version: 66.03
glider: 120
mission: 9
dive: 192
start: 11 8 108 9 46 28
data:
$ID,120
$MISSION,9
$DIVE,192
$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,-21660.455
$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
$GPS1,094008,5007.273,-14449.084,42,0.9,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-75.2
$GPS2,094533,5007.333,-14449.046,13,1.1,13,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.090
$KALMAN_X,36920.8,443.6,13.0,-36589.6,-2593.0
$KALMAN_Y,149671.6,100.2,-23.2,-146442.4,314.7
$MHEAD_RNG_PITCHd_Wd,41.2,34013,-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,21,-0.67,-117.3,0.0,0.0,0,54,0.00,0.00,-31.60,0.000,2,0.000,0.000,144,2416,2461
$GC,57,-0.67,-117.3,3.8,-6.7,3,101,13.85,2.40,-23.23,0.000,4,0.284,0.081,3094,991,3356
$GC,353,-0.41,-117.3,42.2,-12.3,29,360,0.22,2.38,0.00,0.000,6,0.157,0.064,3178,2400,3359
$GC,681,-0.49,-117.3,70.1,-7.3,60,685,0.00,2.38,0.00,0.000,4,0.000,0.080,3178,3813,3359
$GC,743,-0.64,-117.3,74.1,-5.9,65,748,0.20,2.28,0.00,0.000,6,0.078,0.052,3106,2391,3359
$GC,1060,-0.49,-117.3,102.6,-9.1,83,1062,0.17,0.00,0.00,0.000,6,0.153,0.000,3153,2391,3360
$GC,1369,-0.49,-117.3,123.3,-6.6,98,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2391,3361
$GC,1678,-0.49,-117.3,141.9,-5.2,113,1682,0.00,2.30,0.00,0.000,4,0.000,0.068,3153,990,3361
$GC,1705,-0.49,-117.3,143.3,-5.4,114,1709,0.00,2.33,0.00,0.000,6,0.000,0.061,3153,2415,3361
$GC,2025,-0.56,-117.3,160.2,-5.6,127,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2415,3361
$GC,2331,-0.64,-117.3,176.4,-5.1,137,2336,0.12,2.35,0.00,0.000,4,0.085,0.078,3101,3818,3361
$GC,2359,-0.64,-117.3,178.2,-7.1,138,2363,0.00,2.28,0.00,0.000,6,0.000,0.054,3101,2396,3361
$GC,2694,-0.59,-117.3,201.3,-7.1,149,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3361
$GC,3000,-0.59,-117.3,223.7,-7.2,159,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3360
$GC,3306,-0.59,-117.3,244.4,-6.5,169,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,3360
$GC,3613,-0.59,-117.3,263.5,-6.2,179,3617,0.00,2.33,0.00,0.000,4,0.000,0.072,3101,990,3359
$GC,3639,-0.59,-117.3,265.6,-7.6,179,3646,0.00,2.33,0.00,0.000,6,0.000,0.063,3101,2398,3359
$GC,3953,-0.53,-117.3,287.5,-7.2,190,3957,0.15,2.35,0.00,0.000,4,0.160,0.080,3141,3807,3359
$GC,3996,-0.63,-117.3,290.3,-6.0,191,4000,0.00,2.25,0.00,0.000,6,0.000,0.056,3141,2403,3359
$GC,4343,-0.87,-117.3,313.8,-7.0,200,4348,0.28,2.42,0.00,0.000,4,0.092,0.079,3037,3818,3359
$GC,4500,-0.64,-117.3,329.8,-10.9,202,4505,0.25,2.28,0.00,0.000,6,0.171,0.058,3104,2399,3358
$GC,4837,-0.59,-117.3,355.7,-7.6,208,4841,0.00,2.33,0.00,0.000,4,0.000,0.071,3104,990,3357
$GC,4880,-0.59,-117.3,359.1,-7.2,208,4884,0.00,2.33,0.00,0.000,6,0.000,0.064,3100,2398,3358
$GC,5201,-0.53,-117.3,382.1,-7.2,214,5203,0.17,0.00,0.00,0.000,6,0.163,0.000,3147,2398,3357
$GC,5505,-0.75,-117.3,401.9,-6.7,219,5510,0.17,2.35,0.00,0.000,4,0.093,0.072,3081,989,3357
$GC,5610,-0.75,-117.3,410.3,-7.6,220,5614,0.00,2.35,0.00,0.000,6,0.000,0.064,3081,2403,3357
$GC,5937,-0.67,-117.3,435.7,-7.8,226,5941,0.00,2.38,0.00,0.000,4,0.000,0.082,3081,3819,3357
$GC,5981,-0.58,-117.3,439.3,-8.5,226,5986,0.17,2.28,0.00,0.000,6,0.157,0.058,3129,2398,3357
