version: 66.03
glider: 120
mission: 9
dive: 695
start: 5 17 109 18 11 51
data:
$ID,120
$MISSION,9
$DIVE,695
$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,-32467.74
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,175631,5009.021,-14446.485,42,1.7,42,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.7
$GPS2,181056,5009.014,-14446.654,13,1.7,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.112,0.138
$KALMAN_X,-141792.6,-14.6,-40.7,174937.3,-1140.0
$KALMAN_Y,148831.0,28.3,34.3,-138649.6,-1840.4
$MHEAD_RNG_PITCHd_Wd,20.4,29810,-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,24,begin dive
$GC,29,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-38.75,0.000,2,0.000,0.000,135,2405,2567
$GC,74,-0.67,-117.3,3.2,-6.5,4,112,14.45,2.60,-18.20,0.000,4,0.275,0.077,3092,983,3356
$GC,212,-0.51,-117.3,20.0,-11.3,15,219,0.22,2.38,0.00,0.000,6,0.145,0.061,3147,2398,3358
$GC,542,-0.51,-117.3,46.2,-7.7,46,548,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2397,3358
$GC,868,-0.51,-117.3,71.6,-7.9,77,873,0.00,2.58,0.00,0.000,4,0.000,0.077,3141,3807,3358
$GC,921,-0.51,-117.3,76.1,-8.3,81,925,0.00,2.42,0.00,0.000,6,0.000,0.050,3141,2384,3358
$GC,1240,-0.51,-117.3,101.3,-7.5,98,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2385,3358
$GC,1548,-0.51,-117.3,121.2,-6.1,113,1553,0.00,2.67,0.00,0.000,4,0.000,0.077,3141,3815,3359
$GC,1577,-0.55,-117.3,123.0,-5.8,114,1581,0.00,2.42,0.00,0.000,6,0.000,0.050,3141,2396,3359
$GC,1895,-0.59,-117.3,138.9,-5.0,129,1900,0.00,2.58,0.00,0.000,4,0.000,0.077,3141,3814,3359
$GC,1924,-0.67,-117.3,140.6,-5.4,130,1929,0.12,2.42,0.00,0.000,6,0.077,0.049,3097,2397,3358
$GC,2250,-0.67,-117.3,160.4,-6.3,143,2255,0.00,2.58,0.00,0.000,4,0.000,0.065,3097,985,3359
$GC,2302,-0.67,-117.3,164.1,-6.6,144,2306,0.00,2.42,0.00,0.000,6,0.000,0.058,3097,2409,3359
$GC,2616,-0.67,-117.3,186.3,-7.1,154,2620,0.00,2.47,0.00,0.000,4,0.000,0.077,3097,3817,3359
$GC,2646,-0.67,-117.3,188.5,-7.6,155,2649,0.00,2.33,0.00,0.000,6,0.000,0.052,3097,2396,3359
$GC,2988,-0.67,-117.3,212.3,-7.0,166,2993,0.00,2.50,0.00,0.000,4,0.000,0.066,3097,984,3358
$GC,3018,-0.67,-117.3,214.6,-7.5,167,3023,0.00,2.42,0.00,0.000,6,0.000,0.059,3097,2404,3358
$GC,3355,-0.67,-117.3,239.7,-7.8,178,3359,0.00,2.47,0.00,0.000,4,0.000,0.077,3097,3808,3359
$GC,3384,-0.67,-117.3,242.1,-8.4,179,3389,0.00,2.35,0.00,0.000,6,0.000,0.051,3097,2389,3358
$GC,3722,-0.67,-117.3,267.3,-7.2,190,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,4027,-0.67,-117.3,288.1,-6.8,200,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,4332,-0.67,-117.3,307.6,-6.3,208,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2390,3358
$GC,4636,-0.67,-117.3,325.9,-6.1,213,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,4938,-0.67,-117.3,344.8,-6.3,218,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,5241,-0.67,-117.3,364.6,-6.5,223,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,5544,-0.67,-117.3,384.4,-6.5,228,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,5848,-0.67,-117.3,403.6,-6.3,233,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2390,3358
$GC,6151,-0.67,-117.3,422.7,-6.3,238,6156,0.00,2.67,0.00,0.000,4,0.000,0.067,3097,995,3357
$GC,6180,-0.67,-117.3,424.9,-7.2,238,6184,0.00,2.42,0.00,0.000,6,0.000,0.059,3096,2400,3357
