version: 66.03
glider: 120
mission: 9
dive: 717
start: 5 26 109 2 11 20
data:
$ID,120
$MISSION,9
$DIVE,717
$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,-32950.434
$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,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
$GPS1,020255,5009.991,-14455.564,90,0.9,90,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.4
$GPS2,021026,5009.986,-14455.568,14,1.3,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.085,0.156
$KALMAN_X,-149966.9,107.1,-197.7,172549.7,-261.4
$KALMAN_Y,146452.0,360.9,-8.9,-134760.3,-2369.8
$MHEAD_RNG_PITCHd_Wd,312.9,28129,-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,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,65,0.00,0.00,-35.10,0.000,2,0.000,0.000,138,2402,2626
$GC,69,-0.67,-117.3,3.1,-5.3,4,106,13.88,2.58,-15.90,0.000,4,0.279,0.078,3092,992,3357
$GC,249,-0.50,-117.3,26.4,-10.6,20,254,0.22,2.40,0.00,0.000,6,0.150,0.061,3155,2403,3358
$GC,581,-0.50,-117.3,50.3,-7.1,50,585,0.00,2.50,0.00,0.000,4,0.000,0.080,3146,3813,3359
$GC,626,-0.55,-117.3,54.1,-7.2,53,632,0.00,2.35,0.00,0.000,6,0.000,0.051,3146,2396,3359
$GC,953,-0.55,-117.3,76.5,-6.9,84,958,0.00,2.55,0.00,0.000,4,0.000,0.066,3146,988,3360
$GC,995,-0.55,-117.3,79.5,-7.3,87,999,0.00,2.42,0.00,0.000,6,0.000,0.058,3142,2405,3360
$GC,1323,-0.55,-117.3,104.0,-8.0,103,1327,0.00,2.55,0.00,0.000,4,0.000,0.077,3141,3817,3360
$GC,1351,-0.55,-117.3,106.4,-8.1,104,1355,0.00,2.42,0.00,0.000,6,0.000,0.050,3141,2391,3360
$GC,1669,-0.60,-117.3,128.2,-6.4,119,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2392,3360
$GC,1978,-0.67,-117.3,146.4,-5.9,134,1980,0.12,0.00,0.00,0.000,6,0.084,0.000,3092,2392,3360
$GC,2285,-0.67,-117.3,167.3,-7.0,145,2289,0.00,2.72,0.00,0.000,4,0.000,0.075,3092,3806,3360
$GC,2324,-0.67,-117.3,170.3,-7.6,146,2329,0.00,2.47,0.00,0.000,6,0.000,0.051,3092,2403,3360
$GC,2649,-0.67,-117.3,192.4,-6.6,157,2654,0.00,2.65,0.00,0.000,4,0.000,0.075,3092,3809,3360
$GC,2701,-0.67,-117.3,195.8,-6.5,158,2705,0.00,2.47,0.00,0.000,6,0.000,0.051,3092,2393,3360
$GC,3016,-0.67,-117.3,214.4,-5.9,168,3020,0.00,2.58,0.00,0.000,4,0.000,0.067,3094,982,3360
$GC,3079,-0.67,-117.3,218.3,-6.1,170,3084,0.00,2.45,0.00,0.000,6,0.000,0.058,3094,2405,3360
$GC,3416,-0.67,-117.3,238.1,-5.9,181,3420,0.00,2.50,0.00,0.000,4,0.000,0.077,3094,3809,3360
$GC,3451,-0.67,-117.3,240.4,-6.6,182,3455,0.00,2.38,0.00,0.000,6,0.000,0.051,3094,2399,3360
$GC,3781,-0.67,-117.3,261.4,-6.5,193,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3360
$GC,4088,-0.67,-117.3,282.4,-7.0,203,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3360
$GC,4393,-0.67,-117.3,305.2,-7.6,212,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3360
$GC,4699,-0.67,-117.3,328.4,-7.6,217,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3360
$GC,4999,-0.67,-117.3,349.9,-7.1,222,5004,0.00,2.70,0.00,0.000,4,0.000,0.077,3094,3813,3360
$GC,5028,-0.67,-117.3,351.9,-7.1,222,5032,0.00,2.47,0.00,0.000,6,0.000,0.051,3094,2402,3359
$GC,5361,-0.67,-117.3,374.0,-6.5,228,5365,0.00,2.65,0.00,0.000,4,0.000,0.067,3094,982,3359
$GC,5395,-0.67,-117.3,376.2,-6.6,228,5400,0.00,2.45,0.00,0.000,6,0.000,0.059,3094,2403,3359
$GC,5723,-0.67,-117.3,398.2,-6.7,234,5727,0.00,2.53,0.00,0.000,4,0.000,0.079,3094,3814,3359
$GC,5751,-0.67,-117.3,400.3,-7.1,234,5756,0.00,2.40,0.00,0.000,6,0.000,0.053,3094,2394,3359
$GC,6084,-0.67,-117.3,422.0,-6.5,240,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3359
