version: 66.03
glider: 120
mission: 9
dive: 456
start: 2 16 109 10 24 5
data:
$ID,120
$MISSION,9
$DIVE,456
$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,-27492.191
$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,21
$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
$GPS1,101654,4956.373,-14430.807,40,1.9,57,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-74.5
$GPS2,102308,4956.401,-14430.706,15,1.5,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.026,-0.163
$KALMAN_X,-10059.5,205.4,-128.2,62036.0,10.4
$KALMAN_Y,50014.4,127.0,-119.9,-63127.2,2031.5
$MHEAD_RNG_PITCHd_Wd,152.5,4547,-13.3,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.70,-99.0,0.0,0.0,0,37,0.00,0.00,-10.95,0.000,2,0.000,0.000,134,2404,1812
$GC,41,-0.72,-117.3,3.7,-0.0,1,130,13.73,2.40,-69.93,0.000,4,0.278,0.094,3068,3815,3354
$GC,335,-0.53,-117.3,30.2,-11.7,27,340,0.28,2.28,0.00,0.000,6,0.154,0.054,3145,2395,3356
$GC,661,-0.57,-117.3,56.7,-9.0,57,665,0.00,2.35,0.00,0.000,4,0.000,0.069,3145,987,3356
$GC,694,-0.63,-117.3,59.8,-9.5,59,700,0.00,2.30,0.00,0.000,6,0.000,0.061,3141,2404,3356
$GC,1018,-0.63,-117.3,87.7,-9.2,86,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3356
$GC,1327,-0.68,-117.3,113.7,-8.7,101,1332,0.12,2.38,0.00,0.000,4,0.084,0.067,3086,986,3356
$GC,1361,-0.62,-117.3,117.1,-9.8,102,1368,0.12,2.33,0.00,0.000,6,0.148,0.061,3118,2410,3357
$GC,1677,-0.62,-117.3,140.5,-7.1,118,1682,0.00,2.33,0.00,0.000,4,0.000,0.079,3112,3810,3357
$GC,1728,-0.62,-117.3,144.2,-7.0,120,1732,0.00,2.25,0.00,0.000,6,0.000,0.053,3112,2393,3357
$GC,2063,-0.66,-117.3,167.5,-6.8,132,2067,0.00,2.42,0.00,0.000,4,0.000,0.079,3112,3818,3357
$GC,2131,-0.74,-117.3,172.3,-7.0,134,2134,0.00,2.25,0.00,0.000,6,0.000,0.054,3112,2398,3357
$GC,2466,-0.79,-117.3,195.1,-6.8,145,2471,0.15,2.33,0.00,0.000,4,0.080,0.068,3042,995,3357
$GC,2495,-0.70,-117.3,197.7,-9.4,146,2500,0.17,2.30,0.00,0.000,6,0.160,0.061,3089,2402,3357
$GC,2831,-0.70,-117.3,224.2,-7.7,157,2835,0.00,2.35,0.00,0.000,4,0.000,0.068,3089,985,3357
$GC,2888,-0.70,-117.3,228.7,-7.6,158,2895,0.00,2.30,0.00,0.000,6,0.000,0.061,3085,2402,3357
$GC,3201,-0.70,-117.3,252.6,-7.5,169,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3357
$GC,3507,-0.70,-117.3,276.0,-7.7,179,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3357
$GC,3813,-0.70,-117.3,298.0,-7.0,189,3817,0.00,2.35,0.00,0.000,4,0.000,0.070,3086,987,3357
$GC,3868,-0.70,-117.3,302.1,-7.6,190,3872,0.00,2.30,0.00,0.000,6,0.000,0.062,3085,2399,3357
$GC,4178,-0.70,-117.3,323.5,-7.0,195,4182,0.00,2.33,0.00,0.000,4,0.000,0.070,3086,994,3357
$GC,4217,-0.70,-117.3,326.4,-7.1,195,4221,0.00,2.30,0.00,0.000,6,0.000,0.062,3085,2408,3357
$GC,4538,-0.70,-117.3,351.2,-7.9,201,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2408,3357
$GC,4841,-0.70,-117.3,375.1,-7.8,206,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2408,3357
$GC,5145,-0.70,-117.3,398.4,-7.7,211,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3356
$GC,5447,-0.70,-117.3,420.4,-7.3,216,5451,0.00,2.38,0.00,0.000,4,0.000,0.082,3085,3810,3356
$GC,5515,-0.70,-117.3,425.5,-7.7,217,5519,0.00,2.25,0.00,0.000,6,0.000,0.055,3085,2401,3356
$GC,5876,-0.70,-117.3,450.5,-6.8,223,5880,0.00,2.33,0.00,0.000,4,0.000,0.071,3085,994,3356
$GC,5942,-0.70,-117.3,455.2,-7.1,224,5946,0.00,2.30,0.00,0.000,6,0.000,0.064,3085,2398,3356
$GC,6303,-0.70,-117.3,478.4,-6.4,230,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2398,3356
