version: 66.03
glider: 120
mission: 9
dive: 449
start: 2 13 109 17 0 13
data:
$ID,120
$MISSION,9
$DIVE,449
$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,-27389.75
$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,19
$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
$GPS1,165237,5017.497,-14427.309,46,1.2,46,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,4.09
$_SM_ANGLEo,-73.8
$GPS2,165919,5017.549,-14427.310,14,1.2,31,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.003,-0.178
$KALMAN_X,-14194.8,315.3,322.1,69633.7,-695.8
$KALMAN_Y,39624.3,460.9,223.4,-14264.5,-1187.7
$MHEAD_RNG_PITCHd_Wd,160.2,43695,-12.1,-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,-117.0,0.0,0.0,0,36,0.00,0.00,-10.45,0.000,2,0.000,0.000,136,2405,2019
$GC,40,-0.67,-117.3,4.1,-0.0,1,105,14.15,0.00,-48.38,0.000,6,0.285,0.000,3096,2405,3355
$GC,422,-0.50,-117.3,43.2,-10.4,37,427,0.17,2.42,0.00,0.000,4,0.173,0.068,3151,992,3357
$GC,474,-0.50,-117.3,47.9,-7.3,41,478,0.00,2.30,0.00,0.000,6,0.000,0.063,3150,2400,3357
$GC,799,-0.50,-117.3,71.7,-6.7,71,800,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2400,3357
$GC,1122,-0.50,-117.3,95.3,-6.5,92,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2400,3358
$GC,1433,-0.68,-117.3,114.8,-6.3,107,1437,0.15,2.40,0.00,0.000,4,0.086,0.067,3098,983,3358
$GC,1474,-0.76,-117.3,117.9,-7.0,109,1478,0.00,2.33,0.00,0.000,6,0.000,0.061,3098,2409,3358
$GC,1803,-0.90,-117.3,146.9,-8.6,125,1808,0.17,2.40,0.00,0.000,4,0.087,0.077,3028,3809,3358
$GC,2034,-0.64,-117.3,172.7,-11.7,133,2039,0.28,2.33,0.00,0.000,6,0.158,0.054,3104,2388,3358
$GC,2370,-0.64,-117.3,197.9,-6.7,144,2374,0.00,2.35,0.00,0.000,4,0.000,0.069,3104,994,3358
$GC,2399,-0.64,-117.3,200.0,-7.1,145,2403,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2409,3358
$GC,2734,-0.64,-117.3,222.7,-6.9,156,2738,0.00,2.33,0.00,0.000,4,0.000,0.080,3100,3806,3358
$GC,2763,-0.64,-117.3,224.7,-7.3,157,2767,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2390,3358
$GC,3099,-0.64,-117.3,248.8,-7.1,168,3103,0.00,2.33,0.00,0.000,4,0.000,0.068,3100,994,3358
$GC,3132,-0.64,-117.3,251.2,-7.2,169,3136,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2410,3358
$GC,3461,-0.64,-117.3,274.2,-6.9,180,3465,0.00,2.38,0.00,0.000,4,0.000,0.068,3099,990,3358
$GC,3506,-0.64,-117.3,277.5,-6.8,181,3510,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2398,3358
$GC,3825,-0.64,-117.3,300.5,-7.7,192,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3358
$GC,4128,-0.64,-117.3,323.7,-7.7,197,4132,0.00,2.38,0.00,0.000,4,0.000,0.069,3099,994,3357
$GC,4172,-0.64,-117.3,326.9,-6.8,197,4176,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2412,3358
$GC,4488,-0.64,-117.3,348.5,-6.8,203,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2411,3358
$GC,4791,-0.64,-117.3,367.1,-6.1,208,4795,0.00,2.38,0.00,0.000,4,0.000,0.070,3099,987,3358
$GC,4829,-0.64,-117.3,369.6,-6.4,208,4833,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2405,3358
$GC,5150,-0.64,-117.3,389.7,-6.4,214,5154,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,987,3358
$GC,5183,-0.64,-117.3,391.8,-6.0,214,5187,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2401,3358
$GC,5510,-0.64,-117.3,414.2,-7.0,220,5514,0.00,2.33,0.00,0.000,4,0.000,0.069,3099,994,3358
$GC,5554,-0.64,-117.3,417.6,-7.4,220,5558,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2406,3358
$GC,5870,-0.64,-117.3,439.3,-6.9,226,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3357
$GC,6172,-0.64,-117.3,460.0,-6.8,231,6176,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,984,3357
