version: 66.03
glider: 120
mission: 9
dive: 583
start: 4 5 109 11 7 42
data:
$ID,120
$MISSION,9
$DIVE,583
$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,608.58929
$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,-30169.949
$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
$GPS1,104806,4956.034,-14435.419,38,1.2,38,18.5
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-72.9
$GPS2,110644,4956.083,-14435.544,14,1.5,14,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.123,0.128
$KALMAN_X,-78506.2,9.5,-15.7,124813.9,-1114.1
$KALMAN_Y,136164.2,-216.0,-277.4,-149358.3,1892.6
$MHEAD_RNG_PITCHd_Wd,297.5,27925,-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,-20.52,0.000,2,0.000,0.000,134,2406,2234
$GC,52,-0.67,-117.3,3.4,-5.7,2,109,13.75,2.45,-35.53,0.000,4,0.276,0.096,3095,3813,3357
$GC,152,-0.52,-117.3,13.5,-14.5,11,157,0.20,2.30,0.00,0.000,6,0.156,0.056,3151,2389,3358
$GC,478,-0.52,-117.3,40.7,-7.6,41,479,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2390,3359
$GC,797,-0.52,-117.3,61.4,-6.5,71,801,0.00,2.38,0.00,0.000,4,0.000,0.071,3151,992,3359
$GC,827,-0.56,-117.3,63.8,-7.7,73,831,0.00,2.38,0.00,0.000,6,0.000,0.061,3151,2410,3359
$GC,1161,-0.56,-117.3,87.3,-7.0,99,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2409,3359
$GC,1469,-0.56,-117.3,109.1,-7.1,114,1473,0.00,2.42,0.00,0.000,4,0.000,0.069,3151,987,3359
$GC,1491,-0.56,-117.3,110.8,-7.3,115,1495,0.00,2.38,0.00,0.000,6,0.000,0.061,3151,2409,3359
$GC,1814,-0.64,-117.3,132.9,-6.8,131,1816,0.12,0.00,0.00,0.000,6,0.084,0.000,3103,2408,3359
$GC,2121,-0.64,-117.3,155.7,-7.4,145,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2408,3359
$GC,2427,-0.64,-117.3,177.3,-7.0,155,2432,0.00,2.38,0.00,0.000,4,0.000,0.080,3100,3813,3358
$GC,2457,-0.64,-117.3,179.3,-7.0,156,2461,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2397,3359
$GC,2793,-0.64,-117.3,201.4,-6.6,167,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2397,3359
$GC,3099,-0.64,-117.3,220.4,-6.1,177,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,3359
$GC,3405,-0.64,-117.3,240.2,-6.7,187,3409,0.00,2.40,0.00,0.000,4,0.000,0.070,3100,983,3359
$GC,3444,-0.64,-117.3,243.0,-7.2,188,3449,0.00,2.38,0.00,0.000,6,0.000,0.061,3100,2402,3359
$GC,3769,-0.64,-117.3,266.9,-7.5,199,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3359
$GC,4075,-0.64,-117.3,288.1,-6.8,209,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3359
$GC,4382,-0.64,-117.3,308.4,-6.7,217,4386,0.00,2.40,0.00,0.000,4,0.000,0.081,3100,3814,3359
$GC,4417,-0.64,-117.3,311.0,-7.1,217,4421,0.00,2.28,0.00,0.000,6,0.000,0.054,3100,2398,3359
$GC,4745,-0.64,-117.3,334.2,-7.1,223,4749,0.00,2.40,0.00,0.000,4,0.000,0.070,3099,984,3359
$GC,4790,-0.68,-117.3,337.8,-7.9,223,4794,0.00,2.38,0.00,0.000,6,0.000,0.061,3099,2402,3359
$GC,5106,-0.68,-117.3,360.6,-7.3,229,5110,0.00,2.40,0.00,0.000,4,0.000,0.081,3099,3815,3359
$GC,5142,-0.68,-117.3,363.3,-7.2,229,5146,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2397,3359
$GC,5469,-0.68,-117.3,385.7,-6.8,235,5473,0.00,2.38,0.00,0.000,4,0.000,0.071,3100,993,3359
$GC,5497,-0.68,-117.3,387.8,-7.2,235,5501,0.00,2.35,0.00,0.000,6,0.000,0.061,3099,2403,3359
$GC,5837,-0.68,-117.3,409.5,-6.4,241,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3359
