version: 66.03
glider: 120
mission: 9
dive: 598
start: 4 11 109 3 48 15
data:
$ID,120
$MISSION,9
$DIVE,598
$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,-30480.848
$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,20
$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
$GPS1,033631,5003.674,-14511.583,58,1.1,58,18.4
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.4
$GPS2,034720,5003.659,-14511.629,16,1.1,16,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.177
$KALMAN_X,-81765.3,-44.9,36.3,85169.5,-509.7
$KALMAN_Y,144564.2,47.4,-188.8,-144083.8,2507.2
$MHEAD_RNG_PITCHd_Wd,158.2,17871,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.67,-117.3,0.0,0.0,0,61,0.00,0.00,-30.30,0.000,2,0.000,0.000,135,2402,2461
$GC,66,-0.67,-117.3,3.4,-4.7,3,110,13.70,2.40,-24.30,0.000,4,0.276,0.092,3085,3808,3355
$GC,263,-0.49,-117.3,25.5,-11.0,20,270,0.25,2.28,0.00,0.000,6,0.151,0.055,3155,2391,3357
$GC,591,-0.49,-117.3,49.4,-7.0,51,597,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2392,3357
$GC,917,-0.49,-117.3,72.6,-6.9,82,921,0.00,2.38,0.00,0.000,4,0.000,0.070,3155,987,3357
$GC,963,-0.55,-117.3,76.2,-7.6,85,969,0.00,2.35,0.00,0.000,6,0.000,0.061,3155,2406,3357
$GC,1292,-0.55,-117.3,99.5,-6.9,104,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2406,3357
$GC,1600,-0.55,-117.3,120.7,-7.4,119,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2406,3357
$GC,1910,-0.82,-117.3,143.2,-7.1,134,1915,0.28,2.42,0.00,0.000,4,0.081,0.067,3051,993,3357
$GC,1939,-0.77,-117.3,145.6,-8.7,135,1944,0.00,2.35,0.00,0.000,6,0.000,0.061,3051,2405,3357
$GC,2254,-0.58,-117.3,175.9,-9.5,146,2259,0.22,2.42,0.00,0.000,4,0.156,0.067,3123,991,3357
$GC,2428,-0.58,-117.3,188.4,-6.9,151,2432,0.00,2.35,0.00,0.000,6,0.000,0.061,3122,2399,3357
$GC,2753,-0.62,-117.3,210.0,-6.6,162,2757,0.00,2.40,0.00,0.000,4,0.000,0.068,3123,994,3357
$GC,2781,-0.62,-117.3,211.9,-6.7,162,2788,0.00,2.35,0.00,0.000,6,0.000,0.061,3123,2406,3357
$GC,3095,-0.66,-117.3,230.1,-5.5,173,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2405,3357
$GC,3402,-0.71,-117.3,246.1,-5.1,183,3404,0.12,0.00,0.00,0.000,6,0.083,0.000,3073,2405,3357
$GC,3707,-0.71,-117.3,265.1,-6.2,193,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3357
$GC,4013,-0.71,-117.3,285.0,-6.6,203,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,3357
$GC,4319,-0.71,-117.3,305.6,-6.7,212,4323,0.00,2.42,0.00,0.000,4,0.000,0.068,3073,993,3357
$GC,4354,-0.67,-117.3,308.3,-7.8,212,4358,0.00,2.35,0.00,0.000,6,0.000,0.061,3072,2399,3357
$GC,4681,-0.59,-117.3,331.1,-7.0,218,4683,0.17,0.00,0.00,0.000,6,0.140,0.000,3122,2399,3357
$GC,4985,-0.65,-117.3,347.0,-5.2,223,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3358
$GC,5288,-0.72,-117.3,363.5,-5.5,228,5293,0.12,2.42,0.00,0.000,4,0.084,0.069,3078,995,3357
$GC,5310,-0.72,-117.3,365.0,-6.2,228,5314,0.00,2.35,0.00,0.000,6,0.000,0.061,3078,2400,3357
$GC,5649,-0.72,-117.3,388.8,-7.0,234,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2400,3357
$GC,5952,-0.72,-117.3,410.4,-7.1,239,5956,0.00,2.42,0.00,0.000,4,0.000,0.070,3079,989,3357
$GC,5986,-0.72,-117.3,412.8,-7.0,239,5990,0.00,2.38,0.00,0.000,6,0.000,0.061,3078,2407,3357
$GC,6313,-0.72,-117.3,433.9,-6.4,245,6317,0.00,2.42,0.00,0.000,4,0.000,0.070,3078,985,3357
$GC,6340,-0.72,-117.3,435.8,-6.5,245,6344,0.00,2.38,0.00,0.000,6,0.000,0.061,3078,2404,3357