$GC,6389,-0.67,-117.3,442.2,-6.7,245,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3359
$GC,6691,-0.67,-117.3,461.8,-6.5,250,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3359
$GC,6994,-0.67,-117.3,479.5,-5.8,255,6998,0.00,2.72,0.00,0.000,4,0.000,0.078,3094,3814,3358
$GC,7028,-0.67,-117.3,481.5,-5.8,255,7032,0.00,2.53,0.00,0.000,6,0.000,0.052,3094,2394,3358
$GC,7356,-0.67,-117.3,499.5,-5.5,261,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3358
$GC,7660,-0.71,-117.3,516.8,-5.8,266,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3358
$GC,7961,-0.75,-117.3,535.8,-6.3,271,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2395,3358
$GC,8264,-0.80,-117.3,555.8,-6.6,276,8266,0.12,0.00,0.00,0.000,6,0.087,0.000,3047,2395,3358
$GC,8569,-0.74,-117.3,579.8,-7.9,281,8571,0.12,0.00,0.00,0.000,6,0.092,0.000,3083,2392,3358
$GC,8870,-0.74,-117.3,601.7,-7.2,286,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3358
$GC,9173,-0.74,-117.3,622.8,-6.9,291,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3358
$GC,9477,-0.74,-117.3,642.4,-6.4,296,9481,0.00,2.75,0.00,0.000,4,0.000,0.081,3083,3812,3357
$GC,9523,-0.74,-117.3,645.6,-7.0,296,9527,0.00,2.50,0.00,0.000,6,0.000,0.053,3083,2400,3357
$GC,9839,-0.74,-117.3,664.8,-6.0,302,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2401,3357
$GC,10142,-0.74,-117.3,681.6,-5.5,307,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2401,3357
$GC,10446,-0.74,-117.3,698.8,-5.7,312,10450,0.00,2.75,0.00,0.000,4,0.000,0.081,3083,3816,3357
$GC,10475,-0.74,-117.3,700.6,-6.1,312,10480,0.00,2.55,0.00,0.000,6,0.000,0.053,3083,2396,3357
$GC,10810,-0.74,-117.3,721.0,-6.2,318,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3357
$GC,11112,-0.74,-117.3,740.6,-6.6,323,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3357
$GC,11415,-0.74,-117.3,760.8,-6.7,328,11420,0.00,2.72,0.00,0.000,4,0.000,0.081,3083,3807,3356
$GC,11460,-0.74,-117.3,764.2,-7.4,328,11464,0.00,2.53,0.00,0.000,6,0.000,0.054,3083,2400,3356
$GC,11777,-0.74,-117.3,784.0,-6.3,334,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,12079,-0.74,-117.3,802.7,-6.1,339,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,12382,-0.74,-117.3,820.6,-5.9,344,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,12686,-0.74,-117.3,838.9,-6.0,349,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,12989,-0.74,-117.3,857.2,-6.0,354,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,13292,-0.74,-117.3,875.3,-6.0,359,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,13595,-0.74,-117.3,894.0,-6.1,364,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3355
$GC,13898,-0.74,-117.3,912.9,-6.3,369,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2402,3356
$GC,14201,-0.74,-117.3,932.1,-6.3,374,14205,0.00,2.78,0.00,0.000,4,0.000,0.081,3083,3812,3355
$GC,14242,-0.78,-117.3,934.6,-6.4,374,14246,0.00,2.55,0.00,0.000,6,0.000,0.054,3083,2397,3355
$GC,14564,-0.97,-117.3,957.6,-7.3,380,14569,0.20,2.67,0.00,0.000,4,0.083,0.079,3005,3809,3355
$GC,14807,-0.77,-117.3,979.2,-8.7,383,14812,0.22,2.50,0.00,0.000,6,0.147,0.055,3062,2394,3355
$STATE,15004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15004,begin apogee
$GC,15013,-0.22,0.0,993.1,6.8,387,15127,0.60,0.00,110.32,1.491,6,0.133,0.000,3241,2195,2876
$STATE,15128,end apogee,CONTROL_FINISHED_OK
$STATE,15128,begin climb
$GC,15132,0.67,117.3,997.7,0.0,389,15255,0.95,0.00,119.55,1.440,6,0.080,0.000,3534,2195,2397
