version: 66.03
glider: 120
mission: 9
dive: 718
start: 5 26 109 11 14 28
data:
$ID,120
$MISSION,9
$DIVE,718
$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,-32983.152
$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
$GPS1,110624,5012.586,-14458.562,42,1.6,42,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.5
$GPS2,111331,5012.564,-14458.562,15,1.6,32,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.110,0.140
$KALMAN_X,-149989.9,-235.1,-18.4,169174.2,594.6
$KALMAN_Y,145387.8,15.9,38.2,-128627.4,-1856.2
$MHEAD_RNG_PITCHd_Wd,303.4,22241,-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,-39.33,0.000,2,0.000,0.000,140,2409,2748
$GC,74,-0.67,-117.3,3.4,-5.6,4,107,13.65,2.53,-12.15,0.000,4,0.278,0.085,3097,986,3358
$GC,316,-0.53,-117.3,36.3,-10.2,25,323,0.17,2.40,0.00,0.000,6,0.147,0.061,3145,2401,3359
$GC,647,-0.53,-117.3,59.2,-6.5,56,651,0.00,2.55,0.00,0.000,4,0.000,0.077,3139,3809,3359
$GC,692,-0.53,-117.3,62.6,-6.9,59,699,0.00,2.40,0.00,0.000,6,0.000,0.050,3139,2396,3360
$GC,1017,-0.53,-117.3,84.4,-7.0,87,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2396,3360
$GC,1327,-0.53,-117.3,106.1,-7.1,102,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2396,3360
$GC,1635,-0.53,-117.3,126.0,-5.9,117,1639,0.00,2.62,0.00,0.000,4,0.000,0.077,3139,3808,3360
$GC,1669,-0.59,-117.3,128.0,-5.8,118,1676,0.00,2.42,0.00,0.000,6,0.000,0.051,3139,2399,3360
$GC,1988,-0.67,-117.3,147.5,-6.6,134,1993,0.12,2.60,0.00,0.000,4,0.084,0.064,3092,991,3360
$GC,2016,-0.67,-117.3,149.9,-8.4,135,2020,0.00,2.42,0.00,0.000,6,0.000,0.058,3092,2402,3360
$GC,2330,-0.67,-117.3,175.2,-8.0,145,2334,0.00,2.53,0.00,0.000,4,0.000,0.077,3092,3815,3360
$GC,2387,-0.67,-117.3,179.9,-8.1,146,2394,0.00,2.38,0.00,0.000,6,0.000,0.051,3092,2394,3360
$GC,2701,-0.67,-117.3,202.6,-6.6,157,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2395,3360
$GC,3007,-0.67,-117.3,221.7,-6.0,167,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2395,3360
$GC,3313,-0.67,-117.3,240.0,-6.0,177,3318,0.00,2.65,0.00,0.000,4,0.000,0.077,3089,3810,3360
$GC,3365,-0.67,-117.3,243.4,-6.7,178,3370,0.00,2.45,0.00,0.000,6,0.000,0.051,3089,2394,3360
$GC,3679,-0.67,-117.3,261.8,-5.9,188,3684,0.00,2.60,0.00,0.000,4,0.000,0.067,3090,991,3360
$GC,3719,-0.67,-117.3,264.4,-6.1,189,3724,0.00,2.42,0.00,0.000,6,0.000,0.058,3090,2401,3360
$GC,4046,-0.67,-117.3,284.3,-6.4,200,4050,0.00,2.53,0.00,0.000,4,0.000,0.078,3087,3812,3360
$GC,4085,-0.67,-117.3,287.2,-7.1,201,4090,0.00,2.42,0.00,0.000,6,0.000,0.051,3087,2395,3360
$GC,4411,-0.67,-117.3,308.8,-6.8,210,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2396,3360
$GC,4714,-0.67,-117.3,329.2,-6.7,215,4719,0.00,2.65,0.00,0.000,4,0.000,0.077,3087,3817,3360
$GC,4750,-0.67,-117.3,331.6,-6.8,215,4755,0.00,2.47,0.00,0.000,6,0.000,0.052,3087,2401,3359
$GC,5078,-0.67,-117.3,351.1,-5.7,221,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2402,3359
$GC,5381,-0.67,-117.3,369.8,-6.2,226,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2403,3359
$GC,5685,-0.67,-117.3,391.0,-7.0,231,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2403,3359
$GC,5988,-0.67,-117.3,412.5,-7.0,236,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2403,3359
$GC,6291,-0.67,-117.3,434.7,-7.4,241,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2403,3359
