version: 66.03
glider: 120
mission: 9
dive: 710
start: 5 23 109 9 22 56
data:
$ID,120
$MISSION,9
$DIVE,710
$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,-32771.66
$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,23
$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
$GPS1,091307,4954.264,-14429.674,67,1.3,67,18.5
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-76.0
$GPS2,092201,4954.242,-14429.699,11,1.5,11,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.158,0.082
$KALMAN_X,-151146.8,-171.3,103.6,204466.6,8.3
$KALMAN_Y,154456.1,-50.6,-124.7,-171390.6,2815.7
$MHEAD_RNG_PITCHd_Wd,279.1,35168,-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,-117.3,0.0,0.0,0,65,0.00,0.00,-35.15,0.000,2,0.000,0.000,134,2393,2634
$GC,70,-0.67,-117.3,3.3,-5.2,4,106,13.93,2.65,-15.62,0.000,4,0.280,0.077,3093,988,3357
$GC,224,-0.51,-117.3,23.5,-11.6,17,231,0.20,2.42,0.00,0.000,6,0.146,0.061,3149,2399,3358
$GC,555,-0.51,-117.3,49.5,-7.5,48,559,0.00,2.58,0.00,0.000,4,0.000,0.078,3149,3817,3359
$GC,608,-0.56,-117.3,54.2,-8.1,52,612,0.00,2.40,0.00,0.000,6,0.000,0.050,3149,2401,3359
$GC,935,-0.56,-117.3,77.6,-6.8,82,940,0.00,2.62,0.00,0.000,4,0.000,0.064,3149,991,3360
$GC,1000,-0.62,-117.3,82.3,-7.2,86,1004,0.00,2.45,0.00,0.000,6,0.000,0.058,3149,2411,3360
$GC,1329,-0.62,-117.3,104.8,-7.0,102,1333,0.00,2.58,0.00,0.000,4,0.000,0.064,3148,992,3360
$GC,1357,-0.62,-117.3,106.9,-7.4,103,1361,0.00,2.45,0.00,0.000,6,0.000,0.058,3149,2409,3360
$GC,1675,-0.67,-117.3,128.2,-6.6,118,1680,0.15,2.55,0.00,0.000,4,0.076,0.064,3082,982,3360
$GC,1710,-0.56,-117.3,131.3,-9.2,119,1717,0.20,2.45,0.00,0.000,6,0.131,0.058,3135,2405,3360
$GC,2027,-0.61,-117.3,154.9,-7.1,134,2031,0.00,2.45,0.00,0.000,4,0.000,0.076,3135,3809,3360
$GC,2084,-0.73,-117.3,158.6,-6.2,135,2089,0.17,2.33,0.00,0.000,6,0.070,0.050,3073,2400,3360
$GC,2400,-0.67,-117.3,182.6,-7.9,145,2404,0.00,2.53,0.00,0.000,4,0.000,0.065,3073,983,3360
$GC,2518,-0.60,-117.3,192.9,-8.7,148,2523,0.17,2.45,0.00,0.000,6,0.127,0.058,3119,2401,3360
$GC,2833,-0.60,-117.3,214.7,-6.9,158,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3360
$GC,3138,-0.60,-117.3,234.6,-6.4,168,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3360
$GC,3444,-0.60,-117.3,253.6,-6.2,178,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3360
$GC,3751,-0.64,-117.3,273.0,-6.5,188,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3360
$GC,4058,-0.69,-117.3,293.5,-6.7,198,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2400,3360
$GC,4362,-0.74,-117.3,311.7,-5.8,205,4363,0.12,0.00,0.00,0.000,6,0.080,0.000,3071,2400,3360
$GC,4665,-0.74,-117.3,332.1,-6.8,210,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3359
$GC,4967,-0.74,-117.3,355.0,-7.6,215,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3359
$GC,5271,-0.74,-117.3,377.7,-7.4,220,5276,0.00,2.55,0.00,0.000,4,0.000,0.077,3071,3810,3359
$GC,5300,-0.69,-117.3,380.1,-8.0,220,5305,0.00,2.42,0.00,0.000,6,0.000,0.052,3071,2403,3359
$GC,5634,-0.69,-117.3,401.7,-6.3,226,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2404,3359
$GC,5937,-0.69,-117.3,419.8,-6.0,231,5942,0.00,2.72,0.00,0.000,4,0.000,0.067,3071,992,3358
$GC,5978,-0.69,-117.3,422.7,-7.2,231,5982,0.00,2.50,0.00,0.000,6,0.000,0.059,3071,2400,3358
$GC,6300,-0.65,-117.3,444.9,-7.0,237,6305,0.12,2.55,0.00,0.000,4,0.127,0.077,3100,3807,3358
$GC,6339,-0.65,-117.3,447.7,-6.9,237,6344,0.00,2.40,0.00,0.000,6,0.000,0.051,3100,2398,3358
$GC,6661,-0.65,-117.3,469.2,-6.8,243,6666,0.00,2.58,0.00,0.000,4,0.000,0.068,3100,990,3358
