version: 66.03
glider: 120
mission: 9
dive: 713
start: 5 24 109 12 59 30
data:
$ID,120
$MISSION,9
$DIVE,713
$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,-32872.926
$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,21
$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
$GPS1,125054,4959.860,-14442.992,35,1.3,51,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.7
$GPS2,125836,4959.840,-14443.025,18,1.3,34,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.119,0.132
$KALMAN_X,-150169.2,-221.1,6.6,187794.5,650.1
$KALMAN_Y,152436.3,-319.8,-552.1,-158297.1,892.7
$MHEAD_RNG_PITCHd_Wd,299.7,16998,-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,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.65,0.000,2,0.000,0.000,137,2410,2747
$GC,74,-0.67,-117.3,3.8,-6.9,4,108,13.95,2.58,-12.12,0.000,4,0.281,0.079,3095,989,3357
$GC,361,-0.51,-117.3,40.2,-10.5,29,368,0.20,2.42,0.00,0.000,6,0.147,0.061,3150,2407,3359
$GC,692,-0.51,-117.3,63.9,-6.9,60,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2407,3359
$GC,1016,-0.51,-117.3,86.5,-7.0,87,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2406,3359
$GC,1326,-0.51,-117.3,107.8,-7.1,102,1330,0.00,2.55,0.00,0.000,4,0.000,0.079,3150,3808,3360
$GC,1368,-0.61,-117.3,110.7,-7.6,104,1373,0.00,2.42,0.00,0.000,6,0.000,0.049,3150,2396,3360
$GC,1697,-0.90,-117.3,134.4,-7.6,120,1703,0.32,2.58,0.00,0.000,4,0.082,0.064,3037,992,3360
$GC,1833,-0.70,-117.3,148.1,-11.1,126,1838,0.20,2.45,0.00,0.000,6,0.146,0.060,3089,2411,3360
$GC,2158,-0.63,-117.3,177.4,-8.4,137,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2410,3360
$GC,2465,-0.56,-117.3,201.7,-7.8,147,2470,0.15,2.60,0.00,0.000,4,0.157,0.076,3129,3817,3360
$GC,2496,-0.61,-117.3,203.8,-6.4,148,2500,0.00,2.45,0.00,0.000,6,0.000,0.051,3129,2396,3360
$GC,2838,-0.87,-117.3,227.4,-7.2,159,2843,0.25,2.58,0.00,0.000,4,0.084,0.075,3035,3823,3360
$GC,3001,-0.68,-117.3,242.2,-10.2,163,3008,0.22,2.40,0.00,0.000,6,0.143,0.052,3093,2393,3359
$GC,3315,-0.63,-117.3,266.5,-7.6,174,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2394,3360
$GC,3621,-0.59,-117.3,289.6,-7.2,184,3623,0.12,0.00,0.00,0.000,6,0.163,0.000,3127,2394,3360
$GC,3929,-0.71,-117.3,307.9,-6.0,192,3934,0.12,2.65,0.00,0.000,4,0.083,0.066,3083,989,3360
$GC,3993,-0.76,-117.3,312.8,-7.5,193,3997,0.00,2.45,0.00,0.000,6,0.000,0.059,3083,2400,3360
$GC,4361,-0.92,-117.3,341.6,-8.0,199,4365,0.15,2.60,0.00,0.000,4,0.089,0.066,3026,993,3359
$GC,4417,-0.70,-117.3,347.1,-10.0,199,4425,0.25,2.45,0.00,0.000,6,0.154,0.061,3091,2407,3360
$GC,4728,-0.70,-117.3,372.3,-8.1,205,4733,0.00,2.53,0.00,0.000,4,0.000,0.078,3086,3817,3359
$GC,4780,-0.70,-117.3,376.6,-8.2,205,4784,0.00,2.35,0.00,0.000,6,0.000,0.052,3086,2402,3360
$GC,5092,-0.70,-117.3,401.7,-8.1,210,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3359
$GC,5393,-0.70,-117.3,425.4,-7.9,215,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3359
$GC,5697,-0.70,-117.3,448.3,-7.6,220,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3358
$GC,6000,-0.70,-117.3,470.1,-7.2,225,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3358
$GC,6304,-0.70,-117.3,491.4,-7.0,230,6308,0.00,2.65,0.00,0.000,4,0.000,0.067,3086,986,3358
$GC,6337,-0.70,-117.3,493.9,-7.7,230,6342,0.00,2.47,0.00,0.000,6,0.000,0.060,3086,2406,3358
$GC,6665,-0.70,-117.3,515.8,-6.6,236,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2404,3358
