version: 66.03
glider: 120
mission: 9
dive: 464
start: 2 19 109 10 29 6
data:
$ID,120
$MISSION,9
$DIVE,464
$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,-27623.387
$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,22
$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
$GPS1,102136,5012.665,-14500.624,28,1.4,28,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.07
$_SM_ANGLEo,-73.0
$GPS2,102810,5012.730,-14500.723,10,2.1,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.128,0.124
$KALMAN_X,-10153.8,-47.7,-402.2,26972.6,117.8
$KALMAN_Y,57059.2,94.2,-94.0,-39926.3,769.1
$MHEAD_RNG_PITCHd_Wd,295.6,20271,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.85,0.000,2,0.000,0.000,137,2404,1968
$GC,41,-0.67,-117.3,3.9,-0.0,1,119,13.77,2.45,-58.47,0.000,4,0.277,0.095,3097,3818,3355
$GC,322,-0.53,-117.3,25.6,-10.5,26,329,0.17,2.28,0.00,0.000,6,0.153,0.056,3145,2389,3357
$GC,650,-0.53,-117.3,50.5,-7.3,57,655,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2389,3357
$GC,977,-0.53,-117.3,75.4,-7.3,88,978,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2389,3357
$GC,1286,-0.53,-117.3,99.8,-8.0,106,1291,0.00,2.45,0.00,0.000,4,0.000,0.079,3139,3815,3357
$GC,1331,-0.53,-117.3,103.6,-8.0,108,1336,0.00,2.30,0.00,0.000,6,0.000,0.054,3139,2386,3357
$GC,1653,-0.57,-117.3,127.0,-7.0,124,1657,0.00,2.38,0.00,0.000,4,0.000,0.068,3139,984,3357
$GC,1686,-0.57,-117.3,129.5,-6.9,125,1693,0.00,2.33,0.00,0.000,6,0.000,0.062,3139,2410,3357
$GC,2003,-0.63,-117.3,149.0,-6.1,141,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2410,3357
$GC,2330,-0.70,-117.3,169.3,-6.2,152,2332,0.15,0.00,0.00,0.000,6,0.081,0.000,3079,2410,3357
$GC,2635,-0.70,-117.3,191.7,-7.1,162,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2410,3357
$GC,2942,-0.70,-117.3,213.2,-7.3,172,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2410,3357
$GC,3248,-0.70,-117.3,236.2,-7.4,182,3252,0.00,2.35,0.00,0.000,4,0.000,0.081,3080,3815,3357
$GC,3298,-0.63,-117.3,240.2,-8.5,183,3303,0.12,2.35,0.00,0.000,6,0.107,0.054,3114,2387,3357
$GC,3617,-0.63,-117.3,260.3,-6.2,194,3621,0.00,2.38,0.00,0.000,4,0.000,0.070,3115,993,3357
$GC,3652,-0.63,-117.3,262.6,-6.6,195,3656,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2401,3357
$GC,3993,-0.63,-117.3,282.1,-5.7,206,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3357
$GC,4299,-0.63,-117.3,300.3,-6.0,216,4303,0.00,2.38,0.00,0.000,4,0.000,0.081,3113,3808,3357
$GC,4333,-0.68,-117.3,302.4,-5.5,216,4338,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2401,3357
$GC,4666,-0.68,-117.3,320.8,-5.5,222,4670,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,994,3357
$GC,4705,-0.72,-117.3,323.3,-6.5,222,4709,0.00,2.33,0.00,0.000,6,0.000,0.062,3113,2411,3357
$GC,5026,-0.72,-117.3,344.0,-6.6,228,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3357
$GC,5329,-0.72,-117.3,364.3,-6.7,233,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3357
$GC,5632,-0.76,-117.3,384.4,-6.7,238,5634,0.12,0.00,0.00,0.000,6,0.088,0.000,3062,2411,3357
$GC,5935,-0.71,-117.3,407.1,-7.5,243,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2411,3356
$GC,6239,-0.67,-117.3,429.1,-7.3,248,6244,0.15,2.47,0.00,0.000,4,0.109,0.081,3111,3807,3356
$GC,6289,-0.75,-117.3,432.5,-6.3,248,6294,0.12,2.35,0.00,0.000,6,0.084,0.055,3065,2397,3356
