version: 66.03
glider: 120
mission: 9
dive: 522
start: 3 13 109 10 43 35
data:
$ID,120
$MISSION,9
$DIVE,522
$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,-28942.385
$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,23
$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
$GPS1,103307,5003.746,-14452.144,30,1.3,30,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-71.2
$GPS2,104238,5003.736,-14452.146,12,1.8,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.097,0.149
$KALMAN_X,-37566.7,127.0,102.0,63888.7,-2385.4
$KALMAN_Y,119938.4,37.4,-118.3,-119380.8,960.1
$MHEAD_RNG_PITCHd_Wd,14.8,7146,-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,-10.70,0.000,2,0.000,0.000,148,2415,1882
$GC,42,-0.67,-117.3,3.1,-0.0,1,139,13.52,2.42,-75.38,0.000,4,0.272,0.082,3094,993,3355
$GC,347,-0.49,-117.3,24.1,-10.9,28,354,0.22,2.33,0.00,0.000,6,0.149,0.064,3158,2401,3356
$GC,676,-0.53,-117.3,48.7,-5.8,59,681,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2400,3356
$GC,1003,-0.58,-117.3,70.4,-6.1,90,1007,0.00,2.40,0.00,0.000,4,0.000,0.069,3158,983,3356
$GC,1025,-0.63,-117.3,72.0,-6.7,91,1032,0.12,2.33,0.00,0.000,6,0.082,0.061,3106,2406,3356
$GC,1345,-0.59,-117.3,96.3,-7.5,112,1349,0.00,2.35,0.00,0.000,4,0.000,0.079,3103,3811,3356
$GC,1385,-0.50,-117.3,99.4,-7.9,113,1392,0.17,2.25,0.00,0.000,6,0.119,0.054,3153,2395,3356
$GC,1702,-0.54,-117.3,118.1,-5.9,129,1706,0.00,2.33,0.00,0.000,4,0.000,0.069,3153,986,3356
$GC,1749,-0.60,-117.3,121.1,-6.3,131,1753,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2401,3356
$GC,2078,-0.69,-117.3,142.3,-7.0,147,2079,0.17,0.00,0.00,0.000,6,0.077,0.000,3087,2401,3356
$GC,2394,-0.69,-117.3,167.2,-7.6,159,2398,0.00,2.35,0.00,0.000,4,0.000,0.069,3087,992,3356
$GC,2434,-0.69,-117.3,170.3,-7.8,160,2438,0.00,2.33,0.00,0.000,6,0.000,0.061,3087,2408,3356
$GC,2765,-0.64,-117.3,195.1,-7.3,171,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2408,3356
$GC,3071,-0.59,-117.3,216.8,-6.9,181,3073,0.12,0.00,0.00,0.000,6,0.138,0.000,3120,2408,3356
$GC,3377,-0.59,-117.3,235.1,-6.1,191,3381,0.00,2.38,0.00,0.000,4,0.000,0.081,3120,3815,3357
$GC,3406,-0.65,-117.3,236.8,-6.1,191,3412,0.00,2.30,0.00,0.000,6,0.000,0.054,3120,2378,3357
$GC,3719,-0.69,-117.3,255.0,-5.8,202,3724,0.00,2.45,0.00,0.000,4,0.000,0.080,3120,3812,3356
$GC,3759,-0.77,-117.3,257.4,-5.9,203,3764,0.15,2.28,0.00,0.000,6,0.077,0.053,3065,2390,3356
$GC,4084,-0.71,-117.3,280.7,-7.2,214,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2391,3357
$GC,4419,-0.65,-117.3,305.9,-7.5,224,4424,0.15,2.47,0.00,0.000,4,0.104,0.080,3113,3810,3356
$GC,4459,-0.71,-117.3,308.7,-7.2,224,4463,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2395,3356
$GC,4781,-0.71,-117.3,327.4,-5.7,230,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3356
$GC,5083,-0.71,-117.3,344.8,-5.7,235,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2396,3356
$GC,5387,-0.75,-117.3,363.2,-6.1,240,5389,0.12,0.00,0.00,0.000,6,0.086,0.000,3063,2396,3356
$GC,5690,-0.71,-117.3,386.9,-7.9,245,5694,0.00,2.45,0.00,0.000,4,0.000,0.080,3061,3810,3356
$GC,5741,-0.62,-117.3,391.4,-8.8,245,5745,0.17,2.28,0.00,0.000,6,0.113,0.054,3111,2398,3356
$GC,6051,-0.62,-117.3,412.0,-6.5,250,6055,0.00,2.35,0.00,0.000,4,0.000,0.071,3111,991,3356
$GC,6090,-0.67,-117.3,414.5,-6.7,250,6094,0.00,2.33,0.00,0.000,6,0.000,0.062,3111,2402,3356