$GC,6513,-0.67,-117.3,446.5,-6.5,244,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3357
$GC,6816,-0.67,-117.3,466.2,-6.5,249,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3357
$GC,7119,-0.67,-117.3,485.9,-6.5,254,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3357
$GC,7423,-0.67,-117.3,505.6,-6.5,259,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3357
$GC,7725,-0.67,-117.3,524.4,-6.2,264,7729,0.00,2.60,0.00,0.000,4,0.000,0.080,3097,3807,3356
$GC,7753,-0.72,-117.3,526.2,-6.6,264,7758,0.00,2.45,0.00,0.000,6,0.000,0.052,3097,2401,3356
$GC,8087,-0.76,-117.3,545.3,-5.7,270,8091,0.00,2.65,0.00,0.000,4,0.000,0.068,3097,983,3356
$GC,8116,-0.82,-117.3,547.2,-6.1,270,8121,0.15,2.45,0.00,0.000,6,0.083,0.059,3045,2405,3356
$GC,8450,-0.74,-117.3,571.2,-7.3,276,8455,0.12,2.53,0.00,0.000,4,0.099,0.079,3072,3815,3356
$GC,8478,-0.69,-117.3,573.3,-6.9,276,8483,0.00,2.42,0.00,0.000,6,0.000,0.053,3072,2387,3356
$GC,8813,-0.64,-117.3,595.9,-6.8,282,8818,0.12,2.53,0.00,0.000,4,0.148,0.068,3108,987,3356
$GC,8841,-0.64,-117.3,597.9,-6.1,282,8846,0.00,2.45,0.00,0.000,6,0.000,0.061,3108,2398,3356
$GC,9175,-0.71,-117.3,617.3,-5.9,288,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,3356
$GC,9479,-0.77,-117.3,636.0,-6.2,293,9484,0.12,2.50,0.00,0.000,4,0.082,0.068,3061,991,3355
$GC,9513,-0.77,-117.3,638.7,-7.8,293,9518,0.00,2.45,0.00,0.000,6,0.000,0.060,3061,2409,3355
$GC,9842,-0.72,-117.3,663.8,-7.6,299,9846,0.00,2.50,0.00,0.000,4,0.000,0.081,3059,3819,3355
$GC,9887,-0.65,-117.3,667.5,-8.2,299,9892,0.17,2.38,0.00,0.000,6,0.122,0.054,3103,2389,3355
$GC,10205,-0.71,-117.3,686.9,-6.1,305,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2390,3355
$GC,10507,-0.77,-117.3,705.3,-6.1,310,10509,0.12,0.00,0.00,0.000,6,0.082,0.000,3057,2390,3355
$GC,10809,-0.77,-117.3,726.0,-6.9,315,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2390,3355
$GC,11113,-0.77,-117.3,747.3,-7.0,320,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2390,3355
$GC,11416,-0.77,-117.3,768.0,-6.8,325,11420,0.00,2.58,0.00,0.000,4,0.000,0.081,3057,3808,3354
$GC,11444,-0.71,-117.3,770.2,-7.9,325,11449,0.10,2.35,0.00,0.000,6,0.104,0.054,3081,2401,3354
$GC,11778,-0.71,-117.3,791.2,-6.3,331,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2402,3354
$GC,12082,-0.71,-117.3,809.9,-6.2,336,12086,0.00,2.62,0.00,0.000,4,0.000,0.069,3081,996,3354
$GC,12127,-0.71,-117.3,813.0,-6.9,336,12131,0.00,2.45,0.00,0.000,6,0.000,0.062,3081,2400,3354
$GC,12443,-0.71,-117.3,831.0,-5.7,342,12447,0.00,2.53,0.00,0.000,4,0.000,0.083,3081,3809,3354
$GC,12488,-0.71,-117.3,833.7,-6.5,342,12492,0.00,2.35,0.00,0.000,6,0.000,0.054,3081,2402,3354
$GC,12805,-0.71,-117.3,850.4,-5.3,348,12809,0.00,2.50,0.00,0.000,4,0.000,0.070,3081,989,3354
$GC,12839,-0.71,-117.3,852.4,-5.9,348,12843,0.00,2.45,0.00,0.000,6,0.000,0.061,3081,2401,3354
$GC,13166,-0.71,-117.3,868.8,-5.0,354,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,13469,-0.71,-117.3,883.3,-4.8,359,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,13773,-0.71,-117.3,898.1,-5.0,364,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,14075,-0.71,-117.3,913.5,-5.1,369,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3354
$GC,14378,-0.71,-117.3,930.3,-5.5,374,14382,0.00,2.53,0.00,0.000,4,0.000,0.083,3081,3808,3353
$GC,14406,-0.71,-117.3,932.0,-5.7,374,14410,0.00,2.38,0.00,0.000,6,0.000,0.055,3081,2393,3354