$GC,6673,-0.72,-117.3,456.7,-6.4,251,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3357
$GC,6977,-0.72,-117.3,476.3,-6.4,256,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2404,3357
$GC,7280,-0.72,-117.3,496.4,-6.7,261,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2404,3357
$GC,7583,-0.72,-117.3,515.5,-6.3,266,7587,0.00,2.42,0.00,0.000,4,0.000,0.070,3078,992,3357
$GC,7622,-0.72,-117.3,518.2,-6.6,266,7626,0.00,2.35,0.00,0.000,6,0.000,0.061,3078,2400,3357
$GC,7944,-0.72,-117.3,538.3,-6.3,272,7948,0.00,2.42,0.00,0.000,4,0.000,0.082,3079,3808,3357
$GC,7983,-0.72,-117.3,541.2,-7.7,272,7987,0.00,2.28,0.00,0.000,6,0.000,0.055,3078,2400,3357
$GC,8304,-0.72,-117.3,561.9,-6.4,278,8308,0.00,2.40,0.00,0.000,4,0.000,0.071,3078,985,3357
$GC,8338,-0.72,-117.3,564.2,-6.3,278,8342,0.00,2.38,0.00,0.000,6,0.000,0.061,3078,2404,3357
$GC,8666,-0.72,-117.3,585.4,-6.6,284,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3357
$GC,8968,-0.72,-117.3,605.7,-6.7,289,8972,0.00,2.42,0.00,0.000,4,0.000,0.071,3078,985,3356
$GC,9007,-0.72,-117.3,608.4,-6.7,289,9011,0.00,2.38,0.00,0.000,6,0.000,0.061,3078,2401,3356
$GC,9328,-0.72,-117.3,627.5,-5.9,295,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3356
$GC,9632,-0.72,-117.3,645.1,-5.8,300,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2401,3356
$GC,9934,-0.72,-117.3,662.3,-5.7,305,9938,0.00,2.42,0.00,0.000,4,0.000,0.071,3078,991,3356
$GC,9962,-0.72,-117.3,664.0,-5.8,305,9966,0.00,2.38,0.00,0.000,6,0.000,0.062,3078,2410,3356
$GC,10301,-0.72,-117.3,684.2,-6.0,311,10305,0.00,2.42,0.00,0.000,4,0.000,0.083,3079,3817,3356
$GC,10338,-0.72,-117.3,686.5,-6.5,311,10342,0.00,2.30,0.00,0.000,6,0.000,0.055,3078,2397,3355
$GC,10665,-0.72,-117.3,706.9,-6.1,317,10669,0.00,2.40,0.00,0.000,4,0.000,0.072,3078,985,3355
$GC,10693,-0.72,-117.3,708.7,-6.5,317,10697,0.00,2.38,0.00,0.000,6,0.000,0.061,3078,2400,3355
$GC,11031,-0.72,-117.3,729.4,-6.1,323,11035,0.00,2.42,0.00,0.000,4,0.000,0.082,3078,3811,3355
$GC,11065,-0.72,-117.3,731.5,-6.8,323,11069,0.00,2.30,0.00,0.000,6,0.000,0.055,3078,2393,3355
$GC,11392,-0.72,-117.3,750.8,-5.9,329,11396,0.00,2.38,0.00,0.000,4,0.000,0.071,3078,993,3355
$GC,11431,-0.72,-117.3,753.2,-5.9,329,11436,0.00,2.38,0.00,0.000,6,0.000,0.063,3078,2404,3355
$GC,11753,-0.72,-117.3,771.4,-5.7,335,11757,0.00,2.42,0.00,0.000,4,0.000,0.082,3079,3810,3355
$GC,11782,-0.72,-117.3,773.2,-6.4,335,11786,0.00,2.30,0.00,0.000,6,0.000,0.055,3078,2391,3355
$GC,12114,-0.72,-117.3,791.0,-5.3,341,12119,0.00,2.38,0.00,0.000,4,0.000,0.073,3078,994,3355
$GC,12139,-0.72,-117.3,792.6,-6.5,341,12143,0.00,2.38,0.00,0.000,6,0.000,0.062,3078,2408,3355
$GC,12478,-0.72,-117.3,812.7,-6.2,347,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2408,3354
$GC,12780,-0.72,-117.3,832.5,-6.5,352,12784,0.00,2.42,0.00,0.000,4,0.000,0.071,3079,992,3354
$GC,12820,-0.72,-117.3,835.3,-6.4,352,12824,0.00,2.38,0.00,0.000,6,0.000,0.063,3078,2403,3354
$GC,13141,-0.72,-117.3,856.8,-6.8,358,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3354
$GC,13445,-0.72,-117.3,876.7,-6.5,363,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3354
$GC,13748,-0.72,-117.3,895.1,-6.0,368,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2402,3354
$GC,14051,-0.72,-117.3,910.6,-5.0,373,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3354
