version: 66.03
glider: 120
mission: 9
dive: 198
start: 11 10 108 14 46 51
data:
$ID,120
$MISSION,9
$DIVE,198
$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,-21790.143
$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,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
$GPS1,144026,5021.542,-14429.306,74,1.3,75,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.5
$GPS2,144556,5021.574,-14429.242,15,1.4,32,18.7
$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,35368.1,-121.7,80.1,-10996.3,-260.1
$KALMAN_Y,148961.8,-4.7,-21.4,-119257.0,-434.2
$MHEAD_RNG_PITCHd_Wd,160.0,51051,-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,21,-0.66,-117.3,0.0,0.0,0,54,0.00,0.00,-31.85,0.000,2,0.000,0.000,145,2402,2434
$GC,57,-0.66,-117.3,3.3,-5.8,3,98,14.02,0.00,-24.23,0.000,6,0.288,0.000,3095,2402,3356
$GC,414,-0.41,-117.3,47.0,-12.7,37,416,0.30,0.00,0.00,0.000,6,0.162,0.000,3181,2402,3359
$GC,734,-0.67,-117.3,72.3,-8.0,67,736,0.25,0.00,0.00,0.000,6,0.081,0.000,3093,2402,3359
$GC,1045,-0.78,-117.3,99.0,-9.0,87,1049,0.00,2.38,0.00,0.000,4,0.000,0.076,3093,3813,3360
$GC,1197,-0.61,-117.3,113.9,-9.9,94,1201,0.00,2.30,0.00,0.000,6,0.000,0.054,3093,2385,3361
$GC,1531,-0.48,-117.3,143.6,-8.6,110,1535,0.20,2.33,0.00,0.000,4,0.160,0.067,3153,986,3361
$GC,1593,-0.56,-117.3,147.9,-6.1,113,1597,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2408,3361
$GC,1906,-0.78,-117.3,168.5,-6.7,124,1911,0.22,2.35,0.00,0.000,4,0.084,0.077,3067,3816,3361
$GC,2118,-0.60,-117.3,187.8,-9.5,130,2123,0.12,2.30,0.00,0.000,6,0.151,0.055,3118,2402,3361
$GC,2442,-0.60,-117.3,211.1,-7.3,141,2446,0.00,2.33,0.00,0.000,4,0.000,0.069,3118,996,3361
$GC,2508,-0.60,-117.3,216.3,-7.9,143,2512,0.00,2.30,0.00,0.000,6,0.000,0.062,3113,2395,3361
$GC,2843,-0.60,-117.3,240.5,-7.2,154,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3360
$GC,3149,-0.60,-117.3,262.5,-7.1,164,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3361
$GC,3455,-0.60,-117.3,284.6,-7.3,174,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3360
$GC,3761,-0.60,-117.3,306.0,-6.8,183,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3360
$GC,4064,-0.60,-117.3,325.7,-6.5,188,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3359
$GC,4367,-0.60,-117.3,345.4,-6.5,193,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3359
$GC,4670,-0.60,-117.3,365.1,-6.5,198,4674,0.00,2.35,0.00,0.000,4,0.000,0.072,3113,993,3358
$GC,4697,-0.60,-117.3,366.9,-6.9,198,4701,0.00,2.33,0.00,0.000,6,0.000,0.064,3112,2395,3358
$GC,5035,-0.60,-117.3,387.8,-6.2,204,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3358
$GC,5338,-0.60,-117.3,407.6,-6.5,209,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2395,3358
$GC,5641,-0.60,-117.3,427.2,-6.5,214,5645,0.00,2.38,0.00,0.000,4,0.000,0.083,3113,3813,3358
$GC,5684,-0.60,-117.3,430.1,-6.2,214,5688,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2405,3357
$GC,6005,-0.60,-117.3,450.1,-6.3,220,6009,0.00,2.42,0.00,0.000,4,0.000,0.083,3113,3815,3357
$GC,6032,-0.60,-117.3,451.9,-6.7,220,6036,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2387,3357
$GC,6369,-0.60,-117.3,473.8,-6.4,226,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2388,3357
$GC,6672,-0.60,-117.3,493.1,-6.4,231,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2387,3357
