version: 66.03
glider: 120
mission: 9
dive: 572
start: 4 1 109 7 32 13
data:
$ID,120
$MISSION,9
$DIVE,572
$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,-29994.311
$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,22
$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
$GPS1,072236,5018.573,-14429.146,40,1.6,40,18.7
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-73.3
$GPS2,073117,5018.537,-14429.101,67,1.6,67,18.7
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.033,0.171
$KALMAN_X,-73149.8,177.4,446.9,126472.0,-2164.1
$KALMAN_Y,127142.9,-113.7,122.7,-99265.3,-2180.2
$MHEAD_RNG_PITCHd_Wd,352.3,4660,-12.4,-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,26,-0.68,-111.2,0.0,0.0,0,48,0.00,0.00,-20.02,0.000,2,0.000,0.000,134,2417,2245
$GC,52,-0.68,-117.3,3.2,-2.6,2,107,13.32,2.45,-33.25,0.000,4,0.268,0.084,3092,985,3357
$GC,294,-0.53,-117.3,27.2,-10.0,23,301,0.17,2.35,0.00,0.000,6,0.156,0.064,3141,2396,3358
$GC,622,-0.53,-117.3,52.3,-7.2,54,626,0.00,2.38,0.00,0.000,4,0.000,0.082,3134,3816,3358
$GC,657,-0.53,-117.3,55.2,-8.1,57,662,0.00,2.28,0.00,0.000,6,0.000,0.054,3134,2385,3358
$GC,996,-0.53,-117.3,81.9,-8.5,87,998,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2385,3358
$GC,1303,-0.53,-117.3,106.7,-7.9,102,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2385,3358
$GC,1612,-0.58,-117.3,129.8,-7.2,117,1616,0.00,2.33,0.00,0.000,4,0.000,0.070,3134,992,3358
$GC,1663,-0.58,-117.3,133.9,-7.3,119,1667,0.00,2.35,0.00,0.000,6,0.000,0.061,3134,2401,3358
$GC,2004,-0.82,-117.3,160.3,-7.6,134,2009,0.20,2.38,0.00,0.000,4,0.080,0.078,3055,3810,3358
$GC,2102,-0.66,-117.3,169.0,-9.7,137,2107,0.17,2.25,0.00,0.000,6,0.118,0.054,3104,2399,3358
$GC,2438,-0.66,-117.3,195.0,-7.4,148,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2399,3359
$GC,2744,-0.66,-117.3,217.2,-7.4,158,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2399,3359
$GC,3050,-0.66,-117.3,239.1,-7.1,168,3054,0.00,2.38,0.00,0.000,4,0.000,0.070,3104,987,3359
$GC,3090,-0.66,-117.3,242.3,-8.0,169,3094,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2410,3359
$GC,3414,-0.66,-117.3,267.2,-7.9,180,3418,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3816,3359
$GC,3454,-0.66,-117.3,270.3,-7.8,181,3458,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2389,3359
$GC,3779,-0.66,-117.3,295.7,-7.9,192,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,4082,-0.66,-117.3,317.6,-7.1,198,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,4385,-0.66,-117.3,337.1,-6.4,203,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,4688,-0.66,-117.3,358.3,-7.1,208,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,4992,-0.66,-117.3,380.9,-7.5,213,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,5295,-0.66,-117.3,406.5,-8.6,218,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,5597,-0.66,-117.3,430.9,-8.1,223,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2389,3359
$GC,5901,-0.66,-117.3,453.4,-7.3,228,5905,0.00,2.47,0.00,0.000,4,0.000,0.083,3100,3820,3358
$GC,5940,-0.70,-117.3,456.4,-7.6,228,5945,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2402,3358
$GC,6263,-0.70,-117.3,477.5,-6.4,234,6267,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,986,3358
$GC,6291,-0.70,-117.3,479.4,-6.7,234,6294,0.00,2.38,0.00,0.000,6,0.000,0.063,3100,2404,3358
$GC,6629,-0.70,-117.3,500.6,-6.4,240,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,6932,-0.70,-117.3,520.6,-6.6,245,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,7236,-0.70,-117.3,539.2,-6.1,250,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,7539,-0.70,-117.3,557.0,-5.8,255,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3358
