version: 66.03
glider: 120
mission: 9
dive: 589
start: 4 7 109 17 42 33
data:
$ID,120
$MISSION,9
$DIVE,589
$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,-30303.229
$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,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
$GPS1,173506,5013.118,-14457.645,33,1.1,33,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-76.4
$GPS2,174137,5013.101,-14457.652,12,1.1,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.113
$KALMAN_X,-79217.4,-274.2,144.5,99358.3,569.2
$KALMAN_Y,133800.3,-37.4,127.5,-116079.7,-277.0
$MHEAD_RNG_PITCHd_Wd,291.0,22355,-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,-20.73,0.000,2,0.000,0.000,137,2408,2230
$GC,53,-0.67,-117.3,3.0,-3.5,2,111,13.68,2.45,-37.45,0.000,4,0.278,0.081,3094,994,3356
$GC,182,-0.51,-117.3,14.5,-13.5,13,189,0.20,2.35,0.00,0.000,6,0.151,0.064,3151,2406,3357
$GC,511,-0.51,-117.3,38.7,-6.9,44,517,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2406,3357
$GC,837,-0.51,-117.3,62.1,-7.6,75,838,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2406,3357
$GC,1154,-0.51,-117.3,84.5,-7.0,102,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2406,3358
$GC,1465,-0.51,-117.3,107.7,-8.1,117,1470,0.00,2.42,0.00,0.000,4,0.000,0.069,3151,984,3358
$GC,1493,-0.51,-117.3,110.4,-8.2,118,1497,0.00,2.38,0.00,0.000,6,0.000,0.061,3151,2412,3358
$GC,1810,-0.57,-117.3,131.2,-6.3,133,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2411,3358
$GC,2121,-0.65,-117.3,148.0,-4.9,148,2123,0.12,0.00,0.00,0.000,6,0.084,0.000,3102,2412,3358
$GC,2436,-0.88,-117.3,166.9,-6.2,159,2441,0.17,2.40,0.00,0.000,4,0.105,0.078,3032,3817,3358
$GC,2608,-0.65,-117.3,182.7,-10.1,164,2613,0.25,2.30,0.00,0.000,6,0.151,0.054,3101,2390,3358
$GC,2938,-0.65,-117.3,209.0,-8.0,175,2942,0.00,2.38,0.00,0.000,4,0.000,0.069,3101,985,3358
$GC,2983,-0.65,-117.3,213.0,-8.4,176,2987,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2408,3358
$GC,3309,-0.65,-117.3,239.5,-7.8,187,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,3614,-0.65,-117.3,262.6,-7.4,197,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,3920,-0.65,-117.3,283.8,-6.9,207,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3358
$GC,4258,-0.65,-117.3,306.1,-6.7,217,4262,0.00,2.42,0.00,0.000,4,0.000,0.069,3099,987,3358
$GC,4292,-0.65,-117.3,308.5,-7.1,217,4296,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2406,3358
$GC,4625,-0.65,-117.3,330.9,-6.7,223,4629,0.00,2.40,0.00,0.000,4,0.000,0.081,3099,3811,3358
$GC,4653,-0.65,-117.3,332.9,-7.1,223,4657,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2394,3357
$GC,4992,-0.65,-117.3,354.5,-6.4,229,4996,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,992,3358
$GC,5032,-0.65,-117.3,357.4,-7.5,229,5036,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2402,3358
$GC,5353,-0.65,-117.3,377.4,-6.1,235,5358,0.00,2.40,0.00,0.000,4,0.000,0.081,3099,3808,3358
$GC,5404,-0.65,-117.3,380.6,-6.1,235,5408,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2397,3358
$GC,5715,-0.65,-117.3,399.1,-5.9,240,5719,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,992,3358
$GC,5766,-0.65,-117.3,402.4,-5.9,240,5770,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2407,3358
$GC,6088,-0.65,-117.3,421.8,-6.1,246,6092,0.00,2.40,0.00,0.000,4,0.000,0.081,3099,3812,3358
$GC,6121,-0.65,-117.3,424.0,-6.5,246,6125,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2399,3357
$GC,6449,-0.65,-117.3,443.2,-5.9,252,6453,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,991,3358