$GC,6691,-0.65,-117.3,471.3,-7.1,243,6696,0.00,2.45,0.00,0.000,6,0.000,0.059,3100,2399,3358
$GC,7025,-0.65,-117.3,494.8,-7.2,249,7029,0.00,2.53,0.00,0.000,4,0.000,0.068,3100,985,3357
$GC,7070,-0.70,-117.3,498.0,-7.3,249,7074,0.00,2.47,0.00,0.000,6,0.000,0.059,3100,2407,3357
$GC,7387,-0.70,-117.3,519.5,-6.8,255,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3358
$GC,7689,-0.70,-117.3,539.9,-6.7,260,7693,0.00,2.53,0.00,0.000,4,0.000,0.081,3100,3816,3357
$GC,7723,-0.75,-117.3,542.3,-7.0,260,7727,0.00,2.38,0.00,0.000,6,0.000,0.053,3100,2392,3357
$GC,8051,-0.80,-117.3,564.6,-6.7,266,8056,0.12,2.53,0.00,0.000,4,0.087,0.069,3052,981,3357
$GC,8086,-0.73,-117.3,567.3,-8.3,266,8090,0.00,2.50,0.00,0.000,6,0.000,0.060,3052,2409,3357
$GC,8414,-0.65,-117.3,592.4,-7.6,272,8415,0.17,0.00,0.00,0.000,6,0.140,0.000,3102,2408,3357
$GC,8717,-0.69,-117.3,609.8,-5.6,277,8721,0.00,2.55,0.00,0.000,4,0.000,0.068,3102,986,3357
$GC,8763,-0.74,-117.3,612.6,-6.6,277,8768,0.00,2.47,0.00,0.000,6,0.000,0.061,3101,2402,3356
$GC,9080,-0.74,-117.3,630.6,-5.7,283,9084,0.00,2.53,0.00,0.000,4,0.000,0.080,3100,3812,3356
$GC,9109,-0.80,-117.3,632.4,-6.2,283,9113,0.12,2.35,0.00,0.000,6,0.081,0.052,3055,2400,3356
$GC,9442,-0.80,-117.3,655.8,-7.1,289,9446,0.00,2.53,0.00,0.000,4,0.000,0.070,3056,989,3356
$GC,9479,-0.76,-117.3,658.5,-7.6,289,9483,0.00,2.47,0.00,0.000,6,0.000,0.060,3055,2404,3356
$GC,9807,-0.70,-117.3,683.4,-7.6,295,9808,0.12,0.00,0.00,0.000,6,0.139,0.000,3088,2403,3357
$GC,10109,-0.70,-117.3,702.6,-6.3,300,10114,0.00,2.53,0.00,0.000,4,0.000,0.081,3086,3817,3356
$GC,10139,-0.70,-117.3,704.6,-7.0,300,10143,0.00,2.38,0.00,0.000,6,0.000,0.054,3086,2395,3356
$GC,10472,-0.70,-117.3,723.6,-5.6,306,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3356
$GC,10775,-0.70,-117.3,740.0,-5.4,311,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3356
$GC,11078,-0.70,-117.3,757.2,-5.7,316,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3356
$GC,11381,-0.70,-117.3,774.5,-5.7,321,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3356
$GC,11685,-0.70,-117.3,791.2,-5.5,326,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2396,3356
$GC,11987,-0.70,-117.3,807.6,-5.3,331,11991,0.00,2.62,0.00,0.000,4,0.000,0.069,3086,994,3355
$GC,12015,-0.70,-117.3,809.1,-4.9,331,12020,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2398,3355
$GC,12349,-0.70,-117.3,826.5,-5.1,337,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3355
$GC,12653,-0.70,-117.3,843.5,-5.7,342,12657,0.00,2.58,0.00,0.000,4,0.000,0.070,3086,986,3355
$GC,12687,-0.70,-117.3,845.7,-5.7,342,12691,0.00,2.50,0.00,0.000,6,0.000,0.061,3085,2403,3355
$GC,13015,-0.70,-117.3,865.6,-6.1,348,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3355
$GC,13317,-0.70,-117.3,884.4,-6.2,353,13322,0.00,2.58,0.00,0.000,4,0.000,0.069,3086,989,3355
$GC,13364,-0.74,-117.3,887.5,-6.8,353,13369,0.00,2.50,0.00,0.000,6,0.000,0.062,3085,2406,3355
$GC,13681,-0.74,-117.3,907.2,-6.2,359,13685,0.00,2.53,0.00,0.000,4,0.000,0.082,3085,3810,3355
$GC,13715,-0.78,-117.3,909.3,-6.1,359,13719,0.00,2.38,0.00,0.000,6,0.000,0.054,3085,2392,3354
$GC,14043,-0.98,-117.3,930.8,-6.7,365,14049,0.22,2.58,0.00,0.000,4,0.085,0.079,3000,3817,3354
$GC,14242,-0.77,-117.3,947.6,-8.5,368,14247,0.28,2.42,0.00,0.000,6,0.153,0.056,3070,2391,3354
$GC,14610,-0.77,-117.3,969.8,-5.9,374,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2392,3354
