version: 66.03
glider: 120
mission: 9
dive: 154
start: 10 24 108 20 19 58
data:
$ID,120
$MISSION,9
$DIVE,154
$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,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,-20928.168
$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,19
$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
$GPS1,201039,5012.785,-14441.482,56,1.2,56,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-76.4
$GPS2,201903,5012.777,-14441.499,13,1.7,13,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,0.111
$KALMAN_X,39606.8,118.0,-360.9,-29593.5,-1031.4
$KALMAN_Y,118024.3,61.4,131.5,-104830.3,536.5
$MHEAD_RNG_PITCHd_Wd,32.9,20554,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,34,0.00,0.00,-12.12,0.000,2,0.000,0.000,136,2405,1963
$GC,37,-0.67,-117.3,3.4,-0.0,1,106,14.18,2.38,-49.17,0.000,4,0.292,0.079,3091,990,3354
$GC,234,-0.35,-117.3,24.0,-13.7,18,241,0.35,2.35,0.00,0.000,6,0.161,0.061,3200,2398,3357
$GC,560,-0.40,-117.3,46.0,-6.0,49,561,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2398,3357
$GC,878,-0.80,-117.3,69.0,-7.6,79,883,0.40,2.30,0.00,0.000,4,0.087,0.065,3057,990,3358
$GC,921,-0.59,-117.3,73.2,-10.7,82,929,0.20,2.33,0.00,0.000,6,0.166,0.061,3117,2395,3357
$GC,1240,-0.45,-117.3,101.3,-8.8,102,1245,0.17,2.35,0.00,0.000,4,0.163,0.075,3169,3810,3360
$GC,1279,-0.51,-117.3,104.0,-6.3,104,1283,0.00,2.25,0.00,0.000,6,0.000,0.051,3169,2389,3360
$GC,1612,-0.57,-117.3,125.9,-6.3,120,1616,0.10,2.28,0.00,0.000,4,0.093,0.066,3126,990,3360
$GC,1644,-0.52,-117.3,128.5,-8.2,121,1651,0.00,2.30,0.00,0.000,6,0.000,0.059,3126,2397,3360
$GC,1970,-0.47,-117.3,152.7,-6.8,137,1974,0.15,2.35,0.00,0.000,4,0.154,0.077,3169,3806,3360
$GC,2002,-0.59,-117.3,154.6,-5.4,138,2006,0.12,2.22,0.00,0.000,6,0.088,0.053,3122,2401,3360
$GC,2337,-0.79,-117.3,175.1,-6.2,149,2342,0.15,2.38,0.00,0.000,4,0.101,0.077,3060,3810,3360
$GC,2403,-0.56,-117.3,180.6,-8.8,151,2408,0.28,2.25,0.00,0.000,6,0.156,0.054,3138,2392,3359
$GC,2738,-0.56,-117.3,200.7,-5.9,162,2742,0.00,2.28,0.00,0.000,4,0.000,0.070,3138,994,3359
$GC,2786,-0.56,-117.3,203.9,-6.6,163,2791,0.00,2.30,0.00,0.000,6,0.000,0.061,3138,2404,3359
$GC,3105,-0.56,-117.3,223.4,-6.1,174,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2403,3359
$GC,3411,-0.56,-117.3,241.0,-5.5,184,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3358
$GC,3717,-0.56,-117.3,258.8,-6.1,194,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2404,3358
$GC,4024,-0.60,-117.3,277.7,-6.3,204,4028,0.00,2.33,0.00,0.000,4,0.000,0.071,3138,993,3357
$GC,4061,-0.65,-117.3,280.2,-7.1,205,4065,0.00,2.28,0.00,0.000,6,0.000,0.062,3138,2404,3357
$GC,4391,-0.70,-117.3,300.7,-6.4,216,4393,0.15,0.00,0.00,0.000,6,0.084,0.000,3080,2405,3356
$GC,4694,-0.62,-117.3,324.9,-8.1,221,4696,0.12,0.00,0.00,0.000,6,0.114,0.000,3114,2405,3356
$GC,4997,-0.62,-117.3,347.6,-7.5,226,5001,0.00,2.33,0.00,0.000,4,0.000,0.071,3115,993,3356
$GC,5028,-0.62,-117.3,350.2,-7.5,226,5033,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2405,3356
$GC,5361,-0.62,-117.3,372.4,-6.6,232,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3356
$GC,5664,-0.62,-117.3,389.9,-5.7,237,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3355
$GC,5967,-0.62,-117.3,408.2,-6.1,242,5971,0.00,2.33,0.00,0.000,4,0.000,0.073,3113,989,3355
$GC,5999,-0.62,-117.3,410.5,-7.0,242,6003,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2405,3355
$GC,6331,-0.62,-117.3,432.2,-6.5,248,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3355
