version: 66.03
glider: 120
mission: 9
dive: 471
start: 2 22 109 1 6 46
data:
$ID,120
$MISSION,9
$DIVE,471
$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,-27796.488
$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,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
$GPS1,005731,5010.569,-14512.697,88,1.5,88,18.5
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,3
$_SM_DEPTHo,4.18
$_SM_ANGLEo,-73.3
$GPS2,010550,5010.571,-14512.758,35,1.7,35,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,-0.175
$KALMAN_X,-11978.2,43.3,117.3,13882.1,-1087.6
$KALMAN_Y,69080.9,8.5,-249.3,-55701.6,3651.5
$MHEAD_RNG_PITCHd_Wd,151.8,30685,-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,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.95,0.000,2,0.000,0.000,135,2412,2016
$GC,41,-0.67,-117.3,3.8,-0.0,1,107,14.25,2.45,-45.85,0.000,4,0.286,0.097,3085,3809,3356
$GC,323,-0.49,-117.3,32.9,-11.3,26,328,0.25,2.28,0.00,0.000,6,0.158,0.057,3154,2391,3358
$GC,648,-0.49,-117.3,58.9,-6.1,56,652,0.00,2.33,0.00,0.000,4,0.000,0.071,3154,986,3359
$GC,701,-0.49,-117.3,61.9,-5.8,60,705,0.00,2.33,0.00,0.000,6,0.000,0.062,3154,2401,3359
$GC,1025,-0.49,-117.3,81.4,-5.7,89,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2400,3359
$GC,1335,-0.49,-117.3,102.4,-7.0,104,1339,0.00,2.38,0.00,0.000,4,0.000,0.070,3153,991,3359
$GC,1375,-0.49,-117.3,105.6,-8.0,106,1379,0.00,2.33,0.00,0.000,6,0.000,0.063,3154,2404,3359
$GC,1703,-0.78,-117.3,130.7,-7.9,122,1708,0.22,2.35,0.00,0.000,4,0.087,0.068,3069,994,3359
$GC,1927,-0.66,-117.3,151.5,-8.9,132,1934,0.12,2.30,0.00,0.000,6,0.153,0.064,3101,2400,3359
$GC,2240,-0.61,-117.3,173.6,-7.0,143,2244,0.00,2.35,0.00,0.000,4,0.000,0.070,3101,987,3359
$GC,2276,-0.57,-117.3,176.3,-7.7,144,2280,0.12,2.30,0.00,0.000,6,0.153,0.063,3132,2400,3360
$GC,2617,-0.64,-117.3,198.2,-6.2,155,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2400,3360
$GC,2923,-0.71,-117.3,217.2,-6.2,165,2924,0.12,0.00,0.00,0.000,6,0.081,0.000,3083,2400,3359
$GC,3228,-0.71,-117.3,237.4,-6.4,175,3232,0.00,2.35,0.00,0.000,4,0.000,0.081,3083,3808,3359
$GC,3302,-0.71,-117.3,242.7,-7.1,177,3305,0.00,2.25,0.00,0.000,6,0.000,0.055,3083,2397,3359
$GC,3637,-0.71,-117.3,264.4,-6.5,188,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2397,3360
$GC,3943,-0.71,-117.3,285.6,-6.9,198,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2397,3359
$GC,4279,-0.71,-117.3,309.4,-7.2,207,4283,0.00,2.40,0.00,0.000,4,0.000,0.071,3083,984,3359
$GC,4301,-0.71,-117.3,311.2,-7.9,207,4305,0.00,2.33,0.00,0.000,6,0.000,0.063,3083,2400,3359
$GC,4639,-0.71,-117.3,336.4,-7.4,213,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3359
$GC,4942,-0.71,-117.3,357.6,-6.9,218,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3359
$GC,5245,-0.71,-117.3,375.8,-6.0,223,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3359
$GC,5549,-0.71,-117.3,393.3,-5.7,228,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3359
$GC,5851,-0.71,-117.3,411.4,-6.0,233,5855,0.00,2.40,0.00,0.000,4,0.000,0.071,3083,994,3358
$GC,5890,-0.71,-117.3,413.8,-6.3,233,5894,0.00,2.33,0.00,0.000,6,0.000,0.063,3082,2399,3358
$GC,6211,-0.71,-117.3,433.2,-6.1,239,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2399,3358
$GC,6514,-0.71,-117.3,451.0,-5.9,244,6518,0.00,2.38,0.00,0.000,4,0.000,0.083,3082,3808,3358
