version: 66.03
glider: 120
mission: 9
dive: 453
start: 2 15 109 6 22 21
data:
$ID,120
$MISSION,9
$DIVE,453
$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,-27445.965
$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,21
$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
$GPS1,061301,5004.806,-14428.729,38,1.4,38,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.02
$_SM_ANGLEo,-76.8
$GPS2,062126,5004.803,-14428.656,15,1.3,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,-0.173
$KALMAN_X,-10151.6,15.4,-255.5,64886.7,1345.7
$KALMAN_Y,44774.6,-148.4,-106.0,-42077.8,2128.8
$MHEAD_RNG_PITCHd_Wd,175.2,20035,-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,26,-0.67,-117.1,0.0,0.0,0,37,0.00,0.00,-8.90,0.000,2,0.000,0.000,135,2413,1946
$GC,41,-0.67,-117.3,4.0,-0.0,1,125,14.15,2.50,-60.12,0.000,4,0.283,0.081,3096,981,3356
$GC,154,-0.48,-117.3,9.1,-10.0,11,161,0.22,2.33,0.00,0.000,6,0.160,0.064,3159,2402,3356
$GC,482,-0.48,-117.3,32.5,-6.9,42,487,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2402,3357
$GC,807,-0.48,-117.3,54.8,-6.7,73,811,0.00,2.35,0.00,0.000,4,0.000,0.069,3159,985,3357
$GC,848,-0.54,-117.3,57.5,-6.6,76,852,0.00,2.30,0.00,0.000,6,0.000,0.061,3155,2410,3357
$GC,1181,-0.54,-117.3,79.4,-6.9,107,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2409,3357
$GC,1497,-0.54,-117.3,101.5,-6.8,123,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2409,3357
$GC,1808,-0.62,-117.3,120.3,-6.1,138,1813,0.12,2.35,0.00,0.000,4,0.083,0.077,3101,3811,3357
$GC,1841,-0.62,-117.3,122.8,-7.6,139,1847,0.00,2.25,0.00,0.000,6,0.000,0.053,3101,2391,3358
$GC,2157,-0.62,-117.3,145.6,-7.2,155,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2391,3358
$GC,2485,-0.62,-117.3,168.0,-6.8,167,2488,0.00,2.30,0.00,0.000,4,0.000,0.069,3101,985,3358
$GC,2576,-0.62,-117.3,174.5,-7.0,169,2580,0.00,2.30,0.00,0.000,6,0.000,0.061,3101,2400,3358
$GC,2888,-0.62,-117.3,197.0,-7.1,179,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3357
$GC,3195,-0.62,-117.3,219.5,-7.3,189,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2400,3358
$GC,3501,-0.62,-117.3,241.0,-6.8,199,3505,0.00,2.35,0.00,0.000,4,0.000,0.069,3101,994,3358
$GC,3551,-0.62,-117.3,244.6,-6.8,200,3556,0.00,2.28,0.00,0.000,6,0.000,0.061,3101,2407,3358
$GC,3870,-0.62,-117.3,265.0,-6.4,211,3874,0.00,2.35,0.00,0.000,4,0.000,0.080,3100,3811,3358
$GC,3899,-0.62,-117.3,267.0,-7.0,212,3903,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2395,3358
$GC,4235,-0.62,-117.3,291.3,-7.3,223,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2395,3358
$GC,4539,-0.62,-117.3,313.1,-7.1,230,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3358
$GC,4842,-0.62,-117.3,333.1,-6.5,235,4846,0.00,2.40,0.00,0.000,4,0.000,0.081,3100,3814,3358
$GC,4870,-0.62,-117.3,334.9,-6.0,235,4874,0.00,2.25,0.00,0.000,6,0.000,0.055,3100,2399,3358
$GC,5202,-0.62,-117.3,354.2,-5.8,241,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2399,3358
$GC,5505,-0.62,-117.3,372.3,-6.0,246,5509,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,991,3357
$GC,5526,-0.62,-117.3,373.7,-6.4,246,5531,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2408,3357
$GC,5865,-0.62,-117.3,395.0,-6.3,252,5869,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,997,3357
$GC,5898,-0.66,-117.3,397.3,-6.3,252,5902,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2407,3357
