version: 66.03
glider: 120
mission: 9
dive: 523
start: 3 13 109 19 58 22
data:
$ID,120
$MISSION,9
$DIVE,523
$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,-28973.418
$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,22
$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
$GPS1,194431,5006.666,-14449.585,43,2.0,43,18.5
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-71.3
$GPS2,195728,5006.707,-14449.401,10,3.5,29,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,0.084
$KALMAN_X,-38300.2,121.4,337.1,67653.7,-1998.9
$KALMAN_Y,119961.6,-380.9,-175.8,-113422.1,1446.0
$MHEAD_RNG_PITCHd_Wd,43.2,35162,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,40,0.00,0.00,-10.82,0.000,2,0.000,0.000,147,2413,1931
$GC,44,-0.67,-117.3,3.1,-0.0,1,120,13.27,2.50,-57.28,0.000,4,0.266,0.081,3096,993,3356
$GC,374,-0.49,-117.3,32.5,-11.7,30,381,0.22,2.33,0.00,0.000,6,0.156,0.065,3158,2400,3357
$GC,704,-0.49,-117.3,56.8,-5.2,61,708,0.00,2.40,0.00,0.000,4,0.000,0.070,3159,985,3357
$GC,768,-0.57,-117.3,61.1,-5.8,66,772,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2402,3357
$GC,1102,-0.57,-117.3,86.5,-9.3,94,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3357
$GC,1412,-0.57,-117.3,111.9,-7.5,109,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2402,3358
$GC,1721,-0.63,-117.3,132.0,-6.4,124,1723,0.12,0.00,0.00,0.000,6,0.085,0.000,3104,2402,3357
$GC,2050,-0.63,-117.3,155.1,-6.7,139,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2401,3358
$GC,2357,-0.63,-117.3,175.0,-6.5,149,2361,0.00,2.40,0.00,0.000,4,0.000,0.080,3101,3809,3357
$GC,2414,-0.63,-117.3,179.1,-7.2,150,2421,0.00,2.28,0.00,0.000,6,0.000,0.054,3101,2397,3357
$GC,2727,-0.63,-117.3,199.9,-6.5,161,2731,0.00,2.38,0.00,0.000,4,0.000,0.069,3103,986,3357
$GC,2762,-0.63,-117.3,202.2,-6.2,162,2766,0.00,2.33,0.00,0.000,6,0.000,0.061,3103,2401,3357
$GC,3092,-0.63,-117.3,222.8,-6.2,173,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2401,3357
$GC,3398,-0.63,-117.3,240.9,-5.7,183,3402,0.00,2.40,0.00,0.000,4,0.000,0.080,3100,3813,3357
$GC,3427,-0.63,-117.3,242.7,-6.3,184,3431,0.00,2.30,0.00,0.000,6,0.000,0.054,3100,2393,3357
$GC,3763,-0.63,-117.3,261.3,-5.4,195,3767,0.00,2.38,0.00,0.000,4,0.000,0.070,3100,986,3357
$GC,3792,-0.63,-117.3,263.0,-6.3,196,3796,0.00,2.33,0.00,0.000,6,0.000,0.061,3100,2401,3357
$GC,4127,-0.63,-117.3,282.6,-5.7,207,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,4434,-0.63,-117.3,300.7,-5.9,217,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,4737,-0.63,-117.3,319.4,-6.2,222,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3357
$GC,5040,-0.63,-117.3,338.1,-6.1,227,5044,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,986,3357
$GC,5085,-0.68,-117.3,341.0,-6.4,227,5089,0.00,2.35,0.00,0.000,6,0.000,0.062,3101,2405,3357
$GC,5401,-0.68,-117.3,358.8,-5.6,233,5406,0.00,2.40,0.00,0.000,4,0.000,0.082,3100,3812,3357
$GC,5441,-0.68,-117.3,361.3,-6.4,233,5445,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2392,3357
$GC,5762,-0.68,-117.3,381.6,-6.4,239,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3357
$GC,6065,-0.68,-117.3,401.5,-6.5,244,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3357
$GC,6368,-0.68,-117.3,420.3,-6.2,249,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2392,3357
$GC,6672,-0.68,-117.3,438.8,-6.1,254,6676,0.00,2.45,0.00,0.000,4,0.000,0.082,3100,3808,3357