$GC,6565,-0.71,-117.3,454.3,-6.5,244,6569,0.00,2.28,0.00,0.000,6,0.000,0.056,3083,2396,3358
$GC,6875,-0.71,-117.3,472.8,-6.0,249,6879,0.00,2.35,0.00,0.000,4,0.000,0.073,3083,985,3357
$GC,6908,-0.71,-117.3,474.9,-6.1,249,6912,0.00,2.33,0.00,0.000,6,0.000,0.063,3082,2413,3358
$GC,7241,-0.71,-117.3,496.0,-6.4,255,7245,0.00,2.35,0.00,0.000,4,0.000,0.083,3083,3809,3357
$GC,7279,-0.71,-117.3,498.7,-7.1,255,7283,0.00,2.25,0.00,0.000,6,0.000,0.057,3082,2400,3358
$GC,7601,-0.71,-117.3,518.4,-6.1,261,7605,0.00,2.40,0.00,0.000,4,0.000,0.082,3082,3814,3357
$GC,7635,-0.71,-117.3,520.6,-6.7,261,7639,0.00,2.28,0.00,0.000,6,0.000,0.056,3083,2390,3357
$GC,7963,-0.71,-117.3,541.2,-6.3,267,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2391,3358
$GC,8265,-0.71,-117.3,559.9,-6.2,272,8269,0.00,2.42,0.00,0.000,4,0.000,0.083,3083,3817,3357
$GC,8292,-0.71,-117.3,561.7,-6.4,272,8296,0.00,2.28,0.00,0.000,6,0.000,0.057,3082,2393,3357
$GC,8624,-0.71,-117.3,581.7,-6.0,278,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3357
$GC,8928,-0.71,-117.3,599.5,-5.8,283,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3357
$GC,9230,-0.71,-117.3,617.6,-6.0,288,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2394,3357
$GC,9533,-0.71,-117.3,636.0,-6.0,293,9537,0.00,2.38,0.00,0.000,4,0.000,0.073,3082,991,3357
$GC,9566,-0.71,-117.3,638.0,-6.4,293,9570,0.00,2.33,0.00,0.000,6,0.000,0.063,3082,2408,3356
$GC,9893,-0.71,-117.3,657.2,-5.9,299,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3356
$GC,10195,-0.71,-117.3,675.1,-5.9,304,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3356
$GC,10498,-0.71,-117.3,691.7,-5.5,309,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3356
$GC,10801,-0.71,-117.3,707.4,-5.1,314,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3357
$GC,11105,-0.71,-117.3,722.8,-5.1,319,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3357
$GC,11408,-0.71,-117.3,739.5,-5.6,324,11413,0.00,2.45,0.00,0.000,4,0.000,0.073,3082,988,3356
$GC,11436,-0.71,-117.3,741.3,-6.5,324,11440,0.00,2.33,0.00,0.000,6,0.000,0.064,3082,2399,3355
$GC,11774,-0.71,-117.3,761.3,-5.9,330,11778,0.00,2.40,0.00,0.000,4,0.000,0.084,3083,3814,3356
$GC,11808,-0.71,-117.3,763.4,-5.8,330,11812,0.00,2.28,0.00,0.000,6,0.000,0.058,3082,2397,3355
$GC,12135,-0.71,-117.3,782.9,-6.0,336,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2397,3356
$GC,12437,-0.71,-117.3,800.7,-5.9,341,12442,0.00,2.45,0.00,0.000,4,0.000,0.083,3082,3814,3355
$GC,12476,-0.71,-117.3,803.0,-6.1,341,12481,0.00,2.28,0.00,0.000,6,0.000,0.058,3082,2401,3355
$GC,12797,-0.71,-117.3,821.4,-5.7,347,12802,0.00,2.42,0.00,0.000,4,0.000,0.084,3082,3812,3355
$GC,12831,-0.71,-117.3,823.4,-6.2,347,12836,0.00,2.28,0.00,0.000,6,0.000,0.058,3083,2395,3355
$GC,13158,-0.71,-117.3,843.4,-6.2,353,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2395,3356
$GC,13461,-0.71,-117.3,863.0,-6.4,358,13465,0.00,2.35,0.00,0.000,4,0.000,0.075,3082,985,3355
$GC,13501,-0.76,-117.3,865.5,-6.4,358,13505,0.00,2.35,0.00,0.000,6,0.000,0.064,3082,2409,3355
$GC,13822,-0.76,-117.3,885.8,-6.3,364,13826,0.00,2.38,0.00,0.000,4,0.000,0.085,3083,3808,3355
$GC,13854,-0.76,-117.3,888.1,-6.9,364,13859,0.00,2.28,0.00,0.000,6,0.000,0.058,3082,2393,3355
$GC,14181,-0.76,-117.3,908.1,-6.2,370,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3355
$GC,14485,-0.81,-117.3,925.8,-5.8,375,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3355
