,-0.56,-117.3,41.0,-8.4,51,596,0.00,2.28,0.00,0.000,6,0.000,0.054,3166,2395,3357
$GC,922,-0.63,-117.3,62.7,-6.7,81,926,0.15,2.33,0.00,0.000,4,0.081,0.068,3098,990,3357
$GC,996,-0.53,-117.3,69.8,-10.3,87,1001,0.17,2.33,0.00,0.000,6,0.149,0.062,3146,2411,3358
$GC,1326,-0.53,-117.3,93.7,-6.3,108,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2411,3358
$GC,1635,-0.53,-117.3,114.5,-6.7,123,1639,0.00,2.35,0.00,0.000,4,0.000,0.069,3146,993,3358
$GC,1679,-0.53,-117.3,117.9,-7.8,125,1683,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2404,3357
$GC,2001,-0.76,-117.3,142.7,-7.5,141,2006,0.17,2.35,0.00,0.000,4,0.081,0.077,3073,3816,3358
$GC,2096,-0.62,-117.3,150.1,-7.5,145,2101,0.15,2.25,0.00,0.000,6,0.130,0.053,3113,2394,3357
$GC,2409,-0.62,-117.3,170.4,-6.7,155,2413,0.00,2.30,0.00,0.000,4,0.000,0.069,3113,987,3358
$GC,2448,-0.62,-117.3,173.2,-7.2,156,2452,0.00,2.30,0.00,0.000,6,0.000,0.061,3113,2404,3358
$GC,2772,-0.62,-117.3,196.7,-7.3,167,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2403,3358
$GC,3078,-0.62,-117.3,217.9,-7.2,177,3082,0.00,2.35,0.00,0.000,4,0.000,0.080,3113,3819,3358
$GC,3111,-0.62,-117.3,220.5,-7.5,178,3115,0.00,2.25,0.00,0.000,6,0.000,0.053,3113,2393,3358
$GC,3440,-0.62,-117.3,244.3,-6.9,189,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2393,3358
$GC,3746,-0.62,-117.3,264.0,-6.2,199,3751,0.00,2.40,0.00,0.000,4,0.000,0.079,3113,3808,3357
$GC,3786,-0.67,-117.3,266.6,-6.7,200,3790,0.00,2.25,0.00,0.000,6,0.000,0.053,3113,2388,3358
$GC,4110,-0.67,-117.3,286.9,-6.4,211,4114,0.00,2.30,0.00,0.000,4,0.000,0.069,3113,993,3358
$GC,4166,-0.67,-117.3,290.9,-6.8,212,4172,0.00,2.28,0.00,0.000,6,0.000,0.061,3113,2400,3358
$GC,4508,-0.67,-117.3,313.6,-6.6,221,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,4812,-0.67,-117.3,333.2,-6.5,226,4816,0.00,2.35,0.00,0.000,4,0.000,0.070,3113,984,3358
$GC,4851,-0.67,-117.3,336.1,-6.9,226,4855,0.00,2.33,0.00,0.000,6,0.000,0.062,3113,2410,3358
$GC,5172,-0.67,-117.3,356.9,-6.5,232,5176,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,990,3358
$GC,5211,-0.67,-117.3,359.7,-6.7,232,5215,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2406,3357
$GC,5533,-0.67,-117.3,381.4,-6.8,238,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3358
$GC,5835,-0.71,-117.3,401.5,-6.6,243,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3357
$GC,6138,-0.76,-117.3,420.4,-6.2,248,6140,0.12,0.00,0.00,0.000,6,0.087,0.000,3060,2405,3356
$GC,6442,-0.71,-117.3,440.7,-6.7,253,6446,0.00,2.38,0.00,0.000,4,0.000,0.081,3060,3809,3356
$GC,6482,-0.63,-117.3,443.9,-8.1,253,6487,0.17,2.25,0.00,0.000,6,0.118,0.054,3110,2396,3356
$GC,6803,-0.67,-117.3,463.0,-5.9,259,6807,0.00,2.33,0.00,0.000,4,0.000,0.071,3110,997,3356
$GC,6837,-0.71,-117.3,465.1,-6.0,259,6841,0.00,2.28,0.00,0.000,6,0.000,0.062,3110,2400,3356
$GC,7170,-0.77,-117.3,483.6,-5.6,265,7172,0.12,0.00,0.00,0.000,6,0.087,0.000,3060,2400,3356
$GC,7472,-0.77,-117.3,504.1,-6.8,270,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2400,3356
$GC,7775,-0.77,-117.3,524.3,-6.6,275,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2400,3356
$GC,8079,-0.77,-117.3,544.4,-6.7,280,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2400,3356
