version: 66.03
glider: 120
mission: 9
dive: 287
start: 12 14 108 11 55 23
data:
$ID,120
$MISSION,9
$DIVE,287
$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,-23683.779
$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,21
$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
$GPS1,114237,5002.825,-14427.993,58,1.3,58,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-71.6
$GPS2,115427,5002.853,-14428.133,14,1.6,14,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.178
$KALMAN_X,26182.6,159.9,260.8,-951.6,-736.4
$KALMAN_Y,222878.4,52.7,-104.1,-227823.0,2746.7
$MHEAD_RNG_PITCHd_Wd,159.7,16500,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.67,-117.3,0.0,0.0,0,35,0.00,0.00,-11.07,0.000,2,0.000,0.000,135,2402,1927
$GC,38,-0.67,-117.3,3.6,-0.0,1,114,13.75,2.50,-56.30,0.000,4,0.280,0.081,3095,985,3356
$GC,272,-0.46,-117.3,23.3,-10.6,22,277,0.25,2.35,0.00,0.000,6,0.156,0.064,3166,2407,3357
$GC,597,-0.46,-117.3,50.7,-6.9,52,598,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2407,3358
$GC,915,-0.46,-117.3,73.5,-9.4,82,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2407,3358
$GC,1239,-0.52,-117.3,94.9,-6.0,102,1243,0.00,2.42,0.00,0.000,4,0.000,0.067,3166,989,3358
$GC,1266,-0.57,-117.3,96.9,-6.9,103,1270,0.00,2.33,0.00,0.000,6,0.000,0.061,3166,2401,3359
$GC,1582,-0.64,-117.3,116.4,-6.4,118,1587,0.15,2.42,0.00,0.000,4,0.079,0.065,3100,989,3359
$GC,1628,-0.53,-117.3,120.2,-9.4,120,1632,0.17,2.33,0.00,0.000,6,0.152,0.061,3147,2411,3359
$GC,1948,-0.53,-117.3,139.9,-5.6,136,1952,0.00,2.35,0.00,0.000,4,0.000,0.078,3141,3812,3359
$GC,2037,-0.63,-117.3,145.2,-6.2,140,2041,0.00,2.35,0.00,0.000,6,0.000,0.052,3141,2391,3359
$GC,2376,-0.70,-117.3,163.3,-5.3,153,2381,0.15,2.38,0.00,0.000,4,0.083,0.067,3078,993,3359
$GC,2454,-0.60,-117.3,169.8,-9.0,155,2458,0.15,2.30,0.00,0.000,6,0.153,0.063,3119,2404,3359
$GC,2772,-0.60,-117.3,192.3,-7.2,166,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2404,3359
$GC,3077,-0.60,-117.3,213.6,-6.9,176,3082,0.00,2.42,0.00,0.000,4,0.000,0.068,3119,990,3359
$GC,3110,-0.60,-117.3,216.1,-7.7,177,3114,0.00,2.30,0.00,0.000,6,0.000,0.061,3114,2402,3359
$GC,3445,-0.60,-117.3,239.6,-6.8,188,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3359
$GC,3752,-0.60,-117.3,259.4,-6.4,198,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3359
$GC,4058,-0.60,-117.3,279.1,-6.5,208,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3358
$GC,4364,-0.60,-117.3,298.9,-6.6,218,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2402,3358
$GC,4698,-0.60,-117.3,321.5,-6.8,224,4702,0.00,2.42,0.00,0.000,4,0.000,0.070,3114,985,3358
$GC,4725,-0.60,-117.3,323.5,-6.9,224,4729,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2398,3358
$GC,5062,-0.60,-117.3,345.6,-6.6,230,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2398,3357
$GC,5365,-0.60,-117.3,364.8,-6.3,235,5369,0.00,2.42,0.00,0.000,4,0.000,0.071,3114,993,3357
$GC,5392,-0.60,-117.3,366.5,-6.2,235,5396,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2412,3357
$GC,5730,-0.60,-117.3,385.9,-5.8,241,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3357
$GC,6032,-0.60,-117.3,405.1,-6.4,246,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2412,3357
$GC,6336,-0.60,-117.3,426.0,-6.9,251,6340,0.00,2.45,0.00,0.000,4,0.000,0.071,3114,990,3356
