version: 66.03
glider: 120
mission: 9
dive: 402
start: 1 26 109 22 18 27
data:
$ID,120
$MISSION,9
$DIVE,402
$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,-26177.273
$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
$GPS1,221100,5009.528,-14444.658,55,1.1,60,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-61.7
$GPS2,221731,5009.517,-14444.606,16,1.1,33,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,0.105
$KALMAN_X,-8125.0,73.2,190.3,43375.2,-1275.2
$KALMAN_Y,7842.1,-195.1,-9.2,3542.9,1155.7
$MHEAD_RNG_PITCHd_Wd,35.1,27528,-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,-11.30,0.000,2,0.000,0.000,148,2402,1827
$GC,40,-0.67,-117.3,3.8,-0.0,1,118,13.43,2.47,-58.12,0.000,4,0.270,0.080,3094,994,3355
$GC,327,-0.51,-117.3,31.8,-7.4,27,332,0.20,2.30,0.00,0.000,6,0.160,0.064,3150,2398,3357
$GC,655,-0.51,-117.3,68.5,-11.1,57,659,0.00,2.42,0.00,0.000,4,0.000,0.081,3141,3815,3358
$GC,710,-0.51,-117.3,72.2,-5.9,61,716,0.00,2.30,0.00,0.000,6,0.000,0.052,3141,2386,3358
$GC,1039,-0.51,-117.3,96.9,-7.5,82,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2386,3358
$GC,1348,-0.51,-117.3,119.5,-7.0,97,1352,0.00,2.47,0.00,0.000,4,0.000,0.079,3141,3808,3358
$GC,1404,-0.57,-117.3,123.2,-6.4,99,1410,0.00,2.33,0.00,0.000,6,0.000,0.053,3141,2392,3358
$GC,1720,-0.62,-117.3,142.3,-5.6,115,1724,0.00,2.38,0.00,0.000,4,0.000,0.068,3141,989,3358
$GC,1748,-0.68,-117.3,144.2,-6.3,116,1753,0.12,2.30,0.00,0.000,6,0.086,0.061,3094,2412,3358
$GC,2087,-0.68,-117.3,167.5,-6.8,129,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2412,3358
$GC,2394,-0.68,-117.3,188.5,-7.1,139,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2412,3358
$GC,2700,-0.68,-117.3,209.2,-6.7,149,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2412,3358
$GC,3006,-0.68,-117.3,228.6,-6.3,159,3010,0.00,2.42,0.00,0.000,4,0.000,0.068,3094,985,3358
$GC,3038,-0.68,-117.3,230.9,-6.8,160,3042,0.00,2.33,0.00,0.000,6,0.000,0.061,3094,2400,3358
$GC,3369,-0.68,-117.3,252.4,-6.5,171,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3358
$GC,3674,-0.68,-117.3,273.6,-7.2,181,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3358
$GC,3981,-0.68,-117.3,296.6,-7.6,191,3985,0.00,2.40,0.00,0.000,4,0.000,0.081,3092,3817,3358
$GC,4025,-0.68,-117.3,300.1,-8.1,192,4029,0.00,2.28,0.00,0.000,6,0.000,0.054,3091,2398,3358
$GC,4341,-0.68,-117.3,323.1,-7.3,198,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3358
$GC,4643,-0.68,-117.3,345.5,-7.5,203,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3358
$GC,4947,-0.68,-117.3,367.0,-7.1,208,4951,0.00,2.47,0.00,0.000,4,0.000,0.081,3092,3805,3358
$GC,4981,-0.68,-117.3,369.6,-7.9,208,4985,0.00,2.33,0.00,0.000,6,0.000,0.054,3092,2395,3358
$GC,5308,-0.68,-117.3,392.3,-7.0,214,5312,0.00,2.40,0.00,0.000,4,0.000,0.071,3092,993,3357
$GC,5347,-0.68,-117.3,395.0,-7.0,214,5351,0.00,2.33,0.00,0.000,6,0.000,0.062,3091,2409,3357
$GC,5668,-0.68,-117.3,416.3,-6.6,220,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2409,3357
$GC,5970,-0.68,-117.3,435.9,-6.5,225,5974,0.00,2.35,0.00,0.000,4,0.000,0.081,3090,3807,3357
$GC,6003,-0.68,-117.3,438.3,-7.0,225,6007,0.00,2.25,0.00,0.000,6,0.000,0.056,3090,2398,3357
$GC,6330,-0.68,-117.3,459.2,-6.4,231,6335,0.00,2.38,0.00,0.000,4,0.000,0.071,3089,994,3357
$GC,6369,-0.68,-117.3,461.8,-6.6,231,6373,0.00,2.30,0.00,0.000,6,0.000,0.061,3089,2410,3357
