version: 66.03
glider: 120
mission: 9
dive: 555
start: 3 25 109 21 45 38
data:
$ID,120
$MISSION,9
$DIVE,555
$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,-29648.406
$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,20
$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
$GPS1,213707,5005.259,-14514.291,35,1.4,35,18.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-71.0
$GPS2,214444,5005.312,-14514.289,38,1.7,38,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.018,-0.177
$KALMAN_X,-48971.9,-102.6,-44.6,49352.5,-229.8
$KALMAN_Y,130110.2,-87.2,-71.4,-126547.6,3316.6
$MHEAD_RNG_PITCHd_Wd,155.7,21114,-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,-10.88,0.000,2,0.000,0.000,135,2412,1939
$GC,42,-0.67,-117.3,3.1,-0.0,1,128,13.82,2.45,-61.40,0.000,4,0.279,0.097,3095,3810,3356
$GC,178,-0.51,-117.3,9.9,-8.9,13,183,0.20,2.28,0.00,0.000,6,0.159,0.056,3150,2384,3357
$GC,504,-0.51,-117.3,35.2,-6.9,43,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2384,3358
$GC,822,-0.51,-117.3,56.7,-7.7,73,823,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2384,3357
$GC,1141,-0.51,-117.3,81.8,-7.6,102,1145,0.00,2.33,0.00,0.000,4,0.000,0.071,3150,993,3358
$GC,1163,-0.51,-117.3,83.9,-8.1,103,1167,0.00,2.35,0.00,0.000,6,0.000,0.062,3151,2407,3358
$GC,1485,-0.51,-117.3,107.4,-7.3,119,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2406,3358
$GC,1795,-0.58,-117.3,129.7,-7.0,134,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2407,3358
$GC,2114,-0.82,-117.3,152.6,-6.7,149,2119,0.25,2.40,0.00,0.000,4,0.085,0.070,3056,991,3358
$GC,2289,-0.67,-117.3,168.9,-9.5,154,2294,0.17,2.35,0.00,0.000,6,0.149,0.064,3102,2400,3358
$GC,2613,-0.67,-117.3,194.4,-7.9,165,2617,0.00,2.38,0.00,0.000,4,0.000,0.081,3099,3808,3358
$GC,2675,-0.67,-117.3,199.4,-7.7,166,2681,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2388,3358
$GC,2988,-0.67,-117.3,222.2,-7.3,177,2992,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,993,3358
$GC,3028,-0.67,-117.3,225.3,-8.1,178,3032,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2410,3358
$GC,3358,-0.67,-117.3,250.2,-7.6,189,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3358
$GC,3664,-0.67,-117.3,273.0,-7.4,199,3668,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,988,3358
$GC,3699,-0.67,-117.3,275.5,-7.2,200,3703,0.00,2.38,0.00,0.000,6,0.000,0.063,3099,2410,3358
$GC,4041,-0.67,-117.3,301.2,-7.7,211,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3358
$GC,4344,-0.67,-117.3,323.9,-7.5,216,4348,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,992,3358
$GC,4379,-0.67,-117.3,326.5,-7.4,216,4383,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2402,3358
$GC,4707,-0.67,-117.3,350.5,-7.4,222,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,5009,-0.67,-117.3,371.5,-6.9,227,5013,0.00,2.38,0.00,0.000,4,0.000,0.082,3099,3808,3358
$GC,5036,-0.67,-117.3,373.4,-6.5,227,5040,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2395,3358
$GC,5369,-0.67,-117.3,393.8,-6.1,233,5373,0.00,2.35,0.00,0.000,4,0.000,0.072,3099,994,3357
$GC,5397,-0.67,-117.3,395.6,-6.2,233,5402,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2403,3358
$GC,5730,-0.67,-117.3,416.3,-6.3,239,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,6033,-0.67,-117.3,437.4,-7.0,244,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,6337,-0.67,-117.3,460.9,-7.8,249,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,6639,-0.67,-117.3,483.9,-7.5,254,6643,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,991,3357
