version: 66.03
glider: 120
mission: 9
dive: 632
start: 4 24 109 2 1 28
data:
$ID,120
$MISSION,9
$DIVE,632
$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,-31174.115
$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,23
$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
$GPS1,015301,5019.038,-14507.042,56,1.7,56,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-77.8
$GPS2,020034,5019.008,-14507.067,12,6.1,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.109
$KALMAN_X,-102248.0,353.5,38.2,110676.3,-1279.3
$KALMAN_Y,137486.2,-27.6,30.4,-108732.8,-614.4
$MHEAD_RNG_PITCHd_Wd,295.2,6852,-14.1,-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,23,begin dive
$GC,27,-0.72,-89.0,0.0,0.0,0,58,0.00,0.00,-29.88,0.000,2,0.000,0.000,141,2401,2514
$GC,62,-0.72,-89.0,3.4,-5.1,3,97,13.32,0.00,-18.50,0.000,6,0.271,0.000,3077,2401,3240
$GC,416,-0.55,-89.0,43.6,-11.4,36,423,0.22,0.00,0.00,0.000,6,0.150,0.000,3143,2401,3243
$GC,747,-0.60,-89.0,69.4,-7.7,67,751,0.00,2.50,0.00,0.000,4,0.000,0.067,3143,993,3243
$GC,814,-0.67,-89.0,75.0,-7.2,72,821,0.12,2.35,0.00,0.000,6,0.079,0.060,3089,2404,3243
$GC,1144,-0.62,-89.0,104.6,-9.1,91,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2404,3243
$GC,1453,-0.62,-89.0,130.7,-7.7,106,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2403,3243
$GC,1781,-0.62,-89.0,155.2,-7.8,121,1785,0.00,2.47,0.00,0.000,4,0.000,0.067,3089,990,3243
$GC,1849,-0.62,-89.0,160.8,-8.0,123,1853,0.00,2.38,0.00,0.000,6,0.000,0.060,3088,2404,3243
$GC,2180,-0.62,-89.0,186.3,-8.0,134,2184,0.00,2.45,0.00,0.000,4,0.000,0.079,3086,3813,3243
$GC,2225,-0.62,-89.0,190.2,-8.6,135,2229,0.12,2.35,0.00,0.000,6,0.127,0.052,3118,2388,3243
$GC,2544,-0.69,-89.0,212.1,-6.4,146,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2389,3243
$GC,2851,-0.78,-94.7,227.9,-4.8,156,2856,0.15,2.50,0.00,0.000,4,0.074,0.066,3044,993,3243
$GC,2925,-0.64,-94.7,233.4,-8.0,158,2930,0.22,2.38,0.00,0.000,6,0.146,0.061,3104,2398,3243
$GC,3250,-0.69,-94.7,251.6,-5.5,169,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2398,3243
$GC,3556,-0.73,-94.7,269.7,-6.1,179,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2398,3243
$GC,3862,-0.78,-94.7,288.5,-6.1,189,3867,0.12,2.53,0.00,0.000,4,0.081,0.067,3049,992,3243
$GC,3920,-0.68,-94.7,293.2,-8.4,190,3927,0.20,2.38,0.00,0.000,6,0.143,0.061,3098,2401,3243
$GC,4233,-0.73,-94.7,312.6,-6.0,198,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3243
$GC,4536,-0.78,-94.7,329.2,-5.4,203,4540,0.00,2.53,0.00,0.000,4,0.000,0.067,3099,990,3243
$GC,4586,-0.84,-94.7,332.4,-6.0,203,4591,0.17,2.40,0.00,0.000,6,0.073,0.061,3030,2406,3243
$GC,4898,-0.73,-94.7,357.3,-8.2,208,4903,0.15,2.47,0.00,0.000,4,0.119,0.068,3081,993,3243
$GC,4932,-0.73,-94.7,360.4,-8.0,208,4936,0.00,2.40,0.00,0.000,6,0.000,0.061,3080,2407,3243
$GC,5259,-0.73,-94.7,385.6,-7.8,214,5263,0.00,2.45,0.00,0.000,4,0.000,0.068,3081,988,3243
$GC,5305,-0.73,-94.7,389.2,-8.0,214,5309,0.00,2.40,0.00,0.000,6,0.000,0.061,3081,2402,3243
$GC,5621,-0.73,-94.7,413.7,-7.7,220,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3243
$GC,5924,-0.73,-94.7,435.5,-7.1,225,5928,0.00,2.50,0.00,0.000,4,0.000,0.069,3080,989,3242
$GC,5969,-0.73,-94.7,438.9,-7.3,225,5973,0.00,2.40,0.00,0.000,6,0.000,0.062,3081,2400,3242
$GC,6297,-0.73,-94.7,460.5,-6.6,231,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3242
