version: 66.03
glider: 120
mission: 9
dive: 344
start: 1 5 109 0 26 21
data:
$ID,120
$MISSION,9
$DIVE,344
$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,300
$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,-24951.068
$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,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
$GPS1,001459,5015.121,-14510.819,104,2.1,123,18.5
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,3.85
$_SM_ANGLEo,-71.5
$GPS2,002526,5015.114,-14510.627,12,1.9,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.036,-0.174
$KALMAN_X,24408.5,65.9,148.5,-49462.0,1221.5
$KALMAN_Y,249012.5,-147.4,51.5,-231214.6,1872.3
$MHEAD_RNG_PITCHd_Wd,173.2,39114,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,36,0.00,0.00,-11.60,0.000,2,0.000,0.000,132,2404,1927
$GC,39,-0.67,-117.3,3.8,-0.0,1,115,13.70,2.50,-52.17,0.000,4,0.276,0.092,3097,3810,3355
$GC,185,-0.49,-117.3,11.8,-5.9,14,190,0.22,2.35,0.00,0.000,6,0.165,0.054,3158,2399,3358
$GC,514,-0.54,-117.3,40.6,-6.8,44,520,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2399,3358
$GC,839,-0.54,-117.3,57.9,-6.6,75,843,0.00,2.40,0.00,0.000,4,0.000,0.079,3154,3810,3358
$GC,861,-0.54,-117.3,59.7,-7.7,76,867,0.00,2.33,0.00,0.000,6,0.000,0.054,3155,2394,3358
$GC,1194,-0.54,-117.3,88.2,-7.1,103,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2394,3358
$GC,1503,-0.54,-117.3,109.3,-8.2,118,1507,0.00,2.38,0.00,0.000,4,0.000,0.068,3154,994,3358
$GC,1552,-0.61,-117.3,113.9,-9.1,120,1556,0.00,2.28,0.00,0.000,6,0.000,0.061,3155,2401,3358
$GC,1869,-0.67,-117.3,133.1,-5.3,135,1874,0.15,2.38,0.00,0.000,4,0.082,0.067,3090,991,3358
$GC,1902,-0.59,-117.3,135.4,-7.1,136,1908,0.12,2.28,0.00,0.000,6,0.142,0.061,3124,2402,3359
$GC,2227,-0.59,-117.3,156.7,-6.7,151,2231,0.00,2.35,0.00,0.000,4,0.000,0.080,3124,3815,3359
$GC,2293,-0.65,-117.3,161.5,-7.6,153,2297,0.00,2.28,0.00,0.000,6,0.000,0.053,3124,2400,3359
$GC,2623,-0.65,-117.3,182.3,-5.9,164,2627,0.00,2.38,0.00,0.000,4,0.000,0.069,3124,984,3359
$GC,2655,-0.65,-117.3,184.4,-6.4,165,2660,0.00,2.30,0.00,0.000,6,0.000,0.061,3124,2404,3359
$GC,2985,-0.69,-117.3,204.3,-6.2,176,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2404,3359
$GC,3291,-0.73,-117.3,222.8,-6.0,186,3293,0.15,0.00,0.00,0.000,6,0.085,0.000,3067,2405,3359
$GC,3598,-0.67,-117.3,247.6,-8.5,196,3603,0.12,2.40,0.00,0.000,4,0.106,0.069,3106,991,3359
$GC,3647,-0.67,-117.3,252.0,-8.2,197,3651,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2399,3359
$GC,3966,-0.67,-117.3,276.5,-7.6,208,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3358
$GC,4272,-0.67,-117.3,298.1,-7.1,218,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3359
$GC,4606,-0.67,-117.3,320.5,-6.6,224,4610,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,991,3358
$GC,4639,-0.67,-117.3,323.1,-7.4,224,4643,0.00,2.30,0.00,0.000,6,0.000,0.063,3107,2407,3358
$GC,4972,-0.67,-117.3,344.0,-6.3,230,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2408,3358
$GC,5275,-0.67,-117.3,362.2,-6.0,235,5279,0.00,2.40,0.00,0.000,4,0.000,0.071,3106,993,3357
$GC,5319,-0.67,-117.3,365.2,-6.8,235,5323,0.00,2.30,0.00,0.000,6,0.000,0.063,3106,2404,3357
$GC,5633,-0.67,-117.3,383.9,-5.9,241,5637,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,992,3358
$GC,5662,-0.67,-117.3,385.8,-7.3,241,5666,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2412,3358
$GC,5993,-0.67,-117.3,407.0,-6.5,247,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2412,3358
