version: 66.03
glider: 120
mission: 9
dive: 669
start: 5 8 109 0 45 51
data:
$ID,120
$MISSION,9
$DIVE,669
$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,-31936.879
$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,23
$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
$GPS1,003754,5002.649,-14444.866,37,1.7,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-76.3
$GPS2,004456,5002.633,-14444.885,15,1.5,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,0.149
$KALMAN_X,-126588.4,-44.8,259.2,161567.7,260.4
$KALMAN_Y,144311.4,-24.8,8.3,-145866.4,-1376.2
$MHEAD_RNG_PITCHd_Wd,308.5,11506,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-30.00,0.000,2,0.000,0.000,138,2406,2507
$GC,63,-0.67,-117.3,3.0,-5.4,3,108,14.55,2.53,-21.95,0.000,4,0.273,0.080,3094,990,3355
$GC,214,-0.51,-117.3,19.1,-11.1,16,219,0.20,2.38,0.00,0.000,6,0.150,0.061,3149,2398,3356
$GC,541,-0.51,-117.3,44.0,-7.4,46,545,0.00,2.53,0.00,0.000,4,0.000,0.079,3141,3817,3357
$GC,604,-0.51,-117.3,49.0,-8.3,51,608,0.00,2.40,0.00,0.000,6,0.000,0.051,3141,2396,3357
$GC,930,-0.51,-117.3,73.7,-8.0,81,935,0.00,2.58,0.00,0.000,4,0.000,0.066,3141,981,3357
$GC,977,-0.51,-117.3,77.5,-8.3,84,983,0.00,2.40,0.00,0.000,6,0.000,0.059,3141,2401,3357
$GC,1305,-0.51,-117.3,101.5,-7.5,102,1309,0.00,2.50,0.00,0.000,4,0.000,0.078,3141,3812,3357
$GC,1340,-0.51,-117.3,104.2,-7.5,103,1346,0.00,2.40,0.00,0.000,6,0.000,0.051,3141,2390,3357
$GC,1658,-0.51,-117.3,126.9,-7.2,119,1662,0.00,2.55,0.00,0.000,4,0.000,0.077,3141,3808,3357
$GC,1703,-0.57,-117.3,130.2,-6.6,121,1707,0.00,2.35,0.00,0.000,6,0.000,0.051,3140,2394,3357
$GC,2025,-0.86,-117.3,151.3,-6.9,137,2031,0.28,2.53,0.00,0.000,4,0.081,0.066,3039,979,3357
$GC,2100,-0.67,-117.3,158.1,-9.8,139,2105,0.22,2.42,0.00,0.000,6,0.150,0.060,3097,2400,3357
$GC,2425,-0.62,-117.3,185.9,-8.8,150,2429,0.00,2.45,0.00,0.000,4,0.000,0.067,3098,989,3357
$GC,2454,-0.62,-117.3,188.6,-8.9,151,2459,0.00,2.42,0.00,0.000,6,0.000,0.059,3098,2408,3358
$GC,2792,-0.62,-117.3,215.1,-7.4,162,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3357
$GC,3097,-0.62,-117.3,239.6,-8.3,172,3101,0.00,2.55,0.00,0.000,4,0.000,0.067,3098,986,3357
$GC,3142,-0.62,-117.3,243.6,-9.4,173,3146,0.00,2.40,0.00,0.000,6,0.000,0.060,3098,2399,3357
$GC,3468,-0.62,-117.3,269.5,-7.8,184,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,3773,-0.62,-117.3,290.8,-6.6,194,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,4108,-0.62,-117.3,312.7,-6.6,202,4112,0.00,2.60,0.00,0.000,4,0.000,0.067,3098,984,3357
$GC,4136,-0.62,-117.3,314.8,-7.6,202,4140,0.00,2.45,0.00,0.000,6,0.000,0.060,3098,2402,3357
$GC,4469,-0.62,-117.3,338.6,-7.3,208,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3357
$GC,4772,-0.62,-117.3,361.7,-7.6,213,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3357
$GC,5075,-0.62,-117.3,384.8,-7.6,218,5079,0.00,2.50,0.00,0.000,4,0.000,0.068,3098,989,3357
$GC,5114,-0.62,-117.3,388.0,-8.3,218,5119,0.00,2.42,0.00,0.000,6,0.000,0.060,3097,2403,3357
$GC,5438,-0.62,-117.3,409.1,-6.5,224,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3357
$GC,5739,-0.62,-117.3,426.6,-5.8,229,5744,0.00,2.55,0.00,0.000,4,0.000,0.068,3097,986,3357
$GC,5790,-0.62,-117.3,429.8,-6.4,229,5795,0.00,2.42,0.00,0.000,6,0.000,0.061,3097,2399,3357
$GC,6101,-0.62,-117.3,447.5,-5.8,234,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3357
$GC,6405,-0.62,-117.3,465.0,-5.8,239,6409,0.00,2.60,0.00,0.000,4,0.000,0.068,3098,991,3356
