version: 66.03
glider: 120
mission: 9
dive: 96
start: 10 2 108 19 59 31
data:
$ID,120
$MISSION,9
$DIVE,96
$D_SURF,6
$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,300
$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,-19606.426
$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,17
$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
$GPS1,195307,5018.525,-14513.362,84,1.4,89,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.91
$_SM_ANGLEo,-75.5
$GPS2,195837,5018.535,-14513.366,15,1.4,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,-0.174
$KALMAN_X,42252.7,-161.6,-23.3,-70150.6,1686.4
$KALMAN_Y,70093.2,23.0,312.9,-46389.5,541.9
$MHEAD_RNG_PITCHd_Wd,173.4,45450,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.67,-117.1,0.0,0.0,0,33,0.00,0.00,-12.50,0.000,2,0.000,0.000,140,2402,1965
$GC,35,-0.67,-117.3,4.9,-0.0,1,111,13.45,2.38,-55.47,0.000,4,0.285,0.094,3097,3818,3356
$GC,358,-0.34,-117.3,44.8,-15.0,30,364,0.38,2.28,0.00,0.000,6,0.164,0.054,3204,2395,3359
$GC,683,-0.67,-117.3,65.5,-7.5,60,687,0.28,2.28,0.00,0.000,4,0.085,0.066,3106,992,3360
$GC,755,-0.55,-117.3,72.1,-9.3,66,760,0.12,2.30,0.00,0.000,6,0.170,0.060,3138,2415,3360
$GC,1083,-0.46,-117.3,100.2,-8.4,86,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2415,3361
$GC,1393,-0.40,-117.3,123.9,-7.5,101,1398,0.15,2.33,0.00,0.000,4,0.166,0.067,3187,991,3361
$GC,1436,-0.52,-117.3,126.6,-6.0,103,1441,0.12,2.28,0.00,0.000,6,0.084,0.059,3141,2412,3361
$GC,1763,-0.58,-117.3,146.6,-5.8,119,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2412,3362
$GC,2069,-0.66,-117.3,164.8,-6.2,130,2071,0.12,0.00,0.00,0.000,6,0.097,0.000,3091,2412,3361
$GC,2376,-0.54,-117.3,191.1,-8.4,140,2380,0.15,2.33,0.00,0.000,4,0.156,0.070,3136,988,3361
$GC,2413,-0.54,-117.3,194.0,-7.0,141,2417,0.00,2.30,0.00,0.000,6,0.000,0.062,3135,2398,3361
$GC,2742,-0.54,-117.3,212.3,-5.3,152,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2397,3361
$GC,3049,-0.54,-117.3,229.3,-5.8,162,3053,0.00,2.30,0.00,0.000,4,0.000,0.082,3136,3810,3360
$GC,3075,-0.59,-117.3,231.1,-6.6,162,3082,0.00,2.25,0.00,0.000,6,0.000,0.056,3136,2403,3360
$GC,3388,-0.59,-117.3,251.3,-6.7,173,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2403,3359
$GC,3694,-0.59,-117.3,271.8,-6.5,183,3698,0.00,2.28,0.00,0.000,4,0.000,0.073,3136,992,3359
$GC,3720,-0.59,-117.3,273.7,-7.1,183,3728,0.00,2.30,0.00,0.000,6,0.000,0.063,3136,2404,3359
$GC,4033,-0.59,-117.3,293.0,-6.1,194,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2404,3358
$GC,4337,-0.59,-117.3,310.2,-5.6,201,4341,0.00,2.30,0.00,0.000,4,0.000,0.073,3136,993,3358
$GC,4381,-0.64,-117.3,312.8,-5.9,201,4385,0.00,2.30,0.00,0.000,6,0.000,0.064,3136,2402,3358
$GC,4702,-0.68,-117.3,331.5,-5.9,207,4704,0.12,0.00,0.00,0.000,6,0.087,0.000,3088,2402,3357
$GC,5005,-0.63,-117.3,353.8,-7.5,212,5009,0.00,2.30,0.00,0.000,4,0.000,0.073,3088,992,3357
$GC,5054,-0.55,-117.3,358.0,-8.2,212,5059,0.12,2.30,0.00,0.000,6,0.159,0.065,3137,2401,3357
$GC,5369,-0.60,-117.3,376.6,-5.8,218,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2400,3357
$GC,5672,-0.66,-117.3,393.3,-5.5,223,5676,0.00,2.30,0.00,0.000,4,0.000,0.074,3137,992,3356
$GC,5705,-0.72,-117.3,395.2,-5.1,223,5709,0.12,2.30,0.00,0.000,6,0.073,0.064,3082,2406,3356
$GC,6037,-0.66,-117.3,416.7,-6.6,229,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2407,3356
