version: 66.03
glider: 120
mission: 9
dive: 731
start: 5 31 109 8 37 19
data:
$ID,120
$MISSION,9
$DIVE,731
$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,-33355.996
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,082912,4953.011,-14512.338,70,1.9,82,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-76.1
$GPS2,083622,4953.037,-14512.323,13,2.3,32,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,0.101
$KALMAN_X,-153137.5,-79.2,31.4,155758.7,-256.6
$KALMAN_Y,149026.0,-198.7,-160.1,-167997.0,1803.5
$MHEAD_RNG_PITCHd_Wd,36.9,36962,-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,-39.97,0.000,2,0.000,0.000,139,2412,2818
$GC,75,-0.67,-117.3,3.9,-7.1,4,108,13.73,2.45,-10.07,0.000,4,0.279,0.092,3095,3802,3358
$GC,227,-0.52,-117.3,26.4,-10.4,17,232,0.20,2.38,0.00,0.000,6,0.150,0.051,3150,2397,3359
$GC,559,-0.52,-117.3,50.6,-7.2,47,563,0.00,2.55,0.00,0.000,4,0.000,0.066,3150,987,3360
$GC,611,-0.56,-117.3,55.1,-8.2,51,616,0.00,2.42,0.00,0.000,6,0.000,0.058,3150,2396,3360
$GC,938,-0.56,-117.3,78.2,-7.0,81,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2395,3361
$GC,1259,-0.60,-117.3,100.1,-6.7,98,1263,0.00,2.47,0.00,0.000,4,0.000,0.066,3150,993,3361
$GC,1300,-0.65,-117.3,103.0,-7.1,99,1307,0.15,2.42,0.00,0.000,6,0.072,0.058,3096,2404,3360
$GC,1618,-0.60,-117.3,127.8,-7.3,115,1622,0.00,2.47,0.00,0.000,4,0.000,0.077,3096,3811,3361
$GC,1648,-0.52,-117.3,130.3,-8.8,116,1653,0.20,2.35,0.00,0.000,6,0.126,0.050,3150,2399,3361
$GC,1965,-0.61,-117.3,151.2,-6.2,131,1970,0.00,2.58,0.00,0.000,4,0.000,0.066,3150,990,3361
$GC,2011,-0.73,-117.3,154.6,-7.1,132,2016,0.22,2.47,0.00,0.000,6,0.071,0.058,3070,2401,3361
$GC,2332,-0.67,-117.3,180.1,-7.9,143,2337,0.12,2.60,0.00,0.000,4,0.094,0.075,3099,3806,3361
$GC,2400,-0.67,-117.3,185.7,-8.1,145,2404,0.00,2.38,0.00,0.000,6,0.000,0.050,3099,2402,3361
$GC,2732,-0.67,-117.3,208.9,-7.0,156,2736,0.00,2.67,0.00,0.000,4,0.000,0.065,3099,987,3360
$GC,2771,-0.67,-117.3,212.1,-7.8,157,2775,0.00,2.47,0.00,0.000,6,0.000,0.059,3099,2406,3360
$GC,3096,-0.67,-117.3,234.8,-7.2,168,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3361
$GC,3402,-0.67,-117.3,258.2,-7.9,178,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3361
$GC,3709,-0.67,-117.3,282.0,-7.7,188,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3360
$GC,4044,-0.67,-117.3,306.0,-7.0,198,4049,0.00,2.67,0.00,0.000,4,0.000,0.066,3099,992,3360
$GC,4079,-0.67,-117.3,308.6,-7.1,198,4083,0.00,2.45,0.00,0.000,6,0.000,0.060,3099,2399,3360
$GC,4406,-0.67,-117.3,330.9,-6.8,204,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3360
$GC,4710,-0.67,-117.3,351.7,-6.8,209,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3360
$GC,5012,-0.67,-117.3,373.0,-7.1,214,5016,0.00,2.70,0.00,0.000,4,0.000,0.067,3099,988,3359
$GC,5046,-0.67,-117.3,375.6,-7.6,214,5050,0.00,2.50,0.00,0.000,6,0.000,0.060,3099,2408,3359
$GC,5373,-0.67,-117.3,396.9,-6.4,220,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3359
$GC,5677,-0.67,-117.3,414.3,-5.7,225,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3359
$GC,5979,-0.67,-117.3,430.8,-5.4,230,5983,0.00,2.67,0.00,0.000,4,0.000,0.067,3099,994,3359
$GC,6013,-0.67,-117.3,432.9,-5.4,230,6017,0.00,2.47,0.00,0.000,6,0.000,0.061,3099,2404,3359
