version: 66.03
glider: 120
mission: 9
dive: 601
start: 4 12 109 7 34 55
data:
$ID,120
$MISSION,9
$DIVE,601
$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,-30567.086
$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,21
$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
$GPS1,072637,4954.733,-14511.862,41,1.2,41,18.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-74.2
$GPS2,073401,4954.682,-14511.834,15,1.5,32,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.155,0.088
$KALMAN_X,-82308.1,-348.6,18.9,85790.6,187.8
$KALMAN_Y,148974.5,-104.2,-133.9,-165027.3,2552.2
$MHEAD_RNG_PITCHd_Wd,42.1,34393,-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,23,begin dive
$GC,26,-0.67,-117.3,0.0,0.0,0,58,0.00,0.00,-29.95,0.000,2,0.000,0.000,139,2405,2312
$GC,63,-0.67,-117.3,3.0,-3.9,3,117,13.88,2.47,-31.05,0.000,4,0.282,0.081,3093,985,3357
$GC,321,-0.52,-117.3,30.6,-10.2,26,326,0.20,2.38,0.00,0.000,6,0.152,0.064,3149,2403,3358
$GC,652,-0.52,-117.3,52.9,-7.3,56,658,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2403,3358
$GC,978,-0.52,-117.3,75.8,-7.7,87,982,0.00,2.42,0.00,0.000,4,0.000,0.068,3149,980,3358
$GC,1019,-0.52,-117.3,79.1,-8.2,90,1023,0.00,2.40,0.00,0.000,6,0.000,0.061,3149,2411,3358
$GC,1346,-0.52,-117.3,105.9,-8.1,106,1351,0.00,2.42,0.00,0.000,4,0.000,0.068,3149,986,3359
$GC,1380,-0.52,-117.3,108.8,-8.4,107,1386,0.00,2.35,0.00,0.000,6,0.000,0.061,3149,2399,3358
$GC,1697,-0.52,-117.3,132.5,-7.4,123,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2398,3359
$GC,2026,-0.76,-117.3,154.5,-6.3,138,2031,0.20,2.42,0.00,0.000,4,0.079,0.067,3070,980,3358
$GC,2139,-0.67,-117.3,163.0,-7.3,141,2143,0.12,2.38,0.00,0.000,6,0.128,0.061,3102,2401,3359
$GC,2458,-0.67,-117.3,186.7,-7.5,152,2462,0.00,2.40,0.00,0.000,4,0.000,0.079,3099,3812,3359
$GC,2556,-0.67,-117.3,194.0,-7.4,155,2560,0.00,2.30,0.00,0.000,6,0.000,0.053,3099,2386,3359
$GC,2892,-0.67,-117.3,217.0,-6.9,166,2896,0.00,2.38,0.00,0.000,4,0.000,0.068,3099,993,3359
$GC,2926,-0.67,-117.3,219.8,-7.7,167,2930,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2411,3359
$GC,3256,-0.67,-117.3,243.9,-7.4,178,3260,0.00,2.38,0.00,0.000,4,0.000,0.080,3100,3809,3359
$GC,3278,-0.67,-117.3,245.7,-7.6,178,3284,0.00,2.25,0.00,0.000,6,0.000,0.053,3099,2399,3359
$GC,3592,-0.67,-117.3,267.1,-6.6,189,3596,0.00,2.35,0.00,0.000,4,0.000,0.068,3099,993,3359
$GC,3665,-0.67,-117.3,272.2,-6.7,191,3669,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2410,3359
$GC,3995,-0.67,-117.3,294.7,-6.9,202,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3359
$GC,4329,-0.67,-117.3,318.5,-7.2,209,4334,0.00,2.42,0.00,0.000,4,0.000,0.070,3099,989,3359
$GC,4358,-0.67,-117.3,320.8,-7.8,209,4362,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2407,3359
$GC,4691,-0.67,-117.3,345.3,-7.4,215,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3359
$GC,4995,-0.67,-117.3,367.4,-7.3,220,4999,0.00,2.42,0.00,0.000,4,0.000,0.069,3099,983,3359
$GC,5045,-0.67,-117.3,371.2,-7.0,220,5049,0.00,2.38,0.00,0.000,6,0.000,0.062,3099,2400,3359
$GC,5357,-0.67,-117.3,393.2,-7.2,225,5360,0.00,2.42,0.00,0.000,4,0.000,0.081,3099,3817,3358
$GC,5390,-0.67,-117.3,396.0,-8.4,225,5394,0.00,2.30,0.00,0.000,6,0.000,0.054,3099,2390,3358
$GC,5723,-0.67,-117.3,420.2,-7.3,231,5727,0.00,2.38,0.00,0.000,4,0.000,0.070,3099,994,3358
$GC,5764,-0.67,-117.3,423.2,-7.8,231,5768,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2409,3358
