version: 66.03
glider: 120
mission: 9
dive: 246
start: 11 28 108 19 32 39
data:
$ID,120
$MISSION,9
$DIVE,246
$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,-22860.43
$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,19
$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
$GPS1,192538,5002.978,-14426.159,27,2.0,27,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-65.0
$GPS2,193144,5003.025,-14426.156,10,2.0,15,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,-0.173
$KALMAN_X,35225.5,-55.8,140.9,-7313.4,439.7
$KALMAN_Y,191411.8,-112.7,3.9,-195968.1,2235.4
$MHEAD_RNG_PITCHd_Wd,174.9,17261,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,55,0.00,0.00,-31.83,0.000,2,0.000,0.000,147,2402,2274
$GC,58,-0.67,-117.3,3.3,-3.3,3,113,13.90,2.47,-34.10,0.000,4,0.284,0.090,3086,3815,3355
$GC,174,-0.39,-117.3,14.1,-12.2,13,182,0.35,2.35,0.00,0.000,6,0.158,0.055,3184,2389,3357
$GC,503,-0.43,-117.3,35.9,-10.7,44,508,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2389,3357
$GC,828,-0.49,-117.3,56.0,-6.3,75,832,0.00,2.50,0.00,0.000,4,0.000,0.078,3182,3818,3358
$GC,849,-0.58,-117.3,57.0,-4.8,76,856,0.17,2.30,0.00,0.000,6,0.079,0.053,3116,2394,3358
$GC,1174,-0.53,-117.3,83.8,-7.4,105,1179,0.10,2.35,0.00,0.000,4,0.095,0.067,3147,992,3358
$GC,1237,-0.53,-117.3,88.7,-7.4,108,1241,0.00,2.33,0.00,0.000,6,0.000,0.061,3147,2412,3358
$GC,1563,-0.53,-117.3,110.4,-7.2,124,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2412,3359
$GC,1872,-0.53,-117.3,130.8,-6.8,139,1876,0.00,2.40,0.00,0.000,4,0.000,0.067,3148,991,3359
$GC,1916,-0.53,-117.3,134.3,-8.6,141,1920,0.00,2.35,0.00,0.000,6,0.000,0.061,3148,2406,3359
$GC,2254,-0.53,-117.3,151.6,-4.3,157,2258,0.00,2.42,0.00,0.000,4,0.000,0.080,3141,3809,3359
$GC,2298,-0.58,-117.3,154.4,-6.3,158,2302,0.00,2.30,0.00,0.000,6,0.000,0.053,3141,2392,3359
$GC,2628,-0.63,-117.3,174.1,-6.4,169,2632,0.00,2.35,0.00,0.000,4,0.000,0.069,3141,992,3359
$GC,2655,-0.69,-117.3,175.9,-7.1,169,2662,0.15,2.30,0.00,0.000,6,0.082,0.062,3084,2411,3358
$GC,2968,-0.63,-117.3,197.2,-6.8,180,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2411,3359
$GC,3274,-0.58,-117.3,216.5,-6.0,190,3279,0.15,2.38,0.00,0.000,4,0.117,0.079,3127,3814,3358
$GC,3318,-0.63,-117.3,218.9,-5.5,191,3322,0.00,2.30,0.00,0.000,6,0.000,0.054,3128,2396,3359
$GC,3635,-0.63,-117.3,236.9,-5.9,202,3639,0.00,2.35,0.00,0.000,4,0.000,0.071,3127,987,3358
$GC,3684,-0.63,-117.3,240.1,-6.4,203,3688,0.00,2.30,0.00,0.000,6,0.000,0.061,3128,2399,3358
$GC,4008,-0.63,-117.3,260.8,-6.3,214,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2399,3358
$GC,4314,-0.63,-117.3,280.4,-6.4,224,4318,0.00,2.38,0.00,0.000,4,0.000,0.070,3127,993,3358
$GC,4357,-0.67,-117.3,283.5,-7.1,225,4362,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2398,3358
$GC,4680,-0.67,-117.3,304.0,-6.4,235,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3358
$GC,4984,-0.67,-117.3,323.9,-6.5,240,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2397,3358
$GC,5287,-0.67,-117.3,343.9,-6.5,245,5291,0.00,2.40,0.00,0.000,4,0.000,0.071,3128,988,3357
$GC,5314,-0.72,-117.3,345.8,-7.0,245,5318,0.12,2.35,0.00,0.000,6,0.091,0.063,3079,2408,3357
$GC,5645,-0.72,-117.3,369.8,-7.2,251,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2408,3357
