version: 66.03
glider: 120
mission: 9
dive: 709
start: 5 23 109 0 7 31
data:
$ID,120
$MISSION,9
$DIVE,709
$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,-32759.08
$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,17
$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
$GPS1,235831,4956.629,-14427.208,71,1.6,71,18.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-67.1
$GPS2,000637,4956.683,-14427.180,12,1.9,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.061,-0.167
$KALMAN_X,-150923.0,197.1,107.2,206857.6,-357.5
$KALMAN_Y,152438.4,16.4,-263.0,-164783.1,2280.1
$MHEAD_RNG_PITCHd_Wd,181.5,5874,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.67,-117.3,0.0,0.0,0,72,0.00,0.00,-39.60,0.000,2,0.000,0.000,134,2402,2651
$GC,77,-0.67,-117.3,3.3,-3.9,4,111,13.90,2.45,-14.05,0.000,4,0.275,0.087,3095,3817,3356
$GC,193,-0.49,-117.3,21.2,-10.6,14,198,0.22,2.38,0.00,0.000,6,0.151,0.053,3157,2388,3358
$GC,519,-0.49,-117.3,46.1,-7.1,44,523,0.00,2.62,0.00,0.000,4,0.000,0.076,3154,3811,3358
$GC,553,-0.55,-117.3,48.9,-8.1,46,560,0.00,2.40,0.00,0.000,6,0.000,0.050,3154,2395,3358
$GC,884,-0.60,-117.3,72.0,-7.3,77,888,0.00,2.58,0.00,0.000,4,0.000,0.066,3155,981,3358
$GC,906,-0.60,-117.3,74.2,-7.6,78,913,0.00,2.45,0.00,0.000,6,0.000,0.058,3155,2409,3358
$GC,1236,-0.60,-117.3,98.4,-7.2,98,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2408,3358
$GC,1546,-0.60,-117.3,120.6,-7.3,113,1550,0.00,2.58,0.00,0.000,4,0.000,0.064,3155,990,3359
$GC,1589,-0.64,-117.3,123.8,-8.0,115,1594,0.15,2.45,0.00,0.000,6,0.074,0.057,3100,2401,3359
$GC,1917,-0.64,-117.3,150.7,-7.9,131,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3359
$GC,2224,-0.64,-117.3,172.9,-6.6,141,2228,0.00,2.47,0.00,0.000,4,0.000,0.076,3100,3815,3358
$GC,2253,-0.64,-117.3,175.0,-7.1,142,2258,0.00,2.38,0.00,0.000,6,0.000,0.051,3100,2390,3359
$GC,2590,-0.64,-117.3,199.0,-7.2,153,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3359
$GC,2896,-0.64,-117.3,220.7,-7.1,163,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2390,3359
$GC,3203,-0.64,-117.3,241.6,-6.7,173,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3358
$GC,3508,-0.64,-117.3,262.8,-7.0,183,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3359
$GC,3815,-0.64,-117.3,285.2,-7.2,193,3819,0.00,2.62,0.00,0.000,4,0.000,0.076,3100,3807,3359
$GC,3844,-0.64,-117.3,287.5,-8.4,194,3848,0.00,2.42,0.00,0.000,6,0.000,0.051,3100,2403,3359
$GC,4186,-0.64,-117.3,309.1,-6.0,203,4190,0.00,2.65,0.00,0.000,4,0.000,0.067,3102,991,3359
$GC,4226,-0.71,-117.3,311.6,-6.0,203,4230,0.00,2.45,0.00,0.000,6,0.000,0.058,3102,2400,3358
$GC,4547,-0.71,-117.3,328.8,-5.3,209,4552,0.00,2.58,0.00,0.000,4,0.000,0.077,3100,3815,3358
$GC,4583,-0.71,-117.3,330.8,-6.1,209,4587,0.00,2.42,0.00,0.000,6,0.000,0.051,3100,2398,3358
$GC,4910,-0.75,-117.3,349.6,-5.7,215,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2399,3358
$GC,5213,-0.79,-117.3,366.6,-5.5,220,5215,0.12,0.00,0.00,0.000,6,0.092,0.000,3050,2398,3358
$GC,5517,-0.70,-117.3,389.3,-7.6,225,5519,0.12,0.00,0.00,0.000,6,0.094,0.000,3085,2397,3358
$GC,5820,-0.66,-117.3,411.4,-7.3,230,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3358
$GC,6122,-0.66,-117.3,435.0,-7.8,235,6127,0.00,2.65,0.00,0.000,4,0.000,0.080,3085,3808,3358
$GC,6156,-0.66,-117.3,437.8,-7.8,235,6160,0.00,2.45,0.00,0.000,6,0.000,0.051,3085,2401,3358
$GC,6483,-0.66,-117.3,462.2,-7.4,241,6487,0.00,2.65,0.00,0.000,4,0.000,0.067,3085,983,3357
