version: 66.03
glider: 120
mission: 9
dive: 734
start: 6 1 109 12 20 18
data:
$ID,120
$MISSION,9
$DIVE,734
$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,-33434.703
$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,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
$GPS1,121037,4959.017,-14500.762,71,0.9,71,18.4
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-77.3
$GPS2,121920,4959.074,-14500.756,16,1.9,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,0.139
$KALMAN_X,-155624.2,-202.6,66.9,172086.8,-571.7
$KALMAN_Y,146205.4,-23.5,-116.8,-154217.0,-466.9
$MHEAD_RNG_PITCHd_Wd,20.0,19529,-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,29,-0.67,-117.3,0.0,0.0,0,66,0.00,0.00,-35.12,0.000,2,0.000,0.000,139,2399,2656
$GC,70,-0.67,-117.3,3.3,-5.0,4,105,13.82,2.70,-14.85,0.000,4,0.275,0.090,3094,3815,3357
$GC,267,-0.52,-117.3,28.1,-9.9,21,273,0.20,2.47,0.00,0.000,6,0.146,0.051,3149,2389,3359
$GC,597,-0.52,-117.3,50.9,-6.8,51,601,0.00,2.55,0.00,0.000,4,0.000,0.066,3149,993,3360
$GC,631,-0.52,-117.3,53.6,-7.1,53,637,0.00,2.40,0.00,0.000,6,0.000,0.058,3149,2400,3360
$GC,960,-0.52,-117.3,76.7,-7.0,84,965,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2399,3361
$GC,1278,-0.52,-117.3,99.8,-7.3,102,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2399,3361
$GC,1588,-0.57,-117.3,123.1,-7.2,117,1592,0.00,2.60,0.00,0.000,4,0.000,0.079,3149,3808,3361
$GC,1618,-0.64,-117.3,125.2,-6.9,118,1623,0.12,2.42,0.00,0.000,6,0.073,0.050,3102,2400,3361
$GC,1935,-0.64,-117.3,148.4,-7.0,133,1939,0.00,2.60,0.00,0.000,4,0.000,0.075,3102,3811,3360
$GC,1963,-0.64,-117.3,150.7,-7.7,134,1967,0.00,2.42,0.00,0.000,6,0.000,0.050,3101,2391,3360
$GC,2278,-0.64,-117.3,171.6,-6.6,144,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2392,3361
$GC,2583,-0.64,-117.3,190.4,-6.0,154,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2392,3361
$GC,2889,-0.64,-117.3,208.5,-6.1,164,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2392,3361
$GC,3196,-0.64,-117.3,226.4,-5.7,174,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2392,3361
$GC,3503,-0.64,-117.3,242.8,-5.3,184,3507,0.00,2.62,0.00,0.000,4,0.000,0.077,3101,3808,3360
$GC,3538,-0.64,-117.3,244.8,-5.9,185,3542,0.00,2.42,0.00,0.000,6,0.000,0.051,3101,2401,3360
$GC,3868,-0.64,-117.3,262.1,-5.3,196,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3360
$GC,4176,-0.68,-117.3,279.5,-5.7,206,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3360
$GC,4481,-0.68,-117.3,296.6,-5.5,216,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2402,3360
$GC,4784,-0.68,-117.3,313.9,-5.7,222,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2403,3360
$GC,5088,-0.72,-117.3,331.7,-5.8,227,5092,0.00,2.62,0.00,0.000,4,0.000,0.077,3101,3805,3360
$GC,5122,-0.72,-117.3,334.0,-6.7,227,5126,0.00,2.45,0.00,0.000,6,0.000,0.051,3101,2403,3360
$GC,5450,-0.77,-117.3,353.6,-6.0,233,5455,0.00,2.65,0.00,0.000,4,0.000,0.067,3103,991,3360
$GC,5491,-0.85,-117.3,356.2,-6.5,233,5496,0.20,2.45,0.00,0.000,6,0.077,0.059,3032,2408,3359
$GC,5813,-0.66,-117.3,385.6,-9.4,239,5818,0.20,2.53,0.00,0.000,4,0.152,0.077,3086,3810,3359
$GC,5859,-0.66,-117.3,389.4,-8.1,239,5864,0.00,2.40,0.00,0.000,6,0.000,0.052,3086,2398,3358
$GC,6176,-0.66,-117.3,413.0,-7.5,245,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,6479,-0.66,-117.3,435.3,-7.3,250,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3359
