version: 66.03
glider: 120
mission: 9
dive: 470
start: 2 21 109 16 6 44
data:
$ID,120
$MISSION,9
$DIVE,470
$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,-27760.336
$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,18
$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
$GPS1,155900,5012.994,-14511.477,37,1.1,42,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-66.0
$GPS2,160549,5012.951,-14511.423,9,1.1,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.177
$KALMAN_X,-10773.7,-245.3,136.1,14523.0,664.7
$KALMAN_Y,66653.5,-188.8,-171.5,-48751.8,3539.0
$MHEAD_RNG_PITCHd_Wd,167.4,35082,-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,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.80,0.000,2,0.000,0.000,135,2406,1610
$GC,41,-0.67,-117.3,3.6,-0.0,1,138,13.18,2.45,-77.43,0.000,4,0.262,0.095,3099,3809,3355
$GC,391,-0.56,-117.3,36.1,-10.3,32,398,0.15,2.25,0.00,0.000,6,0.157,0.056,3138,2390,3358
$GC,720,-0.56,-117.3,65.3,-13.4,63,726,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2391,3357
$GC,1040,-0.56,-117.3,97.7,-8.2,85,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2390,3358
$GC,1350,-0.56,-117.3,123.3,-8.1,100,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2391,3358
$GC,1659,-0.56,-117.3,144.5,-6.5,115,1662,0.00,2.40,0.00,0.000,4,0.000,0.082,3138,3809,3358
$GC,1737,-0.65,-117.3,149.6,-6.4,118,1741,0.00,2.25,0.00,0.000,6,0.000,0.054,3138,2391,3358
$GC,2071,-0.89,-117.3,171.7,-7.7,129,2076,0.28,2.30,0.00,0.000,4,0.084,0.069,3037,995,3358
$GC,2292,-0.69,-117.3,192.8,-10.3,135,2296,0.20,2.30,0.00,0.000,6,0.157,0.064,3090,2401,3358
$GC,2606,-0.63,-117.3,218.1,-8.0,145,2610,0.00,2.35,0.00,0.000,4,0.000,0.081,3085,3811,3359
$GC,2635,-0.57,-117.3,220.4,-8.4,146,2640,0.17,2.25,0.00,0.000,6,0.151,0.054,3132,2398,3358
$GC,2971,-0.75,-117.3,241.4,-6.4,157,2976,0.15,2.33,0.00,0.000,4,0.084,0.070,3081,985,3358
$GC,3049,-0.75,-117.3,247.3,-7.7,159,3053,0.00,2.33,0.00,0.000,6,0.000,0.062,3081,2414,3358
$GC,3368,-0.88,-117.3,270.4,-7.2,170,3373,0.15,2.35,0.00,0.000,4,0.088,0.080,3018,3811,3357
$GC,3621,-0.63,-117.3,296.4,-10.3,177,3626,0.32,2.28,0.00,0.000,6,0.159,0.057,3108,2391,3358
$GC,3932,-0.63,-117.3,317.2,-6.6,183,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2391,3358
$GC,4235,-0.63,-117.3,336.0,-6.2,188,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2391,3358
$GC,4538,-0.63,-117.3,355.3,-6.4,193,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2391,3358
$GC,4841,-0.63,-117.3,374.2,-6.2,198,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2390,3358
$GC,5144,-0.63,-117.3,391.9,-5.8,203,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2390,3357
$GC,5448,-0.63,-117.3,409.1,-5.7,208,5452,0.00,2.33,0.00,0.000,4,0.000,0.072,3108,991,3357
$GC,5471,-0.63,-117.3,410.6,-6.3,208,5475,0.00,2.30,0.00,0.000,6,0.000,0.064,3108,2405,3357
$GC,5815,-0.63,-117.3,430.5,-5.9,214,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2405,3357
$GC,6118,-0.67,-117.3,448.3,-5.9,219,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2405,3357
$GC,6421,-0.71,-117.3,465.9,-5.8,224,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2405,3357
$GC,6725,-0.76,-117.3,483.1,-5.7,229,6730,0.12,2.40,0.00,0.000,4,0.088,0.071,3063,985,3356
$GC,6770,-0.72,-117.3,486.3,-7.2,229,6774,0.00,2.35,0.00,0.000,6,0.000,0.064,3063,2409,3356
$GC,7086,-0.65,-117.3,508.8,-7.2,235,7088,0.15,0.00,0.00,0.000,6,0.145,0.000,3106,2408,3356
$GC,7389,-0.70,-117.3,526.6,-5.8,240,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3356