$GC,6711,-0.68,-117.3,441.4,-6.3,254,6715,0.00,2.28,0.00,0.000,6,0.000,0.055,3100,2397,3357
$GC,7033,-0.72,-117.3,460.6,-6.0,260,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3357
$GC,7336,-0.76,-117.3,478.5,-5.9,265,7340,0.00,2.45,0.00,0.000,4,0.000,0.081,3100,3810,3356
$GC,7365,-0.81,-117.3,480.4,-7.5,265,7369,0.12,2.28,0.00,0.000,6,0.091,0.055,3052,2395,3356
$GC,7697,-0.74,-117.3,504.6,-7.5,271,7701,0.00,2.35,0.00,0.000,4,0.000,0.071,3052,985,3356
$GC,7725,-0.66,-117.3,506.9,-8.2,271,7730,0.20,2.35,0.00,0.000,6,0.143,0.061,3106,2411,3356
$GC,8058,-0.70,-117.3,527.2,-6.0,277,8062,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3815,3356
$GC,8091,-0.70,-117.3,529.3,-6.5,277,8095,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2398,3356
$GC,8418,-0.88,-117.3,550.4,-6.6,283,8422,0.15,2.40,0.00,0.000,4,0.092,0.080,3037,3808,3356
$GC,8525,-0.74,-117.3,558.3,-7.7,284,8530,0.15,2.28,0.00,0.000,6,0.110,0.056,3079,2391,3356
$GC,8846,-0.74,-117.3,577.7,-6.0,290,8850,0.00,2.33,0.00,0.000,4,0.000,0.072,3079,996,3356
$GC,8890,-0.74,-117.3,580.5,-6.7,290,8894,0.00,2.33,0.00,0.000,6,0.000,0.063,3079,2404,3356
$GC,9206,-0.74,-117.3,598.8,-5.9,296,9210,0.00,2.40,0.00,0.000,4,0.000,0.083,3079,3817,3355
$GC,9233,-0.74,-117.3,600.6,-6.2,296,9237,0.00,2.28,0.00,0.000,6,0.000,0.056,3079,2401,3356
$GC,9565,-0.74,-117.3,620.0,-5.9,302,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3355
$GC,9868,-0.74,-117.3,637.6,-5.8,307,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3355
$GC,10172,-0.74,-117.3,656.4,-6.3,312,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3355
$GC,10475,-0.74,-117.3,676.7,-6.7,317,10479,0.00,2.35,0.00,0.000,4,0.000,0.073,3079,993,3355
$GC,10538,-0.74,-117.3,681.2,-6.9,318,10542,0.00,2.33,0.00,0.000,6,0.000,0.064,3079,2400,3355
$GC,10910,-0.74,-117.3,707.7,-7.1,324,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3355
$GC,11214,-0.74,-117.3,729.8,-7.3,329,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3355
$GC,11517,-0.74,-117.3,750.8,-6.9,334,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3355
$GC,11820,-0.74,-117.3,770.8,-6.5,339,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3355
$GC,12123,-0.74,-117.3,790.9,-6.6,344,12127,0.00,2.42,0.00,0.000,4,0.000,0.085,3079,3807,3354
$GC,12151,-0.74,-117.3,792.8,-6.8,344,12155,0.00,2.28,0.00,0.000,6,0.000,0.058,3079,2399,3354
$GC,12489,-0.74,-117.3,815.3,-6.7,350,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3354
$GC,12792,-0.74,-117.3,834.6,-6.4,355,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3354
$GC,13095,-0.74,-117.3,852.8,-6.0,360,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3354
$GC,13398,-0.74,-117.3,870.0,-5.7,365,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3354
$GC,13702,-0.74,-117.3,887.3,-5.7,370,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3354
$GC,14004,-0.74,-117.3,903.4,-5.3,375,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2400,3354
$GC,14308,-0.74,-117.3,918.4,-4.9,380,14312,0.00,2.47,0.00,0.000,4,0.000,0.084,3079,3805,3353
$GC,14347,-0.74,-117.3,920.6,-5.2,380,14351,0.00,2.30,0.00,0.000,6,0.000,0.059,3079,2390,3353
$GC,14669,-0.74,-117.3,937.0,-5.2,386,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2391,3353
