version: 66.03
glider: 120
mission: 9
dive: 503
start: 3 6 109 4 33 49
data:
$ID,120
$MISSION,9
$DIVE,503
$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,275
$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,-28582.023
$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,21
$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
$GPS1,042237,5013.888,-14457.248,29,1.8,29,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-77.5
$GPS2,043255,5013.875,-14457.248,14,2.0,31,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,0.115
$KALMAN_X,-27974.9,412.4,262.2,47776.7,-1012.4
$KALMAN_Y,88760.2,95.2,-177.3,-69429.5,284.2
$MHEAD_RNG_PITCHd_Wd,291.8,21822,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,39,0.00,0.00,-10.35,0.000,2,0.000,0.000,139,2410,1941
$GC,43,-0.67,-117.3,3.4,-0.0,1,122,14.02,2.47,-57.55,0.000,4,0.282,0.081,3094,993,3355
$GC,168,-0.47,-117.3,10.0,-10.4,12,175,0.25,2.33,0.00,0.000,6,0.154,0.063,3165,2398,3356
$GC,496,-0.53,-117.3,33.0,-6.8,43,502,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2398,3357
$GC,824,-0.60,-117.3,53.6,-6.0,74,831,0.12,0.00,0.00,0.000,6,0.081,0.000,3115,2398,3357
$GC,1150,-0.60,-117.3,77.6,-7.5,105,1154,0.00,2.38,0.00,0.000,4,0.000,0.069,3115,990,3357
$GC,1184,-0.60,-117.3,80.4,-8.1,107,1190,0.00,2.33,0.00,0.000,6,0.000,0.061,3115,2415,3357
$GC,1500,-0.53,-117.3,106.5,-8.4,123,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2414,3357
$GC,1809,-0.53,-117.3,130.7,-7.8,138,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2414,3357
$GC,2139,-0.53,-117.3,154.3,-6.6,153,2143,0.00,2.40,0.00,0.000,4,0.000,0.068,3115,987,3357
$GC,2167,-0.53,-117.3,156.3,-6.8,153,2173,0.00,2.30,0.00,0.000,6,0.000,0.060,3115,2399,3357
$GC,2481,-0.53,-117.3,175.7,-5.9,164,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,2786,-0.53,-117.3,193.2,-5.9,174,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,3093,-0.53,-117.3,210.2,-5.5,184,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,3398,-0.53,-117.3,226.1,-5.2,194,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,3705,-0.53,-117.3,242.5,-5.5,204,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,4011,-0.53,-117.3,260.0,-5.9,214,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,4318,-0.58,-117.3,278.4,-6.0,224,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,4623,-0.62,-117.3,295.8,-5.5,234,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,4958,-0.67,-117.3,312.9,-5.1,241,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2398,3357
$GC,5261,-0.72,-117.3,328.3,-5.1,246,5265,0.00,2.38,0.00,0.000,4,0.000,0.071,3115,991,3357
$GC,5297,-0.79,-117.3,330.2,-5.6,246,5302,0.17,2.33,0.00,0.000,6,0.081,0.061,3050,2404,3357
$GC,5624,-0.70,-117.3,355.8,-8.1,252,5625,0.15,0.00,0.00,0.000,6,0.109,0.000,3094,2403,3357
$GC,5926,-0.70,-117.3,379.0,-7.6,257,5930,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,993,3357
$GC,5983,-0.70,-117.3,383.4,-7.9,257,5989,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2400,3357
$GC,6293,-0.70,-117.3,405.1,-6.9,263,6297,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,989,3357
$GC,6326,-0.70,-117.3,407.4,-7.4,263,6330,0.00,2.33,0.00,0.000,6,0.000,0.063,3094,2399,3357
$GC,6653,-0.70,-117.3,428.6,-6.5,269,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3357
