version: 66.03
glider: 120
mission: 9
dive: 339
start: 1 3 109 2 42 57
data:
$ID,120
$MISSION,9
$DIVE,339
$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,300
$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,-24842.355
$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,21
$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
$GPS1,023600,5013.493,-14458.723,37,1.1,43,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-70.4
$GPS2,024202,5013.478,-14458.695,15,1.7,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,0.119
$KALMAN_X,20938.8,261.8,-61.8,-31806.1,-307.9
$KALMAN_Y,245309.2,-331.4,-175.3,-230117.5,160.8
$MHEAD_RNG_PITCHd_Wd,293.7,20968,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.65,0.000,2,0.000,0.000,135,2409,1925
$GC,39,-0.67,-117.3,3.7,-0.0,1,118,14.25,2.47,-58.03,0.000,4,0.289,0.082,3097,984,3355
$GC,137,-0.46,-117.3,8.5,-11.3,10,142,0.25,2.35,0.00,0.000,6,0.169,0.064,3165,2403,3356
$GC,462,-0.51,-117.3,32.5,-5.7,40,463,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2402,3357
$GC,780,-0.51,-117.3,50.4,-5.8,70,784,0.00,2.40,0.00,0.000,4,0.000,0.068,3165,991,3358
$GC,809,-0.57,-117.3,52.4,-7.4,72,813,0.00,2.35,0.00,0.000,6,0.000,0.061,3165,2408,3358
$GC,1138,-0.61,-117.3,73.2,-5.5,102,1143,0.15,2.42,0.00,0.000,4,0.081,0.067,3100,985,3358
$GC,1167,-0.53,-117.3,75.5,-8.3,104,1172,0.17,2.35,0.00,0.000,6,0.156,0.062,3146,2405,3358
$GC,1486,-0.53,-117.3,98.2,-7.8,122,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2405,3358
$GC,1794,-0.53,-117.3,119.5,-6.6,137,1798,0.00,2.40,0.00,0.000,4,0.000,0.068,3146,986,3358
$GC,1866,-0.58,-117.3,124.7,-7.0,140,1870,0.00,2.30,0.00,0.000,6,0.000,0.061,3146,2402,3359
$GC,2183,-0.63,-117.3,146.7,-6.8,155,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2402,3358
$GC,2489,-0.71,-117.3,165.4,-5.7,166,2491,0.17,0.00,0.00,0.000,6,0.077,0.000,3079,2402,3358
$GC,2795,-0.66,-117.3,187.9,-7.5,176,2799,0.00,2.35,0.00,0.000,4,0.000,0.069,3078,987,3359
$GC,2845,-0.58,-117.3,192.1,-8.1,177,2850,0.17,2.30,0.00,0.000,6,0.150,0.063,3126,2401,3359
$GC,3158,-0.58,-117.3,212.1,-6.3,187,3162,0.00,2.38,0.00,0.000,4,0.000,0.070,3126,984,3359
$GC,3181,-0.58,-117.3,213.6,-6.6,187,3187,0.00,2.30,0.00,0.000,6,0.000,0.062,3126,2407,3358
$GC,3494,-0.62,-117.3,233.6,-6.3,198,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3358
$GC,3800,-0.67,-117.3,252.1,-6.1,208,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3358
$GC,4106,-0.72,-117.3,271.1,-6.2,218,4111,0.12,2.40,0.00,0.000,4,0.087,0.069,3078,991,3358
$GC,4134,-0.72,-117.3,273.1,-7.5,219,4138,0.00,2.33,0.00,0.000,6,0.000,0.062,3078,2410,3358
$GC,4476,-0.65,-117.3,299.6,-7.9,230,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2410,3358
$GC,4809,-0.59,-117.3,325.1,-7.6,236,4811,0.15,0.00,0.00,0.000,6,0.147,0.000,3121,2410,3358
$GC,5112,-0.64,-117.3,342.9,-5.7,241,5116,0.00,2.42,0.00,0.000,4,0.000,0.071,3121,991,3358
$GC,5168,-0.71,-117.3,346.0,-5.9,241,5174,0.00,2.33,0.00,0.000,6,0.000,0.063,3121,2401,3358
$GC,5477,-0.76,-117.3,361.9,-5.1,247,5479,0.15,0.00,0.00,0.000,6,0.081,0.000,3062,2402,3357
$GC,5781,-0.71,-117.3,382.1,-6.7,252,5785,0.00,2.42,0.00,0.000,4,0.000,0.070,3062,983,3357
$GC,5814,-0.62,-117.3,384.7,-8.2,252,5819,0.20,2.33,0.00,0.000,6,0.147,0.064,3117,2407,3358
$GC,6140,-0.66,-117.3,401.8,-5.1,258,6145,0.00,2.40,0.00,0.000,4,0.000,0.071,3117,992,3357
$GC,6168,-0.72,-117.3,403.4,-5.8,258,6172,0.00,2.33,0.00,0.000,6,0.000,0.063,3114,2411,3357
$GC,6500,-0.76,-117.3,421.4,-5.5,264,6502,0.12,0.00,0.00,0.000,6,0.087,0.000,3061,2411,3357