$GC,6518,-0.66,-117.3,464.8,-7.6,241,6522,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2399,3358
$GC,6845,-0.66,-117.3,486.5,-6.5,247,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3357
$GC,7148,-0.66,-117.3,505.1,-6.1,252,7152,0.00,2.58,0.00,0.000,4,0.000,0.080,3085,3814,3356
$GC,7199,-0.66,-117.3,508.4,-6.1,252,7203,0.00,2.42,0.00,0.000,6,0.000,0.053,3085,2399,3356
$GC,7510,-0.66,-117.3,528.1,-6.4,257,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,7813,-0.66,-117.3,548.5,-6.8,262,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3357
$GC,8116,-0.66,-117.3,568.6,-6.6,267,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3356
$GC,8419,-0.66,-117.3,588.6,-6.6,272,8423,0.00,2.72,0.00,0.000,4,0.000,0.067,3085,986,3356
$GC,8453,-0.66,-117.3,591.0,-6.8,272,8457,0.00,2.50,0.00,0.000,6,0.000,0.061,3085,2406,3356
$GC,8781,-0.66,-117.3,612.3,-6.5,278,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2405,3356
$GC,9084,-0.66,-117.3,632.1,-6.6,283,9089,0.00,2.53,0.00,0.000,4,0.000,0.081,3085,3807,3355
$GC,9113,-0.66,-117.3,634.1,-6.9,283,9117,0.00,2.42,0.00,0.000,6,0.000,0.053,3085,2397,3355
$GC,9447,-0.66,-117.3,656.6,-6.8,289,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,9749,-0.66,-117.3,677.6,-7.0,294,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10052,-0.66,-117.3,696.9,-6.3,299,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10355,-0.66,-117.3,714.8,-5.9,304,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10658,-0.66,-117.3,732.6,-5.9,309,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,10962,-0.66,-117.3,750.5,-5.9,314,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,11264,-0.66,-117.3,769.0,-6.1,319,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,11567,-0.66,-117.3,787.7,-6.1,324,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,11870,-0.66,-117.3,806.1,-6.1,329,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,12174,-0.66,-117.3,823.6,-5.8,334,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3354
$GC,12477,-0.66,-117.3,840.0,-5.3,339,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,12781,-0.66,-117.3,857.4,-5.9,344,12786,0.00,2.72,0.00,0.000,4,0.000,0.081,3085,3807,3354
$GC,12821,-0.66,-117.3,860.2,-7.2,344,12826,0.00,2.50,0.00,0.000,6,0.000,0.053,3085,2402,3354
$GC,13143,-0.66,-117.3,880.7,-6.4,350,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,13447,-0.66,-117.3,899.4,-6.2,355,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,13749,-0.66,-117.3,917.2,-5.8,360,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14052,-0.66,-117.3,933.6,-5.4,365,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,14355,-0.66,-117.3,949.1,-5.1,370,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2404,3354
$GC,14658,-0.66,-117.3,963.5,-4.7,375,14663,0.00,2.65,0.00,0.000,4,0.000,0.082,3085,3807,3354
$GC,14688,-0.71,-117.3,964.9,-4.6,375,14692,0.00,2.47,0.00,0.000,6,0.000,0.054,3085,2399,3353
$GC,15022,-0.88,-117.3,983.1,-5.6,381,15027,0.15,2.60,0.00,0.000,4,0.087,0.079,3025,3809,3353
$STATE,15125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15125,begin apogee
$GC,15138,-0.22,0.0,990.2,6.7,382,15250,0.73,0.00,109.38,1.494,6,0.135,0.000,3241,2200,2876
$STATE,15251,end apogee,CONTROL_FINISHED_OK
$STATE,15251,begin climb
$GC,15255,0.67,117.3,993.0,0.0,384,15382,0.93,2.97,118.45,1.442,4,0.084,0.072,3533,796,2397
