version: 66.03
glider: 120
mission: 9
dive: 687
start: 5 14 109 17 14 57
data:
$ID,120
$MISSION,9
$DIVE,687
$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,-32345.707
$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,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
$GPS1,170311,4954.090,-14512.281,34,1.0,37,18.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.3
$GPS2,171402,4954.157,-14512.313,12,1.5,12,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.174,0.037
$KALMAN_X,-133533.9,16.3,3.1,136094.5,-2329.3
$KALMAN_Y,156167.6,-110.9,-238.7,-173073.9,2940.5
$MHEAD_RNG_PITCHd_Wd,59.5,35478,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.47,0.000,2,0.000,0.000,136,2406,2751
$GC,74,-0.67,-117.3,3.6,-6.1,4,108,14.65,2.60,-12.27,0.000,4,0.272,0.088,3085,3806,3356
$GC,245,-0.48,-117.3,26.9,-11.3,19,250,0.28,2.40,0.00,0.000,6,0.143,0.052,3160,2391,3358
$GC,575,-0.52,-117.3,50.3,-6.5,49,579,0.00,2.62,0.00,0.000,4,0.000,0.066,3160,986,3358
$GC,621,-0.59,-117.3,53.8,-6.7,52,628,0.00,2.45,0.00,0.000,6,0.000,0.058,3160,2411,3358
$GC,951,-0.64,-117.3,75.7,-6.7,83,957,0.15,0.00,0.00,0.000,6,0.074,0.000,3094,2410,3358
$GC,1281,-0.54,-117.3,103.9,-8.4,102,1286,0.15,2.50,0.00,0.000,4,0.107,0.077,3136,3809,3359
$GC,1316,-0.54,-117.3,106.9,-7.6,103,1322,0.00,2.38,0.00,0.000,6,0.000,0.051,3136,2389,3359
$GC,1633,-0.54,-117.3,130.5,-7.5,119,1637,0.00,2.60,0.00,0.000,4,0.000,0.064,3136,983,3359
$GC,1675,-0.54,-117.3,133.5,-7.8,121,1679,0.00,2.45,0.00,0.000,6,0.000,0.058,3135,2400,3359
$GC,2004,-0.58,-117.3,154.7,-6.1,136,2008,0.00,2.47,0.00,0.000,4,0.000,0.077,3134,3811,3359
$GC,2040,-0.67,-117.3,157.1,-6.2,137,2044,0.00,2.33,0.00,0.000,6,0.000,0.050,3134,2398,3359
$GC,2383,-0.90,-117.3,178.9,-6.7,148,2388,0.28,2.58,0.00,0.000,4,0.077,0.074,3029,3808,3359
$GC,2508,-0.67,-117.3,191.4,-10.6,151,2515,0.25,2.42,0.00,0.000,6,0.143,0.051,3093,2388,3359
$GC,2822,-0.62,-117.3,216.4,-7.9,162,2827,0.00,2.55,0.00,0.000,4,0.000,0.066,3093,982,3359
$GC,2863,-0.62,-117.3,220.0,-9.2,163,2867,0.00,2.45,0.00,0.000,6,0.000,0.059,3093,2401,3359
$GC,3188,-0.58,-117.3,245.2,-7.6,174,3193,0.12,2.50,0.00,0.000,4,0.156,0.077,3124,3816,3359
$GC,3218,-0.63,-117.3,247.3,-6.6,175,3222,0.00,2.35,0.00,0.000,6,0.000,0.051,3124,2399,3359
$GC,3555,-0.88,-117.3,270.1,-6.8,186,3560,0.22,2.55,0.00,0.000,4,0.081,0.075,3036,3812,3359
$GC,3723,-0.70,-117.3,285.3,-10.3,191,3728,0.20,2.38,0.00,0.000,6,0.142,0.052,3086,2400,3359
$GC,4089,-0.65,-117.3,314.4,-7.8,200,4093,0.00,2.53,0.00,0.000,4,0.000,0.068,3086,992,3359
$GC,4123,-0.59,-117.3,317.5,-9.0,200,4128,0.15,2.45,0.00,0.000,6,0.139,0.060,3123,2403,3359
$GC,4451,-0.66,-117.3,339.2,-6.6,206,4455,0.00,2.55,0.00,0.000,4,0.000,0.067,3123,993,3358
$GC,4480,-0.72,-117.3,341.1,-6.4,206,4485,0.12,2.45,0.00,0.000,6,0.077,0.059,3080,2403,3358
$GC,4813,-0.72,-117.3,364.2,-6.9,212,4817,0.00,2.50,0.00,0.000,4,0.000,0.078,3080,3819,3358
$GC,4841,-0.72,-117.3,366.4,-7.6,212,4845,0.00,2.35,0.00,0.000,6,0.000,0.053,3080,2396,3358
$GC,5174,-0.72,-117.3,391.0,-7.4,218,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3358
$GC,5478,-0.72,-117.3,411.5,-6.7,223,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3358
$GC,5780,-0.72,-117.3,431.3,-6.5,228,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3358
$GC,6083,-0.72,-117.3,450.3,-6.3,233,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3358
$GC,6386,-0.72,-117.3,469.7,-6.4,238,6390,0.00,2.70,0.00,0.000,4,0.000,0.077,3080,3813,3357
