version: 66.03
glider: 120
mission: 9
dive: 643
start: 4 28 109 5 0 47
data:
$ID,120
$MISSION,9
$DIVE,643
$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,-31398.266
$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,18
$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
$GPS1,045325,4952.387,-14511.822,83,1.0,83,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.5
$GPS2,045949,4952.425,-14511.851,13,1.6,13,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,0.078
$KALMAN_X,-105665.5,2.7,72.9,108720.9,-994.7
$KALMAN_Y,153582.5,-214.2,-472.5,-173351.0,2895.4
$MHEAD_RNG_PITCHd_Wd,45.7,37416,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.17,0.000,2,0.000,0.000,141,2409,2511
$GC,63,-0.67,-117.3,3.2,-5.4,3,107,13.57,2.47,-21.88,0.000,4,0.273,0.093,3085,3805,3356
$GC,166,-0.48,-117.3,14.5,-10.6,12,171,0.28,2.33,0.00,0.000,6,0.149,0.054,3162,2393,3358
$GC,496,-0.54,-117.3,37.5,-7.1,42,500,0.00,2.53,0.00,0.000,4,0.000,0.068,3162,990,3358
$GC,531,-0.60,-117.3,40.3,-7.1,44,538,0.12,2.38,0.00,0.000,6,0.077,0.061,3116,2403,3358
$GC,861,-0.60,-117.3,66.4,-8.1,75,867,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2402,3358
$GC,1194,-0.60,-117.3,93.2,-7.7,99,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2402,3358
$GC,1504,-0.60,-117.3,114.5,-6.5,114,1508,0.00,2.40,0.00,0.000,4,0.000,0.079,3113,3805,3358
$GC,1537,-0.60,-117.3,117.0,-6.8,115,1543,0.00,2.33,0.00,0.000,6,0.000,0.051,3113,2389,3358
$GC,1855,-0.60,-117.3,137.3,-6.5,131,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3359
$GC,2183,-0.60,-117.3,160.0,-7.1,145,2187,0.00,2.53,0.00,0.000,4,0.000,0.067,3113,993,3359
$GC,2205,-0.65,-117.3,161.8,-7.4,145,2212,0.00,2.40,0.00,0.000,6,0.000,0.060,3113,2406,3359
$GC,2519,-0.65,-117.3,182.6,-6.4,156,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2406,3359
$GC,2826,-0.65,-117.3,202.2,-6.4,166,2830,0.00,2.42,0.00,0.000,4,0.000,0.080,3113,3815,3359
$GC,2872,-0.70,-117.3,205.4,-6.9,167,2876,0.00,2.35,0.00,0.000,6,0.000,0.052,3113,2393,3359
$GC,3197,-0.75,-117.3,227.4,-6.8,178,3202,0.12,2.47,0.00,0.000,4,0.089,0.067,3064,984,3358
$GC,3254,-0.68,-117.3,232.3,-8.4,179,3261,0.12,2.42,0.00,0.000,6,0.134,0.060,3097,2413,3359
$GC,3568,-0.68,-117.3,255.8,-7.2,190,3572,0.00,2.40,0.00,0.000,4,0.000,0.080,3097,3812,3359
$GC,3618,-0.68,-117.3,259.4,-6.6,191,3623,0.00,2.30,0.00,0.000,6,0.000,0.053,3098,2390,3358
$GC,3939,-0.68,-117.3,278.3,-5.5,202,3943,0.00,2.53,0.00,0.000,4,0.000,0.068,3098,989,3359
$GC,3995,-0.68,-117.3,281.6,-5.3,203,4001,0.00,2.40,0.00,0.000,6,0.000,0.061,3098,2400,3359
$GC,4309,-0.68,-117.3,298.5,-5.4,214,4313,0.00,2.50,0.00,0.000,4,0.000,0.068,3097,994,3359
$GC,4359,-0.68,-117.3,301.5,-6.1,215,4363,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2412,3359
$GC,4670,-0.68,-117.3,319.3,-5.8,220,4675,0.00,2.50,0.00,0.000,4,0.000,0.068,3097,995,3359
$GC,4704,-0.68,-117.3,321.6,-6.2,220,4709,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2402,3359
$GC,5032,-0.68,-117.3,343.6,-6.8,226,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3359
$GC,5335,-0.68,-117.3,365.0,-7.1,231,5339,0.00,2.53,0.00,0.000,4,0.000,0.068,3097,989,3359
$GC,5409,-0.68,-117.3,370.7,-7.4,232,5414,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2401,3359
