version: 66.03
glider: 120
mission: 9
dive: 729
start: 5 30 109 14 50 1
data:
$ID,120
$MISSION,9
$DIVE,729
$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,-33287.629
$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,19
$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
$GPS1,144155,4959.042,-14510.643,69,1.4,69,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-78.2
$GPS2,144907,4959.054,-14510.661,14,1.5,31,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.017,-0.177
$KALMAN_X,-153095.3,23.9,76.4,157533.0,-228.7
$KALMAN_Y,147342.6,169.8,-11.5,-155702.9,1358.5
$MHEAD_RNG_PITCHd_Wd,167.2,9464,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.33,0.000,2,0.000,0.000,140,2411,2788
$GC,74,-0.67,-117.3,3.8,-6.8,4,105,13.68,0.00,-10.88,0.000,6,0.278,0.000,3093,2411,3358
$GC,426,-0.50,-117.3,49.7,-10.7,37,431,0.17,2.65,0.00,0.000,4,0.161,0.065,3149,982,3359
$GC,484,-0.54,-117.3,54.8,-8.2,41,490,0.00,2.42,0.00,0.000,6,0.000,0.059,3149,2402,3359
$GC,810,-0.54,-117.3,78.8,-7.4,72,815,0.00,2.62,0.00,0.000,4,0.000,0.065,3149,981,3360
$GC,862,-0.59,-117.3,82.9,-7.8,74,866,0.00,2.45,0.00,0.000,6,0.000,0.058,3149,2399,3360
$GC,1180,-0.59,-117.3,105.4,-6.9,89,1185,0.00,2.60,0.00,0.000,4,0.000,0.065,3149,981,3360
$GC,1222,-0.64,-117.3,108.5,-7.3,91,1227,0.12,2.45,0.00,0.000,6,0.074,0.058,3104,2400,3360
$GC,1550,-0.64,-117.3,131.6,-6.4,107,1554,0.00,2.47,0.00,0.000,4,0.000,0.076,3099,3806,3360
$GC,1607,-0.64,-117.3,135.7,-7.1,109,1613,0.00,2.35,0.00,0.000,6,0.000,0.051,3099,2393,3360
$GC,1945,-0.64,-117.3,160.1,-7.5,124,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3360
$GC,2250,-0.64,-117.3,181.1,-6.7,134,2254,0.00,2.62,0.00,0.000,4,0.000,0.066,3099,986,3360
$GC,2290,-0.64,-117.3,183.6,-6.0,135,2295,0.00,2.45,0.00,0.000,6,0.000,0.058,3099,2400,3360
$GC,2616,-0.64,-117.3,204.9,-6.6,146,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3361
$GC,2922,-0.64,-117.3,227.4,-7.7,156,2926,0.00,2.55,0.00,0.000,4,0.000,0.067,3099,988,3360
$GC,2961,-0.64,-117.3,230.7,-8.3,157,2966,0.00,2.45,0.00,0.000,6,0.000,0.058,3099,2400,3360
$GC,3287,-0.64,-117.3,256.6,-7.9,168,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3360
$GC,3593,-0.64,-117.3,279.6,-7.4,178,3597,0.00,2.58,0.00,0.000,4,0.000,0.067,3099,994,3360
$GC,3666,-0.69,-117.3,285.2,-7.6,180,3671,0.00,2.50,0.00,0.000,6,0.000,0.058,3099,2409,3360
$GC,4023,-0.69,-117.3,310.1,-6.8,190,4028,0.00,2.60,0.00,0.000,4,0.000,0.067,3099,990,3360
$GC,4052,-0.69,-117.3,312.4,-7.2,190,4056,0.00,2.45,0.00,0.000,6,0.000,0.059,3099,2409,3360
$GC,4385,-0.69,-117.3,333.1,-6.2,196,4390,0.00,2.53,0.00,0.000,4,0.000,0.068,3099,993,3360
$GC,4432,-0.75,-117.3,336.1,-6.1,196,4436,0.00,2.45,0.00,0.000,6,0.000,0.059,3099,2406,3360
$GC,4749,-0.75,-117.3,356.7,-6.6,202,4753,0.00,2.47,0.00,0.000,4,0.000,0.078,3099,3814,3360
$GC,4772,-0.75,-117.3,358.5,-7.0,202,4776,0.00,2.33,0.00,0.000,6,0.000,0.052,3099,2390,3360
$GC,5117,-0.75,-117.3,383.7,-7.4,208,5121,0.00,2.47,0.00,0.000,4,0.000,0.069,3099,993,3360
$GC,5169,-0.81,-117.3,387.8,-8.6,208,5174,0.15,2.45,0.00,0.000,6,0.082,0.058,3045,2407,3359
$GC,5480,-0.72,-117.3,416.0,-9.1,213,5485,0.15,2.55,0.00,0.000,4,0.106,0.067,3095,985,3359
$GC,5544,-0.72,-117.3,421.0,-7.6,214,5548,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2401,3359
$GC,5912,-0.72,-117.3,445.5,-6.6,220,5916,0.00,2.53,0.00,0.000,4,0.000,0.068,3095,986,3359
$GC,5992,-0.72,-117.3,451.2,-6.9,221,5996,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2403,3359