$GC,7841,-0.70,-117.3,573.4,-5.3,260,7845,0.00,2.42,0.00,0.000,4,0.000,0.071,3100,987,3357
$GC,7875,-0.75,-117.3,575.3,-5.5,260,7880,0.00,2.38,0.00,0.000,6,0.000,0.064,3100,2401,3357
$GC,8204,-0.80,-117.3,592.6,-5.3,266,8206,0.12,0.00,0.00,0.000,6,0.089,0.000,3049,2400,3357
$GC,8506,-0.75,-117.3,614.5,-7.4,271,8510,0.00,2.40,0.00,0.000,4,0.000,0.082,3048,3815,3357
$GC,8540,-0.66,-117.3,617.5,-8.6,271,8545,0.17,2.28,0.00,0.000,6,0.110,0.056,3097,2397,3357
$GC,8867,-0.66,-117.3,640.9,-7.2,277,8871,0.00,2.40,0.00,0.000,4,0.000,0.073,3097,987,3357
$GC,8895,-0.66,-117.3,643.1,-7.7,277,8900,0.00,2.38,0.00,0.000,6,0.000,0.064,3097,2401,3357
$GC,9229,-0.71,-117.3,667.0,-7.1,283,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2400,3357
$GC,9532,-0.76,-117.3,687.2,-6.6,288,9536,0.00,2.40,0.00,0.000,4,0.000,0.084,3097,3807,3357
$GC,9561,-0.83,-117.3,689.0,-6.3,288,9566,0.15,2.25,0.00,0.000,6,0.082,0.056,3043,2403,3357
$GC,9899,-0.78,-117.3,712.5,-6.9,294,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2403,3357
$GC,10202,-0.74,-117.3,732.1,-6.4,299,10207,0.12,2.45,0.00,0.000,4,0.101,0.083,3073,3816,3357
$GC,10241,-0.74,-117.3,734.7,-6.8,299,10245,0.00,2.30,0.00,0.000,6,0.000,0.056,3073,2388,3357
$GC,10563,-0.74,-117.3,753.8,-6.0,305,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2389,3357
$GC,10865,-0.74,-117.3,772.0,-5.9,310,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2389,3357
$GC,11169,-0.74,-117.3,790.4,-6.1,315,11173,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3813,3356
$GC,11213,-0.74,-117.3,793.3,-5.9,315,11217,0.00,2.28,0.00,0.000,6,0.000,0.056,3073,2401,3356
$GC,11529,-0.74,-117.3,812.5,-6.1,321,11533,0.00,2.40,0.00,0.000,4,0.000,0.073,3073,988,3356
$GC,11557,-0.74,-117.3,814.5,-6.6,321,11561,0.00,2.38,0.00,0.000,6,0.000,0.064,3072,2401,3356
$GC,11889,-0.74,-117.3,836.3,-6.7,327,11893,0.00,2.42,0.00,0.000,4,0.000,0.084,3073,3814,3356
$GC,11922,-0.74,-117.3,838.8,-7.9,327,11927,0.00,2.30,0.00,0.000,6,0.000,0.057,3073,2388,3356
$GC,12250,-0.74,-117.3,860.4,-6.6,333,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2388,3356
$GC,12553,-0.74,-117.3,879.3,-6.2,338,12557,0.00,2.47,0.00,0.000,4,0.000,0.084,3073,3813,3355
$GC,12603,-0.74,-117.3,882.6,-6.5,338,12607,0.00,2.30,0.00,0.000,6,0.000,0.058,3073,2391,3355
$GC,12914,-0.74,-117.3,901.2,-6.0,343,12918,0.00,2.38,0.00,0.000,4,0.000,0.073,3073,994,3356
$GC,12942,-0.74,-117.3,903.1,-5.6,343,12946,0.00,2.38,0.00,0.000,6,0.000,0.064,3072,2404,3356
$GC,13281,-0.74,-117.3,923.4,-6.0,349,13285,0.00,2.42,0.00,0.000,4,0.000,0.085,3073,3813,3355
$GC,13316,-0.74,-117.3,925.6,-6.8,349,13320,0.00,2.30,0.00,0.000,6,0.000,0.057,3072,2389,3355
$GC,13644,-0.74,-117.3,944.7,-5.7,355,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2389,3355
$GC,13946,-0.74,-117.3,960.3,-5.1,360,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2389,3355
$GC,14249,-0.74,-117.3,975.5,-5.0,365,14253,0.00,2.47,0.00,0.000,4,0.000,0.085,3073,3807,3355
$GC,14282,-0.74,-117.3,977.3,-5.7,365,14286,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2401,3355
$STATE,14546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14546,begin apogee
$GC,14555,-0.22,0.0,992.0,5.6,370,14668,0.57,0.00,108.47,1.490,6,0.139,0.000,3244,2199,2876
$STATE,14669,end apogee,CONTROL_FINISHED_OK
$STATE,14669,begin climb
$GC,14673,0.68,117.3,996.4,0.0,372,14798,0.88,2.75,114.47,1.434,4,0.094,0.077,3533,799,2397
