version: 66.03
glider: 120
mission: 9
dive: 621
start: 4 19 109 22 42 57
data:
$ID,120
$MISSION,9
$DIVE,621
$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,-30949.377
$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,18
$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
$GPS1,223300,4956.958,-14430.870,70,1.8,70,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-75.1
$GPS2,224202,4956.986,-14430.897,12,1.7,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.014,-0.177
$KALMAN_X,-98143.6,-351.6,-29.9,150366.1,599.2
$KALMAN_Y,144111.5,-367.9,-63.2,-155710.4,1924.6
$MHEAD_RNG_PITCHd_Wd,157.0,5653,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-27.77,0.000,2,0.000,0.000,136,2402,2429
$GC,64,-0.67,-117.3,3.1,-4.4,3,111,13.70,2.50,-25.85,0.000,4,0.277,0.094,3095,3815,3356
$GC,157,-0.51,-117.3,12.4,-10.2,11,164,0.20,2.30,0.00,0.000,6,0.152,0.054,3151,2397,3358
$GC,486,-0.51,-117.3,36.5,-7.0,42,492,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2398,3359
$GC,812,-0.51,-117.3,60.4,-7.5,73,816,0.00,2.40,0.00,0.000,4,0.000,0.069,3152,985,3358
$GC,835,-0.51,-117.3,62.2,-7.7,74,841,0.00,2.35,0.00,0.000,6,0.000,0.060,3152,2403,3358
$GC,1160,-0.51,-117.3,85.1,-7.0,102,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2403,3358
$GC,1468,-0.51,-117.3,106.1,-6.4,117,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2403,3358
$GC,1779,-0.57,-117.3,123.9,-5.4,132,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2403,3359
$GC,2087,-0.66,-117.3,140.8,-5.9,147,2089,0.15,0.00,0.00,0.000,6,0.080,0.000,3094,2403,3359
$GC,2415,-0.66,-117.3,165.8,-7.9,160,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3359
$GC,2721,-0.66,-117.3,189.9,-7.7,170,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3359
$GC,3028,-0.66,-117.3,211.3,-6.6,180,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3359
$GC,3333,-0.66,-117.3,229.2,-5.8,190,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3359
$GC,3640,-0.66,-117.3,248.1,-6.3,200,3643,0.00,2.45,0.00,0.000,4,0.000,0.080,3093,3818,3359
$GC,3685,-0.66,-117.3,251.3,-6.8,201,3689,0.00,2.33,0.00,0.000,6,0.000,0.054,3093,2394,3359
$GC,4010,-0.66,-117.3,271.5,-6.2,212,4014,0.00,2.40,0.00,0.000,4,0.000,0.070,3093,986,3359
$GC,4055,-0.66,-117.3,274.6,-6.6,213,4060,0.00,2.38,0.00,0.000,6,0.000,0.060,3093,2406,3358
$GC,4380,-0.66,-117.3,294.7,-6.1,224,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3359
$GC,4715,-0.66,-117.3,316.1,-6.5,231,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3359
$GC,5018,-0.66,-117.3,336.6,-6.8,236,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3359
$GC,5321,-0.66,-117.3,357.3,-6.8,241,5325,0.00,2.45,0.00,0.000,4,0.000,0.069,3093,985,3359
$GC,5360,-0.66,-117.3,360.0,-6.8,241,5364,0.00,2.40,0.00,0.000,6,0.000,0.061,3093,2409,3358
$GC,5682,-0.66,-117.3,378.6,-5.7,247,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2409,3359
$GC,5984,-0.66,-117.3,394.8,-5.3,252,5989,0.00,2.45,0.00,0.000,4,0.000,0.081,3091,3815,3358
$GC,6018,-0.66,-117.3,396.9,-6.2,252,6022,0.00,2.30,0.00,0.000,6,0.000,0.054,3091,2401,3358
$GC,6346,-0.66,-117.3,414.8,-5.4,258,6350,0.00,2.40,0.00,0.000,4,0.000,0.070,3091,995,3358
$GC,6380,-0.66,-117.3,416.9,-6.2,258,6384,0.00,2.38,0.00,0.000,6,0.000,0.060,3091,2410,3358