$GC,6594,-0.67,-117.3,456.9,-7.2,246,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2403,3358
$GC,6897,-0.67,-117.3,477.8,-6.9,251,6901,0.00,2.70,0.00,0.000,4,0.000,0.078,3087,3807,3358
$GC,6930,-0.67,-117.3,480.4,-7.5,251,6935,0.00,2.50,0.00,0.000,6,0.000,0.051,3087,2396,3358
$GC,7259,-0.67,-117.3,502.5,-6.8,257,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2398,3358
$GC,7561,-0.67,-117.3,523.3,-6.9,262,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2397,3358
$GC,7865,-0.67,-117.3,543.7,-6.7,267,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2398,3358
$GC,8167,-0.67,-117.3,564.0,-6.7,272,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2398,3358
$GC,8471,-0.67,-117.3,583.5,-6.4,277,8475,0.00,2.67,0.00,0.000,4,0.000,0.079,3087,3810,3358
$GC,8516,-0.67,-117.3,586.6,-6.5,277,8521,0.00,2.50,0.00,0.000,6,0.000,0.052,3087,2390,3358
$GC,8833,-0.67,-117.3,603.9,-5.4,283,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2391,3357
$GC,9136,-0.71,-117.3,619.5,-5.1,288,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2391,3357
$GC,9440,-0.75,-117.3,635.1,-5.2,293,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2391,3358
$GC,9743,-0.75,-117.3,651.3,-5.3,298,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2392,3357
$GC,10046,-0.80,-117.3,667.4,-5.3,303,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2392,3357
$GC,10349,-0.84,-117.3,684.1,-5.5,308,10351,0.12,0.00,0.00,0.000,6,0.097,0.000,3040,2391,3357
$GC,10652,-0.76,-117.3,705.8,-7.3,313,10657,0.10,2.72,0.00,0.000,4,0.094,0.081,3068,3814,3357
$GC,10698,-0.76,-117.3,709.3,-7.5,313,10703,0.00,2.47,0.00,0.000,6,0.000,0.053,3068,2401,3357
$GC,11015,-0.76,-117.3,732.5,-7.4,319,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2402,3357
$GC,11318,-0.76,-117.3,754.4,-7.2,324,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2403,3357
$GC,11621,-0.76,-117.3,775.2,-6.9,329,11626,0.00,2.70,0.00,0.000,4,0.000,0.081,3068,3810,3356
$GC,11679,-0.76,-117.3,779.3,-6.9,329,11685,0.00,2.50,0.00,0.000,6,0.000,0.054,3068,2402,3356
$GC,11990,-0.76,-117.3,798.4,-6.1,335,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2402,3356
$GC,12293,-0.76,-117.3,815.7,-5.6,340,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2403,3356
$GC,12596,-0.76,-117.3,832.3,-5.4,345,12600,0.00,2.67,0.00,0.000,4,0.000,0.081,3068,3814,3355
$GC,12642,-0.76,-117.3,834.9,-5.2,345,12646,0.00,2.53,0.00,0.000,6,0.000,0.054,3068,2389,3355
$GC,12958,-0.76,-117.3,851.9,-5.4,351,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2390,3355
$GC,13261,-0.76,-117.3,868.3,-5.4,356,13265,0.00,2.65,0.00,0.000,4,0.000,0.082,3068,3816,3355
$GC,13295,-0.76,-117.3,870.3,-5.6,356,13299,0.00,2.47,0.00,0.000,6,0.000,0.054,3068,2390,3355
$GC,13623,-0.76,-117.3,888.2,-5.5,362,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2391,3355
$GC,13925,-0.76,-117.3,906.3,-6.0,367,13930,0.00,2.67,0.00,0.000,4,0.000,0.082,3068,3813,3355
$GC,13971,-0.76,-117.3,909.2,-6.8,367,13975,0.00,2.47,0.00,0.000,6,0.000,0.054,3068,2398,3355
$GC,14287,-0.76,-117.3,928.0,-6.0,373,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2399,3355
$GC,14591,-0.76,-117.3,946.2,-6.1,378,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2399,3355
$GC,14893,-0.76,-117.3,965.7,-6.4,383,14897,0.00,2.65,0.00,0.000,4,0.000,0.082,3068,3810,3354
$GC,14927,-0.76,-117.3,967.9,-6.5,383,14931,0.00,2.45,0.00,0.000,6,0.000,0.054,3068,2401,3354