$GC,6956,-0.70,-117.3,446.8,-6.0,274,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2399,3357
$GC,7259,-0.70,-117.3,464.3,-5.7,279,7263,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,989,3357
$GC,7292,-0.70,-117.3,466.4,-6.4,279,7296,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2408,3356
$GC,7625,-0.70,-117.3,484.4,-5.3,285,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2408,3357
$GC,7928,-0.70,-117.3,501.7,-5.8,290,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3356
$GC,8231,-0.70,-117.3,520.9,-6.4,295,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3356
$GC,8534,-0.70,-117.3,541.1,-6.7,300,8538,0.00,2.40,0.00,0.000,4,0.000,0.071,3095,981,3356
$GC,8578,-0.70,-117.3,544.3,-7.2,300,8582,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2398,3355
$GC,8893,-0.70,-117.3,563.6,-6.1,306,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2398,3356
$GC,9197,-0.70,-117.3,581.2,-5.7,311,9201,0.00,2.38,0.00,0.000,4,0.000,0.072,3094,992,3356
$GC,9235,-0.70,-117.3,583.7,-7.0,311,9240,0.00,2.35,0.00,0.000,6,0.000,0.063,3094,2413,3355
$GC,9556,-0.70,-117.3,602.9,-5.9,317,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2412,3355
$GC,9860,-0.70,-117.3,621.2,-6.1,322,9864,0.00,2.42,0.00,0.000,4,0.000,0.072,3094,982,3356
$GC,9905,-0.70,-117.3,624.1,-6.2,322,9909,0.00,2.35,0.00,0.000,6,0.000,0.064,3095,2399,3355
$GC,10220,-0.70,-117.3,643.0,-5.9,328,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2399,3355
$GC,10523,-0.70,-117.3,659.7,-5.4,333,10527,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,989,3355
$GC,10556,-0.70,-117.3,661.8,-6.4,333,10560,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2402,3355
$GC,10883,-0.70,-117.3,678.9,-5.2,339,10887,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,990,3355
$GC,10910,-0.70,-117.3,680.4,-5.6,339,10914,0.00,2.35,0.00,0.000,6,0.000,0.063,3094,2408,3355
$GC,11243,-0.70,-117.3,696.5,-4.9,345,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3355
$GC,11546,-0.70,-117.3,712.1,-5.2,350,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3355
$GC,11850,-0.70,-117.3,727.9,-5.2,355,11854,0.00,2.42,0.00,0.000,4,0.000,0.071,3094,988,3355
$GC,11877,-0.70,-117.3,729.6,-5.8,355,11881,0.00,2.35,0.00,0.000,6,0.000,0.063,3094,2408,3355
$GC,12215,-0.70,-117.3,748.2,-5.5,361,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3355
$GC,12518,-0.70,-117.3,764.8,-5.5,366,12522,0.00,2.40,0.00,0.000,4,0.000,0.072,3094,988,3354
$GC,12552,-0.74,-117.3,767.0,-6.4,366,12557,0.00,2.35,0.00,0.000,6,0.000,0.064,3094,2401,3354
$GC,12879,-0.74,-117.3,785.4,-5.6,372,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3354
$GC,13182,-0.74,-117.3,801.4,-5.2,377,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2401,3354
$GC,13487,-0.78,-117.3,815.9,-4.7,382,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2401,3354
$GC,13789,-0.83,-117.3,830.7,-4.9,387,13791,0.15,0.00,0.00,0.000,6,0.084,0.000,3037,2401,3354
$GC,14092,-0.77,-117.3,850.5,-6.7,392,14097,0.12,2.40,0.00,0.000,4,0.104,0.073,3074,993,3354
$GC,14147,-0.77,-117.3,854.5,-7.8,392,14154,0.00,2.35,0.00,0.000,6,0.000,0.066,3073,2407,3353
$GC,14458,-0.77,-117.3,874.3,-6.3,398,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3354
