version: 66.03
glider: 120
mission: 9
dive: 517
start: 3 11 109 13 1 0
data:
$ID,120
$MISSION,9
$DIVE,517
$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,-28858.803
$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,19
$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
$GPS1,125337,4952.974,-14512.302,61,1.0,61,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-76.3
$GPS2,130002,4952.970,-14512.337,15,1.1,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,0.060
$KALMAN_X,-30487.4,37.2,-98.7,33101.6,-1409.7
$KALMAN_Y,116824.2,-168.6,-168.5,-135933.5,3133.4
$MHEAD_RNG_PITCHd_Wd,51.9,37062,-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,-10.57,0.000,2,0.000,0.000,140,2401,2012
$GC,41,-0.67,-117.3,3.4,-0.0,1,119,14.00,2.45,-57.15,0.000,4,0.281,0.095,3094,3799,3356
$GC,208,-0.51,-117.3,13.8,-10.6,16,213,0.20,2.28,0.00,0.000,6,0.157,0.056,3149,2387,3357
$GC,537,-0.51,-117.3,38.8,-7.6,46,541,0.00,2.35,0.00,0.000,4,0.000,0.071,3150,985,3357
$GC,565,-0.51,-117.3,41.5,-8.2,48,571,0.00,2.33,0.00,0.000,6,0.000,0.061,3149,2399,3358
$GC,890,-0.51,-117.3,64.5,-7.1,79,892,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2399,3357
$GC,1217,-0.51,-117.3,88.0,-7.4,105,1221,0.00,2.38,0.00,0.000,4,0.000,0.069,3149,988,3358
$GC,1244,-0.51,-117.3,90.3,-7.7,106,1248,0.00,2.33,0.00,0.000,6,0.000,0.061,3149,2402,3358
$GC,1572,-0.51,-117.3,114.6,-7.4,122,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2402,3358
$GC,1882,-0.76,-117.3,138.2,-7.9,137,1887,0.20,2.40,0.00,0.000,4,0.084,0.067,3071,987,3358
$GC,2006,-0.62,-117.3,149.3,-9.9,142,2012,0.17,2.33,0.00,0.000,6,0.144,0.061,3118,2400,3358
$GC,2339,-0.62,-117.3,172.4,-6.8,154,2343,0.00,2.35,0.00,0.000,4,0.000,0.080,3113,3810,3358
$GC,2409,-0.66,-117.3,177.3,-7.1,156,2413,0.00,2.25,0.00,0.000,6,0.000,0.054,3112,2400,3358
$GC,2745,-0.66,-117.3,200.1,-6.7,167,2749,0.00,2.35,0.00,0.000,4,0.000,0.069,3112,988,3358
$GC,2812,-0.70,-117.3,204.8,-6.7,169,2816,0.00,2.35,0.00,0.000,6,0.000,0.061,3112,2412,3358
$GC,3142,-0.70,-117.3,225.5,-6.0,180,3146,0.00,2.35,0.00,0.000,4,0.000,0.082,3112,3810,3358
$GC,3171,-0.70,-117.3,227.2,-6.0,181,3175,0.00,2.25,0.00,0.000,6,0.000,0.054,3112,2398,3358
$GC,3507,-0.70,-117.3,248.3,-6.5,192,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2398,3358
$GC,3813,-0.70,-117.3,269.8,-7.1,202,3817,0.00,2.40,0.00,0.000,4,0.000,0.082,3112,3807,3358
$GC,3859,-0.76,-117.3,273.4,-7.4,203,3863,0.12,2.22,0.00,0.000,6,0.087,0.054,3065,2399,3358
$GC,4184,-0.70,-117.3,299.3,-7.6,214,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2399,3358
$GC,4517,-0.64,-117.3,324.0,-7.4,220,4519,0.15,0.00,0.00,0.000,6,0.107,0.000,3109,2399,3358
$GC,4819,-0.64,-117.3,342.6,-6.0,225,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2399,3358
$GC,5123,-0.64,-117.3,360.3,-5.9,230,5127,0.00,2.42,0.00,0.000,4,0.000,0.082,3109,3813,3358
$GC,5158,-0.69,-117.3,362.5,-6.4,230,5162,0.00,2.28,0.00,0.000,6,0.000,0.055,3109,2390,3358
$GC,5486,-0.73,-117.3,382.6,-6.2,236,5490,0.00,2.35,0.00,0.000,4,0.000,0.072,3109,986,3358
$GC,5507,-0.73,-117.3,384.1,-6.2,236,5511,0.00,2.35,0.00,0.000,6,0.000,0.063,3110,2410,3358
$GC,5852,-0.73,-117.3,403.3,-5.5,242,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,6154,-0.73,-117.3,420.1,-5.5,247,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2409,3358