$GC,6295,-0.64,-117.3,458.0,-5.9,232,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3357
$GC,6598,-0.69,-117.3,476.1,-5.9,237,6603,0.12,2.35,0.00,0.000,4,0.091,0.072,3082,987,3356
$GC,6648,-0.62,-117.3,479.8,-8.0,237,6652,0.12,2.33,0.00,0.000,6,0.164,0.065,3113,2407,3356
$GC,6957,-0.62,-117.3,499.6,-6.4,242,6961,0.00,2.35,0.00,0.000,4,0.000,0.084,3113,3813,3356
$GC,6989,-0.62,-117.3,501.9,-6.3,242,6993,0.00,2.30,0.00,0.000,6,0.000,0.058,3113,2404,3356
$GC,7321,-0.62,-117.3,522.9,-6.4,248,7325,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,984,3355
$GC,7347,-0.62,-117.3,524.9,-7.3,248,7352,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2411,3355
$GC,7685,-0.62,-117.3,547.4,-6.7,254,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3355
$GC,7988,-0.62,-117.3,567.3,-6.5,259,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2411,3355
$GC,8291,-0.62,-117.3,586.0,-6.1,264,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3355
$GC,8595,-0.62,-117.3,603.9,-5.9,269,8599,0.00,2.38,0.00,0.000,4,0.000,0.073,3113,991,3355
$GC,8627,-0.62,-117.3,606.0,-5.8,269,8631,0.00,2.35,0.00,0.000,6,0.000,0.065,3112,2398,3355
$GC,8959,-0.62,-117.3,624.1,-5.4,275,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,9262,-0.62,-117.3,639.6,-5.1,280,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,9565,-0.62,-117.3,655.6,-5.3,285,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,9868,-0.62,-117.3,672.5,-5.5,290,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,10172,-0.62,-117.3,689.3,-5.6,295,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,10475,-0.66,-117.3,706.2,-5.6,300,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,10777,-0.66,-117.3,722.5,-5.3,305,10779,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3354
$GC,11082,-0.71,-117.3,737.5,-4.9,310,11086,0.00,2.38,0.00,0.000,4,0.000,0.074,3113,986,3353
$GC,11108,-0.75,-117.3,738.9,-5.4,310,11113,0.12,2.38,0.00,0.000,6,0.092,0.067,3066,2394,3353
$GC,11446,-0.75,-117.3,757.8,-5.7,316,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2394,3352
$GC,11748,-0.75,-117.3,775.8,-6.0,321,11752,0.00,2.40,0.00,0.000,4,0.000,0.084,3066,3812,3353
$GC,11787,-0.67,-117.3,778.4,-7.3,321,11792,0.12,2.28,0.00,0.000,6,0.126,0.059,3099,2397,3352
$GC,12107,-0.67,-117.3,797.0,-5.8,327,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,12410,-0.67,-117.3,815.3,-6.1,332,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3353
$GC,12713,-0.67,-117.3,833.7,-6.1,337,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3353
$GC,13016,-0.67,-117.3,851.8,-6.0,342,13018,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3352
$GC,13319,-0.67,-117.3,869.3,-5.7,347,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,13623,-0.67,-117.3,885.5,-5.4,352,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,13925,-0.67,-117.3,900.8,-5.0,357,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,14229,-0.67,-117.3,915.8,-5.0,362,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3352
$GC,14532,-0.67,-117.3,930.5,-4.8,367,14536,0.00,2.35,0.00,0.000,4,0.000,0.076,3099,994,3352
$GC,14564,-0.67,-117.3,932.2,-5.0,367,14569,0.00,2.35,0.00,0.000,6,0.000,0.068,3099,2398,3351
$GC,14897,-0.67,-117.3,947.8,-4.7,373,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3352