$GC,6297,-0.67,-117.3,425.1,-5.9,252,6301,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,990,3357
$GC,6329,-0.67,-117.3,427.1,-6.1,252,6333,0.00,2.30,0.00,0.000,6,0.000,0.063,3106,2404,3357
$GC,6661,-0.67,-117.3,444.9,-5.3,258,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2404,3357
$GC,6965,-0.67,-117.3,460.0,-5.0,263,6969,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,986,3356
$GC,7009,-0.67,-117.3,462.3,-5.0,263,7013,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2399,3357
$GC,7324,-0.67,-117.3,478.1,-5.0,269,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2400,3356
$GC,7627,-0.67,-117.3,494.0,-5.3,274,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2399,3356
$GC,7930,-0.67,-117.3,510.0,-5.3,279,7934,0.00,2.35,0.00,0.000,4,0.000,0.071,3106,993,3356
$GC,7974,-0.67,-117.3,512.6,-5.8,279,7978,0.00,2.30,0.00,0.000,6,0.000,0.063,3106,2411,3356
$GC,8289,-0.67,-117.3,530.5,-5.7,285,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2411,3356
$GC,8592,-0.67,-117.3,548.9,-6.1,290,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2411,3356
$GC,8896,-0.71,-117.3,566.6,-5.8,295,8900,0.00,2.38,0.00,0.000,4,0.000,0.072,3106,994,3355
$GC,8923,-0.71,-117.3,568.3,-6.6,295,8928,0.00,2.30,0.00,0.000,6,0.000,0.064,3106,2412,3355
$GC,9263,-0.76,-117.3,586.5,-5.3,301,9264,0.12,0.00,0.00,0.000,6,0.089,0.000,3059,2412,3355
$GC,9564,-0.76,-117.3,605.0,-6.1,306,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2412,3355
$GC,9867,-0.76,-117.3,623.8,-6.2,311,9871,0.00,2.35,0.00,0.000,4,0.000,0.073,3059,993,3355
$GC,9901,-0.70,-117.3,626.1,-6.7,311,9906,0.12,2.30,0.00,0.000,6,0.149,0.064,3091,2407,3355
$GC,10227,-0.70,-117.3,644.1,-5.5,317,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2407,3355
$GC,10530,-0.70,-117.3,660.3,-5.3,322,10534,0.00,2.35,0.00,0.000,4,0.000,0.083,3086,3812,3355
$GC,10556,-0.70,-117.3,661.8,-6.0,322,10560,0.00,2.25,0.00,0.000,6,0.000,0.057,3086,2400,3355
$GC,10895,-0.70,-117.3,680.6,-5.6,328,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,11197,-0.70,-117.3,696.7,-5.3,333,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,11501,-0.70,-117.3,712.9,-5.4,338,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,11804,-0.70,-117.3,730.6,-5.9,343,11808,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,991,3354
$GC,11848,-0.70,-117.3,733.5,-6.9,343,11852,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2400,3354
$GC,12162,-0.70,-117.3,752.7,-6.1,349,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,12466,-0.70,-117.3,772.0,-6.3,354,12470,0.00,2.35,0.00,0.000,4,0.000,0.073,3086,992,3354
$GC,12498,-0.70,-117.3,774.2,-6.8,354,12502,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2399,3354
$GC,12831,-0.70,-117.3,795.2,-6.3,360,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,13134,-0.70,-117.3,814.0,-6.1,365,13138,0.00,2.33,0.00,0.000,4,0.000,0.072,3086,993,3354
$GC,13173,-0.70,-117.3,816.4,-5.8,365,13178,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2400,3354
$GC,13494,-0.70,-117.3,835.3,-5.8,371,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3353
$GC,13797,-0.70,-117.3,851.7,-5.3,376,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,14101,-0.70,-117.3,866.3,-4.8,381,14102,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,14404,-0.70,-117.3,880.7,-4.8,386,14408,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,993,3353
$GC,14437,-0.70,-117.3,882.4,-4.6,386,14441,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2409,3353
