version: 66.03
glider: 120
mission: 9
dive: 636
start: 4 25 109 14 2 30
data:
$ID,120
$MISSION,9
$DIVE,636
$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,-31257.266
$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,24
$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
$GPS1,135424,5011.750,-14511.881,62,1.7,79,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-76.8
$GPS2,140134,5011.755,-14511.916,16,2.2,35,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.009,-0.177
$KALMAN_X,-102692.1,-40.5,-60.9,105849.5,-365.2
$KALMAN_Y,140944.2,7.1,123.3,-125752.9,878.3
$MHEAD_RNG_PITCHd_Wd,158.6,32861,-12.1,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-116.6,0.0,0.0,0,59,0.00,0.00,-29.95,0.000,2,0.000,0.000,136,2401,2509
$GC,63,-0.67,-116.6,3.2,-5.4,3,107,13.20,2.47,-21.42,0.000,4,0.267,0.093,3085,3800,3354
$GC,218,-0.48,-116.6,20.7,-11.0,16,225,0.28,2.30,0.00,0.000,6,0.146,0.054,3163,2399,3355
$GC,548,-0.53,-116.6,43.5,-6.9,47,552,0.00,2.40,0.00,0.000,4,0.000,0.068,3163,989,3356
$GC,577,-0.60,-116.6,45.9,-7.3,49,584,0.12,2.35,0.00,0.000,6,0.077,0.061,3114,2401,3356
$GC,906,-0.60,-116.6,72.7,-8.3,80,910,0.00,2.45,0.00,0.000,4,0.000,0.079,3113,3822,3356
$GC,929,-0.55,-116.6,75.0,-8.6,81,936,0.00,2.33,0.00,0.000,6,0.000,0.053,3113,2400,3356
$GC,1258,-0.49,-116.6,104.5,-9.4,100,1263,0.15,2.42,0.00,0.000,4,0.125,0.067,3163,986,3356
$GC,1309,-0.59,-116.6,108.7,-7.7,102,1314,0.12,2.38,0.00,0.000,6,0.076,0.060,3115,2401,3356
$GC,1627,-0.59,-116.6,132.9,-7.1,117,1631,0.00,2.45,0.00,0.000,4,0.000,0.079,3113,3816,3356
$GC,1645,-0.59,-116.6,134.2,-6.8,118,1649,0.00,2.33,0.00,0.000,6,0.000,0.053,3113,2396,3356
$GC,1963,-0.59,-116.6,158.0,-7.4,132,1967,0.00,2.47,0.00,0.000,4,0.000,0.078,3113,3809,3356
$GC,2027,-0.59,-116.6,163.0,-7.8,134,2031,0.00,2.33,0.00,0.000,6,0.000,0.053,3113,2398,3356
$GC,2369,-0.59,-116.6,187.8,-7.1,145,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3356
$GC,2675,-0.59,-116.6,207.7,-6.2,155,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3356
$GC,2982,-0.59,-116.6,225.5,-5.8,165,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3356
$GC,3288,-0.63,-116.6,242.9,-5.6,175,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,3594,-0.68,-116.6,260.4,-6.0,185,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3357
$GC,3900,-0.72,-116.6,279.4,-6.3,195,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3357
$GC,4207,-0.78,-116.6,298.5,-6.0,205,4209,0.15,0.00,0.00,0.000,6,0.081,0.000,3050,2399,3357
$GC,4540,-0.68,-116.6,325.0,-8.1,211,4545,0.15,2.62,0.00,0.000,4,0.107,0.080,3099,3812,3357
$GC,4596,-0.68,-116.6,329.0,-6.3,211,4604,0.00,2.42,0.00,0.000,6,0.000,0.053,3099,2392,3357
$GC,4907,-0.68,-116.6,347.5,-5.9,217,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2393,3357
$GC,5210,-0.68,-116.6,364.9,-5.7,222,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2393,3357
$GC,5513,-0.68,-116.6,383.1,-6.1,227,5517,0.00,2.65,0.00,0.000,4,0.000,0.080,3099,3807,3356
$GC,5547,-0.68,-116.6,385.5,-6.3,227,5551,0.00,2.42,0.00,0.000,6,0.000,0.052,3099,2403,3356
$GC,5874,-0.68,-116.6,405.2,-6.0,233,5878,0.00,2.58,0.00,0.000,4,0.000,0.069,3099,990,3356
$GC,5919,-0.68,-116.6,408.3,-7.0,233,5924,0.00,2.40,0.00,0.000,6,0.000,0.061,3099,2405,3356
$GC,6236,-0.68,-116.6,429.2,-6.6,239,6240,0.00,2.47,0.00,0.000,4,0.000,0.081,3099,3811,3356