$GC,6340,-0.67,-117.3,450.2,-5.3,236,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3359
$GC,6643,-0.67,-117.3,468.1,-5.9,241,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,6947,-0.67,-117.3,486.3,-6.1,246,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7249,-0.67,-117.3,504.5,-6.0,251,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7553,-0.67,-117.3,521.8,-5.7,256,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,7855,-0.67,-117.3,538.8,-5.6,261,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,8159,-0.67,-117.3,554.7,-5.3,266,8163,0.00,2.67,0.00,0.000,4,0.000,0.068,3099,994,3358
$GC,8193,-0.67,-117.3,556.7,-5.9,266,8198,0.00,2.50,0.00,0.000,6,0.000,0.061,3099,2410,3357
$GC,8521,-0.67,-117.3,576.0,-5.9,272,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3358
$GC,8824,-0.67,-117.3,593.3,-5.7,277,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3358
$GC,9127,-0.67,-117.3,610.9,-5.8,282,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3357
$GC,9431,-0.67,-117.3,628.7,-5.9,287,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2409,3357
$GC,9734,-0.71,-117.3,646.6,-5.9,292,9739,0.00,2.67,0.00,0.000,4,0.000,0.069,3099,994,3357
$GC,9769,-0.75,-117.3,648.9,-6.4,292,9774,0.00,2.58,0.00,0.000,6,0.000,0.060,3099,2399,3357
$GC,10098,-0.79,-117.3,667.9,-5.8,298,10099,0.12,0.00,0.00,0.000,6,0.087,0.000,3049,2398,3356
$GC,10402,-0.75,-117.3,689.0,-6.9,303,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2398,3357
$GC,10704,-0.75,-117.3,710.9,-7.2,308,10708,0.00,2.67,0.00,0.000,4,0.000,0.068,3049,988,3356
$GC,10738,-0.70,-117.3,713.7,-8.4,308,10743,0.15,2.50,0.00,0.000,6,0.122,0.061,3088,2405,3356
$GC,11067,-0.70,-117.3,736.0,-6.8,314,11071,0.00,2.55,0.00,0.000,4,0.000,0.081,3085,3810,3356
$GC,11095,-0.70,-117.3,738.1,-7.0,314,11099,0.00,2.42,0.00,0.000,6,0.000,0.053,3085,2401,3356
$GC,11428,-0.70,-117.3,760.4,-6.7,320,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3356
$GC,11731,-0.70,-117.3,779.0,-6.1,325,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3356
$GC,12035,-0.70,-117.3,797.1,-6.0,330,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3356
$GC,12337,-0.70,-117.3,815.6,-6.1,335,12342,0.00,2.80,0.00,0.000,4,0.000,0.079,3086,3814,3356
$GC,12365,-0.70,-117.3,817.5,-7.1,335,12370,0.00,2.50,0.00,0.000,6,0.000,0.053,3085,2393,3356
$GC,12699,-0.70,-117.3,837.5,-5.9,341,12703,0.00,2.65,0.00,0.000,4,0.000,0.068,3085,990,3356
$GC,12739,-0.70,-117.3,840.0,-6.1,341,12743,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2401,3355
$GC,13061,-0.70,-117.3,857.9,-5.5,347,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,13365,-0.70,-117.3,873.1,-5.0,352,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,13667,-0.70,-117.3,887.5,-4.7,357,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,13971,-0.70,-117.3,901.2,-4.5,362,13976,0.00,2.58,0.00,0.000,4,0.000,0.082,3085,3810,3355
$GC,14001,-0.75,-117.3,902.7,-4.3,362,14005,0.00,2.45,0.00,0.000,6,0.000,0.054,3085,2397,3355
$GC,14334,-0.75,-117.3,919.0,-5.0,368,14339,0.00,2.70,0.00,0.000,4,0.000,0.069,3085,985,3355
$GC,14369,-0.75,-117.3,920.9,-5.2,368,14373,0.00,2.50,0.00,0.000,6,0.000,0.061,3085,2404,3355
$GC,14697,-0.75,-117.3,938.2,-5.3,374,14702,0.00,2.53,0.00,0.000,4,0.000,0.081,3085,3808,3354
$GC,14732,-0.80,-117.3,940.2,-5.5,374,14736,0.00,2.38,0.00,0.000,6,0.000,0.054,3085,2392,3354