$GC,6363,-0.64,-117.3,428.0,-7.3,251,6366,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2404,3356
$GC,6701,-0.64,-117.3,449.9,-6.5,257,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2404,3356
$GC,7003,-0.64,-117.3,468.6,-6.1,262,7007,0.00,2.45,0.00,0.000,4,0.000,0.070,3114,985,3356
$GC,7030,-0.69,-117.3,470.3,-6.3,262,7034,0.00,2.33,0.00,0.000,6,0.000,0.064,3114,2406,3356
$GC,7362,-0.73,-117.3,491.1,-6.3,268,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2406,3356
$GC,7665,-0.77,-117.3,509.9,-6.1,273,7667,0.15,0.00,0.00,0.000,6,0.084,0.000,3056,2406,3355
$GC,7968,-0.70,-117.3,533.3,-7.8,278,7973,0.12,2.42,0.00,0.000,4,0.108,0.071,3092,986,3355
$GC,7994,-0.70,-117.3,535.6,-7.9,278,7998,0.00,2.35,0.00,0.000,6,0.000,0.065,3092,2405,3355
$GC,8332,-0.70,-117.3,559.2,-7.0,284,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3355
$GC,8636,-0.70,-117.3,578.6,-6.4,289,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3355
$GC,8938,-0.70,-117.3,596.5,-5.8,294,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3355
$GC,9241,-0.70,-117.3,615.2,-6.2,299,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3354
$GC,9545,-0.70,-117.3,634.0,-6.1,304,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3354
$GC,9848,-0.70,-117.3,650.4,-5.3,309,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3354
$GC,10151,-0.70,-117.3,666.5,-5.3,314,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3354
$GC,10454,-0.70,-117.3,683.2,-5.5,319,10458,0.00,2.42,0.00,0.000,4,0.000,0.072,3092,995,3354
$GC,10480,-0.70,-117.3,684.9,-6.2,319,10485,0.00,2.35,0.00,0.000,6,0.000,0.066,3092,2405,3354
$GC,10819,-0.70,-117.3,704.1,-5.8,325,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2405,3354
$GC,11122,-0.70,-117.3,722.0,-6.0,330,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2405,3354
$GC,11424,-0.70,-117.3,740.5,-6.1,335,11429,0.00,2.45,0.00,0.000,4,0.000,0.073,3092,989,3353
$GC,11463,-0.70,-117.3,743.0,-6.0,335,11467,0.00,2.35,0.00,0.000,6,0.000,0.066,3092,2398,3353
$GC,11789,-0.70,-117.3,761.9,-5.8,341,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3353
$GC,12093,-0.70,-117.3,779.1,-5.6,346,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3353
$GC,12395,-0.70,-117.3,795.1,-5.2,351,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2398,3353
$GC,12698,-0.70,-117.3,810.3,-5.1,356,12703,0.00,2.38,0.00,0.000,4,0.000,0.074,3092,987,3353
$GC,12742,-0.70,-117.3,812.7,-6.2,356,12746,0.00,2.35,0.00,0.000,6,0.000,0.067,3092,2413,3352
$GC,13064,-0.70,-117.3,828.5,-5.0,362,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2412,3353
$GC,13367,-0.70,-117.3,842.8,-4.7,367,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2412,3352
$GC,13670,-0.70,-117.3,857.5,-4.9,372,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2413,3352
$GC,13973,-0.70,-117.3,872.7,-5.0,377,13977,0.00,2.38,0.00,0.000,4,0.000,0.074,3092,986,3352
$GC,14005,-0.70,-117.3,874.5,-5.5,377,14009,0.00,2.35,0.00,0.000,6,0.000,0.067,3092,2406,3352
$GC,14338,-0.70,-117.3,890.8,-4.9,383,14342,0.00,2.38,0.00,0.000,4,0.000,0.084,3090,3814,3352
$GC,14364,-0.70,-117.3,892.3,-5.8,383,14368,0.00,2.33,0.00,0.000,6,0.000,0.058,3089,2402,3352
$GC,14702,-0.70,-117.3,908.6,-4.8,389,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2402,3352
$GC,15006,-0.70,-117.3,923.0,-4.7,394,15010,0.00,2.40,0.00,0.000,4,0.000,0.074,3090,987,3352