$GC,6975,-0.60,-117.3,512.5,-6.5,236,6980,0.00,2.45,0.00,0.000,4,0.000,0.083,3113,3818,3356
$GC,7008,-0.60,-117.3,514.8,-7.0,236,7012,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2402,3356
$GC,7340,-0.60,-117.3,536.2,-6.5,242,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3356
$GC,7643,-0.60,-117.3,555.2,-6.3,247,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3356
$GC,7946,-0.60,-117.3,573.5,-6.0,252,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3356
$GC,8249,-0.60,-117.3,591.7,-6.0,257,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3356
$GC,8552,-0.60,-117.3,610.3,-6.1,262,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3356
$GC,8855,-0.60,-117.3,629.0,-6.2,267,8859,0.00,2.42,0.00,0.000,4,0.000,0.084,3113,3809,3355
$GC,8888,-0.65,-117.3,631.0,-6.4,267,8892,0.00,2.28,0.00,0.000,6,0.000,0.058,3113,2396,3355
$GC,9220,-0.65,-117.3,650.4,-5.8,273,9224,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,994,3355
$GC,9258,-0.69,-117.3,652.7,-5.7,273,9262,0.00,2.30,0.00,0.000,6,0.000,0.065,3113,2409,3355
$GC,9578,-0.69,-117.3,671.1,-5.7,279,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2408,3355
$GC,9881,-0.69,-117.3,687.8,-5.4,284,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3355
$GC,10185,-0.69,-117.3,703.8,-5.3,289,10189,0.00,2.35,0.00,0.000,4,0.000,0.084,3113,3807,3354
$GC,10217,-0.75,-117.3,705.6,-5.7,289,10222,0.12,2.28,0.00,0.000,6,0.091,0.059,3066,2396,3354
$GC,10549,-0.71,-117.3,725.5,-6.1,295,10554,0.00,2.35,0.00,0.000,4,0.000,0.075,3066,988,3354
$GC,10612,-0.63,-117.3,729.6,-7.0,296,10617,0.17,2.33,0.00,0.000,6,0.158,0.066,3112,2411,3354
$GC,10977,-0.63,-117.3,747.9,-4.9,302,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3354
$GC,11280,-0.63,-117.3,763.0,-5.0,307,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3354
$GC,11583,-0.67,-117.3,778.3,-5.1,312,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3354
$GC,11886,-0.71,-117.3,793.9,-5.2,317,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2411,3354
$GC,12189,-0.76,-117.3,810.4,-5.5,322,12191,0.12,0.00,0.00,0.000,6,0.093,0.000,3066,2412,3354
$GC,12492,-0.76,-117.3,828.6,-6.0,327,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2411,3354
$GC,12795,-0.76,-117.3,845.6,-5.6,332,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2411,3354
$GC,13098,-0.76,-117.3,862.0,-5.4,337,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2411,3353
$GC,13402,-0.76,-117.3,878.2,-5.3,342,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3353
$GC,13704,-0.76,-117.3,894.4,-5.3,347,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3353
$GC,14007,-0.76,-117.3,911.9,-5.8,352,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3353
$GC,14311,-0.76,-117.3,930.3,-6.0,357,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3353
$GC,14613,-0.76,-117.3,948.8,-6.1,362,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3353
$GC,14917,-0.76,-117.3,967.1,-6.1,367,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2412,3353
$GC,15220,-0.76,-117.3,984.9,-5.9,372,15224,0.00,2.35,0.00,0.000,4,0.000,0.085,3066,3810,3352
$GC,15252,-0.71,-117.3,987.0,-5.9,372,15256,0.00,2.33,0.00,0.000,6,0.000,0.061,3066,2373,3352
$STATE,15339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15339,begin apogee