$GC,6085,-0.67,-117.3,443.9,-6.3,237,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2408,3359
$GC,6389,-0.67,-117.3,460.1,-5.2,242,6393,0.00,2.45,0.00,0.000,4,0.000,0.070,3099,986,3358
$GC,6428,-0.67,-117.3,462.1,-5.1,242,6433,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2399,3358
$GC,6752,-0.67,-117.3,476.7,-4.5,248,6756,0.00,2.42,0.00,0.000,4,0.000,0.081,3099,3812,3358
$GC,6791,-0.67,-117.3,478.7,-5.1,248,6795,0.00,2.30,0.00,0.000,6,0.000,0.054,3099,2389,3358
$GC,7113,-0.67,-117.3,493.9,-4.9,254,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2389,3358
$GC,7415,-0.67,-117.3,509.6,-5.2,259,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2390,3358
$GC,7718,-0.67,-117.3,524.9,-5.0,264,7723,0.00,2.40,0.00,0.000,4,0.000,0.070,3099,994,3358
$GC,7747,-0.67,-117.3,526.4,-5.9,264,7751,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2403,3357
$GC,8080,-0.67,-117.3,544.2,-5.4,270,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,8384,-0.67,-117.3,562.2,-6.0,275,8388,0.00,2.45,0.00,0.000,4,0.000,0.070,3099,984,3357
$GC,8430,-0.71,-117.3,565.0,-6.5,275,8434,0.00,2.40,0.00,0.000,6,0.000,0.062,3099,2401,3357
$GC,8746,-0.71,-117.3,584.5,-6.2,281,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3357
$GC,9048,-0.71,-117.3,602.1,-5.8,286,9053,0.00,2.45,0.00,0.000,4,0.000,0.071,3099,983,3357
$GC,9077,-0.75,-117.3,603.9,-6.2,286,9081,0.00,2.40,0.00,0.000,6,0.000,0.062,3099,2404,3357
$GC,9410,-0.75,-117.3,623.5,-6.0,292,9414,0.00,2.42,0.00,0.000,4,0.000,0.082,3099,3810,3357
$GC,9438,-0.81,-117.3,625.3,-6.6,292,9443,0.12,2.30,0.00,0.000,6,0.087,0.054,3053,2388,3356
$GC,9770,-0.81,-117.3,648.8,-7.2,298,9775,0.00,2.40,0.00,0.000,4,0.000,0.071,3053,994,3356
$GC,9799,-0.76,-117.3,651.1,-7.7,298,9804,0.00,2.38,0.00,0.000,6,0.000,0.061,3053,2400,3356
$GC,10133,-0.68,-117.3,674.9,-7.1,304,10135,0.15,0.00,0.00,0.000,6,0.143,0.000,3094,2400,3356
$GC,10435,-0.68,-117.3,690.8,-5.1,309,10440,0.00,2.42,0.00,0.000,4,0.000,0.071,3094,994,3356
$GC,10469,-0.68,-117.3,692.6,-5.5,309,10474,0.00,2.40,0.00,0.000,6,0.000,0.063,3094,2408,3356
$GC,10797,-0.68,-117.3,709.0,-5.0,315,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3356
$GC,11101,-0.68,-117.3,725.3,-5.4,320,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3356
$GC,11403,-0.72,-117.3,742.7,-5.7,325,11407,0.00,2.47,0.00,0.000,4,0.000,0.071,3094,988,3356
$GC,11442,-0.76,-117.3,745.1,-6.1,325,11447,0.00,2.40,0.00,0.000,6,0.000,0.064,3094,2401,3355
$GC,11765,-0.76,-117.3,763.2,-5.6,331,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3356
$GC,12068,-0.80,-117.3,780.8,-5.8,336,12070,0.12,0.00,0.00,0.000,6,0.084,0.000,3045,2400,3355
$GC,12371,-0.76,-117.3,799.6,-6.2,341,12375,0.00,2.47,0.00,0.000,4,0.000,0.071,3045,986,3355
$GC,12416,-0.69,-117.3,802.6,-6.1,341,12421,0.17,2.42,0.00,0.000,6,0.138,0.063,3091,2414,3355
$GC,12733,-0.69,-117.3,817.9,-4.8,347,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2413,3355
$GC,13035,-0.69,-117.3,832.2,-4.7,352,13039,0.00,2.47,0.00,0.000,4,0.000,0.071,3092,995,3355
$GC,13063,-0.69,-117.3,833.6,-5.9,352,13068,0.00,2.40,0.00,0.000,6,0.000,0.064,3092,2405,3355
$GC,13397,-0.69,-117.3,849.5,-4.7,358,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3355
$GC,13700,-0.74,-117.3,863.0,-4.5,363,13701,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3355