$GC,6634,-0.62,-117.3,453.3,-7.0,253,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3354
$GC,6937,-0.62,-117.3,474.9,-7.2,258,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3354
$GC,7240,-0.62,-117.3,496.2,-7.1,263,7244,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,989,3354
$GC,7289,-0.62,-117.3,499.9,-7.5,263,7294,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2402,3353
$GC,7605,-0.62,-117.3,520.4,-6.5,269,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7908,-0.62,-117.3,539.8,-6.4,274,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3353
$GC,8211,-0.62,-117.3,559.4,-6.5,279,8215,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,987,3353
$GC,8242,-0.62,-117.3,561.7,-6.9,279,8247,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2397,3353
$GC,8575,-0.62,-117.3,583.5,-6.6,285,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2397,3353
$GC,8878,-0.62,-117.3,604.0,-6.8,290,8882,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,989,3353
$GC,8904,-0.62,-117.3,605.8,-7.3,290,8909,0.00,2.33,0.00,0.000,6,0.000,0.065,3113,2399,3352
$GC,9242,-0.62,-117.3,627.3,-6.3,296,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3353
$GC,9545,-0.62,-117.3,646.2,-6.3,301,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3352
$GC,9849,-0.62,-117.3,665.3,-6.2,306,9853,0.00,2.30,0.00,0.000,4,0.000,0.074,3112,997,3352
$GC,9875,-0.62,-117.3,667.2,-7.2,306,9879,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2395,3352
$GC,10213,-0.62,-117.3,687.2,-5.9,312,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3352
$GC,10516,-0.62,-117.3,704.3,-5.6,317,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3352
$GC,10819,-0.62,-117.3,721.0,-5.5,322,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3351
$GC,11122,-0.62,-117.3,737.4,-5.4,327,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3351
$GC,11426,-0.62,-117.3,753.2,-5.2,332,11430,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,987,3351
$GC,11465,-0.62,-117.3,755.3,-5.3,332,11469,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2400,3351
$GC,11785,-0.62,-117.3,771.8,-5.2,338,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3350
$GC,12088,-0.62,-117.3,787.5,-5.2,343,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3350
$GC,12391,-0.62,-117.3,803.6,-5.3,348,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3350
$GC,12694,-0.62,-117.3,819.3,-5.1,353,12698,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,991,3350
$GC,12738,-0.62,-117.3,821.8,-5.3,353,12742,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2399,3350
$GC,13060,-0.67,-117.3,838.8,-5.3,359,13061,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2399,3350
$GC,13362,-0.71,-117.3,856.5,-5.9,364,13366,0.00,2.33,0.00,0.000,4,0.000,0.075,3113,993,3350
$GC,13399,-0.71,-117.3,859.0,-6.6,364,13404,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2397,3350
$GC,13726,-0.76,-117.3,878.7,-6.1,370,13728,0.12,0.00,0.00,0.000,6,0.092,0.000,3065,2397,3349
$GC,14029,-0.76,-117.3,898.7,-6.5,375,14033,0.00,2.35,0.00,0.000,4,0.000,0.084,3062,3809,3349
$GC,14066,-0.65,-117.3,901.4,-7.5,375,14071,0.15,2.25,0.00,0.000,6,0.131,0.060,3103,2402,3349
$GC,14392,-0.65,-117.3,918.6,-5.1,381,14393,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2402,3349
$GC,14696,-0.65,-117.3,932.5,-4.5,386,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2402,3349
