version: 66.03
glider: 120
mission: 9
dive: 591
start: 4 8 109 12 22 48
data:
$ID,120
$MISSION,9
$DIVE,591
$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,-30350.436
$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,20
$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
$GPS1,121537,5018.588,-14507.454,33,1.1,33,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-76.8
$GPS2,122150,5018.601,-14507.447,12,1.3,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.113
$KALMAN_X,-80880.9,73.3,-213.3,89388.1,-833.7
$KALMAN_Y,134302.8,-0.5,46.8,-106349.8,-2.9
$MHEAD_RNG_PITCHd_Wd,296.2,6937,-13.9,-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,26,-0.72,-92.2,0.0,0.0,0,58,0.00,0.00,-30.50,0.000,2,0.000,0.000,136,2402,2493
$GC,62,-0.72,-92.2,3.7,-6.0,3,98,13.75,0.00,-19.77,0.000,6,0.280,0.000,3078,2402,3254
$GC,416,-0.55,-92.2,43.7,-10.9,36,421,0.17,2.42,0.00,0.000,4,0.167,0.069,3135,991,3256
$GC,467,-0.55,-92.2,48.4,-7.6,40,472,0.00,2.38,0.00,0.000,6,0.000,0.063,3135,2406,3256
$GC,796,-0.55,-92.2,73.3,-7.9,70,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2406,3256
$GC,1115,-0.55,-92.2,97.6,-7.6,90,1119,0.00,2.42,0.00,0.000,4,0.000,0.069,3134,983,3256
$GC,1186,-0.55,-92.2,103.2,-8.0,93,1190,0.00,2.38,0.00,0.000,6,0.000,0.061,3135,2401,3256
$GC,1515,-0.63,-92.2,126.4,-6.2,109,1519,0.00,2.40,0.00,0.000,4,0.000,0.081,3126,3809,3256
$GC,1543,-0.69,-92.2,128.4,-6.6,110,1547,0.00,2.28,0.00,0.000,6,0.000,0.053,3126,2393,3256
$GC,1861,-0.76,-92.2,148.7,-6.1,125,1863,0.15,0.00,0.00,0.000,6,0.079,0.000,3063,2392,3256
$GC,2187,-0.71,-92.2,173.1,-7.7,136,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2393,3256
$GC,2493,-0.71,-92.2,197.6,-8.2,146,2497,0.00,2.45,0.00,0.000,4,0.000,0.080,3061,3815,3256
$GC,2551,-0.62,-92.2,202.7,-8.7,147,2558,0.20,2.30,0.00,0.000,6,0.132,0.054,3117,2390,3256
$GC,2865,-0.68,-92.2,221.8,-5.8,158,2869,0.00,2.38,0.00,0.000,4,0.000,0.070,3117,993,3256
$GC,2923,-0.76,-92.2,225.5,-6.2,159,2931,0.12,2.35,0.00,0.000,6,0.084,0.061,3064,2405,3256
$GC,3237,-0.76,-92.2,249.3,-7.7,170,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2405,3257
$GC,3542,-0.76,-92.2,272.9,-7.5,180,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2405,3256
$GC,3849,-0.76,-92.2,294.1,-6.6,190,3853,0.00,2.40,0.00,0.000,4,0.000,0.080,3064,3809,3257
$GC,3884,-0.70,-92.2,296.6,-7.5,191,3888,0.00,2.30,0.00,0.000,6,0.000,0.054,3063,2393,3257
$GC,4254,-0.70,-92.2,322.2,-6.9,198,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2394,3257
$GC,4557,-0.70,-92.2,345.1,-7.6,203,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2394,3257
$GC,4860,-0.70,-92.2,367.1,-7.2,208,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2394,3257
$GC,5163,-0.70,-92.2,387.4,-6.7,213,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2394,3256
$GC,5466,-0.70,-92.2,407.3,-6.6,218,5470,0.00,2.40,0.00,0.000,4,0.000,0.071,3064,987,3256
$GC,5506,-0.70,-92.2,410.2,-7.1,218,5510,0.00,2.38,0.00,0.000,6,0.000,0.062,3064,2401,3256
$GC,5828,-0.65,-92.2,434.3,-7.6,224,5829,0.15,0.00,0.00,0.000,6,0.150,0.000,3104,2401,3256
$GC,6131,-0.73,-92.2,455.0,-6.9,229,6135,0.00,2.42,0.00,0.000,4,0.000,0.071,3105,994,3255
$GC,6171,-0.80,-92.2,457.9,-7.6,229,6176,0.12,2.38,0.00,0.000,6,0.084,0.062,3052,2408,3256
$GC,6493,-0.80,-92.2,483.2,-7.9,235,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2408,3255
$GC,6796,-0.80,-92.2,507.0,-7.7,240,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2408,3255
