version: 66.03
glider: 120
mission: 9
dive: 640
start: 4 27 109 2 31 6
data:
$ID,120
$MISSION,9
$DIVE,640
$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,-31333.656
$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,20
$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
$GPS1,022336,5001.260,-14512.019,70,0.9,75,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-75.3
$GPS2,023008,5001.257,-14512.013,13,1.4,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.021,-0.176
$KALMAN_X,-104110.4,6.6,-43.5,107086.5,-822.6
$KALMAN_Y,149686.6,143.1,-126.9,-153817.8,2698.3
$MHEAD_RNG_PITCHd_Wd,154.7,13419,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.50,0.000,2,0.000,0.000,138,2412,2528
$GC,63,-0.67,-117.3,3.3,-5.6,3,107,13.32,2.55,-20.75,0.000,4,0.268,0.091,3085,3809,3356
$GC,144,-0.47,-117.3,12.8,-11.9,10,149,0.28,2.38,0.00,0.000,6,0.146,0.054,3163,2389,3358
$GC,470,-0.52,-117.3,36.7,-7.3,40,471,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2390,3358
$GC,790,-0.58,-117.3,58.6,-6.6,70,794,0.00,2.47,0.00,0.000,4,0.000,0.067,3163,985,3358
$GC,814,-0.64,-117.3,60.5,-6.6,71,821,0.17,2.38,0.00,0.000,6,0.073,0.061,3099,2405,3358
$GC,1152,-0.58,-117.3,87.9,-8.5,99,1154,0.10,0.00,0.00,0.000,6,0.094,0.000,3128,2405,3358
$GC,1457,-0.58,-117.3,114.6,-8.9,114,1461,0.00,2.47,0.00,0.000,4,0.000,0.067,3128,985,3359
$GC,1508,-0.58,-117.3,119.1,-8.8,116,1513,0.00,2.40,0.00,0.000,6,0.000,0.061,3126,2409,3359
$GC,1826,-0.58,-117.3,143.3,-7.3,131,1830,0.00,2.40,0.00,0.000,4,0.000,0.081,3126,3805,3359
$GC,1883,-0.67,-117.3,147.9,-7.8,133,1887,0.00,2.30,0.00,0.000,6,0.000,0.052,3126,2393,3359
$GC,2208,-0.71,-117.3,170.2,-6.5,144,2209,0.12,0.00,0.00,0.000,6,0.082,0.000,3073,2393,3359
$GC,2514,-0.66,-117.3,192.0,-7.0,154,2516,0.10,0.00,0.00,0.000,6,0.091,0.000,3102,2393,3359
$GC,2819,-0.66,-117.3,212.9,-7.0,164,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3359
$GC,3126,-0.66,-117.3,233.5,-6.7,174,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3359
$GC,3433,-0.66,-117.3,253.9,-6.8,184,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2394,3359
$GC,3738,-0.66,-117.3,276.1,-7.4,194,3742,0.00,2.45,0.00,0.000,4,0.000,0.069,3102,990,3359
$GC,3767,-0.66,-117.3,278.4,-7.9,195,3771,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2398,3359
$GC,4139,-0.66,-117.3,307.0,-7.8,206,4143,0.00,2.45,0.00,0.000,4,0.000,0.069,3100,980,3359
$GC,4168,-0.66,-117.3,309.3,-8.1,206,4172,0.00,2.42,0.00,0.000,6,0.000,0.061,3100,2409,3359
$GC,4502,-0.66,-117.3,334.7,-7.5,212,4506,0.00,2.47,0.00,0.000,4,0.000,0.069,3099,987,3359
$GC,4552,-0.66,-117.3,338.8,-7.9,212,4556,0.00,2.42,0.00,0.000,6,0.000,0.061,3100,2410,3359
$GC,4863,-0.66,-117.3,362.2,-7.6,217,4867,0.00,2.45,0.00,0.000,4,0.000,0.069,3100,993,3359
$GC,4908,-0.66,-117.3,365.9,-8.4,217,4913,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2405,3359
$GC,5225,-0.66,-117.3,390.4,-7.7,223,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3359
$GC,5528,-0.66,-117.3,413.2,-7.5,228,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3359
$GC,5831,-0.66,-117.3,435.0,-7.1,233,5835,0.00,2.45,0.00,0.000,4,0.000,0.070,3100,993,3359
$GC,5871,-0.66,-117.3,438.0,-7.3,233,5875,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2404,3358
$GC,6192,-0.66,-117.3,458.7,-6.3,239,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,6496,-0.66,-117.3,477.3,-6.1,244,6500,0.00,2.47,0.00,0.000,4,0.000,0.069,3100,984,3358
$GC,6524,-0.66,-117.3,479.3,-7.2,244,6528,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2405,3358