$GC,6425,-0.72,-117.3,472.5,-7.4,238,6430,0.00,2.47,0.00,0.000,6,0.000,0.051,3080,2402,3357
$GC,6748,-0.72,-117.3,494.0,-6.7,244,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2403,3357
$GC,7050,-0.72,-117.3,514.2,-6.6,249,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2403,3357
$GC,7354,-0.72,-117.3,533.2,-6.3,254,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2403,3357
$GC,7656,-0.72,-117.3,552.2,-6.3,259,7661,0.00,2.62,0.00,0.000,4,0.000,0.079,3080,3814,3357
$GC,7691,-0.72,-117.3,554.6,-6.9,259,7696,0.00,2.45,0.00,0.000,6,0.000,0.052,3080,2392,3357
$GC,8019,-0.72,-117.3,574.7,-6.1,265,8023,0.00,2.67,0.00,0.000,4,0.000,0.067,3080,992,3357
$GC,8075,-0.77,-117.3,578.5,-6.3,265,8082,0.00,2.45,0.00,0.000,6,0.000,0.060,3080,2404,3356
$GC,8387,-0.77,-117.3,597.3,-6.0,271,8391,0.00,2.58,0.00,0.000,4,0.000,0.079,3080,3811,3356
$GC,8433,-0.77,-117.3,600.4,-6.6,271,8437,0.00,2.42,0.00,0.000,6,0.000,0.052,3080,2388,3356
$GC,8749,-0.77,-117.3,619.4,-6.0,277,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2389,3356
$GC,9052,-0.77,-117.3,637.6,-6.0,282,9056,0.00,2.65,0.00,0.000,4,0.000,0.078,3080,3814,3356
$GC,9097,-0.77,-117.3,640.4,-5.8,282,9101,0.00,2.42,0.00,0.000,6,0.000,0.052,3081,2396,3356
$GC,9414,-0.77,-117.3,657.8,-5.4,288,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3356
$GC,9716,-0.77,-117.3,673.1,-5.0,293,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,10020,-0.77,-117.3,687.9,-4.9,298,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,10322,-0.77,-117.3,704.0,-5.3,303,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,3355
$GC,10626,-0.77,-117.3,720.3,-5.4,308,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3356
$GC,10929,-0.77,-117.3,736.6,-5.4,313,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,11231,-0.77,-117.3,753.4,-5.6,318,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,11535,-0.77,-117.3,770.5,-5.7,323,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,11838,-0.77,-117.3,788.0,-5.9,328,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,12142,-0.77,-117.3,805.9,-5.9,333,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3354
$GC,12444,-0.77,-117.3,823.7,-5.9,338,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3355
$GC,12747,-0.77,-117.3,840.9,-5.6,343,12752,0.00,2.67,0.00,0.000,4,0.000,0.081,3080,3812,3354
$GC,12782,-0.77,-117.3,842.9,-6.0,343,12786,0.00,2.47,0.00,0.000,6,0.000,0.053,3080,2400,3354
$GC,13110,-0.77,-117.3,860.9,-5.5,349,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2401,3354
$GC,13412,-0.77,-117.3,878.1,-5.7,354,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2401,3354
$GC,13715,-0.77,-117.3,895.3,-5.7,359,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3354
$GC,14019,-0.81,-117.3,912.7,-5.7,364,14020,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3354
$GC,14321,-0.81,-117.3,930.3,-5.9,369,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2402,3354
$GC,14624,-0.81,-117.3,948.2,-5.9,374,14629,0.00,2.75,0.00,0.000,4,0.000,0.069,3080,985,3353
$GC,14658,-0.86,-117.3,950.4,-6.8,374,14663,0.12,2.50,0.00,0.000,6,0.081,0.061,3038,2412,3353
$GC,14986,-0.82,-117.3,973.0,-7.0,380,14990,0.00,2.53,0.00,0.000,4,0.000,0.081,3038,3810,3353
$GC,15021,-0.75,-117.3,975.6,-6.9,380,15026,0.12,2.40,0.00,0.000,6,0.090,0.054,3071,2394,3353
$STATE,15284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15284,begin apogee
$GC,15293,-0.22,0.0,991.8,6.0,385,15407,0.60,0.00,109.03,1.500,6,0.133,0.000,3246,2201,2876