$GC,6599,-0.73,-94.7,478.7,-5.9,236,6604,0.00,2.50,0.00,0.000,4,0.000,0.069,3081,994,3242
$GC,6667,-0.73,-94.7,483.2,-6.7,237,6671,0.00,2.40,0.00,0.000,6,0.000,0.062,3081,2401,3242
$GC,7028,-0.73,-94.7,504.8,-6.1,243,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2401,3242
$GC,7332,-0.73,-94.7,523.4,-6.2,248,7336,0.00,2.50,0.00,0.000,4,0.000,0.069,3081,998,3241
$GC,7377,-0.73,-94.7,526.7,-7.1,248,7381,0.00,2.40,0.00,0.000,6,0.000,0.061,3081,2404,3241
$GC,7693,-0.73,-94.7,548.5,-7.0,254,7697,0.00,2.50,0.00,0.000,4,0.000,0.069,3081,992,3241
$GC,7743,-0.73,-94.7,552.2,-7.0,254,7747,0.00,2.40,0.00,0.000,6,0.000,0.062,3081,2401,3241
$GC,8055,-0.73,-94.7,574.3,-7.1,259,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,3241
$GC,8357,-0.73,-94.7,595.1,-6.8,264,8361,0.00,2.45,0.00,0.000,4,0.000,0.070,3081,997,3241
$GC,8401,-0.73,-94.7,598.3,-7.0,264,8406,0.00,2.40,0.00,0.000,6,0.000,0.062,3081,2404,3241
$GC,8718,-0.73,-94.7,619.7,-6.8,270,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2403,3241
$GC,9022,-0.73,-94.7,640.3,-6.8,275,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2403,3241
$GC,9325,-0.77,-94.7,660.9,-6.8,280,9329,0.00,2.50,0.00,0.000,4,0.000,0.070,3081,997,3240
$GC,9375,-0.77,-94.7,664.7,-7.4,280,9380,0.00,2.40,0.00,0.000,6,0.000,0.063,3081,2400,3241
$GC,9686,-0.81,-94.7,685.5,-6.7,285,9691,0.00,2.50,0.00,0.000,4,0.000,0.071,3081,995,3241
$GC,9721,-0.81,-94.7,688.1,-7.0,285,9725,0.00,2.42,0.00,0.000,6,0.000,0.063,3081,2409,3241
$GC,10048,-0.85,-94.7,709.5,-6.5,291,10050,0.12,0.00,0.00,0.000,6,0.081,0.000,3028,2409,3240
$GC,10352,-0.78,-94.7,732.2,-7.5,296,10354,0.12,0.00,0.00,0.000,6,0.117,0.000,3063,2408,3240
$GC,10655,-0.78,-94.7,750.8,-6.1,301,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2408,3240
$GC,10957,-0.78,-94.7,768.8,-5.9,306,10962,0.00,2.58,0.00,0.000,4,0.000,0.071,3063,990,3240
$GC,11008,-0.78,-94.7,772.0,-6.2,306,11012,0.00,2.42,0.00,0.000,6,0.000,0.063,3059,2401,3240
$GC,11319,-0.78,-94.7,791.0,-6.1,311,11323,0.00,2.47,0.00,0.000,4,0.000,0.083,3059,3807,3240
$GC,11359,-0.78,-94.7,793.6,-6.4,311,11363,0.00,2.30,0.00,0.000,6,0.000,0.055,3059,2404,3240
$GC,11680,-0.78,-94.7,812.8,-5.9,317,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2404,3240
$GC,11983,-0.78,-94.7,831.1,-6.0,322,11987,0.00,2.50,0.00,0.000,4,0.000,0.071,3059,990,3240
$GC,12029,-0.78,-94.7,834.2,-7.4,322,12033,0.00,2.42,0.00,0.000,6,0.000,0.064,3059,2403,3240
$GC,12357,-0.78,-94.7,855.5,-6.6,328,12361,0.00,2.47,0.00,0.000,4,0.000,0.071,3059,989,3240
$GC,12390,-0.78,-94.7,858.0,-7.2,328,12394,0.00,2.42,0.00,0.000,6,0.000,0.064,3059,2400,3239
$GC,12723,-0.78,-94.7,879.7,-6.5,334,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2399,3240
$GC,13027,-0.78,-94.7,900.5,-6.9,339,13031,0.00,2.47,0.00,0.000,4,0.000,0.072,3060,991,3240
$GC,13063,-0.78,-94.7,903.1,-7.4,339,13067,0.00,2.42,0.00,0.000,6,0.000,0.064,3059,2399,3240
$GC,13390,-0.78,-94.7,925.3,-6.7,345,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3240
$GC,13693,-0.78,-94.7,945.9,-6.8,350,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2398,3240
$GC,13997,-0.78,-94.7,966.4,-6.8,355,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2398,3240
$GC,14299,-0.78,-94.7,986.6,-6.7,360,14304,0.00,2.55,0.00,0.000,4,0.000,0.071,3059,992,3239
