version: 66.03
glider: 120
mission: 9
dive: 652
start: 5 1 109 15 35 55
data:
$ID,120
$MISSION,9
$DIVE,652
$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,-31572.193
$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,23
$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
$GPS1,152608,5010.894,-14442.930,37,1.9,37,18.6
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-73.3
$GPS2,153458,5010.849,-14443.013,10,2.7,29,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.134,0.116
$KALMAN_X,-120038.2,61.4,-108.9,157498.4,-1967.7
$KALMAN_Y,149295.4,-116.4,-293.4,-135241.1,-588.3
$MHEAD_RNG_PITCHd_Wd,30.5,24426,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,68,0.00,0.00,-39.65,0.000,2,0.000,0.000,123,2412,2729
$GC,73,-0.67,-117.3,3.6,-4.6,4,106,13.68,2.40,-12.20,0.000,4,0.275,0.089,3085,3805,3357
$GC,181,-0.45,-117.3,22.2,-10.5,13,188,0.30,2.33,0.00,0.000,6,0.150,0.055,3169,2381,3359
$GC,510,-0.50,-117.3,45.5,-6.6,44,514,0.00,2.53,0.00,0.000,4,0.000,0.078,3168,3814,3360
$GC,533,-0.58,-117.3,47.2,-6.2,45,539,0.12,2.30,0.00,0.000,6,0.082,0.052,3122,2398,3360
$GC,864,-0.58,-117.3,70.8,-7.4,76,870,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2399,3360
$GC,1195,-0.58,-117.3,95.9,-7.7,98,1199,0.00,2.50,0.00,0.000,4,0.000,0.077,3121,3803,3360
$GC,1230,-0.58,-117.3,98.7,-8.7,99,1236,0.00,2.33,0.00,0.000,6,0.000,0.052,3121,2398,3360
$GC,1548,-0.58,-117.3,122.3,-7.0,115,1552,0.00,2.50,0.00,0.000,4,0.000,0.067,3121,993,3360
$GC,1581,-0.58,-117.3,124.8,-7.1,116,1588,0.00,2.38,0.00,0.000,6,0.000,0.059,3121,2403,3360
$GC,1898,-0.58,-117.3,147.9,-6.7,132,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2403,3360
$GC,2216,-0.63,-117.3,170.1,-6.7,143,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3360
$GC,2521,-0.68,-117.3,188.2,-5.6,153,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3360
$GC,2828,-0.74,-117.3,206.5,-6.3,163,2829,0.12,0.00,0.00,0.000,6,0.086,0.000,3071,2403,3360
$GC,3134,-0.68,-117.3,233.2,-9.3,173,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2403,3360
$GC,3441,-0.63,-117.3,259.9,-8.3,183,3446,0.15,2.58,0.00,0.000,4,0.107,0.067,3122,986,3360
$GC,3481,-0.68,-117.3,262.9,-7.3,184,3485,0.00,2.42,0.00,0.000,6,0.000,0.060,3122,2409,3360
$GC,3806,-0.73,-117.3,282.9,-5.9,195,3807,0.12,0.00,0.00,0.000,6,0.082,0.000,3072,2408,3360
$GC,4142,-0.73,-117.3,305.6,-6.8,205,4147,0.00,2.55,0.00,0.000,4,0.000,0.067,3072,983,3360
$GC,4171,-0.69,-117.3,307.7,-7.4,205,4175,0.00,2.42,0.00,0.000,6,0.000,0.059,3072,2410,3360
$GC,4505,-0.61,-117.3,330.7,-6.9,211,4510,0.15,2.47,0.00,0.000,4,0.137,0.077,3113,3813,3360
$GC,4534,-0.61,-117.3,332.5,-6.1,211,4538,0.00,2.33,0.00,0.000,6,0.000,0.052,3112,2392,3360
$GC,4867,-0.65,-117.3,349.9,-5.2,217,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2393,3360
$GC,5170,-0.70,-117.3,365.9,-5.3,222,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2393,3360
$GC,5473,-0.75,-117.3,381.9,-5.3,227,5475,0.12,0.00,0.00,0.000,6,0.087,0.000,3062,2393,3360
$GC,5777,-0.70,-117.3,401.6,-6.5,232,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2392,3360
$GC,6080,-0.66,-117.3,421.3,-6.5,237,6082,0.15,0.00,0.00,0.000,6,0.105,0.000,3105,2390,3360
$GC,6382,-0.66,-117.3,438.8,-5.7,242,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2390,3360