$GC,6458,-0.78,-117.3,437.2,-5.6,252,6460,0.15,0.00,0.00,0.000,6,0.085,0.000,3052,2410,3357
$GC,6761,-0.71,-117.3,457.4,-6.7,257,6763,0.12,0.00,0.00,0.000,6,0.101,0.000,3088,2409,3357
$GC,7064,-0.71,-117.3,477.9,-6.8,262,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2410,3357
$GC,7367,-0.71,-117.3,500.2,-7.4,267,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2409,3357
$GC,7670,-0.71,-117.3,521.4,-6.9,272,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2409,3357
$GC,7974,-0.71,-117.3,541.9,-6.8,277,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2409,3357
$GC,8276,-0.71,-117.3,562.7,-6.9,282,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2409,3357
$GC,8579,-0.71,-117.3,582.8,-6.6,287,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2409,3357
$GC,8882,-0.71,-117.3,601.9,-6.3,292,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2409,3357
$GC,9185,-0.71,-117.3,622.0,-6.6,297,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2409,3357
$GC,9489,-0.71,-117.3,643.0,-6.9,302,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2409,3357
$GC,9791,-0.71,-117.3,663.7,-6.8,307,9795,0.00,2.38,0.00,0.000,4,0.000,0.084,3086,3806,3356
$GC,9836,-0.71,-117.3,666.8,-7.1,307,9840,0.00,2.28,0.00,0.000,6,0.000,0.058,3086,2395,3356
$GC,10151,-0.71,-117.3,686.6,-6.3,313,10155,0.00,2.38,0.00,0.000,4,0.000,0.074,3085,986,3356
$GC,10179,-0.71,-117.3,688.6,-7.2,313,10184,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2399,3356
$GC,10512,-0.71,-117.3,709.7,-6.4,319,10516,0.00,2.40,0.00,0.000,4,0.000,0.084,3086,3809,3356
$GC,10550,-0.71,-117.3,712.4,-7.2,319,10555,0.00,2.28,0.00,0.000,6,0.000,0.057,3086,2396,3356
$GC,10872,-0.71,-117.3,732.9,-6.3,325,10876,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,989,3356
$GC,10901,-0.71,-117.3,734.8,-6.7,325,10905,0.00,2.35,0.00,0.000,6,0.000,0.064,3085,2400,3356
$GC,11233,-0.71,-117.3,754.3,-5.8,331,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3356
$GC,11536,-0.71,-117.3,771.1,-5.5,336,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3356
$GC,11840,-0.71,-117.3,787.0,-5.3,341,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3356
$GC,12143,-0.71,-117.3,804.6,-5.9,346,12147,0.00,2.45,0.00,0.000,4,0.000,0.084,3086,3813,3355
$GC,12176,-0.71,-117.3,806.8,-6.0,346,12180,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2400,3355
$GC,12503,-0.71,-117.3,827.7,-6.5,352,12504,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,3355
$GC,12806,-0.71,-117.3,847.8,-6.7,357,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,3355
$GC,13110,-0.71,-117.3,868.9,-6.9,362,13115,0.00,2.47,0.00,0.000,4,0.000,0.084,3086,3812,3355
$GC,13144,-0.71,-117.3,871.4,-6.6,362,13148,0.00,2.30,0.00,0.000,6,0.000,0.058,3085,2390,3355
$GC,13472,-0.71,-117.3,893.0,-6.6,368,13476,0.00,2.47,0.00,0.000,4,0.000,0.085,3085,3813,3355
$GC,13507,-0.71,-117.3,895.2,-6.7,368,13511,0.00,2.30,0.00,0.000,6,0.000,0.058,3086,2390,3355
$GC,13835,-0.90,-117.3,917.1,-6.8,374,13840,0.15,2.47,0.00,0.000,4,0.092,0.082,3025,3818,3354
$GC,13995,-0.78,-117.3,929.3,-7.4,376,14000,0.15,2.30,0.00,0.000,6,0.122,0.058,3065,2393,3354
$GC,14333,-0.78,-117.3,950.5,-6.2,382,14335,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2393,3354
$GC,14636,-0.78,-117.3,968.6,-6.0,387,14640,0.00,2.45,0.00,0.000,4,0.000,0.085,3065,3810,3354
