version: 66.03
glider: 120
mission: 9
dive: 545
start: 3 22 109 2 38 19
data:
$ID,120
$MISSION,9
$DIVE,545
$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,-29433.592
$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,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
$GPS1,023036,5011.737,-14453.477,32,2.0,32,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-77.6
$GPS2,023725,5011.769,-14453.439,12,2.0,30,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.133,0.118
$KALMAN_X,-50398.6,-191.3,210.7,75400.4,-54.9
$KALMAN_Y,113654.7,107.4,259.0,-98683.9,-524.7
$MHEAD_RNG_PITCHd_Wd,293.0,27768,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.02,0.000,2,0.000,0.000,136,2405,1996
$GC,41,-0.67,-117.3,3.2,-0.0,1,115,13.95,2.42,-53.97,0.000,4,0.283,0.082,3094,991,3354
$GC,230,-0.51,-117.3,19.1,-12.1,18,235,0.20,2.35,0.00,0.000,6,0.154,0.064,3150,2406,3356
$GC,559,-0.51,-117.3,44.2,-7.8,48,562,0.00,2.40,0.00,0.000,4,0.000,0.083,3141,3808,3356
$GC,594,-0.51,-117.3,47.1,-7.9,51,598,0.00,2.28,0.00,0.000,6,0.000,0.054,3141,2397,3356
$GC,923,-0.51,-117.3,72.4,-7.7,81,929,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3356
$GC,1243,-0.51,-117.3,98.7,-8.0,101,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2398,3356
$GC,1552,-0.51,-117.3,122.4,-7.0,116,1556,0.00,2.47,0.00,0.000,4,0.000,0.081,3142,3814,3356
$GC,1586,-0.56,-117.3,125.1,-7.8,117,1592,0.00,2.30,0.00,0.000,6,0.000,0.054,3141,2389,3356
$GC,1903,-0.62,-117.3,144.6,-5.9,133,1907,0.00,2.47,0.00,0.000,4,0.000,0.081,3141,3809,3357
$GC,1948,-0.72,-117.3,147.5,-6.0,135,1953,0.17,2.28,0.00,0.000,6,0.078,0.053,3077,2400,3356
$GC,2278,-0.66,-117.3,175.4,-8.9,147,2281,0.00,2.35,0.00,0.000,4,0.000,0.070,3077,990,3356
$GC,2329,-0.61,-117.3,180.3,-9.3,148,2334,0.15,2.33,0.00,0.000,6,0.134,0.061,3117,2401,3357
$GC,2648,-0.61,-117.3,201.5,-6.0,159,2651,0.00,2.45,0.00,0.000,4,0.000,0.080,3113,3814,3357
$GC,2687,-0.61,-117.3,204.1,-6.3,160,2691,0.00,2.30,0.00,0.000,6,0.000,0.053,3113,2389,3357
$GC,3017,-0.61,-117.3,225.8,-7.0,171,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2389,3357
$GC,3323,-0.61,-117.3,246.7,-7.0,181,3327,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,988,3357
$GC,3358,-0.61,-117.3,249.3,-7.6,182,3362,0.00,2.35,0.00,0.000,6,0.000,0.062,3113,2409,3357
$GC,3700,-0.61,-117.3,273.8,-7.0,193,3704,0.00,2.40,0.00,0.000,4,0.000,0.081,3113,3821,3357
$GC,3728,-0.65,-117.3,275.8,-6.8,193,3734,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2378,3357
$GC,4041,-0.65,-117.3,295.5,-6.2,204,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2378,3357
$GC,4376,-0.65,-117.3,313.7,-5.3,211,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2378,3357
$GC,4679,-0.65,-117.3,329.2,-5.1,216,4684,0.00,2.50,0.00,0.000,4,0.000,0.081,3113,3809,3357
$GC,4713,-0.71,-117.3,331.3,-5.6,216,4717,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2400,3357
$GC,5041,-0.71,-117.3,350.0,-5.7,222,5045,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,986,3356
$GC,5080,-0.77,-117.3,352.6,-6.4,222,5085,0.12,2.35,0.00,0.000,6,0.084,0.062,3066,2409,3357
$GC,5402,-0.77,-117.3,376.2,-7.5,228,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2409,3357
$GC,5705,-0.77,-117.3,400.8,-8.2,233,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2409,3357
$GC,6007,-0.77,-117.3,424.1,-7.6,238,6011,0.00,2.42,0.00,0.000,4,0.000,0.081,3066,3811,3356
$GC,6053,-0.71,-117.3,427.9,-8.6,238,6057,0.00,2.30,0.00,0.000,6,0.000,0.054,3066,2393,3357
$GC,6369,-0.67,-117.3,449.1,-6.6,244,6371,0.12,0.00,0.00,0.000,6,0.104,0.000,3102,2391,3357