$GC,6450,-0.62,-117.3,467.9,-6.5,239,6454,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2399,3356
$GC,6766,-0.62,-117.3,485.8,-5.7,245,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,7069,-0.62,-117.3,503.6,-6.0,250,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,7372,-0.62,-117.3,523.0,-6.4,255,7376,0.00,2.55,0.00,0.000,4,0.000,0.069,3098,987,3356
$GC,7401,-0.62,-117.3,524.9,-6.7,255,7405,0.00,2.42,0.00,0.000,6,0.000,0.061,3097,2399,3356
$GC,7734,-0.62,-117.3,545.2,-6.0,261,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3356
$GC,8036,-0.62,-117.3,564.0,-6.2,266,8041,0.00,2.53,0.00,0.000,4,0.000,0.069,3098,980,3356
$GC,8071,-0.62,-117.3,566.5,-7.0,266,8075,0.00,2.45,0.00,0.000,6,0.000,0.060,3098,2402,3356
$GC,8398,-0.62,-117.3,586.6,-6.2,272,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3356
$GC,8701,-0.62,-117.3,605.6,-6.3,277,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3355
$GC,9004,-0.62,-117.3,623.2,-5.7,282,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3356
$GC,9307,-0.62,-117.3,638.9,-5.1,287,9311,0.00,2.55,0.00,0.000,4,0.000,0.069,3098,984,3355
$GC,9341,-0.62,-117.3,640.8,-5.4,287,9346,0.00,2.45,0.00,0.000,6,0.000,0.061,3098,2407,3355
$GC,9669,-0.62,-117.3,657.4,-5.1,293,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3355
$GC,9972,-0.62,-117.3,672.3,-4.9,298,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3355
$GC,10276,-0.66,-117.3,687.4,-5.0,303,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2406,3355
$GC,10579,-0.70,-117.3,703.7,-5.4,308,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2406,3355
$GC,10882,-0.75,-117.3,721.1,-5.8,313,10886,0.00,2.62,0.00,0.000,4,0.000,0.069,3098,982,3354
$GC,10910,-0.80,-117.3,723.0,-6.8,313,10915,0.12,2.47,0.00,0.000,6,0.083,0.061,3056,2410,3354
$GC,11243,-0.80,-117.3,745.3,-6.7,319,11247,0.00,2.53,0.00,0.000,4,0.000,0.081,3056,3811,3354
$GC,11278,-0.74,-117.3,747.8,-7.7,319,11282,0.00,2.35,0.00,0.000,6,0.000,0.054,3056,2402,3354
$GC,11605,-0.74,-117.3,770.7,-7.0,325,11609,0.00,2.55,0.00,0.000,4,0.000,0.071,3055,981,3354
$GC,11633,-0.74,-117.3,772.8,-7.7,325,11637,0.00,2.47,0.00,0.000,6,0.000,0.061,3056,2408,3354
$GC,11967,-0.69,-117.3,797.6,-7.5,331,11969,0.15,0.00,0.00,0.000,6,0.133,0.000,3097,2407,3354
$GC,12271,-0.74,-117.3,816.9,-6.3,336,12275,0.00,2.55,0.00,0.000,4,0.000,0.071,3097,986,3354
$GC,12299,-0.80,-117.3,819.0,-6.5,336,12304,0.12,2.45,0.00,0.000,6,0.081,0.061,3055,2407,3354
$GC,12633,-0.80,-117.3,840.1,-6.3,342,12637,0.00,2.50,0.00,0.000,4,0.000,0.081,3055,3809,3354
$GC,12678,-0.80,-117.3,843.3,-6.0,342,12682,0.00,2.35,0.00,0.000,6,0.000,0.054,3055,2398,3354
$GC,12994,-0.80,-117.3,862.6,-6.1,348,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2399,3354
$GC,13297,-0.80,-117.3,880.3,-5.9,353,13301,0.00,2.58,0.00,0.000,4,0.000,0.071,3054,994,3353
$GC,13337,-0.80,-117.3,882.9,-6.4,353,13341,0.00,2.47,0.00,0.000,6,0.000,0.061,3054,2402,3354
$GC,13659,-0.76,-117.3,902.4,-6.1,359,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2401,3353
$GC,13961,-0.76,-117.3,920.7,-6.1,364,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2401,3353
$GC,14265,-0.76,-117.3,940.2,-6.5,369,14269,0.00,2.58,0.00,0.000,4,0.000,0.070,3054,986,3353
$GC,14301,-0.76,-117.3,942.6,-7.1,369,14305,0.00,2.45,0.00,0.000,6,0.000,0.061,3055,2398,3353
$GC,14628,-0.76,-117.3,965.2,-6.9,375,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3353
