version: 66.03
glider: 120
mission: 9
dive: 626
start: 4 21 109 20 50 33
data:
$ID,120
$MISSION,9
$DIVE,626
$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,-31060.236
$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,20
$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
$GPS1,204236,5003.222,-14446.378,39,1.4,39,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.5
$GPS2,204938,5003.193,-14446.361,17,1.4,17,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.072,0.163
$KALMAN_X,-100088.4,139.4,-287.6,133675.2,-928.1
$KALMAN_Y,139847.8,-239.7,223.6,-140356.7,-862.5
$MHEAD_RNG_PITCHd_Wd,317.8,9634,-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,-30.58,0.000,2,0.000,0.000,135,2406,2495
$GC,63,-0.67,-117.3,3.4,-6.1,3,107,13.62,2.53,-22.00,0.000,4,0.275,0.091,3093,992,3358
$GC,170,-0.53,-117.3,15.7,-10.6,12,177,0.17,2.35,0.00,0.000,6,0.151,0.062,3143,2399,3358
$GC,501,-0.53,-117.3,42.0,-8.0,43,505,0.00,2.42,0.00,0.000,4,0.000,0.081,3134,3817,3359
$GC,535,-0.53,-117.3,45.3,-8.3,45,541,0.00,2.30,0.00,0.000,6,0.000,0.053,3133,2387,3359
$GC,861,-0.53,-117.3,71.1,-7.5,76,862,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2388,3359
$GC,1185,-0.53,-117.3,95.6,-7.4,97,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2387,3359
$GC,1493,-0.53,-117.3,119.6,-7.9,112,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2388,3359
$GC,1803,-0.53,-117.3,140.1,-5.9,127,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2388,3360
$GC,2113,-0.57,-117.3,157.6,-5.6,140,2118,0.00,2.42,0.00,0.000,4,0.000,0.068,3134,995,3360
$GC,2153,-0.63,-117.3,160.1,-5.6,141,2158,0.00,2.38,0.00,0.000,6,0.000,0.060,3134,2402,3359
$GC,2479,-0.69,-117.3,178.6,-5.7,152,2481,0.12,0.00,0.00,0.000,6,0.081,0.000,3082,2402,3359
$GC,2785,-0.69,-117.3,201.3,-7.5,162,2789,0.00,2.42,0.00,0.000,4,0.000,0.077,3081,3807,3359
$GC,2815,-0.63,-117.3,203.7,-8.4,163,2820,0.12,2.30,0.00,0.000,6,0.102,0.053,3115,2393,3360
$GC,3151,-0.63,-117.3,227.1,-6.9,174,3155,0.00,2.40,0.00,0.000,4,0.000,0.067,3115,996,3359
$GC,3216,-0.67,-117.3,231.6,-6.9,176,3220,0.00,2.38,0.00,0.000,6,0.000,0.060,3113,2401,3359
$GC,3552,-0.67,-117.3,253.5,-6.4,187,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3360
$GC,3858,-0.67,-117.3,271.4,-5.8,197,3862,0.00,2.42,0.00,0.000,4,0.000,0.079,3113,3805,3360
$GC,3904,-0.73,-117.3,274.1,-5.9,198,3908,0.00,2.28,0.00,0.000,6,0.000,0.053,3113,2402,3359
$GC,4228,-0.73,-117.3,292.5,-5.4,209,4233,0.00,2.42,0.00,0.000,4,0.000,0.067,3113,990,3360
$GC,4262,-0.73,-117.3,294.7,-6.1,210,4266,0.00,2.38,0.00,0.000,6,0.000,0.060,3113,2400,3359
$GC,4621,-0.73,-117.3,315.5,-5.9,218,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3360
$GC,4925,-0.73,-117.3,334.3,-6.2,223,4929,0.00,2.45,0.00,0.000,4,0.000,0.068,3113,988,3359
$GC,4970,-0.79,-117.3,337.3,-7.0,223,4975,0.15,2.40,0.00,0.000,6,0.077,0.061,3057,2402,3359
$GC,5286,-0.72,-117.3,359.9,-7.1,229,5290,0.00,2.45,0.00,0.000,4,0.000,0.079,3057,3818,3359
$GC,5310,-0.63,-117.3,361.6,-7.6,229,5315,0.20,2.33,0.00,0.000,6,0.116,0.054,3114,2393,3359
$GC,5648,-0.63,-117.3,381.8,-5.9,235,5652,0.00,2.42,0.00,0.000,4,0.000,0.068,3114,995,3359
$GC,5687,-0.68,-117.3,384.4,-6.8,235,5691,0.00,2.38,0.00,0.000,6,0.000,0.060,3113,2400,3359
