version: 66.03
glider: 120
mission: 9
dive: 472
start: 2 22 109 10 21 10
data:
$ID,120
$MISSION,9
$DIVE,472
$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,-27839.467
$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,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
$GPS1,101300,5007.385,-14512.389,72,2.0,72,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-70.6
$GPS2,102016,5007.331,-14512.469,22,2.2,41,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.019,-0.177
$KALMAN_X,-12496.6,-56.9,-110.1,15059.1,-691.8
$KALMAN_Y,70407.6,-475.8,-296.5,-62486.3,3840.8
$MHEAD_RNG_PITCHd_Wd,155.3,24676,-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,-117.3,0.0,0.0,0,37,0.00,0.00,-11.23,0.000,2,0.000,0.000,134,2399,1924
$GC,41,-0.67,-117.3,3.6,-0.0,1,127,13.93,2.45,-62.65,0.000,4,0.280,0.091,3096,990,3356
$GC,380,-0.51,-117.3,32.2,-9.8,31,387,0.20,2.33,0.00,0.000,6,0.154,0.064,3152,2408,3357
$GC,709,-0.51,-117.3,54.3,-7.5,62,715,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2408,3357
$GC,1035,-0.51,-117.3,75.7,-7.4,93,1039,0.00,2.38,0.00,0.000,4,0.000,0.071,3152,991,3357
$GC,1075,-0.51,-117.3,78.0,-5.4,96,1080,0.00,2.33,0.00,0.000,6,0.000,0.063,3152,2413,3357
$GC,1403,-0.51,-117.3,100.1,-7.2,113,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2412,3357
$GC,1713,-0.58,-117.3,124.1,-7.6,128,1716,0.00,2.35,0.00,0.000,4,0.000,0.084,3152,3816,3358
$GC,1741,-0.68,-117.3,126.1,-7.4,129,1746,0.17,2.25,0.00,0.000,6,0.076,0.054,3087,2389,3358
$GC,2058,-0.64,-117.3,152.3,-7.6,144,2062,0.00,2.30,0.00,0.000,4,0.000,0.071,3087,990,3358
$GC,2102,-0.58,-117.3,155.4,-7.0,145,2107,0.15,2.30,0.00,0.000,6,0.131,0.061,3128,2403,3358
$GC,2422,-0.63,-117.3,177.0,-6.7,156,2426,0.00,2.35,0.00,0.000,4,0.000,0.081,3125,3814,3358
$GC,2472,-0.70,-117.3,180.4,-6.5,157,2477,0.10,2.25,0.00,0.000,6,0.086,0.054,3085,2394,3358
$GC,2786,-0.70,-117.3,202.5,-7.0,167,2790,0.00,2.30,0.00,0.000,4,0.000,0.071,3085,987,3358
$GC,2854,-0.70,-117.3,207.9,-7.4,169,2859,0.00,2.33,0.00,0.000,6,0.000,0.062,3085,2408,3358
$GC,3190,-0.66,-117.3,232.5,-7.7,180,3194,0.00,2.38,0.00,0.000,4,0.000,0.071,3085,987,3358
$GC,3219,-0.66,-117.3,234.9,-8.2,181,3224,0.00,2.33,0.00,0.000,6,0.000,0.062,3085,2408,3358
$GC,3556,-0.62,-117.3,262.2,-8.5,192,3558,0.12,0.00,0.00,0.000,6,0.144,0.000,3118,2408,3358
$GC,3861,-0.62,-117.3,283.2,-6.5,202,3865,0.00,2.35,0.00,0.000,4,0.000,0.071,3118,995,3358
$GC,3895,-0.67,-117.3,285.6,-6.4,203,3899,0.00,2.30,0.00,0.000,6,0.000,0.063,3119,2399,3358
$GC,4225,-0.72,-117.3,305.3,-5.9,213,4229,0.00,2.38,0.00,0.000,4,0.000,0.082,3113,3815,3358
$GC,4253,-0.77,-117.3,307.1,-6.0,213,4257,0.12,2.25,0.00,0.000,6,0.082,0.055,3063,2401,3358
$GC,4591,-0.71,-117.3,332.1,-7.6,219,4595,0.00,2.33,0.00,0.000,4,0.000,0.073,3063,991,3358
$GC,4625,-0.63,-117.3,335.0,-8.0,219,4630,0.17,2.33,0.00,0.000,6,0.140,0.064,3110,2410,3358
$GC,4953,-0.63,-117.3,355.2,-6.1,225,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2410,3358
$GC,5254,-0.63,-117.3,374.1,-6.3,230,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2410,3358
$GC,5558,-0.63,-117.3,393.0,-6.3,235,5562,0.00,2.38,0.00,0.000,4,0.000,0.072,3110,996,3357
$GC,5592,-0.67,-117.3,395.3,-6.9,235,5596,0.00,2.33,0.00,0.000,6,0.000,0.064,3111,2405,3357
$GC,5919,-0.72,-117.3,416.7,-6.4,241,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2405,3357
