version: 66.03
glider: 120
mission: 9
dive: 39
start: 9 11 108 4 55 26
data:
$ID,120
$MISSION,9
$DIVE,39
$D_SURF,2
$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,-18409.949
$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,22
$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
$GPS1,044908,5004.349,-14429.951,37,1.1,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-76.4
$GPS2,045432,5004.312,-14429.903,13,1.3,30,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.035,-0.174
$KALMAN_X,21233.4,-269.0,-12.2,2604.5,1417.7
$KALMAN_Y,29594.9,-187.0,37.6,-31726.5,3020.4
$MHEAD_RNG_PITCHd_Wd,172.9,19076,-12.1,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.67,-116.7,0.0,0.0,0,53,0.00,0.00,-32.92,0.000,2,0.000,0.000,140,2403,2419
$GC,55,-0.67,-116.7,3.7,-6.3,3,99,13.68,2.35,-23.92,0.000,4,0.298,0.099,3096,3808,3352
$GC,178,-0.30,-116.7,20.5,-15.8,14,183,0.43,2.28,0.00,0.000,6,0.176,0.059,3216,2387,3355
$GC,502,-0.48,-116.7,43.6,-5.3,44,504,0.17,0.00,0.00,0.000,6,0.079,0.000,3153,2387,3356
$GC,820,-0.48,-116.7,64.1,-6.8,74,824,0.00,2.35,0.00,0.000,4,0.000,0.077,3153,3811,3358
$GC,848,-0.48,-116.7,65.9,-6.9,76,852,0.00,2.25,0.00,0.000,6,0.000,0.055,3153,2393,3358
$GC,1168,-0.48,-116.7,87.8,-7.0,101,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2393,3358
$GC,1478,-0.48,-116.7,109.7,-6.8,116,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2393,3359
$GC,1788,-0.53,-116.7,130.4,-6.6,131,1792,0.00,2.28,0.00,0.000,4,0.000,0.073,3153,990,3359
$GC,1814,-0.60,-116.7,132.2,-6.9,132,1819,0.00,2.30,0.00,0.000,6,0.000,0.062,3153,2418,3359
$GC,2156,-0.86,-116.7,155.3,-7.1,148,2160,0.30,2.33,0.00,0.000,4,0.086,0.072,3038,994,3358
$GC,2255,-0.58,-116.7,165.6,-11.8,151,2260,0.28,2.30,0.00,0.000,6,0.173,0.065,3124,2397,3359
$GC,2590,-0.53,-116.7,189.6,-7.1,162,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2397,3359
$GC,2896,-0.53,-116.7,211.0,-6.8,172,2900,0.00,2.30,0.00,0.000,4,0.000,0.074,3124,992,3358
$GC,2944,-0.53,-116.7,214.6,-7.2,173,2949,0.00,2.30,0.00,0.000,6,0.000,0.065,3124,2402,3358
$GC,3262,-0.53,-116.7,235.7,-6.5,184,3266,0.00,2.30,0.00,0.000,4,0.000,0.075,3124,992,3357
$GC,3294,-0.53,-116.7,238.0,-7.0,185,3299,0.00,2.30,0.00,0.000,6,0.000,0.064,3124,2402,3357
$GC,3629,-0.53,-116.7,260.0,-6.9,196,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3357
$GC,3936,-0.53,-116.7,282.8,-7.6,206,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3357
$GC,4241,-0.53,-116.7,304.3,-6.7,215,4245,0.00,2.30,0.00,0.000,4,0.000,0.077,3124,990,3356
$GC,4283,-0.53,-116.7,307.4,-7.0,215,4288,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2394,3356
$GC,4604,-0.53,-116.7,326.8,-6.0,221,4608,0.00,2.30,0.00,0.000,4,0.000,0.077,3124,989,3356
$GC,4646,-0.53,-116.7,329.8,-7.2,221,4651,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2392,3355
$GC,4967,-0.53,-116.7,348.7,-5.9,227,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2392,3356
$GC,5270,-0.53,-116.7,366.7,-5.9,232,5274,0.00,2.28,0.00,0.000,4,0.000,0.078,3124,992,3355
$GC,5291,-0.53,-116.7,367.9,-5.7,232,5295,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2400,3354
$GC,5640,-0.53,-116.7,387.9,-5.7,238,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3354
$GC,5943,-0.53,-116.7,405.1,-5.6,243,5947,0.00,2.30,0.00,0.000,4,0.000,0.078,3124,993,3354
