version: 66.03
glider: 120
mission: 9
dive: 688
start: 5 15 109 1 57 18
data:
$ID,120
$MISSION,9
$DIVE,688
$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,-32361.979
$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,23
$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
$GPS1,014927,4954.682,-14507.662,40,2.8,59,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.7
$GPS2,015620,4954.682,-14507.736,15,1.2,15,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.172,0.044
$KALMAN_X,-135101.7,167.0,20.0,142932.0,-2675.1
$KALMAN_Y,156217.3,-589.8,-478.9,-171418.8,3160.4
$MHEAD_RNG_PITCHd_Wd,57.2,31057,-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,28,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.67,0.000,2,0.000,0.000,137,2405,2571
$GC,74,-0.67,-117.3,3.1,-5.3,4,112,14.23,2.60,-18.15,0.000,4,0.270,0.089,3085,3808,3356
$GC,230,-0.50,-117.3,22.6,-11.3,17,235,0.25,2.38,0.00,0.000,6,0.150,0.052,3152,2391,3357
$GC,562,-0.50,-117.3,48.6,-7.7,47,566,0.00,2.47,0.00,0.000,4,0.000,0.067,3152,990,3358
$GC,614,-0.50,-117.3,53.2,-7.4,51,618,0.00,2.42,0.00,0.000,6,0.000,0.059,3152,2409,3358
$GC,940,-0.50,-117.3,77.1,-7.5,81,944,0.00,2.53,0.00,0.000,4,0.000,0.067,3152,979,3358
$GC,992,-0.55,-117.3,81.0,-7.6,84,996,0.00,2.45,0.00,0.000,6,0.000,0.058,3152,2412,3358
$GC,1309,-0.55,-117.3,104.3,-7.6,99,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2411,3358
$GC,1619,-0.60,-117.3,126.8,-6.6,114,1623,0.00,2.50,0.00,0.000,4,0.000,0.067,3152,985,3358
$GC,1677,-0.69,-117.3,130.7,-6.5,116,1683,0.17,2.42,0.00,0.000,6,0.072,0.059,3090,2401,3359
$GC,2013,-0.69,-117.3,154.9,-7.0,132,2017,0.00,2.45,0.00,0.000,4,0.000,0.075,3086,3810,3358
$GC,2059,-0.63,-117.3,158.4,-8.2,133,2063,0.00,2.30,0.00,0.000,6,0.000,0.051,3086,2396,3358
$GC,2380,-0.58,-117.3,183.0,-7.9,144,2382,0.15,0.00,0.00,0.000,6,0.117,0.000,3127,2394,3358
$GC,2685,-0.62,-117.3,204.1,-6.8,154,2690,0.00,2.58,0.00,0.000,4,0.000,0.079,3118,3810,3358
$GC,2709,-0.66,-117.3,206.0,-7.4,154,2715,0.00,2.33,0.00,0.000,6,0.000,0.051,3120,2391,3358
$GC,3023,-0.66,-117.3,229.0,-7.5,165,3028,0.00,2.50,0.00,0.000,4,0.000,0.067,3120,982,3358
$GC,3069,-0.71,-117.3,232.8,-8.3,166,3074,0.00,2.45,0.00,0.000,6,0.000,0.058,3120,2406,3358
$GC,3389,-0.76,-117.3,255.7,-6.9,177,3394,0.15,2.55,0.00,0.000,4,0.076,0.076,3054,3815,3358
$GC,3447,-0.61,-117.3,260.7,-9.2,178,3454,0.22,2.35,0.00,0.000,6,0.124,0.052,3113,2389,3358
$GC,3761,-0.61,-117.3,281.2,-6.2,189,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3358
$GC,4067,-0.61,-117.3,299.8,-6.0,199,4071,0.00,2.45,0.00,0.000,4,0.000,0.067,3113,995,3358
$GC,4112,-0.61,-117.3,302.7,-6.3,200,4117,0.00,2.42,0.00,0.000,6,0.000,0.059,3113,2399,3358
$GC,4436,-0.61,-117.3,320.6,-5.6,206,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2398,3358
$GC,4737,-0.61,-117.3,338.0,-5.8,211,4742,0.00,2.50,0.00,0.000,4,0.000,0.068,3113,989,3358
$GC,4772,-0.65,-117.3,340.3,-6.5,211,4776,0.00,2.45,0.00,0.000,6,0.000,0.060,3113,2402,3358
$GC,5099,-0.65,-117.3,360.8,-6.4,217,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,5403,-0.65,-117.3,381.8,-7.0,222,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,5706,-0.70,-117.3,403.4,-7.1,227,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3358