$GC,6342,-0.61,-117.3,438.8,-7.4,234,6346,0.12,2.30,0.00,0.000,4,0.117,0.081,3113,3810,3355
$GC,6367,-0.61,-117.3,440.9,-7.6,234,6372,0.00,2.25,0.00,0.000,6,0.000,0.058,3112,2404,3355
$GC,6705,-0.61,-117.3,465.1,-7.2,240,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2404,3355
$GC,7009,-0.61,-117.3,486.5,-7.1,245,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2403,3355
$GC,7311,-0.61,-117.3,506.4,-6.5,250,7315,0.00,2.30,0.00,0.000,4,0.000,0.074,3113,986,3354
$GC,7342,-0.61,-117.3,508.6,-6.6,250,7347,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2405,3354
$GC,7674,-0.61,-117.3,528.8,-6.1,256,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3355
$GC,7978,-0.61,-117.3,547.9,-6.3,261,7982,0.00,2.33,0.00,0.000,4,0.000,0.074,3112,988,3354
$GC,8041,-0.61,-117.3,552.1,-7.2,262,8045,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2411,3354
$GC,8405,-0.61,-117.3,577.2,-7.1,268,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3354
$GC,8710,-0.61,-117.3,598.7,-7.1,273,8714,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,987,3354
$GC,8736,-0.61,-117.3,600.7,-7.3,273,8740,0.00,2.30,0.00,0.000,6,0.000,0.065,3112,2399,3354
$GC,9073,-0.61,-117.3,622.9,-6.6,279,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3354
$GC,9377,-0.61,-117.3,642.8,-6.5,284,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,9680,-0.61,-117.3,661.8,-6.2,289,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2398,3353
$GC,9983,-0.61,-117.3,679.0,-5.6,294,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,10288,-0.61,-117.3,694.9,-5.2,299,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2399,3353
$GC,10589,-0.61,-117.3,709.9,-4.9,304,10593,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,983,3353
$GC,10621,-0.61,-117.3,711.6,-5.5,304,10626,0.00,2.33,0.00,0.000,6,0.000,0.067,3112,2400,3352
$GC,10953,-0.61,-117.3,728.2,-5.1,310,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2400,3353
$GC,11256,-0.61,-117.3,744.1,-5.3,315,11260,0.00,2.33,0.00,0.000,4,0.000,0.076,3112,985,3352
$GC,11283,-0.61,-117.3,745.8,-7.1,315,11287,0.00,2.33,0.00,0.000,6,0.000,0.066,3112,2405,3352
$GC,11620,-0.61,-117.3,764.0,-5.4,321,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,11925,-0.61,-117.3,781.4,-5.8,326,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,12227,-0.61,-117.3,798.8,-5.7,331,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2405,3352
$GC,12530,-0.61,-117.3,815.7,-5.5,336,12534,0.00,2.33,0.00,0.000,4,0.000,0.076,3112,988,3352
$GC,12573,-0.65,-117.3,818.3,-5.9,336,12577,0.00,2.30,0.00,0.000,6,0.000,0.066,3112,2397,3352
$GC,12894,-0.69,-117.3,835.9,-5.5,342,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3352
$GC,13197,-0.69,-117.3,853.5,-5.8,347,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2397,3351
$GC,13500,-0.69,-117.3,870.9,-5.7,352,13504,0.00,2.33,0.00,0.000,4,0.000,0.077,3112,982,3351
$GC,13532,-0.74,-117.3,872.9,-5.9,352,13537,0.08,2.33,0.00,0.000,6,0.078,0.067,3073,2398,3351
$GC,13863,-0.74,-117.3,892.6,-6.0,358,13867,0.00,2.33,0.00,0.000,4,0.000,0.084,3073,3823,3351
$GC,13896,-0.68,-117.3,894.8,-6.8,358,13900,0.00,2.28,0.00,0.000,6,0.000,0.061,3073,2402,3351
$GC,14228,-0.68,-117.3,915.1,-6.1,364,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3351
$GC,14531,-0.68,-117.3,933.2,-6.0,369,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3351