$GC,5949,-0.72,-117.3,389.3,-6.3,256,5953,0.00,2.42,0.00,0.000,4,0.000,0.071,3079,985,3356
$GC,5987,-0.66,-117.3,392.0,-6.9,256,5991,0.00,2.33,0.00,0.000,6,0.000,0.064,3079,2408,3356
$GC,6308,-0.57,-117.3,413.7,-6.9,262,6310,0.17,0.00,0.00,0.000,6,0.155,0.000,3127,2408,3356
$GC,6612,-0.63,-117.3,428.6,-4.8,267,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2408,3356
$GC,6915,-0.69,-117.3,443.4,-4.9,272,6919,0.00,2.40,0.00,0.000,4,0.000,0.071,3127,992,3356
$GC,6953,-0.76,-117.3,445.7,-5.8,272,6958,0.17,2.30,0.00,0.000,6,0.083,0.064,3064,2401,3356
$GC,7274,-0.64,-117.3,468.9,-7.5,278,7276,0.15,0.00,0.00,0.000,6,0.157,0.000,3104,2401,3356
$GC,7577,-0.64,-117.3,486.1,-5.5,283,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2401,3356
$GC,7880,-0.64,-117.3,503.1,-5.6,288,7884,0.00,2.40,0.00,0.000,4,0.000,0.072,3105,989,3355
$GC,7912,-0.64,-117.3,505.1,-6.4,288,7916,0.00,2.35,0.00,0.000,6,0.000,0.064,3100,2404,3355
$GC,8244,-0.64,-117.3,523.5,-5.6,294,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3355
$GC,8547,-0.64,-117.3,540.7,-5.6,299,8552,0.00,2.40,0.00,0.000,4,0.000,0.072,3100,993,3354
$GC,8580,-0.64,-117.3,542.7,-5.8,299,8584,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2400,3354
$GC,8912,-0.64,-117.3,561.5,-5.6,305,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,9215,-0.64,-117.3,579.7,-6.0,310,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3355
$GC,9519,-0.64,-117.3,598.5,-6.2,315,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3354
$GC,9821,-0.64,-117.3,617.5,-6.2,320,9825,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,988,3354
$GC,9871,-0.64,-117.3,620.8,-7.0,320,9875,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2402,3354
$GC,10186,-0.64,-117.3,638.8,-5.7,326,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2402,3354
$GC,10489,-0.64,-117.3,656.1,-5.8,331,10493,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,993,3354
$GC,10532,-0.64,-117.3,658.9,-6.5,331,10536,0.00,2.33,0.00,0.000,6,0.000,0.065,3100,2406,3353
$GC,10853,-0.64,-117.3,677.7,-5.9,337,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2407,3353
$GC,11156,-0.64,-117.3,696.1,-6.1,342,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3354
$GC,11459,-0.64,-117.3,715.0,-6.2,347,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,3353
$GC,11763,-0.64,-117.3,734.0,-6.3,352,11767,0.00,2.42,0.00,0.000,4,0.000,0.073,3100,994,3353
$GC,11789,-0.64,-117.3,735.9,-7.3,352,11793,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2409,3353
$GC,12127,-0.64,-117.3,757.3,-6.4,358,12131,0.00,2.40,0.00,0.000,4,0.000,0.074,3100,988,3353
$GC,12159,-0.64,-117.3,759.5,-6.4,358,12163,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2399,3353
$GC,12491,-0.64,-117.3,781.6,-6.6,364,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2400,3353
$GC,12794,-0.64,-117.3,801.1,-6.4,369,12798,0.00,2.40,0.00,0.000,4,0.000,0.073,3100,991,3352
$GC,12821,-0.64,-117.3,803.0,-6.0,369,12825,0.00,2.33,0.00,0.000,6,0.000,0.066,3100,2402,3352
$GC,13159,-0.64,-117.3,822.2,-5.6,375,13163,0.00,2.45,0.00,0.000,4,0.000,0.084,3100,3809,3352
$GC,13186,-0.69,-117.3,823.7,-5.4,375,13191,0.00,2.33,0.00,0.000,6,0.000,0.058,3100,2392,3352