$GC,15421,0.30,117.3,992.3,6.0,386,15427,0.50,2.75,0.00,0.000,6,0.170,0.056,3422,2201,2395
$GC,15749,0.30,117.3,974.5,5.3,392,15754,0.00,2.60,0.00,0.000,4,0.000,0.077,3422,3622,2394
$GC,15790,0.21,117.3,972.1,5.8,392,15795,0.15,2.50,0.00,0.000,6,0.177,0.058,3390,2196,2394
$GC,16113,0.32,141.1,957.9,4.3,398,16137,0.00,0.00,22.30,1.407,6,0.000,0.000,3390,2197,2300
$GC,16415,0.44,164.7,944.8,4.3,403,16445,0.17,2.50,21.88,1.407,4,0.073,0.076,3477,789,2203
$GC,16482,0.32,164.7,940.6,6.7,404,16487,0.20,2.40,0.00,0.000,6,0.146,0.058,3425,2204,2202
$GC,16849,0.32,164.7,920.8,5.3,410,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2201
$GC,17151,0.32,164.7,905.5,5.1,415,17153,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2201
$GC,17455,0.32,164.7,890.1,5.0,420,17456,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2203,2201
$GC,17759,0.32,164.7,874.7,5.1,425,17763,0.00,2.58,0.00,0.000,4,0.000,0.076,3424,782,2201
$GC,17800,0.37,167.4,872.5,4.9,425,17804,0.00,2.42,0.00,0.000,6,0.000,0.059,3425,2210,2200
$GC,18121,0.37,167.4,856.1,5.2,431,18122,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2209,2201
$GC,18424,0.37,167.4,839.7,5.4,436,18425,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2209,2200
$GC,18728,0.37,167.4,822.9,5.5,441,18732,0.00,2.58,0.00,0.000,4,0.000,0.076,3425,780,2200
$GC,18774,0.43,167.4,820.3,5.4,441,18778,0.00,2.45,0.00,0.000,6,0.000,0.058,3425,2212,2200
$GC,19090,0.47,167.4,802.4,5.7,447,19092,0.12,0.00,0.00,0.000,6,0.087,0.000,3478,2210,2201
$GC,19393,0.35,167.4,781.5,6.9,452,19395,0.17,0.00,0.00,0.000,6,0.144,0.000,3431,2210,2200
$GC,19696,0.35,167.4,765.0,5.4,457,19697,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2210,2199
$GC,20000,0.35,167.4,747.9,5.7,462,20004,0.00,2.67,0.00,0.000,4,0.000,0.074,3436,789,2200
$GC,20039,0.35,167.4,745.5,5.3,462,20043,0.00,2.45,0.00,0.000,6,0.000,0.058,3436,2210,2200
$GC,20361,0.35,167.4,727.8,5.4,468,20363,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2199
$GC,20664,0.35,167.4,712.5,5.0,473,20669,0.00,2.58,0.00,0.000,4,0.000,0.076,3436,777,2199
$GC,20705,0.36,175.3,710.5,4.8,473,20721,0.00,2.45,10.20,1.220,6,0.000,0.058,3436,2199,2161
$GC,21027,0.36,175.3,693.6,5.3,478,21028,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2160
$GC,21329,0.36,175.3,676.9,5.6,483,21334,0.00,2.53,0.00,0.000,4,0.000,0.075,3436,789,2160
$GC,21371,0.41,175.3,674.8,6.2,483,21375,0.00,2.45,0.00,0.000,6,0.000,0.059,3436,2210,2160
$GC,21693,0.41,175.3,657.5,5.3,489,21694,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2159
$GC,21996,0.41,175.3,641.9,5.2,494,22000,0.00,2.58,0.00,0.000,4,0.000,0.076,3436,783,2160
$GC,22036,0.47,181.7,639.9,4.8,494,22051,0.10,2.45,7.38,1.105,6,0.087,0.058,3476,2202,2135
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$STATE,32531,end climb,SURFACE_DEPTH_REACHED
$STATE,32531,begin surface coast
$FINISH,3.7,1.025505
$STATE,32581,end surface coast,CONTROL_FINISHED_OK
$STATE,32581,begin surface
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$10V_AH,10.3,96.134
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$DEVICE_SECS,30.225,211.250,357.750,15.675,0.000,30.561,28.917,235.902,242.000,0.000,0.000,29.850,1774.505,27527.002,531.142,2273.520,991.221,33.389,1656.762,0.000,2225.563,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50613,841
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