$GC,14788,-0.85,-117.3,941.6,-5.2,380,14790,0.12,0.00,0.00,0.000,6,0.094,0.000,3034,2393,3354
$GC,15091,-0.79,-117.3,960.3,-6.2,385,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2393,3354
$GC,15394,-0.73,-117.3,978.6,-6.0,390,15396,0.15,0.00,0.00,0.000,6,0.110,0.000,3077,2391,3354
$STATE,15633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15633,begin apogee
$GC,15641,-0.22,0.0,991.4,5.3,394,15756,0.55,0.00,109.32,1.486,6,0.140,0.000,3245,2197,2875
$STATE,15757,end apogee,CONTROL_FINISHED_OK
$STATE,15757,begin climb
$GC,15760,0.67,117.3,995.3,0.0,396,15884,0.88,2.70,113.95,1.434,4,0.091,0.079,3532,801,2397
$GC,15941,0.34,117.3,992.5,8.1,398,15946,0.40,2.45,0.00,0.000,6,0.170,0.062,3430,2211,2395
$GC,16252,0.31,126.3,977.6,4.7,403,16263,0.00,0.00,9.18,1.259,6,0.000,0.000,3430,2210,2361
$GC,16555,0.33,143.0,963.8,4.5,408,16573,0.00,0.00,16.52,1.371,6,0.000,0.000,3430,2210,2293
$GC,16858,0.36,169.6,950.9,4.2,413,16885,0.00,0.00,25.27,1.407,6,0.000,0.000,3430,2210,2185
$GC,17161,0.37,179.8,936.8,4.7,418,17174,0.00,0.00,10.82,1.305,6,0.000,0.000,3429,2210,2142
$GC,17464,0.37,179.8,921.0,5.3,423,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2210,2140
$GC,17767,0.37,179.8,905.0,5.3,428,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2210,2140
$GC,18069,0.37,179.8,887.8,5.7,433,18074,0.00,2.38,0.00,0.000,4,0.000,0.081,3430,3609,2140
$GC,18103,0.37,179.8,885.6,7.0,433,18108,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2198,2140
$GC,18430,0.37,179.8,865.9,6.0,439,18434,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,787,2140
$GC,18493,0.41,179.8,862.1,6.0,440,18497,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2214,2140
$GC,18860,0.41,179.8,839.1,6.2,446,18864,0.00,2.33,0.00,0.000,4,0.000,0.082,3436,3608,2140
$GC,18893,0.41,179.8,836.6,7.3,446,18897,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2196,2139
$GC,19219,0.41,179.8,815.8,6.4,452,19224,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3605,2140
$GC,19253,0.41,179.8,813.3,6.6,452,19257,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2195,2139
$GC,19580,0.41,179.8,792.4,6.3,458,19584,0.00,2.38,0.00,0.000,4,0.000,0.080,3436,786,2139
$GC,19613,0.46,179.8,790.0,6.5,458,19618,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2198,2139
$GC,19940,0.46,179.8,770.2,6.0,464,19944,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3617,2139
$GC,19985,0.46,179.8,767.0,7.2,464,19989,0.00,2.33,0.00,0.000,6,0.000,0.065,3436,2196,2139
$GC,20300,0.46,179.8,748.6,5.8,470,20301,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2139
$GC,20603,0.46,179.8,731.2,5.7,475,20604,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2139
$GC,20907,0.46,179.8,713.4,5.8,480,20911,0.00,2.45,0.00,0.000,4,0.000,0.081,3436,3619,2139
$GC,20957,0.46,179.8,710.1,6.9,480,20961,0.00,2.38,0.00,0.000,6,0.000,0.064,3436,2190,2139
$GC,21268,0.50,179.8,692.3,5.7,485,21272,0.12,2.40,0.00,0.000,4,0.094,0.078,3490,792,2139
$GC,21312,0.39,179.8,688.9,7.5,485,21317,0.17,2.30,0.00,0.000,6,0.151,0.063,3443,2205,2139
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$STATE,32512,end climb,SURFACE_DEPTH_REACHED
$STATE,32512,begin surface coast
$FINISH,2.6,1.024669
$STATE,32580,end surface coast,CONTROL_FINISHED_OK
$STATE,32580,begin surface
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