$GC,6858,-0.66,-117.3,498.7,-5.8,250,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3358
$GC,7160,-0.66,-117.3,517.1,-6.1,255,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3358
$GC,7463,-0.66,-117.3,536.6,-6.5,260,7467,0.00,2.50,0.00,0.000,4,0.000,0.070,3100,988,3358
$GC,7491,-0.66,-117.3,538.6,-7.1,260,7495,0.00,2.40,0.00,0.000,6,0.000,0.061,3100,2401,3358
$GC,7824,-0.66,-117.3,560.9,-6.8,266,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,8127,-0.66,-117.3,580.3,-6.3,271,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,8430,-0.66,-117.3,598.5,-6.0,276,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,8733,-0.66,-117.3,616.8,-6.0,281,8737,0.00,2.50,0.00,0.000,4,0.000,0.071,3100,982,3357
$GC,8755,-0.66,-117.3,618.2,-6.3,281,8760,0.00,2.42,0.00,0.000,6,0.000,0.061,3100,2403,3357
$GC,9095,-0.66,-117.3,638.5,-6.0,287,9099,0.00,2.50,0.00,0.000,4,0.000,0.082,3100,3811,3357
$GC,9129,-0.72,-117.3,640.6,-6.3,287,9133,0.00,2.35,0.00,0.000,6,0.000,0.054,3100,2390,3357
$GC,9456,-0.95,-117.3,661.6,-6.6,293,9461,0.22,2.55,0.00,0.000,4,0.083,0.078,3010,3809,3357
$GC,9670,-0.74,-117.3,680.2,-9.2,296,9675,0.25,2.35,0.00,0.000,6,0.152,0.055,3076,2395,3357
$GC,10020,-0.74,-117.3,701.4,-6.0,302,10024,0.00,2.47,0.00,0.000,4,0.000,0.071,3076,982,3357
$GC,10060,-0.74,-117.3,703.9,-5.9,302,10064,0.00,2.42,0.00,0.000,6,0.000,0.062,3073,2403,3357
$GC,10382,-0.74,-117.3,722.8,-5.8,308,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3357
$GC,10685,-0.74,-117.3,740.5,-5.9,313,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3357
$GC,10989,-0.74,-117.3,759.0,-6.2,318,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3357
$GC,11292,-0.74,-117.3,777.7,-6.2,323,11297,0.00,2.50,0.00,0.000,4,0.000,0.071,3073,992,3356
$GC,11332,-0.74,-117.3,780.4,-6.7,323,11336,0.00,2.42,0.00,0.000,6,0.000,0.063,3073,2399,3356
$GC,11654,-0.74,-117.3,799.5,-6.0,329,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3356
$GC,11956,-0.74,-117.3,817.9,-6.0,334,11960,0.00,2.50,0.00,0.000,4,0.000,0.082,3072,3811,3356
$GC,11997,-0.74,-117.3,820.4,-5.9,334,12001,0.00,2.35,0.00,0.000,6,0.000,0.055,3073,2389,3356
$GC,12318,-0.74,-117.3,839.6,-6.0,340,12320,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3356
$GC,12622,-0.74,-117.3,857.5,-5.9,345,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2390,3356
$GC,12925,-0.74,-117.3,875.8,-6.1,350,12929,0.00,2.50,0.00,0.000,4,0.000,0.071,3072,994,3355
$GC,12960,-0.74,-117.3,878.2,-7.0,350,12964,0.00,2.42,0.00,0.000,6,0.000,0.063,3072,2408,3355
$GC,13288,-0.74,-117.3,899.0,-6.4,356,13292,0.00,2.53,0.00,0.000,4,0.000,0.084,3073,3815,3355
$GC,13338,-0.74,-117.3,902.6,-6.6,356,13342,0.00,2.35,0.00,0.000,6,0.000,0.055,3072,2401,3355
$GC,13649,-0.74,-117.3,922.6,-6.5,361,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3355
$GC,13953,-0.74,-117.3,942.9,-6.8,366,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,14255,-0.74,-117.3,962.3,-6.4,371,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,3355
$GC,14558,-0.74,-117.3,981.5,-6.4,376,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3355
$STATE,14736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14736,begin apogee
$GC,14745,-0.22,0.0,992.8,6.2,379,14859,0.57,0.00,108.70,1.493,6,0.135,0.000,3243,2194,2875
$STATE,14860,end apogee,CONTROL_FINISHED_OK
$STATE,14860,begin climb
$GC,14864,0.67,117.3,997.6,0.0,381,14988,0.90,3.00,116.07,1.443,4,0.084,0.076,3533,3602,2396