$GC,5986,-0.53,-116.7,407.7,-6.5,243,5991,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2404,3354
$GC,6312,-0.53,-116.7,426.1,-5.6,249,6316,0.00,2.30,0.00,0.000,4,0.000,0.077,3124,990,3353
$GC,6349,-0.53,-116.7,428.3,-6.2,249,6354,0.00,2.30,0.00,0.000,6,0.000,0.066,3124,2403,3353
$GC,6675,-0.53,-116.7,445.3,-5.1,255,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3353
$GC,6978,-0.53,-116.7,460.8,-5.1,260,6982,0.00,2.30,0.00,0.000,4,0.000,0.078,3125,993,3353
$GC,7016,-0.53,-116.7,462.9,-6.2,260,7021,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2404,3353
$GC,7343,-0.53,-116.7,480.4,-5.4,266,7347,0.00,2.30,0.00,0.000,4,0.000,0.077,3124,992,3353
$GC,7385,-0.53,-116.7,482.9,-6.0,266,7390,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2402,3353
$GC,7707,-0.53,-116.7,500.2,-5.4,272,7711,0.00,2.30,0.00,0.000,4,0.000,0.077,3124,990,3352
$GC,7745,-0.53,-116.7,502.6,-6.2,272,7749,0.00,2.28,0.00,0.000,6,0.000,0.067,3124,2403,3352
$GC,8065,-0.53,-116.7,519.5,-5.3,278,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3352
$GC,8368,-0.53,-116.7,536.1,-5.5,283,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3352
$GC,8671,-0.53,-116.7,553.1,-5.6,288,8675,0.00,2.30,0.00,0.000,4,0.000,0.078,3124,991,3351
$GC,8702,-0.53,-116.7,555.2,-7.2,288,8707,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2401,3352
$GC,9040,-0.53,-116.7,575.9,-6.2,294,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3352
$GC,9343,-0.53,-116.7,596.1,-6.6,299,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3351
$GC,9646,-0.53,-116.7,616.1,-6.5,304,9650,0.00,2.30,0.00,0.000,4,0.000,0.078,3125,988,3351
$GC,9672,-0.53,-116.7,618.0,-7.3,304,9677,0.00,2.30,0.00,0.000,6,0.000,0.067,3124,2399,3351
$GC,10011,-0.74,-116.7,642.3,-7.3,310,10015,0.15,2.30,0.00,0.000,4,0.094,0.083,3066,3814,3351
$GC,10048,-0.67,-116.7,645.4,-8.5,310,10053,0.08,2.28,0.00,0.000,6,0.136,0.064,3091,2398,3351
$GC,10374,-0.76,-116.7,669.2,-7.4,316,10378,0.00,2.33,0.00,0.000,4,0.000,0.087,3091,3810,3351
$GC,10451,-0.76,-116.7,674.9,-6.8,317,10456,0.00,2.28,0.00,0.000,6,0.000,0.065,3091,2402,3351
$GC,10806,-0.87,-116.7,698.8,-6.7,323,10811,0.17,2.33,0.00,0.000,4,0.090,0.084,3020,3823,3350
$GC,10894,-0.59,-116.7,706.5,-10.3,324,10899,0.30,2.30,0.00,0.000,6,0.178,0.065,3120,2392,3350
$GC,11237,-0.60,-117.3,723.2,-4.7,330,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2392,3350
$GC,11540,-0.60,-117.3,737.8,-4.8,335,11544,0.00,2.25,0.00,0.000,4,0.000,0.081,3120,992,3350
$GC,11571,-0.64,-117.3,739.6,-5.5,335,11576,0.00,2.30,0.00,0.000,6,0.000,0.068,3120,2406,3350
$GC,11909,-0.69,-117.3,756.8,-5.2,341,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2406,3350
$GC,12212,-0.74,-117.3,774.3,-5.9,346,12214,0.12,0.00,0.00,0.000,6,0.093,0.000,3073,2406,3350
$GC,12515,-0.74,-117.3,795.9,-7.2,351,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3349
$GC,12818,-0.74,-117.3,816.9,-6.9,356,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2406,3349
$GC,13121,-0.74,-117.3,837.0,-6.6,361,13125,0.00,2.33,0.00,0.000,4,0.000,0.081,3073,981,3349
$GC,13165,-0.66,-117.3,840.1,-6.6,361,13170,0.08,2.33,0.00,0.000,6,0.166,0.071,3097,2403,3349
$GC,13490,-0.66,-117.3,858.7,-5.6,367,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3349