$GC,8381,-0.77,-117.3,564.3,-6.6,285,8385,0.00,2.38,0.00,0.000,4,0.000,0.081,3060,3809,3356
$GC,8416,-0.70,-117.3,566.8,-8.1,285,8420,0.12,2.25,0.00,0.000,6,0.110,0.054,3094,2392,3356
$GC,8742,-0.70,-117.3,585.8,-5.8,291,8746,0.00,2.33,0.00,0.000,4,0.000,0.072,3094,997,3356
$GC,8797,-0.70,-117.3,589.1,-6.1,291,8804,0.00,2.30,0.00,0.000,6,0.000,0.063,3094,2406,3356
$GC,9108,-0.70,-117.3,605.1,-5.1,297,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,9410,-0.70,-117.3,620.7,-5.2,302,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,9713,-0.70,-117.3,636.3,-5.1,307,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,10017,-0.70,-117.3,652.9,-5.5,312,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3355
$GC,10319,-0.70,-117.3,669.8,-5.6,317,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,10623,-0.70,-117.3,687.5,-5.9,322,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3355
$GC,10926,-0.70,-117.3,705.0,-5.7,327,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3355
$GC,11229,-0.70,-117.3,722.4,-5.7,332,11233,0.00,2.42,0.00,0.000,4,0.000,0.084,3094,3816,3354
$GC,11256,-0.70,-117.3,724.0,-5.8,332,11260,0.00,2.28,0.00,0.000,6,0.000,0.057,3094,2402,3354
$GC,11589,-0.74,-117.3,742.2,-5.4,338,11593,0.00,2.38,0.00,0.000,4,0.000,0.074,3094,983,3354
$GC,11621,-0.74,-117.3,744.2,-5.7,338,11626,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2408,3354
$GC,11948,-0.74,-117.3,762.1,-5.5,344,11952,0.00,2.38,0.00,0.000,4,0.000,0.084,3094,3808,3354
$GC,11976,-0.78,-117.3,763.7,-5.7,344,11980,0.00,2.25,0.00,0.000,6,0.000,0.056,3093,2399,3354
$GC,12309,-0.83,-117.3,782.6,-5.6,350,12311,0.12,0.00,0.00,0.000,6,0.085,0.000,3045,2399,3353
$GC,12611,-0.78,-117.3,803.2,-6.9,355,12616,0.00,2.42,0.00,0.000,4,0.000,0.082,3045,3806,3353
$GC,12651,-0.68,-117.3,806.4,-8.5,355,12656,0.17,2.28,0.00,0.000,6,0.123,0.056,3094,2390,3353
$GC,12972,-0.68,-117.3,826.2,-6.2,361,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3353
$GC,13274,-0.68,-117.3,845.3,-6.3,366,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3353
$GC,13578,-0.68,-117.3,862.9,-5.7,371,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3353
$GC,13881,-0.72,-117.3,879.1,-5.3,376,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3353
$GC,14184,-0.72,-117.3,894.4,-5.1,381,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3353
$GC,14488,-0.76,-117.3,911.5,-5.7,386,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2390,3353
$GC,14790,-0.81,-117.3,929.4,-6.0,391,14792,0.12,0.00,0.00,0.000,6,0.085,0.000,3045,2390,3353
$GC,15093,-0.81,-117.3,949.2,-6.6,396,15097,0.00,2.45,0.00,0.000,4,0.000,0.083,3045,3813,3352
$GC,15149,-0.75,-117.3,953.1,-7.7,396,15156,0.05,2.30,0.00,0.000,6,0.100,0.058,3073,2400,3352
$GC,15459,-0.75,-117.3,972.0,-6.0,402,15460,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3352
$GC,15762,-0.75,-117.3,989.6,-5.8,407,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3353
$STATE,15820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15820,begin apogee
$GC,15827,-0.22,0.0,993.2,5.8,408,15943,0.57,0.00,108.40,1.489,6,0.142,0.000,3247,2188,2876