$GC,6009,-0.74,-117.3,423.8,-6.7,232,6013,0.00,2.67,0.00,0.000,4,0.000,0.067,3113,990,3358
$GC,6043,-0.79,-117.3,426.2,-6.7,232,6048,0.17,2.45,0.00,0.000,6,0.074,0.059,3053,2400,3357
$GC,6371,-0.72,-117.3,449.8,-7.2,238,6376,0.10,2.53,0.00,0.000,4,0.093,0.080,3082,3816,3357
$GC,6411,-0.72,-117.3,452.8,-7.5,238,6415,0.00,2.35,0.00,0.000,6,0.000,0.053,3082,2404,3357
$GC,6732,-0.72,-117.3,472.8,-6.1,244,6737,0.00,2.50,0.00,0.000,4,0.000,0.069,3082,991,3357
$GC,6784,-0.72,-117.3,476.2,-6.6,244,6789,0.00,2.45,0.00,0.000,6,0.000,0.061,3081,2400,3357
$GC,7095,-0.72,-117.3,494.8,-5.9,249,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3357
$GC,7398,-0.72,-117.3,513.1,-6.1,254,7402,0.00,2.55,0.00,0.000,4,0.000,0.067,3082,990,3357
$GC,7432,-0.72,-117.3,515.6,-7.1,254,7436,0.00,2.47,0.00,0.000,6,0.000,0.061,3082,2409,3357
$GC,7760,-0.72,-117.3,538.0,-6.9,260,7764,0.00,2.50,0.00,0.000,4,0.000,0.081,3082,3810,3356
$GC,7794,-0.72,-117.3,540.5,-6.9,260,7798,0.00,2.38,0.00,0.000,6,0.000,0.052,3082,2400,3356
$GC,8121,-0.72,-117.3,561.8,-6.4,266,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2400,3356
$GC,8424,-0.72,-117.3,580.9,-6.3,271,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2400,3356
$GC,8729,-0.72,-117.3,599.3,-6.1,276,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2401,3356
$GC,9031,-0.72,-117.3,617.7,-6.1,281,9035,0.00,2.72,0.00,0.000,4,0.000,0.067,3082,983,3356
$GC,9058,-0.72,-117.3,619.6,-7.0,281,9063,0.00,2.47,0.00,0.000,6,0.000,0.061,3082,2401,3356
$GC,9392,-0.72,-117.3,641.7,-6.8,287,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3356
$GC,9695,-0.72,-117.3,663.4,-7.2,292,9699,0.00,2.67,0.00,0.000,4,0.000,0.067,3081,983,3356
$GC,9729,-0.72,-117.3,666.0,-7.6,292,9733,0.00,2.47,0.00,0.000,6,0.000,0.061,3082,2400,3356
$GC,10057,-0.72,-117.3,689.7,-7.2,298,10061,0.00,2.50,0.00,0.000,4,0.000,0.081,3082,3810,3355
$GC,10085,-0.72,-117.3,691.8,-7.1,298,10089,0.00,2.35,0.00,0.000,6,0.000,0.053,3082,2393,3355
$GC,10418,-0.72,-117.3,713.6,-6.5,304,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3355
$GC,10722,-0.72,-117.3,731.3,-5.8,309,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3355
$GC,11024,-0.72,-117.3,747.8,-5.5,314,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3355
$GC,11327,-0.72,-117.3,764.5,-5.5,319,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3355
$GC,11630,-0.72,-117.3,782.4,-5.9,324,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2394,3355
$GC,11934,-0.72,-117.3,801.6,-6.4,329,11938,0.00,2.78,0.00,0.000,4,0.000,0.080,3082,3816,3355
$GC,11973,-0.72,-117.3,804.3,-7.0,329,11977,0.00,2.50,0.00,0.000,6,0.000,0.053,3082,2391,3354
$GC,12295,-0.72,-117.3,823.6,-6.0,335,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3354
$GC,12598,-0.72,-117.3,840.8,-5.6,340,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,3354
$GC,12902,-0.72,-117.3,857.2,-5.4,345,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2392,3354
$GC,13204,-0.72,-117.3,874.4,-5.7,350,13208,0.00,2.62,0.00,0.000,4,0.000,0.070,3082,990,3354
$GC,13243,-0.72,-117.3,876.9,-6.2,350,13247,0.00,2.47,0.00,0.000,6,0.000,0.062,3082,2400,3354
