version: 66.03
glider: 120
mission: 9
dive: 520
start: 3 12 109 16 31 15
data:
$ID,120
$MISSION,9
$DIVE,520
$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,-28910.027
$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
$GPS1,162101,4958.524,-14459.634,62,1.2,62,18.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-74.6
$GPS2,163020,4958.511,-14459.627,16,1.2,16,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,0.092
$KALMAN_X,-34988.6,-165.1,84.5,52736.2,-2082.1
$KALMAN_Y,119343.1,-428.1,-238.3,-127861.8,2667.9
$MHEAD_RNG_PITCHd_Wd,40.3,19632,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.15,0.000,2,0.000,0.000,148,2410,2002
$GC,41,-0.67,-117.3,3.4,-0.0,1,117,14.07,2.45,-52.55,0.000,4,0.285,0.092,3095,996,3356
$GC,303,-0.51,-117.3,26.6,-10.6,24,310,0.20,2.33,0.00,0.000,6,0.153,0.064,3152,2405,3357
$GC,631,-0.51,-117.3,49.2,-6.0,55,636,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2405,3358
$GC,957,-0.51,-117.3,69.0,-6.2,86,958,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2405,3358
$GC,1281,-0.51,-117.3,90.4,-7.1,110,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2405,3358
$GC,1591,-0.51,-117.3,112.7,-7.1,125,1595,0.00,2.38,0.00,0.000,4,0.000,0.069,3152,991,3358
$GC,1632,-0.51,-117.3,115.7,-8.1,127,1636,0.00,2.33,0.00,0.000,6,0.000,0.061,3152,2400,3358
$GC,1960,-0.59,-117.3,138.5,-6.2,143,1964,0.00,2.38,0.00,0.000,4,0.000,0.068,3152,980,3358
$GC,1988,-0.67,-117.3,140.4,-7.0,144,1993,0.15,2.35,0.00,0.000,6,0.077,0.060,3098,2411,3358
$GC,2324,-0.67,-117.3,161.8,-6.0,157,2328,0.00,2.35,0.00,0.000,4,0.000,0.080,3098,3812,3358
$GC,2397,-0.67,-117.3,167.0,-7.3,159,2401,0.00,2.25,0.00,0.000,6,0.000,0.053,3098,2394,3358
$GC,2721,-0.67,-117.3,187.9,-6.2,170,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3358
$GC,3028,-0.67,-117.3,207.5,-6.6,180,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2395,3358
$GC,3333,-0.67,-117.3,228.4,-6.9,190,3337,0.00,2.33,0.00,0.000,4,0.000,0.070,3098,995,3358
$GC,3367,-0.67,-117.3,230.8,-6.9,191,3371,0.00,2.33,0.00,0.000,6,0.000,0.061,3098,2408,3358
$GC,3698,-0.67,-117.3,252.1,-6.4,202,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3359
$GC,4003,-0.67,-117.3,271.1,-6.1,212,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2407,3358
$GC,4309,-0.67,-117.3,289.1,-5.8,222,4313,0.00,2.35,0.00,0.000,4,0.000,0.070,3098,996,3358
$GC,4337,-0.67,-117.3,290.9,-6.6,222,4344,0.00,2.33,0.00,0.000,6,0.000,0.061,3098,2412,3358
$GC,4680,-0.67,-117.3,313.1,-6.7,231,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2412,3358
$GC,4982,-0.67,-117.3,333.6,-6.8,236,4987,0.00,2.38,0.00,0.000,4,0.000,0.082,3098,3809,3358
$GC,5033,-0.67,-117.3,337.1,-6.6,236,5037,0.00,2.25,0.00,0.000,6,0.000,0.054,3098,2397,3358
$GC,5343,-0.67,-117.3,356.6,-6.3,241,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,5646,-0.67,-117.3,375.7,-6.3,246,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,5950,-0.67,-117.3,394.9,-6.2,251,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,6252,-0.67,-117.3,414.8,-6.5,256,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,6556,-0.67,-117.3,434.6,-6.5,261,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,3358
$GC,6859,-0.67,-117.3,454.1,-6.4,266,6863,0.00,2.45,0.00,0.000,4,0.000,0.082,3098,3809,3357
