version: 66.03
glider: 120
mission: 9
dive: 445
start: 2 12 109 4 40 52
data:
$ID,120
$MISSION,9
$DIVE,445
$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,-27306.873
$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,23
$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
$GPS1,041515,5013.985,-14438.767,43,2.2,62,18.6
$_CALLS,5
$_XMS_NAKs,32
$_XMS_TOUTs,6
$_SM_DEPTHo,4.08
$_SM_ANGLEo,-71.3
$GPS2,043956,5013.809,-14438.800,36,1.8,36,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,0.109
$KALMAN_X,-14360.6,52.1,225.6,56510.8,-1831.8
$KALMAN_Y,41615.2,-214.3,0.6,-22273.6,371.4
$MHEAD_RNG_PITCHd_Wd,33.7,17032,-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,-117.3,0.0,0.0,0,36,0.00,0.00,-10.45,0.000,2,0.000,0.000,121,2404,2012
$GC,40,-0.67,-117.3,3.9,-0.0,1,106,14.45,2.47,-41.88,0.000,4,0.288,0.085,3095,997,3357
$GC,193,-0.54,-117.3,22.7,-10.4,14,199,0.17,2.30,0.00,0.000,6,0.160,0.064,3143,2399,3358
$GC,522,-0.54,-117.3,47.4,-6.7,45,526,0.00,2.40,0.00,0.000,4,0.000,0.068,3144,983,3358
$GC,584,-0.54,-117.3,52.2,-7.8,50,588,0.00,2.33,0.00,0.000,6,0.000,0.061,3140,2402,3359
$GC,911,-0.54,-117.3,75.1,-7.8,80,912,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2401,3359
$GC,1231,-0.54,-117.3,100.9,-8.8,99,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2401,3359
$GC,1540,-0.76,-117.3,125.0,-7.7,114,1545,0.17,2.40,0.00,0.000,4,0.081,0.067,3068,987,3359
$GC,1590,-0.69,-117.3,129.7,-9.0,116,1594,0.00,2.28,0.00,0.000,6,0.000,0.060,3068,2401,3359
$GC,1922,-0.55,-117.3,160.3,-9.5,131,1927,0.20,2.42,0.00,0.000,4,0.150,0.077,3125,3815,3359
$GC,2046,-0.62,-117.3,169.7,-7.2,134,2052,0.00,2.28,0.00,0.000,6,0.000,0.053,3126,2396,3359
$GC,2359,-0.67,-117.3,188.5,-5.6,145,2363,0.00,2.35,0.00,0.000,4,0.000,0.068,3126,987,3359
$GC,2405,-0.74,-117.3,191.4,-6.3,146,2409,0.15,2.30,0.00,0.000,6,0.081,0.060,3069,2403,3359
$GC,2729,-0.69,-117.3,215.4,-7.5,157,2733,0.00,2.33,0.00,0.000,4,0.000,0.078,3069,3810,3359
$GC,2765,-0.60,-117.3,218.3,-8.5,158,2769,0.17,2.28,0.00,0.000,6,0.112,0.053,3120,2390,3359
$GC,3105,-0.60,-117.3,240.8,-6.7,169,3109,0.00,2.33,0.00,0.000,4,0.000,0.067,3120,996,3359
$GC,3150,-0.64,-117.3,244.0,-7.7,170,3154,0.00,2.28,0.00,0.000,6,0.000,0.060,3120,2399,3359
$GC,3475,-0.68,-117.3,265.1,-6.7,181,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2399,3359
$GC,3780,-0.73,-117.3,285.3,-6.5,191,3785,0.12,2.38,0.00,0.000,4,0.084,0.068,3071,989,3359
$GC,3830,-0.68,-117.3,289.4,-8.4,192,3835,0.00,2.33,0.00,0.000,6,0.000,0.061,3071,2401,3359
$GC,4173,-0.59,-117.3,316.3,-7.9,200,4178,0.15,2.38,0.00,0.000,4,0.143,0.069,3119,992,3359
$GC,4206,-0.64,-117.3,318.8,-7.1,200,4210,0.00,2.30,0.00,0.000,6,0.000,0.061,3119,2403,3359
$GC,4533,-0.70,-117.3,337.4,-5.6,206,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2403,3359
$GC,4838,-0.76,-117.3,355.3,-6.0,211,4840,0.15,0.00,0.00,0.000,6,0.082,0.000,3060,2403,3358
$GC,5140,-0.70,-117.3,378.5,-7.7,216,5144,0.10,2.38,0.00,0.000,4,0.094,0.080,3085,3808,3358
$GC,5178,-0.70,-117.3,381.6,-7.7,216,5182,0.00,2.28,0.00,0.000,6,0.000,0.054,3085,2399,3358
$GC,5498,-0.70,-117.3,404.7,-7.3,222,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3359
$GC,5802,-0.70,-117.3,425.7,-6.9,227,5806,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,987,3358
$GC,5829,-0.70,-117.3,427.8,-7.1,227,5833,0.00,2.33,0.00,0.000,6,0.000,0.061,3085,2410,3358
$GC,6161,-0.70,-117.3,451.1,-7.1,233,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3358
$GC,6464,-0.70,-117.3,471.9,-6.9,238,6468,0.00,2.42,0.00,0.000,4,0.000,0.071,3085,990,3358