$GC,13519,-0.73,-117.3,840.1,-4.9,381,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3352
$GC,13822,-0.77,-117.3,852.9,-4.2,386,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2393,3352
$GC,14126,-0.81,-117.3,865.0,-3.9,391,14128,0.12,0.00,0.00,0.000,6,0.092,0.000,3051,2393,3351
$GC,14428,-0.76,-117.3,880.2,-5.1,396,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2393,3351
$GC,14731,-0.70,-117.3,896.8,-5.5,401,14733,0.12,0.00,0.00,0.000,6,0.114,0.000,3086,2392,3351
$GC,15034,-0.70,-117.3,913.3,-5.5,406,15035,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3351
$GC,15337,-0.70,-117.3,930.9,-5.8,411,15338,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2392,3351
$GC,15640,-0.70,-117.3,949.5,-6.2,416,15644,0.00,2.40,0.00,0.000,4,0.000,0.076,3086,990,3351
$GC,15666,-0.70,-117.3,951.4,-6.0,416,15670,0.00,2.35,0.00,0.000,6,0.000,0.068,3086,2412,3351
$GC,16004,-0.70,-117.3,973.1,-6.5,422,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2412,3351
$STATE,16305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16305,begin apogee
$GC,16311,-0.22,0.0,992.7,6.5,427,16419,0.52,0.00,104.62,1.499,6,0.146,0.000,3243,2191,2876
$STATE,16419,end apogee,CONTROL_FINISHED_OK
$STATE,16420,begin climb
$GC,16422,0.67,117.3,994.8,0.0,428,16535,0.88,0.00,109.85,1.441,6,0.092,0.000,3531,2191,2397
$GC,16787,0.32,117.3,978.8,7.8,434,16789,0.40,0.00,0.00,0.000,6,0.170,0.000,3423,2191,2393
$GC,17090,0.32,117.3,961.9,5.5,439,17091,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2191,2393
$GC,17392,0.32,117.3,944.4,5.8,444,17397,0.00,2.42,0.00,0.000,4,0.000,0.082,3424,786,2393
$GC,17442,0.32,117.3,941.3,5.5,444,17446,0.00,2.35,0.00,0.000,6,0.000,0.064,3424,2208,2393
$GC,17757,0.32,117.3,923.2,5.8,450,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2393
$GC,18061,0.28,117.3,906.4,5.5,455,18062,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2208,2393
$GC,18364,0.24,117.3,890.6,5.2,460,18369,0.12,2.35,0.00,0.000,4,0.175,0.080,3387,3610,2392
$GC,18425,0.24,117.3,887.6,5.4,461,18430,0.00,2.35,0.00,0.000,6,0.000,0.064,3394,2198,2392
$GC,18792,0.33,147.9,872.5,4.1,467,18820,0.00,0.00,26.90,1.404,6,0.000,0.000,3395,2198,2273
$GC,19095,0.44,162.5,858.7,4.6,472,19114,0.15,2.47,14.30,1.335,4,0.092,0.082,3458,3609,2212
$GC,19148,0.27,162.5,855.1,6.7,472,19153,0.20,2.40,0.00,0.000,6,0.172,0.065,3411,2193,2212
$GC,19458,0.33,162.5,839.1,5.1,477,19462,0.00,2.40,0.00,0.000,4,0.000,0.081,3411,786,2211
$GC,19493,0.41,162.5,837.3,5.1,477,19497,0.12,2.33,0.00,0.000,6,0.094,0.063,3457,2203,2211
$GC,19819,0.34,162.5,816.7,6.4,483,19820,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2203,2211
$GC,20122,0.28,162.5,797.3,6.4,488,20124,0.17,0.00,0.00,0.000,6,0.150,0.000,3410,2203,2210
$GC,20425,0.35,166.1,782.2,4.9,493,20434,0.00,2.40,4.60,0.974,4,0.000,0.083,3409,3618,2198
$GC,20462,0.35,166.1,780.0,6.3,493,20466,0.00,2.35,0.00,0.000,6,0.000,0.064,3409,2199,2198
$GC,20795,0.43,166.1,762.9,5.2,499,20797,0.15,0.00,0.00,0.000,6,0.091,0.000,3465,2199,2198
$GC,21098,0.36,166.1,742.6,6.8,504,21100,0.12,0.00,0.00,0.000,6,0.148,0.000,3431,2199,2198
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$GC,21432,0.31,166.1,723.6,5.6,509,21436,0.00,2.38,0.00,0.000,6,0.000,0.064,3436,2194,2198
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