$GC,15553,0.33,117.3,979.7,7.1,396,15559,0.40,2.80,0.00,0.000,4,0.172,0.075,3429,3614,2394
$GC,15605,0.23,117.3,976.5,5.2,396,15611,0.20,2.65,0.00,0.000,6,0.173,0.058,3393,2206,2394
$GC,15918,0.36,169.8,965.4,3.5,401,15974,0.12,2.80,49.65,1.434,4,0.077,0.074,3449,781,2183
$GC,16009,0.36,169.8,960.6,5.9,401,16013,0.00,2.62,0.00,0.000,6,0.000,0.057,3449,2210,2180
$GC,16342,0.32,169.8,940.7,6.0,407,16346,0.00,2.47,0.00,0.000,4,0.000,0.079,3449,3613,2179
$GC,16389,0.21,169.8,937.6,7.5,407,16394,0.25,2.42,0.00,0.000,6,0.166,0.061,3386,2189,2178
$GC,16706,0.38,192.2,923.7,4.4,413,16732,0.15,2.42,20.85,1.395,4,0.077,0.077,3452,785,2091
$GC,16768,0.38,192.2,920.1,6.6,414,16773,0.00,2.40,0.00,0.000,6,0.000,0.059,3451,2201,2090
$GC,17136,0.38,192.2,895.8,6.7,420,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2201,2087
$GC,17440,0.38,192.2,875.9,6.6,425,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2200,2087
$GC,17742,0.38,192.2,855.4,6.7,430,17746,0.00,2.50,0.00,0.000,4,0.000,0.077,3451,781,2087
$GC,17777,0.38,192.2,853.0,7.5,430,17781,0.00,2.40,0.00,0.000,6,0.000,0.059,3452,2209,2087
$GC,18104,0.38,192.2,831.0,6.7,436,18108,0.00,2.50,0.00,0.000,4,0.000,0.077,3452,786,2087
$GC,18138,0.38,192.2,828.7,6.2,436,18142,0.00,2.40,0.00,0.000,6,0.000,0.059,3452,2206,2087
$GC,18465,0.38,192.2,807.1,6.6,442,18469,0.00,2.50,0.00,0.000,4,0.000,0.077,3452,791,2086
$GC,18511,0.38,192.2,804.1,6.3,442,18515,0.00,2.40,0.00,0.000,6,0.000,0.058,3452,2209,2086
$GC,18827,0.38,192.2,783.0,6.7,448,18828,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2208,2086
$GC,19130,0.38,192.2,762.6,6.7,453,19131,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2208,2086
$GC,19433,0.38,192.2,742.7,6.6,458,19434,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2208,2086
$GC,19737,0.38,192.2,722.6,6.6,463,19738,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2208,2086
$GC,20039,0.38,192.2,702.5,6.6,468,20043,0.00,2.60,0.00,0.000,4,0.000,0.075,3452,782,2086
$GC,20095,0.38,192.2,698.7,6.6,468,20101,0.00,2.42,0.00,0.000,6,0.000,0.059,3452,2205,2086
$GC,20406,0.38,192.2,678.7,6.4,474,20407,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2204,2085
$GC,20710,0.38,192.2,659.8,6.2,479,20711,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2204,2086
$GC,21013,0.38,192.2,641.7,5.9,484,21014,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2204,2085
$GC,21315,0.38,192.2,624.1,5.8,489,21320,0.00,2.67,0.00,0.000,4,0.000,0.075,3452,789,2086
$GC,21361,0.38,192.2,621.3,5.6,489,21365,0.00,2.42,0.00,0.000,6,0.000,0.059,3452,2203,2086
$GC,21677,0.38,192.2,602.5,6.1,495,21678,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2203,2086
$GC,21981,0.38,192.2,584.9,5.8,500,21985,0.00,2.65,0.00,0.000,4,0.000,0.074,3451,782,2086
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$STATE,31840,end climb,SURFACE_DEPTH_REACHED
$STATE,31840,begin surface coast
$FINISH,0.4,1.024512
$STATE,31933,end surface coast,CONTROL_FINISHED_OK
$STATE,31933,begin surface
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$DEVICE_SECS,28.450,207.575,374.250,0.000,0.000,29.694,24.085,196.710,249.750,0.000,0.000,32.215,1768.846,26854.264,535.152,2343.252,953.080,33.375,1671.781,0.000,2299.736,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50652,840
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$CFSIZE,260165632,202932224
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