$GC,6672,-0.67,-117.3,466.7,-5.8,249,6676,0.00,2.53,0.00,0.000,4,0.000,0.081,3100,3815,3356
$GC,6717,-0.71,-117.3,469.3,-5.9,249,6721,0.00,2.33,0.00,0.000,6,0.000,0.054,3099,2391,3356
$GC,7033,-0.71,-117.3,488.1,-6.0,255,7037,0.00,2.50,0.00,0.000,4,0.000,0.081,3099,3815,3356
$GC,7066,-0.71,-117.3,490.4,-6.8,255,7070,0.00,2.33,0.00,0.000,6,0.000,0.054,3099,2392,3356
$GC,7392,-0.71,-117.3,510.2,-6.1,261,7397,0.00,2.45,0.00,0.000,4,0.000,0.082,3100,3808,3356
$GC,7426,-0.71,-117.3,512.3,-6.0,261,7430,0.00,2.30,0.00,0.000,6,0.000,0.054,3099,2391,3356
$GC,7754,-0.71,-117.3,534.1,-6.7,267,7758,0.00,2.45,0.00,0.000,4,0.000,0.082,3099,3811,3356
$GC,7788,-0.76,-117.3,536.5,-7.3,267,7792,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2399,3356
$GC,8115,-0.76,-117.3,557.9,-6.4,273,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3356
$GC,8418,-0.76,-117.3,575.7,-5.8,278,8422,0.00,2.45,0.00,0.000,4,0.000,0.083,3099,3814,3356
$GC,8447,-0.80,-117.3,577.4,-6.2,278,8452,0.12,2.30,0.00,0.000,6,0.084,0.054,3051,2399,3355
$GC,8779,-0.74,-117.3,599.3,-6.6,284,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2400,3355
$GC,9083,-0.69,-117.3,618.6,-6.3,289,9085,0.15,0.00,0.00,0.000,6,0.106,0.000,3095,2400,3355
$GC,9385,-0.69,-117.3,634.8,-5.3,294,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3355
$GC,9689,-0.69,-117.3,651.0,-5.3,299,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2400,3355
$GC,9992,-0.69,-117.3,668.8,-6.0,304,9996,0.00,2.47,0.00,0.000,4,0.000,0.084,3095,3806,3355
$GC,10032,-0.74,-117.3,671.3,-6.2,304,10036,0.00,2.30,0.00,0.000,6,0.000,0.056,3095,2399,3355
$GC,10354,-0.93,-117.3,693.5,-7.2,310,10359,0.20,2.47,0.00,0.000,4,0.085,0.081,3017,3818,3354
$GC,10561,-0.74,-117.3,713.0,-10.7,313,10566,0.22,2.33,0.00,0.000,6,0.153,0.056,3077,2393,3354
$GC,10917,-0.74,-117.3,738.6,-7.2,319,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2394,3354
$GC,11219,-0.74,-117.3,758.8,-6.6,324,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2393,3354
$GC,11522,-0.74,-117.3,776.5,-5.8,329,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2393,3354
$GC,11825,-0.74,-117.3,793.4,-5.6,334,11830,0.00,2.47,0.00,0.000,4,0.000,0.083,3073,3815,3354
$GC,11881,-0.74,-117.3,797.0,-6.3,334,11888,0.00,2.33,0.00,0.000,6,0.000,0.056,3073,2391,3354
$GC,12193,-0.74,-117.3,815.5,-6.0,340,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2392,3354
$GC,12495,-0.74,-117.3,834.6,-6.4,345,12499,0.00,2.45,0.00,0.000,4,0.000,0.084,3073,3806,3354
$GC,12545,-0.74,-117.3,838.1,-6.9,345,12549,0.00,2.30,0.00,0.000,6,0.000,0.057,3073,2391,3354
$GC,12855,-0.74,-117.3,858.1,-6.5,350,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2391,3354
$GC,13159,-0.74,-117.3,877.7,-6.4,355,13163,0.00,2.45,0.00,0.000,4,0.000,0.084,3073,3807,3354
$GC,13192,-0.74,-117.3,880.0,-6.7,355,13196,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2398,3353
$GC,13519,-0.74,-117.3,900.9,-6.4,361,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$GC,13822,-0.74,-117.3,921.1,-6.7,366,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$GC,14126,-0.74,-117.3,940.9,-6.4,371,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$GC,14428,-0.74,-117.3,960.3,-6.5,376,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3353
$GC,14731,-0.74,-117.3,979.3,-6.3,381,14735,0.00,2.45,0.00,0.000,4,0.000,0.086,3072,3811,3353
$GC,14764,-0.74,-117.3,981.6,-7.4,381,14768,0.00,2.30,0.00,0.000,6,0.000,0.058,3073,2390,3353
$STATE,14906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14906,begin apogee