$GC,14761,-0.77,-117.3,894.2,-6.5,403,14762,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2407,3354
$GC,15064,-0.77,-117.3,913.3,-6.3,408,15068,0.00,2.42,0.00,0.000,4,0.000,0.073,3073,986,3353
$GC,15114,-0.77,-117.3,916.8,-7.1,408,15118,0.00,2.38,0.00,0.000,6,0.000,0.065,3073,2410,3353
$GC,15424,-0.77,-117.3,936.9,-6.5,413,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3353
$GC,15727,-0.77,-117.3,956.5,-6.5,418,15728,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3353
$GC,16030,-0.77,-117.3,976.4,-6.5,423,16031,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3353
$STATE,16269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16269,begin apogee
$GC,16277,-0.22,0.0,991.0,6.0,427,16392,0.57,0.00,109.03,1.485,6,0.138,0.000,3247,2197,2875
$STATE,16393,end apogee,CONTROL_FINISHED_OK
$STATE,16393,begin climb
$GC,16397,0.67,117.3,995.0,0.0,429,16522,0.85,2.70,114.38,1.430,4,0.091,0.077,3534,790,2396
$GC,16591,0.34,117.3,990.7,7.7,432,16596,0.40,2.47,0.00,0.000,6,0.170,0.061,3431,2203,2394
$GC,16959,0.30,117.3,969.1,5.9,438,16963,0.00,2.35,0.00,0.000,4,0.000,0.080,3431,3610,2392
$GC,16994,0.19,117.3,966.6,6.9,438,16999,0.22,2.30,0.00,0.000,6,0.176,0.062,3379,2192,2392
$GC,17321,0.32,131.0,951.3,4.6,444,17336,0.12,0.00,12.95,1.335,6,0.084,0.000,3425,2192,2341
$GC,17625,0.36,131.0,934.1,5.7,449,17629,0.00,2.40,0.00,0.000,4,0.000,0.082,3425,3612,2340
$GC,17664,0.29,131.0,931.3,6.8,449,17668,0.00,2.30,0.00,0.000,6,0.000,0.064,3426,2194,2340
$GC,17985,0.29,131.0,911.1,6.3,455,17986,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2194,2340
$GC,18288,0.29,131.0,892.5,6.1,460,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2194,2340
$GC,18592,0.29,131.0,874.6,5.9,465,18596,0.00,2.38,0.00,0.000,4,0.000,0.080,3429,789,2339
$GC,18625,0.29,131.0,872.5,5.8,465,18629,0.00,2.33,0.00,0.000,6,0.000,0.061,3429,2207,2340
$GC,18951,0.29,131.0,855.0,5.4,471,18953,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2206,2340
$GC,19255,0.29,134.0,840.1,4.9,476,19264,0.00,2.40,4.45,0.969,4,0.000,0.079,3436,791,2329
$GC,19311,0.30,137.9,837.3,4.9,476,19322,0.00,2.33,5.10,1.035,6,0.000,0.063,3436,2211,2313
$GC,19626,0.31,148.8,822.4,4.7,482,19640,0.00,0.00,11.43,1.280,6,0.000,0.000,3436,2211,2269
$GC,19929,0.32,157.8,808.1,4.7,487,19944,0.00,2.45,9.77,1.242,4,0.000,0.081,3436,784,2232
$GC,19985,0.35,182.7,805.3,4.3,487,20015,0.00,2.33,23.98,1.328,6,0.000,0.062,3436,2201,2129
$GC,20360,0.35,182.7,784.8,5.5,494,20364,0.00,2.35,0.00,0.000,4,0.000,0.081,3436,3608,2127
$GC,20405,0.35,182.7,781.8,6.8,494,20409,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2193,2126
$GC,20722,0.39,182.7,764.2,5.6,500,20723,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2126
$GC,21023,0.39,182.7,747.7,5.5,505,21024,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2193,2125
$GC,21326,0.39,182.7,731.8,5.2,510,21330,0.00,2.40,0.00,0.000,4,0.000,0.080,3436,783,2125
$GC,21366,0.45,182.7,729.8,5.4,510,21370,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2202,2126
$GC,21688,0.45,182.7,713.3,5.1,516,21689,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2202,2125
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$GC,22029,0.45,182.7,694.6,6.1,521,22033,0.00,2.33,0.00,0.000,6,0.000,0.063,3436,2196,2125
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