$GC,14832,0.34,117.3,996.5,5.1,374,14838,0.40,2.55,0.00,0.000,6,0.170,0.060,3434,2210,2395
$GC,15165,0.37,144.5,982.3,4.2,380,15192,0.00,0.00,25.23,1.401,6,0.000,0.000,3433,2210,2286
$GC,15469,0.39,158.3,968.4,4.6,385,15484,0.00,0.00,13.80,1.350,6,0.000,0.000,3433,2210,2230
$GC,15772,0.40,164.3,954.0,4.8,390,15785,0.00,2.50,6.80,1.184,4,0.000,0.079,3436,781,2206
$GC,15844,0.40,164.3,950.2,5.3,391,15848,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2211,2206
$GC,16205,0.40,164.3,931.1,5.3,397,16209,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,789,2206
$GC,16268,0.40,164.3,927.7,6.0,398,16272,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2205,2206
$GC,16635,0.40,164.3,906.7,5.9,404,16639,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,783,2205
$GC,16704,0.40,164.3,902.4,5.5,405,16709,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2210,2205
$GC,17072,0.40,164.3,879.1,6.4,411,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2205
$GC,17374,0.40,164.3,860.3,6.3,416,17378,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2204
$GC,17437,0.40,164.3,856.5,5.9,417,17441,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2207,2205
$GC,17809,0.40,164.3,833.2,6.3,423,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2204
$GC,18112,0.40,164.3,814.2,6.3,428,18117,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2205
$GC,18152,0.40,164.3,811.6,5.7,428,18156,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2208,2204
$GC,18473,0.40,164.3,792.9,5.8,434,18474,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2204
$GC,18776,0.40,164.3,776.7,5.3,439,18780,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2204
$GC,18850,0.44,164.5,772.9,5.0,440,18854,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2206,2204
$GC,19204,0.44,164.5,753.2,5.6,446,19209,0.00,2.45,0.00,0.000,4,0.000,0.078,3436,782,2204
$GC,19250,0.50,170.1,750.7,4.8,446,19267,0.12,2.35,6.62,1.124,6,0.091,0.061,3488,2207,2182
$GC,19571,0.39,170.1,728.3,7.1,452,19573,0.15,0.00,0.00,0.000,6,0.146,0.000,3447,2207,2181
$GC,19873,0.39,170.1,710.5,5.9,457,19877,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,781,2181
$GC,19945,0.39,170.1,706.2,5.6,458,19949,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2206,2181
$GC,20301,0.39,170.1,686.5,5.6,464,20302,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2181
$GC,20604,0.39,170.1,670.8,5.1,469,20608,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,792,2181
$GC,20648,0.39,170.1,668.4,6.8,469,20653,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2202,2181
$GC,20965,0.39,171.2,653.1,5.0,475,20966,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2181
$GC,21268,0.39,171.2,637.9,5.0,480,21269,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2181
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$STATE,31634,end climb,SURFACE_DEPTH_REACHED
$STATE,31634,begin surface coast
$FINISH,1.4,1.015273
$STATE,31720,end surface coast,CONTROL_FINISHED_OK
$STATE,31720,begin surface
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$10V_AH,10.4,77.221
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$DEVICE_SECS,27.625,238.925,363.650,11.150,0.000,25.976,26.964,257.188,259.000,0.000,0.000,67.609,1808.343,26370.289,538.377,2628.577,920.699,33.373,1813.304,0.000,2538.707,0.000,0.465
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$DATA_FILE_SIZE,47414,816
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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