version: 66.03
glider: 120
mission: 9
dive: 634
start: 4 24 109 19 57 44
data:
$ID,120
$MISSION,9
$DIVE,634
$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,-31206.629
$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,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
$GPS1,194637,5018.256,-14510.836,63,0.9,63,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-78.7
$GPS2,195649,5018.262,-14510.841,9,0.9,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,-0.178
$KALMAN_X,-101713.8,137.8,17.3,105886.5,137.3
$KALMAN_Y,138415.4,322.1,217.9,-111600.5,-97.7
$MHEAD_RNG_PITCHd_Wd,164.3,44932,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-29.65,0.000,2,0.000,0.000,144,2408,2502
$GC,65,-0.67,-117.3,3.3,-5.2,3,109,13.25,2.60,-22.12,0.000,4,0.265,0.091,3086,3809,3356
$GC,269,-0.48,-117.3,25.7,-11.5,21,275,0.25,2.40,0.00,0.000,6,0.140,0.054,3156,2390,3358
$GC,595,-0.48,-117.3,49.3,-6.6,51,600,0.00,2.53,0.00,0.000,4,0.000,0.067,3157,993,3358
$GC,619,-0.53,-117.3,51.1,-7.2,52,626,0.00,2.38,0.00,0.000,6,0.000,0.060,3155,2411,3358
$GC,945,-0.53,-117.3,75.5,-7.5,83,949,0.00,2.42,0.00,0.000,4,0.000,0.079,3155,3814,3358
$GC,976,-0.59,-117.3,77.9,-8.3,85,980,0.00,2.38,0.00,0.000,6,0.000,0.051,3155,2386,3358
$GC,1300,-0.64,-117.3,101.4,-7.5,102,1301,0.12,0.00,0.00,0.000,6,0.082,0.000,3101,2387,3358
$GC,1608,-0.59,-117.3,128.5,-8.9,117,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2387,3358
$GC,1937,-0.59,-117.3,156.3,-8.1,132,1942,0.00,2.58,0.00,0.000,4,0.000,0.077,3100,3809,3358
$GC,2001,-0.59,-117.3,161.5,-7.6,134,2005,0.00,2.40,0.00,0.000,6,0.000,0.052,3100,2392,3358
$GC,2337,-0.59,-117.3,186.3,-7.4,145,2341,0.00,2.53,0.00,0.000,4,0.000,0.067,3103,993,3358
$GC,2394,-0.64,-117.3,191.0,-8.6,146,2401,0.00,2.38,0.00,0.000,6,0.000,0.058,3103,2408,3358
$GC,2708,-0.64,-117.3,214.2,-7.3,157,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,3014,-0.64,-117.3,235.9,-6.9,167,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,3320,-0.64,-117.3,257.0,-6.7,177,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,3627,-0.64,-117.3,274.0,-5.2,187,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,3933,-0.64,-117.3,291.0,-5.9,197,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,4267,-0.64,-117.3,313.3,-6.8,205,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2407,3358
$GC,4571,-0.64,-117.3,334.5,-7.0,210,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,4874,-0.64,-117.3,353.1,-6.0,215,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,5178,-0.64,-117.3,368.0,-4.9,220,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3358
$GC,5480,-0.64,-117.3,382.8,-4.9,225,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3359
$GC,5783,-0.64,-117.3,399.8,-5.7,230,5787,0.00,2.60,0.00,0.000,4,0.000,0.068,3103,985,3358
$GC,5819,-0.71,-117.3,401.9,-6.8,230,5823,0.00,2.42,0.00,0.000,6,0.000,0.061,3103,2405,3358
$GC,6148,-0.76,-117.3,420.8,-5.7,236,6152,0.00,2.45,0.00,0.000,4,0.000,0.081,3100,3806,3358
$GC,6171,-0.80,-117.3,422.3,-6.0,236,6176,0.12,2.33,0.00,0.000,6,0.090,0.054,3051,2387,3358
$GC,6510,-0.72,-117.3,445.3,-6.8,242,6512,0.12,0.00,0.00,0.000,6,0.100,0.000,3086,2386,3358
$GC,6813,-0.72,-117.3,462.8,-5.7,247,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2386,3358