$GC,6275,-0.68,-116.6,432.0,-7.3,239,6280,0.00,2.35,0.00,0.000,6,0.000,0.053,3099,2397,3355
$GC,6598,-0.68,-116.6,452.7,-6.3,245,6602,0.00,2.53,0.00,0.000,4,0.000,0.069,3099,989,3355
$GC,6627,-0.68,-116.6,454.8,-7.2,245,6630,0.00,2.40,0.00,0.000,6,0.000,0.061,3099,2407,3355
$GC,6965,-0.68,-116.6,476.8,-6.5,251,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3355
$GC,7268,-0.68,-116.6,496.4,-6.5,256,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3355
$GC,7571,-0.68,-116.6,515.5,-6.3,261,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3355
$GC,7875,-0.68,-116.6,533.8,-6.0,266,7880,0.00,2.55,0.00,0.000,4,0.000,0.068,3099,985,3355
$GC,7915,-0.68,-116.6,536.6,-6.4,266,7919,0.00,2.42,0.00,0.000,6,0.000,0.062,3099,2405,3355
$GC,8237,-0.68,-116.6,555.2,-5.8,272,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,8539,-0.68,-116.6,572.6,-5.8,277,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,8843,-0.68,-116.6,589.8,-5.7,282,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,9146,-0.68,-116.6,606.9,-5.7,287,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3355
$GC,9449,-0.68,-116.6,625.7,-6.3,292,9453,0.00,2.58,0.00,0.000,4,0.000,0.069,3099,985,3354
$GC,9482,-0.68,-116.6,627.9,-6.8,292,9486,0.00,2.42,0.00,0.000,6,0.000,0.061,3099,2401,3354
$GC,9810,-0.68,-116.6,649.2,-6.5,298,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,10112,-0.72,-116.6,667.9,-6.1,303,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,10416,-0.76,-116.6,685.4,-5.7,308,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,10719,-0.80,-116.6,702.8,-5.7,313,10720,0.12,0.00,0.00,0.000,6,0.088,0.000,3046,2400,3354
$GC,11022,-0.75,-116.6,725.4,-7.5,318,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2400,3354
$GC,11325,-0.71,-116.6,749.3,-7.9,323,11330,0.15,2.60,0.00,0.000,4,0.105,0.082,3097,3808,3353
$GC,11370,-0.78,-116.6,752.7,-8.0,323,11374,0.00,2.42,0.00,0.000,6,0.000,0.054,3096,2400,3353
$GC,11686,-0.99,-116.6,776.1,-7.6,329,11691,0.25,2.58,0.00,0.000,4,0.081,0.070,2999,985,3353
$GC,11699,-1.14,-116.6,777.0,-7.4,329,11703,0.15,2.42,0.00,0.000,6,0.073,0.063,2942,2407,3353
$GC,12049,-0.70,-116.6,822.4,-13.3,335,12054,0.50,2.53,0.00,0.000,4,0.170,0.081,3074,3808,3353
$GC,12257,-0.70,-116.6,837.3,-6.9,338,12261,0.00,2.40,0.00,0.000,6,0.000,0.055,3074,2394,3353
$GC,12618,-0.70,-116.6,858.1,-5.7,344,12623,0.00,2.47,0.00,0.000,4,0.000,0.071,3074,993,3353
$GC,12647,-0.70,-116.6,859.9,-6.3,344,12651,0.00,2.40,0.00,0.000,6,0.000,0.063,3074,2399,3353
$GC,12980,-0.70,-116.6,877.5,-5.3,350,12984,0.00,2.53,0.00,0.000,4,0.000,0.082,3074,3813,3353
$GC,13025,-0.70,-117.3,879.9,-4.4,350,13029,0.00,2.38,0.00,0.000,6,0.000,0.054,3074,2395,3353
$GC,13340,-0.70,-117.3,896.3,-5.2,356,13345,0.00,2.45,0.00,0.000,4,0.000,0.071,3073,993,3353
$GC,13370,-0.70,-117.3,897.9,-5.4,356,13374,0.00,2.40,0.00,0.000,6,0.000,0.063,3073,2399,3353
$GC,13702,-0.70,-117.3,916.0,-5.5,362,13707,0.00,2.50,0.00,0.000,4,0.000,0.083,3073,3809,3352
$GC,13731,-0.70,-117.3,917.7,-5.8,362,13735,0.00,2.35,0.00,0.000,6,0.000,0.056,3074,2392,3352
$GC,14064,-0.70,-117.3,937.1,-5.9,368,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2394,3352
$GC,14368,-0.70,-117.3,956.6,-6.5,373,14372,0.00,2.55,0.00,0.000,4,0.000,0.083,3073,3815,3352
