version: 66.03
glider: 120
mission: 9
dive: 538
start: 3 19 109 12 51 58
data:
$ID,120
$MISSION,9
$DIVE,538
$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,-29279.021
$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,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
$GPS1,124440,4953.730,-14429.903,32,1.1,32,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-65.1
$GPS2,125102,4953.732,-14429.876,14,1.0,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.131,0.121
$KALMAN_X,-48413.5,-58.9,100.6,101411.9,-714.4
$KALMAN_Y,117157.5,-124.3,138.2,-135220.3,1225.5
$MHEAD_RNG_PITCHd_Wd,294.3,35686,-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,26,-0.67,-117.3,0.0,0.0,0,48,0.00,0.00,-20.42,0.000,2,0.000,0.000,143,2409,2028
$GC,52,-0.67,-117.3,3.1,-3.0,2,132,13.85,0.00,-61.83,0.000,6,0.280,0.000,3094,2409,3355
$GC,452,-0.49,-117.3,41.2,-11.3,40,457,0.17,2.42,0.00,0.000,4,0.161,0.069,3150,988,3356
$GC,492,-0.49,-117.3,44.4,-6.5,43,496,0.00,2.33,0.00,0.000,6,0.000,0.062,3150,2400,3356
$GC,824,-0.49,-117.3,66.8,-5.9,74,828,0.00,2.38,0.00,0.000,4,0.000,0.082,3142,3806,3357
$GC,857,-0.49,-117.3,69.2,-5.8,76,863,0.00,2.25,0.00,0.000,6,0.000,0.054,3142,2386,3357
$GC,1189,-0.49,-117.3,94.0,-9.7,101,1193,0.00,2.35,0.00,0.000,4,0.000,0.071,3142,991,3357
$GC,1222,-0.49,-117.3,97.2,-8.1,102,1226,0.00,2.33,0.00,0.000,6,0.000,0.061,3142,2401,3356
$GC,1545,-0.49,-117.3,121.2,-7.4,118,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3356
$GC,1855,-0.54,-117.3,143.8,-6.3,133,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2400,3357
$GC,2172,-0.61,-117.3,163.4,-6.3,145,2176,0.00,2.38,0.00,0.000,4,0.000,0.070,3142,994,3357
$GC,2205,-0.69,-117.3,165.8,-6.9,146,2210,0.15,2.33,0.00,0.000,6,0.080,0.061,3087,2403,3356
$GC,2536,-0.69,-117.3,189.3,-7.0,157,2540,0.00,2.38,0.00,0.000,4,0.000,0.080,3086,3816,3356
$GC,2591,-0.69,-117.3,193.8,-8.4,158,2598,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2401,3356
$GC,2905,-0.69,-117.3,216.3,-6.9,169,2909,0.00,2.40,0.00,0.000,4,0.000,0.079,3086,3812,3357
$GC,2950,-0.65,-117.3,219.5,-7.1,170,2954,0.00,2.25,0.00,0.000,6,0.000,0.054,3086,2400,3356
$GC,3275,-0.65,-117.3,240.9,-6.5,181,3279,0.00,2.35,0.00,0.000,4,0.000,0.070,3086,989,3357
$GC,3331,-0.65,-117.3,245.1,-7.3,182,3335,0.00,2.33,0.00,0.000,6,0.000,0.060,3086,2402,3357
$GC,3644,-0.61,-117.3,267.9,-7.5,192,3646,0.12,0.00,0.00,0.000,6,0.143,0.000,3119,2401,3357
$GC,3951,-0.61,-117.3,288.5,-6.7,202,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2401,3357
$GC,4255,-0.65,-117.3,307.2,-6.0,210,4259,0.00,2.38,0.00,0.000,4,0.000,0.081,3113,3808,3357
$GC,4289,-0.70,-117.3,309.1,-5.5,210,4293,0.00,2.28,0.00,0.000,6,0.000,0.054,3113,2389,3357
$GC,4617,-0.70,-117.3,325.1,-4.7,216,4621,0.00,2.35,0.00,0.000,4,0.000,0.071,3113,989,3357
$GC,4651,-0.76,-117.3,327.0,-5.1,216,4656,0.12,2.33,0.00,0.000,6,0.087,0.061,3068,2401,3357
$GC,4978,-0.72,-117.3,348.5,-6.9,222,4982,0.00,2.38,0.00,0.000,4,0.000,0.081,3068,3812,3356
$GC,5013,-0.66,-117.3,351.4,-8.2,222,5018,0.12,2.25,0.00,0.000,6,0.098,0.054,3103,2398,3357
$GC,5339,-0.66,-117.3,377.0,-8.0,228,5343,0.00,2.35,0.00,0.000,4,0.000,0.071,3103,987,3357
$GC,5384,-0.66,-117.3,381.0,-8.8,228,5388,0.00,2.35,0.00,0.000,6,0.000,0.062,3099,2410,3357
$GC,5700,-0.66,-117.3,408.1,-8.7,234,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3357
