version: 66.03
glider: 120
mission: 9
dive: 694
start: 5 17 109 8 38 54
data:
$ID,120
$MISSION,9
$DIVE,694
$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,-32453.402
$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
$GPS1,082755,5006.927,-14449.502,77,1.7,77,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.3
$GPS2,083756,5006.908,-14449.445,13,1.8,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,0.134
$KALMAN_X,-140928.0,130.9,261.1,170296.5,-1448.7
$KALMAN_Y,150270.2,89.1,-88.7,-143920.4,-1707.3
$MHEAD_RNG_PITCHd_Wd,22.8,34916,-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,-117.3,0.0,0.0,0,70,0.00,0.00,-40.15,0.000,2,0.000,0.000,137,2408,2772
$GC,75,-0.67,-117.3,3.6,-6.2,4,108,14.10,2.67,-11.50,0.000,4,0.276,0.077,3092,984,3358
$GC,362,-0.50,-117.3,40.4,-10.1,29,369,0.25,2.40,0.00,0.000,6,0.144,0.061,3154,2398,3359
$GC,692,-0.50,-117.3,63.5,-7.1,60,696,0.00,2.58,0.00,0.000,4,0.000,0.065,3154,991,3360
$GC,726,-0.55,-117.3,66.5,-7.5,62,732,0.00,2.40,0.00,0.000,6,0.000,0.059,3154,2406,3360
$GC,1059,-0.55,-117.3,90.4,-7.2,87,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2405,3360
$GC,1369,-0.61,-117.3,109.0,-5.8,102,1371,0.10,0.00,0.00,0.000,6,0.087,0.000,3112,2405,3360
$GC,1677,-0.61,-117.3,128.9,-6.1,117,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3360
$GC,1987,-0.61,-117.3,150.8,-7.4,132,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3360
$GC,2294,-0.66,-117.3,171.7,-6.6,142,2298,0.00,2.55,0.00,0.000,4,0.000,0.077,3112,3812,3360
$GC,2328,-0.66,-117.3,174.2,-7.4,143,2332,0.00,2.42,0.00,0.000,6,0.000,0.051,3112,2392,3360
$GC,2658,-0.66,-117.3,194.9,-6.3,154,2663,0.00,2.60,0.00,0.000,4,0.000,0.065,3112,993,3360
$GC,2705,-0.73,-117.3,198.0,-6.7,155,2709,0.00,2.42,0.00,0.000,6,0.000,0.058,3113,2409,3360
$GC,3024,-0.73,-117.3,217.0,-5.9,166,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2407,3360
$GC,3331,-0.77,-117.3,236.6,-6.5,176,3333,0.12,0.00,0.00,0.000,6,0.088,0.000,3061,2408,3360
$GC,3638,-0.69,-117.3,261.7,-8.2,186,3643,0.12,2.65,0.00,0.000,4,0.097,0.065,3097,994,3360
$GC,3678,-0.69,-117.3,265.1,-7.3,187,3682,0.00,2.42,0.00,0.000,6,0.000,0.060,3098,2397,3360
$GC,4002,-0.69,-117.3,288.7,-7.2,198,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3360
$GC,4307,-0.69,-117.3,309.7,-6.9,206,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3360
$GC,4610,-0.69,-117.3,330.1,-6.7,211,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2396,3360
$GC,4914,-0.69,-117.3,349.8,-6.4,216,4918,0.00,2.62,0.00,0.000,4,0.000,0.067,3097,986,3359
$GC,4953,-0.69,-117.3,352.6,-6.6,216,4957,0.00,2.45,0.00,0.000,6,0.000,0.060,3098,2401,3360
$GC,5276,-0.69,-117.3,372.3,-6.1,222,5280,0.00,2.50,0.00,0.000,4,0.000,0.079,3097,3819,3360
$GC,5311,-0.69,-117.3,374.6,-6.7,222,5315,0.00,2.42,0.00,0.000,6,0.000,0.051,3098,2390,3359
$GC,5638,-0.69,-117.3,395.7,-6.4,228,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2391,3359
$GC,5941,-0.69,-117.3,415.0,-6.4,233,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2391,3359
$GC,6244,-0.69,-117.3,433.1,-5.9,238,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2391,3359
$GC,6548,-0.69,-117.3,450.4,-5.7,243,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2391,3359
$GC,6851,-0.69,-117.3,467.4,-5.7,248,6856,0.00,2.60,0.00,0.000,4,0.000,0.067,3098,992,3358
$GC,6880,-0.69,-117.3,469.2,-6.5,248,6884,0.00,2.45,0.00,0.000,6,0.000,0.060,3098,2405,3358
$GC,7213,-0.69,-117.3,489.9,-6.3,254,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3358