$GC,6685,-0.66,-117.3,456.3,-5.8,247,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2389,3359
$GC,6989,-0.66,-117.3,473.5,-5.7,252,6994,0.00,2.50,0.00,0.000,4,0.000,0.069,3105,994,3359
$GC,7018,-0.66,-117.3,475.2,-6.1,252,7022,0.00,2.42,0.00,0.000,6,0.000,0.061,3106,2407,3359
$GC,7351,-0.66,-117.3,493.2,-5.4,258,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2406,3359
$GC,7654,-0.70,-117.3,510.9,-5.8,263,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2406,3359
$GC,7958,-0.74,-117.3,529.0,-6.0,268,7962,0.00,2.55,0.00,0.000,4,0.000,0.070,3105,984,3359
$GC,7997,-0.74,-117.3,531.6,-6.9,268,8001,0.00,2.45,0.00,0.000,6,0.000,0.061,3106,2403,3359
$GC,8319,-0.79,-117.3,549.4,-5.5,274,8320,0.12,0.00,0.00,0.000,6,0.084,0.000,3056,2402,3359
$GC,8622,-0.75,-117.3,569.3,-6.5,279,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2402,3358
$GC,8926,-0.71,-117.3,589.6,-6.8,284,8928,0.12,0.00,0.00,0.000,6,0.102,0.000,3091,2402,3358
$GC,9227,-0.71,-117.3,609.2,-6.4,289,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2402,3358
$GC,9530,-0.71,-117.3,627.6,-6.0,294,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2402,3358
$GC,9834,-0.71,-117.3,646.7,-6.3,299,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2402,3358
$GC,10137,-0.71,-117.3,666.3,-6.4,304,10141,0.00,2.58,0.00,0.000,4,0.000,0.081,3086,3814,3358
$GC,10165,-0.71,-117.3,668.1,-6.4,304,10170,0.00,2.38,0.00,0.000,6,0.000,0.054,3086,2397,3357
$GC,10498,-0.71,-117.3,689.7,-6.4,310,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3358
$GC,10801,-0.71,-117.3,708.8,-6.3,315,10806,0.00,2.58,0.00,0.000,4,0.000,0.081,3086,3807,3357
$GC,10836,-0.71,-117.3,711.0,-6.5,315,10840,0.00,2.38,0.00,0.000,6,0.000,0.054,3086,2400,3357
$GC,11164,-0.71,-117.3,731.3,-6.1,321,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,11467,-0.71,-117.3,749.2,-5.8,326,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,11770,-0.71,-117.3,765.4,-5.3,331,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3357
$GC,12073,-0.71,-117.3,781.1,-5.1,336,12077,0.00,2.65,0.00,0.000,4,0.000,0.082,3086,3808,3357
$GC,12113,-0.71,-117.3,783.2,-5.1,336,12117,0.00,2.42,0.00,0.000,6,0.000,0.054,3086,2399,3357
$GC,12434,-0.71,-117.3,800.0,-5.3,342,12439,0.00,2.58,0.00,0.000,4,0.000,0.070,3086,993,3357
$GC,12474,-0.71,-117.3,802.4,-6.1,342,12478,0.00,2.42,0.00,0.000,6,0.000,0.062,3086,2400,3357
$GC,12796,-0.71,-117.3,821.7,-6.1,348,12800,0.00,2.53,0.00,0.000,4,0.000,0.083,3086,3809,3357
$GC,12835,-0.71,-117.3,824.3,-6.2,348,12839,0.00,2.38,0.00,0.000,6,0.000,0.054,3086,2393,3357
$GC,13157,-0.87,-117.3,846.2,-7.1,354,13162,0.15,2.55,0.00,0.000,4,0.087,0.079,3024,3809,3356
$GC,13270,-0.73,-117.3,855.6,-7.9,355,13275,0.20,2.33,0.00,0.000,6,0.133,0.055,3077,2396,3356
$GC,13586,-0.73,-117.3,876.5,-6.6,361,13590,0.00,2.47,0.00,0.000,4,0.000,0.072,3077,994,3356
$GC,13615,-0.73,-117.3,878.5,-6.6,361,13619,0.00,2.42,0.00,0.000,6,0.000,0.063,3073,2402,3356
$GC,13953,-0.73,-117.3,899.3,-6.2,367,13957,0.00,2.47,0.00,0.000,4,0.000,0.081,3073,3809,3356
$GC,13998,-0.73,-117.3,902.2,-6.5,367,14003,0.00,2.33,0.00,0.000,6,0.000,0.055,3073,2398,3356
$GC,14316,-0.73,-117.3,920.9,-5.9,373,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3356
$GC,14619,-0.73,-117.3,938.9,-6.0,378,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3356