$GC,14998,-0.65,-117.3,945.6,-4.3,391,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,3349
$GC,15302,-0.65,-117.3,960.1,-4.8,396,15303,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2402,3349
$GC,15605,-0.65,-117.3,976.4,-5.4,401,15609,0.00,2.35,0.00,0.000,4,0.000,0.077,3103,984,3348
$GC,15631,-0.65,-117.3,978.1,-6.0,401,15635,0.00,2.33,0.00,0.000,6,0.000,0.067,3101,2407,3348
$STATE,15847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15848,begin apogee
$GC,15852,-0.22,0.0,991.4,6.2,405,15957,0.47,0.00,101.47,1.501,6,0.143,0.000,3245,2196,2875
$STATE,15957,end apogee,CONTROL_FINISHED_OK
$STATE,15957,begin climb
$GC,15959,0.67,117.3,993.6,0.0,406,16072,0.88,2.65,106.00,1.449,4,0.095,0.081,3533,787,2396
$GC,16105,0.27,117.3,995.4,6.8,408,16111,0.50,2.50,0.00,0.000,6,0.195,0.062,3411,2196,2394
$GC,16443,0.31,150.4,981.6,4.1,414,16477,0.00,2.50,29.40,1.421,4,0.000,0.081,3411,3611,2262
$GC,16507,0.25,150.4,978.4,5.6,415,16511,0.00,2.42,0.00,0.000,6,0.000,0.064,3410,2191,2261
$GC,16871,0.25,150.4,959.7,5.2,421,16872,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2191,2260
$GC,17174,0.25,150.4,943.5,5.3,426,17178,0.00,2.40,0.00,0.000,4,0.000,0.080,3410,3613,2260
$GC,17207,0.20,150.4,941.5,7.1,426,17211,0.00,2.33,0.00,0.000,6,0.000,0.066,3410,2198,2260
$GC,17539,0.20,150.4,923.7,5.4,432,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2199,2260
$GC,17842,0.20,150.4,907.2,5.4,437,17846,0.00,2.40,0.00,0.000,4,0.000,0.082,3411,3622,2259
$GC,17874,0.15,150.4,905.3,6.5,437,17879,0.12,2.35,0.00,0.000,6,0.173,0.066,3373,2202,2259
$GC,18206,0.30,163.6,889.7,4.6,443,18221,0.12,0.00,12.50,1.351,6,0.093,0.000,3416,2202,2208
$GC,18509,0.38,163.6,872.6,5.8,448,18510,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2202,2207
$GC,18812,0.45,163.6,854.7,5.9,453,18814,0.15,0.00,0.00,0.000,6,0.099,0.000,3475,2202,2207
$GC,19115,0.31,163.6,829.9,8.3,458,19120,0.17,2.38,0.00,0.000,4,0.163,0.080,3429,788,2207
$GC,19147,0.31,163.6,827.6,6.0,458,19151,0.00,2.33,0.00,0.000,6,0.000,0.064,3430,2209,2206
$GC,19479,0.31,163.6,806.8,6.3,464,19480,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2209,2207
$GC,19782,0.31,163.6,788.0,6.2,469,19786,0.00,2.40,0.00,0.000,4,0.000,0.080,3435,785,2206
$GC,19813,0.31,163.6,785.9,6.1,469,19818,0.00,2.35,0.00,0.000,6,0.000,0.064,3436,2203,2206
$GC,20146,0.31,163.6,765.5,6.2,475,20150,0.00,2.35,0.00,0.000,4,0.000,0.083,3436,3619,2206
$GC,20185,0.21,163.6,762.6,7.3,475,20190,0.20,2.33,0.00,0.000,6,0.175,0.067,3384,2189,2206
$GC,20505,0.34,169.8,747.1,4.8,481,20519,0.15,2.40,6.55,1.131,4,0.092,0.082,3449,784,2183
$GC,20541,0.29,169.8,744.8,5.9,481,20546,0.12,2.33,0.00,0.000,6,0.152,0.065,3417,2210,2182
$GC,20867,0.29,169.8,724.6,6.2,487,20868,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2210,2182
$GC,21170,0.29,169.8,705.2,6.4,492,21171,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2210,2182
$GC,21473,0.29,169.8,685.9,6.4,497,21475,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2210,2182
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$STATE,32908,begin surface coast
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$STATE,32943,end surface coast,CONTROL_FINISHED_OK
$STATE,32943,begin surface
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$DEVICE_SECS,30.900,205.800,369.000,0.000,0.000,55.399,56.220,216.785,242.500,0.000,0.000,13.183,1806.220,28240.492,521.881,2335.741,613.747,33.377,1690.481,0.000,2322.966,0.000,0.465
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