version: 66.03
glider: 120
mission: 9
dive: 542
start: 3 21 109 1 46 38
data:
$ID,120
$MISSION,9
$DIVE,542
$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,-29368.553
$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,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
$GPS1,012809,5004.138,-14446.521,56,1.7,56,18.5
$_CALLS,3
$_XMS_NAKs,30
$_XMS_TOUTs,1
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-73.7
$GPS2,014543,5003.966,-14446.499,10,1.7,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,0.149
$KALMAN_X,-50003.5,-188.1,289.8,83178.3,-540.7
$KALMAN_Y,114395.4,-144.7,176.2,-113525.0,-361.0
$MHEAD_RNG_PITCHd_Wd,308.3,8381,-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,25,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,50,0.00,0.00,-20.30,0.000,2,0.000,0.000,134,2408,2249
$GC,54,-0.67,-117.3,3.8,-8.5,2,107,14.12,0.00,-32.85,0.000,6,0.285,0.000,3095,2408,3356
$GC,427,-0.54,-117.3,43.4,-12.8,37,432,0.15,2.42,0.00,0.000,4,0.167,0.076,3134,3812,3357
$GC,468,-0.54,-117.3,46.0,-4.9,40,472,0.00,2.33,0.00,0.000,6,0.000,0.054,3134,2397,3357
$GC,803,-0.50,-117.3,67.8,-8.7,71,806,0.00,2.40,0.00,0.000,4,0.000,0.069,3134,995,3357
$GC,849,-0.50,-117.3,74.0,-14.4,75,853,0.00,2.33,0.00,0.000,6,0.000,0.063,3134,2397,3357
$GC,1183,-0.50,-117.3,100.3,-8.5,95,1187,0.00,2.40,0.00,0.000,4,0.000,0.081,3128,3818,3357
$GC,1247,-0.50,-117.3,105.1,-6.8,98,1251,0.00,2.30,0.00,0.000,6,0.000,0.054,3129,2399,3357
$GC,1574,-0.50,-117.3,126.2,-6.0,114,1579,0.00,2.40,0.00,0.000,4,0.000,0.070,3128,986,3357
$GC,1615,-0.50,-117.3,128.8,-6.6,116,1619,0.00,2.35,0.00,0.000,6,0.000,0.061,3128,2406,3357
$GC,1944,-0.50,-117.3,148.1,-5.5,132,1948,0.00,2.40,0.00,0.000,4,0.000,0.081,3128,3819,3357
$GC,1986,-0.57,-117.3,150.5,-5.7,134,1990,0.00,2.30,0.00,0.000,6,0.000,0.054,3128,2391,3357
$GC,2311,-0.61,-117.3,170.7,-6.4,145,2315,0.00,2.35,0.00,0.000,4,0.000,0.070,3128,995,3357
$GC,2369,-0.69,-117.3,174.7,-7.1,146,2373,0.12,2.33,0.00,0.000,6,0.084,0.061,3081,2407,3357
$GC,2682,-0.69,-117.3,197.5,-7.3,156,2686,0.00,2.38,0.00,0.000,4,0.000,0.079,3081,3809,3357
$GC,2732,-0.65,-117.3,201.7,-8.3,157,2736,0.00,2.28,0.00,0.000,6,0.000,0.054,3081,2395,3357
$GC,3052,-0.65,-117.3,225.8,-7.4,168,3056,0.00,2.38,0.00,0.000,4,0.000,0.070,3081,990,3357
$GC,3085,-0.65,-117.3,228.6,-7.4,169,3089,0.00,2.33,0.00,0.000,6,0.000,0.061,3081,2401,3357
$GC,3415,-0.59,-117.3,253.7,-7.7,180,3420,0.15,2.42,0.00,0.000,4,0.143,0.079,3125,3808,3357
$GC,3483,-0.70,-117.3,258.1,-6.1,182,3487,0.00,2.25,0.00,0.000,6,0.000,0.053,3125,2401,3357
$GC,3813,-0.92,-117.3,279.8,-6.6,193,3818,0.28,2.42,0.00,0.000,4,0.085,0.078,3019,3810,3358
$GC,3932,-0.68,-117.3,291.3,-11.0,196,3936,0.28,2.28,0.00,0.000,6,0.156,0.054,3094,2389,3357
$GC,4243,-0.68,-117.3,315.6,-7.7,203,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2389,3357
$GC,4546,-0.68,-117.3,339.4,-7.9,208,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2389,3357
$GC,4849,-0.68,-117.3,362.8,-7.7,213,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2389,3358
$GC,5153,-0.68,-117.3,383.9,-6.9,218,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2389,3358
$GC,5456,-0.68,-117.3,403.4,-6.3,223,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2389,3357
$GC,5758,-0.68,-117.3,422.5,-6.3,228,5763,0.00,2.50,0.00,0.000,4,0.000,0.081,3094,3818,3357