$GC,6222,-0.77,-117.3,435.0,-6.0,246,6224,0.12,0.00,0.00,0.000,6,0.087,0.000,3061,2405,3357
$GC,6525,-0.77,-117.3,454.5,-6.4,251,6529,0.00,2.38,0.00,0.000,4,0.000,0.072,3061,988,3357
$GC,6561,-0.70,-117.3,456.8,-6.9,251,6565,0.00,2.33,0.00,0.000,6,0.000,0.064,3061,2401,3356
$GC,6888,-0.62,-117.3,477.4,-6.2,257,6890,0.20,0.00,0.00,0.000,6,0.146,0.000,3117,2401,3357
$GC,7191,-0.69,-117.3,491.1,-4.5,262,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2401,3357
$GC,7495,-0.77,-117.3,505.7,-4.9,267,7500,0.15,2.35,0.00,0.000,4,0.080,0.071,3064,996,3356
$GC,7522,-0.77,-117.3,507.6,-6.6,267,7527,0.00,2.30,0.00,0.000,6,0.000,0.062,3064,2403,3356
$GC,7855,-0.72,-117.3,529.4,-6.6,273,7859,0.00,2.38,0.00,0.000,4,0.000,0.082,3061,3815,3356
$GC,7883,-0.66,-117.3,531.5,-7.6,273,7888,0.15,2.28,0.00,0.000,6,0.117,0.056,3103,2388,3356
$GC,8215,-0.66,-117.3,551.9,-6.1,279,8219,0.00,2.33,0.00,0.000,4,0.000,0.072,3103,990,3356
$GC,8255,-0.70,-117.3,554.5,-6.9,279,8259,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2405,3356
$GC,8576,-0.70,-117.3,575.8,-6.6,285,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,8879,-0.70,-117.3,595.5,-6.5,290,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,9182,-0.70,-117.3,612.7,-5.6,295,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,9485,-0.70,-117.3,629.0,-5.4,300,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3356
$GC,9788,-0.70,-117.3,645.2,-5.3,305,9792,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,990,3355
$GC,9816,-0.75,-117.3,646.6,-5.1,305,9821,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2399,3355
$GC,10149,-0.75,-117.3,662.4,-4.7,311,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3355
$GC,10452,-0.79,-117.3,677.6,-5.1,316,10454,0.12,0.00,0.00,0.000,6,0.087,0.000,3048,2398,3355
$GC,10756,-0.74,-117.3,697.8,-6.8,321,10758,0.10,0.00,0.00,0.000,6,0.095,0.000,3077,2398,3355
$GC,11059,-0.74,-117.3,717.3,-6.5,326,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3355
$GC,11361,-0.74,-117.3,736.7,-6.4,331,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3355
$GC,11664,-0.74,-117.3,756.1,-6.3,336,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3355
$GC,11967,-0.74,-117.3,776.3,-6.7,341,11971,0.00,2.40,0.00,0.000,4,0.000,0.074,3077,991,3355
$GC,12001,-0.74,-117.3,778.7,-6.4,341,12005,0.00,2.35,0.00,0.000,6,0.000,0.066,3073,2408,3355
$GC,12328,-0.74,-117.3,800.7,-6.7,347,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,12631,-0.74,-117.3,820.8,-6.6,352,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,12935,-0.74,-117.3,840.6,-6.5,357,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,13237,-0.74,-117.3,859.7,-6.2,362,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3354
$GC,13541,-0.74,-117.3,877.6,-5.8,367,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3354
$GC,13844,-0.74,-117.3,894.6,-5.6,372,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,14146,-0.74,-117.3,912.5,-6.0,377,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3354
$GC,14450,-0.74,-117.3,931.1,-6.2,382,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3354
$GC,14753,-0.74,-117.3,951.2,-6.7,387,14754,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3354
$GC,15056,-0.74,-117.3,972.4,-7.1,392,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2407,3354
$STATE,15356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15356,begin apogee
$GC,15364,-0.22,0.0,993.2,6.9,397,15479,0.57,0.00,109.05,1.487,6,0.141,0.000,3246,2196,2875
