version: 66.03
glider: 120
mission: 9
dive: 361
start: 1 11 109 12 57 15
data:
$ID,120
$MISSION,9
$DIVE,361
$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,-25354.184
$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
$GPS1,124730,5014.165,-14438.678,36,1.4,41,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-75.5
$GPS2,125620,5014.146,-14438.662,15,1.6,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,0.109
$KALMAN_X,16159.4,122.1,68.6,-3209.7,-1832.5
$KALMAN_Y,262492.3,-167.0,-4.9,-246398.4,239.1
$MHEAD_RNG_PITCHd_Wd,33.8,16444,-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,-11.40,0.000,2,0.000,0.000,138,2411,1924
$GC,39,-0.67,-117.3,3.9,-0.0,1,116,14.23,2.47,-55.83,0.000,4,0.288,0.095,3096,3813,3355
$GC,252,-0.51,-117.3,20.8,-10.6,20,257,0.20,2.33,0.00,0.000,6,0.159,0.054,3152,2390,3357
$GC,578,-0.51,-117.3,45.3,-7.2,50,579,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2390,3357
$GC,897,-0.51,-117.3,68.9,-7.1,80,901,0.00,2.33,0.00,0.000,4,0.000,0.069,3152,992,3357
$GC,926,-0.51,-117.3,71.2,-7.7,82,930,0.00,2.30,0.00,0.000,6,0.000,0.061,3152,2401,3357
$GC,1255,-0.51,-117.3,95.7,-7.5,103,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2401,3357
$GC,1565,-0.56,-117.3,116.5,-6.4,118,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2401,3358
$GC,1874,-0.63,-117.3,138.0,-7.0,133,1879,0.12,2.35,0.00,0.000,4,0.085,0.067,3103,992,3357
$GC,1914,-0.63,-117.3,141.3,-8.3,135,1918,0.00,2.30,0.00,0.000,6,0.000,0.061,3103,2412,3358
$GC,2249,-0.63,-117.3,167.8,-7.8,148,2253,0.00,2.33,0.00,0.000,4,0.000,0.080,3100,3815,3358
$GC,2349,-0.63,-117.3,175.9,-7.4,151,2353,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2395,3358
$GC,2680,-0.63,-117.3,197.0,-6.2,162,2684,0.00,2.35,0.00,0.000,4,0.000,0.069,3100,984,3358
$GC,2743,-0.63,-117.3,201.1,-6.9,164,2747,0.00,2.28,0.00,0.000,6,0.000,0.061,3100,2397,3357
$GC,3083,-0.63,-117.3,223.3,-6.6,175,3087,0.00,2.33,0.00,0.000,4,0.000,0.068,3100,991,3358
$GC,3118,-0.63,-117.3,225.7,-6.7,176,3122,0.00,2.28,0.00,0.000,6,0.000,0.061,3099,2401,3358
$GC,3459,-0.63,-117.3,247.6,-6.6,187,3463,0.00,2.35,0.00,0.000,4,0.000,0.081,3100,3818,3358
$GC,3493,-0.63,-117.3,249.9,-6.8,188,3497,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2393,3357
$GC,3833,-0.63,-117.3,273.3,-6.7,199,3837,0.00,2.30,0.00,0.000,4,0.000,0.071,3100,985,3358
$GC,3860,-0.63,-117.3,275.2,-7.0,199,3867,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2408,3358
$GC,4174,-0.63,-117.3,295.1,-6.3,210,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,4508,-0.63,-117.3,315.5,-6.0,217,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2408,3358
$GC,4811,-0.63,-117.3,333.9,-6.0,222,4815,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,987,3357
$GC,4832,-0.63,-117.3,335.5,-6.6,222,4836,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2411,3357
$GC,5176,-0.63,-117.3,356.1,-6.0,228,5180,0.00,2.33,0.00,0.000,4,0.000,0.081,3100,3814,3357
$GC,5214,-0.63,-117.3,358.4,-5.9,228,5218,0.00,2.25,0.00,0.000,6,0.000,0.056,3100,2397,3357
$GC,5541,-0.63,-117.3,377.6,-5.9,234,5545,0.00,2.40,0.00,0.000,4,0.000,0.081,3100,3812,3357
$GC,5568,-0.63,-117.3,379.4,-6.6,234,5572,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2396,3357
$GC,5906,-0.63,-117.3,400.2,-6.2,240,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3357