$GC,14915,-0.22,0.0,990.6,6.2,384,15029,0.57,0.00,108.40,1.485,6,0.137,0.000,3245,2191,2875
$STATE,15030,end apogee,CONTROL_FINISHED_OK
$STATE,15030,begin climb
$GC,15033,0.67,117.3,995.5,0.0,386,15157,0.90,2.72,115.15,1.430,4,0.090,0.077,3535,796,2397
$GC,15175,0.32,126.9,996.1,4.7,388,15194,0.45,2.55,10.90,1.245,6,0.175,0.060,3424,2204,2358
$GC,15517,0.33,136.1,980.0,4.7,394,15532,0.00,2.40,9.60,1.263,4,0.000,0.081,3424,3618,2321
$GC,15573,0.26,136.1,976.9,5.6,394,15580,0.12,2.30,0.00,0.000,6,0.173,0.063,3403,2200,2321
$GC,15885,0.35,161.4,963.5,4.3,400,15910,0.00,0.00,24.05,1.402,6,0.000,0.000,3403,2200,2218
$GC,16187,0.46,178.7,949.9,4.5,405,16212,0.15,2.45,16.98,1.369,4,0.077,0.080,3476,790,2147
$GC,16257,0.36,178.7,945.4,6.3,406,16262,0.15,2.35,0.00,0.000,6,0.140,0.063,3436,2211,2145
$GC,16619,0.36,178.7,925.4,5.5,412,16623,0.00,2.40,0.00,0.000,4,0.000,0.079,3436,787,2144
$GC,16658,0.36,178.7,923.0,5.0,412,16662,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2215,2144
$GC,16979,0.36,178.7,904.2,5.9,418,16980,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2215,2143
$GC,17282,0.36,178.7,885.2,6.3,423,17283,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2143
$GC,17586,0.36,178.7,865.9,6.4,428,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2143
$GC,17888,0.36,178.7,846.7,6.3,433,17892,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,784,2143
$GC,17927,0.41,178.7,844.2,5.8,433,17931,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2206,2143
$GC,18248,0.41,178.7,823.9,6.4,439,18252,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3612,2143
$GC,18299,0.41,178.7,820.2,6.8,439,18303,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2195,2142
$GC,18609,0.41,178.7,800.7,6.2,444,18611,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2142
$GC,18912,0.41,178.7,782.6,6.0,449,18913,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2142
$GC,19215,0.41,178.7,765.5,5.7,454,19219,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3609,2142
$GC,19250,0.41,178.7,763.4,6.5,454,19254,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2201,2142
$GC,19577,0.41,178.7,744.5,5.9,460,19581,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,791,2143
$GC,19616,0.46,178.7,741.9,6.4,460,19621,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2212,2142
$GC,19939,0.50,178.7,721.8,6.4,466,19944,0.12,2.38,0.00,0.000,4,0.091,0.081,3490,3618,2142
$GC,20002,0.29,178.7,716.3,8.7,467,20008,0.28,2.33,0.00,0.000,6,0.167,0.064,3417,2202,2142
$GC,20369,0.39,178.7,695.1,5.6,473,20373,0.00,2.40,0.00,0.000,4,0.000,0.078,3422,781,2142
$GC,20437,0.49,178.7,691.1,5.5,474,20442,0.15,2.33,0.00,0.000,6,0.082,0.061,3479,2201,2142
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$STATE,31478,end climb,SURFACE_DEPTH_REACHED
$STATE,31478,begin surface coast
$FINISH,2.0,1.025734
$STATE,31512,end surface coast,CONTROL_FINISHED_OK
$STATE,31512,begin surface
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$HUMID,2081
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$10V_AH,10.4,73.447
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$DEVICE_SECS,31.200,223.850,472.900,0.000,0.000,26.308,26.305,184.089,239.750,0.000,0.000,30.913,1752.454,26450.545,649.391,2320.475,817.730,33.377,1813.872,0.000,2278.874,0.000,0.466
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$DATA_FILE_SIZE,47544,810
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$CFSIZE,260165632,216367104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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