$GC,6472,-0.65,-117.3,444.7,-6.0,252,6476,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2400,3358
$GC,6810,-0.65,-117.3,465.7,-6.2,258,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,7113,-0.65,-117.3,485.3,-6.4,263,7117,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,987,3357
$GC,7152,-0.65,-117.3,488.1,-7.4,263,7156,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2403,3357
$GC,7474,-0.65,-117.3,507.6,-6.0,269,7478,0.00,2.40,0.00,0.000,4,0.000,0.070,3099,992,3357
$GC,7518,-0.65,-117.3,510.4,-6.4,269,7523,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2411,3357
$GC,7834,-0.65,-117.3,527.4,-5.4,275,7839,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,986,3357
$GC,7863,-0.65,-117.3,529.0,-5.5,275,7867,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2404,3357
$GC,8196,-0.65,-117.3,546.2,-5.1,281,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,8500,-0.65,-117.3,560.7,-4.8,286,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3356
$GC,8803,-0.65,-117.3,574.1,-4.4,291,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3357
$GC,9106,-0.65,-117.3,586.5,-4.1,296,9111,0.00,2.42,0.00,0.000,4,0.000,0.071,3099,986,3357
$GC,9141,-0.65,-117.3,588.0,-4.4,296,9145,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2402,3357
$GC,9468,-0.65,-117.3,602.1,-4.4,302,9472,0.00,2.42,0.00,0.000,4,0.000,0.082,3099,3814,3356
$GC,9497,-0.71,-117.3,603.6,-5.2,302,9501,0.00,2.30,0.00,0.000,6,0.000,0.055,3099,2391,3356
$GC,9831,-0.75,-117.3,620.7,-5.2,308,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,3356
$GC,10133,-0.79,-117.3,638.0,-5.7,313,10135,0.12,0.00,0.00,0.000,6,0.092,0.000,3050,2391,3356
$GC,10437,-0.75,-117.3,658.0,-6.7,318,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2391,3356
$GC,10740,-0.70,-117.3,676.9,-6.2,323,10742,0.12,0.00,0.00,0.000,6,0.103,0.000,3086,2391,3356
$GC,11042,-0.70,-117.3,694.7,-5.9,328,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3356
$GC,11345,-0.70,-117.3,713.4,-6.3,333,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3356
$GC,11648,-0.70,-117.3,733.1,-6.6,338,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2391,3356
$GC,11951,-0.70,-117.3,753.3,-6.7,343,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3356
$GC,12255,-0.70,-117.3,772.6,-6.3,348,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2390,3356
$GC,12557,-0.70,-117.3,790.5,-5.9,353,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2390,3356
$GC,12860,-0.70,-117.3,808.1,-5.8,358,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2390,3355
$GC,13164,-0.70,-117.3,827.3,-6.4,363,13168,0.00,2.40,0.00,0.000,4,0.000,0.073,3086,993,3355
$GC,13191,-0.70,-117.3,829.3,-7.4,363,13195,0.00,2.35,0.00,0.000,6,0.000,0.064,3086,2399,3355
$GC,13531,-0.70,-117.3,851.4,-6.5,369,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,13833,-0.70,-117.3,870.4,-6.2,374,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,14136,-0.70,-117.3,888.3,-5.9,379,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,14439,-0.70,-117.3,905.6,-5.7,384,14441,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,14743,-0.70,-117.3,921.7,-5.3,389,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,15046,-0.70,-117.3,937.0,-5.0,394,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,15349,-0.70,-117.3,951.3,-4.7,399,15350,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,15652,-0.70,-117.3,966.1,-4.9,404,15653,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,15955,-0.70,-117.3,982.2,-5.3,409,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$STATE,16133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16133,begin apogee
