version: 66.03
glider: 120
mission: 9
dive: 588
start: 4 7 109 8 38 52
data:
$ID,120
$MISSION,9
$DIVE,588
$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,-30272.59
$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,19
$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
$GPS1,083107,5010.231,-14453.573,69,0.9,69,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-74.3
$GPS2,083756,5010.259,-14453.589,16,1.4,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.136
$KALMAN_X,-79350.7,340.8,-53.6,103897.6,-576.2
$KALMAN_Y,133783.8,146.7,56.2,-121439.6,-738.3
$MHEAD_RNG_PITCHd_Wd,301.5,29443,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-20.80,0.000,2,0.000,0.000,136,2403,2262
$GC,53,-0.67,-117.3,3.2,-4.7,2,111,13.68,2.47,-36.88,0.000,4,0.277,0.083,3097,989,3356
$GC,168,-0.50,-117.3,12.3,-10.6,12,175,0.20,2.35,0.00,0.000,6,0.150,0.064,3154,2406,3357
$GC,498,-0.50,-117.3,37.9,-8.5,43,503,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3357
$GC,823,-0.50,-117.3,60.8,-7.9,74,825,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3358
$GC,1151,-0.50,-117.3,85.7,-7.9,102,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3358
$GC,1461,-0.50,-117.3,107.9,-6.7,117,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3358
$GC,1770,-0.50,-117.3,128.4,-6.8,132,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3358
$GC,2079,-0.59,-117.3,147.9,-6.2,147,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3358
$GC,2397,-0.88,-117.3,170.7,-7.1,158,2401,0.32,2.42,0.00,0.000,4,0.087,0.068,3034,992,3358
$GC,2645,-0.66,-117.3,195.6,-10.9,165,2650,0.25,2.35,0.00,0.000,6,0.150,0.063,3100,2399,3359
$GC,2965,-0.66,-117.3,219.4,-7.3,176,2969,0.00,2.40,0.00,0.000,4,0.000,0.081,3099,3808,3358
$GC,2994,-0.66,-117.3,221.6,-7.5,177,2998,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2398,3358
$GC,3329,-0.66,-117.3,244.6,-6.9,188,3333,0.00,2.38,0.00,0.000,4,0.000,0.069,3099,993,3358
$GC,3369,-0.66,-117.3,247.8,-7.9,189,3374,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2406,3358
$GC,3694,-0.66,-117.3,274.0,-8.5,200,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3358
$GC,4000,-0.66,-117.3,299.6,-8.2,210,4004,0.00,2.42,0.00,0.000,4,0.000,0.069,3099,985,3358
$GC,4051,-0.66,-117.3,304.1,-8.6,211,4055,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2409,3358
$GC,4368,-0.66,-117.3,328.6,-7.7,217,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,4670,-0.66,-117.3,348.2,-6.4,222,4674,0.00,2.42,0.00,0.000,4,0.000,0.070,3099,990,3358
$GC,4710,-0.66,-117.3,350.8,-6.0,222,4714,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2410,3358
$GC,5031,-0.66,-117.3,369.3,-5.8,228,5035,0.00,2.42,0.00,0.000,4,0.000,0.070,3099,986,3358
$GC,5060,-0.66,-117.3,371.2,-6.3,228,5064,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2401,3358
$GC,5399,-0.66,-117.3,391.9,-6.1,234,5403,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,993,3358
$GC,5434,-0.66,-117.3,394.1,-6.3,234,5438,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2400,3358
$GC,5762,-0.66,-117.3,413.5,-5.9,240,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6064,-0.66,-117.3,431.2,-5.9,245,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3358
$GC,6367,-0.66,-117.3,448.1,-5.6,250,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,6671,-0.66,-117.3,466.0,-6.0,255,6675,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,989,3358
$GC,6710,-0.66,-117.3,468.8,-7.1,255,6714,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2405,3358
