version: 66.03
glider: 120
mission: 9
dive: 284
start: 12 13 108 7 35 58
data:
$ID,120
$MISSION,9
$DIVE,284
$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,-23633.84
$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,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
$GPS1,072607,5011.393,-14428.021,35,1.1,35,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-73.4
$GPS2,073503,5011.373,-14428.027,12,1.1,12,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.177
$KALMAN_X,26596.8,81.5,-41.3,-859.7,-979.0
$KALMAN_Y,217591.7,-359.6,335.7,-206786.3,1976.1
$MHEAD_RNG_PITCHd_Wd,156.2,32226,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-12.07,0.000,2,0.000,0.000,140,2413,1959
$GC,40,-0.67,-117.3,3.8,-0.0,1,119,13.93,2.50,-58.58,0.000,4,0.281,0.088,3097,991,3356
$GC,125,-0.39,-117.3,5.6,-7.2,9,130,0.32,2.35,0.00,0.000,6,0.163,0.063,3188,2407,3357
$GC,452,-0.47,-117.3,28.5,-7.3,39,456,0.00,2.45,0.00,0.000,4,0.000,0.069,3188,986,3358
$GC,586,-0.55,-117.3,38.2,-6.8,50,593,0.15,2.33,0.00,0.000,6,0.083,0.063,3135,2411,3358
$GC,912,-0.55,-117.3,64.5,-7.4,81,913,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2411,3358
$GC,1237,-0.55,-117.3,88.7,-7.2,106,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2411,3358
$GC,1546,-0.55,-117.3,110.3,-6.8,121,1550,0.00,2.38,0.00,0.000,4,0.000,0.078,3129,3817,3359
$GC,1589,-0.55,-117.3,113.8,-8.0,123,1594,0.00,2.30,0.00,0.000,6,0.000,0.052,3129,2396,3359
$GC,1917,-0.55,-117.3,134.7,-6.0,139,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2396,3359
$GC,2246,-0.59,-117.3,154.4,-5.9,154,2250,0.00,2.40,0.00,0.000,4,0.000,0.078,3129,3811,3359
$GC,2281,-0.64,-117.3,156.6,-6.2,155,2285,0.00,2.33,0.00,0.000,6,0.000,0.053,3129,2398,3359
$GC,2622,-0.70,-117.3,176.9,-5.8,166,2627,0.12,2.38,0.00,0.000,4,0.096,0.068,3080,988,3360
$GC,2753,-0.60,-117.3,187.0,-8.1,170,2758,0.15,2.30,0.00,0.000,6,0.154,0.062,3121,2399,3359
$GC,3088,-0.60,-117.3,209.5,-6.9,181,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2398,3359
$GC,3394,-0.60,-117.3,230.9,-6.9,191,3398,0.00,2.35,0.00,0.000,4,0.000,0.080,3121,3806,3359
$GC,3422,-0.60,-117.3,232.7,-6.6,192,3426,0.00,2.28,0.00,0.000,6,0.000,0.055,3121,2399,3359
$GC,3756,-0.60,-117.3,254.0,-6.1,203,3760,0.00,2.33,0.00,0.000,4,0.000,0.071,3121,992,3359
$GC,3783,-0.60,-117.3,255.8,-6.3,203,3789,0.00,2.30,0.00,0.000,6,0.000,0.063,3120,2412,3359
$GC,4095,-0.60,-117.3,273.9,-5.8,214,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2412,3358
$GC,4401,-0.60,-117.3,292.2,-5.9,224,4405,0.00,2.38,0.00,0.000,4,0.000,0.071,3120,993,3358
$GC,4428,-0.60,-117.3,293.9,-5.9,224,4435,0.00,2.33,0.00,0.000,6,0.000,0.063,3121,2403,3358
$GC,4740,-0.60,-117.3,312.5,-6.1,232,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3358
$GC,5043,-0.60,-117.3,331.9,-6.4,237,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3358
$GC,5346,-0.60,-117.3,350.5,-6.1,242,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3358
$GC,5649,-0.60,-117.3,369.3,-6.2,247,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3358
$GC,5952,-0.60,-117.3,387.8,-6.1,252,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3358
$GC,6256,-0.65,-117.3,406.3,-6.1,257,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3357