$GC,15050,-0.70,-117.3,925.4,-5.0,394,15055,0.00,2.33,0.00,0.000,6,0.000,0.065,3088,2404,3352
$GC,15366,-0.70,-117.3,940.4,-4.7,400,15370,0.00,2.38,0.00,0.000,4,0.000,0.085,3088,3815,3352
$GC,15398,-0.70,-117.3,942.0,-5.3,400,15402,0.00,2.33,0.00,0.000,6,0.000,0.059,3088,2400,3351
$GC,15731,-0.70,-117.3,958.2,-4.9,406,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3351
$GC,16033,-0.70,-117.3,973.7,-5.1,411,16035,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,3351
$GC,16336,-0.70,-117.3,989.5,-5.2,416,16341,0.00,2.40,0.00,0.000,4,0.000,0.075,3089,986,3351
$STATE,16345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16345,begin apogee
$GC,16353,-0.22,0.0,990.1,5.1,416,16462,0.47,0.00,105.38,1.496,6,0.144,0.000,3236,2210,2876
$STATE,16462,end apogee,CONTROL_FINISHED_OK
$STATE,16462,begin climb
$GC,16465,0.67,117.3,994.0,0.0,418,16582,0.93,2.67,110.75,1.439,4,0.091,0.078,3533,3608,2396
$GC,16599,0.21,117.3,993.1,5.4,420,16604,0.57,2.58,0.00,0.000,6,0.187,0.064,3393,2205,2395
$GC,16949,0.29,134.3,977.0,4.5,426,16970,0.00,2.50,16.23,1.363,4,0.000,0.079,3395,786,2328
$GC,17015,0.42,162.7,973.6,4.2,427,17050,0.17,2.35,26.90,1.396,6,0.085,0.061,3460,2200,2212
$GC,17377,0.34,162.7,948.1,7.2,433,17382,0.12,2.38,0.00,0.000,4,0.150,0.079,3428,3609,2208
$GC,17443,0.28,162.7,943.3,6.7,434,17447,0.00,2.38,0.00,0.000,6,0.000,0.063,3436,2187,2208
$GC,17803,0.28,162.7,920.3,6.4,440,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2187,2207
$GC,18106,0.28,162.7,901.0,6.4,445,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2187,2208
$GC,18409,0.28,162.7,881.4,6.5,450,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2187,2208
$GC,18712,0.28,162.7,862.4,6.2,455,18716,0.00,2.45,0.00,0.000,4,0.000,0.081,3436,3609,2207
$GC,18740,0.22,162.7,860.6,6.4,455,18744,0.17,2.38,0.00,0.000,6,0.179,0.064,3392,2196,2207
$GC,19072,0.35,163.5,844.1,5.0,461,19074,0.12,0.00,0.00,0.000,6,0.092,0.000,3436,2196,2207
$GC,19374,0.40,163.5,828.1,5.3,466,19376,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2196,2207
$GC,19678,0.44,163.5,812.0,5.3,471,19679,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2196,2207
$GC,19981,0.49,163.5,796.0,5.2,476,19983,0.12,0.00,0.00,0.000,6,0.102,0.000,3490,2196,2207
$GC,20284,0.34,163.5,774.2,7.3,481,20289,0.20,2.45,0.00,0.000,4,0.155,0.078,3436,789,2207
$GC,20321,0.34,163.5,771.8,5.5,481,20325,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2211,2207
$GC,20648,0.34,163.5,753.3,5.7,487,20649,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2207
$GC,20952,0.34,163.5,735.7,5.8,492,20953,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2210,2207
$GC,21254,0.34,163.5,718.5,5.7,497,21255,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2207
$GC,21557,0.34,163.5,702.6,5.2,502,21561,0.00,2.47,0.00,0.000,4,0.000,0.079,3436,792,2207
$GC,21607,0.37,188.6,700.0,4.3,502,21637,0.00,2.30,22.80,1.292,6,0.000,0.063,3436,2203,2106
$GC,21987,0.37,188.6,680.2,5.4,509,21992,0.00,2.40,0.00,0.000,4,0.000,0.082,3436,3617,2103
$GC,22031,0.37,188.6,677.5,5.7,509,22035,0.00,2.40,0.00,0.000,6,0.000,0.064,3436,2201,2103
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$STATE,33667,begin surface coast
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$STATE,33756,end surface coast,CONTROL_FINISHED_OK
$STATE,33756,begin surface
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