$GC,6783,-0.66,-117.3,456.4,-6.9,255,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3358
$GC,7086,-0.66,-117.3,476.3,-6.5,260,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3358
$GC,7388,-0.66,-117.3,495.4,-6.4,265,7393,0.00,2.67,0.00,0.000,4,0.000,0.079,3086,3816,3358
$GC,7423,-0.66,-117.3,497.7,-7.0,265,7427,0.00,2.47,0.00,0.000,6,0.000,0.052,3086,2396,3358
$GC,7750,-0.66,-117.3,520.2,-7.0,271,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3358
$GC,8054,-0.66,-117.3,542.2,-7.3,276,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3358
$GC,8356,-0.66,-117.3,563.5,-6.9,281,8361,0.00,2.67,0.00,0.000,4,0.000,0.079,3086,3814,3357
$GC,8391,-0.66,-117.3,565.8,-7.0,281,8395,0.00,2.47,0.00,0.000,6,0.000,0.052,3086,2399,3357
$GC,8719,-0.66,-117.3,587.8,-6.7,287,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,9022,-0.66,-117.3,607.1,-6.3,292,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3358
$GC,9324,-0.66,-117.3,624.4,-5.7,297,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,9628,-0.66,-117.3,641.5,-5.6,302,9632,0.00,2.67,0.00,0.000,4,0.000,0.080,3086,3811,3357
$GC,9662,-0.66,-117.3,643.7,-6.6,302,9666,0.00,2.47,0.00,0.000,6,0.000,0.053,3086,2402,3357
$GC,9990,-0.66,-117.3,662.9,-5.9,308,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3357
$GC,10293,-0.66,-117.3,681.0,-5.9,313,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3357
$GC,10597,-0.66,-117.3,698.7,-5.8,318,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,10899,-0.66,-117.3,716.1,-5.8,323,10903,0.00,2.65,0.00,0.000,4,0.000,0.068,3086,985,3356
$GC,10927,-0.66,-117.3,718.0,-6.6,323,10931,0.00,2.45,0.00,0.000,6,0.000,0.061,3086,2404,3356
$GC,11261,-0.66,-117.3,737.6,-6.0,329,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,11563,-0.66,-117.3,755.4,-5.8,334,11567,0.00,2.58,0.00,0.000,4,0.000,0.081,3086,3810,3356
$GC,11614,-0.71,-117.3,758.6,-6.3,334,11618,0.00,2.42,0.00,0.000,6,0.000,0.053,3086,2399,3356
$GC,11925,-0.71,-117.3,776.5,-5.8,339,11930,0.00,2.62,0.00,0.000,4,0.000,0.069,3086,984,3356
$GC,11955,-0.75,-117.3,778.3,-6.3,339,11960,0.00,2.47,0.00,0.000,6,0.000,0.061,3086,2408,3356
$GC,12289,-0.75,-117.3,798.1,-6.0,345,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,12592,-0.75,-117.3,816.0,-5.8,350,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,12895,-0.75,-117.3,834.1,-6.0,355,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,13199,-0.75,-117.3,851.7,-5.8,360,13200,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,13501,-0.75,-117.3,868.5,-5.5,365,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3356
$GC,13804,-0.75,-117.3,884.8,-5.4,370,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,14107,-0.75,-117.3,900.0,-5.0,375,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,14410,-0.75,-117.3,915.2,-5.1,380,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,14714,-0.75,-117.3,931.4,-5.3,385,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,15017,-0.75,-117.3,948.9,-5.8,390,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,15320,-0.75,-117.3,967.8,-6.3,395,15321,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$GC,15623,-0.75,-117.3,986.4,-6.2,400,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$STATE,15679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15679,begin apogee
$GC,15689,-0.22,0.0,990.2,6.1,401,15805,0.55,0.00,113.38,1.484,6,0.135,0.000,3248,2197,2876
$STATE,15806,end apogee,CONTROL_FINISHED_OK
$STATE,15806,begin climb