$GC,7115,-0.72,-117.3,480.8,-6.0,252,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2386,3358
$GC,7419,-0.72,-117.3,500.2,-6.4,257,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2386,3358
$GC,7721,-0.72,-117.3,521.4,-7.0,262,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2386,3358
$GC,8024,-0.72,-117.3,543.5,-7.3,267,8029,0.00,2.67,0.00,0.000,4,0.000,0.081,3085,3805,3357
$GC,8059,-0.72,-117.3,546.0,-7.4,267,8063,0.00,2.42,0.00,0.000,6,0.000,0.053,3086,2397,3357
$GC,8386,-0.72,-117.3,568.2,-6.7,273,8390,0.00,2.58,0.00,0.000,4,0.000,0.069,3086,993,3357
$GC,8408,-0.72,-117.3,569.9,-7.0,273,8412,0.00,2.40,0.00,0.000,6,0.000,0.062,3085,2401,3357
$GC,8747,-0.72,-117.3,591.6,-6.4,279,8751,0.00,2.47,0.00,0.000,4,0.000,0.081,3086,3807,3357
$GC,8775,-0.72,-117.3,593.4,-6.8,279,8779,0.00,2.38,0.00,0.000,6,0.000,0.053,3086,2399,3357
$GC,9107,-0.72,-117.3,613.7,-6.1,285,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3357
$GC,9410,-0.72,-117.3,631.7,-5.9,290,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3357
$GC,9714,-0.72,-117.3,650.6,-6.4,295,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,10017,-0.72,-117.3,671.2,-6.9,300,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3357
$GC,10320,-0.72,-117.3,690.9,-6.4,305,10324,0.00,2.60,0.00,0.000,4,0.000,0.070,3086,992,3356
$GC,10359,-0.72,-117.3,693.7,-6.7,305,10363,0.00,2.42,0.00,0.000,6,0.000,0.062,3086,2409,3356
$GC,10680,-0.72,-117.3,713.0,-6.0,311,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3356
$GC,10984,-0.72,-117.3,730.7,-5.8,316,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3356
$GC,11287,-0.72,-117.3,747.3,-5.4,321,11292,0.00,2.60,0.00,0.000,4,0.000,0.070,3086,991,3356
$GC,11322,-0.72,-117.3,749.3,-6.1,321,11326,0.00,2.42,0.00,0.000,6,0.000,0.062,3085,2408,3356
$GC,11649,-0.72,-117.3,765.4,-4.9,327,11654,0.00,2.50,0.00,0.000,4,0.000,0.071,3086,986,3356
$GC,11678,-0.72,-117.3,766.9,-5.0,327,11682,0.00,2.40,0.00,0.000,6,0.000,0.062,3085,2399,3356
$GC,12017,-0.72,-117.3,783.7,-5.1,333,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3356
$GC,12320,-0.72,-117.3,800.0,-5.4,338,12321,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3356
$GC,12623,-0.72,-117.3,817.0,-5.7,343,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,12927,-0.72,-117.3,833.9,-5.6,348,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,13229,-0.72,-117.3,850.8,-5.6,353,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,13533,-0.72,-117.3,867.0,-5.3,358,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3355
$GC,13836,-0.72,-117.3,882.7,-5.2,363,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3355
$GC,14139,-0.72,-117.3,899.6,-5.6,368,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,14443,-0.72,-117.3,916.7,-5.6,373,14447,0.00,2.60,0.00,0.000,4,0.000,0.071,3086,989,3355
$GC,14476,-0.72,-117.3,918.9,-6.4,373,14480,0.00,2.42,0.00,0.000,6,0.000,0.064,3086,2399,3355
$GC,14803,-0.72,-117.3,936.1,-5.2,379,14804,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3354
$GC,15106,-0.72,-117.3,951.3,-5.0,384,15107,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3354
$GC,15410,-0.72,-117.3,966.3,-4.9,389,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3354
$GC,15712,-0.72,-117.3,981.9,-5.1,394,15713,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3354