$GC,14833,-0.68,-117.3,950.5,-5.7,374,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3351
$GC,15138,-0.68,-117.3,967.6,-5.7,379,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3351
$GC,15440,-0.68,-117.3,984.8,-5.6,384,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2403,3351
$STATE,15559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15560,begin apogee
$GC,15564,-0.22,0.0,991.7,5.8,386,15667,0.55,0.00,100.22,1.506,6,0.148,0.000,3241,2189,2876
$STATE,15668,end apogee,CONTROL_FINISHED_OK
$STATE,15668,begin climb
$GC,15669,0.67,117.3,993.3,0.0,387,15782,0.90,2.62,103.45,1.457,4,0.102,0.081,3533,798,2397
$GC,15837,0.29,117.3,990.2,8.2,390,15842,0.47,2.45,0.00,0.000,6,0.190,0.062,3413,2198,2395
$GC,16174,0.29,117.3,971.8,5.3,396,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2198,2393
$GC,16478,0.26,127.5,957.2,4.7,401,16489,0.00,0.00,9.80,1.305,6,0.000,0.000,3413,2198,2356
$GC,16781,0.28,141.4,943.3,4.6,406,16796,0.00,0.00,13.40,1.368,6,0.000,0.000,3413,2198,2299
$GC,17083,0.28,141.4,928.0,5.1,411,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2198,2298
$GC,17386,0.28,141.4,911.4,5.5,416,17387,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2198,2298
$GC,17689,0.28,141.4,894.0,5.8,421,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2198,2298
$GC,17993,0.28,141.4,875.9,6.0,426,17997,0.00,2.35,0.00,0.000,4,0.000,0.081,3422,793,2298
$GC,18032,0.28,141.4,873.5,6.2,426,18036,0.00,2.30,0.00,0.000,6,0.000,0.065,3422,2210,2298
$GC,18352,0.28,141.4,852.4,6.7,432,18353,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2210,2298
$GC,18654,0.28,141.4,831.6,6.8,437,18659,0.00,2.38,0.00,0.000,4,0.000,0.081,3422,788,2298
$GC,18686,0.28,141.4,829.3,7.2,437,18691,0.00,2.33,0.00,0.000,6,0.000,0.064,3422,2204,2297
$GC,19018,0.28,141.4,807.7,6.5,443,19019,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2204,2298
$GC,19321,0.28,141.4,790.0,5.8,448,19326,0.00,2.35,0.00,0.000,4,0.000,0.081,3422,790,2298
$GC,19359,0.28,141.4,787.7,5.8,448,19364,0.00,2.30,0.00,0.000,6,0.000,0.064,3422,2196,2298
$GC,19685,0.28,141.4,771.2,5.1,454,19687,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2196,2297
$GC,19989,0.29,145.1,756.3,4.9,459,19998,0.00,2.33,4.60,0.983,4,0.000,0.084,3422,3607,2284
$GC,20042,0.20,145.1,753.2,5.5,459,20047,0.10,2.30,0.00,0.000,6,0.178,0.067,3383,2203,2284
$GC,20358,0.37,192.5,741.5,3.6,465,20401,0.17,0.00,40.65,1.353,6,0.090,0.000,3446,2203,2091
$GC,20661,0.37,192.5,722.8,6.4,470,20665,0.00,2.38,0.00,0.000,4,0.000,0.081,3449,790,2086
$GC,20700,0.37,192.5,720.0,6.9,470,20704,0.00,2.33,0.00,0.000,6,0.000,0.063,3448,2204,2086
$GC,21020,0.37,192.5,697.2,7.2,476,21021,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2086
$GC,21322,0.37,192.5,675.5,7.2,481,21323,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2204,2086
$GC,21626,0.33,192.5,653.5,7.3,486,21627,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2086
$GC,21930,0.33,192.5,630.8,7.5,491,21934,0.00,2.38,0.00,0.000,4,0.000,0.081,3448,786,2086
$GC,21973,0.33,192.5,627.4,7.3,491,21977,0.00,2.33,0.00,0.000,6,0.000,0.064,3448,2203,2086
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$GC,25509,0.43,210.2,400.9,4.5,550,25527,0.15,0.00,15.30,1.105,6,0.093,0.000,3456,2194,2019
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