$GC,14675,-0.78,-117.3,971.1,-5.8,387,14679,0.00,2.28,0.00,0.000,6,0.000,0.058,3065,2403,3354
$STATE,14993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14993,begin apogee
$GC,15002,-0.22,0.0,990.2,6.0,393,15116,0.60,0.00,108.65,1.486,6,0.146,0.000,3244,2190,2876
$STATE,15116,end apogee,CONTROL_FINISHED_OK
$STATE,15116,begin climb
$GC,15119,0.67,117.3,994.7,0.0,395,15243,0.90,2.72,115.32,1.431,4,0.092,0.078,3534,794,2397
$GC,15289,0.32,117.3,993.5,6.5,397,15294,0.43,2.50,0.00,0.000,6,0.178,0.061,3428,2206,2394
$GC,15600,0.32,117.3,977.7,5.1,402,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2206,2393
$GC,15902,0.32,117.3,962.3,5.1,407,15903,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2206,2392
$GC,16205,0.32,117.3,946.5,5.2,412,16209,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,780,2392
$GC,16250,0.28,117.3,943.9,5.6,412,16254,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2201,2392
$GC,16567,0.23,121.9,928.3,4.9,418,16574,0.17,0.00,4.85,1.041,6,0.173,0.000,3391,2201,2379
$GC,16870,0.38,170.4,917.1,3.6,423,16917,0.15,0.00,44.88,1.427,6,0.084,0.000,3450,2201,2181
$GC,17172,0.38,170.4,898.7,6.3,428,17173,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2201,2177
$GC,17475,0.38,170.4,879.3,6.4,433,17476,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2201,2176
$GC,17779,0.38,170.4,860.5,6.2,438,17783,0.00,2.35,0.00,0.000,4,0.000,0.081,3450,3609,2176
$GC,17824,0.28,170.4,857.1,7.1,438,17828,0.15,2.30,0.00,0.000,6,0.173,0.064,3412,2193,2176
$GC,18140,0.37,174.6,841.6,4.9,444,18146,0.00,0.00,4.62,0.992,6,0.000,0.000,3412,2194,2164
$GC,18444,0.46,180.0,826.9,4.8,449,18458,0.15,2.45,6.82,1.157,4,0.081,0.080,3477,786,2142
$GC,18504,0.39,180.0,823.0,7.6,449,18511,0.12,2.35,0.00,0.000,6,0.155,0.062,3446,2202,2141
$GC,18814,0.39,180.0,803.8,6.2,455,18815,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2201,2141
$GC,19117,0.39,180.0,783.8,6.6,460,19119,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2201,2141
$GC,19420,0.39,180.0,764.4,6.4,465,19424,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,792,2141
$GC,19460,0.39,180.0,761.7,6.7,465,19464,0.00,2.33,0.00,0.000,6,0.000,0.062,3449,2210,2141
$GC,19781,0.39,180.0,741.1,6.4,471,19782,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2141
$GC,20083,0.39,180.0,722.9,6.0,476,20088,0.00,2.45,0.00,0.000,4,0.000,0.080,3449,784,2141
$GC,20135,0.39,180.0,719.9,5.8,476,20139,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2198,2141
$GC,20445,0.39,180.0,702.5,5.6,481,20446,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2141
$GC,20748,0.39,180.0,684.2,6.1,486,20749,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2141
$GC,21051,0.39,180.0,665.5,6.2,491,21052,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2198,2141
$GC,21355,0.39,180.0,646.3,6.3,496,21359,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3610,2141
$GC,21390,0.34,180.0,643.9,7.4,496,21394,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2202,2140
$GC,21717,0.34,180.0,623.7,6.0,502,21721,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,788,2141
$GC,21756,0.34,180.0,621.3,5.4,502,21760,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2201,2141
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$STATE,32233,end surface coast,CONTROL_FINISHED_OK
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