version: 66.03
glider: 120
mission: 9
dive: 739
start: 6 3 109 9 40 33
data:
$ID,120
$MISSION,9
$DIVE,739
$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,-33500.496
$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,19
$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
$GPS1,093237,5010.777,-14447.667,28,1.9,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-78.1
$GPS2,093938,5010.791,-14447.722,14,1.8,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.134,0.117
$KALMAN_X,-161011.3,108.3,-16.5,192738.4,-1966.7
$KALMAN_Y,141201.2,131.8,325.8,-128127.5,-1664.3
$MHEAD_RNG_PITCHd_Wd,30.3,28373,-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,-39.90,0.000,2,0.000,0.000,139,2401,2807
$GC,75,-0.67,-117.3,3.7,-5.9,4,108,15.18,2.60,-10.23,0.000,4,0.272,0.089,3085,3812,3357
$GC,306,-0.46,-117.3,37.2,-10.8,24,313,0.30,2.47,0.00,0.000,6,0.140,0.051,3163,2398,3359
$GC,639,-0.51,-117.3,59.7,-7.2,55,643,0.00,2.58,0.00,0.000,4,0.000,0.065,3163,985,3360
$GC,692,-0.61,-117.3,63.8,-6.8,59,697,0.15,2.55,0.00,0.000,6,0.071,0.057,3112,2399,3360
$GC,1026,-0.61,-117.3,90.3,-8.0,84,1030,0.00,2.60,0.00,0.000,4,0.000,0.075,3112,3817,3361
$GC,1105,-0.55,-117.3,97.3,-8.6,87,1112,0.00,2.45,0.00,0.000,6,0.000,0.050,3112,2395,3361
$GC,1423,-0.51,-117.3,121.7,-7.5,103,1428,0.15,2.60,0.00,0.000,4,0.120,0.064,3158,983,3361
$GC,1467,-0.59,-117.3,124.8,-6.8,105,1472,0.00,2.58,0.00,0.000,6,0.000,0.056,3155,2403,3362
$GC,1796,-0.89,-117.3,151.3,-8.4,121,1801,0.35,2.60,0.00,0.000,4,0.078,0.073,3032,3815,3361
$GC,1953,-0.66,-117.3,168.3,-12.0,125,1958,0.25,2.45,0.00,0.000,6,0.146,0.051,3101,2393,3361
$GC,2267,-0.66,-117.3,195.6,-8.4,135,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,3361
$GC,2573,-0.66,-117.3,220.1,-7.8,145,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,3362
$GC,2880,-0.66,-117.3,242.9,-7.3,155,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,3361
$GC,3185,-0.66,-117.3,263.6,-6.6,165,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,3361
$GC,3492,-0.66,-117.3,282.4,-6.0,175,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,3361
$GC,3828,-0.66,-117.3,303.9,-6.5,185,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,3361
$GC,4131,-0.66,-117.3,323.3,-6.4,190,4135,0.00,2.58,0.00,0.000,4,0.000,0.067,3101,989,3360
$GC,4168,-0.66,-117.3,325.5,-6.2,190,4172,0.00,2.55,0.00,0.000,6,0.000,0.058,3100,2401,3361
$GC,4495,-0.66,-117.3,345.3,-6.0,196,4500,0.00,2.60,0.00,0.000,4,0.000,0.078,3100,3808,3360
$GC,4530,-0.66,-117.3,347.4,-6.4,196,4534,0.00,2.42,0.00,0.000,6,0.000,0.051,3099,2400,3360
$GC,4858,-0.66,-117.3,367.4,-6.1,202,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3360
$GC,5161,-0.66,-117.3,384.3,-5.6,207,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3360
$GC,5463,-0.66,-117.3,400.4,-5.3,212,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3360
$GC,5767,-0.66,-117.3,417.5,-5.7,217,5771,0.00,2.65,0.00,0.000,4,0.000,0.079,3099,3814,3359
$GC,5795,-0.66,-117.3,419.2,-6.1,217,5799,0.00,2.45,0.00,0.000,6,0.000,0.051,3099,2394,3359
$GC,6129,-0.66,-117.3,439.9,-6.4,223,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3359
$GC,6433,-0.66,-117.3,461.2,-7.1,228,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3359
$GC,6734,-0.66,-117.3,483.4,-7.3,233,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3359
$GC,7037,-0.66,-117.3,505.0,-7.1,238,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3358
