version: 66.03
glider: 120
mission: 9
dive: 616
start: 4 18 109 1 13 28
data:
$ID,120
$MISSION,9
$DIVE,616
$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,-30856.074
$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,22
$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
$GPS1,005925,5013.346,-14425.830,132,1.7,132,18.6
$_CALLS,2
$_XMS_NAKs,36
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.2
$GPS2,011231,5013.342,-14425.646,16,2.0,33,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.004,-0.178
$KALMAN_X,-99781.5,369.4,294.7,157170.1,-817.2
$KALMAN_Y,139450.3,-350.0,468.5,-121311.8,40.3
$MHEAD_RNG_PITCHd_Wd,162.6,36147,-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,-117.3,0.0,0.0,0,58,0.00,0.00,-30.20,0.000,2,0.000,0.000,133,2414,2487
$GC,62,-0.67,-117.3,3.5,-7.1,3,106,14.10,2.42,-20.38,0.000,4,0.284,0.094,3085,3799,3357
$GC,195,-0.51,-117.3,21.1,-8.5,14,201,0.22,2.28,0.00,0.000,6,0.156,0.055,3147,2393,3358
$GC,526,-0.51,-117.3,45.3,-8.3,45,530,0.00,2.40,0.00,0.000,4,0.000,0.068,3147,982,3358
$GC,555,-0.51,-117.3,48.3,-8.8,47,560,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2408,3358
$GC,885,-0.51,-117.3,72.4,-7.7,77,890,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2407,3358
$GC,1215,-0.51,-117.3,98.3,-7.5,98,1219,0.00,2.42,0.00,0.000,4,0.000,0.068,3141,992,3359
$GC,1278,-0.51,-117.3,103.1,-7.0,101,1283,0.00,2.38,0.00,0.000,6,0.000,0.061,3141,2404,3359
$GC,1607,-0.51,-117.3,127.6,-7.7,117,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2403,3359
$GC,1916,-0.57,-117.3,147.7,-6.7,132,1920,0.00,2.42,0.00,0.000,4,0.000,0.081,3141,3816,3359
$GC,1963,-0.66,-117.3,151.0,-7.2,134,1968,0.12,2.30,0.00,0.000,6,0.081,0.053,3095,2397,3359
$GC,2288,-0.66,-117.3,173.4,-6.3,145,2292,0.00,2.40,0.00,0.000,4,0.000,0.068,3095,992,3358
$GC,2333,-0.66,-117.3,176.5,-6.6,146,2338,0.00,2.35,0.00,0.000,6,0.000,0.058,3094,2402,3359
$GC,2653,-0.66,-117.3,196.0,-6.2,157,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3359
$GC,2960,-0.66,-117.3,216.5,-6.9,167,2964,0.00,2.45,0.00,0.000,4,0.000,0.067,3094,983,3359
$GC,3018,-0.66,-117.3,220.6,-6.9,168,3024,0.00,2.38,0.00,0.000,6,0.000,0.060,3094,2398,3359
$GC,3331,-0.66,-117.3,242.5,-7.0,179,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2397,3359
$GC,3637,-0.66,-117.3,264.4,-7.1,189,3641,0.00,2.42,0.00,0.000,4,0.000,0.068,3094,989,3359
$GC,3678,-0.66,-117.3,267.3,-7.4,190,3682,0.00,2.38,0.00,0.000,6,0.000,0.060,3094,2403,3359
$GC,4008,-0.66,-117.3,290.1,-6.7,201,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2403,3359
$GC,4343,-0.66,-117.3,311.9,-6.4,209,4347,0.00,2.45,0.00,0.000,4,0.000,0.068,3094,989,3359
$GC,4383,-0.66,-117.3,314.5,-6.5,209,4387,0.00,2.38,0.00,0.000,6,0.000,0.061,3094,2401,3359
$GC,4704,-0.66,-117.3,332.9,-5.7,215,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3359
$GC,5007,-0.66,-117.3,348.5,-5.2,220,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3359
$GC,5310,-0.66,-117.3,365.6,-5.7,225,5315,0.00,2.45,0.00,0.000,4,0.000,0.069,3094,989,3359
$GC,5350,-0.66,-117.3,368.1,-6.2,225,5354,0.00,2.38,0.00,0.000,6,0.000,0.061,3094,2400,3359
$GC,5673,-0.66,-117.3,386.9,-5.9,231,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3359