$GC,6224,-0.66,-117.3,416.9,-5.9,258,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3357
$GC,6527,-0.66,-117.3,433.8,-5.5,263,6531,0.00,2.35,0.00,0.000,4,0.000,0.081,3099,3811,3357
$GC,6555,-0.66,-117.3,435.5,-6.1,263,6559,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2399,3357
$GC,6888,-0.66,-117.3,453.8,-5.6,269,6892,0.00,2.33,0.00,0.000,4,0.000,0.071,3100,995,3357
$GC,6916,-0.71,-117.3,455.5,-5.9,269,6920,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2411,3357
$GC,7249,-0.76,-117.3,473.2,-5.3,275,7253,0.00,2.35,0.00,0.000,4,0.000,0.081,3100,3817,3356
$GC,7276,-0.76,-117.3,474.8,-5.7,275,7280,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2401,3356
$GC,7608,-0.80,-117.3,492.3,-5.4,281,7613,0.12,2.33,0.00,0.000,4,0.093,0.070,3053,990,3356
$GC,7647,-0.71,-117.3,495.1,-7.5,281,7652,0.12,2.30,0.00,0.000,6,0.147,0.062,3086,2402,3356
$GC,7968,-0.71,-117.3,516.6,-6.7,287,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3356
$GC,8271,-0.71,-117.3,536.8,-6.6,292,8275,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,989,3355
$GC,8298,-0.71,-117.3,538.8,-7.4,292,8302,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2398,3356
$GC,8630,-0.71,-117.3,559.7,-6.3,298,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3356
$GC,8933,-0.71,-117.3,578.8,-6.2,303,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,3356
$GC,9236,-0.71,-117.3,597.7,-6.3,308,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3356
$GC,9539,-0.71,-117.3,616.8,-6.3,313,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3355
$GC,9842,-0.71,-117.3,635.4,-6.1,318,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3355
$GC,10146,-0.71,-117.3,653.8,-6.1,323,10150,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,996,3355
$GC,10185,-0.71,-117.3,656.3,-5.9,323,10189,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2400,3355
$GC,10507,-0.71,-117.3,675.8,-6.1,329,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3355
$GC,10809,-0.71,-117.3,695.1,-6.4,334,10814,0.00,2.35,0.00,0.000,4,0.000,0.072,3086,993,3354
$GC,10860,-0.71,-117.3,698.6,-6.8,334,10864,0.00,2.30,0.00,0.000,6,0.000,0.063,3086,2400,3354
$GC,11170,-0.71,-117.3,718.6,-6.5,339,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,11473,-0.71,-117.3,737.3,-6.1,344,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,3354
$GC,11776,-0.71,-117.3,755.0,-5.8,349,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,3354
$GC,12079,-0.71,-117.3,772.1,-5.7,354,12084,0.00,2.38,0.00,0.000,4,0.000,0.073,3086,990,3354
$GC,12108,-0.71,-117.3,773.9,-5.9,354,12112,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2403,3354
$GC,12446,-0.71,-117.3,793.1,-5.7,360,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,12749,-0.71,-117.3,810.9,-5.9,365,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13052,-0.71,-117.3,830.5,-6.5,370,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2403,3354
$GC,13356,-0.71,-117.3,850.9,-6.7,375,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13658,-0.71,-117.3,872.1,-7.0,380,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,3354
$GC,13961,-0.71,-117.3,893.3,-6.9,385,13965,0.00,2.38,0.00,0.000,4,0.000,0.074,3086,996,3353
$GC,13988,-0.71,-117.3,895.5,-7.9,385,13992,0.00,2.33,0.00,0.000,6,0.000,0.064,3085,2412,3353
$GC,14320,-0.71,-117.3,916.6,-6.3,391,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,3353