$GC,15023,0.20,117.3,997.9,5.7,383,15029,0.62,2.67,0.00,0.000,6,0.179,0.061,3388,2207,2395
$GC,15346,0.36,182.2,987.1,3.1,389,15412,0.15,2.60,58.60,1.443,4,0.074,0.076,3463,787,2132
$GC,15437,0.31,182.2,982.5,5.9,390,15442,0.17,2.40,0.00,0.000,6,0.137,0.060,3416,2202,2131
$GC,15776,0.40,197.8,966.8,4.6,396,15795,0.00,2.42,14.88,1.355,4,0.000,0.081,3416,3615,2068
$GC,15825,0.40,197.8,964.0,5.4,396,15829,0.00,2.35,0.00,0.000,6,0.000,0.061,3421,2186,2066
$GC,16136,0.47,197.8,947.6,5.4,401,16138,0.15,0.00,0.00,0.000,6,0.081,0.000,3487,2186,2065
$GC,16439,0.36,197.8,922.8,8.4,406,16441,0.20,0.00,0.00,0.000,6,0.140,0.000,3430,2186,2065
$GC,16742,0.40,197.8,901.9,6.8,411,16747,0.00,2.50,0.00,0.000,4,0.000,0.079,3429,3609,2065
$GC,16783,0.40,197.8,898.7,8.4,411,16787,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2065
$GC,17104,0.40,197.8,875.3,7.2,417,17108,0.00,2.47,0.00,0.000,4,0.000,0.078,3436,780,2065
$GC,17143,0.46,197.8,872.3,7.8,417,17148,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2201,2065
$GC,17466,0.46,197.8,850.1,6.9,423,17470,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,3618,2065
$GC,17500,0.46,197.8,847.7,6.7,423,17504,0.00,2.35,0.00,0.000,6,0.000,0.062,3436,2195,2064
$GC,17827,0.46,197.8,828.2,5.9,429,17828,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2064
$GC,18131,0.50,197.8,812.0,5.3,434,18133,0.12,0.00,0.00,0.000,6,0.089,0.000,3491,2196,2064
$GC,18434,0.38,197.8,790.2,7.3,439,18439,0.15,2.45,0.00,0.000,4,0.142,0.077,3449,787,2064
$GC,18462,0.38,197.8,788.2,6.5,439,18467,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2213,2064
$GC,18795,0.38,197.8,768.3,6.1,445,18800,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,787,2064
$GC,18824,0.38,197.8,766.5,6.1,445,18828,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2200,2064
$GC,19158,0.38,197.8,745.0,6.5,451,19159,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2200,2064
$GC,19460,0.38,197.8,724.2,6.9,456,19461,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2064
$GC,19763,0.38,197.8,703.8,6.7,461,19764,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2064
$GC,20066,0.38,197.8,683.9,6.5,466,20067,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2064
$GC,20370,0.38,197.8,664.5,6.4,471,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2199,2063
$GC,20673,0.38,197.8,646.4,5.9,476,20677,0.00,2.45,0.00,0.000,4,0.000,0.081,3449,3609,2063
$GC,20712,0.38,197.8,643.7,7.0,476,20717,0.00,2.38,0.00,0.000,6,0.000,0.061,3449,2190,2063
$GC,21035,0.38,197.8,624.1,6.1,482,21039,0.00,2.47,0.00,0.000,4,0.000,0.078,3449,3609,2063
$GC,21070,0.38,197.8,621.7,7.4,482,21075,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2197,2063
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$STATE,30900,end climb,SURFACE_DEPTH_REACHED
$STATE,30900,begin surface coast
$FINISH,1.0,1.025676
$STATE,30989,end surface coast,CONTROL_FINISHED_OK
$STATE,30989,begin surface
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$10V_AH,10.3,86.617
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$DEVICE_SECS,29.250,214.775,370.575,0.000,0.000,29.991,33.322,163.772,234.750,0.000,0.000,13.102,1717.226,26126.861,545.779,2201.948,859.218,33.382,1638.642,0.000,2175.889,0.000,0.465
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$DATA_FILE_SIZE,47400,804
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$CFSIZE,260165632,208941056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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