$GC,6599,-0.75,-117.3,454.1,-7.1,253,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2397,3356
$GC,6902,-0.75,-117.3,476.0,-7.3,258,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2397,3356
$GC,7206,-0.75,-117.3,498.2,-7.3,263,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2397,3356
$GC,7509,-0.75,-117.3,520.0,-7.1,268,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2397,3356
$GC,7811,-0.75,-117.3,540.9,-6.9,273,7816,0.00,2.55,0.00,0.000,4,0.000,0.081,3064,3817,3356
$GC,7839,-0.69,-117.3,543.0,-8.2,273,7844,0.12,2.38,0.00,0.000,6,0.112,0.055,3098,2399,3356
$GC,8172,-0.69,-117.3,564.0,-6.2,279,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3356
$GC,8474,-0.69,-117.3,583.3,-6.4,284,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3356
$GC,8778,-0.69,-117.3,602.9,-6.5,289,8782,0.00,2.50,0.00,0.000,4,0.000,0.083,3098,3806,3355
$GC,8812,-0.73,-117.3,605.0,-6.5,289,8817,0.00,2.35,0.00,0.000,6,0.000,0.056,3098,2392,3355
$GC,9140,-0.77,-117.3,623.2,-5.5,295,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2392,3355
$GC,9443,-0.77,-117.3,637.9,-4.8,300,9447,0.00,2.47,0.00,0.000,4,0.000,0.083,3098,3814,3355
$GC,9482,-0.83,-117.3,640.1,-5.0,300,9487,0.15,2.35,0.00,0.000,6,0.081,0.056,3042,2395,3355
$GC,9804,-0.76,-117.3,662.0,-7.0,306,9806,0.10,0.00,0.00,0.000,6,0.095,0.000,3071,2395,3355
$GC,10107,-0.71,-117.3,684.5,-7.4,311,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2395,3355
$GC,10409,-0.71,-117.3,706.2,-7.2,316,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2395,3355
$GC,10713,-0.67,-117.3,727.0,-6.8,321,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2395,3355
$GC,11016,-0.63,-117.3,746.6,-6.4,326,11021,0.15,2.47,0.00,0.000,4,0.171,0.072,3122,995,3355
$GC,11044,-0.73,-117.3,748.1,-4.6,326,11049,0.12,2.33,0.00,0.000,6,0.084,0.065,3078,2404,3355
$GC,11377,-0.77,-117.3,765.2,-5.2,332,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3355
$GC,11680,-0.83,-117.3,781.5,-5.4,337,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3355
$GC,11984,-0.88,-117.3,798.6,-5.7,342,11989,0.15,2.47,0.00,0.000,4,0.094,0.082,3008,3808,3354
$GC,12034,-0.66,-117.3,802.8,-8.8,342,12039,0.32,2.35,0.00,0.000,6,0.156,0.058,3098,2391,3354
$GC,12346,-0.71,-117.3,820.7,-5.7,347,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2391,3354
$GC,12648,-0.75,-117.3,836.9,-5.4,352,12652,0.00,2.47,0.00,0.000,4,0.000,0.073,3099,989,3354
$GC,12681,-0.81,-117.3,838.8,-5.5,352,12686,0.12,2.35,0.00,0.000,6,0.087,0.064,3054,2411,3354
$GC,13007,-0.81,-117.3,858.1,-5.9,358,13011,0.00,2.40,0.00,0.000,4,0.000,0.084,3054,3808,3354
$GC,13064,-0.75,-117.3,861.9,-6.8,358,13070,0.00,2.30,0.00,0.000,6,0.000,0.058,3054,2397,3354
$GC,13374,-0.75,-117.3,880.0,-5.9,364,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3354
$GC,13677,-0.75,-117.3,897.5,-5.7,369,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3354
$GC,13980,-0.75,-117.3,914.2,-5.4,374,13984,0.00,2.53,0.00,0.000,4,0.000,0.083,3054,3809,3353
$GC,14015,-0.70,-117.3,916.1,-5.7,374,14020,0.12,2.38,0.00,0.000,6,0.112,0.057,3087,2390,3353
$GC,14341,-0.70,-117.3,932.3,-4.9,380,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2390,3353
$GC,14644,-0.70,-117.3,947.7,-5.1,385,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2390,3353
$GC,14947,-0.70,-117.3,963.7,-5.3,390,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2390,3353
