version: 66.03
glider: 120
mission: 9
dive: 347
start: 1 6 109 4 28 59
data:
$ID,120
$MISSION,9
$DIVE,347
$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,300
$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,-25031.992
$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,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
$GPS1,042207,5006.398,-14511.910,32,1.6,32,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-73.1
$GPS2,042804,5006.426,-14511.922,11,2.4,30,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.005,-0.178
$KALMAN_X,26121.1,409.7,-291.1,-52622.8,656.3
$KALMAN_Y,253769.8,47.4,-163.5,-252027.7,2202.0
$MHEAD_RNG_PITCHd_Wd,163.1,22993,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.35,0.000,2,0.000,0.000,139,2412,1917
$GC,39,-0.67,-117.3,3.8,-0.0,1,125,14.20,2.47,-62.03,0.000,4,0.288,0.081,3096,992,3356
$GC,310,-0.50,-117.3,26.9,-11.4,25,317,0.20,2.30,0.00,0.000,6,0.159,0.064,3152,2397,3357
$GC,637,-0.50,-117.3,52.6,-7.5,56,638,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2396,3358
$GC,954,-0.50,-117.3,77.0,-7.3,86,955,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2397,3358
$GC,1264,-0.50,-117.3,101.2,-7.7,103,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2397,3358
$GC,1573,-0.54,-117.3,123.7,-7.0,118,1577,0.00,2.42,0.00,0.000,4,0.000,0.083,3152,3818,3358
$GC,1628,-0.65,-117.3,127.6,-7.1,120,1635,0.15,2.33,0.00,0.000,6,0.082,0.053,3097,2386,3359
$GC,1944,-0.65,-117.3,149.7,-6.6,136,1948,0.00,2.35,0.00,0.000,4,0.000,0.069,3097,993,3359
$GC,2000,-0.65,-117.3,153.7,-7.1,138,2006,0.00,2.30,0.00,0.000,6,0.000,0.061,3097,2413,3359
$GC,2313,-0.60,-117.3,178.1,-8.1,149,2317,0.00,2.35,0.00,0.000,4,0.000,0.070,3097,994,3359
$GC,2351,-0.60,-117.3,181.3,-8.3,150,2355,0.00,2.28,0.00,0.000,6,0.000,0.061,3097,2403,3359
$GC,2675,-0.60,-117.3,205.3,-6.9,161,2679,0.00,2.35,0.00,0.000,4,0.000,0.081,3097,3806,3359
$GC,2730,-0.60,-117.3,209.2,-7.0,162,2737,0.00,2.30,0.00,0.000,6,0.000,0.055,3097,2397,3359
$GC,3042,-0.60,-117.3,232.0,-7.8,173,3046,0.00,2.33,0.00,0.000,4,0.000,0.071,3097,991,3359
$GC,3076,-0.60,-117.3,234.8,-8.1,174,3080,0.00,2.28,0.00,0.000,6,0.000,0.061,3097,2398,3359
$GC,3405,-0.60,-117.3,259.8,-7.4,185,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3359
$GC,3711,-0.60,-117.3,282.2,-7.2,195,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3358
$GC,4047,-0.60,-117.3,305.4,-6.6,205,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,3359
$GC,4350,-0.60,-117.3,324.9,-6.4,210,4354,0.00,2.35,0.00,0.000,4,0.000,0.081,3097,3811,3358
$GC,4382,-0.60,-117.3,327.1,-7.0,210,4386,0.00,2.30,0.00,0.000,6,0.000,0.055,3097,2390,3358
$GC,4714,-0.60,-117.3,348.6,-6.5,216,4718,0.00,2.33,0.00,0.000,4,0.000,0.071,3097,987,3358
$GC,4742,-0.60,-117.3,350.4,-6.1,216,4746,0.00,2.33,0.00,0.000,6,0.000,0.062,3097,2409,3358
$GC,5073,-0.60,-117.3,371.9,-6.5,222,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2408,3358
$GC,5376,-0.60,-117.3,391.9,-6.6,227,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2409,3358
$GC,5680,-0.60,-117.3,411.8,-6.5,232,5684,0.00,2.40,0.00,0.000,4,0.000,0.072,3097,987,3357
$GC,5706,-0.60,-117.3,413.6,-6.7,232,5711,0.00,2.30,0.00,0.000,6,0.000,0.063,3097,2404,3357
$GC,6045,-0.60,-117.3,435.4,-6.5,238,6049,0.00,2.35,0.00,0.000,4,0.000,0.071,3097,988,3357
