version: 66.03
glider: 120
mission: 9
dive: 527
start: 3 15 109 8 32 15
data:
$ID,120
$MISSION,9
$DIVE,527
$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,-29076.096
$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,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
$GPS1,081711,5014.345,-14435.217,68,1.8,69,18.6
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-67.6
$GPS2,083121,5014.271,-14435.222,33,1.6,34,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.103,0.145
$KALMAN_X,-43347.0,-102.8,178.9,89949.8,-1747.3
$KALMAN_Y,116538.1,52.2,-60.1,-96544.7,-1197.3
$MHEAD_RNG_PITCHd_Wd,16.8,14008,-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,27,-0.67,-117.3,0.0,0.0,0,40,0.00,0.00,-10.88,0.000,2,0.000,0.000,147,2416,1944
$GC,44,-0.67,-117.3,3.0,-0.0,1,130,13.80,2.50,-61.72,0.000,4,0.276,0.083,3094,995,3356
$GC,305,-0.54,-117.3,28.9,-9.7,24,312,0.17,2.33,0.00,0.000,6,0.153,0.063,3143,2402,3358
$GC,635,-0.54,-117.3,48.6,-9.9,55,639,0.00,2.40,0.00,0.000,4,0.000,0.070,3147,985,3358
$GC,658,-0.54,-117.3,51.5,-10.4,56,664,0.00,2.33,0.00,0.000,6,0.000,0.061,3141,2403,3358
$GC,984,-0.54,-117.3,75.6,-4.9,87,985,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3358
$GC,1306,-0.54,-117.3,95.9,-7.7,106,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3358
$GC,1615,-0.54,-117.3,116.4,-6.7,121,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2403,3358
$GC,1924,-0.54,-117.3,137.6,-6.1,136,1928,0.00,2.40,0.00,0.000,4,0.000,0.069,3141,982,3358
$GC,1976,-0.60,-117.3,140.9,-6.8,138,1980,0.00,2.35,0.00,0.000,6,0.000,0.061,3142,2406,3358
$GC,2291,-0.66,-117.3,161.5,-5.8,150,2295,0.12,2.38,0.00,0.000,4,0.084,0.078,3086,3815,3358
$GC,2364,-0.61,-117.3,167.4,-8.3,152,2369,0.12,2.28,0.00,0.000,6,0.108,0.054,3120,2390,3358
$GC,2689,-0.61,-117.3,189.5,-6.9,163,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3358
$GC,2994,-0.61,-117.3,211.8,-7.1,173,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2390,3358
$GC,3300,-0.61,-117.3,232.6,-6.5,183,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2391,3358
$GC,3606,-0.61,-117.3,252.4,-6.6,193,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2391,3359
$GC,3913,-0.61,-117.3,273.2,-6.6,203,3917,0.00,2.42,0.00,0.000,4,0.000,0.081,3120,3819,3358
$GC,3942,-0.67,-117.3,275.2,-6.8,203,3948,0.00,2.30,0.00,0.000,6,0.000,0.054,3120,2368,3358
$GC,4255,-0.73,-117.3,294.3,-5.9,214,4257,0.12,0.00,0.00,0.000,6,0.084,0.000,3072,2369,3358
$GC,4590,-0.73,-117.3,316.9,-6.8,221,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2369,3358
$GC,4892,-0.73,-117.3,337.5,-6.8,226,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2369,3358
$GC,5196,-0.73,-117.3,358.7,-7.0,231,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2369,3358
$GC,5498,-0.73,-117.3,380.7,-7.2,236,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2369,3358
$GC,5801,-0.73,-117.3,401.6,-6.9,241,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2369,3358
$GC,6105,-0.73,-117.3,421.6,-6.6,246,6110,0.00,2.50,0.00,0.000,4,0.000,0.081,3071,3819,3357
$GC,6145,-0.66,-117.3,424.3,-7.4,246,6150,0.10,2.28,0.00,0.000,6,0.104,0.055,3098,2397,3358
$GC,6466,-0.66,-117.3,443.2,-5.8,252,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3358
$GC,6769,-0.66,-117.3,461.5,-6.1,257,6773,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,995,3357
