version: 66.03
glider: 120
mission: 9
dive: 699
start: 5 19 109 7 20 36
data:
$ID,120
$MISSION,9
$DIVE,699
$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,-32527.572
$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,22
$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
$GPS1,070901,5018.661,-14434.633,40,1.4,40,18.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.4
$GPS2,071938,5018.607,-14434.653,17,1.4,17,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.134,0.117
$KALMAN_X,-145211.2,223.1,36.3,192306.6,-1935.3
$KALMAN_Y,144432.1,178.8,201.6,-116806.8,-2016.0
$MHEAD_RNG_PITCHd_Wd,30.3,7227,-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,-39.45,0.000,2,0.000,0.000,139,2404,2747
$GC,74,-0.67,-117.3,3.8,-7.8,4,107,14.10,2.55,-11.82,0.000,4,0.274,0.083,3094,979,3357
$GC,272,-0.53,-117.3,31.1,-10.5,21,279,0.17,2.42,0.00,0.000,6,0.150,0.061,3142,2404,3359
$GC,604,-0.53,-117.3,56.8,-7.8,52,608,0.00,2.50,0.00,0.000,4,0.000,0.067,3142,983,3359
$GC,637,-0.53,-117.3,60.2,-8.7,54,644,0.00,2.40,0.00,0.000,6,0.000,0.058,3141,2401,3359
$GC,962,-0.53,-117.3,85.4,-7.7,82,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2401,3360
$GC,1272,-0.53,-117.3,106.4,-6.5,97,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2401,3360
$GC,1582,-0.53,-117.3,127.7,-6.9,112,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2400,3360
$GC,1890,-0.59,-117.3,149.3,-6.8,127,1894,0.00,2.53,0.00,0.000,4,0.000,0.066,3141,988,3360
$GC,1913,-0.67,-117.3,151.0,-6.9,128,1920,0.12,2.42,0.00,0.000,6,0.078,0.058,3096,2405,3360
$GC,2228,-0.67,-117.3,172.2,-6.7,139,2232,0.00,2.45,0.00,0.000,4,0.000,0.077,3096,3810,3361
$GC,2273,-0.67,-117.3,175.6,-7.9,140,2278,0.00,2.35,0.00,0.000,6,0.000,0.051,3096,2386,3360
$GC,2598,-0.67,-117.3,199.6,-7.4,151,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2387,3360
$GC,2905,-0.67,-117.3,221.7,-7.2,161,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2386,3361
$GC,3211,-0.67,-117.3,243.5,-7.0,171,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2386,3360
$GC,3517,-0.67,-117.3,264.6,-6.8,181,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2386,3360
$GC,3823,-0.67,-117.3,286.8,-7.4,191,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2387,3360
$GC,4129,-0.67,-117.3,309.4,-7.4,199,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2387,3361
$GC,4431,-0.67,-117.3,331.9,-7.4,204,4435,0.00,2.60,0.00,0.000,4,0.000,0.079,3096,3810,3360
$GC,4465,-0.67,-117.3,334.6,-7.9,204,4469,0.00,2.38,0.00,0.000,6,0.000,0.053,3096,2391,3360
$GC,4794,-0.67,-117.3,358.4,-7.3,210,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2392,3360
$GC,5096,-0.67,-117.3,379.8,-7.0,215,5101,0.00,2.60,0.00,0.000,4,0.000,0.078,3096,3812,3359
$GC,5153,-0.67,-117.3,384.0,-7.8,215,5160,0.00,2.38,0.00,0.000,6,0.000,0.052,3096,2392,3359
$GC,5464,-0.67,-117.3,403.9,-6.4,221,5468,0.00,2.50,0.00,0.000,4,0.000,0.068,3096,984,3359
$GC,5492,-0.71,-117.3,405.6,-6.0,221,5497,0.00,2.45,0.00,0.000,6,0.000,0.059,3096,2404,3360
$GC,5826,-0.71,-117.3,425.3,-5.8,227,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2403,3359
$GC,6129,-0.71,-117.3,440.9,-5.0,232,6133,0.00,2.50,0.00,0.000,4,0.000,0.080,3096,3809,3359
$GC,6168,-0.71,-117.3,442.9,-5.3,232,6172,0.00,2.38,0.00,0.000,6,0.000,0.052,3096,2390,3358
$GC,6490,-0.71,-117.3,458.0,-4.7,238,6494,0.00,2.47,0.00,0.000,4,0.000,0.069,3096,990,3358