$GC,6210,-0.64,-117.3,462.8,-7.4,231,6214,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2407,3357
$GC,6531,-0.64,-117.3,484.5,-6.8,237,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3357
$GC,6835,-0.64,-117.3,504.7,-6.6,242,6839,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,989,3357
$GC,6862,-0.64,-117.3,506.6,-6.7,242,6866,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2401,3357
$GC,7194,-0.64,-117.3,524.7,-5.4,248,7198,0.00,2.35,0.00,0.000,4,0.000,0.082,3099,3808,3357
$GC,7221,-0.64,-117.3,526.1,-5.2,248,7225,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2387,3356
$GC,7555,-0.64,-117.3,542.4,-4.9,254,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2388,3356
$GC,7857,-0.64,-117.3,558.1,-5.3,259,7861,0.00,2.30,0.00,0.000,4,0.000,0.072,3099,989,3356
$GC,7902,-0.69,-117.3,560.9,-6.3,259,7906,0.00,2.33,0.00,0.000,6,0.000,0.063,3099,2413,3356
$GC,8217,-0.69,-117.3,579.5,-5.9,265,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2413,3356
$GC,8521,-0.69,-117.3,597.6,-6.0,270,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3356
$GC,8823,-0.69,-117.3,615.0,-5.7,275,8828,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,986,3356
$GC,8863,-0.73,-117.3,617.3,-5.6,275,8867,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2410,3356
$GC,9184,-0.73,-117.3,634.9,-5.5,281,9188,0.00,2.35,0.00,0.000,4,0.000,0.071,3100,994,3356
$GC,9218,-0.77,-117.3,636.9,-5.9,281,9221,0.00,2.30,0.00,0.000,6,0.000,0.062,3099,2404,3356
$GC,9550,-0.77,-117.3,654.9,-5.4,287,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,9853,-0.77,-117.3,670.7,-5.2,292,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,10156,-0.77,-117.3,687.4,-5.5,297,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3356
$GC,10461,-0.81,-117.3,705.1,-5.8,302,10462,0.12,0.00,0.00,0.000,6,0.094,0.000,3050,2404,3355
$GC,10763,-0.77,-117.3,725.2,-6.7,307,10767,0.00,2.38,0.00,0.000,4,0.000,0.073,3050,987,3355
$GC,10790,-0.72,-117.3,727.4,-7.8,307,10795,0.12,2.33,0.00,0.000,6,0.141,0.063,3082,2406,3355
$GC,11122,-0.72,-117.3,748.0,-6.2,313,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2405,3355
$GC,11426,-0.72,-117.3,767.3,-6.4,318,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2406,3355
$GC,11729,-0.72,-117.3,786.4,-6.3,323,11730,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2406,3355
$GC,12031,-0.72,-117.3,804.3,-5.8,328,12035,0.00,2.40,0.00,0.000,4,0.000,0.072,3082,987,3354
$GC,12070,-0.72,-117.3,806.6,-6.0,328,12074,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2400,3354
$GC,12391,-0.72,-117.3,823.8,-5.4,334,12395,0.00,2.40,0.00,0.000,4,0.000,0.084,3082,3808,3354
$GC,12429,-0.72,-117.3,826.1,-6.0,334,12433,0.00,2.28,0.00,0.000,6,0.000,0.057,3082,2392,3354
$GC,12751,-0.72,-117.3,843.2,-5.3,340,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3354
$GC,13054,-0.72,-117.3,859.1,-5.3,345,13058,0.00,2.35,0.00,0.000,4,0.000,0.074,3081,994,3354
$GC,13093,-0.72,-117.3,861.3,-5.6,345,13097,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2410,3354
$GC,13413,-0.72,-117.3,879.0,-5.6,351,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2410,3354
$GC,13717,-0.72,-117.3,897.7,-6.2,356,13721,0.00,2.40,0.00,0.000,4,0.000,0.073,3082,990,3354
$GC,13744,-0.72,-117.3,899.5,-6.1,356,13748,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2399,3354
$GC,14077,-0.72,-117.3,920.6,-6.4,362,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2398,3354
$GC,14379,-0.72,-117.3,939.7,-6.3,367,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2398,3354