$GC,7033,-0.66,-117.3,488.4,-6.1,261,7037,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,991,3358
$GC,7068,-0.66,-117.3,490.6,-6.3,261,7072,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2409,3358
$GC,7395,-0.66,-117.3,510.4,-6.1,267,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,7698,-0.66,-117.3,531.4,-7.1,272,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3357
$GC,8002,-0.66,-117.3,554.3,-7.6,277,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,8304,-0.66,-117.3,577.2,-7.6,282,8309,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,995,3357
$GC,8350,-0.71,-117.3,580.9,-8.6,282,8354,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2410,3357
$GC,8666,-0.71,-117.3,603.0,-6.9,288,8670,0.00,2.45,0.00,0.000,4,0.000,0.071,3099,985,3357
$GC,8702,-0.71,-117.3,605.4,-6.9,288,8706,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2401,3357
$GC,9029,-0.71,-117.3,625.8,-6.1,294,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,9332,-0.71,-117.3,642.7,-5.5,299,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3357
$GC,9635,-0.71,-117.3,659.1,-5.5,304,9639,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,994,3356
$GC,9686,-0.76,-117.3,662.1,-6.2,304,9691,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2405,3356
$GC,9998,-0.95,-117.3,680.9,-6.2,309,10002,0.22,2.45,0.00,0.000,4,0.088,0.071,3013,990,3356
$GC,10217,-0.76,-117.3,699.8,-10.1,312,10222,0.20,2.38,0.00,0.000,6,0.163,0.064,3065,2401,3356
$GC,10561,-0.70,-117.3,723.8,-6.8,318,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2400,3356
$GC,10864,-0.65,-117.3,744.7,-6.9,323,10866,0.15,0.00,0.00,0.000,6,0.164,0.000,3107,2400,3356
$GC,11168,-0.73,-117.3,762.3,-5.7,328,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,3356
$GC,11471,-0.94,-117.3,783.2,-7.2,333,11476,0.25,2.45,0.00,0.000,4,0.084,0.081,3012,3810,3356
$GC,11701,-0.77,-117.3,804.1,-9.6,336,11706,0.20,2.30,0.00,0.000,6,0.142,0.057,3065,2392,3355
$GC,12035,-0.73,-117.3,829.2,-7.5,342,12039,0.00,2.42,0.00,0.000,4,0.000,0.073,3066,988,3356
$GC,12091,-0.73,-117.3,833.8,-7.6,342,12097,0.00,2.38,0.00,0.000,6,0.000,0.064,3065,2399,3355
$GC,12401,-0.73,-117.3,856.0,-7.2,348,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3355
$GC,12705,-0.73,-117.3,876.6,-6.8,353,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2398,3355
$GC,13007,-0.73,-117.3,896.5,-6.6,358,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3355
$GC,13311,-0.73,-117.3,915.5,-6.2,363,13315,0.00,2.45,0.00,0.000,4,0.000,0.074,3065,989,3355
$GC,13346,-0.73,-117.3,917.8,-6.1,363,13350,0.00,2.40,0.00,0.000,6,0.000,0.065,3065,2405,3355
$GC,13674,-0.73,-117.3,936.8,-5.7,369,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2405,3355
$GC,13977,-0.73,-117.3,954.2,-5.8,374,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2404,3355
$GC,14279,-0.73,-117.3,971.0,-5.6,379,14280,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2404,3355
$GC,14582,-0.73,-117.3,988.0,-5.6,384,14586,0.00,2.45,0.00,0.000,4,0.000,0.073,3065,995,3354
$STATE,14614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14614,begin apogee
$GC,14625,-0.22,0.0,990.1,5.6,384,14736,0.55,0.00,107.90,1.486,6,0.142,0.000,3237,2209,2876
$STATE,14737,end apogee,CONTROL_FINISHED_OK
$STATE,14737,begin climb
$GC,14740,0.67,117.3,993.4,0.0,386,14863,0.90,0.00,114.12,1.430,6,0.093,0.000,3532,2209,2396
$GC,15170,0.34,117.3,972.8,7.6,393,15173,0.38,0.00,0.00,0.000,6,0.166,0.000,3426,2209,2393
$GC,15471,0.35,125.9,958.0,4.8,398,15482,0.00,0.00,8.85,1.261,6,0.000,0.000,3426,2209,2362