$GC,6887,-0.67,-117.3,456.1,-7.5,266,6891,0.00,2.25,0.00,0.000,6,0.000,0.055,3098,2402,3357
$GC,7220,-0.67,-117.3,477.8,-6.5,272,7224,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,992,3357
$GC,7259,-0.73,-117.3,480.4,-6.7,272,7263,0.00,2.33,0.00,0.000,6,0.000,0.062,3098,2400,3357
$GC,7580,-0.73,-117.3,499.4,-5.8,278,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,7884,-0.73,-117.3,515.7,-5.3,283,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,8187,-0.73,-117.3,531.8,-5.3,288,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,8490,-0.73,-117.3,548.1,-5.4,293,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,8793,-0.73,-117.3,565.8,-5.9,298,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,9096,-0.73,-117.3,585.3,-6.4,303,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,9400,-0.77,-117.3,605.8,-6.8,308,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3357
$GC,9702,-0.77,-117.3,626.7,-6.9,313,9706,0.00,2.45,0.00,0.000,4,0.000,0.083,3098,3819,3356
$GC,9742,-0.83,-117.3,629.6,-7.5,313,9747,0.15,2.28,0.00,0.000,6,0.087,0.056,3043,2398,3356
$GC,10063,-0.76,-117.3,654.8,-7.9,319,10067,0.00,2.35,0.00,0.000,4,0.000,0.073,3043,996,3356
$GC,10109,-0.66,-117.3,658.9,-8.7,319,10114,0.22,2.33,0.00,0.000,6,0.148,0.064,3104,2399,3356
$GC,10425,-0.72,-117.3,679.9,-6.6,325,10429,0.00,2.40,0.00,0.000,4,0.000,0.083,3099,3818,3356
$GC,10458,-0.78,-117.3,682.3,-7.3,325,10463,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2397,3356
$GC,10787,-0.99,-117.3,707.5,-8.0,331,10792,0.28,2.42,0.00,0.000,4,0.088,0.081,2995,3811,3356
$GC,11005,-0.73,-117.3,729.9,-9.8,334,11010,0.30,2.28,0.00,0.000,6,0.160,0.057,3075,2395,3356
$GC,11349,-0.73,-117.3,752.4,-6.3,340,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2396,3356
$GC,11652,-0.73,-117.3,769.9,-5.8,345,11656,0.00,2.35,0.00,0.000,4,0.000,0.074,3076,989,3356
$GC,11690,-0.73,-117.3,772.3,-5.4,345,11695,0.00,2.35,0.00,0.000,6,0.000,0.064,3072,2404,3356
$GC,12012,-0.73,-117.3,790.2,-5.6,351,12017,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3815,3355
$GC,12040,-0.73,-117.3,791.9,-5.6,351,12044,0.00,2.28,0.00,0.000,6,0.000,0.057,3072,2398,3355
$GC,12372,-0.73,-117.3,809.9,-5.4,357,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,12675,-0.73,-117.3,827.2,-5.7,362,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,12979,-0.73,-117.3,845.7,-6.1,367,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,13282,-0.73,-117.3,865.2,-6.5,372,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2398,3355
$GC,13585,-0.73,-117.3,886.1,-7.0,377,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,13888,-0.73,-117.3,906.9,-6.8,382,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,14191,-0.73,-117.3,927.3,-6.8,387,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,14495,-0.73,-117.3,948.2,-6.9,392,14496,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3355
$GC,14797,-0.73,-117.3,967.4,-6.3,397,14799,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3354
$GC,15100,-0.73,-117.3,985.4,-5.9,402,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2398,3354
$STATE,15218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15218,begin apogee
$GC,15226,-0.22,0.0,992.3,5.7,404,15341,0.57,0.00,108.95,1.483,6,0.142,0.000,3244,2202,2875