$GC,6606,-0.70,-117.3,497.6,-6.3,235,6610,0.00,2.35,0.00,0.000,4,0.000,0.071,3086,992,3355
$GC,6633,-0.70,-117.3,499.5,-6.6,235,6637,0.00,2.30,0.00,0.000,6,0.000,0.062,3085,2408,3355
$GC,6971,-0.70,-117.3,520.3,-6.3,241,6975,0.00,2.38,0.00,0.000,4,0.000,0.071,3086,991,3355
$GC,6999,-0.70,-117.3,522.3,-7.0,241,7003,0.00,2.33,0.00,0.000,6,0.000,0.063,3085,2412,3355
$GC,7337,-0.70,-117.3,543.9,-6.5,247,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2412,3355
$GC,7640,-0.70,-117.3,562.8,-6.2,252,7644,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,989,3355
$GC,7673,-0.70,-117.3,565.1,-7.1,252,7677,0.00,2.33,0.00,0.000,6,0.000,0.063,3086,2409,3355
$GC,8000,-0.70,-117.3,584.3,-5.8,258,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3355
$GC,8303,-0.70,-117.3,601.3,-5.6,263,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2409,3355
$GC,8606,-0.70,-117.3,618.4,-5.6,268,8611,0.00,2.40,0.00,0.000,4,0.000,0.071,3085,989,3354
$GC,8634,-0.70,-117.3,620.1,-6.4,268,8638,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2402,3354
$GC,8973,-0.74,-117.3,639.3,-5.6,274,8977,0.00,2.35,0.00,0.000,4,0.000,0.071,3085,995,3354
$GC,9001,-0.79,-117.3,641.1,-5.9,274,9005,0.00,2.30,0.00,0.000,6,0.000,0.063,3085,2410,3354
$GC,9340,-0.83,-117.3,661.8,-6.2,280,9342,0.12,0.00,0.00,0.000,6,0.087,0.000,3031,2410,3354
$GC,9643,-0.79,-117.3,684.7,-7.6,285,9648,0.10,2.38,0.00,0.000,4,0.097,0.072,3061,989,3354
$GC,9682,-0.79,-117.3,687.8,-7.0,285,9686,0.00,2.33,0.00,0.000,6,0.000,0.064,3059,2407,3354
$GC,10003,-0.79,-117.3,711.0,-7.2,291,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2406,3354
$GC,10306,-0.79,-117.3,732.1,-6.9,296,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2406,3353
$GC,10610,-0.79,-117.3,752.3,-6.6,301,10614,0.00,2.35,0.00,0.000,4,0.000,0.072,3059,993,3354
$GC,10644,-0.79,-117.3,754.7,-6.9,301,10648,0.00,2.33,0.00,0.000,6,0.000,0.064,3059,2412,3354
$GC,10971,-0.79,-117.3,775.8,-6.4,307,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2412,3354
$GC,11274,-0.79,-117.3,793.9,-5.9,312,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2412,3354
$GC,11578,-0.79,-117.3,811.8,-6.0,317,11582,0.00,2.42,0.00,0.000,4,0.000,0.072,3059,986,3353
$GC,11627,-0.79,-117.3,815.1,-6.9,317,11631,0.00,2.35,0.00,0.000,6,0.000,0.066,3059,2410,3353
$GC,11937,-0.79,-117.3,834.4,-6.3,322,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2409,3353
$GC,12240,-0.79,-117.3,853.5,-6.3,327,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2409,3353
$GC,12544,-0.79,-117.3,872.5,-6.2,332,12548,0.00,2.42,0.00,0.000,4,0.000,0.072,3059,988,3352
$GC,12572,-0.79,-117.3,874.6,-7.3,332,12576,0.00,2.33,0.00,0.000,6,0.000,0.065,3059,2400,3353
$GC,12910,-0.79,-117.3,895.4,-6.2,338,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2399,3353
$GC,13213,-0.79,-117.3,913.7,-6.0,343,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2399,3352
$GC,13516,-0.79,-117.3,931.7,-5.9,348,13520,0.00,2.42,0.00,0.000,4,0.000,0.073,3059,994,3352
$GC,13544,-0.79,-117.3,933.5,-6.4,348,13548,0.00,2.33,0.00,0.000,6,0.000,0.065,3059,2402,3352
$GC,13876,-0.79,-117.3,952.3,-5.6,354,13880,0.00,2.40,0.00,0.000,4,0.000,0.085,3059,3811,3352
$GC,13914,-0.79,-117.3,954.4,-5.9,354,13919,0.00,2.28,0.00,0.000,6,0.000,0.058,3059,2394,3352
$GC,14236,-0.79,-117.3,971.5,-5.3,360,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2394,3352