$GC,14354,-0.72,-117.3,925.0,-4.7,378,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2402,3354
$GC,14657,-0.72,-117.3,940.6,-5.2,383,14661,0.00,2.45,0.00,0.000,4,0.000,0.084,3078,3814,3354
$GC,14693,-0.72,-117.3,942.6,-6.7,383,14697,0.00,2.30,0.00,0.000,6,0.000,0.057,3078,2402,3354
$GC,15020,-0.72,-117.3,960.7,-5.6,389,15024,0.00,2.42,0.00,0.000,4,0.000,0.074,3078,983,3354
$GC,15055,-0.76,-117.3,962.9,-6.1,389,15059,0.00,2.40,0.00,0.000,6,0.000,0.063,3078,2402,3354
$GC,15384,-0.76,-117.3,982.9,-6.2,395,15388,0.00,2.45,0.00,0.000,4,0.000,0.084,3078,3815,3354
$GC,15423,-0.76,-117.3,985.5,-6.7,395,15427,0.00,2.33,0.00,0.000,6,0.000,0.057,3078,2391,3353
$STATE,15498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15498,begin apogee
$GC,15507,-0.22,0.0,990.6,6.6,397,15621,0.55,0.00,107.90,1.492,6,0.136,0.000,3245,2191,2875
$STATE,15622,end apogee,CONTROL_FINISHED_OK
$STATE,15622,begin climb
$GC,15625,0.67,117.3,996.4,0.0,399,15749,0.85,2.72,114.03,1.440,4,0.086,0.076,3533,791,2397
$GC,15779,0.37,168.8,998.1,3.5,401,15839,0.38,2.58,52.92,1.397,6,0.166,0.059,3441,2200,2186
$GC,16187,0.37,168.8,977.4,5.3,408,16191,0.00,2.35,0.00,0.000,4,0.000,0.079,3441,3615,2181
$GC,16238,0.28,168.8,973.9,6.7,408,16243,0.15,2.30,0.00,0.000,6,0.158,0.063,3410,2196,2181
$GC,16550,0.37,178.7,959.2,4.7,413,16564,0.00,2.40,9.32,1.276,4,0.000,0.080,3410,780,2148
$GC,16594,0.47,178.7,956.9,5.4,413,16599,0.17,2.33,0.00,0.000,6,0.077,0.060,3476,2202,2147
$GC,16916,0.38,178.7,934.7,7.0,419,16921,0.15,2.35,0.00,0.000,4,0.144,0.077,3428,3612,2146
$GC,16972,0.34,178.7,930.9,6.2,419,16979,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2187,2146
$GC,17284,0.34,178.7,912.6,5.9,425,17288,0.00,2.35,0.00,0.000,4,0.000,0.080,3436,792,2146
$GC,17312,0.34,178.7,910.8,5.7,425,17316,0.00,2.30,0.00,0.000,6,0.000,0.060,3436,2201,2146
$GC,17645,0.34,178.7,890.2,6.2,431,17649,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,3617,2145
$GC,17679,0.29,178.7,887.6,7.9,431,17683,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2191,2145
$GC,18006,0.29,178.7,866.6,6.4,437,18008,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2145
$GC,18309,0.29,178.7,846.2,6.7,442,18310,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2145
$GC,18612,0.29,178.7,826.3,6.6,447,18616,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,790,2145
$GC,18651,0.29,178.7,823.6,6.3,447,18656,0.00,2.33,0.00,0.000,6,0.000,0.060,3436,2207,2145
$GC,18974,0.29,178.7,804.5,5.8,453,18975,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2145
$GC,19276,0.29,178.7,788.6,5.1,458,19277,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2145
$GC,19579,0.30,184.8,773.9,4.8,463,19588,0.00,0.00,6.80,1.146,6,0.000,0.000,3436,2206,2122
$GC,19882,0.30,184.8,758.8,5.0,468,19887,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3613,2122
$GC,19934,0.30,184.8,755.8,5.4,468,19938,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2191,2121
$GC,20245,0.34,184.8,738.1,5.8,473,20246,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2121
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$STATE,32825,begin surface coast
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$STATE,32901,end surface coast,CONTROL_FINISHED_OK
$STATE,32901,begin surface
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