$GC,14004,-0.78,-117.3,876.8,-4.6,368,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2404,3355
$GC,14306,-0.83,-117.3,891.4,-4.8,373,14311,0.12,2.47,0.00,0.000,4,0.085,0.071,3043,995,3355
$GC,14358,-0.76,-117.3,894.6,-6.2,373,14362,0.00,2.40,0.00,0.000,6,0.000,0.064,3043,2403,3354
$GC,14669,-0.69,-117.3,915.0,-6.6,378,14671,0.17,0.00,0.00,0.000,6,0.148,0.000,3092,2403,3355
$GC,14972,-0.73,-117.3,931.7,-5.4,383,14976,0.00,2.47,0.00,0.000,4,0.000,0.072,3092,990,3354
$GC,15018,-0.79,-117.3,934.5,-6.0,383,15022,0.00,2.40,0.00,0.000,6,0.000,0.064,3092,2398,3354
$GC,15334,-1.00,-117.3,955.6,-6.9,389,15339,0.25,2.47,0.00,0.000,4,0.084,0.072,2999,992,3354
$GC,15581,-0.79,-117.3,978.2,-9.0,392,15586,0.22,2.42,0.00,0.000,6,0.166,0.066,3056,2405,3354
$STATE,15772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15772,begin apogee
$GC,15781,-0.22,0.0,992.0,7.0,396,15895,0.62,0.00,108.03,1.496,6,0.140,0.000,3243,2190,2875
$STATE,15896,end apogee,CONTROL_FINISHED_OK
$STATE,15896,begin climb
$GC,15900,0.67,117.3,997.2,0.0,398,16022,0.88,0.00,113.90,1.444,6,0.087,0.000,3531,2190,2396
$GC,16330,0.34,117.3,980.0,6.7,405,16332,0.35,0.00,0.00,0.000,6,0.162,0.000,3432,2190,2394
$GC,16629,0.37,144.1,966.8,4.2,410,16656,0.00,0.00,24.52,1.412,6,0.000,0.000,3432,2190,2288
$GC,16932,0.37,144.1,950.7,5.5,415,16934,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2190,2286
$GC,17236,0.37,144.1,932.3,6.1,420,17237,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2190,2286
$GC,17538,0.37,144.1,912.9,6.4,425,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2190,2285
$GC,17841,0.37,144.1,893.3,6.4,430,17845,0.00,2.42,0.00,0.000,4,0.000,0.077,3441,781,2285
$GC,17881,0.37,144.1,890.6,7.3,430,17885,0.00,2.35,0.00,0.000,6,0.000,0.061,3441,2205,2285
$GC,18203,0.37,144.1,870.8,6.1,436,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2204,2285
$GC,18505,0.37,144.1,853.8,5.6,441,18509,0.00,2.38,0.00,0.000,4,0.000,0.080,3441,3614,2285
$GC,18544,0.26,144.1,851.3,5.7,441,18549,0.17,2.33,0.00,0.000,6,0.172,0.061,3405,2193,2285
$GC,18866,0.38,176.7,837.9,4.1,447,18898,0.10,0.00,29.67,1.382,6,0.093,0.000,3449,2194,2155
$GC,19170,0.38,176.7,822.2,5.3,452,19171,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2152
$GC,19472,0.38,176.7,804.9,5.8,457,19473,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2152
$GC,19775,0.38,176.7,786.7,6.0,462,19776,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2194,2152
$GC,20078,0.38,176.7,767.3,6.5,467,20079,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2151
$GC,20382,0.38,176.7,746.0,7.0,472,20383,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2151
$GC,20684,0.38,176.7,724.8,7.0,477,20685,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2194,2151
$GC,20987,0.38,176.7,704.9,6.4,482,20988,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2194,2151
$GC,21290,0.38,176.7,686.3,6.2,487,21294,0.00,2.42,0.00,0.000,4,0.000,0.082,3448,3605,2151
$GC,21324,0.31,176.7,683.7,7.7,487,21328,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2195,2151
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$STATE,32153,end climb,SURFACE_DEPTH_REACHED
$STATE,32153,begin surface coast
$FINISH,1.4,1.013737
$STATE,32219,end surface coast,CONTROL_FINISHED_OK
$STATE,32220,begin surface
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$10V_AH,10.3,81.225
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