$GC,14740,-0.71,-117.3,950.8,-5.6,380,14744,0.00,2.50,0.00,0.000,4,0.000,0.072,3081,986,3353
$GC,14768,-0.71,-117.3,952.7,-6.4,380,14772,0.00,2.47,0.00,0.000,6,0.000,0.062,3081,2407,3353
$GC,15101,-0.71,-117.3,971.4,-5.7,386,15102,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2407,3353
$GC,15404,-0.71,-117.3,989.4,-5.9,391,15405,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2407,3353
$STATE,15461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15461,begin apogee
$GC,15471,-0.22,0.0,993.0,5.9,392,15584,0.55,0.00,109.12,1.503,6,0.133,0.000,3242,2190,2876
$STATE,15585,end apogee,CONTROL_FINISHED_OK
$STATE,15585,begin climb
$GC,15589,0.67,117.3,998.0,0.0,394,15712,0.90,0.00,118.43,1.453,6,0.082,0.000,3526,2189,2397
$GC,16021,0.35,117.3,980.6,6.8,401,16023,0.38,0.00,0.00,0.000,6,0.167,0.000,3433,2189,2394
$GC,16320,0.31,126.0,965.9,4.8,406,16331,0.00,0.00,8.88,1.279,6,0.000,0.000,3433,2189,2362
$GC,16623,0.26,126.0,950.1,5.2,411,16625,0.12,0.00,0.00,0.000,6,0.183,0.000,3403,2189,2361
$GC,16926,0.31,127.9,935.0,4.9,416,16927,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2189,2361
$GC,17230,0.35,127.9,919.5,5.2,421,17231,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2190,2360
$GC,17533,0.39,127.9,903.6,5.2,426,17535,0.12,0.00,0.00,0.000,6,0.081,0.000,3452,2189,2361
$GC,17835,0.30,127.9,884.8,6.2,431,17837,0.15,0.00,0.00,0.000,6,0.150,0.000,3414,2189,2360
$GC,18140,0.30,128.6,869.5,5.0,436,18146,0.00,0.00,4.10,0.937,6,0.000,0.000,3414,2189,2350
$GC,18442,0.33,148.0,856.0,4.4,441,18463,0.00,0.00,18.55,1.384,6,0.000,0.000,3414,2189,2272
$GC,18745,0.41,177.6,843.2,4.2,446,18780,0.12,2.62,27.02,1.391,4,0.082,0.079,3464,3613,2150
$GC,18804,0.28,177.6,839.8,6.1,446,18811,0.22,2.47,0.00,0.000,6,0.166,0.061,3408,2199,2149
$GC,19116,0.40,195.4,825.7,4.5,452,19141,0.12,2.55,17.10,1.348,4,0.083,0.077,3456,790,2078
$GC,19170,0.40,195.4,822.6,6.0,452,19174,0.00,2.38,0.00,0.000,6,0.000,0.061,3455,2209,2078
$GC,19481,0.40,195.4,801.6,6.9,457,19485,0.00,2.47,0.00,0.000,4,0.000,0.077,3463,783,2075
$GC,19539,0.40,195.4,797.3,6.9,457,19545,0.00,2.38,0.00,0.000,6,0.000,0.061,3463,2211,2076
$GC,19850,0.40,195.4,772.9,7.9,463,19851,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2210,2075
$GC,20153,0.40,195.4,749.7,7.6,468,20157,0.00,2.50,0.00,0.000,4,0.000,0.077,3462,781,2075
$GC,20222,0.40,195.4,744.5,7.4,469,20226,0.00,2.40,0.00,0.000,6,0.000,0.060,3463,2209,2075
$GC,20584,0.40,195.4,718.0,7.3,475,20588,0.00,2.50,0.00,0.000,4,0.000,0.076,3463,787,2074
$GC,20629,0.40,195.4,714.7,7.2,475,20633,0.00,2.40,0.00,0.000,6,0.000,0.058,3463,2210,2075
$GC,20945,0.40,195.4,693.3,6.8,481,20946,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2209,2074
$GC,21249,0.40,195.4,673.9,6.3,486,21253,0.00,2.42,0.00,0.000,4,0.000,0.080,3463,3610,2074
$GC,21277,0.32,195.4,672.0,6.8,486,21282,0.17,2.38,0.00,0.000,6,0.166,0.060,3422,2189,2074
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$STATE,32741,end climb,SURFACE_DEPTH_REACHED
$STATE,32741,begin surface coast
$FINISH,3.4,1.025504
$STATE,32792,end surface coast,CONTROL_FINISHED_OK
$STATE,32792,begin surface
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$10V_AH,10.3,94.212
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$DATA_FILE_SIZE,50555,857
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