$GC,6413,-0.71,-117.3,432.0,-5.4,256,6417,0.00,2.38,0.00,0.000,4,0.000,0.082,3111,3808,3356
$GC,6447,-0.78,-117.3,434.0,-6.1,256,6452,0.15,2.25,0.00,0.000,6,0.080,0.054,3056,2402,3355
$GC,6775,-0.72,-117.3,454.9,-6.5,262,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2402,3355
$GC,7077,-0.67,-117.3,474.4,-6.5,267,7079,0.15,0.00,0.00,0.000,6,0.106,0.000,3100,2402,3355
$GC,7381,-0.67,-117.3,494.5,-6.7,272,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3355
$GC,7683,-0.67,-117.3,514.9,-6.7,277,7688,0.00,2.38,0.00,0.000,4,0.000,0.071,3101,987,3355
$GC,7717,-0.67,-117.3,517.4,-7.0,277,7721,0.00,2.33,0.00,0.000,6,0.000,0.063,3100,2401,3355
$GC,8050,-0.67,-117.3,537.5,-6.0,283,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2401,3355
$GC,8353,-0.67,-117.3,556.0,-6.1,288,8357,0.00,2.38,0.00,0.000,4,0.000,0.072,3100,995,3354
$GC,8381,-0.67,-117.3,557.9,-7.2,288,8385,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2400,3354
$GC,8713,-0.67,-117.3,578.2,-6.1,294,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,9016,-0.67,-117.3,597.6,-6.4,299,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,9320,-0.67,-117.3,615.7,-5.9,304,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,9622,-0.67,-117.3,632.3,-5.4,309,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,9925,-0.67,-117.3,649.0,-5.6,314,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,10229,-0.71,-117.3,664.5,-5.0,319,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,10532,-0.71,-117.3,678.8,-4.7,324,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,10836,-0.71,-117.3,692.9,-4.7,329,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,11138,-0.71,-117.3,708.3,-5.1,334,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,11441,-0.76,-117.3,725.5,-5.7,339,11445,0.00,2.42,0.00,0.000,4,0.000,0.086,3100,3810,3353
$GC,11492,-0.83,-117.3,728.5,-5.9,339,11497,0.15,2.28,0.00,0.000,6,0.082,0.057,3044,2401,3353
$GC,11804,-0.78,-117.3,751.6,-7.6,344,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2402,3353
$GC,12106,-0.72,-117.3,774.4,-7.5,349,12111,0.15,2.42,0.00,0.000,4,0.104,0.072,3095,988,3353
$GC,12134,-0.72,-117.3,776.5,-7.4,349,12138,0.00,2.35,0.00,0.000,6,0.000,0.064,3095,2399,3353
$GC,12467,-0.76,-117.3,796.7,-6.0,355,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3353
$GC,12769,-0.80,-117.3,813.5,-5.6,360,12771,0.12,0.00,0.00,0.000,6,0.086,0.000,3046,2400,3353
$GC,13073,-0.76,-117.3,833.3,-6.6,365,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2399,3352
$GC,13375,-0.76,-117.3,853.7,-6.8,370,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2400,3352
$GC,13678,-0.76,-117.3,872.9,-6.3,375,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2400,3352
$GC,13982,-0.76,-117.3,891.2,-6.0,380,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2400,3352
$GC,14284,-0.76,-117.3,908.8,-5.8,385,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2400,3352
$GC,14588,-0.76,-117.3,926.6,-5.8,390,14592,0.00,2.42,0.00,0.000,4,0.000,0.084,3045,3811,3352
$GC,14651,-0.68,-117.3,930.5,-5.8,391,14656,0.17,2.33,0.00,0.000,6,0.125,0.058,3093,2395,3352
$GC,15018,-0.73,-117.3,948.4,-4.8,397,15019,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2395,3352
$GC,15321,-0.78,-117.3,963.2,-4.9,402,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2395,3352