$GC,14971,-0.74,-117.3,953.1,-5.3,391,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2391,3353
$GC,15274,-0.74,-117.3,970.7,-5.8,396,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2391,3353
$GC,15578,-0.74,-117.3,989.7,-6.4,401,15582,0.00,2.15,0.00,0.000,3,0.000,0.074,3079,1104,3353
$STATE,15582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15582,begin apogee
$GC,15592,-0.22,0.0,990.2,6.4,401,15709,0.52,0.00,108.35,1.485,6,0.143,0.000,3242,2203,2876
$STATE,15709,end apogee,CONTROL_FINISHED_OK
$STATE,15709,begin climb
$GC,15713,0.67,117.3,995.8,0.0,403,15835,0.88,0.00,115.12,1.430,6,0.096,0.000,3525,2203,2395
$GC,16139,0.37,117.3,979.0,6.6,410,16144,0.28,2.40,0.00,0.000,4,0.163,0.077,3453,792,2392
$GC,16190,0.28,117.3,976.3,5.5,410,16195,0.17,2.33,0.00,0.000,6,0.162,0.061,3407,2211,2392
$GC,16502,0.34,159.6,964.5,3.8,415,16542,0.00,0.00,38.45,1.428,6,0.000,0.000,3408,2211,2225
$GC,16804,0.41,159.6,949.5,5.1,420,16806,0.12,0.00,0.00,0.000,6,0.086,0.000,3456,2211,2222
$GC,17107,0.41,159.6,931.0,6.1,425,17108,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2211,2221
$GC,17410,0.41,159.6,913.1,5.9,430,17411,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2210,2222
$GC,17713,0.41,159.6,896.1,5.6,435,17714,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2211,2221
$GC,18016,0.41,159.6,879.4,5.5,440,18017,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2211,2221
$GC,18319,0.41,159.6,863.5,5.2,445,18323,0.00,2.40,0.00,0.000,4,0.000,0.079,3461,794,2221
$GC,18359,0.36,159.6,861.3,5.3,445,18363,0.00,2.30,0.00,0.000,6,0.000,0.062,3460,2204,2220
$GC,18680,0.29,159.6,843.9,5.4,451,18685,0.15,2.38,0.00,0.000,4,0.145,0.079,3414,3616,2221
$GC,18725,0.29,159.6,841.5,5.5,451,18729,0.00,2.30,0.00,0.000,6,0.000,0.064,3421,2202,2220
$GC,19041,0.37,185.7,828.1,4.3,457,19067,0.00,0.00,24.05,1.358,6,0.000,0.000,3421,2203,2118
$GC,19344,0.45,185.7,813.2,5.1,462,19346,0.12,0.00,0.00,0.000,6,0.093,0.000,3474,2203,2114
$GC,19647,0.37,185.7,791.0,7.5,467,19648,0.12,0.00,0.00,0.000,6,0.138,0.000,3440,2203,2115
$GC,19949,0.37,185.7,772.0,6.3,472,19950,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2203,2115
$GC,20253,0.37,185.7,753.8,5.9,477,20257,0.00,2.40,0.00,0.000,4,0.000,0.081,3440,3612,2114
$GC,20317,0.33,185.7,749.6,6.8,478,20321,0.00,2.33,0.00,0.000,6,0.000,0.063,3445,2187,2114
$GC,20682,0.33,185.7,727.8,6.0,484,20684,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2187,2114
$GC,20986,0.33,185.7,710.2,5.8,489,20987,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2187,2114
$GC,21289,0.33,185.7,693.2,5.6,494,21293,0.00,2.42,0.00,0.000,4,0.000,0.081,3445,3604,2114
$GC,21344,0.33,185.7,689.4,6.0,494,21351,0.00,2.28,0.00,0.000,6,0.000,0.064,3448,2203,2114
$GC,21655,0.33,185.7,671.2,5.8,500,21659,0.00,2.38,0.00,0.000,4,0.000,0.080,3448,789,2115
$GC,21700,0.33,185.7,668.4,6.4,500,21704,0.00,2.33,0.00,0.000,6,0.000,0.062,3448,2210,2115
$GC,22016,0.33,185.7,648.3,6.5,506,22020,0.00,2.38,0.00,0.000,4,0.000,0.082,3448,3619,2114
$GC,22066,0.33,185.7,644.5,7.1,506,22070,0.00,2.33,0.00,0.000,6,0.000,0.064,3448,2194,2114
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$STATE,32318,begin surface coast
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$STATE,32393,end surface coast,CONTROL_FINISHED_OK
$STATE,32394,begin surface
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