$GC,6010,-0.73,-117.3,403.6,-5.9,241,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2399,3359
$GC,6313,-0.77,-117.3,422.5,-6.3,246,6315,0.12,0.00,0.00,0.000,6,0.084,0.000,3060,2399,3359
$GC,6616,-0.72,-117.3,444.0,-7.1,251,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2399,3358
$GC,6919,-0.68,-117.3,464.5,-6.7,256,6924,0.12,2.47,0.00,0.000,4,0.095,0.081,3097,3810,3358
$GC,6959,-0.68,-117.3,467.0,-6.3,256,6963,0.00,2.30,0.00,0.000,6,0.000,0.054,3097,2401,3358
$GC,7280,-0.68,-117.3,485.2,-5.6,262,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2402,3358
$GC,7583,-0.68,-117.3,503.1,-6.0,267,7587,0.00,2.45,0.00,0.000,4,0.000,0.070,3097,985,3358
$GC,7628,-0.68,-117.3,506.2,-7.1,267,7632,0.00,2.40,0.00,0.000,6,0.000,0.061,3097,2399,3358
$GC,7945,-0.68,-117.3,527.1,-6.7,273,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2398,3358
$GC,8247,-0.68,-117.3,547.8,-6.8,278,8251,0.00,2.47,0.00,0.000,4,0.000,0.070,3097,984,3358
$GC,8280,-0.68,-117.3,550.3,-7.6,278,8285,0.00,2.40,0.00,0.000,6,0.000,0.062,3097,2398,3358
$GC,8608,-0.68,-117.3,572.9,-6.8,284,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2397,3358
$GC,8911,-0.68,-117.3,592.3,-6.4,289,8915,0.00,2.42,0.00,0.000,4,0.000,0.071,3097,995,3358
$GC,8940,-0.68,-117.3,594.4,-7.4,289,8944,0.00,2.40,0.00,0.000,6,0.000,0.061,3097,2405,3358
$GC,9278,-0.68,-117.3,615.2,-6.1,295,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2405,3358
$GC,9581,-0.68,-117.3,633.2,-5.9,300,9585,0.00,2.45,0.00,0.000,4,0.000,0.070,3097,994,3357
$GC,9617,-0.68,-117.3,635.5,-6.6,300,9621,0.00,2.40,0.00,0.000,6,0.000,0.061,3097,2404,3358
$GC,9945,-0.68,-117.3,654.9,-6.0,306,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3357
$GC,10247,-0.68,-117.3,672.8,-5.9,311,10251,0.00,2.47,0.00,0.000,4,0.000,0.071,3097,988,3357
$GC,10281,-0.68,-117.3,675.0,-6.3,311,10285,0.00,2.42,0.00,0.000,6,0.000,0.062,3097,2410,3357
$GC,10609,-0.68,-117.3,693.4,-5.6,317,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2410,3357
$GC,10911,-0.73,-117.3,709.9,-5.4,322,10916,0.00,2.47,0.00,0.000,4,0.000,0.070,3097,988,3357
$GC,10951,-0.77,-117.3,712.3,-6.4,322,10956,0.00,2.42,0.00,0.000,6,0.000,0.062,3097,2410,3357
$GC,11274,-0.96,-117.3,731.6,-6.2,328,11279,0.22,2.47,0.00,0.000,4,0.081,0.069,3012,994,3356
$GC,11533,-0.77,-117.3,753.1,-8.7,331,11540,0.20,2.40,0.00,0.000,6,0.155,0.063,3065,2407,3356
$GC,11844,-0.72,-117.3,772.7,-6.2,337,11848,0.00,2.47,0.00,0.000,4,0.000,0.071,3065,986,3356
$GC,11902,-0.68,-117.3,776.4,-7.0,337,11909,0.12,2.42,0.00,0.000,6,0.153,0.064,3098,2404,3356
$GC,12213,-0.74,-117.3,790.9,-4.6,343,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3356
$GC,12517,-0.79,-117.3,805.2,-4.7,348,12519,0.12,0.00,0.00,0.000,6,0.085,0.000,3048,2403,3356
$GC,12819,-0.79,-117.3,822.6,-5.8,353,12824,0.00,2.47,0.00,0.000,4,0.000,0.071,3050,985,3356
$GC,12854,-0.75,-117.3,824.9,-6.0,353,12858,0.00,2.42,0.00,0.000,6,0.000,0.061,3049,2406,3355
$GC,13181,-0.69,-117.3,845.0,-6.2,359,13183,0.15,0.00,0.00,0.000,6,0.137,0.000,3093,2406,3356
$GC,13485,-0.74,-117.3,860.4,-5.1,364,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3356
$GC,13788,-0.78,-117.3,876.3,-5.2,369,13792,0.00,2.47,0.00,0.000,4,0.000,0.072,3093,992,3355