$GC,6814,-0.66,-117.3,464.5,-7.0,257,6818,0.00,2.33,0.00,0.000,6,0.000,0.063,3098,2400,3357
$GC,7129,-0.66,-117.3,483.2,-5.9,263,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2400,3357
$GC,7433,-0.66,-117.3,501.7,-6.2,268,7437,0.00,2.38,0.00,0.000,4,0.000,0.072,3097,996,3356
$GC,7489,-0.66,-117.3,505.6,-6.7,268,7495,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2403,3356
$GC,7799,-0.66,-117.3,524.5,-6.1,274,7804,0.00,2.38,0.00,0.000,4,0.000,0.071,3098,997,3357
$GC,7827,-0.66,-117.3,526.4,-7.0,274,7831,0.00,2.33,0.00,0.000,6,0.000,0.062,3098,2401,3357
$GC,8160,-0.66,-117.3,546.4,-6.1,280,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3357
$GC,8463,-0.66,-117.3,565.8,-6.4,285,8467,0.00,2.38,0.00,0.000,4,0.000,0.071,3098,995,3356
$GC,8502,-0.66,-117.3,568.5,-7.3,285,8506,0.00,2.35,0.00,0.000,6,0.000,0.063,3098,2405,3356
$GC,8824,-0.66,-117.3,590.3,-6.7,291,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2404,3356
$GC,9127,-0.66,-117.3,610.1,-6.5,296,9131,0.00,2.40,0.00,0.000,4,0.000,0.072,3098,994,3356
$GC,9171,-0.66,-117.3,613.2,-7.1,296,9176,0.00,2.35,0.00,0.000,6,0.000,0.063,3098,2408,3356
$GC,9488,-0.66,-117.3,632.4,-6.0,302,9492,0.00,2.40,0.00,0.000,4,0.000,0.084,3098,3815,3356
$GC,9533,-0.72,-117.3,635.4,-6.9,302,9537,0.00,2.28,0.00,0.000,6,0.000,0.056,3098,2400,3356
$GC,9849,-0.92,-117.3,657.6,-7.3,308,9854,0.20,2.38,0.00,0.000,4,0.087,0.071,3024,989,3356
$GC,10084,-0.75,-117.3,679.4,-9.7,311,10089,0.20,2.35,0.00,0.000,6,0.162,0.064,3077,2400,3355
$GC,10411,-0.75,-117.3,702.0,-6.7,317,10415,0.00,2.40,0.00,0.000,4,0.000,0.072,3077,985,3356
$GC,10440,-0.75,-117.3,703.9,-7.8,317,10444,0.00,2.38,0.00,0.000,6,0.000,0.064,3077,2410,3355
$GC,10773,-0.75,-117.3,724.6,-6.1,323,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2410,3356
$GC,11075,-0.75,-117.3,742.2,-5.8,328,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2410,3355
$GC,11379,-0.75,-117.3,759.9,-5.9,333,11383,0.00,2.40,0.00,0.000,4,0.000,0.073,3078,995,3355
$GC,11423,-0.75,-117.3,762.7,-6.7,333,11428,0.00,2.35,0.00,0.000,6,0.000,0.065,3077,2402,3355
$GC,11740,-0.75,-117.3,780.8,-5.7,339,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2401,3355
$GC,12042,-0.75,-117.3,798.2,-5.8,344,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2401,3355
$GC,12345,-0.75,-117.3,814.9,-5.5,349,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2401,3355
$GC,12649,-0.75,-117.3,830.6,-5.1,354,12653,0.00,2.40,0.00,0.000,4,0.000,0.073,3078,993,3354
$GC,12688,-0.75,-117.3,832.8,-5.6,354,12692,0.00,2.35,0.00,0.000,6,0.000,0.064,3077,2400,3355
$GC,13010,-0.75,-117.3,848.1,-4.7,360,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2399,3355
$GC,13313,-0.75,-117.3,862.7,-4.8,365,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2399,3354
$GC,13616,-0.75,-117.3,877.9,-5.0,370,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2399,3354
$GC,13920,-0.75,-117.3,893.9,-5.2,375,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3354
$GC,14222,-0.75,-117.3,910.9,-5.7,380,14223,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2399,3355
$GC,14525,-0.75,-117.3,929.4,-6.1,385,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2399,3354
$GC,14828,-0.75,-117.3,948.5,-6.3,390,14832,0.00,2.40,0.00,0.000,4,0.000,0.074,3078,996,3354