$GC,6803,-0.70,-117.3,443.6,-7.5,269,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2411,3357
$GC,7106,-0.65,-117.3,466.8,-7.6,274,7111,0.15,2.42,0.00,0.000,4,0.111,0.071,3117,982,3357
$GC,7145,-0.71,-117.3,469.6,-6.5,274,7149,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2407,3356
$GC,7466,-0.76,-117.3,489.3,-6.2,280,7468,0.12,0.00,0.00,0.000,6,0.087,0.000,3062,2407,3356
$GC,7769,-0.72,-117.3,511.3,-7.3,285,7773,0.00,2.33,0.00,0.000,4,0.000,0.081,3061,3810,3356
$GC,7796,-0.65,-117.3,513.5,-8.0,285,7801,0.17,2.25,0.00,0.000,6,0.121,0.056,3110,2391,3356
$GC,8128,-0.69,-117.3,532.8,-5.7,291,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2391,3356
$GC,8431,-0.74,-117.3,548.3,-5.1,296,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2391,3356
$GC,8735,-0.79,-117.3,564.2,-5.2,301,8739,0.15,2.35,0.00,0.000,4,0.082,0.071,3049,992,3356
$GC,8784,-0.67,-117.3,567.7,-7.4,301,8789,0.17,2.30,0.00,0.000,6,0.157,0.064,3094,2407,3356
$GC,9094,-0.67,-117.3,586.7,-6.2,306,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3356
$GC,9397,-0.67,-117.3,605.1,-6.1,311,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3356
$GC,9700,-0.67,-117.3,624.0,-6.2,316,9704,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,991,3355
$GC,9732,-0.67,-117.3,626.2,-6.6,316,9736,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2410,3355
$GC,10065,-0.67,-117.3,646.5,-6.1,322,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2410,3355
$GC,10368,-0.67,-117.3,664.2,-5.8,327,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2410,3355
$GC,10671,-0.67,-117.3,681.9,-5.8,332,10675,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,991,3355
$GC,10709,-0.67,-117.3,684.2,-5.9,332,10713,0.00,2.33,0.00,0.000,6,0.000,0.065,3094,2398,3355
$GC,11031,-0.67,-117.3,703.4,-6.0,338,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2397,3355
$GC,11333,-0.67,-117.3,721.6,-6.0,343,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3355
$GC,11636,-0.67,-117.3,739.6,-5.9,348,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3355
$GC,11939,-0.67,-117.3,756.5,-5.6,353,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2398,3355
$GC,12242,-0.67,-117.3,773.0,-5.5,358,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3355
$GC,12546,-0.67,-117.3,789.9,-5.6,363,12550,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,995,3354
$GC,12578,-0.67,-117.3,792.0,-6.9,363,12582,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2411,3354
$GC,12910,-0.67,-117.3,811.7,-5.9,369,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2411,3354
$GC,13214,-0.67,-117.3,829.1,-5.7,374,13218,0.00,2.38,0.00,0.000,4,0.000,0.074,3094,987,3354
$GC,13253,-0.67,-117.3,831.6,-6.0,374,13257,0.00,2.33,0.00,0.000,6,0.000,0.065,3094,2407,3354
$GC,13574,-0.72,-117.3,849.5,-5.6,380,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3354
$GC,13877,-0.76,-117.3,865.4,-5.3,385,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3354
$GC,14180,-0.80,-117.3,882.0,-5.5,390,14182,0.12,0.00,0.00,0.000,6,0.089,0.000,3046,2407,3353
$GC,14483,-0.80,-117.3,901.5,-6.5,395,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2407,3353
$GC,14786,-0.80,-117.3,922.2,-6.8,400,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2407,3353
$GC,15089,-0.80,-117.3,942.8,-6.8,405,15090,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2407,3353
$GC,15392,-0.80,-117.3,963.3,-6.7,410,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2407,3353
$GC,15695,-0.80,-117.3,983.8,-6.7,415,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2407,3353