$GC,15060,-1.00,-117.3,962.5,-7.1,380,15066,0.25,2.70,0.00,0.000,4,0.086,0.078,2990,3817,3354
$GC,15260,-0.77,-117.3,981.9,-10.1,383,15265,0.30,2.47,0.00,0.000,6,0.156,0.055,3066,2397,3354
$STATE,15381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15381,begin apogee
$GC,15390,-0.22,0.0,991.3,7.3,385,15505,0.57,0.00,111.88,1.489,6,0.132,0.000,3240,2196,2876
$STATE,15506,end apogee,CONTROL_FINISHED_OK
$STATE,15506,begin climb
$GC,15511,0.67,117.3,997.0,0.0,387,15635,0.93,0.00,120.50,1.437,6,0.084,0.000,3526,2196,2397
$GC,15938,0.35,117.3,981.4,6.6,394,15940,0.38,0.00,0.00,0.000,6,0.170,0.000,3436,2196,2394
$GC,16241,0.31,129.0,967.1,4.7,399,16260,0.00,2.75,12.38,1.315,4,0.000,0.076,3436,3604,2349
$GC,16310,0.19,129.0,963.4,6.3,400,16316,0.25,2.67,0.00,0.000,6,0.175,0.059,3381,2204,2349
$GC,16678,0.35,168.2,948.8,3.9,406,16724,0.15,2.88,39.12,1.420,4,0.078,0.074,3449,782,2190
$GC,16760,0.35,168.2,944.2,6.1,407,16764,0.00,2.67,0.00,0.000,6,0.000,0.057,3449,2199,2188
$GC,17104,0.31,168.2,921.5,6.6,413,17106,0.12,0.00,0.00,0.000,6,0.160,0.000,3421,2198,2186
$GC,17407,0.35,168.2,904.0,5.7,418,17412,0.00,2.72,0.00,0.000,4,0.000,0.074,3421,776,2186
$GC,17437,0.40,168.2,902.3,5.0,418,17442,0.00,2.58,0.00,0.000,6,0.000,0.058,3421,2200,2186
$GC,17771,0.45,168.2,883.3,5.7,424,17776,0.12,2.55,0.00,0.000,4,0.084,0.076,3473,3609,2185
$GC,17806,0.26,168.2,880.6,6.5,424,17811,0.30,2.47,0.00,0.000,6,0.166,0.060,3403,2192,2185
$GC,18135,0.36,168.2,863.0,5.3,430,18139,0.00,2.58,0.00,0.000,4,0.000,0.075,3408,784,2185
$GC,18186,0.47,168.2,860.0,5.7,430,18191,0.17,2.50,0.00,0.000,6,0.077,0.058,3473,2203,2185
$GC,18498,0.36,168.2,837.2,7.4,435,18503,0.15,2.62,0.00,0.000,4,0.142,0.074,3436,788,2185
$GC,18544,0.36,168.2,833.9,6.9,435,18549,0.00,2.47,0.00,0.000,6,0.000,0.058,3436,2203,2185
$GC,18861,0.36,168.2,813.8,6.4,441,18862,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2185
$GC,19164,0.36,168.2,795.8,5.8,446,19168,0.00,2.60,0.00,0.000,4,0.000,0.076,3436,775,2185
$GC,19198,0.36,168.2,793.8,5.7,446,19202,0.00,2.47,0.00,0.000,6,0.000,0.058,3436,2199,2184
$GC,19526,0.36,168.2,775.9,5.5,452,19528,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2185
$GC,19829,0.36,168.2,759.6,5.4,457,19830,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2185
$GC,20132,0.36,168.2,743.2,5.4,462,20133,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2184
$GC,20435,0.36,168.2,725.7,5.8,467,20439,0.00,2.65,0.00,0.000,4,0.000,0.075,3436,778,2184
$GC,20475,0.36,168.2,723.4,6.4,467,20479,0.00,2.47,0.00,0.000,6,0.000,0.058,3436,2206,2184
$GC,20797,0.36,168.2,704.3,5.9,473,20798,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2184
$GC,21100,0.36,168.2,687.4,5.6,478,21104,0.00,2.62,0.00,0.000,4,0.000,0.076,3436,781,2184
$GC,21151,0.41,168.2,684.4,5.8,478,21155,0.00,2.47,0.00,0.000,6,0.000,0.058,3436,2211,2184
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$STATE,32221,end climb,SURFACE_DEPTH_REACHED
$STATE,32221,begin surface coast
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$STATE,32380,end surface coast,CONTROL_FINISHED_OK
$STATE,32380,begin surface
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$DATA_FILE_SIZE,50572,846
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