$GC,16142,-0.22,0.0,992.5,5.7,412,16256,0.52,0.00,107.97,1.493,6,0.138,0.000,3243,2201,2876
$STATE,16257,end apogee,CONTROL_FINISHED_OK
$STATE,16257,begin climb
$GC,16260,0.67,117.3,997.2,0.0,414,16384,0.88,2.78,114.22,1.435,4,0.093,0.077,3533,789,2397
$GC,16419,0.31,117.3,996.7,5.8,416,16424,0.45,2.55,0.00,0.000,6,0.173,0.060,3422,2197,2395
$GC,16752,0.32,124.7,980.6,4.8,422,16762,0.00,0.00,7.68,1.212,6,0.000,0.000,3422,2197,2367
$GC,17055,0.32,127.5,965.7,4.9,427,17062,0.00,0.00,4.30,0.952,6,0.000,0.000,3422,2197,2355
$GC,17359,0.33,130.9,951.0,4.9,432,17366,0.00,0.00,4.88,1.036,6,0.000,0.000,3422,2197,2342
$GC,17661,0.33,130.9,935.7,5.0,437,17665,0.00,2.42,0.00,0.000,4,0.000,0.078,3422,782,2342
$GC,17697,0.33,130.9,933.9,5.0,437,17701,0.00,2.35,0.00,0.000,6,0.000,0.061,3422,2215,2342
$GC,18024,0.34,141.9,918.7,4.7,443,18037,0.00,0.00,11.62,1.332,6,0.000,0.000,3422,2215,2297
$GC,18328,0.36,157.1,905.0,4.6,448,18345,0.00,0.00,15.02,1.363,6,0.000,0.000,3422,2215,2235
$GC,18630,0.37,165.7,890.8,4.8,453,18644,0.00,2.45,9.18,1.271,4,0.000,0.080,3422,792,2200
$GC,18686,0.43,165.7,888.1,5.1,453,18690,0.10,2.33,0.00,0.000,6,0.092,0.061,3461,2208,2200
$GC,18997,0.37,165.7,870.4,5.8,458,18999,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2208,2199
$GC,19300,0.31,165.7,853.3,5.7,463,19304,0.15,2.45,0.00,0.000,4,0.142,0.077,3423,783,2199
$GC,19363,0.40,186.8,850.2,4.4,464,19388,0.00,2.33,20.10,1.367,6,0.000,0.061,3423,2204,2113
$GC,19728,0.47,186.8,831.9,5.1,470,19733,0.12,2.42,0.00,0.000,4,0.089,0.077,3476,784,2111
$GC,19768,0.40,186.8,829.3,6.4,470,19772,0.00,2.33,0.00,0.000,6,0.000,0.062,3476,2203,2111
$GC,20095,0.32,186.8,805.4,7.4,476,20097,0.20,0.00,0.00,0.000,6,0.144,0.000,3418,2203,2110
$GC,20399,0.41,186.8,787.7,5.8,481,20401,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2202,2110
$GC,20701,0.49,186.8,769.5,6.0,486,20706,0.15,2.45,0.00,0.000,4,0.084,0.077,3489,790,2110
$GC,20741,0.38,186.8,766.5,7.7,486,20746,0.17,2.35,0.00,0.000,6,0.139,0.062,3441,2210,2110
$GC,21063,0.38,186.8,747.3,5.9,492,21064,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2209,2110
$GC,21365,0.38,186.8,730.2,5.6,497,21369,0.00,2.45,0.00,0.000,4,0.000,0.077,3449,784,2110
$GC,21409,0.38,186.8,727.3,6.1,497,21414,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2207,2110
$GC,21726,0.38,186.8,708.8,5.9,503,21727,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2110
$GC,22029,0.38,186.8,691.5,5.7,508,22030,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2110
$GC,22332,0.38,186.8,673.0,6.1,513,22336,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,792,2110
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$STATE,33076,end climb,SURFACE_DEPTH_REACHED
$STATE,33076,begin surface coast
$FINISH,1.4,1.017324
$STATE,33229,end surface coast,CONTROL_FINISHED_OK
$STATE,33229,begin surface
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$HUMID,2136
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$TCM_TEMP,14.30
$XPDR_PINGS,1055
$24V_AH,21.0,115.254
$10V_AH,10.4,79.568
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$DEVICE_SECS,27.575,210.750,361.650,11.050,0.000,30.835,26.604,158.422,263.750,0.000,0.000,30.011,1853.593,27966.107,533.643,2460.862,832.692,33.382,1730.766,0.000,2409.100,0.000,0.465
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$DATA_FILE_SIZE,50668,874
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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