$GC,6514,-0.70,-117.3,475.5,-6.6,238,6518,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2410,3358
$GC,6824,-0.70,-117.3,495.3,-6.4,243,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3357
$GC,7127,-0.70,-117.3,515.1,-6.5,248,7131,0.00,2.42,0.00,0.000,4,0.000,0.070,3085,990,3357
$GC,7159,-0.70,-117.3,517.6,-7.3,248,7164,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2409,3357
$GC,7486,-0.70,-117.3,540.8,-7.1,254,7491,0.00,2.40,0.00,0.000,4,0.000,0.070,3085,984,3357
$GC,7514,-0.70,-117.3,543.0,-7.8,254,7518,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2405,3357
$GC,7847,-0.70,-117.3,567.2,-7.3,260,7851,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,987,3357
$GC,7874,-0.70,-117.3,569.3,-7.4,260,7878,0.00,2.33,0.00,0.000,6,0.000,0.062,3085,2410,3357
$GC,8207,-0.70,-117.3,592.0,-6.8,266,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3357
$GC,8510,-0.70,-117.3,611.8,-6.5,271,8514,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,992,3357
$GC,8537,-0.70,-117.3,613.8,-7.5,271,8541,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2398,3357
$GC,8870,-0.70,-117.3,635.1,-6.5,277,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3357
$GC,9173,-0.70,-117.3,654.9,-6.5,282,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,9476,-0.70,-117.3,674.5,-6.5,287,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3357
$GC,9779,-0.70,-117.3,693.6,-6.3,292,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,10082,-0.70,-117.3,712.9,-6.4,297,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,10385,-0.70,-117.3,732.2,-6.4,302,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,10689,-0.70,-117.3,750.9,-6.1,307,10693,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,995,3355
$GC,10733,-0.70,-117.3,753.8,-6.6,307,10737,0.00,2.30,0.00,0.000,6,0.000,0.064,3085,2401,3355
$GC,11048,-0.70,-117.3,771.6,-5.6,313,11052,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,992,3355
$GC,11075,-0.70,-117.3,773.2,-5.6,313,11079,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2410,3355
$GC,11408,-0.70,-117.3,791.2,-5.5,319,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3355
$GC,11710,-0.70,-117.3,808.4,-5.6,324,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3355
$GC,12013,-0.70,-117.3,825.8,-5.7,329,12018,0.00,2.42,0.00,0.000,4,0.000,0.073,3085,996,3355
$GC,12058,-0.70,-117.3,828.6,-7.0,329,12062,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2409,3355
$GC,12374,-0.70,-117.3,846.5,-5.7,335,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2408,3355
$GC,12676,-0.70,-117.3,863.1,-5.5,340,12680,0.00,2.42,0.00,0.000,4,0.000,0.073,3084,993,3355
$GC,12748,-0.70,-117.3,867.5,-6.4,341,12752,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2407,3355
$GC,13103,-0.70,-117.3,886.8,-5.5,347,13107,0.00,2.40,0.00,0.000,4,0.000,0.073,3085,996,3354
$GC,13147,-0.70,-117.3,889.5,-5.8,347,13151,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2406,3354
$GC,13462,-0.70,-117.3,907.8,-5.8,353,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3354
$GC,13765,-0.70,-117.3,926.3,-6.1,358,13766,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3354
$GC,14069,-0.70,-117.3,945.0,-6.1,363,14073,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,994,3353
$GC,14107,-0.70,-117.3,947.4,-6.3,363,14111,0.00,2.33,0.00,0.000,6,0.000,0.066,3085,2401,3353
$GC,14429,-0.70,-117.3,965.9,-5.7,369,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3354
$GC,14732,-0.70,-117.3,983.6,-5.9,374,14733,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3354