$GC,15774,0.37,143.1,944.1,4.5,403,15798,0.00,2.50,16.67,1.374,4,0.000,0.077,3435,790,2292
$GC,15833,0.37,143.1,941.0,5.1,403,15839,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2206,2291
$GC,16144,0.37,143.1,924.6,5.3,409,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2290
$GC,16446,0.37,143.1,908.4,5.4,414,16447,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2205,2290
$GC,16749,0.37,143.1,891.2,5.7,419,16753,0.00,2.42,0.00,0.000,4,0.000,0.079,3435,790,2290
$GC,16805,0.37,143.1,888.0,5.2,419,16812,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2201,2290
$GC,17117,0.37,143.1,870.6,5.7,425,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2290
$GC,17419,0.37,143.1,853.5,5.6,430,17420,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2290
$GC,17722,0.37,143.1,837.0,5.5,435,17723,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2290
$GC,18025,0.37,143.1,820.7,5.4,440,18029,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,3610,2290
$GC,18070,0.29,143.1,818.0,6.0,440,18074,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2204,2290
$GC,18386,0.29,143.1,801.4,5.3,446,18390,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,783,2290
$GC,18425,0.29,143.1,799.2,5.8,446,18429,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2210,2290
$GC,18746,0.29,143.1,782.1,5.3,452,18747,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2290
$GC,19049,0.29,143.1,766.3,5.2,457,19053,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,791,2290
$GC,19100,0.30,152.7,763.7,4.7,457,19114,0.00,2.33,9.70,1.226,6,0.000,0.061,3436,2200,2252
$GC,19483,0.30,152.7,743.9,5.2,464,19484,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2252
$GC,19786,0.30,152.7,727.8,5.3,469,19790,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2252
$GC,19820,0.30,152.7,725.9,5.1,469,19824,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2212,2252
$GC,20146,0.30,152.7,709.1,5.2,475,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2251
$GC,20450,0.30,152.7,693.6,5.1,480,20451,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2252
$GC,20753,0.31,163.5,679.2,4.7,485,20766,0.00,0.00,10.93,1.201,6,0.000,0.000,3436,2211,2209
$GC,21057,0.33,182.0,665.6,4.5,490,21081,0.00,2.50,17.65,1.244,4,0.000,0.077,3436,794,2134
$GC,21111,0.42,206.6,663.2,4.3,490,21141,0.00,2.33,23.92,1.242,6,0.000,0.061,3436,2203,2032
$GC,21493,0.49,206.6,643.0,5.6,497,21498,0.12,2.38,0.00,0.000,4,0.094,0.079,3487,3620,2027
$GC,21556,0.33,206.6,637.7,8.7,498,21561,0.22,2.33,0.00,0.000,6,0.166,0.064,3429,2199,2027
$GC,21923,0.43,206.6,613.1,6.7,504,21927,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,782,2027
$GC,22003,0.53,206.6,607.4,6.5,505,22007,0.15,2.33,0.00,0.000,6,0.086,0.060,3494,2201,2027
$GC,22352,0.44,206.6,577.0,8.7,511,22357,0.12,2.42,0.00,0.000,4,0.140,0.077,3464,786,2026
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$STATE,31855,end climb,SURFACE_DEPTH_REACHED
$STATE,31855,begin surface coast
$FINISH,1.5,1.025701
$STATE,32018,end surface coast,CONTROL_FINISHED_OK
$STATE,32018,begin surface
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$10V_AH,10.4,79.427
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$DEVICE_SECS,28.350,218.650,374.150,0.000,0.000,31.175,29.186,186.131,263.750,0.000,0.000,16.487,1830.848,26743.877,530.648,2539.222,853.266,33.381,1784.945,0.000,2501.258,0.000,0.465
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$DATA_FILE_SIZE,50662,849
$CAP_FILE_SIZE,185900,0
$CFSIZE,260165632,212979712
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