version: 66.03
glider: 120
mission: 9
dive: 514
start: 3 10 109 9 14 47
data:
$ID,120
$MISSION,9
$DIVE,514
$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,-28807.768
$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,20
$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
$GPS1,090731,5000.385,-14512.701,84,1.5,84,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.55
$_SM_ANGLEo,-77.5
$GPS2,091350,5000.426,-14512.769,16,1.3,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.177
$KALMAN_X,-26992.8,45.9,-164.6,29152.2,-126.8
$KALMAN_Y,110551.0,-16.7,-451.3,-115727.8,3691.2
$MHEAD_RNG_PITCHd_Wd,158.3,11920,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-10.90,0.000,2,0.000,0.000,139,2411,2021
$GC,42,-0.67,-117.3,3.5,-0.0,1,120,13.98,2.45,-57.15,0.000,4,0.281,0.093,3084,3811,3356
$GC,319,-0.47,-117.3,26.5,-11.6,26,324,0.28,2.30,0.00,0.000,6,0.155,0.055,3160,2387,3358
$GC,645,-0.51,-117.3,50.9,-5.8,56,650,0.00,2.35,0.00,0.000,4,0.000,0.070,3160,991,3358
$GC,679,-0.57,-117.3,53.0,-5.5,58,686,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2409,3358
$GC,1007,-0.57,-117.3,75.0,-6.2,89,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2409,3358
$GC,1336,-0.57,-117.3,98.4,-7.1,109,1340,0.00,2.40,0.00,0.000,4,0.000,0.069,3155,994,3358
$GC,1364,-0.61,-117.3,100.5,-7.9,110,1369,0.12,2.35,0.00,0.000,6,0.081,0.061,3106,2406,3358
$GC,1681,-0.61,-117.3,125.5,-8.1,125,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2406,3358
$GC,1990,-0.61,-117.3,147.4,-7.1,140,1994,0.00,2.40,0.00,0.000,4,0.000,0.068,3106,991,3358
$GC,2030,-0.61,-117.3,150.4,-7.5,142,2034,0.00,2.35,0.00,0.000,6,0.000,0.061,3106,2412,3358
$GC,2354,-0.61,-117.3,171.4,-5.7,153,2359,0.00,2.38,0.00,0.000,4,0.000,0.080,3100,3807,3358
$GC,2405,-0.61,-117.3,174.7,-5.8,154,2409,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2395,3358
$GC,2718,-0.61,-117.3,194.7,-6.5,164,2722,0.00,2.40,0.00,0.000,4,0.000,0.079,3100,3810,3358
$GC,2757,-0.61,-117.3,197.5,-7.4,165,2761,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2397,3358
$GC,3088,-0.61,-117.3,219.3,-6.8,176,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3358
$GC,3394,-0.61,-117.3,242.0,-7.7,186,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3358
$GC,3700,-0.61,-117.3,265.5,-7.7,196,3704,0.00,2.42,0.00,0.000,4,0.000,0.081,3100,3810,3358
$GC,3735,-0.61,-117.3,268.2,-7.8,197,3739,0.00,2.25,0.00,0.000,6,0.000,0.055,3100,2400,3358
$GC,4077,-0.61,-117.3,293.0,-7.1,208,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,4380,-0.61,-117.3,313.0,-6.4,215,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3359
$GC,4684,-0.61,-117.3,330.9,-5.9,220,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3358
$GC,4987,-0.61,-117.3,346.2,-4.9,225,4991,0.00,2.42,0.00,0.000,4,0.000,0.081,3100,3810,3358
$GC,5020,-0.61,-117.3,348.0,-5.3,225,5024,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2388,3358
$GC,5348,-0.65,-117.3,363.6,-4.8,231,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2388,3358
$GC,5651,-0.70,-117.3,380.5,-5.6,236,5655,0.00,2.35,0.00,0.000,4,0.000,0.072,3100,993,3358
$GC,5674,-0.76,-117.3,381.9,-6.2,236,5678,0.00,2.35,0.00,0.000,6,0.000,0.062,3100,2410,3358
$GC,6012,-0.76,-117.3,402.6,-6.2,242,6016,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3810,3358
$GC,6039,-0.76,-117.3,404.4,-6.8,242,6043,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2391,3358