$GC,14623,-0.71,-117.3,933.6,-5.6,396,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3353
$GC,14926,-0.71,-117.3,949.6,-5.3,401,14930,0.00,2.40,0.00,0.000,4,0.000,0.074,3086,993,3352
$GC,14959,-0.71,-117.3,951.3,-5.6,401,14963,0.00,2.30,0.00,0.000,6,0.000,0.064,3086,2401,3353
$GC,15291,-0.71,-117.3,968.2,-5.0,407,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,3353
$GC,15595,-0.71,-117.3,983.4,-5.0,412,15599,0.00,2.38,0.00,0.000,4,0.000,0.084,3086,3807,3353
$GC,15623,-0.76,-117.3,984.8,-4.6,412,15627,0.00,2.28,0.00,0.000,6,0.000,0.058,3085,2393,3353
$STATE,15772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15772,begin apogee
$GC,15779,-0.22,0.0,992.1,4.8,415,15893,0.52,0.00,108.72,1.486,6,0.140,0.000,3244,2196,2875
$STATE,15894,end apogee,CONTROL_FINISHED_OK
$STATE,15894,begin climb
$GC,15897,0.67,117.3,995.6,0.0,417,16019,0.88,0.00,113.95,1.434,6,0.093,0.000,3530,2196,2397
$GC,16323,0.36,117.3,972.1,8.1,424,16328,0.32,2.40,0.00,0.000,4,0.163,0.079,3428,3611,2394
$GC,16408,0.25,117.3,966.3,6.6,425,16413,0.15,2.30,0.00,0.000,6,0.176,0.063,3399,2199,2394
$GC,16752,0.31,117.3,948.8,5.1,431,16753,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2199,2393
$GC,17055,0.37,120.3,933.7,4.9,436,17057,0.12,0.00,0.00,0.000,6,0.083,0.000,3450,2199,2393
$GC,17358,0.31,120.3,917.1,5.4,441,17360,0.12,0.00,0.00,0.000,6,0.133,0.000,3415,2199,2393
$GC,17661,0.31,128.0,902.7,4.8,446,17674,0.00,0.00,10.40,1.304,6,0.000,0.000,3416,2198,2354
$GC,17964,0.32,131.9,888.0,4.9,451,17971,0.00,0.00,5.30,1.070,6,0.000,0.000,3416,2199,2338
$GC,18267,0.32,132.4,872.7,5.0,456,18271,0.00,2.40,0.00,0.000,4,0.000,0.081,3415,3609,2337
$GC,18295,0.32,132.4,871.2,5.7,456,18299,0.00,2.28,0.00,0.000,6,0.000,0.062,3421,2199,2337
$GC,18634,0.32,132.4,854.1,5.1,462,18638,0.00,2.38,0.00,0.000,4,0.000,0.080,3421,790,2337
$GC,18678,0.36,132.4,851.7,5.1,462,18683,0.00,2.30,0.00,0.000,6,0.000,0.061,3421,2209,2337
$GC,18994,0.36,132.4,835.6,5.2,468,18998,0.00,2.33,0.00,0.000,4,0.000,0.079,3421,3610,2337
$GC,19028,0.31,132.4,833.6,5.7,468,19032,0.00,2.30,0.00,0.000,6,0.000,0.064,3422,2188,2337
$GC,19361,0.31,134.2,817.1,4.9,474,19362,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2188,2337
$GC,19664,0.33,148.9,803.2,4.6,479,19682,0.00,0.00,16.45,1.324,6,0.000,0.000,3421,2188,2269
$GC,19968,0.33,149.4,788.3,5.0,484,19972,0.00,2.42,0.00,0.000,4,0.000,0.080,3421,3608,2268
$GC,20007,0.33,149.4,786.0,5.1,484,20012,0.00,2.33,0.00,0.000,6,0.000,0.064,3421,2196,2268
$GC,20330,0.38,154.7,770.3,4.8,490,20338,0.00,0.00,6.93,1.139,6,0.000,0.000,3421,2196,2245
$GC,20632,0.44,154.7,754.9,5.1,495,20637,0.10,2.42,0.00,0.000,4,0.091,0.080,3462,3608,2244
$GC,20672,0.28,154.7,752.4,6.6,495,20677,0.20,2.33,0.00,0.000,6,0.168,0.064,3409,2191,2244
$GC,20993,0.37,154.7,735.8,5.1,501,20997,0.00,2.38,0.00,0.000,4,0.000,0.079,3410,785,2245
$GC,21033,0.49,154.7,733.6,6.1,501,21038,0.20,2.30,0.00,0.000,6,0.077,0.062,3487,2202,2245
$GC,21355,0.36,154.7,709.7,7.7,507,21357,0.20,0.00,0.00,0.000,6,0.144,0.000,3430,2202,2245
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$STATE,33434,end climb,SURFACE_DEPTH_REACHED
$STATE,33434,begin surface coast
$FINISH,2.7,1.012754
$STATE,33563,end surface coast,CONTROL_FINISHED_OK
$STATE,33563,begin surface
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