$GC,13564,-0.72,-117.3,895.2,-5.7,356,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,13868,-0.72,-117.3,912.3,-5.6,361,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,14172,-0.72,-117.3,930.2,-6.0,366,14173,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,14474,-0.72,-117.3,949.6,-6.5,371,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,14777,-0.72,-117.3,969.8,-6.7,376,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2399,3354
$GC,15080,-0.72,-117.3,989.1,-6.3,381,15085,0.00,2.70,0.00,0.000,4,0.000,0.070,3082,992,3353
$STATE,15094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15094,begin apogee
$GC,15106,-0.22,0.0,990.3,6.2,381,15217,0.52,0.00,108.40,1.499,6,0.133,0.000,3239,2201,2876
$STATE,15218,end apogee,CONTROL_FINISHED_OK
$STATE,15218,begin climb
$GC,15222,0.67,117.3,995.1,0.0,383,15346,0.93,0.00,117.70,1.451,6,0.084,0.000,3527,2201,2397
$GC,15655,0.35,117.3,977.1,7.1,390,15657,0.38,0.00,0.00,0.000,6,0.166,0.000,3433,2200,2394
$GC,15954,0.30,118.1,961.5,5.0,395,15958,0.00,2.55,0.00,0.000,4,0.000,0.074,3442,781,2393
$GC,15999,0.23,118.1,959.0,5.0,395,16004,0.20,2.38,0.00,0.000,6,0.153,0.060,3394,2200,2393
$GC,16317,0.34,144.9,945.7,4.2,401,16347,0.10,2.42,24.83,1.431,4,0.089,0.078,3436,3607,2284
$GC,16405,0.24,144.9,940.4,7.2,402,16410,0.17,2.35,0.00,0.000,6,0.176,0.061,3396,2193,2283
$GC,16744,0.34,156.3,924.1,4.7,408,16757,0.00,0.00,11.48,1.338,6,0.000,0.000,3396,2194,2238
$GC,17117,0.48,182.9,908.0,4.2,414,17147,0.20,0.00,24.95,1.417,6,0.072,0.000,3482,2194,2129
$GC,17488,0.37,182.9,881.9,7.2,420,17493,0.15,2.50,0.00,0.000,4,0.146,0.074,3448,784,2126
$GC,17573,0.37,182.9,876.3,6.1,421,17577,0.00,2.38,0.00,0.000,6,0.000,0.060,3448,2206,2126
$GC,17919,0.37,182.9,854.8,6.3,427,17923,0.00,2.47,0.00,0.000,4,0.000,0.077,3449,789,2126
$GC,17983,0.37,182.9,850.8,5.0,428,17987,0.00,2.38,0.00,0.000,6,0.000,0.060,3448,2198,2125
$GC,18350,0.37,182.9,827.8,6.3,434,18351,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2125
$GC,18652,0.37,182.9,809.6,6.0,439,18653,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2125
$GC,18955,0.37,182.9,792.3,5.7,444,18957,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2125
$GC,19258,0.37,182.9,774.8,5.8,449,19259,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2197,2124
$GC,19562,0.37,182.9,756.0,6.3,454,19567,0.00,2.60,0.00,0.000,4,0.000,0.075,3449,791,2125
$GC,19602,0.37,182.9,753.3,6.7,454,19606,0.00,2.40,0.00,0.000,6,0.000,0.058,3449,2201,2124
$GC,19924,0.37,182.9,731.3,6.9,460,19925,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2124
$GC,20227,0.37,182.9,711.0,6.7,465,20228,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2200,2124
$GC,20530,0.37,182.9,692.1,6.2,470,20531,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2124
$GC,20834,0.37,182.9,672.6,6.5,475,20838,0.00,2.65,0.00,0.000,4,0.000,0.074,3449,792,2124
$GC,20873,0.37,182.9,669.8,7.7,475,20877,0.00,2.42,0.00,0.000,6,0.000,0.058,3449,2207,2124
$GC,21195,0.37,182.9,650.3,6.0,481,21196,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2206,2124
$GC,21498,0.37,182.9,633.3,5.5,486,21499,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2124
$GC,21802,0.37,182.9,616.5,5.5,491,21806,0.00,2.65,0.00,0.000,4,0.000,0.074,3449,782,2124
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$STATE,32337,begin surface coast
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$STATE,32424,end surface coast,CONTROL_FINISHED_OK
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