$STATE,15407,end apogee,CONTROL_FINISHED_OK
$STATE,15408,begin climb
$GC,15411,0.67,117.3,996.0,0.0,387,15538,0.90,2.92,117.62,1.450,4,0.080,0.075,3533,796,2397
$GC,15563,0.34,132.6,996.0,4.6,389,15588,0.47,2.75,17.48,1.335,6,0.172,0.058,3435,2200,2334
$GC,15905,0.29,132.6,975.7,6.0,395,15906,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2200,2331
$GC,16209,0.24,132.6,957.7,6.0,400,16214,0.15,2.45,0.00,0.000,4,0.183,0.074,3399,790,2331
$GC,16273,0.34,136.6,954.3,4.9,401,16283,0.00,2.38,4.68,1.013,6,0.000,0.060,3399,2202,2319
$GC,16646,0.42,142.1,936.1,4.8,407,16655,0.15,0.00,7.00,1.212,6,0.082,0.000,3462,2201,2295
$GC,16950,0.32,142.1,918.0,6.0,412,16955,0.15,2.50,0.00,0.000,4,0.140,0.075,3424,789,2295
$GC,16990,0.34,154.9,915.8,4.6,412,17012,0.00,2.40,12.90,1.355,6,0.000,0.059,3424,2213,2243
$GC,17316,0.35,164.4,900.4,4.7,418,17328,0.00,0.00,9.98,1.306,6,0.000,0.000,3424,2212,2205
$GC,17620,0.36,177.5,886.3,4.6,423,17639,0.00,2.53,13.18,1.348,4,0.000,0.078,3424,796,2151
$GC,17670,0.43,179.4,883.9,4.9,423,17674,0.00,2.38,0.00,0.000,6,0.000,0.059,3424,2207,2150
$GC,17987,0.50,202.1,869.9,4.4,429,18017,0.15,2.42,23.12,1.394,4,0.078,0.080,3496,3606,2051
$GC,18047,0.28,202.1,865.9,8.0,429,18054,0.38,2.30,0.00,0.000,6,0.167,0.061,3409,2198,2048
$GC,18359,0.44,237.5,852.8,4.0,435,18399,0.15,2.53,32.92,1.395,4,0.078,0.077,3477,782,1907
$GC,18440,0.44,237.5,847.8,7.3,436,18444,0.00,2.40,0.00,0.000,6,0.000,0.059,3477,2207,1905
$GC,18796,0.39,237.5,823.9,6.7,442,18801,0.12,2.47,0.00,0.000,4,0.139,0.075,3449,775,1902
$GC,18836,0.44,237.5,821.3,5.8,442,18840,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2213,1902
$GC,19158,0.44,237.5,802.1,6.1,448,19159,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2212,1900
$GC,19461,0.44,237.5,782.1,6.6,453,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2212,1900
$GC,19764,0.44,237.5,762.8,6.4,458,19765,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2211,1900
$GC,20067,0.44,237.5,742.4,6.8,463,20071,0.00,2.53,0.00,0.000,4,0.000,0.076,3449,789,1899
$GC,20107,0.50,237.5,739.6,6.6,463,20111,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2201,1900
$GC,20430,0.55,237.5,717.1,7.1,469,20434,0.12,2.45,0.00,0.000,4,0.085,0.079,3505,3614,1900
$GC,20458,0.40,237.5,714.3,10.1,469,20463,0.25,2.35,0.00,0.000,6,0.162,0.061,3454,2198,1899
$GC,20791,0.40,237.5,688.8,7.5,475,20795,0.00,2.60,0.00,0.000,4,0.000,0.075,3464,789,1900
$GC,20837,0.40,237.5,685.1,8.2,475,20841,0.00,2.42,0.00,0.000,6,0.000,0.058,3464,2210,1899
$GC,21153,0.40,237.5,659.4,8.2,481,21157,0.00,2.55,0.00,0.000,4,0.000,0.076,3463,790,1900
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$STATE,30584,end climb,SURFACE_DEPTH_REACHED
$STATE,30584,begin surface coast
$FINISH,0.7,1.025602
$STATE,30684,end surface coast,CONTROL_FINISHED_OK
$STATE,30684,begin surface
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$10V_AH,10.2,93.092
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$DEVICE_SECS,31.475,225.275,411.175,0.000,0.000,57.783,61.467,285.457,237.250,0.000,0.000,12.654,1733.875,25735.166,564.412,2279.282,1090.794,33.379,1721.459,0.000,2248.171,0.000,0.465
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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,47482,810
$CAP_FILE_SIZE,184421,0
$CFSIZE,260165632,205271040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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