$GC,6690,-0.68,-117.3,482.2,-6.4,237,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2410,3357
$GC,6994,-0.68,-117.3,501.5,-6.4,242,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2410,3356
$GC,7296,-0.68,-117.3,520.7,-6.3,247,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2410,3356
$GC,7600,-0.68,-117.3,539.9,-6.3,252,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2410,3356
$GC,7902,-0.68,-117.3,559.0,-6.3,257,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2410,3356
$GC,8206,-0.68,-117.3,577.1,-5.9,262,8210,0.00,2.42,0.00,0.000,4,0.000,0.071,3089,986,3356
$GC,8239,-0.72,-117.3,579.1,-5.7,262,8243,0.00,2.30,0.00,0.000,6,0.000,0.063,3089,2399,3356
$GC,8566,-0.72,-117.3,596.3,-5.2,268,8570,0.00,2.35,0.00,0.000,4,0.000,0.082,3086,3807,3355
$GC,8599,-0.72,-117.3,598.2,-5.5,268,8603,0.00,2.25,0.00,0.000,6,0.000,0.056,3086,2395,3355
$GC,8926,-0.72,-117.3,613.8,-4.8,274,8930,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,985,3355
$GC,8959,-0.72,-117.3,615.6,-5.7,274,8963,0.00,2.33,0.00,0.000,6,0.000,0.062,3086,2408,3355
$GC,9286,-0.72,-117.3,634.0,-5.7,280,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3355
$GC,9589,-0.72,-117.3,652.7,-6.2,285,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3355
$GC,9892,-0.72,-117.3,672.4,-6.5,290,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3355
$GC,10196,-0.72,-117.3,691.3,-6.2,295,10200,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,987,3355
$GC,10223,-0.77,-117.3,693.1,-6.9,295,10228,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2408,3355
$GC,10555,-0.77,-117.3,711.2,-5.4,301,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3355
$GC,10859,-0.77,-117.3,726.3,-4.9,306,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3355
$GC,11163,-0.77,-117.3,740.4,-4.6,311,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3354
$GC,11465,-0.77,-117.3,753.6,-4.3,316,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3354
$GC,11768,-0.77,-117.3,767.0,-4.4,321,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3354
$GC,12072,-0.77,-117.3,781.5,-4.8,326,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3354
$GC,12375,-0.81,-117.3,797.8,-5.4,331,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3354
$GC,12678,-0.85,-117.3,814.7,-5.6,336,12679,0.12,0.00,0.00,0.000,6,0.097,0.000,3038,2408,3354
$GC,12981,-0.78,-117.3,834.9,-6.7,341,12982,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2408,3354
$GC,13284,-0.72,-117.3,855.0,-6.6,346,13286,0.15,0.00,0.00,0.000,6,0.116,0.000,3080,2408,3354
$GC,13587,-0.72,-117.3,872.7,-5.8,351,13591,0.00,2.45,0.00,0.000,4,0.000,0.074,3081,988,3353
$GC,13619,-0.72,-117.3,874.8,-5.8,351,13624,0.00,2.35,0.00,0.000,6,0.000,0.067,3080,2405,3353
$GC,13946,-0.72,-117.3,893.3,-5.7,357,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3353
$GC,14249,-0.72,-117.3,911.4,-5.9,362,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,3353
$GC,14552,-0.72,-117.3,930.2,-6.3,367,14554,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2405,3353
$GC,14856,-0.72,-117.3,950.8,-6.9,372,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,3353
$GC,15158,-0.72,-117.3,971.1,-6.6,377,15163,0.00,2.45,0.00,0.000,4,0.000,0.074,3081,986,3353
$GC,15197,-0.72,-117.3,973.8,-7.0,377,15201,0.00,2.35,0.00,0.000,6,0.000,0.067,3080,2398,3353
$STATE,15515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15515,begin apogee