$GC,6968,-0.70,-117.3,535.2,-6.4,241,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3358
$GC,7272,-0.70,-117.3,554.0,-6.2,246,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3358
$GC,7575,-0.70,-117.3,573.5,-6.4,251,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3358
$GC,7877,-0.70,-117.3,593.6,-6.7,256,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3358
$GC,8181,-0.70,-117.3,613.1,-6.4,261,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3358
$GC,8484,-0.70,-117.3,632.2,-6.3,266,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3357
$GC,8787,-0.70,-117.3,651.7,-6.4,271,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3357
$GC,9091,-0.70,-117.3,671.6,-6.6,276,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3357
$GC,9393,-0.70,-117.3,692.4,-7.0,281,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3357
$GC,9696,-0.70,-117.3,713.5,-7.0,286,9700,0.00,2.67,0.00,0.000,4,0.000,0.068,3086,995,3357
$GC,9730,-0.70,-117.3,716.0,-6.6,286,9734,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2407,3356
$GC,10058,-0.70,-117.3,737.5,-6.5,292,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3356
$GC,10361,-0.70,-117.3,755.8,-6.0,297,10365,0.00,2.62,0.00,0.000,4,0.000,0.081,3085,3817,3356
$GC,10389,-0.70,-117.3,757.6,-6.0,297,10393,0.00,2.47,0.00,0.000,6,0.000,0.054,3086,2398,3356
$GC,10722,-0.70,-117.3,776.8,-5.8,303,10726,0.00,2.65,0.00,0.000,4,0.000,0.069,3086,990,3356
$GC,10758,-0.70,-117.3,778.9,-6.0,303,10763,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2406,3356
$GC,11086,-0.70,-117.3,798.3,-5.8,309,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,11389,-0.70,-117.3,814.9,-5.4,314,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,11692,-0.70,-117.3,831.1,-5.3,319,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,11996,-0.70,-117.3,847.0,-5.2,324,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,12298,-0.70,-117.3,863.7,-5.5,329,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3355
$GC,12602,-0.70,-117.3,880.5,-5.5,334,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3356
$GC,12905,-0.70,-117.3,898.1,-5.8,339,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3355
$GC,13208,-0.70,-117.3,915.4,-5.7,344,13212,0.00,2.70,0.00,0.000,4,0.000,0.070,3086,993,3355
$GC,13248,-0.70,-117.3,917.8,-6.5,344,13252,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2401,3355
$GC,13569,-0.70,-117.3,937.2,-6.0,350,13571,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,13873,-0.70,-117.3,955.0,-5.8,355,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,14176,-0.70,-117.3,972.7,-5.8,360,14180,0.00,2.67,0.00,0.000,4,0.000,0.070,3086,982,3354
$GC,14211,-0.75,-117.3,974.9,-6.5,360,14215,0.00,2.50,0.00,0.000,6,0.000,0.062,3086,2409,3354
$STATE,14475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14475,begin apogee
$GC,14484,-0.22,0.0,991.1,6.1,365,14597,0.52,0.00,109.90,1.496,6,0.120,0.000,3247,2189,2876
$STATE,14598,end apogee,CONTROL_FINISHED_OK
$STATE,14598,begin climb
$GC,14602,0.67,117.3,997.5,0.0,367,14729,0.90,2.97,118.62,1.444,4,0.080,0.074,3533,793,2397
$GC,14824,0.33,117.3,993.3,8.3,370,14830,0.45,2.67,0.00,0.000,6,0.169,0.057,3431,2199,2395
$GC,15164,0.28,117.3,975.3,5.3,376,15165,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2198,2394
$GC,15468,0.23,117.3,959.4,5.3,381,15470,0.15,0.00,0.00,0.000,6,0.188,0.000,3394,2198,2394
$GC,15770,0.34,155.5,947.3,3.9,386,15808,0.12,0.00,34.67,1.440,6,0.079,0.000,3447,2198,2241