$GC,7516,-0.69,-117.3,509.0,-6.3,259,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3359
$GC,7820,-0.69,-117.3,526.9,-5.9,264,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3358
$GC,8122,-0.69,-117.3,543.1,-5.3,269,8126,0.00,2.60,0.00,0.000,4,0.000,0.067,3098,992,3358
$GC,8167,-0.69,-117.3,545.6,-5.5,269,8171,0.00,2.47,0.00,0.000,6,0.000,0.061,3098,2402,3358
$GC,8483,-0.69,-117.3,561.3,-5.0,275,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3358
$GC,8787,-0.69,-117.3,576.8,-5.1,280,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3358
$GC,9089,-0.69,-117.3,594.0,-5.7,285,9093,0.00,2.67,0.00,0.000,4,0.000,0.067,3098,985,3358
$GC,9125,-0.73,-117.3,596.2,-6.3,285,9129,0.00,2.47,0.00,0.000,6,0.000,0.061,3097,2408,3358
$GC,9452,-0.73,-117.3,616.3,-6.2,291,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3358
$GC,9755,-0.73,-117.3,634.7,-6.1,296,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3358
$GC,10059,-0.73,-117.3,653.1,-6.0,301,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2407,3358
$GC,10361,-0.73,-117.3,670.5,-5.7,306,10365,0.00,2.62,0.00,0.000,4,0.000,0.068,3097,994,3357
$GC,10390,-0.77,-117.3,672.3,-6.3,306,10394,0.00,2.45,0.00,0.000,6,0.000,0.061,3097,2401,3357
$GC,10723,-0.77,-117.3,689.3,-5.1,312,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3357
$GC,11028,-0.82,-117.3,704.3,-4.9,317,11033,0.15,2.60,0.00,0.000,4,0.084,0.067,3038,986,3357
$GC,11068,-0.72,-117.3,707.0,-7.3,317,11073,0.17,2.45,0.00,0.000,6,0.133,0.061,3083,2404,3356
$GC,11390,-0.72,-117.3,723.8,-5.2,323,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3357
$GC,11694,-0.72,-117.3,739.6,-5.2,328,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3357
$GC,11996,-0.72,-117.3,756.3,-5.5,333,12000,0.00,2.58,0.00,0.000,4,0.000,0.068,3083,986,3356
$GC,12041,-0.72,-117.3,758.8,-5.9,333,12045,0.00,2.47,0.00,0.000,6,0.000,0.062,3083,2405,3356
$GC,12357,-0.72,-117.3,776.1,-5.4,339,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3356
$GC,12662,-0.72,-117.3,792.2,-5.3,344,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3356
$GC,12963,-0.72,-117.3,808.4,-5.4,349,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3356
$GC,13266,-0.72,-117.3,825.7,-5.7,354,13270,0.00,2.62,0.00,0.000,4,0.000,0.069,3083,991,3356
$GC,13300,-0.72,-117.3,827.9,-5.8,354,13304,0.00,2.53,0.00,0.000,6,0.000,0.062,3083,2402,3356
$GC,13627,-0.72,-117.3,847.3,-6.0,360,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2401,3356
$GC,13932,-0.72,-117.3,866.1,-6.2,365,13936,0.00,2.55,0.00,0.000,4,0.000,0.083,3083,3819,3356
$GC,13962,-0.72,-117.3,868.1,-6.9,365,13966,0.00,2.40,0.00,0.000,6,0.000,0.054,3083,2394,3355
$GC,14295,-0.72,-117.3,889.3,-6.3,371,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3356
$GC,14598,-0.72,-117.3,907.6,-6.0,376,14599,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3355
$GC,14902,-0.72,-117.3,925.6,-5.9,381,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2395,3356
$GC,15204,-0.72,-117.3,942.7,-5.6,386,15209,0.00,2.67,0.00,0.000,4,0.000,0.081,3083,3815,3355
$GC,15239,-0.76,-117.3,944.7,-6.2,386,15243,0.00,2.50,0.00,0.000,6,0.000,0.054,3083,2398,3355
$GC,15567,-0.93,-117.3,965.6,-6.6,392,15572,0.17,2.65,0.00,0.000,4,0.085,0.069,3025,988,3355
$GC,15580,-1.08,-117.3,966.5,-6.5,392,15585,0.17,2.47,0.00,0.000,6,0.074,0.062,2963,2408,3355
$STATE,15865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15865,begin apogee
$GC,15874,-0.22,0.0,996.0,10.5,397,15988,1.08,0.00,109.50,1.503,6,0.166,0.000,3244,2195,2876