$GC,7340,-0.66,-117.3,525.1,-6.6,243,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2396,3358
$GC,7644,-0.66,-117.3,543.7,-6.1,248,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2396,3358
$GC,7946,-0.66,-117.3,560.9,-5.6,253,7951,0.00,2.58,0.00,0.000,4,0.000,0.068,3100,994,3358
$GC,7981,-0.66,-117.3,563.0,-6.0,253,7985,0.00,2.55,0.00,0.000,6,0.000,0.060,3099,2410,3358
$GC,8308,-0.66,-117.3,580.8,-5.4,259,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3358
$GC,8612,-0.66,-117.3,598.9,-6.0,264,8617,0.00,2.62,0.00,0.000,4,0.000,0.068,3099,986,3358
$GC,8647,-0.66,-117.3,601.1,-6.1,264,8651,0.00,2.55,0.00,0.000,6,0.000,0.060,3099,2401,3358
$GC,8974,-0.66,-117.3,621.1,-6.0,270,8979,0.00,2.60,0.00,0.000,4,0.000,0.081,3099,3808,3358
$GC,9004,-0.71,-117.3,622.9,-6.4,270,9008,0.00,2.42,0.00,0.000,6,0.000,0.052,3100,2394,3358
$GC,9338,-0.92,-117.3,644.2,-6.6,276,9343,0.20,2.58,0.00,0.000,4,0.084,0.067,3026,993,3357
$GC,9511,-0.80,-117.3,657.8,-8.7,278,9516,0.12,2.55,0.00,0.000,6,0.137,0.060,3056,2409,3357
$GC,9840,-0.72,-117.3,682.6,-7.5,284,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2409,3357
$GC,10142,-0.63,-117.3,705.6,-7.6,289,10144,0.20,0.00,0.00,0.000,6,0.160,0.000,3109,2408,3357
$GC,10445,-0.79,-117.3,723.9,-6.1,294,10450,0.15,2.65,0.00,0.000,4,0.081,0.067,3053,985,3357
$GC,10525,-0.79,-117.3,729.7,-7.1,295,10530,0.00,2.55,0.00,0.000,6,0.000,0.060,3053,2401,3357
$GC,10876,-0.91,-117.3,754.4,-7.1,301,10880,0.00,2.62,0.00,0.000,4,0.000,0.068,3053,985,3357
$GC,10984,-0.91,-117.3,762.2,-7.0,302,10988,0.00,2.58,0.00,0.000,6,0.000,0.061,3053,2409,3356
$GC,11307,-1.04,-117.3,784.2,-7.0,308,11312,0.20,2.65,0.00,0.000,4,0.080,0.068,2985,990,3356
$GC,11561,-0.78,-117.3,809.4,-10.5,311,11566,0.30,2.58,0.00,0.000,6,0.158,0.062,3060,2409,3356
$GC,11872,-0.72,-117.3,831.1,-6.8,316,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2408,3356
$GC,12175,-0.67,-117.3,851.2,-6.6,321,12177,0.15,0.00,0.00,0.000,6,0.156,0.000,3101,2408,3356
$GC,12478,-0.74,-117.3,868.0,-5.6,326,12483,0.00,2.62,0.00,0.000,4,0.000,0.070,3101,994,3356
$GC,12509,-0.83,-117.3,869.8,-6.2,326,12514,0.15,2.55,0.00,0.000,6,0.076,0.060,3050,2405,3356
$GC,12842,-0.83,-117.3,889.7,-5.9,332,12846,0.00,2.60,0.00,0.000,4,0.000,0.080,3049,3817,3356
$GC,12909,-0.83,-117.3,894.2,-7.0,333,12913,0.00,2.45,0.00,0.000,6,0.000,0.054,3049,2401,3355
$GC,13272,-0.83,-117.3,915.1,-5.7,339,13276,0.00,2.58,0.00,0.000,4,0.000,0.071,3054,994,3356
$GC,13311,-0.83,-117.3,917.7,-6.0,339,13316,0.00,2.53,0.00,0.000,6,0.000,0.061,3054,2399,3355
$GC,13633,-0.83,-117.3,937.6,-6.2,345,13638,0.00,2.60,0.00,0.000,4,0.000,0.081,3054,3812,3355
$GC,13668,-0.78,-117.3,940.1,-7.3,345,13673,0.00,2.45,0.00,0.000,6,0.000,0.054,3053,2396,3355
$GC,13997,-0.78,-117.3,961.7,-6.6,351,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2397,3355
$GC,14300,-0.78,-117.3,982.5,-6.9,356,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2396,3355
$STATE,14417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14417,begin apogee
$GC,14426,-0.22,0.0,990.7,6.8,358,14549,0.65,0.00,119.90,1.471,6,0.128,0.000,3240,2191,2876
$STATE,14550,end apogee,CONTROL_FINISHED_OK
$STATE,14550,begin climb
$GC,14554,0.67,117.3,995.8,0.0,360,14688,0.95,2.88,125.82,1.422,4,0.079,0.071,3534,792,2396
$GC,14716,0.36,136.4,997.8,4.5,362,14744,0.43,2.75,21.75,1.335,6,0.174,0.056,3439,2199,2319
