version: 66.03
glider: 120
mission: 9
dive: 564
start: 3 29 109 7 6 44
data:
$ID,120
$MISSION,9
$DIVE,564
$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,-29819.26
$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
$GPS1,065836,5002.358,-14454.253,41,1.1,47,18.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-72.2
$GPS2,070549,5002.404,-14454.243,13,1.1,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.074
$KALMAN_X,-65406.9,270.8,469.7,88725.3,-4793.9
$KALMAN_Y,136949.0,-278.2,175.4,-138831.4,837.1
$MHEAD_RNG_PITCHd_Wd,46.8,10261,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.67,-117.3,0.0,0.0,0,60,0.00,0.00,-29.95,0.000,2,0.000,0.000,136,2410,2382
$GC,64,-0.67,-117.3,3.7,-4.7,3,112,13.98,2.40,-26.85,0.000,4,0.283,0.094,3085,3803,3357
$GC,367,-0.49,-117.3,37.5,-10.6,30,372,0.25,2.25,0.00,0.000,6,0.148,0.055,3155,2394,3358
$GC,697,-0.49,-117.3,60.4,-6.8,60,702,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2394,3358
$GC,1022,-0.49,-117.3,83.6,-7.2,89,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2394,3359
$GC,1330,-0.49,-117.3,104.3,-6.6,104,1334,0.00,2.35,0.00,0.000,4,0.000,0.071,3161,991,3359
$GC,1364,-0.55,-117.3,106.6,-7.0,105,1371,0.00,2.35,0.00,0.000,6,0.000,0.061,3161,2411,3359
$GC,1681,-0.62,-117.3,125.5,-6.0,121,1686,0.15,2.35,0.00,0.000,4,0.076,0.079,3095,3814,3359
$GC,1704,-0.62,-117.3,127.2,-7.0,122,1708,0.00,2.25,0.00,0.000,6,0.000,0.054,3095,2400,3359
$GC,2021,-0.56,-117.3,152.2,-7.4,137,2023,0.15,0.00,0.00,0.000,6,0.143,0.000,3136,2398,3359
$GC,2328,-0.62,-117.3,171.5,-6.3,147,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2397,3359
$GC,2635,-0.68,-117.3,190.8,-6.1,157,2639,0.12,2.35,0.00,0.000,4,0.081,0.069,3086,990,3359
$GC,2664,-0.68,-117.3,193.0,-7.4,158,2667,0.00,2.35,0.00,0.000,6,0.000,0.061,3086,2406,3359
$GC,3005,-0.63,-117.3,220.0,-8.0,169,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2405,3359
$GC,3312,-0.58,-117.3,242.1,-6.9,179,3317,0.15,2.38,0.00,0.000,4,0.141,0.080,3126,3808,3359
$GC,3352,-0.67,-117.3,244.4,-4.8,180,3356,0.00,2.25,0.00,0.000,6,0.000,0.053,3126,2392,3359
$GC,3677,-0.91,-117.3,264.9,-6.8,191,3682,0.28,2.42,0.00,0.000,4,0.084,0.078,3020,3811,3359
$GC,3862,-0.67,-117.3,283.8,-10.9,196,3867,0.30,2.28,0.00,0.000,6,0.153,0.055,3103,2388,3359
$GC,4205,-0.67,-117.3,309.1,-7.1,205,4209,0.00,2.35,0.00,0.000,4,0.000,0.071,3103,990,3359
$GC,4245,-0.67,-117.3,312.0,-6.8,205,4250,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2406,3359
$GC,4567,-0.67,-117.3,332.1,-6.2,211,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3359
$GC,4870,-0.67,-117.3,351.0,-6.3,216,4874,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3809,3359
$GC,4897,-0.67,-117.3,352.8,-7.0,216,4901,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2398,3359
$GC,5231,-0.67,-117.3,376.7,-7.4,222,5235,0.00,2.35,0.00,0.000,4,0.000,0.070,3100,994,3359
$GC,5264,-0.67,-117.3,379.4,-7.6,222,5268,0.00,2.35,0.00,0.000,6,0.000,0.061,3100,2409,3359
$GC,5591,-0.67,-117.3,404.0,-7.6,228,5595,0.00,2.38,0.00,0.000,4,0.000,0.082,3100,3810,3359
$GC,5619,-0.67,-117.3,406.2,-7.7,228,5623,0.00,2.25,0.00,0.000,6,0.000,0.054,3100,2401,3359
$GC,5952,-0.67,-117.3,429.4,-6.9,234,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3359
$GC,6254,-0.67,-117.3,448.9,-6.4,239,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3359