$STATE,15989,end apogee,CONTROL_FINISHED_OK
$STATE,15989,begin climb
$GC,15994,0.67,117.3,1000.7,0.0,399,16121,0.90,2.95,118.28,1.452,4,0.079,0.074,3531,3605,2397
$GC,16382,0.24,117.3,981.0,8.7,404,16388,0.55,2.53,0.00,0.000,6,0.179,0.061,3404,2207,2394
$GC,16694,0.26,132.6,966.0,4.6,409,16713,0.00,2.55,14.43,1.371,4,0.000,0.076,3409,783,2335
$GC,16755,0.31,132.6,962.9,5.2,409,16761,0.00,2.38,0.00,0.000,6,0.000,0.060,3409,2205,2334
$GC,17066,0.31,132.6,947.4,5.1,415,17068,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2204,2334
$GC,17370,0.32,137.1,932.6,4.9,420,17381,0.00,2.40,5.72,1.133,4,0.000,0.078,3409,3621,2317
$GC,17416,0.32,137.1,930.0,6.2,420,17420,0.00,2.35,0.00,0.000,6,0.000,0.061,3409,2195,2317
$GC,17733,0.37,140.8,914.5,4.9,426,17740,0.00,0.00,5.15,1.081,6,0.000,0.000,3409,2196,2302
$GC,18037,0.43,151.5,900.3,4.7,431,18051,0.15,0.00,11.30,1.335,6,0.084,0.000,3473,2196,2258
$GC,18339,0.31,151.5,881.4,6.3,436,18341,0.20,0.00,0.00,0.000,6,0.139,0.000,3420,2196,2257
$GC,18641,0.32,159.3,866.9,4.8,441,18652,0.00,0.00,8.68,1.272,6,0.000,0.000,3420,2196,2226
$GC,18946,0.37,163.2,852.2,4.9,446,18956,0.00,2.55,5.20,1.077,4,0.000,0.075,3423,787,2209
$GC,18986,0.44,177.5,850.2,4.6,446,19008,0.12,2.38,14.30,1.341,6,0.084,0.059,3472,2205,2151
$GC,19313,0.35,177.5,828.6,6.7,452,19318,0.15,2.50,0.00,0.000,4,0.139,0.074,3436,779,2150
$GC,19364,0.35,177.5,825.5,5.6,452,19369,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2206,2150
$GC,19677,0.35,177.5,808.8,5.4,457,19678,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2149
$GC,19978,0.35,177.5,792.6,5.3,462,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2149
$GC,20281,0.35,177.5,775.6,5.7,467,20286,0.00,2.55,0.00,0.000,4,0.000,0.076,3436,781,2149
$GC,20328,0.40,177.5,772.7,6.2,467,20333,0.00,2.42,0.00,0.000,6,0.000,0.060,3436,2209,2149
$GC,20644,0.40,177.5,753.1,6.2,473,20645,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2149
$GC,20947,0.40,177.5,733.7,6.4,478,20952,0.00,2.55,0.00,0.000,4,0.000,0.075,3436,784,2149
$GC,20993,0.40,177.5,730.8,6.0,478,20997,0.00,2.40,0.00,0.000,6,0.000,0.058,3436,2200,2149
$GC,21316,0.40,177.5,712.2,5.7,484,21320,0.00,2.53,0.00,0.000,4,0.000,0.074,3436,785,2149
$GC,21355,0.45,177.5,710.0,5.1,484,21360,0.00,2.42,0.00,0.000,6,0.000,0.058,3437,2212,2149
$GC,21678,0.46,181.7,694.1,4.9,490,21687,0.00,2.38,4.95,0.985,4,0.000,0.078,3436,3611,2135
$GC,21712,0.46,181.7,692.3,5.4,490,21716,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2194,2135
$GC,22039,0.46,189.5,676.7,4.8,496,22054,0.00,2.45,8.80,1.177,4,0.000,0.077,3436,792,2103
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$STATE,33193,end climb,SURFACE_DEPTH_REACHED
$STATE,33193,begin surface coast
$FINISH,0.5,1.014071
$STATE,33290,end surface coast,CONTROL_FINISHED_OK
$STATE,33290,begin surface
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$HUMID,2165
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$10V_AH,10.2,94.068
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$DEVICE_SECS,29.725,195.750,411.350,0.000,0.000,54.687,50.565,249.724,244.000,0.000,0.000,13.474,1785.268,28299.846,551.096,2259.513,1067.944,33.404,1673.850,0.000,2236.857,0.000,0.465
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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,50628,854
$CAP_FILE_SIZE,182696,0
$CFSIZE,260165632,204722176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
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