$GC,7692,-0.74,-117.3,543.8,-5.6,245,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3357
$GC,7995,-0.79,-117.3,560.0,-5.3,250,7997,0.12,0.00,0.00,0.000,6,0.085,0.000,3057,2408,3356
$GC,8297,-0.79,-117.3,579.3,-6.4,255,8301,0.00,2.38,0.00,0.000,4,0.000,0.083,3057,3811,3355
$GC,8331,-0.72,-117.3,581.6,-7.0,255,8335,0.00,2.28,0.00,0.000,6,0.000,0.057,3057,2395,3355
$GC,8658,-0.68,-117.3,602.6,-6.4,261,8663,0.15,2.42,0.00,0.000,4,0.116,0.083,3100,3805,3355
$GC,8686,-0.68,-117.3,604.4,-5.8,261,8690,0.00,2.25,0.00,0.000,6,0.000,0.057,3100,2401,3355
$GC,9018,-0.72,-117.3,622.3,-5.4,267,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3355
$GC,9322,-0.76,-117.3,639.3,-5.6,272,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3355
$GC,9625,-0.81,-117.3,655.4,-5.3,277,9630,0.12,2.42,0.00,0.000,4,0.089,0.082,3050,3806,3355
$GC,9653,-0.74,-117.3,657.3,-6.4,277,9656,0.00,2.25,0.00,0.000,6,0.000,0.057,3050,2393,3355
$GC,9992,-0.68,-117.3,679.3,-6.5,283,9994,0.15,0.00,0.00,0.000,6,0.119,0.000,3093,2391,3355
$GC,10294,-0.68,-117.3,696.6,-5.7,288,10298,0.00,2.45,0.00,0.000,4,0.000,0.084,3091,3810,3355
$GC,10321,-0.68,-117.3,698.4,-6.7,288,10325,0.00,2.28,0.00,0.000,6,0.000,0.057,3091,2395,3355
$GC,10653,-0.68,-117.3,717.1,-5.5,294,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2395,3355
$GC,10957,-0.68,-117.3,732.3,-5.0,299,10958,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2396,3355
$GC,11260,-0.68,-117.3,746.9,-4.8,304,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2395,3355
$GC,11563,-0.68,-117.3,761.7,-4.9,309,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2396,3355
$GC,11865,-0.68,-117.3,777.0,-5.1,314,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2396,3355
$GC,12168,-0.68,-117.3,792.7,-5.2,319,12173,0.00,2.35,0.00,0.000,4,0.000,0.075,3091,989,3354
$GC,12202,-0.68,-117.3,794.6,-6.1,319,12207,0.00,2.33,0.00,0.000,6,0.000,0.064,3086,2399,3354
$GC,12529,-0.68,-117.3,812.7,-5.6,325,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,12832,-0.68,-117.3,830.6,-5.9,330,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,13136,-0.68,-117.3,849.3,-6.2,335,13137,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,13439,-0.68,-117.3,868.1,-6.2,340,13443,0.00,2.42,0.00,0.000,4,0.000,0.086,3086,3815,3354
$GC,13472,-0.68,-117.3,870.3,-6.9,340,13476,0.00,2.30,0.00,0.000,6,0.000,0.059,3086,2392,3354
$GC,13798,-0.68,-117.3,890.2,-6.2,346,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3354
$GC,14101,-0.68,-117.3,908.8,-6.2,351,14102,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3354
$GC,14405,-0.68,-117.3,927.7,-6.2,356,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3354
$GC,14707,-0.68,-117.3,946.4,-6.1,361,14708,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3353
$GC,15010,-0.68,-117.3,965.1,-6.1,366,15011,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3353
$GC,15314,-0.68,-117.3,983.7,-6.1,371,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3353
$STATE,15432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15432,begin apogee
$GC,15439,-0.22,0.0,991.2,6.2,373,15554,0.52,0.00,108.88,1.490,6,0.142,0.000,3242,2196,2875
$STATE,15555,end apogee,CONTROL_FINISHED_OK
$STATE,15555,begin climb
$GC,15559,0.67,117.3,996.7,0.0,375,15677,0.90,0.00,114.65,1.436,6,0.092,0.000,3530,2196,2397
$GC,15979,0.35,117.3,979.6,6.8,382,15981,0.35,0.00,0.00,0.000,6,0.161,0.000,3431,2196,2394
$GC,16282,0.32,127.8,965.1,4.7,387,16294,0.00,0.00,10.32,1.298,6,0.000,0.000,3431,2196,2355