$GC,15344,-0.22,0.0,991.9,5.5,374,15451,0.60,0.00,103.43,1.499,6,0.144,0.000,3247,2195,2876
$STATE,15451,end apogee,CONTROL_FINISHED_OK
$STATE,15452,begin climb
$GC,15454,0.66,117.3,993.3,0.0,375,15566,0.88,0.00,108.88,1.447,6,0.092,0.000,3530,2195,2397
$GC,15825,0.30,117.3,973.1,8.6,382,15827,0.43,0.00,0.00,0.000,6,0.177,0.000,3418,2195,2394
$GC,16127,0.30,117.3,954.9,5.9,387,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2194,2393
$GC,16430,0.30,117.3,936.9,6.0,392,16432,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2194,2393
$GC,16734,0.30,117.3,919.4,5.7,397,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2194,2392
$GC,17037,0.30,117.3,902.6,5.5,402,17038,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2194,2392
$GC,17340,0.30,117.3,886.9,5.1,407,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2194,2392
$GC,17644,0.27,126.4,872.4,4.7,412,17654,0.00,0.00,8.75,1.269,6,0.000,0.000,3418,2194,2360
$GC,17947,0.29,139.9,858.4,4.6,417,17966,0.00,2.47,12.98,1.330,4,0.000,0.081,3418,3602,2305
$GC,17994,0.21,139.9,855.7,5.4,417,17999,0.15,2.35,0.00,0.000,6,0.183,0.066,3386,2196,2304
$GC,18315,0.34,170.2,842.3,4.1,423,18345,0.12,0.00,27.50,1.381,6,0.091,0.000,3431,2196,2182
$GC,18619,0.38,170.2,826.3,5.4,428,18623,0.00,2.47,0.00,0.000,4,0.000,0.082,3431,3610,2179
$GC,18651,0.33,170.2,824.1,6.2,428,18655,0.00,2.40,0.00,0.000,6,0.000,0.066,3435,2181,2179
$GC,18983,0.33,170.2,804.2,6.0,434,18984,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2181,2179
$GC,19286,0.33,170.2,784.4,6.5,439,19287,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2181,2179
$GC,19589,0.33,170.2,764.8,6.5,444,19593,0.00,2.47,0.00,0.000,4,0.000,0.082,3435,3618,2179
$GC,19632,0.23,170.2,761.6,7.1,444,19637,0.17,2.35,0.00,0.000,6,0.176,0.066,3391,2200,2179
$GC,19953,0.35,170.2,744.3,5.4,450,19955,0.12,0.00,0.00,0.000,6,0.094,0.000,3435,2200,2179
$GC,20256,0.40,170.2,725.4,6.2,455,20261,0.00,2.42,0.00,0.000,4,0.000,0.084,3436,3612,2179
$GC,20283,0.35,170.2,723.2,8.2,455,20288,0.00,2.35,0.00,0.000,6,0.000,0.066,3435,2207,2179
$GC,20621,0.35,170.2,700.1,6.8,461,20622,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2207,2178
$GC,20924,0.35,170.2,680.6,6.3,466,20928,0.00,2.40,0.00,0.000,4,0.000,0.082,3435,3609,2178
$GC,20973,0.26,170.2,677.3,6.5,466,20978,0.12,2.33,0.00,0.000,6,0.180,0.066,3406,2196,2178
$GC,21283,0.36,175.1,661.7,4.9,471,21290,0.00,0.00,5.38,1.009,6,0.000,0.000,3405,2196,2162
$GC,21586,0.46,181.2,647.1,4.8,476,21596,0.17,0.00,7.10,1.099,6,0.089,0.000,3472,2196,2137
$GC,21889,0.36,181.2,624.9,7.5,481,21894,0.15,2.40,0.00,0.000,4,0.153,0.080,3435,790,2136
$GC,21932,0.36,181.2,621.7,7.9,481,21937,0.00,2.35,0.00,0.000,6,0.000,0.065,3435,2200,2137
$GC,22254,0.36,181.2,600.2,6.8,487,22258,0.00,2.38,0.00,0.000,4,0.000,0.083,3435,3620,2136
$GC,22287,0.32,181.2,597.5,6.3,487,22291,0.00,2.35,0.00,0.000,6,0.000,0.066,3435,2189,2136
$GC,22618,0.32,181.2,573.4,7.3,493,22619,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2189,2136
$GC,22921,0.32,181.2,551.2,7.3,498,22922,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2189,2136
$GC,23224,0.32,181.2,528.9,7.2,503,23228,0.00,2.45,0.00,0.000,4,0.000,0.082,3435,3616,2137
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