$STATE,14850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14850,begin apogee
$GC,14858,-0.22,0.0,990.6,5.8,376,14973,0.52,0.00,109.20,1.485,6,0.139,0.000,3244,2191,2875
$STATE,14973,end apogee,CONTROL_FINISHED_OK
$STATE,14974,begin climb
$GC,14976,0.67,117.3,995.5,0.0,378,15100,0.85,2.72,113.78,1.434,4,0.086,0.077,3534,797,2396
$GC,15134,0.31,117.3,994.5,5.9,380,15140,0.45,2.47,0.00,0.000,6,0.175,0.061,3421,2198,2395
$GC,15468,0.34,135.2,979.3,4.5,386,15491,0.00,2.45,17.08,1.364,4,0.000,0.080,3421,3611,2324
$GC,15538,0.27,135.2,975.5,5.6,387,15542,0.00,2.30,0.00,0.000,6,0.000,0.063,3421,2200,2323
$GC,15904,0.27,135.2,957.3,5.1,393,15905,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2323
$GC,16207,0.27,135.2,941.8,5.2,398,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2323
$GC,16510,0.27,135.2,925.6,5.4,403,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2200,2322
$GC,16813,0.27,135.2,909.2,5.5,408,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2200,2322
$GC,17116,0.27,135.2,893.0,5.3,413,17120,0.00,2.42,0.00,0.000,4,0.000,0.079,3422,792,2322
$GC,17160,0.27,135.2,890.4,6.2,413,17165,0.00,2.30,0.00,0.000,6,0.000,0.062,3421,2210,2321
$GC,17476,0.28,145.0,875.4,4.7,419,17491,0.00,2.42,10.20,1.292,4,0.000,0.078,3421,791,2283
$GC,17525,0.35,158.7,873.1,4.6,419,17545,0.00,2.30,13.77,1.321,6,0.000,0.061,3421,2205,2228
$GC,17909,0.40,161.4,854.5,4.9,426,17914,0.00,0.00,3.88,0.877,6,0.000,0.000,3421,2205,2218
$GC,18211,0.45,161.4,838.7,5.2,431,18213,0.12,0.00,0.00,0.000,6,0.088,0.000,3474,2205,2218
$GC,18514,0.36,161.4,818.6,6.7,436,18516,0.15,0.00,0.00,0.000,6,0.137,0.000,3432,2205,2217
$GC,18817,0.36,161.4,802.1,5.4,441,18818,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2205,2217
$GC,19120,0.36,161.4,786.3,5.2,446,19124,0.00,2.35,0.00,0.000,4,0.000,0.081,3432,3612,2217
$GC,19170,0.31,161.4,783.0,6.2,446,19174,0.00,2.35,0.00,0.000,6,0.000,0.062,3436,2198,2217
$GC,19480,0.31,161.4,765.7,5.7,451,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2217
$GC,19784,0.31,161.4,748.4,5.7,456,19788,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,783,2217
$GC,19818,0.31,161.4,746.3,6.2,456,19822,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2214,2217
$GC,20145,0.31,161.4,728.4,5.4,462,20149,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3609,2217
$GC,20181,0.26,161.4,726.4,5.5,462,20185,0.12,2.33,0.00,0.000,6,0.179,0.063,3406,2189,2217
$GC,20508,0.39,176.1,711.5,4.6,468,20525,0.12,0.00,14.52,1.256,6,0.085,0.000,3452,2189,2158
$GC,20811,0.43,176.1,694.7,5.7,473,20815,0.00,2.47,0.00,0.000,4,0.000,0.081,3452,3605,2156
$GC,20850,0.35,176.1,692.0,7.3,473,20854,0.00,2.38,0.00,0.000,6,0.000,0.062,3452,2191,2156
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$STATE,32228,end climb,SURFACE_DEPTH_REACHED
$STATE,32228,begin surface coast
$FINISH,3.5,1.025634
$STATE,32283,end surface coast,CONTROL_FINISHED_OK
$STATE,32283,begin surface
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$10V_AH,10.5,59.715
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$DEVICE_SECS,29.625,227.825,392.650,0.000,0.000,154.842,163.048,721.201,243.000,0.000,0.000,38.976,1768.423,27556.197,540.637,2381.749,1587.586,33.374,1736.450,0.000,2328.258,0.000,0.465
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$DATA_FILE_SIZE,47462,815
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$CFSIZE,260165632,224063488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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