$GC,6004,-0.66,-117.3,433.6,-8.4,239,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3357
$GC,6307,-0.66,-117.3,457.6,-7.8,244,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2409,3356
$GC,6609,-0.66,-117.3,478.5,-6.8,249,6613,0.00,2.40,0.00,0.000,4,0.000,0.071,3099,991,3356
$GC,6643,-0.66,-117.3,480.8,-6.9,249,6647,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2408,3356
$GC,6970,-0.66,-117.3,499.4,-5.6,255,6974,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3810,3356
$GC,7003,-0.66,-117.3,501.3,-6.0,255,7007,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2401,3356
$GC,7329,-0.66,-117.3,518.3,-5.2,261,7333,0.00,2.35,0.00,0.000,4,0.000,0.072,3099,993,3356
$GC,7357,-0.66,-117.3,519.9,-5.9,261,7362,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2410,3356
$GC,7691,-0.66,-117.3,538.3,-5.6,267,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2410,3356
$GC,7993,-0.66,-117.3,556.6,-6.1,272,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2410,3356
$GC,8297,-0.66,-117.3,577.3,-6.9,277,8301,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,988,3356
$GC,8324,-0.66,-117.3,579.5,-7.3,277,8328,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2409,3355
$GC,8664,-0.66,-117.3,602.4,-6.7,283,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2409,3355
$GC,8966,-0.66,-117.3,622.3,-6.6,288,8970,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,986,3355
$GC,8993,-0.66,-117.3,624.1,-6.9,288,8997,0.00,2.35,0.00,0.000,6,0.000,0.063,3100,2402,3355
$GC,9325,-0.66,-117.3,645.1,-6.3,294,9329,0.00,2.40,0.00,0.000,4,0.000,0.082,3099,3818,3355
$GC,9359,-0.72,-117.3,647.1,-6.6,294,9363,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2400,3355
$GC,9687,-0.92,-117.3,669.2,-6.9,300,9692,0.20,2.42,0.00,0.000,4,0.088,0.081,3019,3809,3354
$GC,9895,-0.74,-117.3,687.2,-8.9,303,9900,0.20,2.28,0.00,0.000,6,0.155,0.056,3072,2397,3354
$GC,10251,-0.69,-117.3,710.4,-6.4,309,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2397,3354
$GC,10553,-0.65,-117.3,729.8,-6.4,314,10555,0.12,0.00,0.00,0.000,6,0.170,0.000,3106,2397,3354
$GC,10856,-0.72,-117.3,745.8,-5.2,319,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2397,3355
$GC,11160,-0.79,-117.3,762.3,-5.4,324,11165,0.12,2.40,0.00,0.000,4,0.086,0.072,3059,996,3354
$GC,11200,-0.79,-117.3,765.0,-6.8,324,11204,0.00,2.35,0.00,0.000,6,0.000,0.064,3058,2404,3354
$GC,11522,-0.74,-117.3,786.3,-6.6,330,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2404,3354
$GC,11825,-0.70,-117.3,805.5,-6.3,335,11827,0.12,0.00,0.00,0.000,6,0.139,0.000,3092,2404,3354
$GC,12127,-0.70,-117.3,822.4,-5.5,340,12131,0.00,2.40,0.00,0.000,4,0.000,0.084,3092,3808,3354
$GC,12160,-0.76,-117.3,824.3,-5.6,340,12165,0.00,2.30,0.00,0.000,6,0.000,0.056,3092,2391,3354
$GC,12488,-0.97,-117.3,844.7,-6.4,346,12493,0.22,2.47,0.00,0.000,4,0.085,0.082,3005,3817,3354
$GC,12735,-0.76,-117.3,866.4,-9.9,349,12739,0.25,2.30,0.00,0.000,6,0.159,0.057,3071,2400,3354
$GC,13051,-0.76,-117.3,887.0,-6.5,355,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3353
$GC,13353,-0.76,-117.3,905.9,-6.2,360,13357,0.00,2.40,0.00,0.000,4,0.000,0.074,3071,989,3353
$GC,13386,-0.76,-117.3,908.0,-6.3,360,13390,0.00,2.38,0.00,0.000,6,0.000,0.064,3071,2410,3353
$GC,13713,-0.76,-117.3,925.8,-5.4,366,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2410,3353