$GC,5975,-0.66,-117.3,406.2,-6.4,236,5979,0.00,2.45,0.00,0.000,4,0.000,0.069,3094,988,3359
$GC,6020,-0.71,-117.3,409.4,-6.8,236,6024,0.00,2.40,0.00,0.000,6,0.000,0.061,3094,2410,3359
$GC,6335,-0.71,-117.3,430.7,-6.8,242,6340,0.00,2.45,0.00,0.000,4,0.000,0.069,3094,994,3359
$GC,6370,-0.71,-117.3,433.1,-6.4,242,6374,0.00,2.38,0.00,0.000,6,0.000,0.061,3094,2400,3358
$GC,6697,-0.71,-117.3,454.4,-6.4,248,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3359
$GC,7000,-0.71,-117.3,471.1,-5.5,253,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3358
$GC,7303,-0.71,-117.3,488.6,-5.8,258,7308,0.00,2.45,0.00,0.000,4,0.000,0.070,3094,985,3358
$GC,7332,-0.71,-117.3,490.5,-6.4,258,7336,0.00,2.40,0.00,0.000,6,0.000,0.061,3094,2401,3358
$GC,7671,-0.71,-117.3,512.4,-6.5,264,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3358
$GC,7974,-0.71,-117.3,531.6,-6.3,269,7978,0.00,2.42,0.00,0.000,4,0.000,0.070,3094,994,3358
$GC,8008,-0.76,-117.3,533.9,-6.8,269,8012,0.00,2.38,0.00,0.000,6,0.000,0.061,3094,2400,3358
$GC,8335,-0.76,-117.3,554.7,-6.4,275,8339,0.00,2.45,0.00,0.000,4,0.000,0.081,3090,3817,3358
$GC,8364,-0.76,-117.3,556.6,-6.9,275,8368,0.00,2.30,0.00,0.000,6,0.000,0.054,3090,2398,3358
$GC,8696,-0.76,-117.3,578.0,-6.4,281,8701,0.00,2.42,0.00,0.000,4,0.000,0.071,3090,992,3358
$GC,8737,-0.82,-117.3,580.7,-7.0,281,8742,0.12,2.38,0.00,0.000,6,0.084,0.060,3044,2402,3358
$GC,9059,-0.92,-117.3,605.4,-7.8,287,9063,0.00,2.45,0.00,0.000,4,0.000,0.071,3044,994,3358
$GC,9171,-0.92,-117.3,614.4,-8.1,288,9175,0.00,2.38,0.00,0.000,6,0.000,0.061,3043,2398,3357
$GC,9488,-1.00,-117.3,639.0,-7.9,294,9492,0.15,2.45,0.00,0.000,4,0.084,0.069,2983,994,3358
$GC,9538,-0.77,-117.3,643.9,-9.7,294,9543,0.32,2.40,0.00,0.000,6,0.158,0.061,3068,2407,3357
$GC,9850,-0.90,-117.3,669.1,-8.1,299,9854,0.12,2.45,0.00,0.000,4,0.087,0.070,3025,994,3357
$GC,9918,-0.83,-117.3,675.2,-9.1,300,9922,0.00,2.38,0.00,0.000,6,0.000,0.061,3025,2402,3357
$GC,10279,-0.83,-117.3,706.6,-8.7,306,10283,0.00,2.45,0.00,0.000,4,0.000,0.071,3025,984,3357
$GC,10324,-0.74,-117.3,710.6,-8.5,306,10329,0.17,2.40,0.00,0.000,6,0.152,0.061,3071,2400,3357
$GC,10641,-0.88,-117.3,734.7,-7.6,312,10646,0.12,2.45,0.00,0.000,4,0.087,0.071,3025,993,3357
$GC,10705,-0.82,-117.3,739.7,-8.0,313,10709,0.00,2.40,0.00,0.000,6,0.000,0.061,3026,2407,3357
$GC,11071,-0.82,-117.3,768.0,-7.7,319,11075,0.00,2.45,0.00,0.000,4,0.000,0.071,3025,990,3357
$GC,11117,-0.75,-117.3,771.5,-7.5,319,11122,0.17,2.40,0.00,0.000,6,0.146,0.061,3072,2408,3357
$GC,11433,-0.90,-117.3,791.8,-6.4,325,11438,0.15,2.47,0.00,0.000,4,0.083,0.070,3013,985,3356
$GC,11498,-0.79,-117.3,796.2,-7.4,326,11502,0.17,2.40,0.00,0.000,6,0.155,0.061,3058,2400,3356
$GC,11864,-0.89,-117.3,818.6,-6.0,332,11868,0.00,2.45,0.00,0.000,4,0.000,0.070,3058,985,3356
$GC,11904,-0.89,-117.3,821.1,-5.9,332,11908,0.00,2.40,0.00,0.000,6,0.000,0.062,3058,2399,3356
$GC,12226,-0.99,-117.3,840.4,-6.1,338,12231,0.15,2.45,0.00,0.000,4,0.084,0.070,2998,992,3356
$GC,12283,-0.83,-117.3,844.5,-6.8,338,12290,0.20,2.38,0.00,0.000,6,0.160,0.062,3050,2400,3356
$GC,12594,-0.90,-117.3,865.4,-6.8,344,12598,0.00,2.45,0.00,0.000,4,0.000,0.071,3050,987,3356
$GC,12658,-0.90,-117.3,869.8,-7.7,345,12662,0.00,2.42,0.00,0.000,6,0.000,0.062,3045,2410,3356