$GC,5809,-0.68,-117.3,425.9,-6.3,228,5813,0.00,2.30,0.00,0.000,6,0.000,0.055,3094,2392,3357
$GC,6119,-0.68,-117.3,445.4,-6.3,233,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2393,3357
$GC,6423,-0.68,-117.3,465.0,-6.5,238,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2393,3357
$GC,6725,-0.68,-117.3,484.4,-6.3,243,6729,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,988,3357
$GC,6770,-0.68,-117.3,487.5,-6.7,243,6774,0.00,2.35,0.00,0.000,6,0.000,0.063,3094,2403,3357
$GC,7085,-0.68,-117.3,508.0,-6.6,249,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3357
$GC,7389,-0.68,-117.3,528.0,-6.6,254,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3356
$GC,7692,-0.68,-117.3,549.1,-7.0,259,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3356
$GC,7995,-0.68,-117.3,570.9,-7.1,264,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3356
$GC,8298,-0.68,-117.3,589.8,-6.1,269,8302,0.00,2.42,0.00,0.000,4,0.000,0.071,3094,993,3356
$GC,8342,-0.68,-117.3,592.6,-5.7,269,8346,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2407,3356
$GC,8658,-0.68,-117.3,608.9,-5.1,275,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3356
$GC,8961,-0.68,-117.3,623.0,-4.6,280,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3356
$GC,9264,-0.80,-117.3,638.9,-5.4,285,9269,0.12,2.42,0.00,0.000,4,0.087,0.081,3049,3808,3355
$GC,9309,-0.80,-117.3,642.0,-7.2,285,9313,0.00,2.30,0.00,0.000,6,0.000,0.056,3049,2389,3356
$GC,9626,-0.92,-117.3,662.0,-6.4,291,9630,0.00,2.47,0.00,0.000,4,0.000,0.081,3049,3809,3356
$GC,9721,-0.87,-117.3,668.8,-7.0,292,9725,0.00,2.28,0.00,0.000,6,0.000,0.056,3049,2395,3356
$GC,10055,-0.99,-117.3,691.9,-7.0,298,10060,0.15,2.45,0.00,0.000,4,0.095,0.081,2993,3808,3356
$GC,10313,-0.72,-117.3,717.4,-10.2,301,10320,0.32,2.28,0.00,0.000,6,0.159,0.058,3081,2397,3355
$GC,10624,-0.72,-117.3,736.6,-6.0,307,10628,0.00,2.35,0.00,0.000,4,0.000,0.073,3080,994,3355
$GC,10653,-0.83,-117.3,738.7,-6.9,307,10657,0.00,2.35,0.00,0.000,6,0.000,0.064,3080,2406,3355
$GC,10992,-1.00,-117.3,760.2,-6.4,313,10997,0.22,2.42,0.00,0.000,4,0.081,0.071,2997,991,3354
$GC,11159,-0.77,-117.3,775.4,-9.1,315,11164,0.28,2.38,0.00,0.000,6,0.165,0.064,3066,2411,3354
$GC,11486,-0.77,-117.3,797.2,-6.6,321,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3354
$GC,11789,-0.77,-117.3,818.2,-7.0,326,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3354
$GC,12093,-0.77,-117.3,840.9,-7.5,331,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3354
$GC,12395,-0.77,-117.3,864.1,-7.7,336,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3355
$GC,12699,-0.77,-117.3,888.3,-8.0,341,12703,0.00,2.42,0.00,0.000,4,0.000,0.085,3067,3817,3354
$GC,12726,-0.77,-117.3,890.6,-7.9,341,12730,0.00,2.30,0.00,0.000,6,0.000,0.057,3067,2395,3354
$GC,13065,-0.77,-117.3,914.7,-7.1,347,13069,0.00,2.38,0.00,0.000,4,0.000,0.074,3067,990,3354
$GC,13101,-0.77,-117.3,917.2,-7.1,347,13105,0.00,2.38,0.00,0.000,6,0.000,0.064,3067,2410,3354
$GC,13428,-0.77,-117.3,939.1,-6.6,353,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2410,3354
$GC,13731,-0.77,-117.3,958.4,-6.4,358,13735,0.00,2.45,0.00,0.000,4,0.000,0.074,3067,986,3354
$GC,13764,-0.77,-117.3,960.7,-7.1,358,13768,0.00,2.38,0.00,0.000,6,0.000,0.065,3067,2402,3353
$GC,14091,-0.77,-117.3,981.1,-6.2,364,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2402,3354