$GC,13824,-0.83,-117.3,878.2,-5.8,369,13828,0.15,2.42,0.00,0.000,6,0.077,0.063,3040,2410,3355
$GC,14151,-0.79,-117.3,898.6,-6.3,375,14155,0.00,2.45,0.00,0.000,4,0.000,0.081,3040,3815,3355
$GC,14186,-0.70,-117.3,901.0,-6.9,375,14190,0.17,2.33,0.00,0.000,6,0.115,0.056,3088,2393,3355
$GC,14513,-0.70,-117.3,919.5,-5.7,381,14517,0.00,2.42,0.00,0.000,4,0.000,0.071,3088,995,3355
$GC,14558,-0.75,-117.3,922.5,-6.1,381,14562,0.00,2.42,0.00,0.000,6,0.000,0.063,3086,2410,3355
$GC,14875,-0.75,-117.3,941.4,-6.0,387,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3355
$GC,15177,-0.75,-117.3,960.0,-6.2,392,15179,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3355
$GC,15481,-0.75,-117.3,979.5,-6.4,397,15482,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2410,3355
$STATE,15659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15659,begin apogee
$GC,15667,-0.22,0.0,991.6,6.6,400,15782,0.52,0.00,108.32,1.493,6,0.130,0.000,3245,2194,2875
$STATE,15782,end apogee,CONTROL_FINISHED_OK
$STATE,15782,begin climb
$GC,15787,0.67,117.3,997.5,0.0,402,15910,0.85,0.00,114.55,1.439,6,0.082,0.000,3527,2194,2397
$GC,16218,0.35,117.3,980.7,6.6,409,16222,0.30,2.40,0.00,0.000,4,0.162,0.075,3447,790,2394
$GC,16314,0.27,117.3,974.9,5.4,410,16319,0.15,2.35,0.00,0.000,6,0.153,0.061,3408,2215,2393
$GC,16647,0.30,137.7,960.1,4.4,416,16671,0.00,2.40,18.70,1.394,4,0.000,0.080,3408,3602,2314
$GC,16707,0.30,137.7,957.1,5.1,416,16713,0.00,2.30,0.00,0.000,6,0.000,0.062,3408,2193,2313
$GC,17019,0.35,141.9,942.0,4.9,422,17026,0.00,0.00,5.50,1.101,6,0.000,0.000,3408,2193,2297
$GC,17321,0.40,141.9,926.6,5.1,427,17326,0.12,2.42,0.00,0.000,4,0.082,0.077,3462,3616,2296
$GC,17366,0.20,141.9,923.4,7.3,427,17371,0.30,2.33,0.00,0.000,6,0.170,0.063,3384,2195,2296
$GC,17684,0.35,162.6,909.1,4.4,433,17706,0.15,0.00,19.77,1.393,6,0.081,0.000,3445,2196,2213
$GC,17986,0.35,162.6,890.7,6.2,438,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2196,2211
$GC,18288,0.35,162.6,872.1,6.2,443,18293,0.00,2.45,0.00,0.000,4,0.000,0.080,3445,3605,2210
$GC,18363,0.24,162.6,866.6,7.5,444,18368,0.20,2.33,0.00,0.000,6,0.168,0.061,3397,2200,2210
$GC,18719,0.36,162.6,848.0,5.2,450,18720,0.12,0.00,0.00,0.000,6,0.081,0.000,3447,2201,2210
$GC,19021,0.36,162.6,830.2,5.9,455,19023,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2201,2211
$GC,19324,0.36,162.6,812.5,5.8,460,19328,0.00,2.50,0.00,0.000,4,0.000,0.080,3447,3612,2210
$GC,19354,0.29,162.6,810.4,8.2,460,19359,0.15,2.38,0.00,0.000,6,0.166,0.061,3412,2197,2210
$GC,19687,0.37,163.2,793.4,5.0,466,19688,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2198,2210
$GC,19990,0.47,183.5,779.9,4.4,471,20016,0.15,2.50,19.80,1.328,4,0.075,0.077,3490,791,2126
$GC,20053,0.35,183.5,776.2,6.5,472,20058,0.20,2.35,0.00,0.000,6,0.142,0.061,3434,2202,2125
$GC,20419,0.35,183.5,757.0,5.1,478,20420,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2202,2123
$GC,20722,0.35,183.5,741.1,5.3,483,20723,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2202,2123
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$GC,21328,0.35,183.5,707.5,5.6,493,21333,0.00,2.42,0.00,0.000,4,0.000,0.080,3434,3607,2123
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