$GC,7099,-0.80,-92.2,529.3,-7.3,245,7103,0.00,2.45,0.00,0.000,4,0.000,0.071,3051,985,3255
$GC,7134,-0.75,-92.2,532.1,-8.5,245,7138,0.00,2.38,0.00,0.000,6,0.000,0.063,3051,2400,3255
$GC,7461,-0.67,-92.2,557.2,-7.7,251,7463,0.17,0.00,0.00,0.000,6,0.155,0.000,3099,2400,3255
$GC,7765,-0.74,-92.2,575.4,-5.9,256,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3255
$GC,8068,-0.81,-92.2,592.0,-5.4,261,8069,0.15,0.00,0.00,0.000,6,0.081,0.000,3039,2400,3254
$GC,8371,-0.77,-92.2,612.4,-6.7,266,8373,0.10,0.00,0.00,0.000,6,0.098,0.000,3066,2400,3255
$GC,8674,-0.77,-92.2,632.4,-6.6,271,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3254
$GC,8976,-0.77,-92.2,652.6,-6.7,276,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3255
$GC,9279,-0.77,-92.2,672.4,-6.5,281,9284,0.00,2.42,0.00,0.000,4,0.000,0.072,3067,996,3254
$GC,9314,-0.77,-92.2,674.6,-6.4,281,9318,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2400,3254
$GC,9641,-0.77,-92.2,695.4,-6.4,287,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3254
$GC,9944,-0.77,-92.2,716.3,-7.0,292,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3254
$GC,10247,-0.77,-92.2,738.4,-7.3,297,10251,0.00,2.42,0.00,0.000,4,0.000,0.072,3066,995,3254
$GC,10280,-0.77,-92.2,741.0,-7.4,297,10284,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2400,3254
$GC,10607,-0.77,-92.2,764.5,-7.1,303,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2400,3254
$GC,10910,-0.77,-92.2,786.8,-7.4,308,10914,0.00,2.42,0.00,0.000,4,0.000,0.073,3066,994,3253
$GC,10954,-0.77,-92.2,790.3,-7.8,308,10958,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2400,3253
$GC,11271,-0.77,-92.2,811.7,-6.7,314,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3253
$GC,11573,-0.77,-92.2,830.2,-6.0,319,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2399,3253
$GC,11876,-0.77,-92.2,847.5,-5.7,324,11880,0.00,2.42,0.00,0.000,4,0.000,0.073,3066,996,3254
$GC,11916,-0.77,-92.2,850.1,-5.8,324,11920,0.00,2.38,0.00,0.000,6,0.000,0.064,3066,2401,3253
$GC,12237,-0.77,-92.2,868.3,-5.7,330,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2400,3253
$GC,12541,-0.77,-92.2,886.4,-6.0,335,12545,0.00,2.45,0.00,0.000,4,0.000,0.073,3066,989,3253
$GC,12586,-0.77,-92.2,889.6,-7.0,335,12590,0.00,2.40,0.00,0.000,6,0.000,0.064,3066,2405,3253
$GC,12902,-0.77,-92.2,910.7,-6.8,341,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2405,3253
$GC,13205,-0.77,-92.2,931.4,-6.7,346,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2405,3253
$GC,13509,-0.77,-92.2,951.2,-6.5,351,13510,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2405,3253
$GC,13811,-0.77,-92.2,970.7,-6.4,356,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2405,3252
$STATE,14111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14111,begin apogee
$GC,14119,-0.22,0.0,990.0,6.4,361,14207,0.60,0.00,85.00,1.495,6,0.143,0.000,3245,2188,2876
$STATE,14208,end apogee,CONTROL_FINISHED_OK
$STATE,14208,begin climb
$GC,14211,0.72,92.2,991.9,0.0,362,14307,0.90,2.72,87.90,1.443,4,0.090,0.078,3544,3605,2499
$GC,14392,0.28,92.2,992.8,5.4,364,14398,0.52,2.40,0.00,0.000,6,0.189,0.064,3412,2206,2498
$GC,14704,0.41,149.8,983.5,2.9,369,14766,0.12,2.58,52.08,1.446,4,0.085,0.079,3465,779,2264
$GC,14839,0.41,149.8,976.3,6.5,371,14843,0.00,2.38,0.00,0.000,6,0.000,0.062,3465,2204,2262
$GC,15205,0.41,149.8,951.5,6.8,377,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2203,2261
$GC,15509,0.41,149.8,931.2,6.7,382,15510,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2203,2260