$GC,6558,-0.67,-117.3,467.8,-6.1,244,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3359
$GC,6861,-0.67,-117.3,485.3,-5.7,249,6865,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,990,3358
$GC,6906,-0.67,-117.3,488.1,-6.4,249,6910,0.00,2.35,0.00,0.000,6,0.000,0.061,3100,2405,3358
$GC,7222,-0.67,-117.3,506.7,-5.9,255,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3358
$GC,7525,-0.67,-117.3,524.6,-5.9,260,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3358
$GC,7829,-0.67,-117.3,542.2,-5.8,265,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3358
$GC,8131,-0.67,-117.3,558.6,-5.3,270,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3358
$GC,8435,-0.67,-117.3,574.0,-5.1,275,8439,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,996,3357
$GC,8463,-0.67,-117.3,575.7,-5.5,275,8467,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2406,3357
$GC,8796,-0.67,-117.3,594.1,-5.6,281,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3357
$GC,9099,-0.67,-117.3,613.1,-6.3,286,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2405,3357
$GC,9403,-0.67,-117.3,633.8,-6.9,291,9407,0.00,2.40,0.00,0.000,4,0.000,0.071,3100,996,3357
$GC,9443,-0.67,-117.3,636.8,-6.8,291,9447,0.00,2.38,0.00,0.000,6,0.000,0.064,3099,2411,3357
$GC,9765,-0.85,-117.3,660.4,-7.6,297,9769,0.15,2.40,0.00,0.000,4,0.088,0.081,3038,3816,3357
$GC,9903,-0.73,-117.3,672.2,-8.8,299,9908,0.15,2.28,0.00,0.000,6,0.107,0.056,3080,2397,3357
$GC,10263,-0.73,-117.3,699.0,-7.3,305,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2397,3357
$GC,10567,-0.73,-117.3,720.3,-7.0,310,10571,0.00,2.38,0.00,0.000,4,0.000,0.073,3080,994,3357
$GC,10595,-0.73,-117.3,722.6,-8.0,310,10599,0.00,2.35,0.00,0.000,6,0.000,0.064,3080,2405,3357
$GC,10934,-0.73,-117.3,744.8,-6.6,316,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,3357
$GC,11236,-0.73,-117.3,764.7,-6.6,321,11240,0.00,2.40,0.00,0.000,4,0.000,0.084,3080,3809,3356
$GC,11286,-0.73,-117.3,768.2,-6.9,321,11290,0.00,2.28,0.00,0.000,6,0.000,0.057,3080,2396,3356
$GC,11597,-0.73,-117.3,788.0,-6.4,326,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2396,3356
$GC,11899,-0.73,-117.3,807.1,-6.2,331,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,12203,-0.73,-117.3,824.4,-5.6,336,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,12506,-0.73,-117.3,841.1,-5.5,341,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,12809,-0.73,-117.3,857.8,-5.5,346,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,13113,-0.73,-117.3,875.9,-6.0,351,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,13415,-0.73,-117.3,895.5,-6.6,356,13416,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,13718,-0.73,-117.3,915.7,-6.7,361,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3356
$GC,14021,-0.73,-117.3,935.9,-6.7,366,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3355
$GC,14325,-0.73,-117.3,956.1,-6.7,371,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3355
$GC,14628,-0.73,-117.3,975.1,-6.2,376,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2396,3355
$STATE,14927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14927,begin apogee
$GC,14935,-0.22,0.0,992.4,5.6,381,15050,0.55,0.00,108.72,1.493,6,0.137,0.000,3247,2198,2875