$STATE,14269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14269,begin apogee
$GC,14277,-0.22,0.0,991.3,5.8,367,14392,0.57,0.00,108.80,1.486,6,0.143,0.000,3240,2200,2875
$STATE,14392,end apogee,CONTROL_FINISHED_OK
$STATE,14392,begin climb
$GC,14396,0.67,117.3,995.1,0.0,369,14514,0.90,0.00,114.95,1.431,6,0.089,0.000,3531,2201,2397
$GC,14817,0.34,117.3,971.7,8.3,376,14819,0.35,0.00,0.00,0.000,6,0.161,0.000,3432,2200,2394
$GC,15119,0.30,117.3,954.2,5.6,381,15120,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2200,2393
$GC,15422,0.30,117.3,936.2,5.9,386,15426,0.00,2.40,0.00,0.000,4,0.000,0.079,3439,793,2393
$GC,15457,0.26,117.3,934.1,5.9,386,15462,0.15,2.30,0.00,0.000,6,0.161,0.061,3401,2204,2393
$GC,15786,0.32,126.9,918.3,4.7,392,15797,0.00,0.00,9.48,1.285,6,0.000,0.000,3401,2204,2358
$GC,16088,0.39,129.8,903.5,4.9,397,16095,0.12,0.00,4.57,0.992,6,0.080,0.000,3451,2204,2347
$GC,16392,0.32,129.8,885.3,6.1,402,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2204,2346
$GC,16694,0.25,129.8,867.1,6.0,407,16696,0.17,0.00,0.00,0.000,6,0.149,0.000,3403,2204,2345
$GC,16997,0.32,135.2,852.2,4.8,412,17005,0.00,0.00,6.45,1.153,6,0.000,0.000,3403,2204,2324
$GC,17300,0.40,139.2,837.5,4.9,417,17308,0.12,0.00,5.40,1.069,6,0.084,0.000,3452,2204,2308
$GC,17604,0.40,139.2,820.0,5.8,422,17608,0.00,2.35,0.00,0.000,4,0.000,0.082,3451,3606,2308
$GC,17643,0.25,139.2,817.2,6.6,422,17648,0.20,2.30,0.00,0.000,6,0.173,0.064,3400,2204,2307
$GC,17965,0.34,139.2,800.7,5.1,428,17969,0.00,2.42,0.00,0.000,4,0.000,0.078,3408,789,2308
$GC,17999,0.42,139.2,798.8,5.3,428,18004,0.12,2.30,0.00,0.000,6,0.087,0.060,3458,2200,2308
$GC,18326,0.35,139.2,780.1,5.7,434,18327,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2199,2308
$GC,18629,0.27,139.2,762.8,5.7,439,18631,0.17,0.00,0.00,0.000,6,0.146,0.000,3410,2200,2307
$GC,18933,0.35,153.2,748.7,4.6,444,18948,0.00,0.00,13.90,1.278,6,0.000,0.000,3410,2200,2251
$GC,19236,0.42,153.2,733.1,5.2,449,19241,0.12,2.40,0.00,0.000,4,0.084,0.081,3460,3610,2249
$GC,19275,0.27,153.2,730.3,7.3,449,19280,0.20,2.35,0.00,0.000,6,0.167,0.062,3410,2187,2249
$GC,19597,0.35,153.2,714.0,5.0,455,19598,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2188,2249
$GC,19901,0.45,168.4,700.0,4.6,460,19918,0.15,0.00,14.65,1.257,6,0.083,0.000,3470,2188,2189
$GC,20203,0.45,168.4,683.2,5.6,465,20204,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2188,2188
$GC,20506,0.45,168.4,667.2,5.3,470,20510,0.00,2.47,0.00,0.000,4,0.000,0.081,3470,3609,2187
$GC,20570,0.31,168.4,663.3,6.4,471,20575,0.22,2.35,0.00,0.000,6,0.165,0.064,3416,2202,2187
$GC,20936,0.44,199.9,648.0,4.1,477,20968,0.12,0.00,29.12,1.267,6,0.082,0.000,3465,2202,2061
$GC,21239,0.44,199.9,632.5,5.2,482,21240,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2202,2058
$GC,21543,0.44,203.1,617.3,4.9,487,21549,0.00,0.00,4.07,0.835,6,0.000,0.000,3465,2203,2047
$GC,21845,0.44,203.1,601.4,5.3,492,21846,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2202,2047
$GC,22148,0.44,203.1,583.9,5.8,497,22149,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2203,2047
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$STATE,31553,end climb,SURFACE_DEPTH_REACHED
$STATE,31553,begin surface coast
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$STATE,31671,end surface coast,CONTROL_FINISHED_OK
$STATE,31671,begin surface
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