version: 66.03
glider: 120
mission: 9
dive: 609
start: 4 15 109 8 34 21
data:
$ID,120
$MISSION,9
$DIVE,609
$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,-30701.092
$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
$GPS1,082606,5009.135,-14445.467,132,1.3,132,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-73.8
$GPS2,083326,5009.196,-14445.465,13,1.5,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.134,0.116
$KALMAN_X,-96456.3,203.0,445.9,130301.8,-2941.5
$KALMAN_Y,141762.0,189.5,231.6,-131605.2,-1805.4
$MHEAD_RNG_PITCHd_Wd,30.5,28633,-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,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-29.83,0.000,2,0.000,0.000,134,2409,2477
$GC,63,-0.67,-117.3,3.4,-4.7,3,107,13.62,2.40,-23.62,0.000,4,0.276,0.094,3085,3817,3356
$GC,338,-0.47,-117.3,34.6,-12.1,27,344,0.28,2.30,0.00,0.000,6,0.147,0.055,3162,2391,3357
$GC,667,-0.53,-117.3,57.7,-6.7,58,673,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2391,3358
$GC,994,-0.59,-117.3,80.0,-6.7,89,998,0.12,2.42,0.00,0.000,4,0.081,0.068,3113,981,3358
$GC,1039,-0.59,-117.3,83.7,-8.4,91,1043,0.00,2.38,0.00,0.000,6,0.000,0.061,3112,2400,3357
$GC,1362,-0.52,-117.3,110.0,-8.2,107,1364,0.12,0.00,0.00,0.000,6,0.133,0.000,3145,2399,3358
$GC,1671,-0.58,-117.3,129.4,-5.8,122,1675,0.00,2.42,0.00,0.000,4,0.000,0.068,3145,984,3358
$GC,1719,-0.68,-117.3,132.4,-6.2,124,1724,0.15,2.40,0.00,0.000,6,0.075,0.061,3092,2412,3358
$GC,2046,-0.68,-117.3,154.3,-6.4,139,2050,0.00,2.38,0.00,0.000,4,0.000,0.078,3090,3810,3358
$GC,2069,-0.68,-117.3,155.8,-6.4,139,2076,0.00,2.28,0.00,0.000,6,0.000,0.054,3090,2397,3358
$GC,2384,-0.68,-117.3,178.3,-7.2,150,2388,0.00,2.40,0.00,0.000,4,0.000,0.069,3093,994,3358
$GC,2423,-0.68,-117.3,181.5,-7.6,151,2427,0.00,2.38,0.00,0.000,6,0.000,0.060,3093,2411,3358
$GC,2747,-0.68,-117.3,206.4,-8.0,162,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2410,3358
$GC,3054,-0.68,-117.3,231.9,-8.2,172,3058,0.00,2.45,0.00,0.000,4,0.000,0.068,3093,986,3357
$GC,3093,-0.68,-117.3,235.4,-8.1,173,3097,0.00,2.38,0.00,0.000,6,0.000,0.060,3093,2400,3357
$GC,3417,-0.68,-117.3,260.4,-7.6,184,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3357
$GC,3723,-0.68,-117.3,281.9,-7.0,194,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,4060,-0.68,-117.3,305.6,-7.2,204,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3357
$GC,4363,-0.68,-117.3,327.7,-7.3,209,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,4665,-0.68,-117.3,348.9,-7.0,214,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3357
$GC,4969,-0.68,-117.3,370.0,-7.0,219,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,5272,-0.68,-117.3,389.3,-6.3,224,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3357
$GC,5575,-0.68,-117.3,407.8,-6.1,229,5580,0.00,2.45,0.00,0.000,4,0.000,0.070,3093,993,3357
$GC,5626,-0.68,-117.3,411.2,-6.1,229,5630,0.00,2.40,0.00,0.000,6,0.000,0.061,3093,2412,3358
$GC,5937,-0.68,-117.3,431.8,-6.7,234,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3357
$GC,6240,-0.68,-117.3,452.0,-6.6,239,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3357
$GC,6544,-0.68,-117.3,472.1,-6.6,244,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3357
$GC,6846,-0.68,-117.3,492.0,-6.6,249,6850,0.00,2.42,0.00,0.000,4,0.000,0.081,3093,3818,3357
$GC,6874,-0.68,-117.3,493.9,-6.6,249,6878,0.00,2.33,0.00,0.000,6,0.000,0.054,3093,2390,3357
$GC,7213,-0.68,-117.3,515.4,-6.3,255,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3357