$GC,13024,-0.98,-117.3,896.3,-7.3,351,13029,0.12,2.47,0.00,0.000,4,0.086,0.071,2999,984,3356
$GC,13053,-0.90,-117.3,898.6,-9.0,351,13057,0.00,2.42,0.00,0.000,6,0.000,0.062,2998,2408,3356
$GC,13387,-0.84,-117.3,924.8,-7.8,357,13392,0.15,2.47,0.00,0.000,4,0.166,0.070,3048,994,3355
$GC,13482,-0.84,-117.3,931.7,-6.7,358,13487,0.00,2.40,0.00,0.000,6,0.000,0.062,3045,2403,3355
$GC,13816,-0.90,-117.3,953.9,-6.7,364,13820,0.00,2.45,0.00,0.000,4,0.000,0.071,3045,994,3355
$GC,13873,-0.85,-117.3,957.7,-7.1,364,13879,0.00,2.40,0.00,0.000,6,0.000,0.064,3045,2402,3356
$GC,14184,-0.93,-117.3,978.2,-6.7,370,14188,0.00,2.45,0.00,0.000,4,0.000,0.071,3044,984,3355
$GC,14257,-0.87,-117.3,983.3,-5.9,371,14262,0.00,2.42,0.00,0.000,6,0.000,0.064,3045,2404,3355
$STATE,14373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14373,begin apogee
$GC,14382,-0.22,0.0,991.0,6.6,373,14495,0.65,0.00,108.05,1.494,6,0.130,0.000,3243,2201,2876
$STATE,14496,end apogee,CONTROL_FINISHED_OK
$STATE,14496,begin climb
$GC,14500,0.67,117.3,996.6,0.0,375,14624,0.88,2.78,114.47,1.437,4,0.087,0.076,3533,788,2396
$GC,14777,0.34,117.3,986.2,7.5,379,14782,0.38,2.40,0.00,0.000,6,0.171,0.060,3433,2207,2394
$GC,15127,0.29,117.3,966.6,5.5,385,15131,0.00,2.33,0.00,0.000,4,0.000,0.077,3433,3609,2393
$GC,15202,0.16,117.3,962.2,5.9,386,15207,0.25,2.28,0.00,0.000,6,0.177,0.061,3372,2200,2392
$GC,15558,0.35,162.8,948.5,3.7,392,15605,0.15,2.45,40.85,1.432,4,0.081,0.078,3437,3606,2211
$GC,15635,0.26,162.8,944.2,6.7,393,15640,0.12,2.33,0.00,0.000,6,0.178,0.060,3408,2197,2208
$GC,15985,0.34,162.8,926.4,5.0,399,15989,0.00,2.38,0.00,0.000,4,0.000,0.078,3408,3612,2207
$GC,16020,0.34,162.8,924.4,5.5,399,16024,0.00,2.30,0.00,0.000,6,0.000,0.060,3408,2189,2207
$GC,16348,0.42,164.7,908.1,4.9,405,16353,0.12,2.42,0.00,0.000,4,0.087,0.078,3460,3613,2207
$GC,16399,0.27,164.7,904.5,7.4,405,16404,0.22,2.33,0.00,0.000,6,0.169,0.061,3403,2192,2207
$GC,16712,0.37,171.1,889.5,4.8,410,16727,0.10,2.45,8.07,1.243,4,0.094,0.079,3445,3611,2177
$GC,16768,0.27,171.1,885.9,6.6,410,16773,0.17,2.30,0.00,0.000,6,0.168,0.061,3404,2197,2177
$GC,17079,0.37,171.1,870.1,5.1,415,17083,0.00,2.40,0.00,0.000,4,0.000,0.078,3402,3618,2176
$GC,17114,0.42,171.1,868.1,5.4,415,17119,0.15,2.33,0.00,0.000,6,0.079,0.061,3469,2187,2176
$GC,17442,0.34,171.1,844.8,7.2,421,17444,0.15,0.00,0.00,0.000,6,0.137,0.000,3428,2187,2176
$GC,17744,0.34,171.1,826.3,5.9,426,17749,0.00,2.42,0.00,0.000,4,0.000,0.079,3428,3607,2176
$GC,17778,0.34,171.1,824.0,6.7,426,17782,0.00,2.30,0.00,0.000,6,0.000,0.060,3436,2199,2176
$GC,18106,0.34,171.1,804.4,5.9,432,18111,0.00,2.42,0.00,0.000,4,0.000,0.080,3436,3616,2176
$GC,18135,0.34,171.1,802.6,6.0,432,18139,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2198,2176
$GC,18468,0.34,171.1,783.9,5.5,438,18469,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2176
$GC,18771,0.34,171.1,767.0,5.6,443,18772,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2176
$GC,19075,0.34,171.1,750.6,5.4,448,19079,0.00,2.45,0.00,0.000,4,0.000,0.080,3436,3609,2176
$GC,19147,0.34,171.1,746.2,5.5,449,19151,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2200,2176
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$STATE,31770,begin surface coast
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