$GC,14856,-0.75,-117.3,950.3,-6.7,390,14860,0.00,2.35,0.00,0.000,6,0.000,0.066,3078,2399,3354
$GC,15189,-0.75,-117.3,969.4,-5.7,396,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2399,3354
$GC,15491,-0.75,-117.3,986.0,-5.5,401,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2398,3353
$STATE,15609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15609,begin apogee
$GC,15617,-0.22,0.0,992.7,5.5,403,15732,0.55,0.00,108.97,1.488,6,0.143,0.000,3243,2200,2875
$STATE,15733,end apogee,CONTROL_FINISHED_OK
$STATE,15733,begin climb
$GC,15736,0.67,117.3,996.6,0.0,405,15860,0.90,2.78,115.45,1.431,4,0.095,0.077,3533,786,2397
$GC,15895,0.31,117.3,995.3,5.7,407,15901,0.45,2.53,0.00,0.000,6,0.176,0.060,3421,2199,2395
$GC,16217,0.31,117.3,978.7,5.1,413,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2393
$GC,16520,0.31,118.0,963.5,5.0,418,16522,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2393
$GC,16824,0.32,126.7,949.0,4.8,423,16835,0.00,0.00,9.30,1.288,6,0.000,0.000,3421,2198,2359
$GC,17127,0.33,128.4,934.1,5.0,428,17128,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2198,2358
$GC,17429,0.33,135.2,919.6,4.8,433,17443,0.00,2.38,9.20,1.281,4,0.000,0.081,3421,3612,2324
$GC,17473,0.27,135.2,917.2,5.4,433,17478,0.00,2.30,0.00,0.000,6,0.000,0.064,3422,2201,2324
$GC,17796,0.27,135.2,900.9,5.1,439,17800,0.00,2.40,0.00,0.000,4,0.000,0.079,3421,788,2324
$GC,17835,0.27,135.2,898.8,5.4,439,17839,0.00,2.33,0.00,0.000,6,0.000,0.061,3421,2209,2323
$GC,18156,0.27,137.8,883.0,4.9,445,18165,0.00,2.35,4.20,0.944,4,0.000,0.081,3421,3610,2313
$GC,18207,0.22,137.8,880.2,6.4,445,18211,0.15,2.30,0.00,0.000,6,0.178,0.064,3385,2194,2313
$GC,18523,0.38,159.1,866.3,4.4,451,18549,0.15,2.40,20.58,1.371,4,0.083,0.079,3446,789,2226
$GC,18584,0.38,159.1,862.9,6.0,452,18589,0.00,2.35,0.00,0.000,6,0.000,0.062,3446,2210,2225
$GC,18951,0.38,159.1,840.2,6.3,458,18955,0.00,2.35,0.00,0.000,4,0.000,0.081,3446,3612,2224
$GC,18985,0.29,159.1,837.8,8.3,458,18989,0.15,2.30,0.00,0.000,6,0.170,0.063,3411,2198,2224
$GC,19311,0.36,159.1,819.7,5.4,464,19316,0.00,2.38,0.00,0.000,4,0.000,0.078,3413,779,2224
$GC,19346,0.46,160.2,817.7,5.0,464,19351,0.15,2.33,0.00,0.000,6,0.087,0.061,3470,2203,2224
$GC,19673,0.37,160.2,794.9,7.1,470,19675,0.12,0.00,0.00,0.000,6,0.143,0.000,3436,2202,2224
$GC,19976,0.37,160.2,777.1,5.8,475,19977,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2202,2224
$GC,20280,0.37,160.2,761.7,5.0,480,20282,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2202,2224
$GC,20582,0.38,170.0,747.3,4.7,485,20598,0.00,2.38,10.80,1.241,4,0.000,0.081,3436,3617,2181
$GC,20621,0.39,177.8,745.3,4.8,485,20635,0.00,2.33,8.73,1.172,6,0.000,0.064,3436,2192,2150
$GC,20946,0.39,177.8,728.0,5.4,491,20947,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2149
$GC,21250,0.39,177.8,711.6,5.4,496,21254,0.00,2.35,0.00,0.000,4,0.000,0.080,3437,785,2148
$GC,21283,0.44,177.8,709.7,5.2,496,21288,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2206,2148
$GC,21616,0.49,177.8,691.1,5.6,502,21618,0.12,0.00,0.00,0.000,6,0.089,0.000,3489,2206,2149
$GC,21921,0.38,177.8,670.0,7.0,507,21925,0.15,2.38,0.00,0.000,4,0.140,0.078,3441,3619,2148
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$STATE,33115,begin surface coast
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