$GC,7517,-0.68,-117.3,535.8,-6.8,260,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3357
$GC,7819,-0.68,-117.3,556.9,-7.0,265,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3356
$GC,8123,-0.68,-117.3,576.2,-6.4,270,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3357
$GC,8425,-0.68,-117.3,594.0,-5.8,275,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3357
$GC,8728,-0.68,-117.3,610.5,-5.4,280,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3356
$GC,9032,-0.68,-117.3,626.2,-5.1,285,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3357
$GC,9335,-0.68,-117.3,642.3,-5.3,290,9340,0.00,2.50,0.00,0.000,4,0.000,0.081,3093,3812,3356
$GC,9370,-0.72,-117.3,644.1,-5.7,290,9374,0.00,2.33,0.00,0.000,6,0.000,0.054,3093,2391,3356
$GC,9697,-0.77,-117.3,661.8,-5.4,296,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2392,3356
$GC,10001,-0.82,-117.3,679.3,-5.8,301,10003,0.12,0.00,0.00,0.000,6,0.090,0.000,3045,2392,3355
$GC,10304,-0.76,-117.3,701.6,-7.5,306,10308,0.00,2.50,0.00,0.000,4,0.000,0.081,3044,3815,3355
$GC,10343,-0.66,-117.3,704.9,-8.5,306,10348,0.20,2.33,0.00,0.000,6,0.116,0.054,3101,2399,3355
$GC,10665,-0.71,-117.3,725.6,-6.5,312,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,10969,-0.75,-117.3,745.1,-6.4,317,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3355
$GC,11271,-0.80,-117.3,763.1,-5.9,322,11276,0.12,2.47,0.00,0.000,4,0.087,0.071,3054,992,3354
$GC,11305,-0.80,-117.3,765.5,-7.6,322,11309,0.00,2.40,0.00,0.000,6,0.000,0.062,3054,2407,3355
$GC,11633,-0.74,-117.3,786.9,-6.5,328,11637,0.00,2.42,0.00,0.000,4,0.000,0.082,3053,3808,3355
$GC,11684,-0.67,-117.3,790.3,-6.0,328,11689,0.15,2.30,0.00,0.000,6,0.130,0.055,3095,2397,3355
$GC,11995,-0.67,-117.3,805.1,-4.7,333,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2397,3355
$GC,12298,-0.71,-117.3,820.6,-5.2,338,12302,0.00,2.45,0.00,0.000,4,0.000,0.071,3094,993,3354
$GC,12337,-0.71,-117.3,823.1,-5.8,338,12342,0.00,2.40,0.00,0.000,6,0.000,0.063,3095,2403,3354
$GC,12659,-0.76,-117.3,841.1,-5.6,344,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2402,3354
$GC,12962,-0.81,-117.3,857.9,-5.6,349,12964,0.12,0.00,0.00,0.000,6,0.087,0.000,3045,2402,3354
$GC,13266,-0.81,-117.3,877.3,-6.4,354,13270,0.00,2.45,0.00,0.000,4,0.000,0.082,3045,3814,3354
$GC,13311,-0.72,-117.3,880.6,-7.4,354,13316,0.15,2.33,0.00,0.000,6,0.119,0.056,3085,2396,3354
$GC,13627,-0.72,-117.3,898.0,-5.4,360,13631,0.00,2.45,0.00,0.000,4,0.000,0.073,3085,992,3354
$GC,13662,-0.72,-117.3,899.8,-5.4,360,13666,0.00,2.40,0.00,0.000,6,0.000,0.064,3085,2401,3354
$GC,13990,-0.72,-117.3,916.0,-4.8,366,13994,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3808,3354
$GC,14020,-0.72,-117.3,917.4,-4.7,366,14024,0.00,2.30,0.00,0.000,6,0.000,0.056,3085,2401,3354
$GC,14352,-0.72,-117.3,933.1,-4.7,372,14354,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3354
$GC,14655,-0.72,-117.3,949.4,-5.5,377,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3354
$GC,14959,-0.72,-117.3,966.1,-5.5,382,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3354
$GC,15261,-0.72,-117.3,983.0,-5.7,387,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3354
$STATE,15440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15440,begin apogee
$GC,15448,-0.22,0.0,993.6,5.8,390,15563,0.52,0.00,107.75,1.495,6,0.138,0.000,3242,2187,2875
$STATE,15563,end apogee,CONTROL_FINISHED_OK
$STATE,15563,begin climb
$GC,15567,0.67,117.3,998.3,0.0,392,15690,0.90,2.85,114.93,1.441,4,0.087,0.077,3533,3607,2396
$GC,15709,0.26,117.3,999.1,5.0,394,15715,0.55,2.60,0.00,0.000,6,0.187,0.060,3407,2203,2395