$GC,15254,-0.76,-117.3,988.5,-6.3,389,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2402,3354
$STATE,15311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15311,begin apogee
$GC,15321,-0.22,0.0,992.4,6.3,390,15435,0.60,0.00,110.50,1.492,6,0.136,0.000,3245,2193,2876
$STATE,15436,end apogee,CONTROL_FINISHED_OK
$STATE,15436,begin climb
$GC,15440,0.67,117.3,997.4,0.0,392,15563,0.95,0.00,120.12,1.441,6,0.083,0.000,3535,2193,2397
$GC,15859,0.32,117.3,979.9,7.2,399,15861,0.45,0.00,0.00,0.000,6,0.166,0.000,3425,2193,2394
$GC,16162,0.33,125.7,965.1,4.8,404,16173,0.00,0.00,9.02,1.259,6,0.000,0.000,3425,2193,2363
$GC,16464,0.33,125.7,949.3,5.3,409,16469,0.00,2.58,0.00,0.000,4,0.000,0.074,3435,790,2362
$GC,16510,0.33,125.7,946.6,5.5,409,16514,0.00,2.40,0.00,0.000,6,0.000,0.059,3434,2202,2362
$GC,16827,0.28,125.7,929.2,5.5,415,16828,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2201,2362
$GC,17130,0.24,125.7,912.0,5.7,420,17132,0.15,0.00,0.00,0.000,6,0.172,0.000,3398,2202,2362
$GC,17433,0.31,129.9,897.1,4.9,425,17443,0.00,2.45,5.45,1.102,4,0.000,0.077,3402,784,2346
$GC,17484,0.39,136.6,894.6,4.8,425,17498,0.12,2.40,7.70,1.228,6,0.083,0.060,3449,2201,2318
$GC,17802,0.33,136.6,875.1,6.2,431,17806,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,3610,2317
$GC,17858,0.18,136.6,871.0,7.7,431,17865,0.28,2.38,0.00,0.000,6,0.170,0.061,3381,2194,2317
$GC,18170,0.34,149.8,856.5,4.6,437,18186,0.15,0.00,13.30,1.335,6,0.084,0.000,3437,2194,2265
$GC,18474,0.43,149.8,838.9,5.8,442,18475,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2195,2264
$GC,18776,0.52,149.8,821.7,5.7,447,18781,0.15,2.53,0.00,0.000,4,0.091,0.077,3507,3612,2263
$GC,18932,0.21,149.8,809.6,8.1,449,18938,0.50,2.40,0.00,0.000,6,0.173,0.061,3388,2189,2263
$GC,19278,0.40,190.4,795.2,3.8,455,19322,0.15,2.58,36.92,1.370,4,0.077,0.077,3462,788,2098
$GC,19351,0.40,190.4,790.8,6.4,456,19356,0.00,2.45,0.00,0.000,6,0.000,0.059,3462,2206,2097
$GC,19709,0.35,190.4,767.8,6.5,462,19711,0.12,0.00,0.00,0.000,6,0.140,0.000,3429,2206,2094
$GC,20011,0.40,190.4,751.5,5.4,467,20015,0.00,2.53,0.00,0.000,4,0.000,0.074,3436,790,2093
$GC,20045,0.46,190.4,749.5,5.3,467,20049,0.00,2.40,0.00,0.000,6,0.000,0.059,3436,2209,2094
$GC,20374,0.50,190.4,730.6,5.8,473,20375,0.12,0.00,0.00,0.000,6,0.089,0.000,3492,2208,2093
$GC,20676,0.38,190.4,706.5,8.1,478,20678,0.20,0.00,0.00,0.000,6,0.146,0.000,3436,2209,2092
$GC,20979,0.42,190.4,685.8,6.7,483,20980,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2092
$GC,21282,0.46,190.4,665.4,6.7,488,21283,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2092
$GC,21586,0.50,190.4,646.7,6.1,493,21588,0.12,0.00,0.00,0.000,6,0.085,0.000,3490,2208,2092
$GC,21888,0.39,190.4,625.2,7.2,498,21893,0.15,2.65,0.00,0.000,4,0.139,0.074,3449,784,2093
$GC,21928,0.39,190.4,622.6,5.0,498,21932,0.00,2.45,0.00,0.000,6,0.000,0.061,3449,2208,2093
$GC,22250,0.39,190.4,605.5,5.3,504,22252,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2207,2092
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$STATE,32444,end climb,SURFACE_DEPTH_REACHED
$STATE,32445,begin surface coast
$FINISH,0.3,1.010812
$STATE,32581,end surface coast,CONTROL_FINISHED_OK
$STATE,32581,begin surface
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$DATA_FILE_SIZE,50714,849
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