$GC,5765,-0.68,-117.3,394.3,-6.5,238,5769,0.00,2.47,0.00,0.000,4,0.000,0.069,3098,986,3359
$GC,5798,-0.68,-117.3,396.5,-6.6,238,5802,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2402,3359
$GC,6126,-0.68,-117.3,415.8,-5.9,244,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2401,3359
$GC,6428,-0.68,-117.3,433.5,-5.9,249,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2401,3358
$GC,6731,-0.68,-117.3,451.1,-5.8,254,6736,0.00,2.50,0.00,0.000,4,0.000,0.070,3097,989,3358
$GC,6760,-0.68,-117.3,453.0,-6.2,254,6764,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2411,3358
$GC,7093,-0.68,-117.3,473.2,-6.1,260,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2410,3358
$GC,7396,-0.68,-117.3,491.5,-6.0,265,7400,0.00,2.50,0.00,0.000,4,0.000,0.069,3097,988,3358
$GC,7452,-0.73,-117.3,495.1,-6.9,265,7459,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2409,3358
$GC,7763,-0.73,-117.3,513.1,-5.8,271,7767,0.00,2.50,0.00,0.000,4,0.000,0.070,3098,985,3358
$GC,7792,-0.73,-117.3,514.8,-5.9,271,7796,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2400,3358
$GC,8125,-0.73,-117.3,531.7,-4.9,277,8129,0.00,2.47,0.00,0.000,4,0.000,0.070,3098,990,3358
$GC,8164,-0.73,-117.3,533.7,-4.9,277,8169,0.00,2.42,0.00,0.000,6,0.000,0.061,3098,2403,3358
$GC,8487,-0.73,-117.3,548.9,-4.8,283,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3358
$GC,8790,-0.73,-117.3,565.1,-5.4,288,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3358
$GC,9093,-0.73,-117.3,583.6,-6.1,293,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2402,3358
$GC,9396,-0.73,-117.3,602.5,-6.3,298,9400,0.00,2.50,0.00,0.000,4,0.000,0.070,3098,991,3357
$GC,9430,-0.77,-117.3,604.8,-6.5,298,9434,0.00,2.45,0.00,0.000,6,0.000,0.062,3097,2408,3357
$GC,9758,-0.77,-117.3,623.5,-5.6,304,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2407,3357
$GC,10060,-0.77,-117.3,639.5,-5.3,309,10064,0.00,2.55,0.00,0.000,4,0.000,0.070,3098,992,3357
$GC,10099,-0.82,-117.3,641.9,-6.4,309,10104,0.15,2.42,0.00,0.000,6,0.081,0.061,3045,2401,3356
$GC,10421,-0.76,-117.3,663.2,-6.7,315,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2400,3356
$GC,10726,-0.70,-117.3,683.8,-6.9,320,10727,0.15,0.00,0.00,0.000,6,0.106,0.000,3089,2400,3357
$GC,11027,-0.70,-117.3,701.8,-5.9,325,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3357
$GC,11330,-0.70,-117.3,719.3,-5.8,330,11331,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3357
$GC,11634,-0.70,-117.3,735.9,-5.5,335,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3356
$GC,11938,-0.70,-117.3,751.2,-5.0,340,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3357
$GC,12240,-0.70,-117.3,765.8,-4.8,345,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3357
$GC,12543,-0.70,-117.3,779.2,-4.3,350,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3356
$GC,12846,-0.70,-117.3,792.8,-4.6,355,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3356
$GC,13149,-0.70,-117.3,809.5,-5.6,360,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3356
$GC,13453,-0.70,-117.3,828.6,-6.4,365,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3356
$GC,13755,-0.70,-117.3,848.2,-6.4,370,13756,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2400,3356