$GC,13793,-0.66,-117.3,874.7,-5.2,372,13797,0.00,2.30,0.00,0.000,4,0.000,0.081,3097,993,3349
$GC,13830,-0.66,-117.3,877.0,-5.7,372,13835,0.00,2.30,0.00,0.000,6,0.000,0.069,3097,2400,3349
$GC,14163,-0.66,-117.3,894.7,-5.4,378,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2400,3349
$GC,14466,-0.66,-117.3,910.8,-5.3,383,14470,0.00,2.30,0.00,0.000,4,0.000,0.081,3097,992,3349
$GC,14503,-0.66,-117.3,913.0,-5.2,383,14508,0.00,2.30,0.00,0.000,6,0.000,0.070,3097,2403,3349
$GC,14830,-0.66,-117.3,930.0,-5.2,389,14831,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3349
$GC,15132,-0.66,-117.3,945.9,-5.2,394,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2403,3349
$GC,15435,-0.66,-117.3,961.9,-5.3,399,15440,0.00,2.33,0.00,0.000,4,0.000,0.081,3097,986,3348
$GC,15461,-0.66,-117.3,963.5,-6.1,399,15466,0.00,2.33,0.00,0.000,6,0.000,0.070,3097,2406,3348
$GC,15799,-0.66,-117.3,980.7,-5.1,405,15803,0.00,2.33,0.00,0.000,4,0.000,0.081,3097,987,3348
$GC,15826,-0.66,-117.3,982.3,-6.3,405,15830,0.00,2.30,0.00,0.000,6,0.000,0.069,3097,2400,3348
$STATE,15980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15980,begin apogee
$GC,15984,-0.22,0.0,990.0,5.0,408,16086,0.47,0.00,98.95,1.506,6,0.161,0.000,3242,2200,2876
$STATE,16086,end apogee,CONTROL_FINISHED_OK
$STATE,16086,begin climb
$GC,16088,0.67,117.3,991.2,0.0,409,16199,0.88,2.60,102.65,1.450,4,0.107,0.083,3533,792,2397
$GC,16231,0.28,117.3,988.8,7.8,411,16236,0.43,2.47,0.00,0.000,6,0.195,0.064,3412,2202,2394
$GC,16580,0.28,117.3,967.6,6.0,417,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2202,2393
$GC,16883,0.28,117.3,950.3,5.7,422,16884,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2201,2393
$GC,17186,0.28,117.3,933.6,5.5,427,17190,0.00,2.38,0.00,0.000,4,0.000,0.084,3413,793,2393
$GC,17228,0.28,117.3,931.3,5.9,427,17234,0.00,2.33,0.00,0.000,6,0.000,0.065,3413,2196,2392
$GC,17555,0.28,117.6,914.8,5.0,433,17559,0.00,2.33,0.00,0.000,4,0.000,0.083,3412,3610,2393
$GC,17587,0.18,117.6,913.1,5.2,433,17592,0.12,2.33,0.00,0.000,6,0.179,0.071,3383,2204,2392
$GC,17919,0.28,152.7,899.7,4.0,439,17951,0.00,0.00,30.08,1.422,6,0.000,0.000,3383,2204,2252
$GC,18222,0.39,159.8,885.4,4.8,444,18232,0.17,0.00,7.68,1.216,6,0.091,0.000,3444,2204,2224
$GC,18525,0.34,159.8,864.3,7.0,449,18529,0.00,2.38,0.00,0.000,4,0.000,0.085,3449,782,2223
$GC,18557,0.28,159.8,861.8,7.4,449,18562,0.12,2.38,0.00,0.000,6,0.158,0.068,3411,2203,2223
$GC,18894,0.28,159.8,840.3,6.5,455,18895,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2203,2222
$GC,19197,0.28,159.8,820.3,6.6,460,19201,0.00,2.38,0.00,0.000,4,0.000,0.084,3412,781,2222
$GC,19229,0.34,159.8,818.1,7.0,460,19233,0.00,2.33,0.00,0.000,6,0.000,0.066,3411,2195,2222
$GC,19566,0.38,159.8,794.9,6.9,466,19567,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2196,2222
$GC,19869,0.42,159.8,772.9,7.3,471,19871,0.12,0.00,0.00,0.000,6,0.098,0.000,3456,2196,2222
$GC,20173,0.34,159.8,745.9,9.0,476,20174,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2196,2222
$GC,20476,0.26,159.8,719.0,8.8,481,20477,0.20,0.00,0.00,0.000,6,0.166,0.000,3403,2196,2222
$GC,20779,0.33,159.8,698.0,6.8,486,20780,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2196,2222
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