$GC,6342,-0.72,-117.3,474.9,-6.8,227,6346,0.00,2.53,0.00,0.000,4,0.000,0.069,3096,991,3359
$GC,6416,-0.72,-117.3,480.3,-7.6,228,6420,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2410,3359
$GC,6771,-0.72,-117.3,503.6,-6.3,234,6776,0.00,2.53,0.00,0.000,4,0.000,0.069,3095,992,3358
$GC,6851,-0.72,-117.3,508.5,-5.8,235,6855,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2409,3358
$GC,7202,-0.72,-117.3,527.4,-5.3,241,7206,0.00,2.55,0.00,0.000,4,0.000,0.069,3095,983,3358
$GC,7287,-0.72,-117.3,532.3,-5.4,242,7291,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2401,3358
$GC,7631,-0.72,-117.3,550.4,-5.3,248,7635,0.00,2.53,0.00,0.000,4,0.000,0.068,3095,988,3358
$GC,7716,-0.72,-117.3,555.6,-6.2,249,7720,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2403,3358
$GC,8061,-0.72,-117.3,575.4,-5.8,255,8065,0.00,2.53,0.00,0.000,4,0.000,0.068,3095,992,3358
$GC,8140,-0.76,-117.3,580.5,-6.0,256,8144,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2403,3358
$GC,8491,-0.76,-117.3,602.4,-6.3,262,8495,0.00,2.55,0.00,0.000,4,0.000,0.069,3095,988,3358
$GC,8547,-0.76,-117.3,606.5,-7.4,262,8554,0.00,2.47,0.00,0.000,6,0.000,0.061,3095,2404,3358
$GC,8859,-0.76,-117.3,627.0,-6.6,268,8863,0.00,2.55,0.00,0.000,4,0.000,0.069,3095,983,3358
$GC,8911,-0.80,-117.3,630.8,-7.7,268,8916,0.12,2.50,0.00,0.000,6,0.082,0.061,3053,2412,3357
$GC,9222,-0.80,-117.3,654.7,-7.8,273,9226,0.00,2.55,0.00,0.000,4,0.000,0.070,3053,993,3357
$GC,9256,-0.74,-117.3,657.6,-8.3,273,9260,0.00,2.47,0.00,0.000,6,0.000,0.061,3052,2403,3357
$GC,9584,-0.67,-117.3,683.0,-7.7,279,9588,0.15,2.58,0.00,0.000,4,0.133,0.069,3104,989,3357
$GC,9630,-0.74,-117.3,686.2,-6.5,279,9634,0.00,2.47,0.00,0.000,6,0.000,0.061,3100,2399,3357
$GC,9947,-0.79,-117.3,703.6,-5.4,285,9949,0.12,0.00,0.00,0.000,6,0.088,0.000,3051,2398,3357
$GC,10252,-0.79,-117.3,722.9,-6.4,290,10256,0.00,2.53,0.00,0.000,4,0.000,0.080,3051,3819,3357
$GC,10289,-0.72,-117.3,725.6,-7.3,290,10294,0.12,2.35,0.00,0.000,6,0.096,0.054,3084,2398,3357
$GC,10617,-0.72,-117.3,745.8,-6.0,296,10621,0.00,2.53,0.00,0.000,4,0.000,0.070,3084,989,3357
$GC,10657,-0.72,-117.3,748.4,-6.8,296,10661,0.00,2.50,0.00,0.000,6,0.000,0.061,3084,2411,3356
$GC,10980,-0.72,-117.3,767.8,-6.0,302,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2410,3356
$GC,11282,-0.72,-117.3,785.5,-5.9,307,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2410,3356
$GC,11587,-0.72,-117.3,803.3,-5.9,312,11591,0.00,2.58,0.00,0.000,4,0.000,0.070,3084,984,3356
$GC,11621,-0.72,-117.3,805.5,-6.8,312,11625,0.00,2.50,0.00,0.000,6,0.000,0.062,3084,2400,3356
$GC,11949,-0.72,-117.3,824.4,-5.8,318,11950,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3356
$GC,12252,-0.72,-117.3,842.3,-5.9,323,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3356
$GC,12555,-0.72,-117.3,859.3,-5.6,328,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3356
$GC,12858,-0.72,-117.3,876.4,-5.7,333,12862,0.00,2.67,0.00,0.000,4,0.000,0.069,3084,990,3356
$GC,12886,-0.72,-117.3,878.2,-6.3,333,12890,0.00,2.50,0.00,0.000,6,0.000,0.062,3084,2409,3356
$GC,13220,-0.72,-117.3,899.0,-6.4,339,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2408,3356
$GC,13522,-0.72,-117.3,918.9,-6.6,344,13526,0.00,2.65,0.00,0.000,4,0.000,0.071,3084,987,3355
$GC,13556,-0.72,-117.3,921.3,-6.8,344,13560,0.00,2.50,0.00,0.000,6,0.000,0.062,3084,2401,3355
$GC,13883,-0.72,-117.3,940.0,-5.6,350,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3355