$GC,6668,-0.67,-117.3,486.1,-8.0,254,6672,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2401,3357
$GC,7000,-0.67,-117.3,508.5,-6.7,260,7004,0.00,2.40,0.00,0.000,4,0.000,0.083,3099,3818,3357
$GC,7034,-0.71,-117.3,510.8,-6.7,260,7038,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2397,3357
$GC,7361,-0.71,-117.3,530.7,-6.0,266,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3357
$GC,7664,-0.71,-117.3,548.0,-5.7,271,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3356
$GC,7967,-0.71,-117.3,566.4,-6.1,276,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3356
$GC,8270,-0.71,-117.3,585.2,-6.2,281,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3356
$GC,8573,-0.71,-117.3,605.7,-6.8,286,8577,0.00,2.38,0.00,0.000,4,0.000,0.073,3099,990,3356
$GC,8601,-0.71,-117.3,607.6,-7.2,286,8605,0.00,2.38,0.00,0.000,6,0.000,0.064,3099,2411,3356
$GC,8933,-0.71,-117.3,630.7,-7.0,292,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3356
$GC,9237,-0.71,-117.3,652.4,-7.2,297,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3357
$GC,9539,-0.71,-117.3,675.3,-7.6,302,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3356
$GC,9843,-0.71,-117.3,698.1,-7.5,307,9847,0.00,2.42,0.00,0.000,4,0.000,0.073,3099,990,3356
$GC,9872,-0.76,-117.3,700.4,-8.1,307,9876,0.00,2.38,0.00,0.000,6,0.000,0.064,3099,2409,3356
$GC,10205,-0.80,-117.3,722.9,-6.7,313,10207,0.12,0.00,0.00,0.000,6,0.091,0.000,3049,2409,3356
$GC,10507,-0.80,-117.3,742.8,-6.5,318,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2409,3355
$GC,10812,-0.80,-117.3,762.2,-6.4,323,10816,0.00,2.40,0.00,0.000,4,0.000,0.084,3047,3819,3355
$GC,10840,-0.73,-117.3,764.1,-6.6,323,10844,0.12,2.28,0.00,0.000,6,0.097,0.057,3082,2392,3355
$GC,11178,-0.73,-117.3,782.9,-5.5,329,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,11481,-0.73,-117.3,799.5,-5.5,334,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,11785,-0.73,-117.3,816.2,-5.6,339,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,12087,-0.73,-117.3,833.6,-5.7,344,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3356
$GC,12390,-0.73,-117.3,850.1,-5.4,349,12391,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3356
$GC,12693,-0.73,-117.3,866.4,-5.3,354,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,12997,-0.73,-117.3,881.6,-5.0,359,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,13300,-0.73,-117.3,896.9,-5.1,364,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,13602,-0.73,-117.3,913.1,-5.3,369,13604,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,13906,-0.73,-117.3,930.1,-5.7,374,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3355
$GC,14209,-0.73,-117.3,948.6,-6.1,379,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3354
$GC,14512,-0.73,-117.3,967.8,-6.3,384,14516,0.00,2.45,0.00,0.000,4,0.000,0.087,3082,3806,3354
$GC,14540,-0.73,-117.3,969.8,-6.4,384,14544,0.00,2.28,0.00,0.000,6,0.000,0.058,3082,2399,3354
$GC,14872,-0.73,-117.3,989.7,-6.0,390,14876,0.00,2.15,0.00,0.000,3,0.000,0.074,3082,1118,3354
$STATE,14877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14877,begin apogee
$GC,14886,-0.22,0.0,990.1,5.9,390,14998,0.50,0.00,108.15,1.487,6,0.143,0.000,3238,2208,2876
$STATE,14998,end apogee,CONTROL_FINISHED_OK
$STATE,14999,begin climb