$GC,15522,-0.22,0.0,993.0,5.9,383,15638,0.55,0.00,108.85,1.490,6,0.143,0.000,3248,2203,2875
$STATE,15638,end apogee,CONTROL_FINISHED_OK
$STATE,15638,begin climb
$GC,15641,0.67,117.3,997.5,0.0,385,15758,0.85,0.00,113.12,1.437,6,0.087,0.000,3530,2203,2397
$GC,16065,0.34,117.3,975.2,8.0,391,16067,0.38,0.00,0.00,0.000,6,0.181,0.000,3430,2203,2393
$GC,16367,0.30,117.3,957.8,5.7,396,16368,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2203,2393
$GC,16669,0.30,117.3,940.8,5.6,401,16670,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2203,2393
$GC,16972,0.30,117.3,924.8,5.3,406,16973,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2203,2393
$GC,17275,0.30,121.0,909.7,4.9,411,17281,0.00,0.00,4.18,0.944,6,0.000,0.000,3430,2203,2382
$GC,17579,0.33,141.8,896.1,4.4,416,17604,0.00,2.50,20.12,1.386,4,0.000,0.081,3429,3613,2297
$GC,17649,0.25,141.8,892.5,5.0,417,17654,0.15,2.38,0.00,0.000,6,0.181,0.062,3400,2202,2296
$GC,18004,0.40,194.8,879.7,3.5,423,18055,0.15,0.00,48.72,1.406,6,0.085,0.000,3459,2201,2081
$GC,18307,0.40,194.8,861.3,6.3,428,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2202,2077
$GC,18610,0.40,194.8,841.0,6.7,433,18614,0.00,2.45,0.00,0.000,4,0.000,0.080,3462,784,2076
$GC,18665,0.40,194.8,836.9,8.1,433,18671,0.00,2.33,0.00,0.000,6,0.000,0.063,3463,2211,2076
$GC,18975,0.40,194.8,815.2,7.0,439,18976,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2211,2075
$GC,19278,0.40,194.8,795.2,6.7,444,19282,0.00,2.42,0.00,0.000,4,0.000,0.080,3462,789,2075
$GC,19316,0.40,194.8,792.7,6.3,444,19320,0.00,2.30,0.00,0.000,6,0.000,0.063,3462,2203,2075
$GC,19636,0.40,194.8,772.3,6.4,450,19640,0.00,2.35,0.00,0.000,4,0.000,0.082,3462,3610,2075
$GC,19676,0.30,194.8,769.3,7.3,450,19681,0.17,2.30,0.00,0.000,6,0.170,0.064,3416,2194,2074
$GC,19997,0.42,194.8,752.8,5.1,456,19998,0.12,0.00,0.00,0.000,6,0.088,0.000,3463,2194,2075
$GC,20299,0.42,194.8,734.2,6.2,461,20303,0.00,2.35,0.00,0.000,4,0.000,0.080,3462,783,2074
$GC,20327,0.42,194.8,732.3,6.3,461,20331,0.00,2.30,0.00,0.000,6,0.000,0.064,3462,2200,2074
$GC,20659,0.42,194.8,710.1,6.7,467,20664,0.00,2.35,0.00,0.000,4,0.000,0.081,3463,3614,2075
$GC,20699,0.32,194.8,707.1,7.7,467,20703,0.15,2.30,0.00,0.000,6,0.167,0.064,3424,2194,2074
$GC,21019,0.42,194.8,688.1,5.9,473,21020,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2194,2075
$GC,21323,0.51,194.8,671.4,5.4,478,21325,0.17,0.00,0.00,0.000,6,0.084,0.000,3491,2194,2074
$GC,21626,0.46,194.8,652.1,6.4,483,21627,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2194,2075
$GC,21929,0.41,194.8,633.9,5.9,488,21930,0.15,0.00,0.00,0.000,6,0.117,0.000,3447,2194,2074
$GC,22232,0.41,196.4,618.9,5.0,493,22233,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2194,2074
$GC,22535,0.41,196.4,602.6,5.4,498,22539,0.00,2.45,0.00,0.000,4,0.000,0.081,3447,3608,2074
$GC,22584,0.41,196.4,599.5,6.9,498,22589,0.00,2.35,0.00,0.000,6,0.000,0.063,3449,2197,2074
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$STATE,32216,end climb,SURFACE_DEPTH_REACHED
$STATE,32216,begin surface coast
$FINISH,2.9,1.012318
$STATE,32279,end surface coast,CONTROL_FINISHED_OK
$STATE,32279,begin surface
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$10V_AH,10.5,53.825
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$DATA_FILE_SIZE,47464,815
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