$GC,6558,-0.69,-117.3,425.8,-6.5,262,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3357
$GC,6862,-0.74,-117.3,444.9,-6.2,267,6864,0.12,0.00,0.00,0.000,6,0.089,0.000,3072,2403,3357
$GC,7164,-0.74,-117.3,465.2,-6.7,272,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2403,3356
$GC,7468,-0.74,-117.3,484.4,-6.3,277,7472,0.00,2.38,0.00,0.000,4,0.000,0.082,3072,3816,3356
$GC,7501,-0.67,-117.3,486.7,-7.0,277,7505,0.00,2.30,0.00,0.000,6,0.000,0.057,3071,2400,3356
$GC,7827,-0.67,-117.3,506.9,-6.2,283,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2400,3356
$GC,8130,-0.67,-117.3,525.4,-6.1,288,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3356
$GC,8434,-0.67,-117.3,544.0,-6.2,293,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2400,3356
$GC,8736,-0.67,-117.3,562.2,-6.0,298,8740,0.00,2.40,0.00,0.000,4,0.000,0.073,3072,985,3356
$GC,8768,-0.67,-117.3,564.2,-6.6,298,8772,0.00,2.33,0.00,0.000,6,0.000,0.064,3072,2398,3355
$GC,9101,-0.61,-117.3,585.3,-6.5,304,9105,0.15,2.38,0.00,0.000,4,0.152,0.081,3111,3809,3355
$GC,9128,-0.65,-117.3,587.0,-5.8,304,9132,0.00,2.28,0.00,0.000,6,0.000,0.056,3111,2400,3356
$GC,9460,-0.71,-117.3,604.4,-5.4,310,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2400,3355
$GC,9763,-0.77,-117.3,621.7,-5.7,315,9765,0.12,0.00,0.00,0.000,6,0.093,0.000,3063,2400,3354
$GC,10065,-0.77,-117.3,642.6,-6.9,320,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,10369,-0.77,-117.3,663.5,-6.9,325,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,10672,-0.77,-117.3,683.2,-6.4,330,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3355
$GC,10975,-0.77,-117.3,701.9,-6.2,335,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,11278,-0.77,-117.3,720.2,-6.1,340,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,11581,-0.77,-117.3,739.6,-6.4,345,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,11884,-0.77,-117.3,760.1,-6.8,350,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,12187,-0.77,-117.3,780.6,-6.7,355,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,12490,-0.77,-117.3,801.3,-6.8,360,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3354
$GC,12793,-0.77,-117.3,821.2,-6.5,365,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3353
$GC,13097,-0.77,-117.3,839.7,-6.0,370,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2399,3353
$GC,13400,-0.77,-117.3,856.9,-5.6,375,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3353
$GC,13702,-0.77,-117.3,873.6,-5.5,380,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2398,3353
$GC,14006,-0.77,-117.3,890.4,-5.5,385,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2399,3353
$GC,14309,-0.77,-117.3,907.3,-5.6,390,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2398,3353
$GC,14612,-0.77,-117.3,924.8,-5.7,395,14613,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2398,3353
$GC,14916,-0.77,-117.3,942.9,-6.0,400,14920,0.00,2.45,0.00,0.000,4,0.000,0.084,3063,3809,3352
$GC,14959,-0.77,-117.3,945.9,-5.9,400,14963,0.00,2.30,0.00,0.000,6,0.000,0.059,3063,2400,3352
$GC,15281,-0.77,-117.3,965.6,-6.2,406,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3352
$GC,15583,-0.77,-117.3,984.0,-6.0,411,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2400,3352
$STATE,15702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15702,begin apogee