$GC,16585,0.33,135.6,950.7,4.8,392,16596,0.00,0.00,8.82,1.264,6,0.000,0.000,3431,2196,2323
$GC,16887,0.33,135.6,935.3,5.0,397,16891,0.00,2.40,0.00,0.000,4,0.000,0.079,3437,792,2322
$GC,16922,0.33,135.6,933.6,5.4,397,16926,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2201,2322
$GC,17249,0.33,136.8,917.4,5.0,403,17253,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3620,2322
$GC,17289,0.22,140.3,915.3,4.9,403,17300,0.17,2.35,5.97,1.136,6,0.180,0.065,3392,2193,2303
$GC,17611,0.37,179.6,902.4,3.9,409,17651,0.12,0.00,36.30,1.417,6,0.086,0.000,3438,2193,2143
$GC,17980,0.43,179.6,882.4,5.7,415,17984,0.00,2.40,0.00,0.000,4,0.000,0.080,3438,788,2140
$GC,18013,0.43,179.6,880.3,6.1,415,18017,0.00,2.33,0.00,0.000,6,0.000,0.064,3438,2207,2140
$GC,18339,0.48,179.6,859.7,6.4,421,18341,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2207,2140
$GC,18642,0.48,179.6,840.1,6.5,426,18643,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2207,2139
$GC,18946,0.48,179.6,821.3,6.2,431,18950,0.00,2.47,0.00,0.000,4,0.000,0.079,3439,789,2139
$GC,18996,0.48,179.6,818.0,6.2,431,19000,0.00,2.30,0.00,0.000,6,0.000,0.064,3439,2200,2139
$GC,19306,0.52,179.6,799.7,5.9,436,19308,0.15,0.00,0.00,0.000,6,0.087,0.000,3503,2199,2139
$GC,19609,0.36,179.6,774.0,8.6,441,19614,0.20,2.45,0.00,0.000,4,0.148,0.077,3449,792,2139
$GC,19677,0.36,179.6,769.2,6.7,442,19681,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2204,2139
$GC,20043,0.36,179.6,746.0,6.3,448,20044,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2139
$GC,20346,0.36,179.6,727.1,6.3,453,20350,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,790,2139
$GC,20409,0.36,179.6,723.1,6.1,454,20413,0.00,2.33,0.00,0.000,6,0.000,0.064,3449,2210,2139
$GC,20775,0.36,179.6,699.9,6.3,460,20776,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2139
$GC,21078,0.36,179.6,680.6,6.4,465,21079,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,2138
$GC,21381,0.36,179.6,661.6,6.3,470,21385,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,790,2138
$GC,21425,0.36,179.6,658.8,5.9,470,21430,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2198,2139
$GC,21741,0.36,179.6,639.8,6.0,476,21742,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2138
$GC,22044,0.36,179.6,621.1,6.2,481,22045,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2139
$GC,22347,0.36,179.6,602.6,6.0,486,22349,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2138
$GC,22651,0.36,179.6,584.2,6.1,491,22652,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2138
$GC,22953,0.36,179.6,565.6,6.1,496,22954,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2138
$GC,23257,0.36,179.6,548.4,5.6,501,23261,0.00,2.38,0.00,0.000,4,0.000,0.080,3448,791,2138
$GC,23307,0.36,182.7,545.5,4.9,501,23311,0.00,2.30,0.00,0.000,6,0.000,0.062,3449,2202,2138
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$STATE,31446,end climb,SURFACE_DEPTH_REACHED
$STATE,31446,begin surface coast
$FINISH,2.6,1.005652
$STATE,31692,end surface coast,CONTROL_FINISHED_OK
$STATE,31692,begin surface
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$10V_AH,10.5,63.123
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$DEVICE_SECS,29.075,169.375,368.650,2.325,0.000,24.817,25.948,205.255,237.000,0.000,0.000,14.533,1712.888,26869.439,544.459,2242.408,747.838,33.369,1635.602,0.000,2214.251,0.000,0.465
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$DATA_FILE_SIZE,47445,802
$CAP_FILE_SIZE,173431,0
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