$GC,14016,-0.76,-117.3,941.9,-5.3,371,14017,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2410,3353
$GC,14319,-0.76,-117.3,958.0,-5.3,376,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2410,3353
$GC,14622,-0.76,-117.3,975.2,-5.7,381,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2410,3353
$STATE,14922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14922,begin apogee
$GC,14930,-0.22,0.0,993.6,6.1,386,15044,0.57,0.00,108.68,1.488,6,0.141,0.000,3244,2199,2875
$STATE,15045,end apogee,CONTROL_FINISHED_OK
$STATE,15045,begin climb
$GC,15049,0.67,117.3,998.2,0.0,388,15172,0.88,2.75,114.43,1.433,4,0.093,0.077,3533,788,2396
$GC,15201,0.31,117.3,998.1,5.0,390,15207,0.45,2.55,0.00,0.000,6,0.176,0.061,3421,2206,2395
$GC,15540,0.33,131.5,982.6,4.6,396,15559,0.00,2.42,13.70,1.338,4,0.000,0.081,3421,3609,2338
$GC,15608,0.25,131.5,979.1,5.3,397,15611,0.00,2.33,0.00,0.000,6,0.000,0.063,3424,2193,2338
$GC,15980,0.25,131.5,960.0,5.1,403,15984,0.00,2.38,0.00,0.000,4,0.000,0.079,3424,3610,2337
$GC,16014,0.18,131.5,958.0,5.5,403,16019,0.20,2.30,0.00,0.000,6,0.170,0.062,3380,2189,2337
$GC,16342,0.35,163.5,944.5,4.1,409,16374,0.15,0.00,29.75,1.420,6,0.084,0.000,3437,2189,2209
$GC,16644,0.35,163.5,928.0,5.6,414,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2189,2207
$GC,16948,0.40,163.5,911.2,5.5,419,16949,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2189,2206
$GC,17251,0.44,163.5,894.9,5.4,424,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2189,2206
$GC,17554,0.49,163.5,877.9,5.7,429,17558,0.12,2.42,0.00,0.000,4,0.102,0.081,3492,3613,2206
$GC,17598,0.23,163.5,874.1,8.6,429,17603,0.35,2.33,0.00,0.000,6,0.174,0.064,3398,2191,2206
$GC,17915,0.35,163.5,856.6,5.5,435,17916,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2192,2206
$GC,18217,0.46,163.5,839.7,5.6,440,18222,0.15,2.38,0.00,0.000,4,0.083,0.077,3464,792,2206
$GC,18257,0.40,163.5,836.9,7.2,440,18261,0.00,2.33,0.00,0.000,6,0.000,0.062,3464,2212,2205
$GC,18579,0.32,163.5,813.5,7.2,446,18581,0.15,0.00,0.00,0.000,6,0.140,0.000,3422,2212,2205
$GC,18883,0.37,163.5,795.7,5.8,451,18884,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2212,2205
$GC,19185,0.41,163.5,779.3,5.3,456,19186,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2212,2205
$GC,19488,0.47,163.5,763.8,5.1,461,19489,0.15,0.00,0.00,0.000,6,0.084,0.000,3482,2211,2205
$GC,19792,0.34,163.5,743.2,6.9,466,19797,0.15,2.47,0.00,0.000,4,0.146,0.077,3436,784,2205
$GC,19847,0.34,163.5,739.8,5.7,466,19854,0.00,2.33,0.00,0.000,6,0.000,0.061,3437,2203,2205
$GC,20158,0.34,163.5,723.2,5.3,472,20159,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2205
$GC,20461,0.34,163.5,707.1,5.4,477,20465,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3609,2205
$GC,20501,0.34,163.5,704.7,5.9,477,20505,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2192,2205
$GC,20822,0.34,163.5,687.3,5.4,483,20823,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2192,2205
$GC,21125,0.34,163.5,670.5,5.6,488,21129,0.00,2.45,0.00,0.000,4,0.000,0.081,3436,3609,2205
$GC,21175,0.34,163.5,667.1,7.3,488,21179,0.00,2.35,0.00,0.000,6,0.000,0.063,3436,2195,2205
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$STATE,31879,end climb,SURFACE_DEPTH_REACHED
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$STATE,31944,begin surface
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