$STATE,15890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15890,begin apogee
$GC,15899,-0.22,0.0,992.3,5.7,397,16013,0.52,0.00,108.32,1.496,6,0.129,0.000,3245,2192,2876
$STATE,16014,end apogee,CONTROL_FINISHED_OK
$STATE,16014,begin climb
$GC,16018,0.67,117.3,997.9,0.0,399,16142,0.85,2.90,115.30,1.444,4,0.084,0.074,3534,795,2396
$GC,16216,0.32,117.3,997.0,5.7,402,16222,0.45,2.58,0.00,0.000,6,0.166,0.060,3422,2203,2394
$GC,16578,0.41,185.7,985.3,3.0,408,16647,0.00,2.58,61.88,1.448,4,0.000,0.080,3422,3620,2116
$GC,16678,0.41,185.7,981.1,5.3,409,16682,0.00,2.45,0.00,0.000,6,0.000,0.061,3422,2198,2114
$GC,17006,0.46,188.5,965.2,4.9,415,17008,0.12,0.00,0.00,0.000,6,0.087,0.000,3477,2199,2111
$GC,17310,0.36,188.5,943.6,7.3,420,17311,0.15,0.00,0.00,0.000,6,0.141,0.000,3436,2199,2111
$GC,17611,0.36,188.5,924.5,6.2,425,17615,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,791,2110
$GC,17650,0.36,188.5,921.6,6.3,425,17654,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2213,2111
$GC,17971,0.36,188.5,899.3,7.2,431,17973,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2110
$GC,18275,0.36,188.5,876.2,7.7,436,18276,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2213,2110
$GC,18578,0.36,188.5,852.9,7.7,441,18582,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,788,2110
$GC,18623,0.40,188.5,849.4,7.8,441,18627,0.00,2.35,0.00,0.000,6,0.000,0.059,3436,2201,2110
$GC,18939,0.40,188.5,826.1,7.4,447,18940,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2109
$GC,19242,0.40,188.5,804.5,7.1,452,19244,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2110
$GC,19545,0.40,188.5,784.4,6.6,457,19546,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2109
$GC,19848,0.40,188.5,765.6,6.1,462,19852,0.00,2.55,0.00,0.000,4,0.000,0.076,3436,791,2109
$GC,19893,0.45,188.5,762.8,5.4,462,19897,0.00,2.38,0.00,0.000,6,0.000,0.060,3436,2209,2109
$GC,20209,0.45,188.5,744.7,5.7,468,20210,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2109
$GC,20513,0.45,188.5,727.5,5.7,473,20514,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2109
$GC,20815,0.45,188.5,710.5,5.6,478,20819,0.00,2.55,0.00,0.000,4,0.000,0.077,3436,779,2109
$GC,20860,0.51,188.5,707.9,5.6,478,20865,0.15,2.38,0.00,0.000,6,0.078,0.059,3500,2201,2110
$GC,21177,0.36,188.5,684.1,7.7,484,21179,0.22,0.00,0.00,0.000,6,0.146,0.000,3436,2200,2109
$GC,21481,0.40,188.5,667.6,5.2,489,21485,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,787,2109
$GC,21526,0.47,194.5,665.1,4.8,489,21543,0.00,2.38,7.75,1.125,6,0.000,0.060,3436,2202,2082
$GC,21849,0.53,198.7,649.4,4.9,495,21856,0.15,0.00,5.40,0.993,6,0.079,0.000,3504,2202,2066
$GC,22151,0.39,198.7,628.8,6.9,500,22153,0.20,0.00,0.00,0.000,6,0.142,0.000,3447,2202,2065
$GC,22453,0.40,204.8,614.0,4.8,505,22462,0.00,0.00,7.35,1.087,6,0.000,0.000,3447,2202,2040
$GC,22756,0.40,204.8,597.3,5.6,510,22758,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2202,2040
$GC,23060,0.40,204.8,577.1,6.8,515,23061,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2201,2039
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$STATE,31505,begin surface coast
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$STATE,31623,end surface coast,CONTROL_FINISHED_OK
$STATE,31623,begin surface
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