$GC,6531,-0.77,-117.3,460.0,-4.7,238,6535,0.00,2.42,0.00,0.000,6,0.000,0.058,3096,2400,3358
$GC,6852,-0.77,-117.3,476.9,-5.3,244,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3358
$GC,7156,-0.77,-117.3,495.9,-6.4,249,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3358
$GC,7458,-0.77,-117.3,515.6,-6.5,254,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3358
$GC,7762,-0.77,-117.3,535.2,-6.5,259,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3358
$GC,8065,-0.77,-117.3,553.2,-5.8,264,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2398,3358
$GC,8368,-0.77,-117.3,570.2,-5.6,269,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2399,3358
$GC,8671,-0.81,-117.3,587.1,-5.6,274,8673,0.12,0.00,0.00,0.000,6,0.094,0.000,3048,2399,3358
$GC,8975,-0.75,-117.3,607.0,-6.6,279,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2399,3358
$GC,9278,-0.70,-117.3,627.7,-6.9,284,9283,0.15,2.60,0.00,0.000,4,0.108,0.082,3096,3812,3357
$GC,9324,-0.76,-117.3,630.7,-6.0,284,9328,0.00,2.38,0.00,0.000,6,0.000,0.054,3096,2400,3357
$GC,9640,-0.80,-117.3,649.3,-5.9,290,9645,0.12,2.53,0.00,0.000,4,0.087,0.069,3049,986,3357
$GC,9676,-0.73,-117.3,651.8,-8.5,290,9680,0.12,2.45,0.00,0.000,6,0.125,0.061,3080,2403,3357
$GC,10003,-0.73,-117.3,673.8,-6.8,296,10007,0.00,2.50,0.00,0.000,4,0.000,0.069,3080,989,3357
$GC,10036,-0.73,-117.3,676.2,-7.1,296,10041,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2403,3357
$GC,10365,-0.73,-117.3,697.9,-6.6,302,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3357
$GC,10667,-0.73,-117.3,717.4,-6.4,307,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3357
$GC,10971,-0.73,-117.3,736.5,-6.3,312,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3357
$GC,11273,-0.73,-117.3,756.5,-6.6,317,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3357
$GC,11576,-0.73,-117.3,776.6,-6.6,322,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,11881,-0.73,-117.3,797.1,-6.8,327,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,12183,-0.73,-117.3,818.6,-7.1,332,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,12486,-0.73,-117.3,840.1,-7.1,337,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,12789,-0.73,-117.3,861.4,-7.1,342,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,13092,-0.73,-117.3,881.5,-6.6,347,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,13396,-0.73,-117.3,900.1,-6.1,352,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,13698,-0.73,-117.3,918.1,-5.9,357,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,14001,-0.73,-117.3,935.1,-5.6,362,14002,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3356
$GC,14304,-0.73,-117.3,951.8,-5.4,367,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3355
$GC,14608,-0.73,-117.3,967.9,-5.3,372,14612,0.00,2.53,0.00,0.000,4,0.000,0.072,3080,993,3355
$GC,14644,-0.73,-117.3,969.6,-5.7,372,14648,0.00,2.45,0.00,0.000,6,0.000,0.063,3080,2399,3355
$GC,14971,-0.73,-117.3,985.4,-4.7,378,14976,0.00,2.53,0.00,0.000,4,0.000,0.083,3080,3808,3355
$GC,15000,-0.73,-117.3,986.9,-5.7,378,15004,0.00,2.38,0.00,0.000,6,0.000,0.055,3080,2391,3355
$STATE,15086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15086,begin apogee
$GC,15096,-0.22,0.0,991.3,4.9,380,15209,0.55,0.00,109.53,1.503,6,0.135,0.000,3241,2192,2876
$STATE,15210,end apogee,CONTROL_FINISHED_OK
$STATE,15210,begin climb
$GC,15214,0.67,117.3,994.8,0.0,382,15338,0.93,0.00,118.15,1.453,6,0.086,0.000,3526,2192,2397