$GC,14395,-0.70,-117.3,958.6,-6.3,373,14399,0.00,2.35,0.00,0.000,6,0.000,0.056,3074,2401,3352
$GC,14728,-0.70,-117.3,981.5,-6.9,379,14730,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2402,3352
$STATE,14906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14907,begin apogee
$GC,14915,-0.22,0.0,994.0,7.0,382,15029,0.57,0.00,107.95,1.493,6,0.135,0.000,3245,2197,2875
$STATE,15030,end apogee,CONTROL_FINISHED_OK
$STATE,15030,begin climb
$GC,15035,0.67,117.3,999.7,0.0,384,15158,0.88,0.00,115.12,1.444,6,0.085,0.000,3532,2197,2395
$GC,15466,0.34,117.3,983.6,6.7,391,15471,0.32,2.47,0.00,0.000,4,0.163,0.075,3444,787,2393
$GC,15546,0.29,122.3,979.1,4.9,392,15557,0.12,2.33,5.32,1.067,6,0.153,0.061,3413,2202,2377
$GC,15896,0.31,143.7,963.7,4.4,398,15918,0.00,0.00,20.50,1.404,6,0.000,0.000,3413,2201,2290
$GC,16200,0.36,147.2,948.9,4.9,403,16206,0.00,0.00,4.82,1.031,6,0.000,0.000,3413,2201,2276
$GC,16504,0.43,166.3,935.0,4.5,408,16525,0.12,0.00,18.65,1.394,6,0.079,0.000,3466,2201,2198
$GC,16806,0.34,166.3,915.3,6.7,413,16811,0.15,2.47,0.00,0.000,4,0.146,0.075,3428,782,2196
$GC,16856,0.34,166.3,912.4,6.1,413,16860,0.00,2.33,0.00,0.000,6,0.000,0.060,3428,2202,2196
$GC,17168,0.34,166.3,895.7,5.4,418,17172,0.00,2.42,0.00,0.000,4,0.000,0.078,3436,786,2195
$GC,17207,0.34,166.3,893.4,6.3,418,17211,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2209,2195
$GC,17534,0.34,166.3,876.4,5.2,424,17535,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2195
$GC,17837,0.34,166.3,860.9,5.1,429,17839,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2209,2194
$GC,18141,0.34,166.3,844.7,5.4,434,18145,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,791,2194
$GC,18180,0.34,166.3,842.4,5.9,434,18184,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2203,2194
$GC,18501,0.34,166.3,825.3,5.3,440,18502,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2195
$GC,18804,0.34,166.3,809.0,5.4,445,18805,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2195
$GC,19109,0.34,166.3,792.0,5.6,450,19113,0.00,2.53,0.00,0.000,4,0.000,0.077,3436,794,2195
$GC,19143,0.34,166.3,789.9,5.8,450,19147,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2203,2194
$GC,19470,0.34,166.3,772.2,5.4,456,19471,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2202,2194
$GC,19773,0.34,166.3,755.6,5.5,461,19777,0.00,2.47,0.00,0.000,4,0.000,0.077,3436,792,2194
$GC,19824,0.34,166.3,752.5,6.1,461,19828,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2199,2194
$GC,20135,0.38,166.3,735.0,5.7,466,20139,0.00,2.45,0.00,0.000,4,0.000,0.081,3437,3609,2194
$GC,20164,0.38,166.3,733.0,6.7,466,20167,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2190,2194
$GC,20503,0.38,166.3,712.9,5.9,472,20507,0.00,2.42,0.00,0.000,4,0.000,0.077,3436,786,2194
$GC,20543,0.38,166.3,710.6,5.1,472,20547,0.00,2.38,0.00,0.000,6,0.000,0.059,3436,2210,2194
$GC,20865,0.38,166.3,692.2,5.7,478,20867,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2210,2194
$GC,21168,0.38,166.3,674.8,5.7,483,21172,0.00,2.50,0.00,0.000,4,0.000,0.077,3436,793,2194
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$STATE,32741,end climb,SURFACE_DEPTH_REACHED
$STATE,32741,begin surface coast
$FINISH,0.9,1.025668
$STATE,32841,end surface coast,CONTROL_FINISHED_OK
$STATE,32841,begin surface
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