$GC,14931,-0.76,-117.3,985.6,-6.7,380,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3353
$STATE,15048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15048,begin apogee
$GC,15057,-0.22,0.0,993.8,6.7,382,15171,0.65,0.00,108.10,1.491,6,0.136,0.000,3240,2198,2875
$STATE,15172,end apogee,CONTROL_FINISHED_OK
$STATE,15172,begin climb
$GC,15177,0.67,117.3,998.5,0.0,384,15301,0.90,2.92,115.70,1.443,4,0.088,0.073,3533,785,2396
$GC,15324,0.32,117.3,999.1,5.2,386,15330,0.50,2.72,0.00,0.000,6,0.165,0.058,3424,2201,2394
$GC,15670,0.32,117.3,982.0,5.0,392,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2200,2392
$GC,15972,0.32,117.3,966.3,5.2,397,15976,0.00,2.40,0.00,0.000,4,0.000,0.078,3425,3621,2392
$GC,16029,0.21,117.3,963.0,6.1,397,16036,0.17,2.33,0.00,0.000,6,0.170,0.060,3391,2200,2392
$GC,16341,0.32,143.5,949.5,4.2,403,16370,0.00,2.53,23.48,1.416,4,0.000,0.077,3394,792,2290
$GC,16402,0.45,166.8,946.7,4.3,403,16432,0.20,2.38,22.17,1.388,6,0.073,0.058,3473,2215,2196
$GC,16781,0.34,166.8,920.5,7.1,410,16782,0.17,0.00,0.00,0.000,6,0.144,0.000,3426,2215,2192
$GC,17081,0.34,166.8,904.3,5.2,415,17085,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,782,2192
$GC,17125,0.34,166.8,901.6,5.6,415,17130,0.00,2.35,0.00,0.000,6,0.000,0.059,3436,2201,2192
$GC,17442,0.34,166.8,885.2,5.2,421,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2192
$GC,17745,0.34,166.8,868.5,5.6,426,17746,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,18049,0.34,166.8,850.5,5.9,431,18050,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2200,2191
$GC,18351,0.34,166.8,830.6,6.7,436,18352,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,18654,0.34,166.8,809.0,7.1,441,18655,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,18958,0.34,166.8,787.3,7.1,446,18959,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,19260,0.34,166.8,767.1,6.6,451,19261,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,19564,0.34,166.8,749.4,5.8,456,19565,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,19867,0.34,166.8,733.6,5.2,461,19868,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,20170,0.34,166.8,717.4,5.3,466,20171,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,20473,0.34,166.8,700.9,5.4,471,20474,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2191
$GC,20776,0.34,166.8,684.3,5.5,476,20777,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,21080,0.34,166.8,667.7,5.5,481,21081,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,21382,0.34,166.8,651.8,5.2,486,21383,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2191
$GC,21685,0.34,166.8,636.2,5.1,491,21690,0.00,2.58,0.00,0.000,4,0.000,0.077,3436,789,2191
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$STATE,32861,end climb,SURFACE_DEPTH_REACHED
$STATE,32861,begin surface coast
$FINISH,0.7,1.018180
$STATE,32947,end surface coast,CONTROL_FINISHED_OK
$STATE,32948,begin surface
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$10V_AH,10.3,90.608
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$DEVICE_SECS,30.525,194.175,357.575,11.350,0.000,28.032,25.889,183.285,243.000,0.000,0.000,15.482,1778.857,27918.381,541.709,2225.327,931.657,33.380,1647.656,0.000,2210.779,0.000,0.465
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$DATA_FILE_SIZE,50750,854
$CAP_FILE_SIZE,178732,0
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