$GC,15812,0.41,149.8,911.5,6.5,387,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2203,2260
$GC,16114,0.41,149.8,892.1,6.4,392,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2203,2259
$GC,16417,0.41,149.8,872.4,6.5,397,16422,0.00,2.45,0.00,0.000,4,0.000,0.079,3465,776,2259
$GC,16462,0.41,149.8,869.3,6.7,397,16467,0.00,2.35,0.00,0.000,6,0.000,0.061,3465,2209,2259
$GC,16779,0.41,149.8,848.8,6.5,403,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2209,2259
$GC,17082,0.41,149.8,828.5,6.8,408,17086,0.00,2.45,0.00,0.000,4,0.000,0.078,3465,785,2259
$GC,17121,0.41,149.8,825.6,6.9,408,17125,0.00,2.33,0.00,0.000,6,0.000,0.060,3465,2202,2259
$GC,17443,0.41,149.8,802.5,7.3,414,17447,0.00,2.45,0.00,0.000,4,0.000,0.078,3465,777,2259
$GC,17493,0.41,149.8,798.8,7.1,414,17497,0.00,2.35,0.00,0.000,6,0.000,0.060,3465,2206,2259
$GC,17804,0.41,149.8,777.3,6.9,419,17808,0.00,2.45,0.00,0.000,4,0.000,0.077,3465,782,2259
$GC,17860,0.41,149.8,773.5,7.1,419,17866,0.00,2.35,0.00,0.000,6,0.000,0.061,3465,2208,2259
$GC,18171,0.41,149.8,753.3,6.6,425,18176,0.00,2.45,0.00,0.000,4,0.000,0.078,3465,788,2258
$GC,18216,0.41,149.8,750.3,7.1,425,18221,0.00,2.35,0.00,0.000,6,0.000,0.061,3465,2209,2258
$GC,18532,0.41,149.8,731.3,6.0,431,18536,0.00,2.38,0.00,0.000,4,0.000,0.080,3465,3614,2258
$GC,18572,0.32,149.8,728.5,7.3,431,18577,0.17,2.33,0.00,0.000,6,0.175,0.063,3421,2196,2258
$GC,18895,0.44,156.1,713.0,4.8,437,18908,0.12,2.45,6.35,1.091,4,0.085,0.078,3476,788,2238
$GC,18977,0.44,156.1,707.6,6.8,438,18981,0.00,2.33,0.00,0.000,6,0.000,0.061,3476,2197,2238
$GC,19327,0.44,156.1,684.9,6.6,444,19331,0.00,2.42,0.00,0.000,4,0.000,0.078,3476,788,2238
$GC,19377,0.44,156.1,681.5,5.9,444,19381,0.00,2.35,0.00,0.000,6,0.000,0.061,3476,2213,2238
$GC,19688,0.44,156.1,662.0,6.3,449,19689,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2212,2238
$GC,19991,0.44,156.1,643.0,6.3,454,19992,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2211,2238
$GC,20294,0.44,156.1,623.9,6.3,459,20299,0.00,2.47,0.00,0.000,4,0.000,0.077,3476,778,2238
$GC,20339,0.44,156.1,620.9,6.7,459,20344,0.00,2.35,0.00,0.000,6,0.000,0.060,3476,2199,2238
$GC,20656,0.44,156.1,600.5,6.5,465,20660,0.00,2.40,0.00,0.000,4,0.000,0.081,3476,3612,2238
$GC,20695,0.34,156.1,597.5,7.9,465,20700,0.17,2.33,0.00,0.000,6,0.170,0.062,3432,2193,2238
$GC,21018,0.45,156.1,580.3,5.4,471,21022,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,785,2238
$GC,21063,0.57,159.3,577.9,4.9,471,21073,0.20,2.35,4.60,0.897,6,0.074,0.060,3521,2204,2225
$GC,21380,0.43,159.3,554.9,7.4,476,21385,0.20,2.40,0.00,0.000,4,0.157,0.078,3455,3619,2225
$GC,21453,0.43,159.3,550.0,5.3,477,21457,0.00,2.33,0.00,0.000,6,0.000,0.061,3463,2192,2225
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$STATE,30696,end climb,SURFACE_DEPTH_REACHED
$STATE,30696,begin surface coast
$FINISH,1.4,1.013643
$STATE,30793,end surface coast,CONTROL_FINISHED_OK
$STATE,30793,begin surface
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$10V_AH,10.4,79.835
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$DEVICE_SECS,28.975,192.250,314.000,23.500,0.000,29.406,26.420,161.561,242.500,0.000,0.000,12.381,1708.043,25950.406,475.669,2273.843,799.787,33.371,1597.393,0.000,2246.328,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47511,793
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$CFSIZE,260165632,212762624
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