$GC,15049,0.30,136.4,981.3,5.1,368,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2199,2315
$GC,15351,0.25,140.6,966.5,4.9,373,15359,0.17,0.00,5.28,1.029,6,0.177,0.000,3400,2199,2302
$GC,15655,0.34,167.0,953.7,4.2,378,15685,0.00,0.00,28.92,1.394,6,0.000,0.000,3401,2199,2195
$GC,15958,0.44,167.0,938.5,5.1,383,15959,0.20,0.00,0.00,0.000,6,0.067,0.000,3470,2199,2193
$GC,16261,0.33,167.0,916.6,7.4,388,16263,0.17,0.00,0.00,0.000,6,0.137,0.000,3428,2199,2192
$GC,16563,0.33,167.0,897.4,6.3,393,16568,0.00,2.78,0.00,0.000,4,0.000,0.073,3436,791,2192
$GC,16615,0.33,167.0,893.9,6.5,393,16619,0.00,2.70,0.00,0.000,6,0.000,0.057,3435,2207,2192
$GC,16927,0.33,167.0,873.8,6.6,398,16928,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2192
$GC,17230,0.33,167.0,853.9,6.6,403,17231,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2192
$GC,17532,0.33,167.0,834.1,6.5,408,17536,0.00,2.75,0.00,0.000,4,0.000,0.074,3436,794,2192
$GC,17571,0.33,167.0,831.3,7.0,408,17576,0.00,2.65,0.00,0.000,6,0.000,0.056,3436,2203,2192
$GC,17893,0.33,167.0,810.7,6.4,414,17895,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2191
$GC,18198,0.33,167.0,792.4,6.1,419,18199,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2191
$GC,18500,0.33,167.0,774.9,5.8,424,18504,0.00,2.72,0.00,0.000,4,0.000,0.074,3436,790,2191
$GC,18563,0.33,167.0,771.2,5.3,425,18568,0.00,2.65,0.00,0.000,6,0.000,0.058,3436,2210,2191
$GC,18931,0.33,167.0,750.4,5.7,431,18933,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2191
$GC,19234,0.33,167.0,732.8,5.8,436,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2191
$GC,19537,0.33,167.0,715.6,5.7,441,19538,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2191
$GC,19840,0.33,167.0,698.2,5.8,446,19841,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2191
$GC,20143,0.33,167.0,680.9,5.7,451,20148,0.00,2.70,0.00,0.000,4,0.000,0.074,3436,794,2191
$GC,20189,0.33,167.0,678.4,5.2,451,20193,0.00,2.60,0.00,0.000,6,0.000,0.058,3436,2209,2191
$GC,20505,0.33,167.0,661.7,5.3,457,20506,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2191
$GC,20808,0.33,167.0,646.0,5.2,462,20813,0.00,2.70,0.00,0.000,4,0.000,0.074,3436,787,2191
$GC,20848,0.33,167.0,644.1,5.3,462,20852,0.00,2.58,0.00,0.000,6,0.000,0.058,3436,2201,2191
$GC,21170,0.35,176.4,628.8,4.7,468,21182,0.00,0.00,10.23,1.143,6,0.000,0.000,3436,2200,2156
$GC,21473,0.36,183.7,614.3,4.8,473,21484,0.00,0.00,8.95,1.108,6,0.000,0.000,3436,2200,2127
$GC,21776,0.41,188.1,599.4,4.9,478,21785,0.00,0.00,6.28,1.009,6,0.000,0.000,3436,2200,2108
$GC,22080,0.47,204.1,585.4,4.5,483,22099,0.10,0.00,17.42,1.176,6,0.086,0.000,3474,2199,2042
$GC,22383,0.43,204.1,568.0,5.9,488,22388,0.00,2.72,0.00,0.000,4,0.000,0.074,3476,789,2040
$GC,22423,0.43,204.1,565.4,5.8,488,22428,0.00,2.62,0.00,0.000,6,0.000,0.058,3476,2206,2041
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$STATE,31374,begin surface coast
$FINISH,6.4,1.025334
$STATE,31382,end surface coast,CONTROL_FINISHED_OK
$STATE,31382,begin surface
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$DEVICE_SECS,32.875,213.550,415.300,0.000,0.000,28.794,30.270,175.281,231.750,0.000,0.000,14.087,1724.096,26356.602,581.074,2266.443,949.536,33.378,1698.547,0.000,2232.730,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47552,798
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$CFSIZE,260165632,201224192
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