$GC,15003,0.67,117.3,992.5,0.0,391,15125,0.88,0.00,115.43,1.430,6,0.091,0.000,3525,2207,2396
$GC,15429,0.36,117.3,971.8,8.2,398,15434,0.28,2.42,0.00,0.000,4,0.163,0.077,3451,787,2393
$GC,15486,0.28,117.3,967.8,5.7,398,15493,0.15,2.33,0.00,0.000,6,0.161,0.062,3413,2202,2392
$GC,15797,0.28,117.3,950.5,5.5,404,15801,0.00,2.35,0.00,0.000,4,0.000,0.081,3414,3616,2392
$GC,15837,0.23,117.3,948.1,6.4,404,15841,0.12,2.30,0.00,0.000,6,0.177,0.063,3393,2192,2392
$GC,16159,0.31,124.0,932.4,4.8,410,16167,0.00,0.00,6.65,1.183,6,0.000,0.000,3393,2193,2370
$GC,16463,0.40,136.3,918.2,4.6,415,16482,0.15,2.42,12.75,1.339,4,0.079,0.081,3462,788,2320
$GC,16535,0.31,136.3,913.6,6.8,416,16540,0.17,2.33,0.00,0.000,6,0.147,0.062,3415,2201,2319
$GC,16896,0.31,136.3,894.1,5.3,422,16897,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2201,2319
$GC,17199,0.31,136.3,878.1,5.3,427,17203,0.00,2.40,0.00,0.000,4,0.000,0.079,3423,789,2319
$GC,17244,0.31,140.2,875.6,4.9,427,17253,0.00,2.33,5.03,1.046,6,0.000,0.061,3424,2207,2304
$GC,17559,0.31,140.2,859.0,5.3,432,17563,0.00,2.35,0.00,0.000,4,0.000,0.081,3424,3618,2303
$GC,17595,0.31,140.2,857.1,6.4,432,17599,0.00,2.30,0.00,0.000,6,0.000,0.064,3424,2197,2303
$GC,17922,0.32,144.0,841.0,4.9,438,17933,0.00,2.38,5.55,1.087,4,0.000,0.080,3424,787,2287
$GC,17987,0.34,160.0,838.1,4.5,439,18007,0.00,2.33,15.50,1.326,6,0.000,0.061,3424,2204,2223
$GC,18353,0.34,160.0,818.5,5.4,445,18354,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2203,2222
$GC,18655,0.38,160.0,801.8,5.5,450,18659,0.00,2.40,0.00,0.000,4,0.000,0.079,3424,792,2221
$GC,18718,0.44,160.0,798.2,5.4,451,18723,0.10,2.30,0.00,0.000,6,0.091,0.061,3464,2200,2222
$GC,19090,0.44,160.0,774.6,6.4,457,19095,0.00,2.40,0.00,0.000,4,0.000,0.079,3463,791,2221
$GC,19147,0.38,160.0,770.8,7.2,457,19153,0.00,2.33,0.00,0.000,6,0.000,0.063,3463,2203,2221
$GC,19458,0.31,160.0,751.5,6.3,463,19460,0.17,0.00,0.00,0.000,6,0.142,0.000,3414,2203,2221
$GC,19762,0.39,163.5,736.5,4.9,468,19771,0.00,2.42,4.43,0.936,4,0.000,0.078,3423,781,2209
$GC,19811,0.46,163.5,733.7,5.6,468,19816,0.12,2.35,0.00,0.000,6,0.089,0.062,3474,2212,2209
$GC,20127,0.36,163.5,713.2,6.7,474,20129,0.15,0.00,0.00,0.000,6,0.141,0.000,3432,2212,2208
$GC,20431,0.36,163.5,695.8,5.8,479,20432,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2212,2208
$GC,20733,0.36,163.5,678.5,5.7,484,20734,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2211,2208
$GC,21036,0.36,163.5,661.2,5.7,489,21040,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,791,2208
$GC,21080,0.36,163.5,658.6,6.2,489,21085,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2202,2208
$GC,21397,0.36,163.5,640.8,5.7,495,21401,0.00,2.42,0.00,0.000,4,0.000,0.079,3436,785,2208
$GC,21436,0.41,163.5,638.4,6.2,495,21440,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2198,2208
$GC,21757,0.41,163.5,619.8,5.8,501,21758,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2208
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$STATE,32391,end climb,SURFACE_DEPTH_REACHED
$STATE,32391,begin surface coast
$FINISH,1.7,1.004111
$STATE,32585,end surface coast,CONTROL_FINISHED_OK
$STATE,32585,begin surface
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$DEVICE_SECS,28.900,216.950,359.100,17.800,0.000,30.063,31.889,213.800,258.000,0.000,0.000,38.854,1857.989,27335.807,542.723,2475.359,861.130,33.376,1760.533,0.000,2414.297,0.000,0.465
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