$STATE,15342,end apogee,CONTROL_FINISHED_OK
$STATE,15342,begin climb
$GC,15345,0.67,117.3,996.7,0.0,406,15469,0.85,2.70,114.22,1.428,4,0.090,0.077,3534,793,2396
$GC,15538,0.34,117.3,993.1,7.7,409,15543,0.40,2.47,0.00,0.000,6,0.167,0.063,3430,2204,2394
$GC,15906,0.29,117.3,973.7,5.2,415,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2203,2393
$GC,16207,0.29,117.3,957.8,5.2,420,16211,0.00,2.35,0.00,0.000,4,0.000,0.081,3429,3613,2392
$GC,16247,0.19,117.3,955.4,5.6,420,16252,0.20,2.30,0.00,0.000,6,0.173,0.063,3385,2195,2392
$GC,16569,0.32,148.2,942.1,4.1,426,16599,0.12,0.00,28.17,1.417,6,0.083,0.000,3435,2195,2271
$GC,16933,0.32,148.2,921.7,5.7,432,16937,0.00,2.35,0.00,0.000,4,0.000,0.080,3435,790,2268
$GC,16977,0.32,148.2,918.9,6.6,432,16981,0.00,2.30,0.00,0.000,6,0.000,0.064,3434,2204,2268
$GC,17304,0.32,148.2,899.5,6.0,438,17308,0.00,2.35,0.00,0.000,4,0.000,0.081,3435,3613,2268
$GC,17339,0.26,148.2,897.0,6.8,438,17344,0.12,2.30,0.00,0.000,6,0.179,0.064,3406,2195,2268
$GC,17666,0.33,148.2,878.0,5.9,444,17670,0.00,2.35,0.00,0.000,4,0.000,0.079,3408,790,2268
$GC,17700,0.42,148.2,875.9,6.1,444,17704,0.12,2.30,0.00,0.000,6,0.087,0.061,3458,2201,2267
$GC,18027,0.36,148.2,852.8,7.2,450,18028,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2200,2268
$GC,18330,0.30,148.2,831.3,7.1,455,18331,0.15,0.00,0.00,0.000,6,0.145,0.000,3416,2201,2267
$GC,18633,0.35,148.2,813.6,5.8,460,18637,0.00,2.40,0.00,0.000,4,0.000,0.078,3421,779,2268
$GC,18669,0.40,148.2,811.6,5.9,460,18673,0.00,2.33,0.00,0.000,6,0.000,0.061,3421,2203,2267
$GC,18996,0.40,148.2,793.6,5.5,466,18997,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2267
$GC,19299,0.40,148.2,778.2,5.0,471,19300,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2203,2267
$GC,19602,0.43,168.5,764.7,4.4,476,19623,0.10,0.00,18.45,1.308,6,0.091,0.000,3464,2202,2189
$GC,19969,0.38,168.5,744.0,5.8,482,19970,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2203,2187
$GC,20270,0.38,168.5,726.0,5.9,487,20274,0.00,2.42,0.00,0.000,4,0.000,0.079,3464,784,2186
$GC,20304,0.34,168.5,723.9,6.2,487,20309,0.15,2.33,0.00,0.000,6,0.138,0.062,3424,2204,2186
$GC,20632,0.40,171.5,707.9,4.9,493,20638,0.00,0.00,4.25,0.896,6,0.000,0.000,3424,2204,2176
$GC,20935,0.46,171.5,692.4,5.1,498,20939,0.12,2.35,0.00,0.000,4,0.084,0.081,3475,3608,2175
$GC,20979,0.29,171.5,689.0,7.4,498,20984,0.22,2.30,0.00,0.000,6,0.166,0.064,3416,2197,2175
$GC,21296,0.38,171.5,671.6,5.4,504,21300,0.00,2.40,0.00,0.000,4,0.000,0.078,3421,781,2175
$GC,21324,0.48,174.5,670.0,4.9,504,21334,0.15,2.30,4.47,0.910,6,0.081,0.061,3479,2201,2164
$GC,21656,0.40,174.5,645.4,7.5,510,21658,0.12,0.00,0.00,0.000,6,0.141,0.000,3444,2201,2163
$GC,21960,0.40,174.5,626.5,6.2,515,21961,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2200,2163
$GC,22262,0.40,174.5,608.3,6.0,520,22266,0.00,2.38,0.00,0.000,4,0.000,0.080,3444,3618,2163
$GC,22296,0.35,174.5,606.2,6.6,520,22300,0.00,2.33,0.00,0.000,6,0.000,0.063,3449,2189,2163
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$STATE,33116,end climb,SURFACE_DEPTH_REACHED
$STATE,33116,begin surface coast
$FINISH,2.1,1.014465
$STATE,33245,end surface coast,CONTROL_FINISHED_OK
$STATE,33245,begin surface
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