$GC,14912,-0.77,-117.3,987.0,-5.7,379,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2392,3354
$STATE,14968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14969,begin apogee
$GC,14978,-0.22,0.0,990.6,5.8,380,15092,0.57,0.00,109.75,1.495,6,0.131,0.000,3242,2199,2876
$STATE,15092,end apogee,CONTROL_FINISHED_OK
$STATE,15092,begin climb
$GC,15096,0.67,117.3,995.1,0.0,382,15223,0.93,2.97,118.93,1.444,4,0.081,0.074,3533,795,2396
$GC,15246,0.36,158.8,996.3,3.8,384,15296,0.43,2.78,43.85,1.396,6,0.171,0.057,3441,2204,2228
$GC,15662,0.36,158.8,972.9,5.7,391,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2203,2224
$GC,15961,0.36,158.8,956.0,5.6,396,15962,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2203,2223
$GC,16265,0.36,158.8,939.4,5.5,401,16266,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2203,2222
$GC,16567,0.36,158.8,923.4,5.2,406,16572,0.00,2.58,0.00,0.000,4,0.000,0.074,3449,783,2223
$GC,16603,0.32,158.8,921.5,6.0,406,16607,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2211,2223
$GC,16930,0.27,158.8,904.1,5.3,412,16932,0.17,0.00,0.00,0.000,6,0.162,0.000,3404,2211,2222
$GC,17234,0.40,199.8,892.2,3.8,417,17278,0.12,2.65,36.65,1.425,4,0.082,0.076,3452,784,2060
$GC,17314,0.40,199.8,887.9,5.3,418,17318,0.00,2.42,0.00,0.000,6,0.000,0.058,3451,2196,2059
$GC,17664,0.40,199.8,866.0,6.3,424,17665,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2194,2056
$GC,17967,0.40,199.8,846.7,6.4,429,17971,0.00,2.50,0.00,0.000,4,0.000,0.077,3451,780,2055
$GC,18006,0.40,199.8,843.9,6.8,429,18010,0.00,2.40,0.00,0.000,6,0.000,0.059,3451,2203,2056
$GC,18328,0.40,199.8,823.0,6.6,435,18330,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2202,2055
$GC,18632,0.40,199.8,801.7,7.1,440,18636,0.00,2.58,0.00,0.000,4,0.000,0.077,3451,785,2055
$GC,18688,0.40,199.8,797.4,7.8,440,18695,0.00,2.42,0.00,0.000,6,0.000,0.061,3452,2210,2055
$GC,18999,0.40,199.8,773.6,7.7,446,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2209,2054
$GC,19303,0.40,199.8,750.0,7.7,451,19307,0.00,2.58,0.00,0.000,4,0.000,0.076,3451,783,2055
$GC,19349,0.40,199.8,746.3,6.6,451,19353,0.00,2.42,0.00,0.000,6,0.000,0.058,3451,2198,2055
$GC,19665,0.40,199.8,723.4,7.2,457,19666,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2197,2054
$GC,19968,0.40,199.8,702.2,7.0,462,19972,0.00,2.53,0.00,0.000,4,0.000,0.075,3451,791,2054
$GC,20014,0.40,199.8,699.1,6.4,462,20018,0.00,2.42,0.00,0.000,6,0.000,0.059,3451,2204,2055
$GC,20336,0.40,199.8,677.0,6.9,468,20337,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2202,2054
$GC,20639,0.40,199.8,656.3,6.9,473,20643,0.00,2.55,0.00,0.000,4,0.000,0.077,3451,788,2054
$GC,20707,0.40,199.8,651.5,7.1,474,20711,0.00,2.42,0.00,0.000,6,0.000,0.060,3451,2202,2054
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$STATE,31173,end climb,SURFACE_DEPTH_REACHED
$STATE,31174,begin surface coast
$FINISH,0.6,1.025496
$STATE,31301,end surface coast,CONTROL_FINISHED_OK
$STATE,31301,begin surface
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$10V_AH,10.2,96.272
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$DEVICE_SECS,29.775,245.775,380.750,0.000,0.000,23.867,30.654,297.169,240.500,0.000,0.000,11.951,1780.843,26132.369,532.530,2378.761,1079.573,33.382,1734.720,0.000,2349.823,0.000,0.465
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$DATA_FILE_SIZE,47456,816
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$CFSIZE,260165632,203481088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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