$GC,14770,-0.70,-117.3,898.6,-4.9,392,14771,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3353
$GC,15072,-0.70,-117.3,914.3,-5.1,397,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2409,3353
$GC,15375,-0.70,-117.3,930.9,-5.5,402,15379,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,993,3353
$GC,15419,-0.75,-117.3,933.5,-5.7,402,15423,0.00,2.33,0.00,0.000,6,0.000,0.065,3086,2411,3353
$GC,15734,-0.75,-117.3,950.4,-5.4,408,15735,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3353
$GC,16037,-0.75,-117.3,966.7,-5.4,413,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3353
$GC,16340,-0.75,-117.3,983.1,-5.4,418,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3353
$STATE,16519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16519,begin apogee
$GC,16526,-0.22,0.0,992.7,5.3,421,16641,0.52,0.00,108.30,1.491,6,0.149,0.000,3241,2201,2876
$STATE,16642,end apogee,CONTROL_FINISHED_OK
$STATE,16642,begin climb
$GC,16645,0.67,117.3,996.7,0.0,423,16766,0.90,0.00,113.20,1.435,6,0.098,0.000,3528,2201,2396
$GC,17070,0.36,117.3,973.9,8.0,430,17072,0.35,0.00,0.00,0.000,6,0.168,0.000,3432,2201,2393
$GC,17372,0.36,117.3,958.1,5.1,435,17376,0.00,2.45,0.00,0.000,4,0.000,0.077,3441,787,2393
$GC,17416,0.31,117.3,955.8,5.5,435,17420,0.00,2.33,0.00,0.000,6,0.000,0.063,3441,2203,2393
$GC,17732,0.25,122.8,940.3,4.8,441,17743,0.15,2.35,6.03,1.139,4,0.170,0.080,3396,3610,2375
$GC,17783,0.28,153.1,938.0,4.1,441,17817,0.00,2.33,28.20,1.412,6,0.000,0.064,3397,2197,2251
$GC,18164,0.42,178.4,921.7,4.3,448,18193,0.15,2.50,23.75,1.397,4,0.089,0.081,3461,778,2147
$GC,18233,0.38,178.4,917.7,6.4,449,18237,0.00,2.38,0.00,0.000,6,0.000,0.064,3461,2204,2146
$GC,18593,0.32,178.4,894.6,6.4,455,18595,0.15,0.00,0.00,0.000,6,0.149,0.000,3420,2203,2144
$GC,18896,0.37,178.4,879.0,5.1,460,18897,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2203,2144
$GC,19199,0.43,178.4,862.6,5.4,465,19201,0.12,0.00,0.00,0.000,6,0.094,0.000,3466,2203,2144
$GC,19502,0.38,178.4,840.8,7.3,470,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2203,2144
$GC,19805,0.33,178.4,817.9,7.5,475,19807,0.15,0.00,0.00,0.000,6,0.138,0.000,3424,2203,2143
$GC,20108,0.39,178.4,799.4,6.0,480,20112,0.00,2.40,0.00,0.000,4,0.000,0.081,3424,785,2143
$GC,20164,0.47,178.4,796.1,6.0,480,20171,0.15,2.30,0.00,0.000,6,0.091,0.064,3479,2209,2143
$GC,20474,0.38,178.4,773.7,7.3,486,20479,0.15,2.40,0.00,0.000,4,0.149,0.078,3436,789,2143
$GC,20518,0.43,178.4,770.8,6.1,486,20522,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2207,2143
$GC,20833,0.43,178.4,751.8,6.0,492,20835,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2206,2143
$GC,21136,0.43,178.4,732.7,6.3,497,21141,0.00,2.38,0.00,0.000,4,0.000,0.079,3436,791,2143
$GC,21176,0.48,178.4,730.2,6.8,497,21181,0.10,2.30,0.00,0.000,6,0.099,0.063,3476,2209,2143
$GC,21496,0.40,178.4,706.2,7.5,503,21498,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2209,2143
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$STATE,33296,end climb,SURFACE_DEPTH_REACHED
$STATE,33296,begin surface coast
$FINISH,2.9,1.015191
$STATE,33372,end surface coast,CONTROL_FINISHED_OK
$STATE,33372,begin surface
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$DEVICE_SECS,30.625,211.675,411.950,0.000,0.000,57.637,56.391,311.436,249.750,0.000,0.000,12.798,1833.150,28467.035,575.916,2320.487,871.924,33.378,1745.628,0.000,2304.092,0.000,0.465
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