$GC,15811,0.67,117.3,996.1,0.0,403,15936,0.90,0.00,121.00,1.437,6,0.079,0.000,3529,2198,2397
$GC,16243,0.35,117.3,981.4,6.4,410,16248,0.38,2.83,0.00,0.000,4,0.165,0.071,3442,794,2394
$GC,16290,0.31,132.8,978.7,4.6,410,16312,0.00,2.60,16.20,1.338,6,0.000,0.058,3442,2197,2334
$GC,16677,0.24,133.5,960.0,5.0,417,16679,0.17,0.00,0.00,0.000,6,0.159,0.000,3401,2196,2332
$GC,16978,0.35,171.9,947.9,3.9,422,17020,0.00,0.00,39.92,1.417,6,0.000,0.000,3401,2196,2175
$GC,17282,0.47,184.3,934.0,4.6,427,17298,0.20,0.00,14.10,1.324,6,0.069,0.000,3474,2196,2123
$GC,17583,0.37,184.3,912.5,7.3,432,17585,0.15,0.00,0.00,0.000,6,0.136,0.000,3437,2196,2120
$GC,17886,0.37,184.3,894.1,6.0,437,17890,0.00,2.78,0.00,0.000,4,0.000,0.074,3437,793,2120
$GC,17926,0.37,184.3,891.7,5.8,437,17931,0.00,2.60,0.00,0.000,6,0.000,0.058,3437,2209,2120
$GC,18248,0.37,184.3,872.2,6.1,443,18249,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2119
$GC,18551,0.37,184.3,852.8,6.4,448,18552,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2119
$GC,18854,0.37,184.3,833.0,6.5,453,18858,0.00,2.70,0.00,0.000,4,0.000,0.074,3437,789,2119
$GC,18919,0.42,184.3,828.8,6.5,454,18923,0.00,2.53,0.00,0.000,6,0.000,0.059,3437,2206,2119
$GC,19285,0.42,184.3,804.6,6.6,460,19286,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2205,2119
$GC,19588,0.42,184.3,784.3,6.7,465,19593,0.00,2.62,0.00,0.000,4,0.000,0.075,3437,784,2118
$GC,19624,0.46,184.3,781.9,6.8,465,19629,0.00,2.50,0.00,0.000,6,0.000,0.058,3437,2210,2118
$GC,19951,0.46,184.3,758.5,7.1,471,19953,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2118
$GC,20255,0.46,184.3,736.6,7.2,476,20256,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2118
$GC,20557,0.46,184.3,713.3,7.7,481,20559,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2208,2119
$GC,20861,0.46,184.3,690.1,7.7,486,20865,0.00,2.58,0.00,0.000,4,0.000,0.075,3437,793,2118
$GC,20907,0.52,184.3,686.8,7.7,486,20912,0.15,2.45,0.00,0.000,6,0.080,0.059,3493,2199,2118
$GC,21224,0.40,184.3,659.2,8.8,492,21229,0.15,2.55,0.00,0.000,4,0.146,0.077,3446,3616,2118
$GC,21264,0.35,184.3,655.8,7.7,492,21268,0.00,2.42,0.00,0.000,6,0.000,0.061,3449,2202,2118
$GC,21587,0.35,184.3,634.1,6.7,498,21588,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2118
$GC,21889,0.35,184.3,615.8,5.9,503,21893,0.00,2.58,0.00,0.000,4,0.000,0.076,3449,780,2118
$GC,21928,0.35,184.3,613.5,6.2,503,21933,0.00,2.47,0.00,0.000,6,0.000,0.058,3449,2215,2118
$GC,22252,0.35,184.3,596.0,5.4,509,22253,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2214,2118
$GC,22554,0.35,184.3,579.2,5.6,514,22555,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2214,2118
$GC,22857,0.35,184.3,561.8,5.8,519,22861,0.00,2.62,0.00,0.000,4,0.000,0.074,3449,786,2118
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$STATE,32241,end climb,SURFACE_DEPTH_REACHED
$STATE,32241,begin surface coast
$FINISH,0.5,1.016660
$STATE,32370,end surface coast,CONTROL_FINISHED_OK
$STATE,32373,begin surface
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$10V_AH,10.3,99.614
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$DEVICE_SECS,29.325,197.000,383.400,2.950,0.000,26.341,29.728,276.403,236.000,0.000,0.000,16.626,1766.034,27326.350,535.191,2224.166,1066.720,33.380,1632.660,0.000,2195.668,0.000,0.465
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$DATA_FILE_SIZE,50600,852
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