$GC,15624,-0.91,-117.3,980.2,-5.8,407,15628,0.17,2.42,0.00,0.000,4,0.084,0.074,3027,986,3352
$GC,15710,-0.80,-117.3,986.2,-7.1,408,15715,0.12,2.35,0.00,0.000,6,0.153,0.064,3058,2401,3352
$STATE,15808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15808,begin apogee
$GC,15816,-0.22,0.0,992.7,6.1,410,15930,0.62,0.00,108.68,1.486,6,0.150,0.000,3242,2202,2875
$STATE,15931,end apogee,CONTROL_FINISHED_OK
$STATE,15931,begin climb
$GC,15935,0.67,117.3,997.0,0.0,412,16059,0.88,2.72,114.47,1.430,4,0.094,0.077,3534,787,2396
$GC,16116,0.32,117.3,994.9,6.7,414,16122,0.43,2.50,0.00,0.000,6,0.176,0.061,3426,2207,2394
$GC,16427,0.34,128.8,980.2,4.7,419,16445,0.00,2.42,11.52,1.308,4,0.000,0.077,3436,792,2350
$GC,16503,0.34,128.8,976.3,5.2,420,16508,0.00,2.33,0.00,0.000,6,0.000,0.062,3435,2206,2349
$GC,16859,0.30,128.8,958.5,5.0,426,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2348
$GC,17163,0.26,128.8,943.1,5.1,431,17168,0.12,2.35,0.00,0.000,4,0.173,0.080,3402,3609,2348
$GC,17213,0.26,128.8,940.4,5.0,431,17217,0.00,2.30,0.00,0.000,6,0.000,0.063,3408,2191,2348
$GC,17523,0.28,151.4,927.0,4.4,436,17546,0.00,0.00,21.25,1.398,6,0.000,0.000,3408,2191,2258
$GC,17827,0.36,157.4,912.5,4.8,441,17836,0.00,0.00,6.88,1.183,6,0.000,0.000,3408,2191,2234
$GC,18131,0.44,166.5,898.1,4.7,446,18143,0.15,0.00,9.90,1.282,6,0.082,0.000,3469,2191,2197
$GC,18433,0.36,166.5,878.8,6.5,451,18435,0.12,0.00,0.00,0.000,6,0.140,0.000,3436,2191,2196
$GC,18735,0.36,166.5,861.7,5.5,456,18739,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,787,2195
$GC,18769,0.36,166.5,859.9,5.6,456,18774,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2198,2196
$GC,19096,0.36,166.5,842.5,5.3,462,19097,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2195
$GC,19399,0.36,166.5,826.9,5.1,467,19401,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2195
$GC,19703,0.36,170.3,811.9,4.9,472,19710,0.00,0.00,5.05,1.031,6,0.000,0.000,3436,2198,2180
$GC,20007,0.36,170.3,796.8,5.0,477,20011,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,790,2181
$GC,20070,0.36,170.3,793.5,5.0,478,20074,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2204,2180
$GC,20436,0.36,170.3,773.8,5.5,484,20437,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2204,2181
$GC,20739,0.36,170.3,756.5,5.8,489,20743,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,789,2180
$GC,20773,0.36,170.3,754.5,5.8,489,20777,0.00,2.33,0.00,0.000,6,0.000,0.061,3435,2208,2180
$GC,21100,0.36,170.3,734.8,6.1,495,21101,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2180
$GC,21403,0.36,170.3,716.0,6.2,500,21404,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2180
$GC,21706,0.36,170.3,697.4,6.1,505,21707,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2180
$GC,22010,0.36,170.3,679.5,5.9,510,22011,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2208,2180
$GC,22312,0.36,170.3,662.7,5.5,515,22313,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2180
$GC,22615,0.36,170.3,647.1,5.2,520,22617,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2208,2180
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$STATE,32199,begin surface coast
$FINISH,3.4,1.025675
$STATE,32290,end surface coast,CONTROL_FINISHED_OK
$STATE,32291,begin surface
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