$GC,6139,-0.68,-117.3,428.5,-6.2,246,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3359
$GC,6442,-0.68,-117.3,448.0,-6.4,251,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,6745,-0.68,-117.3,466.7,-6.1,256,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7048,-0.68,-117.3,485.4,-6.2,261,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3358
$GC,7352,-0.68,-117.3,503.2,-5.9,266,7356,0.00,2.40,0.00,0.000,4,0.000,0.082,3099,3809,3358
$GC,7392,-0.68,-117.3,505.7,-5.8,266,7396,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2393,3357
$GC,7714,-0.73,-117.3,522.7,-5.1,272,7718,0.00,2.38,0.00,0.000,4,0.000,0.071,3099,993,3358
$GC,7754,-0.80,-117.3,524.7,-5.0,272,7758,0.12,2.38,0.00,0.000,6,0.092,0.061,3054,2410,3357
$GC,8076,-0.74,-117.3,544.3,-6.1,278,8080,0.00,2.38,0.00,0.000,4,0.000,0.081,3054,3807,3357
$GC,8121,-0.66,-117.3,547.4,-7.0,278,8126,0.17,2.28,0.00,0.000,6,0.110,0.056,3104,2396,3357
$GC,8436,-0.66,-117.3,563.6,-5.1,284,8441,0.00,2.40,0.00,0.000,4,0.000,0.071,3105,989,3357
$GC,8471,-0.66,-117.3,565.5,-5.3,284,8475,0.00,2.38,0.00,0.000,6,0.000,0.062,3101,2402,3357
$GC,8798,-0.66,-117.3,582.7,-5.3,290,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2401,3357
$GC,9101,-0.66,-117.3,599.3,-5.5,295,9105,0.00,2.42,0.00,0.000,4,0.000,0.071,3101,990,3357
$GC,9152,-0.72,-117.3,602.4,-6.2,295,9156,0.00,2.38,0.00,0.000,6,0.000,0.062,3101,2399,3357
$GC,9463,-0.72,-117.3,620.9,-6.0,300,9467,0.00,2.42,0.00,0.000,4,0.000,0.083,3101,3811,3356
$GC,9497,-0.78,-117.3,623.2,-6.8,300,9502,0.12,2.28,0.00,0.000,6,0.086,0.054,3055,2402,3357
$GC,9829,-0.78,-117.3,646.8,-7.2,306,9833,0.00,2.40,0.00,0.000,4,0.000,0.071,3055,992,3357
$GC,9859,-0.73,-117.3,649.2,-8.6,306,9863,0.00,2.38,0.00,0.000,6,0.000,0.062,3054,2401,3356
$GC,10192,-0.65,-117.3,676.1,-8.2,312,10197,0.15,2.42,0.00,0.000,4,0.148,0.081,3099,3809,3357
$GC,10226,-0.71,-117.3,678.6,-7.0,312,10230,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2400,3357
$GC,10554,-0.76,-117.3,699.4,-6.3,318,10558,0.00,2.40,0.00,0.000,4,0.000,0.072,3099,994,3357
$GC,10593,-0.82,-117.3,702.1,-7.1,318,10598,0.15,2.38,0.00,0.000,6,0.084,0.063,3045,2401,3356
$GC,10915,-0.76,-117.3,724.7,-7.0,324,10919,0.00,2.42,0.00,0.000,4,0.000,0.081,3045,3819,3356
$GC,10966,-0.67,-117.3,728.5,-7.4,324,10971,0.20,2.30,0.00,0.000,6,0.120,0.057,3101,2397,3356
$GC,11277,-0.72,-117.3,746.2,-5.6,329,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3356
$GC,11580,-0.77,-117.3,762.8,-5.5,334,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,3356
$GC,11884,-0.83,-117.3,777.9,-4.9,339,11885,0.15,0.00,0.00,0.000,6,0.081,0.000,3044,2397,3355
$GC,12187,-0.78,-117.3,795.9,-6.0,344,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2397,3356
$GC,12489,-0.73,-117.3,815.7,-6.5,349,12491,0.12,0.00,0.00,0.000,6,0.101,0.000,3079,2397,3356
$GC,12792,-0.73,-117.3,834.1,-6.1,354,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2398,3356
$GC,13095,-0.73,-117.3,852.6,-6.1,359,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2398,3356
$GC,13399,-0.73,-117.3,871.8,-6.4,364,13403,0.00,2.47,0.00,0.000,4,0.000,0.084,3079,3814,3355
$GC,13438,-0.73,-117.3,874.5,-6.9,364,13442,0.00,2.30,0.00,0.000,6,0.000,0.057,3079,2401,3355
$GC,13759,-0.73,-117.3,894.5,-6.2,370,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3355
$GC,14062,-0.73,-117.3,912.7,-5.9,375,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3355