$GC,6707,-0.66,-117.3,436.6,-6.1,264,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2409,3358
$GC,7010,-0.66,-117.3,455.8,-6.3,269,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2409,3358
$GC,7313,-0.66,-117.3,475.3,-6.5,274,7317,0.00,2.45,0.00,0.000,4,0.000,0.070,3091,994,3358
$GC,7358,-0.72,-117.3,478.5,-7.1,274,7362,0.00,2.38,0.00,0.000,6,0.000,0.060,3091,2405,3358
$GC,7674,-0.72,-117.3,499.2,-6.6,280,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3358
$GC,7977,-0.72,-117.3,518.1,-6.1,285,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3358
$GC,8280,-0.72,-117.3,535.8,-5.9,290,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2404,3358
$GC,8583,-0.72,-117.3,553.4,-5.8,295,8587,0.00,2.45,0.00,0.000,4,0.000,0.071,3090,986,3358
$GC,8617,-0.77,-117.3,555.4,-5.8,295,8622,0.00,2.40,0.00,0.000,6,0.000,0.061,3090,2407,3358
$GC,8945,-0.77,-117.3,573.3,-5.4,301,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2407,3358
$GC,9248,-0.77,-117.3,590.4,-5.7,306,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2407,3358
$GC,9551,-0.77,-117.3,609.4,-6.3,311,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2406,3357
$GC,9855,-0.77,-117.3,629.9,-6.8,316,9859,0.00,2.47,0.00,0.000,4,0.000,0.071,3090,985,3357
$GC,9883,-0.82,-117.3,632.1,-7.4,316,9888,0.12,2.40,0.00,0.000,6,0.084,0.061,3044,2403,3357
$GC,10216,-0.76,-117.3,659.0,-8.1,322,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2403,3357
$GC,10519,-0.70,-117.3,683.1,-8.0,327,10521,0.15,0.00,0.00,0.000,6,0.109,0.000,3088,2403,3357
$GC,10823,-0.70,-117.3,703.4,-6.6,332,10827,0.00,2.47,0.00,0.000,4,0.000,0.071,3088,984,3356
$GC,10857,-0.70,-117.3,705.9,-7.0,332,10861,0.00,2.42,0.00,0.000,6,0.000,0.062,3086,2412,3356
$GC,11184,-0.70,-117.3,726.4,-6.3,338,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3356
$GC,11487,-0.70,-117.3,745.1,-6.2,343,11491,0.00,2.47,0.00,0.000,4,0.000,0.071,3086,992,3356
$GC,11532,-0.70,-117.3,748.1,-6.5,343,11536,0.00,2.40,0.00,0.000,6,0.000,0.063,3086,2404,3356
$GC,11848,-0.70,-117.3,767.1,-6.0,349,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,12151,-0.70,-117.3,785.0,-5.9,354,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,12454,-0.70,-117.3,801.4,-5.4,359,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3356
$GC,12758,-0.70,-117.3,816.9,-5.1,364,12762,0.00,2.47,0.00,0.000,4,0.000,0.072,3086,987,3356
$GC,12791,-0.70,-117.3,818.7,-5.1,364,12795,0.00,2.42,0.00,0.000,6,0.000,0.063,3086,2408,3355
$GC,13118,-0.70,-117.3,835.6,-5.3,370,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3356
$GC,13421,-0.70,-117.3,851.8,-5.3,375,13425,0.00,2.47,0.00,0.000,4,0.000,0.072,3086,987,3355
$GC,13455,-0.70,-117.3,853.8,-5.5,375,13459,0.00,2.42,0.00,0.000,6,0.000,0.063,3086,2405,3355
$GC,13782,-0.70,-117.3,871.0,-5.3,381,13786,0.00,2.45,0.00,0.000,4,0.000,0.082,3086,3808,3355
$GC,13810,-0.70,-117.3,872.4,-5.0,381,13814,0.00,2.30,0.00,0.000,6,0.000,0.056,3086,2401,3355
$GC,14143,-0.70,-117.3,888.7,-4.9,387,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,14446,-0.70,-117.3,903.9,-5.0,392,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,14749,-0.70,-117.3,919.4,-5.1,397,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3355
$GC,15052,-0.70,-117.3,934.5,-4.9,402,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3355
