version: 66.03
glider: 120
mission: 9
dive: 651
start: 5 1 109 6 39 39
data:
$ID,120
$MISSION,9
$DIVE,651
$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,-31541.619
$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,19
$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
$GPS1,061505,5009.004,-14445.932,93,1.5,103,18.6
$_CALLS,5
$_XMS_NAKs,26
$_XMS_TOUTs,4
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.8
$GPS2,063845,5009.140,-14446.261,15,1.9,34,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.115
$KALMAN_X,-118726.9,104.4,2.6,152170.6,-2587.8
$KALMAN_Y,149986.7,185.5,88.9,-139776.7,-1391.9
$MHEAD_RNG_PITCHd_Wd,31.3,29326,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-0.67,-117.3,0.0,0.0,0,72,0.00,0.00,-39.72,0.000,2,0.000,0.000,124,2401,2773
$GC,76,-0.67,-117.3,3.9,-6.4,4,110,13.45,2.55,-11.25,0.000,4,0.269,0.091,3085,3806,3357
$GC,319,-0.50,-117.3,36.5,-12.0,25,326,0.25,2.33,0.00,0.000,6,0.143,0.053,3156,2397,3359
$GC,648,-0.50,-117.3,59.0,-7.0,56,652,0.00,2.45,0.00,0.000,4,0.000,0.068,3156,994,3359
$GC,678,-0.50,-117.3,61.4,-7.1,58,683,0.00,2.40,0.00,0.000,6,0.000,0.059,3155,2412,3359
$GC,1004,-0.50,-117.3,83.5,-7.1,86,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2411,3360
$GC,1313,-0.54,-117.3,105.4,-7.1,101,1317,0.00,2.55,0.00,0.000,4,0.000,0.067,3155,983,3359
$GC,1356,-0.61,-117.3,108.6,-7.7,103,1360,0.00,2.42,0.00,0.000,6,0.000,0.060,3155,2408,3359
$GC,1685,-0.66,-117.3,132.5,-7.3,119,1690,0.15,2.42,0.00,0.000,4,0.077,0.077,3090,3809,3360
$GC,1736,-0.58,-117.3,137.4,-9.5,121,1740,0.12,2.30,0.00,0.000,6,0.106,0.052,3124,2390,3359
$GC,2062,-0.58,-117.3,160.7,-6.0,134,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3360
$GC,2367,-0.58,-117.3,176.8,-5.4,144,2372,0.00,2.45,0.00,0.000,4,0.000,0.067,3124,995,3359
$GC,2397,-0.58,-117.3,178.4,-5.9,145,2402,0.00,2.40,0.00,0.000,6,0.000,0.060,3124,2397,3359
$GC,2734,-0.62,-117.3,199.0,-6.4,156,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3359
$GC,3041,-0.67,-117.3,219.9,-7.0,166,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2396,3360
$GC,3346,-0.72,-117.3,241.2,-6.9,176,3351,0.12,2.50,0.00,0.000,4,0.082,0.066,3075,994,3359
$GC,3392,-0.68,-117.3,244.9,-8.4,177,3396,0.00,2.40,0.00,0.000,6,0.000,0.060,3075,2400,3359
$GC,3712,-0.62,-117.3,271.2,-8.2,188,3714,0.15,0.00,0.00,0.000,6,0.130,0.000,3119,2399,3360
$GC,4018,-0.66,-117.3,291.5,-6.5,198,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2399,3359
$GC,4352,-0.71,-117.3,312.5,-6.3,206,4357,0.00,2.50,0.00,0.000,4,0.000,0.068,3119,992,3359
$GC,4393,-0.77,-117.3,315.4,-7.0,206,4398,0.15,2.40,0.00,0.000,6,0.074,0.059,3065,2401,3360
$GC,4715,-0.72,-117.3,340.7,-8.0,212,4719,0.00,2.45,0.00,0.000,4,0.000,0.079,3064,3816,3360
$GC,4761,-0.64,-117.3,345.0,-9.4,212,4766,0.15,2.30,0.00,0.000,6,0.106,0.054,3106,2396,3359
$GC,5077,-0.64,-117.3,369.4,-7.7,218,5082,0.00,2.45,0.00,0.000,4,0.000,0.070,3106,991,3360
$GC,5128,-0.64,-117.3,373.7,-8.0,218,5133,0.00,2.42,0.00,0.000,6,0.000,0.061,3106,2411,3359
$GC,5439,-0.64,-117.3,398.4,-8.0,223,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,5742,-0.64,-117.3,422.8,-8.1,228,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2410,3359
$GC,6046,-0.64,-117.3,444.8,-7.1,233,6050,0.00,2.50,0.00,0.000,4,0.000,0.070,3106,994,3359
$GC,6091,-0.68,-117.3,448.1,-7.8,233,6095,0.00,2.42,0.00,0.000,6,0.000,0.061,3106,2406,3359