$GC,15646,0.35,117.3,973.9,7.5,389,15648,0.38,0.00,0.00,0.000,6,0.167,0.000,3436,2192,2394
$GC,15946,0.31,132.7,959.5,4.6,394,15963,0.00,0.00,14.57,1.374,6,0.000,0.000,3436,2192,2334
$GC,16249,0.29,152.8,946.0,4.4,399,16270,0.00,0.00,19.50,1.411,6,0.000,0.000,3436,2192,2252
$GC,16552,0.29,154.9,931.2,4.9,404,16556,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,792,2250
$GC,16598,0.30,163.1,928.7,4.8,404,16615,0.00,2.35,10.32,1.317,6,0.000,0.059,3436,2204,2210
$GC,16919,0.30,163.1,910.8,5.6,410,16924,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,3610,2209
$GC,16956,0.22,163.1,908.6,6.4,410,16961,0.17,2.35,0.00,0.000,6,0.180,0.061,3396,2195,2209
$GC,17284,0.34,163.1,892.2,5.0,416,17288,0.00,2.45,0.00,0.000,4,0.000,0.077,3400,783,2209
$GC,17325,0.46,163.1,889.9,5.5,416,17330,0.20,2.38,0.00,0.000,6,0.077,0.059,3475,2201,2208
$GC,17647,0.35,163.1,864.7,8.0,422,17649,0.17,0.00,0.00,0.000,6,0.147,0.000,3430,2201,2208
$GC,17949,0.35,163.1,843.9,6.7,427,17951,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2208
$GC,18254,0.35,163.1,824.5,6.3,432,18255,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2208
$GC,18556,0.35,163.1,806.8,5.8,437,18557,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2201,2208
$GC,18859,0.35,163.1,790.9,5.2,442,18860,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2201,2208
$GC,19162,0.36,171.4,776.5,4.8,447,19173,0.00,0.00,8.50,1.222,6,0.000,0.000,3429,2201,2177
$GC,19466,0.38,185.0,762.5,4.6,452,19485,0.00,2.53,13.85,1.308,4,0.000,0.077,3436,789,2121
$GC,19522,0.42,185.0,759.6,5.5,452,19526,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2202,2120
$GC,19834,0.46,185.1,744.0,5.0,457,19835,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2119
$GC,20136,0.47,187.6,729.0,4.9,462,20140,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,788,2119
$GC,20193,0.52,187.6,726.1,5.3,462,20201,0.15,2.38,0.00,0.000,6,0.087,0.059,3494,2200,2119
$GC,20505,0.40,187.6,705.3,6.8,468,20507,0.17,0.00,0.00,0.000,6,0.150,0.000,3449,2200,2119
$GC,20809,0.40,187.6,688.1,5.5,473,20813,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,791,2119
$GC,20911,0.40,187.6,682.2,5.7,474,20915,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2202,2119
$GC,21238,0.40,187.6,663.3,5.8,480,21239,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2119
$GC,21541,0.40,187.6,645.9,5.7,485,21545,0.00,2.53,0.00,0.000,4,0.000,0.076,3450,791,2119
$GC,21593,0.41,195.9,642.9,4.8,485,21609,0.00,2.42,10.85,1.206,6,0.000,0.059,3449,2209,2077
$GC,21970,0.41,195.9,623.0,5.1,492,21974,0.00,2.50,0.00,0.000,4,0.000,0.076,3449,783,2076
$GC,22021,0.46,236.4,620.5,3.8,492,22063,0.00,2.40,36.85,1.271,6,0.000,0.059,3449,2201,1912
$GC,22398,0.52,236.4,600.2,5.6,499,22403,0.10,2.45,0.00,0.000,4,0.092,0.075,3490,781,1907
$GC,22443,0.47,236.4,597.1,7.0,499,22447,0.00,2.38,0.00,0.000,6,0.000,0.060,3490,2211,1907
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$STATE,31330,end climb,SURFACE_DEPTH_REACHED
$STATE,31330,begin surface coast
$FINISH,0.5,1.013359
$STATE,31448,end surface coast,CONTROL_FINISHED_OK
$STATE,31448,begin surface
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$10V_AH,10.3,94.771
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$DATA_FILE_SIZE,47371,830
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$CFSIZE,260165632,204345344
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