$STATE,15943,end apogee,CONTROL_FINISHED_OK
$STATE,15943,begin climb
$GC,15947,0.67,117.3,997.3,0.0,410,16069,0.85,0.00,113.85,1.437,6,0.088,0.000,3528,2188,2397
$GC,16373,0.36,117.3,975.8,7.7,417,16378,0.30,2.47,0.00,0.000,4,0.163,0.078,3439,3610,2394
$GC,16440,0.22,117.3,971.3,7.6,418,16445,0.20,2.30,0.00,0.000,6,0.169,0.062,3395,2192,2393
$GC,16801,0.31,128.0,954.7,4.7,424,16814,0.00,0.00,10.52,1.305,6,0.000,0.000,3395,2192,2354
$GC,17104,0.39,128.3,939.5,5.0,429,17106,0.15,0.00,0.00,0.000,6,0.082,0.000,3454,2192,2353
$GC,17407,0.31,128.3,921.6,6.0,434,17408,0.12,0.00,0.00,0.000,6,0.136,0.000,3420,2192,2353
$GC,17710,0.31,128.3,906.0,5.1,439,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2192,2353
$GC,18013,0.31,128.3,890.4,5.2,444,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2192,2353
$GC,18316,0.32,135.3,875.8,4.8,449,18326,0.00,0.00,8.20,1.239,6,0.000,0.000,3420,2192,2324
$GC,18619,0.32,135.3,860.7,5.0,454,18620,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2192,2323
$GC,18923,0.34,151.2,846.8,4.5,459,18940,0.00,0.00,15.57,1.339,6,0.000,0.000,3420,2192,2259
$GC,19225,0.34,152.3,832.1,5.0,464,19226,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2192,2257
$GC,19528,0.34,154.8,817.1,4.9,469,19538,0.00,2.40,5.12,1.036,4,0.000,0.081,3420,3606,2244
$GC,19561,0.35,156.4,815.3,5.0,469,19565,0.00,2.28,0.00,0.000,6,0.000,0.064,3424,2201,2243
$GC,19888,0.35,157.9,799.3,5.0,475,19897,0.00,2.38,4.47,0.957,4,0.000,0.081,3424,788,2232
$GC,19932,0.42,166.2,796.9,4.8,475,19946,0.00,2.30,9.32,1.225,6,0.000,0.061,3424,2206,2197
$GC,20258,0.47,166.2,779.2,5.5,481,20262,0.12,2.35,0.00,0.000,4,0.088,0.080,3478,3615,2196
$GC,20303,0.28,166.2,775.8,8.3,481,20308,0.25,2.30,0.00,0.000,6,0.166,0.065,3410,2200,2196
$GC,20618,0.37,166.2,758.7,5.3,487,20622,0.00,2.35,0.00,0.000,4,0.000,0.081,3410,790,2196
$GC,20652,0.49,166.2,756.8,5.1,487,20657,0.20,2.30,0.00,0.000,6,0.077,0.060,3487,2209,2196
$GC,20979,0.37,166.2,732.2,7.7,493,20981,0.17,0.00,0.00,0.000,6,0.143,0.000,3438,2210,2196
$GC,21281,0.37,166.2,714.5,5.7,498,21285,0.00,2.40,0.00,0.000,4,0.000,0.080,3438,790,2196
$GC,21314,0.41,166.2,712.6,5.3,498,21318,0.00,2.30,0.00,0.000,6,0.000,0.061,3438,2209,2196
$GC,21641,0.41,166.2,695.4,5.2,504,21643,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2209,2196
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$STATE,33035,end climb,SURFACE_DEPTH_REACHED
$STATE,33036,begin surface coast
$FINISH,2.8,1.025164
$STATE,33177,end surface coast,CONTROL_FINISHED_OK
$STATE,33177,begin surface
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$HUMID,2090
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$TCM_TEMP,15.60
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$10V_AH,10.5,59.428
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$DEVICE_SECS,31.350,206.400,367.475,12.125,0.000,106.435,182.432,331.355,252.000,0.000,0.000,15.598,1858.140,28268.619,564.432,2332.517,1139.040,33.368,1713.909,0.000,2305.950,0.000,0.465
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$DATA_FILE_SIZE,50631,882
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110209,185621,5011.391,-14442.218,93,2.7,112,18.6