$GC,15709,-0.22,0.0,991.5,6.1,413,15818,0.60,0.00,105.97,1.493,6,0.137,0.000,3245,2194,2875
$STATE,15818,end apogee,CONTROL_FINISHED_OK
$STATE,15818,begin climb
$GC,15821,0.67,117.3,993.4,0.0,414,15938,0.85,2.70,110.55,1.433,4,0.090,0.077,3533,792,2396
$GC,15989,0.31,117.3,993.1,7.2,415,15994,0.45,2.50,0.00,0.000,6,0.183,0.063,3421,2204,2395
$GC,16303,0.31,117.3,977.2,5.0,421,16305,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2204,2393
$GC,16607,0.31,117.3,961.7,5.1,426,16611,0.00,2.45,0.00,0.000,4,0.000,0.079,3421,787,2393
$GC,16640,0.32,123.0,960.1,4.8,426,16651,0.00,2.35,6.12,1.143,6,0.000,0.064,3421,2214,2374
$GC,16967,0.32,123.0,942.9,5.3,432,16971,0.00,2.35,0.00,0.000,4,0.000,0.081,3421,3615,2373
$GC,17005,0.22,123.0,940.5,5.7,432,17010,0.12,2.35,0.00,0.000,6,0.182,0.065,3392,2199,2373
$GC,17326,0.32,143.8,926.3,4.4,438,17347,0.00,0.00,19.67,1.400,6,0.000,0.000,3392,2199,2288
$GC,17630,0.42,156.4,912.3,4.6,443,17649,0.15,2.47,12.65,1.341,4,0.087,0.081,3455,3601,2237
$GC,17683,0.26,156.4,908.6,7.2,443,17688,0.22,2.38,0.00,0.000,6,0.168,0.064,3403,2191,2237
$GC,17993,0.34,156.4,891.8,5.4,448,17995,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2191,2236
$GC,18296,0.42,156.4,875.7,5.3,453,18298,0.15,0.00,0.00,0.000,6,0.084,0.000,3462,2191,2236
$GC,18599,0.33,156.4,855.2,6.8,458,18604,0.15,2.40,0.00,0.000,4,0.151,0.079,3424,789,2236
$GC,18654,0.37,156.4,851.7,6.5,458,18660,0.00,2.33,0.00,0.000,6,0.000,0.064,3424,2201,2236
$GC,18964,0.37,156.4,833.3,6.0,464,18968,0.00,2.33,0.00,0.000,4,0.000,0.082,3423,3605,2236
$GC,19007,0.37,156.4,830.5,6.7,464,19011,0.00,2.28,0.00,0.000,6,0.000,0.065,3423,2199,2235
$GC,19328,0.37,156.4,811.1,6.1,470,19329,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2199,2236
$GC,19632,0.37,156.4,793.2,5.9,475,19633,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2199,2236
$GC,19935,0.37,156.4,776.6,5.4,480,19939,0.00,2.35,0.00,0.000,4,0.000,0.081,3424,788,2236
$GC,19973,0.41,156.4,774.4,5.6,480,19977,0.00,2.30,0.00,0.000,6,0.000,0.064,3423,2204,2236
$GC,20293,0.41,156.4,757.5,5.3,486,20294,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2204,2236
$GC,20596,0.41,156.4,742.3,5.0,491,20600,0.00,2.35,0.00,0.000,4,0.000,0.083,3424,3610,2236
$GC,20628,0.41,156.4,740.5,5.8,491,20632,0.00,2.33,0.00,0.000,6,0.000,0.065,3423,2201,2235
$GC,20955,0.43,170.3,725.3,4.6,497,20974,0.00,2.42,13.23,1.264,4,0.000,0.083,3424,3607,2180
$GC,20996,0.43,170.3,723.1,5.2,497,21000,0.00,2.33,0.00,0.000,6,0.000,0.065,3424,2196,2180
$GC,21324,0.50,179.1,707.7,4.7,503,21336,0.15,0.00,9.38,1.198,6,0.088,0.000,3486,2196,2145
$GC,21627,0.38,179.1,686.4,7.1,508,21631,0.15,2.38,0.00,0.000,4,0.154,0.078,3449,793,2144
$GC,21670,0.38,179.1,683.5,5.2,508,21674,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2203,2144
$GC,21992,0.38,179.1,664.1,6.1,514,21993,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2144
$GC,22294,0.38,179.1,645.9,5.9,519,22295,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2144
$GC,22597,0.38,179.1,627.6,6.0,524,22598,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2143
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$STATE,33291,begin surface coast
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