$GC,6209,-0.63,-117.3,418.5,-6.0,245,6213,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,994,3357
$GC,6247,-0.63,-117.3,420.9,-6.8,245,6251,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2415,3357
$GC,6568,-0.63,-117.3,439.9,-6.1,251,6572,0.00,2.30,0.00,0.000,4,0.000,0.081,3100,3805,3356
$GC,6601,-0.63,-117.3,442.3,-6.5,251,6605,0.00,2.25,0.00,0.000,6,0.000,0.055,3100,2391,3356
$GC,6927,-0.63,-117.3,462.1,-6.1,257,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3356
$GC,7230,-0.63,-117.3,480.0,-5.8,262,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3356
$GC,7534,-0.63,-117.3,497.9,-5.9,267,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3356
$GC,7837,-0.63,-117.3,515.4,-5.8,272,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3356
$GC,8140,-0.63,-117.3,533.1,-5.9,277,8144,0.00,2.45,0.00,0.000,4,0.000,0.081,3100,3815,3355
$GC,8167,-0.63,-117.3,534.9,-6.3,277,8171,0.00,2.28,0.00,0.000,6,0.000,0.056,3100,2400,3355
$GC,8505,-0.67,-117.3,553.7,-5.5,283,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,8809,-0.71,-117.3,571.4,-5.9,288,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,9111,-0.76,-117.3,590.3,-6.3,293,9116,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,989,3355
$GC,9145,-0.82,-117.3,592.6,-7.0,293,9150,0.15,2.30,0.00,0.000,6,0.092,0.062,3045,2399,3355
$GC,9473,-0.74,-117.3,618.9,-8.2,299,9474,0.10,0.00,0.00,0.000,6,0.103,0.000,3072,2400,3355
$GC,9775,-0.69,-117.3,643.5,-8.1,304,9779,0.00,2.38,0.00,0.000,4,0.000,0.072,3072,986,3354
$GC,9808,-0.64,-117.3,646.6,-9.0,304,9813,0.12,2.33,0.00,0.000,6,0.158,0.065,3105,2406,3354
$GC,10134,-0.69,-117.3,670.5,-7.4,310,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2406,3354
$GC,10438,-0.74,-117.3,691.3,-6.8,315,10442,0.00,2.35,0.00,0.000,4,0.000,0.083,3099,3807,3354
$GC,10471,-0.80,-117.3,693.6,-6.7,315,10476,0.12,2.25,0.00,0.000,6,0.089,0.056,3052,2400,3354
$GC,10797,-0.76,-117.3,715.9,-6.7,321,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2400,3354
$GC,11100,-0.71,-117.3,734.5,-6.2,326,11102,0.12,0.00,0.00,0.000,6,0.106,0.000,3087,2400,3354
$GC,11404,-0.71,-117.3,750.3,-5.1,331,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2400,3354
$GC,11706,-0.71,-117.3,764.9,-4.8,336,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2400,3354
$GC,12010,-0.71,-117.3,780.0,-5.0,341,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2400,3354
$GC,12313,-0.71,-117.3,795.2,-5.0,346,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2400,3354
$GC,12616,-0.71,-117.3,810.3,-5.1,351,12620,0.00,2.42,0.00,0.000,4,0.000,0.084,3086,3805,3353
$GC,12643,-0.71,-117.3,811.7,-4.7,351,12647,0.00,2.30,0.00,0.000,6,0.000,0.057,3085,2397,3353
$GC,12974,-0.71,-117.3,828.8,-5.1,357,12975,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,13277,-0.71,-117.3,846.2,-5.8,362,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,3353
$GC,13581,-0.71,-117.3,865.2,-6.2,367,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,13883,-0.71,-117.3,883.7,-6.1,372,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14187,-0.71,-117.3,902.3,-6.1,377,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,14490,-0.71,-117.3,920.4,-5.9,382,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3352