$STATE,14347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14347,begin apogee
$GC,14358,-0.22,0.0,990.2,6.8,360,14443,0.57,0.00,82.12,1.493,6,0.136,0.000,3238,2210,2876
$STATE,14444,end apogee,CONTROL_FINISHED_OK
$STATE,14444,begin climb
$GC,14448,0.73,94.7,993.0,0.0,362,14542,0.93,0.00,90.65,1.453,6,0.084,0.000,3547,2210,2490
$GC,14815,0.42,94.7,980.6,6.0,368,14820,0.30,2.38,0.00,0.000,4,0.170,0.079,3455,3609,2487
$GC,14855,0.29,94.7,978.1,5.9,368,14860,0.20,2.30,0.00,0.000,6,0.174,0.061,3412,2195,2487
$GC,15177,0.38,113.3,964.0,4.3,374,15196,0.00,0.00,17.60,1.392,6,0.000,0.000,3413,2196,2414
$GC,15481,0.47,113.3,948.9,5.1,379,15483,0.17,0.00,0.00,0.000,6,0.072,0.000,3484,2195,2413
$GC,15783,0.36,113.3,929.0,6.7,384,15785,0.17,0.00,0.00,0.000,6,0.148,0.000,3436,2195,2413
$GC,16087,0.36,113.3,912.2,5.5,389,16088,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2196,2413
$GC,16389,0.36,113.3,896.1,5.3,394,16390,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2412
$GC,16693,0.36,113.3,880.7,5.1,399,16694,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2195,2412
$GC,16995,0.37,124.7,866.7,4.6,404,17014,0.00,2.53,11.48,1.315,4,0.000,0.078,3439,790,2367
$GC,17044,0.43,135.3,864.5,4.6,404,17061,0.00,2.35,11.25,1.292,6,0.000,0.060,3439,2204,2324
$GC,17367,0.48,143.3,849.4,4.7,410,17378,0.10,0.00,8.70,1.246,6,0.088,0.000,3488,2204,2291
$GC,17669,0.40,143.3,830.0,6.6,415,17671,0.15,0.00,0.00,0.000,6,0.146,0.000,3448,2204,2290
$GC,17971,0.40,143.3,813.2,5.5,420,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2289
$GC,18274,0.40,143.3,795.6,5.8,425,18275,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2204,2289
$GC,18578,0.40,143.3,778.9,5.5,430,18579,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2203,2289
$GC,18880,0.40,143.3,763.2,5.1,435,18885,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,792,2290
$GC,18915,0.47,157.6,761.5,4.5,435,18935,0.00,2.38,14.12,1.285,6,0.000,0.060,3449,2208,2232
$GC,19247,0.51,158.1,745.1,5.0,441,19249,0.10,0.00,0.00,0.000,6,0.088,0.000,3499,2208,2231
$GC,19551,0.43,158.1,725.2,6.6,446,19553,0.15,0.00,0.00,0.000,6,0.148,0.000,3459,2208,2231
$GC,19853,0.43,158.1,707.0,6.0,451,19857,0.00,2.42,0.00,0.000,4,0.000,0.079,3456,3610,2230
$GC,19898,0.38,158.1,703.9,7.5,451,19902,0.00,2.35,0.00,0.000,6,0.000,0.060,3463,2194,2231
$GC,20215,0.38,158.1,683.7,6.4,457,20216,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2230
$GC,20517,0.38,158.1,664.4,6.4,462,20518,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2195,2230
$GC,20820,0.38,158.1,645.1,6.4,467,20824,0.00,2.55,0.00,0.000,4,0.000,0.076,3463,789,2230
$GC,20870,0.38,158.1,642.1,5.6,467,20874,0.00,2.38,0.00,0.000,6,0.000,0.059,3463,2207,2230
$GC,21181,0.38,158.1,624.0,5.8,472,21182,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2206,2230
$GC,21485,0.38,158.1,607.1,5.6,477,21489,0.00,2.42,0.00,0.000,4,0.000,0.079,3463,3608,2230
$GC,21525,0.34,158.1,604.5,6.5,477,21529,0.15,2.38,0.00,0.000,6,0.169,0.061,3426,2192,2230
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$STATE,31642,end climb,SURFACE_DEPTH_REACHED
$STATE,31642,begin surface coast
$FINISH,1.0,1.024577
$STATE,31779,end surface coast,CONTROL_FINISHED_OK
$STATE,31779,begin surface
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