$GC,15200,-0.67,-117.3,962.3,-4.8,378,15205,0.00,2.38,0.00,0.000,4,0.000,0.076,3099,989,3351
$GC,15227,-0.67,-117.3,963.8,-5.7,378,15231,0.00,2.33,0.00,0.000,6,0.000,0.068,3099,2401,3351
$GC,15565,-0.67,-117.3,981.3,-5.3,384,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3351
$STATE,15745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15745,begin apogee
$GC,15750,-0.22,0.0,991.3,5.5,387,15856,0.47,0.00,102.93,1.501,6,0.150,0.000,3241,2191,2876
$STATE,15856,end apogee,CONTROL_FINISHED_OK
$STATE,15857,begin climb
$GC,15859,0.67,117.3,993.3,0.0,388,15974,0.90,2.65,107.93,1.449,4,0.097,0.081,3532,800,2395
$GC,16035,0.30,117.3,991.9,7.9,391,16041,0.45,2.50,0.00,0.000,6,0.189,0.064,3421,2204,2393
$GC,16351,0.26,132.4,977.0,4.6,397,16366,0.00,0.00,14.00,1.345,6,0.000,0.000,3421,2204,2336
$GC,16653,0.26,132.4,961.8,5.1,402,16654,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2204,2335
$GC,16956,0.26,132.4,945.8,5.3,407,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2204,2335
$GC,17259,0.26,132.4,928.6,5.7,412,17263,0.00,2.42,0.00,0.000,4,0.000,0.081,3421,801,2335
$GC,17297,0.26,132.4,926.5,5.7,412,17301,0.00,2.35,0.00,0.000,6,0.000,0.065,3422,2206,2334
$GC,17623,0.26,132.4,907.5,5.8,418,17624,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2334
$GC,17926,0.26,132.4,889.0,6.1,423,17927,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2334
$GC,18229,0.26,132.4,870.4,6.1,428,18230,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2334
$GC,18532,0.26,132.4,852.7,5.8,433,18533,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2206,2334
$GC,18835,0.26,132.4,834.9,5.8,438,18839,0.00,2.38,0.00,0.000,4,0.000,0.082,3421,3619,2334
$GC,18875,0.16,132.4,832.3,6.6,438,18880,0.20,2.33,0.00,0.000,6,0.178,0.066,3371,2200,2333
$GC,19196,0.30,139.3,816.8,4.8,444,19206,0.15,0.00,7.38,1.190,6,0.094,0.000,3423,2200,2308
$GC,19498,0.30,139.3,800.2,5.5,449,19500,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2307
$GC,19801,0.31,145.2,785.3,4.8,454,19810,0.00,0.00,6.88,1.151,6,0.000,0.000,3424,2200,2284
$GC,20105,0.33,163.1,771.7,4.5,459,20123,0.00,0.00,16.90,1.312,6,0.000,0.000,3424,2200,2211
$GC,20408,0.39,163.9,756.8,5.0,464,20409,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2200,2209
$GC,20711,0.45,163.9,740.4,5.5,469,20713,0.12,0.00,0.00,0.000,6,0.107,0.000,3474,2200,2209
$GC,21014,0.32,163.9,715.9,8.3,474,21016,0.20,0.00,0.00,0.000,6,0.158,0.000,3420,2200,2209
$GC,21317,0.32,163.9,694.7,7.0,479,21318,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2200,2208
$GC,21619,0.32,163.9,673.7,6.9,484,21623,0.00,2.38,0.00,0.000,4,0.000,0.081,3421,828,2209
$GC,21669,0.37,163.9,670.4,6.1,484,21673,0.00,2.33,0.00,0.000,6,0.000,0.065,3421,2207,2209
$GC,21980,0.37,163.9,650.9,6.2,489,21981,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2208,2209
$GC,22281,0.37,163.9,634.4,5.3,494,22282,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2208,2209
$GC,22585,0.38,167.0,619.3,4.9,499,22594,0.00,2.33,4.68,0.925,4,0.000,0.083,3421,3610,2195
$GC,22616,0.38,171.1,617.5,4.9,499,22626,0.00,2.33,5.45,0.984,6,0.000,0.066,3421,2194,2177
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