$GC,14793,-0.71,-117.3,936.9,-5.4,387,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,15096,-0.71,-117.3,952.0,-5.0,392,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,15399,-0.71,-117.3,967.9,-5.2,397,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$GC,15702,-0.71,-117.3,984.6,-5.5,402,15703,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2397,3353
$STATE,15821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15821,begin apogee
$GC,15827,-0.22,0.0,991.1,5.5,404,15943,0.52,0.00,108.12,1.488,6,0.146,0.000,3242,2193,2876
$STATE,15943,end apogee,CONTROL_FINISHED_OK
$STATE,15944,begin climb
$GC,15947,0.67,117.3,995.5,0.0,406,16071,0.88,2.78,112.75,1.437,4,0.094,0.077,3533,790,2396
$GC,16099,0.31,117.3,994.6,5.4,408,16104,0.45,2.50,0.00,0.000,6,0.172,0.062,3419,2198,2395
$GC,16437,0.33,131.2,978.9,4.6,414,16456,0.00,2.45,13.62,1.338,4,0.000,0.081,3419,3611,2340
$GC,16491,0.27,131.2,976.0,5.4,414,16495,0.00,2.35,0.00,0.000,6,0.000,0.064,3421,2196,2340
$GC,16801,0.27,132.6,960.6,5.0,419,16805,0.00,2.40,0.00,0.000,4,0.000,0.081,3422,3620,2339
$GC,16836,0.21,132.6,958.6,5.8,419,16841,0.15,2.33,0.00,0.000,6,0.174,0.064,3385,2194,2339
$GC,17164,0.37,167.7,945.4,4.0,425,17200,0.15,0.00,33.20,1.430,6,0.082,0.000,3450,2194,2192
$GC,17526,0.37,167.7,923.4,6.3,431,17527,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2189
$GC,17830,0.37,167.7,903.5,6.6,436,17831,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2194,2189
$GC,18133,0.37,167.7,882.7,6.9,441,18134,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2194,2189
$GC,18435,0.37,167.7,862.3,6.7,446,18440,0.00,2.40,0.00,0.000,4,0.000,0.083,3450,3610,2188
$GC,18474,0.26,167.7,859.4,7.1,446,18479,0.17,2.35,0.00,0.000,6,0.170,0.064,3405,2190,2187
$GC,18796,0.38,176.6,843.9,4.7,452,18811,0.12,2.40,8.82,1.245,4,0.090,0.081,3450,789,2156
$GC,18855,0.38,176.6,840.5,6.2,452,18862,0.00,2.33,0.00,0.000,6,0.000,0.064,3450,2201,2155
$GC,19165,0.38,176.6,821.7,6.1,458,19166,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2155
$GC,19468,0.38,176.6,803.2,6.1,463,19469,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2155
$GC,19772,0.38,176.6,784.8,6.1,468,19773,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2155
$GC,20074,0.38,176.6,766.0,6.2,473,20075,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2155
$GC,20377,0.38,176.6,748.2,5.9,478,20379,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2154
$GC,20681,0.38,176.6,730.3,5.9,483,20682,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2155
$GC,20984,0.38,176.6,712.3,5.9,488,20988,0.00,2.35,0.00,0.000,4,0.000,0.083,3450,3612,2154
$GC,21017,0.31,176.6,710.1,6.0,488,21022,0.12,2.30,0.00,0.000,6,0.173,0.064,3419,2199,2154
$GC,21343,0.39,176.6,693.6,5.1,494,21345,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2199,2154
$GC,21647,0.47,176.6,678.3,5.0,499,21651,0.15,2.42,0.00,0.000,4,0.089,0.078,3489,782,2155
$GC,21680,0.35,176.6,676.0,6.7,499,21685,0.20,2.30,0.00,0.000,6,0.146,0.064,3434,2201,2154
$GC,22006,0.40,176.6,656.8,5.9,505,22010,0.00,2.35,0.00,0.000,4,0.000,0.081,3434,3617,2155
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$STATE,32352,begin surface coast
$FINISH,3.3,1.025589
$STATE,32489,end surface coast,CONTROL_FINISHED_OK
$STATE,32489,begin surface
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