$GC,6371,-0.76,-117.3,424.7,-6.2,248,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2391,3358
$GC,6675,-0.80,-117.3,442.8,-6.0,253,6680,0.12,2.42,0.00,0.000,4,0.091,0.081,3049,3814,3357
$GC,6727,-0.68,-117.3,446.9,-8.5,253,6732,0.17,2.28,0.00,0.000,6,0.113,0.056,3098,2392,3357
$GC,7037,-0.68,-117.3,466.2,-6.2,258,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2393,3358
$GC,7340,-0.68,-117.3,484.9,-6.2,263,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2393,3357
$GC,7644,-0.68,-117.3,503.5,-6.1,268,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2393,3358
$GC,7946,-0.68,-117.3,522.3,-6.2,273,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2394,3358
$GC,8250,-0.68,-117.3,541.5,-6.4,278,8254,0.00,2.45,0.00,0.000,4,0.000,0.083,3098,3807,3357
$GC,8277,-0.68,-117.3,543.4,-6.7,278,8281,0.00,2.25,0.00,0.000,6,0.000,0.056,3098,2395,3357
$GC,8615,-0.68,-117.3,565.9,-6.7,284,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3357
$GC,8918,-0.68,-117.3,585.6,-6.5,289,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3357
$GC,9221,-0.68,-117.3,603.9,-5.9,294,9225,0.00,2.45,0.00,0.000,4,0.000,0.084,3098,3813,3357
$GC,9248,-0.73,-117.3,605.6,-6.4,294,9252,0.00,2.28,0.00,0.000,6,0.000,0.056,3098,2394,3357
$GC,9582,-0.94,-117.3,626.1,-6.3,300,9587,0.22,2.42,0.00,0.000,4,0.085,0.081,3010,3807,3356
$GC,9784,-0.72,-117.3,643.2,-8.4,303,9789,0.28,2.28,0.00,0.000,6,0.157,0.058,3085,2394,3356
$GC,10145,-0.72,-117.3,663.2,-5.4,309,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,10447,-0.72,-117.3,679.5,-5.5,314,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,10750,-0.72,-117.3,697.9,-6.1,319,10755,0.00,2.38,0.00,0.000,4,0.000,0.073,3085,992,3356
$GC,10773,-0.72,-117.3,699.4,-6.6,319,10777,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2402,3356
$GC,11111,-0.72,-117.3,720.1,-6.1,325,11115,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3818,3356
$GC,11155,-0.72,-117.3,723.0,-7.1,325,11159,0.00,2.30,0.00,0.000,6,0.000,0.057,3085,2395,3356
$GC,11470,-0.72,-117.3,742.7,-6.3,331,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,11773,-0.72,-117.3,762.3,-6.5,336,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2395,3356
$GC,12077,-0.72,-117.3,783.0,-6.8,341,12082,0.00,2.47,0.00,0.000,4,0.000,0.084,3085,3813,3356
$GC,12111,-0.72,-117.3,785.4,-7.3,341,12115,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2391,3356
$GC,12438,-0.72,-117.3,806.0,-6.2,347,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2391,3356
$GC,12741,-0.72,-117.3,824.1,-6.0,352,12745,0.00,2.47,0.00,0.000,4,0.000,0.084,3085,3811,3356
$GC,12770,-0.72,-117.3,825.8,-6.6,352,12774,0.00,2.30,0.00,0.000,6,0.000,0.057,3085,2391,3356
$GC,13102,-0.72,-117.3,843.9,-5.4,358,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3355
$GC,13405,-0.72,-117.3,859.1,-5.0,363,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2392,3356
$GC,13709,-0.72,-117.3,873.1,-4.5,368,13713,0.00,2.53,0.00,0.000,4,0.000,0.084,3085,3811,3355
$GC,13755,-0.77,-117.3,875.2,-4.8,368,13760,0.00,2.30,0.00,0.000,6,0.000,0.057,3085,2398,3355
$GC,14072,-0.77,-117.3,887.9,-4.0,374,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,14375,-0.77,-117.3,899.5,-3.8,379,14379,0.00,2.50,0.00,0.000,4,0.000,0.084,3084,3816,3355
$GC,14420,-0.82,-117.3,901.4,-4.0,379,14424,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2398,3355