$GC,16048,0.30,150.1,985.4,4.1,400,16083,0.00,2.50,29.80,1.417,4,0.000,0.079,3408,787,2264
$GC,16119,0.40,169.7,982.2,4.4,401,16144,0.12,2.38,19.15,1.370,6,0.084,0.061,3460,2209,2184
$GC,16478,0.34,169.7,958.4,6.7,407,16480,0.12,0.00,0.00,0.000,6,0.142,0.000,3426,2209,2180
$GC,16781,0.34,169.7,940.9,5.7,412,16782,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2209,2179
$GC,17084,0.34,169.7,924.0,5.6,417,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2209,2179
$GC,17387,0.34,169.7,907.0,5.6,422,17388,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2209,2179
$GC,17690,0.34,169.7,891.0,5.3,427,17694,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,777,2179
$GC,17725,0.34,169.7,889.1,5.7,427,17729,0.00,2.38,0.00,0.000,6,0.000,0.061,3436,2214,2179
$GC,18052,0.34,169.7,870.9,5.6,433,18056,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,3606,2178
$GC,18086,0.30,169.7,868.6,6.4,433,18091,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2186,2178
$GC,18414,0.30,169.7,848.2,6.3,439,18418,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,782,2178
$GC,18448,0.30,169.7,845.8,7.4,439,18452,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2203,2178
$GC,18776,0.30,169.7,823.9,6.7,445,18780,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,783,2178
$GC,18815,0.30,169.7,821.1,6.9,445,18819,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2198,2178
$GC,19136,0.30,169.7,799.4,6.7,451,19137,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2178
$GC,19439,0.30,169.7,779.5,6.6,456,19443,0.00,2.45,0.00,0.000,4,0.000,0.077,3437,793,2178
$GC,19504,0.35,169.7,775.3,6.7,457,19508,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2199,2178
$GC,19871,0.35,169.7,751.9,6.3,463,19872,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2178
$GC,20174,0.35,169.7,734.6,5.6,468,20175,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2199,2178
$GC,20478,0.35,169.7,718.3,5.4,473,20479,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2178
$GC,20780,0.35,169.7,700.9,5.7,478,20781,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2178
$GC,21084,0.35,169.7,682.8,6.0,483,21085,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2178
$GC,21386,0.35,169.7,664.6,6.0,488,21387,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2178
$GC,21689,0.35,169.7,645.8,6.2,493,21694,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,793,2178
$GC,21758,0.40,169.7,641.6,5.1,494,21762,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2197,2178
$GC,22119,0.40,169.7,619.8,6.0,500,22120,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2178
$GC,22423,0.40,169.7,603.3,5.4,505,22427,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,782,2178
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$STATE,32895,end climb,SURFACE_DEPTH_REACHED
$STATE,32895,begin surface coast
$FINISH,1.1,1.018933
$STATE,33045,end surface coast,CONTROL_FINISHED_OK
$STATE,33045,begin surface
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$10V_AH,10.3,82.331
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$DEVICE_SECS,28.650,202.450,373.250,0.000,0.000,31.281,35.036,199.989,250.750,0.000,0.000,13.532,1814.220,27983.539,545.347,2302.212,908.445,33.379,1676.689,0.000,2282.079,0.000,0.465
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$DATA_FILE_SIZE,50756,863
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$CFSIZE,260165632,211349504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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