$GC,14682,-0.72,-117.3,957.8,-5.9,372,14687,0.00,2.40,0.00,0.000,4,0.000,0.085,3082,3812,3353
$GC,14705,-0.72,-117.3,959.0,-4.6,372,14709,0.00,2.28,0.00,0.000,6,0.000,0.057,3082,2393,3353
$GC,15043,-0.72,-117.3,976.7,-5.1,378,15047,0.00,2.35,0.00,0.000,4,0.000,0.073,3082,990,3353
$GC,15077,-0.72,-117.3,978.4,-5.3,378,15081,0.00,2.33,0.00,0.000,6,0.000,0.065,3082,2398,3353
$STATE,15340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15340,begin apogee
$GC,15347,-0.22,0.0,990.8,4.7,383,15463,0.52,0.00,108.72,1.488,6,0.143,0.000,3241,2200,2875
$STATE,15463,end apogee,CONTROL_FINISHED_OK
$STATE,15463,begin climb
$GC,15467,0.67,117.3,993.6,0.0,385,15585,0.90,0.00,114.30,1.433,6,0.093,0.000,3529,2200,2397
$GC,15887,0.36,117.3,967.4,8.8,392,15889,0.35,0.00,0.00,0.000,6,0.176,0.000,3434,2200,2394
$GC,16189,0.36,117.3,948.5,6.1,397,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2393
$GC,16492,0.31,117.3,930.6,5.9,402,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2393
$GC,16797,0.27,117.3,913.4,5.7,407,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2200,2393
$GC,17099,0.23,117.3,896.8,5.4,412,17103,0.15,2.40,0.00,0.000,4,0.182,0.077,3397,781,2393
$GC,17149,0.34,134.0,894.4,4.5,412,17169,0.00,2.33,15.32,1.355,6,0.000,0.062,3397,2212,2329
$GC,17526,0.44,145.1,876.8,4.7,419,17545,0.15,2.40,11.70,1.308,4,0.086,0.080,3464,3612,2284
$GC,17574,0.26,145.1,873.7,6.4,419,17579,0.22,2.30,0.00,0.000,6,0.171,0.063,3404,2203,2283
$GC,17890,0.35,145.1,857.5,5.1,425,17894,0.00,2.40,0.00,0.000,4,0.000,0.078,3408,779,2282
$GC,17935,0.45,155.9,855.3,4.7,425,17953,0.17,2.33,11.20,1.290,6,0.081,0.061,3476,2208,2239
$GC,18255,0.35,155.9,834.5,6.6,431,18260,0.15,2.38,0.00,0.000,4,0.150,0.080,3428,3619,2238
$GC,18300,0.31,155.9,831.8,6.1,431,18305,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2197,2238
$GC,18616,0.32,166.6,816.7,4.7,437,18629,0.00,0.00,10.98,1.272,6,0.000,0.000,3436,2197,2196
$GC,18919,0.33,171.3,802.1,4.9,442,18927,0.00,0.00,5.80,1.081,6,0.000,0.000,3436,2197,2177
$GC,19223,0.33,175.9,787.4,4.9,447,19234,0.00,2.40,6.32,1.111,4,0.000,0.077,3436,784,2157
$GC,19268,0.39,175.9,785.0,5.4,447,19272,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2213,2157
$GC,19584,0.39,176.0,769.3,5.0,453,19588,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3612,2156
$GC,19639,0.39,176.0,766.0,5.7,453,19645,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2197,2156
$GC,19950,0.39,176.0,749.5,5.5,459,19951,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2156
$GC,20252,0.39,176.0,733.0,5.5,464,20253,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2155
$GC,20555,0.39,176.0,716.4,5.5,469,20556,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2156
$GC,20859,0.39,176.0,700.3,5.3,474,20863,0.00,2.40,0.00,0.000,4,0.000,0.078,3436,792,2156
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$STATE,31839,end climb,SURFACE_DEPTH_REACHED
$STATE,31839,begin surface coast
$FINISH,2.6,1.014089
$STATE,31928,end surface coast,CONTROL_FINISHED_OK
$STATE,31928,begin surface
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$10V_AH,10.5,60.256
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$DEVICE_SECS,29.725,206.725,413.625,0.000,0.000,23.346,27.854,184.513,238.750,0.000,0.000,31.523,1736.080,27115.338,592.516,2224.713,729.121,33.370,1685.989,0.000,2187.691,0.000,0.465
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$DATA_FILE_SIZE,47551,806
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$CFSIZE,260165632,223764480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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