$STATE,15479,end apogee,CONTROL_FINISHED_OK
$STATE,15480,begin climb
$GC,15483,0.67,117.3,998.1,0.0,399,15606,0.88,2.72,113.90,1.437,4,0.092,0.079,3533,773,2397
$GC,15629,0.34,131.9,998.8,4.6,401,15651,0.40,2.55,15.50,1.309,6,0.173,0.061,3433,2198,2338
$GC,15972,0.34,131.9,981.0,5.3,407,15976,0.00,2.38,0.00,0.000,4,0.000,0.081,3433,3614,2335
$GC,16037,0.24,131.9,977.3,6.1,408,16041,0.15,2.33,0.00,0.000,6,0.181,0.064,3400,2197,2335
$GC,16403,0.33,147.3,960.3,4.6,414,16420,0.00,0.00,15.02,1.365,6,0.000,0.000,3400,2197,2275
$GC,16706,0.42,157.5,946.0,4.7,419,16720,0.17,0.00,10.93,1.315,6,0.078,0.000,3471,2198,2233
$GC,17010,0.32,157.5,925.6,6.8,424,17012,0.17,0.00,0.00,0.000,6,0.144,0.000,3422,2197,2232
$GC,17311,0.32,157.5,908.4,5.6,429,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2197,2232
$GC,17614,0.32,157.5,892.3,5.2,434,17619,0.00,2.42,0.00,0.000,4,0.000,0.082,3422,3615,2231
$GC,17653,0.32,157.5,890.1,5.5,434,17658,0.00,2.33,0.00,0.000,6,0.000,0.065,3422,2200,2231
$GC,17976,0.32,157.8,874.0,5.0,440,17977,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2200,2231
$GC,18278,0.36,157.8,856.9,5.7,445,18279,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2200,2231
$GC,18582,0.41,157.8,838.8,6.0,450,18583,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2200,2231
$GC,18884,0.45,157.8,820.0,6.2,455,18886,0.12,0.00,0.00,0.000,6,0.089,0.000,3476,2200,2231
$GC,19188,0.35,157.8,797.8,7.4,460,19193,0.15,2.42,0.00,0.000,4,0.140,0.079,3436,783,2231
$GC,19227,0.35,157.8,795.0,6.9,460,19231,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2211,2231
$GC,19548,0.35,157.8,775.8,6.0,466,19549,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2230
$GC,19851,0.35,157.8,758.4,5.8,471,19853,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2231
$GC,20154,0.35,157.8,741.3,5.6,476,20158,0.00,2.45,0.00,0.000,4,0.000,0.081,3436,785,2230
$GC,20193,0.35,157.8,739.3,5.1,476,20197,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2209,2230
$GC,20514,0.35,157.8,722.5,5.2,482,20518,0.00,2.35,0.00,0.000,4,0.000,0.082,3436,3612,2230
$GC,20559,0.30,157.8,719.5,6.4,482,20563,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2230
$GC,20874,0.30,157.8,701.5,5.8,488,20878,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,790,2231
$GC,20918,0.30,157.8,698.8,6.2,488,20922,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2202,2231
$GC,21233,0.30,157.8,680.1,6.0,494,21235,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2231
$GC,21537,0.30,157.8,662.7,5.7,499,21538,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2231
$GC,21839,0.30,157.8,647.0,5.1,504,21840,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2231
$GC,22143,0.30,157.8,631.8,5.0,509,22147,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3609,2231
$GC,22178,0.30,157.8,629.9,5.4,509,22182,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2194,2230
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$STATE,32705,begin surface coast
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$STATE,32737,end surface coast,CONTROL_FINISHED_OK
$STATE,32737,begin surface
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$10V_AH,10.5,63.400
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$DATA_FILE_SIZE,50565,847
$CAP_FILE_SIZE,180853,0
$CFSIZE,260165632,221978624
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