$STATE,15814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15814,begin apogee
$GC,15821,-0.22,0.0,991.9,6.7,417,15936,0.65,0.00,107.72,1.492,6,0.141,0.000,3242,2202,2876
$STATE,15937,end apogee,CONTROL_FINISHED_OK
$STATE,15937,begin climb
$GC,15939,0.67,117.3,997.0,0.0,419,16055,0.88,0.00,112.60,1.440,6,0.093,0.000,3528,2201,2397
$GC,16305,0.35,117.3,981.6,7.0,425,16310,0.32,2.50,0.00,0.000,4,0.169,0.077,3444,782,2394
$GC,16390,0.28,117.3,977.0,5.3,426,16394,0.12,2.35,0.00,0.000,6,0.162,0.064,3414,2199,2393
$GC,16732,0.30,126.8,961.0,4.7,432,16747,0.00,2.38,9.40,1.284,4,0.000,0.081,3414,3608,2359
$GC,16802,0.24,126.8,957.4,5.1,433,16806,0.00,2.35,0.00,0.000,6,0.000,0.064,3423,2196,2359
$GC,17167,0.24,126.8,938.4,5.1,439,17169,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2358
$GC,17471,0.25,126.9,923.3,5.0,444,17475,0.00,2.40,0.00,0.000,4,0.000,0.080,3422,782,2358
$GC,17509,0.25,126.9,921.2,5.2,444,17513,0.00,2.33,0.00,0.000,6,0.000,0.063,3423,2209,2358
$GC,17830,0.27,143.2,906.5,4.5,450,17849,0.00,0.00,15.98,1.375,6,0.000,0.000,3423,2209,2291
$GC,18200,0.29,162.9,890.0,4.4,456,18221,0.00,0.00,19.00,1.379,6,0.000,0.000,3423,2209,2211
$GC,18503,0.29,164.1,875.1,5.0,461,18505,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2209,2209
$GC,18807,0.33,164.1,858.8,5.4,466,18808,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2209,2209
$GC,19109,0.33,164.1,841.0,5.9,471,19110,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2209,2208
$GC,19413,0.38,164.1,822.5,6.1,476,19414,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2209,2208
$GC,19716,0.42,164.1,804.5,5.9,481,19720,0.00,2.42,0.00,0.000,4,0.000,0.080,3422,788,2208
$GC,19755,0.49,164.1,802.2,5.9,481,19760,0.15,2.30,0.00,0.000,6,0.086,0.063,3482,2208,2208
$GC,20075,0.37,164.1,778.7,7.5,487,20077,0.15,0.00,0.00,0.000,6,0.145,0.000,3441,2208,2208
$GC,20378,0.37,164.1,760.0,6.1,492,20379,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2208,2208
$GC,20681,0.37,164.1,742.1,5.9,497,20683,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2208,2208
$GC,20985,0.37,164.1,724.6,5.8,502,20986,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2208,2209
$GC,21287,0.37,164.1,708.0,5.4,507,21288,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2208,2208
$GC,21591,0.38,172.0,693.3,4.8,512,21605,0.00,2.42,9.07,1.176,4,0.000,0.078,3449,788,2174
$GC,21650,0.41,196.0,690.4,4.3,512,21679,0.00,2.33,22.50,1.278,6,0.000,0.064,3449,2198,2077
$GC,22025,0.41,196.0,670.0,5.6,519,22026,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2073
$GC,22327,0.41,196.0,653.0,5.6,524,22329,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2073
$GC,22630,0.41,196.0,635.6,5.8,529,22632,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2073
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$STATE,31586,end climb,SURFACE_DEPTH_REACHED
$STATE,31587,begin surface coast
$FINISH,2.7,1.023158
$STATE,31715,end surface coast,CONTROL_FINISHED_OK
$STATE,31715,begin surface
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$10V_AH,10.6,45.305
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$DEVICE_SECS,29.750,170.275,349.575,35.700,0.000,31.222,26.697,171.973,239.500,0.000,0.000,15.197,1757.742,27020.092,548.365,2183.807,616.242,33.379,1609.920,0.000,2161.045,0.000,0.465
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$DATA_FILE_SIZE,47459,848
$CAP_FILE_SIZE,173498,0
$CFSIZE,260165632,232284160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030109,113355,5016.291,-14502.505,47,1.4,47,18.5