$GC,14058,-0.70,-117.3,867.3,-6.2,375,14059,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3356
$GC,14361,-0.70,-117.3,885.7,-6.1,380,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2399,3356
$GC,14664,-0.70,-117.3,903.9,-5.9,385,14668,0.00,2.62,0.00,0.000,4,0.000,0.071,3089,996,3355
$GC,14704,-0.74,-117.3,906.4,-6.7,385,14709,0.00,2.47,0.00,0.000,6,0.000,0.064,3086,2401,3355
$GC,15026,-0.74,-117.3,924.0,-5.4,391,15031,0.00,2.55,0.00,0.000,4,0.000,0.082,3086,3818,3355
$GC,15055,-0.79,-117.3,925.7,-6.1,391,15059,0.00,2.38,0.00,0.000,6,0.000,0.055,3086,2394,3355
$GC,15389,-1.00,-117.3,946.7,-6.5,397,15394,0.22,2.53,0.00,0.000,4,0.084,0.081,2998,3812,3355
$GC,15538,-0.78,-117.3,958.9,-9.0,399,15543,0.25,2.33,0.00,0.000,6,0.156,0.056,3062,2394,3355
$GC,15889,-0.78,-117.3,981.9,-6.3,405,15893,0.00,2.45,0.00,0.000,4,0.000,0.072,3062,995,3355
$GC,15918,-0.78,-117.3,983.9,-7.0,405,15922,0.00,2.45,0.00,0.000,6,0.000,0.064,3059,2411,3355
$STATE,16065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16065,begin apogee
$GC,16074,-0.22,0.0,993.3,6.2,408,16188,0.62,0.00,108.90,1.491,6,0.136,0.000,3245,2196,2876
$STATE,16189,end apogee,CONTROL_FINISHED_OK
$STATE,16189,begin climb
$GC,16193,0.67,117.3,997.3,0.0,410,16318,0.88,2.80,116.18,1.441,4,0.083,0.076,3533,794,2395
$GC,16369,0.32,117.3,995.5,6.6,412,16375,0.45,2.65,0.00,0.000,6,0.172,0.059,3426,2203,2394
$GC,16686,0.32,117.3,979.0,5.2,418,16690,0.00,2.33,0.00,0.000,4,0.000,0.078,3426,3615,2392
$GC,16732,0.21,117.3,976.3,6.0,418,16737,0.17,2.30,0.00,0.000,6,0.171,0.061,3389,2190,2392
$GC,17054,0.31,127.5,961.2,4.7,424,17069,0.00,2.42,9.68,1.298,4,0.000,0.078,3395,784,2356
$GC,17117,0.41,127.5,958.1,5.4,425,17122,0.15,2.38,0.00,0.000,6,0.081,0.060,3458,2205,2356
$GC,17484,0.29,127.5,933.4,6.8,431,17489,0.15,2.38,0.00,0.000,4,0.150,0.080,3411,3615,2356
$GC,17523,0.29,127.5,930.7,6.0,431,17527,0.00,2.30,0.00,0.000,6,0.000,0.061,3420,2195,2356
$GC,17846,0.29,127.5,912.8,5.5,437,17847,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2196,2355
$GC,18148,0.29,129.1,897.6,5.0,442,18153,0.00,2.45,0.00,0.000,4,0.000,0.077,3421,792,2355
$GC,18201,0.31,140.3,895.0,4.7,442,18221,0.00,2.38,12.75,1.338,6,0.000,0.060,3421,2209,2304
$GC,18584,0.33,157.8,877.5,4.5,449,18603,0.00,0.00,17.38,1.365,6,0.000,0.000,3421,2209,2232
$GC,18886,0.35,176.3,864.0,4.5,454,18906,0.00,0.00,17.83,1.355,6,0.000,0.000,3421,2208,2157
$GC,19190,0.42,186.7,849.6,4.7,459,19203,0.00,0.00,10.98,1.284,6,0.000,0.000,3421,2208,2114
$GC,19493,0.49,186.7,834.2,5.1,464,19498,0.15,2.40,0.00,0.000,4,0.083,0.080,3494,3614,2111
$GC,19533,0.25,186.7,831.0,8.7,464,19538,0.38,2.33,0.00,0.000,6,0.164,0.062,3400,2193,2111
$GC,19855,0.39,186.7,814.1,5.2,470,19860,0.12,2.45,0.00,0.000,4,0.083,0.077,3449,782,2112
$GC,19889,0.39,186.7,811.9,5.9,470,19893,0.00,2.38,0.00,0.000,6,0.000,0.061,3450,2203,2112
$GC,20217,0.39,186.7,789.3,6.9,476,20221,0.00,2.42,0.00,0.000,4,0.000,0.081,3450,3615,2112
$GC,20256,0.30,186.7,786.1,7.5,476,20261,0.12,2.33,0.00,0.000,6,0.170,0.061,3420,2202,2111
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$GC,20882,0.47,186.7,749.7,5.7,487,20887,0.15,2.60,0.00,0.000,4,0.081,0.076,3490,780,2111
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