$GC,6407,-0.68,-117.3,466.5,-5.7,239,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3359
$GC,6710,-0.72,-117.3,482.7,-5.3,244,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2405,3358
$GC,7015,-0.77,-117.3,498.5,-5.3,249,7020,0.12,2.50,0.00,0.000,4,0.084,0.069,3057,986,3359
$GC,7054,-0.70,-117.3,501.3,-7.5,249,7059,0.12,2.45,0.00,0.000,6,0.128,0.061,3088,2413,3358
$GC,7376,-0.70,-117.3,521.5,-6.3,255,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2412,3358
$GC,7679,-0.70,-117.3,541.9,-6.7,260,7683,0.00,2.50,0.00,0.000,4,0.000,0.069,3088,989,3358
$GC,7719,-0.70,-117.3,544.8,-7.2,260,7723,0.00,2.45,0.00,0.000,6,0.000,0.061,3086,2411,3358
$GC,8040,-0.70,-117.3,568.4,-7.4,266,8045,0.00,2.50,0.00,0.000,4,0.000,0.069,3086,989,3358
$GC,8069,-0.70,-117.3,570.8,-8.1,266,8073,0.00,2.42,0.00,0.000,6,0.000,0.061,3086,2401,3358
$GC,8401,-0.70,-117.3,595.4,-7.4,272,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3358
$GC,8705,-0.70,-117.3,618.2,-7.5,277,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3358
$GC,9008,-0.70,-117.3,640.4,-7.3,282,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3358
$GC,9310,-0.70,-117.3,661.7,-7.0,287,9315,0.00,2.53,0.00,0.000,4,0.000,0.069,3086,993,3357
$GC,9339,-0.70,-117.3,663.8,-7.4,287,9343,0.00,2.45,0.00,0.000,6,0.000,0.061,3086,2408,3357
$GC,9672,-0.70,-117.3,686.6,-6.9,293,9676,0.00,2.53,0.00,0.000,4,0.000,0.070,3085,997,3357
$GC,9706,-0.70,-117.3,689.0,-7.3,293,9710,0.00,2.42,0.00,0.000,6,0.000,0.061,3086,2403,3357
$GC,10033,-0.70,-117.3,710.8,-6.6,299,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3357
$GC,10336,-0.70,-117.3,732.2,-7.1,304,10340,0.00,2.58,0.00,0.000,4,0.000,0.070,3086,994,3357
$GC,10376,-0.70,-117.3,735.2,-7.0,304,10380,0.00,2.47,0.00,0.000,6,0.000,0.062,3086,2413,3356
$GC,10697,-0.70,-117.3,759.0,-7.4,310,10702,0.00,2.55,0.00,0.000,4,0.000,0.070,3085,998,3356
$GC,10737,-0.70,-117.3,762.2,-7.8,310,10741,0.00,2.42,0.00,0.000,6,0.000,0.061,3086,2402,3356
$GC,11058,-0.70,-117.3,784.6,-6.9,316,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,11362,-0.70,-117.3,803.4,-6.1,321,11367,0.00,2.55,0.00,0.000,4,0.000,0.070,3086,997,3356
$GC,11402,-0.70,-117.3,805.9,-6.2,321,11406,0.00,2.42,0.00,0.000,6,0.000,0.061,3086,2399,3356
$GC,11729,-0.70,-117.3,823.8,-5.4,327,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3356
$GC,12033,-0.70,-117.3,840.5,-5.6,332,12037,0.00,2.50,0.00,0.000,4,0.000,0.070,3086,997,3356
$GC,12073,-0.70,-117.3,843.2,-6.8,332,12077,0.00,2.45,0.00,0.000,6,0.000,0.062,3086,2407,3356
$GC,12395,-0.70,-117.3,862.5,-6.0,338,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3356
$GC,12698,-0.70,-117.3,881.2,-6.2,343,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,3355
$GC,13001,-0.70,-117.3,900.2,-6.3,348,13005,0.00,2.55,0.00,0.000,4,0.000,0.071,3086,990,3355
$GC,13036,-0.70,-117.3,902.6,-7.2,348,13040,0.00,2.45,0.00,0.000,6,0.000,0.062,3086,2400,3355
$GC,13363,-0.70,-117.3,922.7,-6.1,354,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2399,3355
$GC,13667,-0.70,-117.3,941.5,-6.2,359,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3355
$GC,13969,-0.70,-117.3,960.0,-6.1,364,13973,0.00,2.53,0.00,0.000,4,0.000,0.071,3085,996,3355
$GC,13999,-0.70,-117.3,961.8,-5.9,364,14003,0.00,2.45,0.00,0.000,6,0.000,0.062,3086,2408,3355