$GC,6077,-0.60,-117.3,437.7,-6.8,238,6081,0.00,2.30,0.00,0.000,6,0.000,0.062,3096,2404,3357
$GC,6410,-0.60,-117.3,459.2,-6.4,244,6414,0.00,2.35,0.00,0.000,4,0.000,0.082,3097,3818,3357
$GC,6448,-0.60,-117.3,461.8,-6.7,244,6452,0.00,2.28,0.00,0.000,6,0.000,0.056,3097,2398,3357
$GC,6769,-0.60,-117.3,481.7,-6.2,250,6773,0.00,2.35,0.00,0.000,4,0.000,0.071,3097,987,3357
$GC,6797,-0.60,-117.3,483.4,-6.4,250,6801,0.00,2.30,0.00,0.000,6,0.000,0.062,3097,2412,3357
$GC,7135,-0.60,-117.3,504.9,-6.5,256,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2412,3357
$GC,7438,-0.60,-117.3,525.4,-6.8,261,7442,0.00,2.38,0.00,0.000,4,0.000,0.072,3097,987,3357
$GC,7465,-0.60,-117.3,527.4,-7.1,261,7468,0.00,2.30,0.00,0.000,6,0.000,0.063,3097,2404,3357
$GC,7802,-0.60,-117.3,549.8,-6.7,267,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3357
$GC,8106,-0.60,-117.3,568.7,-6.2,272,8110,0.00,2.35,0.00,0.000,4,0.000,0.083,3097,3813,3356
$GC,8133,-0.60,-117.3,570.4,-6.6,272,8137,0.00,2.25,0.00,0.000,6,0.000,0.056,3097,2396,3356
$GC,8464,-0.60,-117.3,587.9,-5.2,278,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3356
$GC,8768,-0.60,-117.3,602.2,-4.7,283,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2396,3356
$GC,9071,-0.60,-117.3,617.6,-5.1,288,9075,0.00,2.40,0.00,0.000,4,0.000,0.071,3097,986,3356
$GC,9121,-0.67,-117.3,620.5,-6.0,288,9125,0.00,2.30,0.00,0.000,6,0.000,0.062,3097,2401,3356
$GC,9430,-0.67,-117.3,637.1,-5.4,293,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3356
$GC,9734,-0.71,-117.3,654.1,-5.6,298,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3356
$GC,10036,-0.71,-117.3,671.9,-5.8,303,10041,0.00,2.38,0.00,0.000,4,0.000,0.083,3097,3814,3356
$GC,10070,-0.76,-117.3,674.0,-6.1,303,10074,0.00,2.30,0.00,0.000,6,0.000,0.055,3097,2402,3355
$GC,10396,-0.97,-117.3,695.4,-6.7,309,10401,0.25,2.40,0.00,0.000,4,0.096,0.081,3002,3810,3355
$GC,10598,-0.72,-117.3,714.2,-9.7,312,10603,0.30,2.33,0.00,0.000,6,0.170,0.058,3083,2392,3355
$GC,10958,-0.72,-117.3,736.6,-6.1,318,10962,0.00,2.40,0.00,0.000,4,0.000,0.072,3083,986,3355
$GC,11007,-0.72,-117.3,740.0,-6.9,318,11011,0.00,2.33,0.00,0.000,6,0.000,0.064,3083,2400,3355
$GC,11323,-0.72,-117.3,759.7,-6.3,324,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2400,3355
$GC,11626,-0.72,-117.3,779.0,-6.4,329,11630,0.00,2.38,0.00,0.000,4,0.000,0.084,3083,3817,3354
$GC,11664,-0.72,-117.3,781.7,-6.6,329,11668,0.00,2.28,0.00,0.000,6,0.000,0.058,3083,2394,3355
$GC,11990,-0.72,-117.3,802.3,-6.3,335,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2394,3355
$GC,12294,-0.72,-117.3,820.9,-6.0,340,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3355
$GC,12597,-0.72,-117.3,838.6,-5.8,345,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3355
$GC,12900,-0.72,-117.3,856.4,-5.9,350,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3355
$GC,13203,-0.72,-117.3,874.1,-5.8,355,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3355
$GC,13506,-0.72,-117.3,891.4,-5.7,360,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3354
$GC,13809,-0.72,-117.3,908.3,-5.5,365,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3354
$GC,14113,-0.72,-117.3,924.5,-5.4,370,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3354
$GC,14416,-0.72,-117.3,941.3,-5.6,375,14420,0.00,2.40,0.00,0.000,4,0.000,0.074,3083,990,3354