$STATE,15051,end apogee,CONTROL_FINISHED_OK
$STATE,15051,begin climb
$GC,15054,0.67,117.3,996.6,0.0,383,15178,0.85,2.72,114.30,1.434,4,0.091,0.077,3534,790,2397
$GC,15195,0.32,117.3,996.3,5.6,385,15201,0.45,2.58,0.00,0.000,6,0.170,0.061,3423,2199,2395
$GC,15545,0.32,117.3,976.5,5.8,391,15549,0.00,2.35,0.00,0.000,4,0.000,0.082,3423,3610,2393
$GC,15590,0.23,117.3,973.5,6.1,391,15595,0.12,2.28,0.00,0.000,6,0.179,0.063,3397,2201,2393
$GC,15907,0.29,117.3,956.4,5.4,397,15911,0.00,2.38,0.00,0.000,4,0.000,0.080,3397,789,2393
$GC,15957,0.38,117.3,953.6,5.3,397,15962,0.12,2.33,0.00,0.000,6,0.086,0.062,3447,2208,2392
$GC,16269,0.30,117.3,933.3,6.6,402,16270,0.12,0.00,0.00,0.000,6,0.147,0.000,3414,2208,2392
$GC,16572,0.30,117.3,915.7,5.7,407,16573,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2208,2392
$GC,16874,0.30,117.3,899.6,5.3,412,16878,0.00,2.42,0.00,0.000,4,0.000,0.078,3423,783,2391
$GC,16907,0.31,123.2,897.8,4.8,412,16918,0.00,2.33,6.00,1.141,6,0.000,0.061,3423,2202,2373
$GC,17235,0.32,135.3,882.4,4.7,418,17254,0.00,2.42,12.40,1.326,4,0.000,0.081,3423,3618,2324
$GC,17296,0.28,140.1,879.4,4.9,418,17307,0.00,2.30,6.10,1.121,6,0.000,0.064,3424,2195,2304
$GC,17668,0.31,170.2,863.5,4.1,425,17702,0.00,2.47,27.92,1.380,4,0.000,0.080,3424,787,2182
$GC,17739,0.41,198.0,860.4,4.2,426,17773,0.00,2.35,26.88,1.355,6,0.000,0.061,3424,2207,2067
$GC,18102,0.49,198.0,842.3,5.0,432,18104,0.15,0.00,0.00,0.000,6,0.084,0.000,3487,2207,2063
$GC,18405,0.39,198.0,819.7,7.6,437,18410,0.15,2.42,0.00,0.000,4,0.142,0.077,3449,784,2062
$GC,18462,0.39,198.0,815.8,6.2,437,18468,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2206,2062
$GC,18772,0.39,198.0,795.3,6.7,443,18774,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2062
$GC,19075,0.39,198.0,774.9,6.8,448,19076,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2061
$GC,19378,0.39,198.0,754.6,6.6,453,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2061
$GC,19682,0.39,198.0,734.6,6.6,458,19687,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,788,2061
$GC,19716,0.39,198.0,732.3,6.1,458,19721,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2203,2061
$GC,20044,0.39,198.0,710.6,6.7,464,20045,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2202,2061
$GC,20347,0.39,198.0,689.1,7.1,469,20351,0.00,2.42,0.00,0.000,4,0.000,0.079,3449,789,2061
$GC,20387,0.43,198.0,686.0,7.0,469,20391,0.00,2.33,0.00,0.000,6,0.000,0.060,3449,2206,2061
$GC,20708,0.43,198.0,662.2,7.4,475,20709,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2061
$GC,21011,0.43,198.0,641.4,6.8,480,21015,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,793,2060
$GC,21045,0.48,198.0,639.3,5.7,480,21049,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2205,2061
$GC,21373,0.48,198.0,620.0,5.9,486,21377,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,3617,2060
$GC,21406,0.48,198.0,617.6,6.6,486,21410,0.00,2.30,0.00,0.000,6,0.000,0.063,3449,2200,2060
$GC,21733,0.48,198.0,597.0,6.4,492,21735,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2060
$GC,22037,0.48,198.0,576.9,6.6,497,22041,0.00,2.40,0.00,0.000,4,0.000,0.079,3449,781,2060
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$STATE,31472,end surface coast,CONTROL_FINISHED_OK
$STATE,31472,begin surface
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