$GC,14332,-0.70,-117.3,980.3,-5.5,370,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2407,3355
$STATE,14571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14571,begin apogee
$GC,14580,-0.22,0.0,993.2,5.3,374,14693,0.52,0.00,108.05,1.493,6,0.133,0.000,3242,2191,2876
$STATE,14694,end apogee,CONTROL_FINISHED_OK
$STATE,14694,begin climb
$GC,14698,0.67,117.3,997.7,0.0,376,14822,0.88,2.85,115.30,1.443,4,0.084,0.076,3528,3611,2395
$GC,14919,0.25,117.3,992.5,7.7,379,14925,0.55,2.55,0.00,0.000,6,0.181,0.060,3402,2197,2394
$GC,15259,0.30,159.8,978.8,3.8,385,15304,0.00,2.55,38.15,1.429,4,0.000,0.076,3408,788,2224
$GC,15334,0.40,179.0,975.8,4.5,386,15359,0.12,2.40,18.83,1.363,6,0.085,0.059,3462,2206,2146
$GC,15693,0.34,179.0,952.2,6.7,392,15698,0.12,2.35,0.00,0.000,4,0.143,0.079,3428,3622,2141
$GC,15727,0.34,179.0,949.8,6.5,392,15732,0.00,2.30,0.00,0.000,6,0.000,0.060,3436,2187,2142
$GC,16055,0.34,179.0,929.4,6.3,398,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2188,2141
$GC,16358,0.34,179.0,908.7,6.9,403,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2188,2141
$GC,16661,0.34,179.0,887.7,6.9,408,16662,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2188,2140
$GC,16965,0.34,179.0,868.3,6.4,413,16966,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2188,2140
$GC,17268,0.34,179.0,850.3,5.9,418,17272,0.00,2.47,0.00,0.000,4,0.000,0.081,3436,3618,2140
$GC,17308,0.34,179.0,847.8,6.1,418,17312,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2196,2140
$GC,17630,0.34,179.0,830.8,5.2,424,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2197,2140
$GC,17933,0.34,179.0,814.7,5.4,429,17937,0.00,2.45,0.00,0.000,4,0.000,0.079,3436,3615,2139
$GC,17968,0.30,179.0,812.4,6.2,429,17972,0.00,2.35,0.00,0.000,6,0.000,0.061,3436,2189,2140
$GC,18295,0.30,179.0,793.4,5.9,435,18296,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2190,2140
$GC,18598,0.30,179.0,774.5,6.3,440,18602,0.00,2.47,0.00,0.000,4,0.000,0.078,3436,3620,2139
$GC,18634,0.26,179.0,772.0,6.6,440,18638,0.15,2.35,0.00,0.000,6,0.171,0.061,3400,2194,2139
$GC,18961,0.39,179.0,753.6,5.6,446,18966,0.12,2.50,0.00,0.000,4,0.083,0.074,3447,791,2140
$GC,19028,0.39,179.0,748.9,7.0,447,19033,0.00,2.38,0.00,0.000,6,0.000,0.060,3447,2203,2140
$GC,19390,0.39,179.0,725.1,6.6,453,19394,0.00,2.42,0.00,0.000,4,0.000,0.080,3447,3610,2140
$GC,19425,0.33,179.0,722.4,7.4,453,19429,0.00,2.33,0.00,0.000,6,0.000,0.061,3448,2200,2140
$GC,19758,0.33,179.0,699.6,6.8,459,19759,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2139
$GC,20062,0.33,179.0,680.2,6.3,464,20066,0.00,2.45,0.00,0.000,4,0.000,0.078,3449,3612,2140
$GC,20107,0.26,179.0,677.0,7.1,464,20112,0.17,2.35,0.00,0.000,6,0.164,0.061,3405,2197,2139
$GC,20424,0.43,202.9,663.0,4.3,470,20448,0.15,0.00,21.50,1.265,6,0.083,0.000,3463,2197,2048
$GC,20728,0.47,202.9,646.7,5.5,475,20729,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2197,2046
$GC,21030,0.51,202.9,630.2,5.4,480,21031,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2197,2045
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$STATE,31214,end climb,SURFACE_DEPTH_REACHED
$STATE,31214,begin surface coast
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$STATE,31427,end surface coast,CONTROL_FINISHED_OK
$STATE,31427,begin surface
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