$GC,14366,-0.73,-117.3,930.0,-5.6,380,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3355
$GC,14668,-0.73,-117.3,946.0,-5.2,385,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3355
$GC,14971,-0.73,-117.3,961.0,-5.0,390,14976,0.00,2.47,0.00,0.000,4,0.000,0.084,3079,3809,3354
$GC,15005,-0.73,-117.3,962.7,-5.2,390,15009,0.00,2.30,0.00,0.000,6,0.000,0.058,3079,2399,3354
$GC,15334,-0.87,-117.3,981.7,-6.1,396,15339,0.12,2.47,0.00,0.000,4,0.089,0.082,3036,3810,3354
$GC,15397,-0.87,-117.3,986.2,-7.4,397,15401,0.00,2.33,0.00,0.000,6,0.000,0.058,3035,2392,3354
$STATE,15457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15457,begin apogee
$GC,15465,-0.22,0.0,990.4,6.3,398,15579,0.68,0.00,108.25,1.492,6,0.126,0.000,3243,2194,2875
$STATE,15580,end apogee,CONTROL_FINISHED_OK
$STATE,15580,begin climb
$GC,15585,0.67,117.3,996.6,0.0,400,15708,0.90,2.80,114.88,1.437,4,0.091,0.077,3533,790,2396
$GC,15737,0.33,131.8,996.9,4.6,402,15759,0.43,2.58,15.68,1.315,6,0.175,0.059,3430,2204,2338
$GC,16063,0.34,139.0,981.3,4.8,407,16073,0.00,0.00,7.75,1.210,6,0.000,0.000,3429,2204,2309
$GC,16367,0.34,139.0,966.2,5.0,412,16371,0.00,2.40,0.00,0.000,4,0.000,0.077,3436,790,2308
$GC,16423,0.34,139.0,963.1,5.9,412,16429,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2215,2308
$GC,16734,0.30,139.0,946.6,5.3,418,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2214,2308
$GC,17036,0.30,139.0,929.4,5.8,423,17040,0.00,2.33,0.00,0.000,4,0.000,0.081,3437,3606,2307
$GC,17070,0.20,139.0,927.2,6.4,423,17075,0.20,2.30,0.00,0.000,6,0.176,0.064,3386,2189,2307
$GC,17398,0.32,139.0,910.9,5.1,429,17402,0.10,2.38,0.00,0.000,4,0.094,0.077,3424,787,2307
$GC,17437,0.32,139.0,908.7,5.5,429,17441,0.00,2.33,0.00,0.000,6,0.000,0.061,3424,2199,2307
$GC,17759,0.37,139.0,891.5,5.3,435,17761,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2198,2307
$GC,18062,0.43,150.9,877.2,4.7,440,18081,0.00,2.45,12.00,1.324,4,0.000,0.082,3424,3617,2259
$GC,18122,0.39,150.9,874.0,6.3,440,18128,0.00,2.30,0.00,0.000,6,0.000,0.063,3424,2198,2259
$GC,18434,0.40,162.1,859.4,4.7,446,18452,0.00,2.45,11.45,1.302,4,0.000,0.079,3424,791,2214
$GC,18476,0.47,173.9,857.4,4.7,446,18498,0.12,2.33,12.15,1.293,6,0.088,0.061,3476,2202,2167
$GC,18802,0.36,173.9,837.7,6.1,452,18804,0.15,0.00,0.00,0.000,6,0.148,0.000,3436,2201,2165
$GC,19106,0.38,185.8,823.2,4.7,457,19125,0.00,2.50,11.98,1.292,4,0.000,0.080,3436,779,2118
$GC,19155,0.45,202.6,820.8,4.5,457,19178,0.00,2.35,16.85,1.312,6,0.000,0.061,3436,2210,2049
$GC,19541,0.49,202.6,800.2,5.5,464,19546,0.12,2.45,0.00,0.000,4,0.089,0.077,3490,779,2047
$GC,19597,0.40,202.6,796.1,7.1,464,19604,0.17,2.35,0.00,0.000,6,0.153,0.061,3442,2214,2047
$GC,19908,0.40,202.6,777.1,6.1,470,19912,0.00,2.45,0.00,0.000,4,0.000,0.077,3448,782,2046
$GC,19953,0.40,202.6,774.1,6.4,470,19957,0.00,2.35,0.00,0.000,6,0.000,0.061,3449,2211,2046
$GC,20270,0.40,202.6,753.4,6.6,476,20271,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2046
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$STATE,32114,end climb,SURFACE_DEPTH_REACHED
$STATE,32114,begin surface coast
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$STATE,32210,end surface coast,CONTROL_FINISHED_OK
$STATE,32211,begin surface
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