$GC,15355,-0.70,-117.3,949.3,-4.9,407,15359,0.00,2.45,0.00,0.000,4,0.000,0.073,3085,991,3355
$GC,15390,-0.75,-117.3,951.2,-5.8,407,15395,0.00,2.42,0.00,0.000,6,0.000,0.063,3086,2410,3355
$GC,15718,-0.75,-117.3,968.1,-5.2,413,15719,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3354
$GC,16021,-0.75,-117.3,984.9,-5.6,418,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3354
$STATE,16139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16139,begin apogee
$GC,16147,-0.22,0.0,992.0,5.8,420,16261,0.52,0.00,108.32,1.492,6,0.136,0.000,3242,2193,2875
$STATE,16262,end apogee,CONTROL_FINISHED_OK
$STATE,16262,begin climb
$GC,16267,0.67,117.3,997.0,0.0,422,16391,0.88,2.78,114.43,1.441,4,0.083,0.077,3534,792,2396
$GC,16420,0.33,136.1,998.1,4.5,424,16446,0.43,2.62,20.25,1.338,6,0.170,0.058,3432,2209,2321
$GC,16758,0.36,157.8,983.2,4.4,430,16784,0.00,2.42,20.70,1.385,4,0.000,0.080,3432,3621,2231
$GC,16830,0.29,157.8,979.5,5.2,431,16834,0.00,2.33,0.00,0.000,6,0.000,0.062,3436,2195,2230
$GC,17192,0.29,164.4,962.0,4.8,437,17201,0.00,0.00,7.03,1.202,6,0.000,0.000,3436,2196,2206
$GC,17494,0.29,164.4,946.3,5.2,442,17498,0.00,2.40,0.00,0.000,4,0.000,0.081,3436,3611,2205
$GC,17562,0.22,164.4,942.1,6.4,443,17566,0.17,2.33,0.00,0.000,6,0.173,0.062,3392,2191,2204
$GC,17924,0.37,182.1,926.1,4.5,449,17944,0.12,0.00,17.33,1.390,6,0.084,0.000,3439,2192,2133
$GC,18226,0.42,182.1,908.8,5.8,454,18230,0.00,2.42,0.00,0.000,4,0.000,0.081,3439,3620,2131
$GC,18266,0.36,182.1,905.9,8.8,454,18270,0.00,2.33,0.00,0.000,6,0.000,0.061,3447,2194,2131
$GC,18588,0.36,182.1,883.2,7.1,460,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2195,2131
$GC,18891,0.36,182.1,859.9,7.8,465,18896,0.00,2.45,0.00,0.000,4,0.000,0.080,3448,3612,2130
$GC,18960,0.27,182.1,854.0,7.7,466,18965,0.17,2.35,0.00,0.000,6,0.164,0.061,3404,2192,2130
$GC,19321,0.39,182.1,832.5,5.7,472,19323,0.12,0.00,0.00,0.000,6,0.084,0.000,3451,2192,2130
$GC,19624,0.39,182.1,814.6,5.9,477,19629,0.00,2.50,0.00,0.000,4,0.000,0.080,3451,3616,2130
$GC,19670,0.31,182.1,811.2,7.7,477,19675,0.12,2.38,0.00,0.000,6,0.169,0.062,3421,2195,2130
$GC,19987,0.38,182.1,794.7,5.1,483,19988,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2196,2130
$GC,20290,0.47,198.3,780.7,4.5,488,20312,0.15,2.45,15.70,1.305,4,0.081,0.079,3491,3611,2065
$GC,20358,0.26,198.3,775.7,8.2,489,20363,0.30,2.33,0.00,0.000,6,0.164,0.062,3409,2196,2064
$GC,20720,0.40,206.6,758.2,4.8,495,20731,0.12,0.00,9.00,1.209,6,0.084,0.000,3457,2196,2033
$GC,21022,0.44,206.6,739.0,6.5,500,21026,0.00,2.42,0.00,0.000,4,0.000,0.080,3457,3610,2031
$GC,21058,0.39,206.6,736.2,7.6,500,21062,0.00,2.33,0.00,0.000,6,0.000,0.061,3463,2191,2031
$GC,21385,0.39,206.6,711.2,7.6,506,21386,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2192,2031
$GC,21689,0.39,206.6,688.9,7.3,511,21693,0.00,2.45,0.00,0.000,4,0.000,0.079,3463,3615,2031
$GC,21758,0.30,206.6,683.2,9.0,512,21763,0.17,2.35,0.00,0.000,6,0.161,0.062,3418,2189,2030
$GC,22119,0.41,206.6,663.4,5.3,518,22121,0.10,0.00,0.00,0.000,6,0.091,0.000,3457,2190,2031
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$STATE,32356,end climb,SURFACE_DEPTH_REACHED
$STATE,32356,begin surface coast
$FINISH,0.9,1.004083
$STATE,32453,end surface coast,CONTROL_FINISHED_OK
$STATE,32453,begin surface
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