$GC,14921,-0.73,-117.3,956.9,-5.9,383,14925,0.00,2.55,0.00,0.000,4,0.000,0.083,3073,3809,3356
$GC,14966,-0.73,-117.3,959.5,-5.7,383,14971,0.00,2.35,0.00,0.000,6,0.000,0.055,3073,2394,3356
$GC,15283,-0.73,-117.3,977.9,-5.8,389,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2395,3356
$STATE,15521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15521,begin apogee
$GC,15530,-0.22,0.0,991.7,5.7,393,15644,0.57,0.00,108.65,1.493,6,0.135,0.000,3243,2195,2875
$STATE,15645,end apogee,CONTROL_FINISHED_OK
$STATE,15645,begin climb
$GC,15650,0.67,117.3,996.0,0.0,395,15773,0.88,0.00,115.15,1.441,6,0.089,0.000,3526,2195,2396
$GC,16081,0.36,117.3,974.6,7.7,402,16086,0.30,2.58,0.00,0.000,4,0.160,0.074,3446,783,2393
$GC,16150,0.29,117.3,970.3,5.5,403,16155,0.12,2.38,0.00,0.000,6,0.153,0.061,3415,2215,2393
$GC,16512,0.29,123.6,952.6,4.8,409,16525,0.00,2.50,6.55,1.176,4,0.000,0.075,3424,793,2371
$GC,16582,0.30,126.7,949.1,4.9,410,16591,0.00,2.35,4.55,0.982,6,0.000,0.060,3424,2204,2359
$GC,16954,0.30,126.7,929.5,5.2,416,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2204,2359
$GC,17256,0.30,126.7,913.8,5.2,421,17261,0.00,2.47,0.00,0.000,4,0.000,0.077,3424,785,2358
$GC,17308,0.32,142.9,911.2,4.5,421,17328,0.00,2.38,15.60,1.369,6,0.000,0.060,3424,2206,2293
$GC,17685,0.32,142.9,891.7,5.1,428,17689,0.00,2.45,0.00,0.000,4,0.000,0.078,3424,784,2292
$GC,17742,0.32,142.9,889.0,5.1,428,17748,0.00,2.35,0.00,0.000,6,0.000,0.060,3424,2201,2292
$GC,18053,0.34,156.8,874.7,4.6,434,18072,0.00,2.47,13.85,1.341,4,0.000,0.077,3424,796,2236
$GC,18109,0.39,165.4,872.1,4.8,434,18123,0.00,2.35,9.60,1.257,6,0.000,0.059,3424,2207,2200
$GC,18492,0.43,165.4,852.3,5.3,441,18496,0.00,2.45,0.00,0.000,4,0.000,0.078,3424,779,2198
$GC,18560,0.49,165.4,848.7,5.1,442,18565,0.15,2.35,0.00,0.000,6,0.084,0.060,3489,2208,2198
$GC,18922,0.34,165.4,822.6,7.4,448,18927,0.17,2.45,0.00,0.000,4,0.150,0.077,3443,791,2198
$GC,18978,0.34,165.4,818.6,6.0,448,18984,0.00,2.35,0.00,0.000,6,0.000,0.060,3443,2206,2197
$GC,19289,0.34,165.4,799.8,6.1,454,19293,0.00,2.47,0.00,0.000,4,0.000,0.076,3449,786,2197
$GC,19329,0.34,165.4,797.4,6.0,454,19333,0.00,2.38,0.00,0.000,6,0.000,0.060,3449,2199,2197
$GC,19650,0.34,165.4,779.2,5.6,460,19655,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,789,2197
$GC,19718,0.34,165.4,775.4,5.0,461,19722,0.00,2.40,0.00,0.000,6,0.000,0.061,3449,2209,2197
$GC,20080,0.34,165.4,756.7,5.1,467,20084,0.00,2.50,0.00,0.000,4,0.000,0.077,3449,790,2196
$GC,20136,0.34,165.4,753.6,5.6,467,20143,0.00,2.38,0.00,0.000,6,0.000,0.061,3449,2202,2197
$GC,20449,0.35,171.7,738.5,4.8,473,20462,0.00,2.53,6.60,1.114,4,0.000,0.077,3449,779,2175
$GC,20510,0.36,181.4,735.5,4.7,473,20525,0.00,2.38,10.38,1.218,6,0.000,0.060,3449,2203,2136
$GC,20888,0.36,184.9,717.2,4.9,480,20898,0.00,2.45,4.62,0.949,4,0.000,0.078,3449,793,2122
$GC,20944,0.36,184.9,714.3,5.7,480,20951,0.00,2.35,0.00,0.000,6,0.000,0.060,3449,2210,2122
$GC,21256,0.36,184.9,698.9,5.0,486,21260,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,788,2121
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$STATE,32761,end climb,SURFACE_DEPTH_REACHED
$STATE,32764,begin surface coast
$FINISH,0.8,1.025657
$STATE,32847,end surface coast,CONTROL_FINISHED_OK
$STATE,32847,begin surface
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