$GC,14187,-0.72,-117.3,955.7,-5.2,355,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2399,3355
$GC,14490,-0.72,-117.3,970.4,-4.9,360,14494,0.00,2.60,0.00,0.000,4,0.000,0.071,3084,991,3355
$GC,14513,-0.72,-117.3,971.7,-4.8,360,14517,0.00,2.50,0.00,0.000,6,0.000,0.063,3084,2401,3355
$GC,14852,-0.72,-117.3,987.5,-4.6,366,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2400,3355
$STATE,14909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14909,begin apogee
$GC,14919,-0.22,0.0,990.3,4.6,367,15033,0.52,0.00,111.47,1.489,6,0.130,0.000,3243,2200,2876
$STATE,15034,end apogee,CONTROL_FINISHED_OK
$STATE,15034,begin climb
$GC,15038,0.67,117.3,994.1,0.0,369,15165,0.90,2.90,119.38,1.436,4,0.081,0.074,3533,795,2397
$GC,15185,0.34,134.8,994.5,4.5,371,15210,0.45,2.72,19.25,1.334,6,0.172,0.057,3431,2201,2326
$GC,15527,0.34,134.8,974.2,6.0,377,15532,0.00,2.65,0.00,0.000,4,0.000,0.076,3430,3609,2323
$GC,15592,0.23,134.8,970.0,6.2,378,15597,0.17,2.55,0.00,0.000,6,0.172,0.059,3399,2204,2323
$GC,15961,0.30,135.7,951.4,5.0,384,15962,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2205,2323
$GC,16263,0.38,146.4,937.2,4.7,389,16278,0.12,0.00,11.93,1.322,6,0.077,0.000,3447,2205,2279
$GC,16566,0.32,146.4,919.1,6.1,394,16567,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2205,2278
$GC,16870,0.26,146.4,900.2,6.2,399,16875,0.15,2.80,0.00,0.000,4,0.142,0.073,3408,781,2278
$GC,16905,0.36,158.6,898.2,4.7,399,16924,0.00,2.53,12.93,1.330,6,0.000,0.058,3408,2210,2228
$GC,17237,0.44,158.6,880.5,5.3,405,17242,0.15,2.50,0.00,0.000,4,0.081,0.077,3477,3614,2227
$GC,17289,0.22,158.6,876.6,8.8,405,17294,0.35,2.42,0.00,0.000,6,0.171,0.061,3390,2189,2227
$GC,17601,0.38,164.0,861.1,4.8,410,17615,0.15,2.53,6.45,1.157,4,0.079,0.077,3451,784,2207
$GC,17662,0.32,164.0,857.5,5.6,410,17669,0.00,2.47,0.00,0.000,6,0.000,0.059,3452,2208,2206
$GC,17974,0.27,164.0,838.0,6.3,416,17979,0.15,2.47,0.00,0.000,4,0.144,0.077,3404,3612,2205
$GC,18030,0.27,164.0,834.6,5.7,416,18037,0.00,2.38,0.00,0.000,6,0.000,0.061,3408,2199,2205
$GC,18342,0.37,178.0,820.0,4.6,422,18361,0.00,2.47,14.10,1.315,4,0.000,0.079,3408,782,2149
$GC,18404,0.53,204.0,817.1,4.3,422,18434,0.22,2.45,24.85,1.348,6,0.074,0.058,3492,2202,2044
$GC,18780,0.40,204.0,787.0,8.3,429,18785,0.15,2.45,0.00,0.000,4,0.148,0.077,3445,3610,2040
$GC,18816,0.35,204.0,784.2,8.1,429,18820,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2188,2039
$GC,19143,0.35,204.0,761.0,7.1,435,19147,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,786,2040
$GC,19183,0.35,204.0,757.9,7.2,435,19187,0.00,2.45,0.00,0.000,6,0.000,0.059,3449,2206,2040
$GC,19506,0.35,204.0,734.3,7.4,441,19510,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,3608,2039
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$STATE,31739,end climb,SURFACE_DEPTH_REACHED
$STATE,31739,begin surface coast
$FINISH,0.5,1.025270
$STATE,31825,end surface coast,CONTROL_FINISHED_OK
$STATE,31825,begin surface
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$10V_AH,10.2,98.917
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$DEVICE_SECS,29.525,266.075,383.600,0.000,0.000,23.874,24.691,176.588,249.750,0.000,0.000,31.826,1828.317,26453.188,554.817,2503.677,984.008,33.385,1811.567,0.000,2455.917,0.000,0.465
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$DATA_FILE_SIZE,47633,822
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$CFSIZE,260165632,201990144
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