$GC,14736,-0.98,-117.3,916.8,-5.1,385,14741,0.22,2.50,0.00,0.000,4,0.085,0.082,2998,3817,3354
$GC,14995,-0.76,-117.3,938.4,-9.0,388,15002,0.28,2.30,0.00,0.000,6,0.160,0.059,3071,2393,3354
$GC,15306,-0.76,-117.3,958.2,-6.3,394,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2394,3355
$GC,15609,-0.76,-117.3,977.2,-6.2,399,15613,0.00,2.47,0.00,0.000,4,0.000,0.084,3071,3812,3354
$GC,15659,-0.76,-117.3,980.6,-6.8,399,15663,0.00,2.30,0.00,0.000,6,0.000,0.058,3071,2392,3354
$STATE,15844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15845,begin apogee
$GC,15853,-0.22,0.0,992.2,6.2,402,15967,0.57,0.00,109.28,1.486,6,0.141,0.000,3243,2193,2876
$STATE,15968,end apogee,CONTROL_FINISHED_OK
$STATE,15968,begin climb
$GC,15971,0.67,117.3,997.0,0.0,404,16094,0.88,0.00,115.43,1.429,6,0.091,0.000,3530,2193,2396
$GC,16398,0.35,117.3,977.5,7.4,411,16400,0.35,0.00,0.00,0.000,6,0.162,0.000,3432,2193,2393
$GC,16701,0.30,117.3,961.6,5.1,416,16702,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2193,2392
$GC,17004,0.26,117.3,945.4,5.4,421,17005,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2193,2392
$GC,17308,0.26,117.3,929.2,5.3,426,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2193,2391
$GC,17609,0.26,117.3,913.6,5.2,431,17611,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2193,2391
$GC,17913,0.27,124.6,898.9,4.8,436,17927,0.00,2.42,6.93,1.193,4,0.000,0.080,3440,791,2368
$GC,17962,0.30,148.7,896.5,4.3,436,17991,0.00,2.33,23.50,1.384,6,0.000,0.062,3440,2206,2268
$GC,18348,0.30,148.7,874.3,5.9,443,18352,0.00,2.38,0.00,0.000,4,0.000,0.081,3440,3619,2266
$GC,18439,0.20,148.7,868.3,6.2,444,18444,0.25,2.30,0.00,0.000,6,0.168,0.063,3383,2203,2266
$GC,18778,0.38,175.3,853.5,4.2,450,18808,0.15,2.45,24.48,1.373,4,0.081,0.081,3448,782,2161
$GC,18848,0.38,175.3,849.4,6.5,451,18852,0.00,2.35,0.00,0.000,6,0.000,0.063,3449,2201,2159
$GC,19209,0.38,175.3,827.1,6.2,457,19213,0.00,2.38,0.00,0.000,4,0.000,0.082,3449,3617,2157
$GC,19254,0.29,175.3,824.0,7.4,457,19258,0.15,2.33,0.00,0.000,6,0.173,0.064,3411,2188,2157
$GC,19570,0.39,175.3,807.3,5.3,463,19575,0.10,2.38,0.00,0.000,4,0.089,0.079,3451,779,2157
$GC,19608,0.39,175.3,804.8,7.4,463,19613,0.00,2.35,0.00,0.000,6,0.000,0.063,3451,2210,2157
$GC,19930,0.39,175.3,785.5,6.0,469,19931,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2210,2157
$GC,20233,0.39,175.3,768.3,5.6,474,20234,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2210,2157
$GC,20537,0.39,175.3,752.1,5.3,479,20538,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2210,2157
$GC,20839,0.39,175.3,736.2,5.3,484,20840,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2210,2157
$GC,21142,0.39,175.3,719.6,5.5,489,21146,0.00,2.45,0.00,0.000,4,0.000,0.079,3451,778,2157
$GC,21198,0.39,175.3,716.5,5.9,489,21204,0.00,2.33,0.00,0.000,6,0.000,0.062,3451,2204,2157
$GC,21508,0.39,175.3,698.2,5.9,495,21509,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2204,2157
$GC,21811,0.39,175.3,679.9,6.1,500,21815,0.00,2.42,0.00,0.000,4,0.000,0.080,3451,784,2157
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$STATE,33356,end climb,SURFACE_DEPTH_REACHED
$STATE,33357,begin surface coast
$FINISH,2.2,1.007036
$STATE,33485,end surface coast,CONTROL_FINISHED_OK
$STATE,33485,begin surface
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