$GC,14443,-0.72,-117.3,943.0,-6.1,375,14447,0.00,2.30,0.00,0.000,6,0.000,0.066,3083,2404,3354
$GC,14781,-0.72,-117.3,961.7,-5.5,381,14782,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3354
$GC,15084,-0.72,-117.3,977.4,-5.2,386,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3354
$STATE,15324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15324,begin apogee
$GC,15330,-0.22,0.0,990.6,5.4,390,15441,0.52,0.00,108.03,1.490,6,0.145,0.000,3242,2198,2876
$STATE,15442,end apogee,CONTROL_FINISHED_OK
$STATE,15442,begin climb
$GC,15444,0.67,117.3,992.4,0.0,391,15568,0.88,2.75,112.72,1.434,4,0.094,0.077,3533,790,2397
$GC,15607,0.32,117.3,992.8,6.5,393,15613,0.43,2.50,0.00,0.000,6,0.177,0.061,3426,2205,2395
$GC,15934,0.32,120.2,976.7,4.9,399,15935,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2206,2394
$GC,16237,0.34,130.2,962.4,4.7,404,16257,0.00,2.42,12.48,1.338,4,0.000,0.081,3426,3613,2345
$GC,16311,0.25,130.2,958.3,6.0,405,16315,0.15,2.33,0.00,0.000,6,0.176,0.062,3398,2189,2344
$GC,16671,0.35,157.5,942.8,4.2,411,16698,0.00,0.00,25.75,1.417,6,0.000,0.000,3399,2189,2233
$GC,16975,0.46,165.6,928.4,4.8,416,16986,0.20,0.00,8.40,1.251,6,0.079,0.000,3476,2189,2201
$GC,17277,0.34,165.6,906.5,7.4,421,17279,0.17,0.00,0.00,0.000,6,0.146,0.000,3427,2189,2200
$GC,17579,0.34,165.6,888.6,5.9,426,17581,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2189,2200
$GC,17882,0.34,165.6,869.7,6.3,431,17887,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,788,2200
$GC,17916,0.34,165.6,867.3,6.1,431,17920,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2203,2200
$GC,18241,0.34,165.6,846.0,6.6,437,18243,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2203,2200
$GC,18545,0.34,165.6,826.8,6.3,442,18546,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2200
$GC,18848,0.34,165.6,808.7,5.9,447,18852,0.00,2.38,0.00,0.000,4,0.000,0.083,3436,3621,2199
$GC,18886,0.34,165.6,806.2,6.4,447,18891,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2202,2199
$GC,19207,0.34,165.6,787.7,5.8,453,19208,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2202,2199
$GC,19510,0.34,165.6,771.2,5.4,458,19511,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2199
$GC,19814,0.34,165.6,754.9,5.3,463,19818,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,787,2199
$GC,19847,0.34,165.6,753.2,5.4,463,19851,0.00,2.30,0.00,0.000,6,0.000,0.062,3436,2205,2199
$GC,20179,0.34,165.6,735.7,5.3,469,20180,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2199
$GC,20482,0.34,165.6,719.4,5.4,474,20483,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2199
$GC,20785,0.34,165.6,703.1,5.3,479,20786,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2199
$GC,21088,0.34,165.6,688.1,5.0,484,21089,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2206,2199
$GC,21392,0.35,166.7,673.2,5.0,489,21393,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2199
$GC,21694,0.35,166.7,657.2,5.3,494,21695,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2199
$GC,21998,0.35,166.7,640.3,5.6,499,21999,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2199
$GC,22300,0.35,166.7,624.1,5.4,504,22302,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2199
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$STATE,33016,end surface coast,CONTROL_FINISHED_OK
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