$GC,16074,0.30,155.5,930.0,5.9,391,16078,0.12,2.53,0.00,0.000,4,0.140,0.075,3423,789,2237
$GC,16109,0.30,155.6,927.9,5.0,391,16113,0.00,2.35,0.00,0.000,6,0.000,0.059,3424,2201,2238
$GC,16436,0.30,155.6,909.9,5.5,397,16437,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2237
$GC,16739,0.30,155.6,892.6,5.8,402,16743,0.00,2.50,0.00,0.000,4,0.000,0.076,3424,790,2237
$GC,16774,0.30,160.2,890.5,4.9,402,16784,0.00,2.38,5.05,1.057,6,0.000,0.058,3424,2201,2223
$GC,17101,0.30,160.2,871.8,5.7,408,17103,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2222
$GC,17404,0.30,160.2,855.2,5.4,413,17405,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2222
$GC,17707,0.30,161.9,840.0,5.0,418,17708,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2199,2222
$GC,18010,0.31,164.8,825.2,4.9,423,18021,0.00,2.45,6.10,1.128,4,0.000,0.078,3424,3609,2203
$GC,18051,0.31,164.8,822.9,6.2,423,18055,0.00,2.47,0.00,0.000,6,0.000,0.059,3425,2201,2203
$GC,18373,0.35,164.8,806.6,5.1,429,18377,0.00,2.58,0.00,0.000,4,0.000,0.076,3425,785,2203
$GC,18407,0.43,188.0,805.0,4.3,429,18434,0.00,2.42,21.98,1.352,6,0.000,0.059,3424,2206,2108
$GC,18740,0.50,188.0,786.0,5.8,435,18742,0.15,0.00,0.00,0.000,6,0.087,0.000,3490,2206,2106
$GC,19042,0.38,188.0,762.3,8.0,440,19047,0.15,2.60,0.00,0.000,4,0.146,0.074,3449,787,2105
$GC,19081,0.38,188.0,759.3,6.5,440,19086,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2204,2106
$GC,19404,0.38,188.0,738.6,6.4,446,19405,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2105
$GC,19708,0.38,188.0,719.8,6.2,451,19712,0.00,2.58,0.00,0.000,4,0.000,0.075,3449,786,2105
$GC,19747,0.38,188.0,717.4,5.6,451,19751,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2200,2105
$GC,20075,0.38,188.0,698.8,5.7,457,20076,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2105
$GC,20378,0.38,188.0,682.4,5.4,462,20382,0.00,2.60,0.00,0.000,4,0.000,0.076,3449,782,2105
$GC,20442,0.39,194.0,679.0,4.8,463,20454,0.00,2.45,6.22,1.082,6,0.000,0.058,3449,2209,2085
$GC,20810,0.39,194.0,658.7,5.6,469,20811,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2208,2084
$GC,21113,0.39,194.0,640.6,5.9,474,21117,0.00,2.58,0.00,0.000,4,0.000,0.076,3449,790,2084
$GC,21153,0.39,194.0,638.1,5.7,474,21157,0.00,2.42,0.00,0.000,6,0.000,0.058,3449,2199,2084
$GC,21475,0.39,194.0,618.7,6.0,480,21476,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2084
$GC,21778,0.39,194.0,600.5,6.0,485,21779,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2084
$GC,22081,0.39,194.0,582.5,6.0,490,22085,0.00,2.58,0.00,0.000,4,0.000,0.076,3449,789,2084
$GC,22133,0.43,194.0,579.4,6.0,490,22137,0.00,2.45,0.00,0.000,6,0.000,0.058,3449,2208,2084
$GC,22446,0.43,194.0,561.0,5.9,495,22447,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2084
$GC,22747,0.43,194.0,543.2,5.9,500,22751,0.00,2.60,0.00,0.000,4,0.000,0.075,3449,788,2084
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$STATE,31935,begin surface coast
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$STATE,32053,end surface coast,CONTROL_FINISHED_OK
$STATE,32053,begin surface
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$DEVICE_SECS,29.300,186.600,382.450,0.000,0.000,28.233,36.323,180.270,243.750,0.000,0.000,34.770,1762.242,27038.859,524.070,2300.231,957.053,33.381,1640.157,0.000,2254.647,0.000,0.467
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$DATA_FILE_SIZE,50684,847
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