$GC,14538,-0.79,-117.3,987.4,-5.3,365,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2394,3351
$STATE,14596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14596,begin apogee
$GC,14603,-0.22,0.0,990.6,5.2,366,14719,0.62,0.00,108.25,1.487,6,0.142,0.000,3247,2201,2876
$STATE,14720,end apogee,CONTROL_FINISHED_OK
$STATE,14720,begin climb
$GC,14723,0.72,117.3,994.0,0.0,368,14840,0.93,0.00,114.32,1.433,6,0.086,0.000,3548,2201,2396
$GC,15144,0.41,117.3,969.8,8.5,375,15149,0.30,2.47,0.00,0.000,4,0.172,0.077,3466,792,2394
$GC,15178,0.34,117.3,967.3,6.0,375,15183,0.15,2.33,0.00,0.000,6,0.164,0.063,3427,2211,2393
$GC,15505,0.36,126.7,951.9,4.7,381,15516,0.00,0.00,9.32,1.276,6,0.000,0.000,3427,2211,2359
$GC,15808,0.36,132.2,937.3,4.8,386,15817,0.00,0.00,6.68,1.172,6,0.000,0.000,3427,2210,2337
$GC,16111,0.41,134.3,922.1,4.9,391,16120,0.00,2.38,4.03,0.907,4,0.000,0.081,3427,3608,2328
$GC,16149,0.41,134.3,920.1,6.2,391,16153,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2196,2328
$GC,16476,0.41,137.2,904.1,4.9,397,16485,0.00,2.38,4.43,0.983,4,0.000,0.080,3436,787,2315
$GC,16520,0.46,137.2,901.9,5.2,397,16524,0.00,2.30,0.00,0.000,6,0.000,0.061,3436,2207,2315
$GC,16841,0.46,137.2,885.7,5.0,403,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2315
$GC,17144,0.46,137.2,870.3,5.1,408,17148,0.00,2.33,0.00,0.000,4,0.000,0.081,3436,3608,2315
$GC,17194,0.42,137.2,867.5,5.3,408,17199,0.00,2.30,0.00,0.000,6,0.000,0.065,3436,2188,2315
$GC,17505,0.42,137.2,851.3,5.2,413,17506,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2188,2315
$GC,17807,0.42,137.2,835.6,5.2,418,17811,0.00,2.35,0.00,0.000,4,0.000,0.079,3436,781,2315
$GC,17872,0.47,140.8,832.4,4.9,419,17881,0.00,2.30,4.80,1.012,6,0.000,0.062,3436,2205,2302
$GC,18237,0.47,144.3,814.2,4.9,425,18245,0.10,0.00,5.40,1.062,6,0.092,0.000,3477,2205,2287
$GC,18540,0.40,144.3,798.0,5.4,430,18542,0.12,0.00,0.00,0.000,6,0.145,0.000,3444,2205,2286
$GC,18844,0.43,169.2,785.3,4.2,435,18873,0.00,2.47,23.00,1.338,4,0.000,0.079,3449,786,2186
$GC,18931,0.48,169.2,781.2,5.2,436,18935,0.00,2.33,0.00,0.000,6,0.000,0.063,3449,2200,2184
$GC,19274,0.48,171.9,764.6,4.9,442,19283,0.00,2.40,3.92,0.856,4,0.000,0.081,3449,3604,2175
$GC,19307,0.48,171.9,762.7,5.5,442,19312,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2196,2174
$GC,19640,0.48,171.9,744.8,5.4,448,19644,0.00,2.38,0.00,0.000,4,0.000,0.079,3449,793,2175
$GC,19703,0.54,171.9,741.3,5.9,449,19708,0.12,2.30,0.00,0.000,6,0.089,0.062,3504,2205,2175
$GC,20069,0.43,171.9,715.1,7.3,455,20071,0.17,0.00,0.00,0.000,6,0.150,0.000,3455,2204,2174
$GC,20372,0.43,171.9,697.9,5.5,460,20376,0.00,2.40,0.00,0.000,4,0.000,0.077,3463,783,2174
$GC,20407,0.43,171.9,695.9,5.8,460,20411,0.00,2.30,0.00,0.000,6,0.000,0.061,3463,2203,2174
$GC,20734,0.43,171.9,677.4,5.7,466,20738,0.00,2.40,0.00,0.000,4,0.000,0.078,3463,793,2174
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$STATE,31774,end climb,SURFACE_DEPTH_REACHED
$STATE,31774,begin surface coast
$FINISH,2.6,1.002478
$STATE,31869,end surface coast,CONTROL_FINISHED_OK
$STATE,31869,begin surface
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$DEVICE_SECS,28.825,243.925,353.550,26.525,0.000,33.227,35.702,156.575,254.750,0.000,0.000,15.799,1830.280,26627.607,597.204,2477.282,753.119,33.362,1833.037,0.000,2448.612,0.000,0.466
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