$GC,15251,-0.70,-117.3,980.6,-5.6,395,15252,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2390,3353
$STATE,15429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15429,begin apogee
$GC,15436,-0.22,0.0,990.6,5.5,398,15552,0.50,0.00,108.97,1.486,6,0.138,0.000,3241,2195,2875
$STATE,15553,end apogee,CONTROL_FINISHED_OK
$STATE,15553,begin climb
$GC,15556,0.67,117.3,995.3,0.0,400,15679,0.88,2.85,113.32,1.436,4,0.089,0.077,3532,796,2397
$GC,15745,0.34,117.3,992.8,6.2,402,15751,0.40,2.45,0.00,0.000,6,0.173,0.062,3430,2205,2395
$GC,16055,0.31,132.5,978.4,4.6,408,16075,0.00,2.42,14.62,1.346,4,0.000,0.081,3430,3610,2335
$GC,16118,0.22,133.7,975.3,5.0,409,16123,0.17,2.33,0.00,0.000,6,0.178,0.064,3392,2199,2334
$GC,16484,0.37,181.6,961.5,3.6,415,16535,0.15,2.50,45.42,1.434,4,0.081,0.079,3452,784,2134
$GC,16558,0.37,181.6,957.6,5.7,416,16562,0.00,2.38,0.00,0.000,6,0.000,0.062,3452,2201,2132
$GC,16908,0.37,181.6,936.9,5.9,422,16912,0.00,2.35,0.00,0.000,4,0.000,0.083,3452,3611,2129
$GC,16958,0.27,181.6,933.3,6.9,422,16963,0.17,2.30,0.00,0.000,6,0.170,0.064,3407,2191,2129
$GC,17269,0.40,204.0,919.5,4.4,427,17295,0.12,2.40,20.92,1.391,4,0.086,0.080,3456,779,2043
$GC,17318,0.40,204.0,916.6,5.6,427,17322,0.00,2.35,0.00,0.000,6,0.000,0.063,3455,2202,2042
$GC,17628,0.40,204.0,896.9,6.4,432,17629,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2202,2039
$GC,17932,0.40,204.0,875.1,7.3,437,17933,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2201,2039
$GC,18235,0.40,204.0,852.8,7.3,442,18239,0.00,2.45,0.00,0.000,4,0.000,0.080,3456,783,2039
$GC,18279,0.40,204.0,849.4,7.3,442,18283,0.00,2.33,0.00,0.000,6,0.000,0.064,3456,2208,2039
$GC,18594,0.40,204.0,827.8,6.9,448,18595,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2207,2038
$GC,18897,0.40,204.0,807.4,6.7,453,18898,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2207,2038
$GC,19201,0.40,204.0,787.5,6.6,458,19202,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2207,2038
$GC,19503,0.40,204.0,767.5,6.6,463,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2207,2037
$GC,19806,0.40,204.0,746.6,7.0,468,19810,0.00,2.35,0.00,0.000,4,0.000,0.082,3456,3616,2037
$GC,19834,0.40,204.0,744.3,8.3,468,19838,0.00,2.33,0.00,0.000,6,0.000,0.064,3463,2196,2037
$GC,20166,0.40,204.0,720.3,7.2,474,20170,0.00,2.38,0.00,0.000,4,0.000,0.081,3462,786,2037
$GC,20239,0.40,204.0,715.2,6.1,475,20243,0.00,2.30,0.00,0.000,6,0.000,0.061,3463,2198,2037
$GC,20593,0.40,204.0,689.9,7.1,481,20598,0.00,2.38,0.00,0.000,4,0.000,0.080,3462,789,2037
$GC,20627,0.40,204.0,687.4,7.0,481,20631,0.00,2.30,0.00,0.000,6,0.000,0.063,3462,2202,2037
$GC,20954,0.40,204.0,665.5,6.8,487,20958,0.00,2.38,0.00,0.000,4,0.000,0.080,3462,791,2037
$GC,21004,0.40,204.0,661.9,6.2,487,21008,0.00,2.30,0.00,0.000,6,0.000,0.062,3462,2202,2037
$GC,21314,0.40,204.0,641.4,6.7,492,21318,0.00,2.38,0.00,0.000,4,0.000,0.080,3463,791,2037
$GC,21349,0.40,204.0,639.0,7.0,492,21353,0.00,2.30,0.00,0.000,6,0.000,0.061,3462,2201,2037
$GC,21676,0.40,204.0,617.7,6.5,498,21677,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2200,2037
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$STATE,31499,begin surface coast
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$STATE,31583,end surface coast,CONTROL_FINISHED_OK
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